version: 66.07
glider: 511
mission: 5
dive: 349
start: 2 4 111 16 56 27
data:
$ID,511
$MISSION,5
$DIVE,349
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,1100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-49879.68
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2586
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2890
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.006142
$PRESSURE_SLOPE,0.00011615451
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$AR_DIVENUM,348
$AR_SAMPLENUM,0
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,040211,164436,1820.112,12556.207,49,1.9,54,-2.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-75.0
$GPS2,040211,165532,1820.081,12556.366,15,1.7,15,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.103,0.189
$KALMAN_X,-543357.6,-198.2,-570.9,371537.7,4519.2
$KALMAN_Y,602956.1,585.6,736.2,-856865.9,-6240.8
$MHEAD_RNG_PITCHd_Wd,333.5,174047,-9.9,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.58,-146.0,0.0,0.0,0,99,0.00,0.00,-70.80,0.000,2,0.000,0.000,39,2027,2926,0,0,0,0,0,0
$GC,103,-0.58,-146.0,4.0,-4.6,7,130,10.32,2.33,-10.98,0.000,4,0.251,0.072,2382,3467,3486,0,0,0,0,0,0
$GC,283,-0.58,-146.0,49.5,-19.7,26,288,0.00,2.20,0.00,0.000,6,0.000,0.048,2382,2068,3488,0,0,0,0,0,0
$GC,544,-0.58,-146.0,104.7,-20.2,51,548,0.00,2.28,0.00,0.000,4,0.000,0.060,2382,629,3486,0,0,0,0,0,0
$GC,590,-0.58,-146.0,114.5,-19.7,55,595,0.00,2.25,0.00,0.000,6,0.000,0.051,2373,2057,3488,0,0,0,0,0,0
$GC,851,-0.58,-146.0,167.2,-18.7,80,855,0.00,2.28,0.00,0.000,4,0.000,0.060,2373,627,3489,0,0,0,0,0,0
$GC,884,-0.58,-146.0,173.6,-19.1,83,888,0.12,2.25,0.00,0.000,6,0.168,0.051,2395,2057,3489,0,0,0,0,0,0
$GC,1154,-0.58,-146.0,213.0,-14.6,104,1158,0.00,2.22,0.00,0.000,4,0.000,0.065,2386,3459,3490,0,0,0,0,0,0
$GC,1196,-0.58,-146.0,219.2,-13.1,106,1200,0.00,2.20,0.00,0.000,6,0.000,0.044,2387,2039,3490,0,0,0,0,0,0
$GC,1525,-0.58,-146.0,264.7,-13.6,122,1529,0.00,2.20,0.00,0.000,4,0.000,0.058,2386,640,3490,0,0,0,0,0,0
$GC,1552,-0.58,-146.0,268.2,-12.3,123,1556,0.00,2.20,0.00,0.000,6,0.000,0.049,2378,2054,3490,0,0,0,0,0,0
$GC,1891,-0.58,-146.0,311.2,-12.1,138,1895,0.00,2.22,0.00,0.000,4,0.000,0.065,2372,3460,3490,0,0,0,0,0,0
$GC,1918,-0.58,-146.0,314.4,-11.6,138,1923,0.12,2.17,0.00,0.000,6,0.151,0.044,2402,2044,3490,0,0,0,0,0,0
$GC,2255,-0.58,-146.0,344.9,-9.1,147,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2043,3489,0,0,0,0,0,0
$GC,2579,-0.58,-146.0,373.7,-8.6,155,2583,0.00,2.20,0.00,0.000,4,0.000,0.055,2407,641,3489,0,0,0,0,0,0
$GC,2602,-0.58,-146.0,375.8,-9.0,155,2606,0.00,2.20,0.00,0.000,6,0.000,0.052,2401,2046,3488,0,0,0,0,0,0
$GC,2942,-0.58,-146.0,404.0,-8.1,164,2946,0.00,2.25,0.00,0.000,4,0.000,0.064,2391,3463,3486,0,0,0,0,0,0
$GC,2964,-0.58,-146.0,406.0,-8.1,164,2968,0.00,2.20,0.00,0.000,6,0.000,0.046,2391,2050,3486,0,0,0,0,0,0
$GC,3304,-0.58,-146.0,436.7,-9.4,173,3308,0.00,2.22,0.00,0.000,4,0.000,0.054,2391,636,3485,0,0,0,0,0,0
$GC,3336,-0.58,-146.0,439.9,-10.1,173,3340,0.00,2.22,0.00,0.000,6,0.000,0.054,2391,2051,3484,0,0,0,0,0,0
$GC,3666,-0.58,-146.0,468.8,-8.6,181,3671,0.00,2.25,0.00,0.000,4,0.000,0.064,2382,3465,3481,0,0,0,0,0,0
$GC,3721,-0.58,-146.0,473.4,-8.1,182,3725,0.00,2.22,0.00,0.000,6,0.000,0.046,2382,2043,3485,0,0,0,0,0,0
$GC,4035,-0.58,-146.0,499.8,-8.6,190,4039,0.00,2.20,0.00,0.000,4,0.000,0.054,2381,636,3480,0,0,0,0,0,0
$GC,4095,-0.58,-146.0,505.6,-9.5,191,4099,0.00,2.25,0.00,0.000,6,0.000,0.057,2381,2053,3479,0,0,0,0,0,0
$GC,4444,-0.58,-146.0,537.9,-9.3,200,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2053,3475,0,0,0,0,0,0
$GC,4769,-0.58,-146.0,566.8,-8.8,208,4773,0.00,2.28,0.00,0.000,4,0.000,0.067,2378,3466,3475,0,0,0,0,0,0
$GC,4829,-0.58,-146.0,572.3,-9.0,209,4833,0.00,2.22,0.00,0.000,6,0.000,0.048,2372,2051,3474,0,0,0,0,0,0
$GC,5142,-0.58,-146.0,600.6,-9.0,217,5146,0.00,2.22,0.00,0.000,4,0.000,0.054,2372,633,3471,0,0,0,0,0,0
$GC,5169,-0.58,-146.0,603.3,-9.3,217,5174,0.10,2.25,0.00,0.000,6,0.164,0.051,2397,2064,3471,0,0,0,0,0,0
$GC,5505,-0.58,-146.0,628.6,-7.4,226,5509,0.00,2.22,0.00,0.000,4,0.000,0.065,2388,3458,3468,0,0,0,0,0,0
$GC,5532,-0.58,-146.0,630.8,-7.6,226,5537,0.00,2.20,0.00,0.000,6,0.000,0.045,2388,2040,3467,0,0,0,0,0,0
$GC,5868,-0.58,-146.0,653.2,-6.3,235,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2039,3466,0,0,0,0,0,0
$GC,6192,-0.58,-146.0,673.3,-6.4,243,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2039,3463,0,0,0,0,0,0
$GC,6517,-0.58,-146.0,698.6,-8.2,251,6522,0.00,2.30,0.00,0.000,4,0.000,0.066,2379,3456,3461,0,0,0,0,0,0
$GC,6563,-0.58,-146.0,702.5,-8.0,252,6567,0.00,2.20,0.00,0.000,6,0.000,0.043,2379,2045,3459,0,0,0,0,0,0
$GC,6886,-0.58,-146.0,728.0,-7.5,260,6890,0.00,2.20,0.00,0.000,4,0.000,0.056,2379,643,3462,0,0,0,0,0,0
$GC,6922,-0.58,-146.0,730.9,-8.1,260,6926,0.00,2.25,0.00,0.000,6,0.000,0.050,2377,2057,3459,0,0,0,0,0,0
$GC,7257,-0.58,-146.0,754.3,-7.2,269,7261,0.00,2.28,0.00,0.000,4,0.000,0.066,2367,3458,3457,0,0,0,0,0,0
$GC,7304,-0.58,-146.0,757.8,-7.2,270,7309,0.12,2.20,0.00,0.000,6,0.148,0.044,2402,2047,3457,0,0,0,0,0,0
$GC,7632,-0.58,-146.0,778.5,-6.4,278,7636,0.00,2.22,0.00,0.000,4,0.000,0.056,2403,640,3453,0,0,0,0,0,0
$GC,7669,-0.58,-146.0,781.3,-7.2,278,7675,0.00,2.25,0.00,0.000,6,0.000,0.051,2401,2056,3455,0,0,0,0,0,0
$GC,8000,-0.58,-146.0,802.6,-6.5,287,8004,0.00,2.28,0.00,0.000,4,0.000,0.067,2391,3460,3452,0,0,0,0,0,0
$GC,8045,-0.58,-146.0,805.8,-7.7,288,8050,0.00,2.22,0.00,0.000,6,0.000,0.045,2391,2041,3453,0,0,0,0,0,0
$GC,8368,-0.58,-146.0,829.0,-7.5,296,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2038,3451,0,0,0,0,0,0
$GC,8693,-0.58,-146.0,854.1,-7.8,304,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2038,3449,0,0,0,0,0,0
$GC,9017,-0.58,-146.0,877.7,-7.1,312,9022,0.00,2.33,0.00,0.000,4,0.000,0.067,2378,3462,3449,0,0,0,0,0,0
$GC,9045,-0.58,-146.0,879.6,-7.8,312,9049,0.00,2.20,0.00,0.000,6,0.000,0.046,2381,2054,3448,0,0,0,0,0,0
$GC,9385,-0.58,-146.0,901.3,-6.1,321,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2049,3445,0,0,0,0,0,0
$GC,9710,-0.58,-146.0,917.1,-4.6,329,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2049,3446,0,0,0,0,0,0
$GC,10035,-0.58,-146.0,931.2,-4.5,337,10039,0.00,2.22,0.00,0.000,4,0.000,0.057,2381,645,3445,0,0,0,0,0,0
$GC,10068,-0.58,-146.0,932.9,-5.9,337,10072,0.00,2.25,0.00,0.000,6,0.000,0.051,2376,2049,3445,0,0,0,0,0,0
$GC,10399,-0.58,-146.0,951.2,-5.7,345,10403,0.00,2.33,0.00,0.000,4,0.000,0.067,2365,3465,3444,0,0,0,0,0,0
$GC,10430,-0.58,-146.0,953.2,-6.7,345,10435,0.12,2.22,0.00,0.000,6,0.148,0.047,2401,2054,3444,0,0,0,0,0,0
$GC,10767,-0.58,-146.0,969.4,-4.8,354,10768,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2048,3443,0,0,0,0,0,0
$GC,11092,-0.58,-146.0,986.4,-5.3,362,11093,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2048,3443,0,0,0,0,0,0
$STATE,11172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11172,begin apogee
$GC,11178,-0.28,0.0,990.7,5.4,364,11303,0.30,0.00,122.80,1.359,6,0.125,0.000,2498,2128,2892,0,0,0,0,0,0
$STATE,11307,end apogee,CONTROL_FINISHED_OK
$STATE,11307,begin climb
$GC,11309,0.58,146.0,995.1,0.0,367,11457,0.77,2.53,135.07,1.321,4,0.071,0.068,2772,3518,2294,0,0,0,0,0,0
$GC,11489,0.58,146.0,987.4,12.7,371,11494,0.00,2.30,0.00,0.000,6,0.000,0.048,2782,2122,2290,0,0,1,0,0,0
$GC,11825,0.58,146.0,947.5,11.9,380,11829,0.00,2.28,0.00,0.000,4,0.000,0.061,2793,707,2281,0,0,0,0,0,0
$GC,11871,0.58,146.0,941.8,11.9,381,11875,0.00,2.28,0.00,0.000,6,0.000,0.055,2793,2120,2279,0,0,0,0,0,0
$GC,12193,0.58,146.0,900.7,12.8,389,12195,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2120,2278,0,0,0,0,0,0
$GC,12518,0.58,146.0,858.2,12.9,397,12522,0.00,2.33,0.00,0.000,4,0.000,0.069,2793,3530,2277,0,0,0,0,0,0
$GC,12579,0.58,146.0,850.0,13.0,398,12584,0.12,2.22,0.00,0.000,6,0.203,0.051,2775,2115,2277,0,0,1,0,0,0
$GC,12929,0.58,146.0,813.6,9.9,407,12930,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2109,2275,0,0,0,0,0,0
$GC,13254,0.58,146.0,782.2,9.8,415,13258,0.00,2.38,0.00,0.000,4,0.000,0.070,2775,3538,2275,0,0,0,0,0,0
$GC,13313,0.58,146.0,775.3,10.6,416,13317,0.00,2.22,0.00,0.000,6,0.000,0.053,2784,2120,2275,0,0,1,0,0,0
$GC,13663,0.58,146.0,737.5,10.6,425,13664,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2115,2274,0,0,0,0,0,0
$GC,13987,0.58,146.0,705.8,9.3,433,13991,0.00,2.28,0.00,0.000,4,0.000,0.061,2794,705,2273,0,0,0,0,0,0
$GC,14019,0.58,146.0,702.8,9.8,433,14023,0.00,2.30,0.00,0.000,6,0.000,0.055,2795,2125,2272,0,0,0,0,0,0
$GC,14350,0.58,146.0,673.0,9.1,441,14354,0.00,2.33,0.00,0.000,4,0.000,0.068,2795,3537,2272,0,0,0,0,0,0
$GC,14396,0.58,146.0,668.1,9.9,442,14401,0.12,2.25,0.00,0.000,6,0.202,0.051,2777,2120,2272,0,0,1,0,0,0
$GC,14719,0.58,146.0,640.2,8.5,450,14720,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2113,2272,0,0,0,0,0,0
$GC,15044,0.58,146.0,613.0,8.1,458,15045,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2113,2272,0,0,0,0,0,0
$GC,15368,0.58,146.0,585.2,8.7,466,15370,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2113,2272,0,0,0,0,0,0
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$STATE,23388,end climb,SURFACE_DEPTH_REACHED
$STATE,23388,begin surface coast
$FINISH,0.8,0.999481
$STATE,23435,end surface coast,CONTROL_FINISHED_OK
$STATE,23435,begin surface
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$TCM_TEMP,25.40
$XPDR_PINGS,1
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$AR_CDRIVE_FREE,8433041408
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52141129728
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,70.996
$10V_AH,9.9,48.517
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.875,202.725,363.600,88.850,0.000,29.683,41.909,390.358,0.250,0.000,17.053,1809.100,18721.949,616.477,2679.032,369.525,33.368,1830.734,0.000,2160.699,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,2.822,0.000,0.000
$MEM,354652
$DATA_FILE_SIZE,33410,900
$CAP_FILE_SIZE,191177,0
$CFSIZE,260165632,227803136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,040211,233127,1822.094,12554.889,81,3.0,100,-2.1