version: 66.07
glider: 511
mission: 5
dive: 350
start: 2 5 111 0 7 31
data:
$ID,511
$MISSION,5
$DIVE,350
$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,-49910.883
$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,2583
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,23
$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,349
$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
$GPS1,040211,233127,1822.094,12554.889,81,3.0,100,-2.1
$_CALLS,3
$_XMS_NAKs,22
$_XMS_TOUTs,7
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-73.1
$GPS2,050211,000637,1821.893,12554.961,28,1.2,28,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.152,0.152
$KALMAN_X,-542571.4,94.1,-896.0,368339.0,4599.5
$KALMAN_Y,601262.4,-229.0,581.4,-850830.8,-5032.8
$MHEAD_RNG_PITCHd_Wd,317.2,171574,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.58,-146.0,0.0,0.0,0,100,0.00,0.00,-70.50,0.000,2,0.000,0.000,36,2044,2918,0,0,0,0,0,0
$GC,103,-0.58,-146.0,4.0,-3.9,7,131,10.23,2.38,-11.57,0.000,4,0.249,0.076,2378,3465,3488,0,0,0,0,0,0
$GC,198,-0.58,-146.0,29.9,-22.8,17,203,0.00,2.20,0.00,0.000,6,0.000,0.044,2378,2056,3490,0,0,0,0,0,0
$GC,395,-0.58,-146.0,74.2,-21.3,35,399,0.00,2.25,0.00,0.000,4,0.000,0.058,2378,623,3490,0,0,0,0,0,0
$GC,438,-0.58,-146.0,83.7,-21.9,39,442,0.00,2.25,0.00,0.000,6,0.000,0.052,2367,2045,3489,0,0,0,0,0,0
$GC,699,-0.58,-146.0,141.9,-23.1,63,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2045,3490,0,0,0,0,0,0
$GC,954,-0.58,-146.0,194.7,-18.6,87,958,0.00,2.25,0.00,0.000,4,0.000,0.064,2358,3460,3490,0,0,0,0,0,0
$GC,985,-0.58,-146.0,200.9,-18.7,90,990,0.15,2.17,0.00,0.000,6,0.157,0.043,2399,2041,3490,0,0,0,0,0,0
$GC,1310,-0.58,-146.0,243.2,-11.7,106,1314,0.00,2.17,0.00,0.000,4,0.000,0.060,2400,640,3495,0,0,0,0,0,0
$GC,1342,-0.58,-146.0,246.9,-10.8,107,1346,0.00,2.22,0.00,0.000,6,0.000,0.050,2391,2056,3488,0,0,0,0,0,0
$GC,1662,-0.58,-146.0,282.6,-11.3,123,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2056,3490,0,0,0,0,0,0
$GC,1989,-0.58,-146.0,319.5,-11.1,135,1993,0.00,2.25,0.00,0.000,4,0.000,0.059,2391,642,3489,0,0,0,0,0,0
$GC,2017,-0.58,-146.0,322.5,-11.0,135,2021,0.00,2.22,0.00,0.000,6,0.000,0.051,2388,2052,3489,0,0,0,0,0,0
$GC,2352,-0.58,-146.0,356.2,-10.0,144,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2052,3488,0,0,0,0,0,0
$GC,2677,-0.58,-146.0,383.9,-7.9,152,2681,0.00,2.28,0.00,0.000,4,0.000,0.068,2388,3470,3486,0,0,0,0,0,0
$GC,2728,-0.58,-146.0,388.1,-7.6,153,2732,0.00,2.20,0.00,0.000,6,0.000,0.043,2387,2050,3485,0,0,0,0,0,0
$GC,3049,-0.58,-146.0,417.4,-9.4,161,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2051,3484,0,0,0,0,0,0
$GC,3374,-0.58,-146.0,448.6,-9.9,169,3379,0.00,2.30,0.00,0.000,4,0.000,0.071,2387,3460,3481,0,0,0,0,0,0
$GC,3417,-0.58,-146.0,452.7,-9.4,170,3421,0.00,2.17,0.00,0.000,6,0.000,0.044,2387,2043,3480,0,0,0,0,0,0
$GC,3744,-0.58,-146.0,484.7,-9.5,178,3748,0.00,2.35,0.00,0.000,4,0.000,0.072,2389,3468,3478,0,0,0,0,0,0
$GC,3780,-0.58,-146.0,488.0,-8.6,178,3786,0.00,2.20,0.00,0.000,6,0.000,0.044,2388,2040,3480,0,0,0,0,0,0
$GC,4111,-0.58,-146.0,514.2,-7.4,187,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2039,3476,0,0,0,0,0,0
$GC,4436,-0.58,-146.0,539.3,-8.3,195,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2039,3474,0,0,0,0,0,0
$GC,4761,-0.58,-146.0,566.8,-8.1,203,4765,0.00,2.30,0.00,0.000,4,0.000,0.068,2384,3460,3471,0,0,0,0,0,0
$GC,4797,-0.58,-146.0,569.6,-7.1,203,4803,0.00,2.20,0.00,0.000,6,0.000,0.045,2387,2043,3470,0,0,0,0,0,0
$GC,5128,-0.58,-146.0,596.3,-8.4,212,5132,0.00,2.20,0.00,0.000,4,0.000,0.054,2387,642,3468,0,0,0,0,0,0
$GC,5151,-0.58,-146.0,598.6,-9.9,212,5155,0.00,2.25,0.00,0.000,6,0.000,0.054,2387,2048,3468,0,0,0,0,0,0
$GC,5491,-0.58,-146.0,629.0,-9.0,221,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2048,3466,0,0,0,0,0,0
$GC,5816,-0.58,-146.0,655.9,-7.9,229,5820,0.00,2.28,0.00,0.000,4,0.000,0.066,2387,3463,3463,0,0,0,0,0,0
$GC,5843,-0.58,-146.0,658.0,-7.4,229,5847,0.00,2.17,0.00,0.000,6,0.000,0.044,2387,2050,3465,0,0,0,0,0,0
$GC,6183,-0.58,-146.0,684.2,-7.9,238,6187,0.00,2.20,0.00,0.000,4,0.000,0.054,2388,645,3460,0,0,0,0,0,0
$GC,6206,-0.58,-146.0,686.3,-9.3,238,6210,0.00,2.28,0.00,0.000,6,0.000,0.054,2387,2063,3458,0,0,0,0,0,0
$GC,6545,-0.58,-146.0,711.5,-7.0,247,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2060,3458,0,0,0,0,0,0
$GC,6871,-0.58,-146.0,730.8,-5.9,255,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2059,3456,0,0,0,0,0,0
$GC,7195,-0.58,-146.0,752.4,-7.1,263,7199,0.00,2.25,0.00,0.000,4,0.000,0.067,2387,3456,3454,0,0,0,0,0,0
$GC,7252,-0.58,-146.0,756.6,-8.1,264,7256,0.00,2.20,0.00,0.000,6,0.000,0.042,2387,2042,3454,0,0,0,0,0,0
$GC,7565,-0.58,-146.0,781.0,-7.9,272,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2038,3452,0,0,0,0,0,0
$GC,7890,-0.58,-146.0,806.2,-7.6,280,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2036,3450,0,0,0,0,0,0
$GC,8215,-0.58,-146.0,830.1,-7.3,288,8219,0.00,2.22,0.00,0.000,4,0.000,0.057,2389,644,3448,0,0,0,0,0,0
$GC,8243,-0.58,-146.0,832.4,-8.4,288,8247,0.00,2.25,0.00,0.000,6,0.000,0.052,2387,2050,3445,0,0,0,0,0,0
$GC,8578,-0.58,-146.0,857.4,-7.6,297,8582,0.00,2.28,0.00,0.000,4,0.000,0.067,2387,3456,3447,0,0,0,0,0,0
$GC,8634,-0.58,-146.0,861.6,-7.3,298,8638,0.00,2.20,0.00,0.000,6,0.000,0.044,2390,2046,3446,0,0,0,0,0,0
$GC,8946,-0.58,-146.0,883.8,-7.1,306,8948,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2043,3445,0,0,0,0,0,0
$GC,9271,-0.58,-146.0,904.9,-6.3,314,9276,0.00,2.33,0.00,0.000,4,0.000,0.067,2387,3456,3444,0,0,0,0,0,0
$GC,9299,-0.58,-146.0,906.6,-6.0,314,9304,0.00,2.17,0.00,0.000,6,0.000,0.044,2387,2051,3443,0,0,1,0,0,0
$GC,9634,-0.58,-146.0,928.3,-6.6,323,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2047,3443,0,0,0,0,0,0
$GC,9959,-0.58,-146.0,950.1,-6.7,331,9963,0.00,2.30,0.00,0.000,4,0.000,0.067,2387,3454,3442,0,0,0,0,0,0
$GC,9987,-0.58,-146.0,952.0,-7.5,331,9991,0.00,2.20,0.00,0.000,6,0.000,0.045,2387,2042,3440,0,0,0,0,0,0
$GC,10327,-0.58,-146.0,974.7,-6.9,340,10328,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2037,3441,0,0,0,0,0,0
$STATE,10568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10568,begin apogee
$GC,10574,-0.28,0.0,990.9,6.6,346,10699,0.32,0.00,121.78,1.359,6,0.130,0.000,2490,2103,2892,0,0,0,0,0,0
$STATE,10707,end apogee,CONTROL_FINISHED_OK
$STATE,10707,begin climb
$GC,10710,0.58,146.0,995.7,0.0,349,10852,0.80,2.45,132.43,1.322,4,0.087,0.058,2778,704,2295,0,0,1,0,0,0
$GC,10968,0.58,146.0,980.9,11.1,355,10973,0.00,2.28,0.00,0.000,6,0.000,0.057,2778,2095,2284,0,0,1,0,0,0
$GC,11295,0.58,146.0,945.4,10.8,363,11299,0.00,2.33,0.00,0.000,4,0.000,0.068,2778,3515,2280,0,0,0,0,0,0
$GC,11355,0.58,146.0,938.3,12.0,364,11360,0.00,2.22,0.00,0.000,6,0.000,0.049,2788,2104,2282,0,0,1,0,0,0
$GC,11668,0.58,146.0,903.0,11.3,372,11672,0.00,2.33,0.00,0.000,4,0.000,0.067,2788,3515,2278,0,0,0,0,0,0
$GC,11742,0.58,146.0,893.6,12.1,373,11746,0.00,2.25,0.00,0.000,6,0.000,0.049,2798,2101,2278,0,0,0,0,0,0
$GC,12077,0.58,146.0,851.8,12.5,382,12082,0.00,2.35,0.00,0.000,4,0.000,0.067,2799,3522,2276,0,0,0,0,0,0
$GC,12133,0.58,146.0,843.9,14.4,383,12138,0.15,2.25,0.00,0.000,6,0.206,0.049,2774,2092,2277,0,0,1,0,0,0
$GC,12447,0.58,146.0,809.3,10.6,391,12451,0.00,2.25,0.00,0.000,4,0.000,0.061,2783,690,2273,0,0,0,0,0,0
$GC,12506,0.58,146.0,802.6,10.9,392,12511,0.00,2.28,0.00,0.000,6,0.000,0.054,2783,2112,2275,0,0,0,0,0,0
$GC,12819,0.58,146.0,769.7,10.2,400,12823,0.00,2.28,0.00,0.000,4,0.000,0.067,2785,3503,2275,0,0,0,0,0,0
$GC,12877,0.58,146.0,763.5,11.1,401,12881,0.00,2.20,0.00,0.000,6,0.000,0.048,2794,2098,2275,0,0,0,0,0,0
$GC,13189,0.58,146.0,731.3,10.1,409,13191,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2090,2274,0,0,0,0,0,0
$GC,13514,0.58,146.0,697.9,10.2,417,13516,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2088,2273,0,0,0,0,0,0
$GC,13840,0.58,146.0,665.5,9.7,425,13841,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2091,2274,0,0,0,0,0,0
$GC,14164,0.58,146.0,636.4,9.0,433,14165,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2091,2273,0,0,0,0,0,0
$GC,14489,0.58,146.0,603.9,10.3,441,14493,0.00,2.25,0.00,0.000,4,0.000,0.059,2804,683,2271,0,0,0,0,0,0
$GC,14559,0.58,146.0,596.5,11.1,442,14564,0.15,2.25,0.00,0.000,6,0.192,0.054,2769,2095,2271,0,0,0,0,0,0
$GC,14900,0.58,146.0,568.3,7.7,451,14901,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2094,2272,0,0,0,0,0,0
$GC,15224,0.58,146.0,544.0,7.7,459,15228,0.00,2.33,0.00,0.000,4,0.000,0.068,2769,3507,2271,0,0,0,0,0,0
$GC,15366,0.58,146.0,529.7,9.9,462,15371,0.00,2.25,0.00,0.000,6,0.000,0.050,2777,2096,2272,0,0,0,0,0,0
$GC,15684,0.58,146.0,499.2,9.4,470,15688,0.00,2.33,0.00,0.000,4,0.000,0.067,2777,3508,2271,0,0,0,0,0,0
$GC,15739,0.58,146.0,493.8,9.3,471,15744,0.00,2.25,0.00,0.000,6,0.000,0.048,2787,2093,2271,0,0,0,0,0,0
$GC,16057,0.58,146.0,468.3,7.8,479,16058,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2087,2271,0,0,0,0,0,0
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$STATE,22575,end climb,SURFACE_DEPTH_REACHED
$STATE,22575,begin surface coast
$FINISH,0.8,1.009605
$STATE,22608,end surface coast,CONTROL_FINISHED_OK
$STATE,22608,begin surface
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$SM_GC,1.72,0.00,0.00,88.75,0.000,0.000,0.554,41,2082,1055,-7.94,0.90,450.36
$IRIDIUM_FIX,1812.31,12554.96,300712,181839
$TT8_MAMPS,0.056758
$HUMID,1078707732
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$TCM_TEMP,25.40
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8418230272
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52141129728
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.9,71.233
$10V_AH,9.8,48.653
$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
$DEVICE_SECS,19.575,189.275,364.125,88.750,0.000,85.655,123.807,1552.445,0.250,0.000,30.573,1755.241,18146.770,573.989,3699.075,653.905,33.363,1784.296,0.000,2120.028,0.000,0.544,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,6.329,0.000,0.000
$MEM,354824
$DATA_FILE_SIZE,30077,880
$CAP_FILE_SIZE,208381,0
$CFSIZE,260165632,227696640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,050211,062857,1823.622,12552.530,89,4.9,108,-2.1