version: 66.07
glider: 511
mission: 5
dive: 353
start: 2 5 111 20 43 33
data:
$ID,511
$MISSION,5
$DIVE,353
$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,-49977.926
$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,42
$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,352
$AR_SAMPLENUM,2
$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
$GPS1,050211,203037,1828.199,12547.221,55,1.3,55,-2.2
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-72.2
$GPS2,050211,204238,1828.296,12547.223,12,1.4,12,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.187,0.106
$KALMAN_X,-543512.7,77.7,19.0,354966.3,528.2
$KALMAN_Y,598658.9,137.4,486.7,-836652.2,-3987.5
$MHEAD_RNG_PITCHd_Wd,301.8,158529,-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,25,begin dive
$GC,27,-0.58,-146.0,0.0,0.0,0,99,0.00,0.00,-70.20,0.000,2,0.000,0.000,36,2032,2915,0,0,0,0,0,0
$GC,103,-0.58,-146.0,4.3,-5.0,7,130,10.25,2.33,-11.10,0.000,4,0.249,0.074,2381,3468,3483,0,0,0,0,0,0
$GC,283,-0.58,-146.0,50.5,-21.4,26,288,0.00,2.17,0.00,0.000,6,0.000,0.044,2381,2068,3488,0,0,0,0,0,0
$GC,543,-0.58,-146.0,105.2,-21.5,51,547,0.00,2.25,0.00,0.000,4,0.000,0.057,2381,635,3487,0,0,0,0,0,0
$GC,585,-0.58,-146.0,113.6,-18.5,55,590,0.00,2.25,0.00,0.000,6,0.000,0.052,2371,2058,3489,0,0,0,0,0,0
$GC,848,-0.58,-146.0,167.5,-19.4,79,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2058,3489,0,0,0,0,0,0
$GC,1099,-0.58,-146.0,211.1,-15.7,100,1103,0.00,2.25,0.00,0.000,4,0.000,0.057,2371,633,3490,0,0,0,0,0,0
$GC,1177,-0.58,-146.0,222.1,-12.9,103,1182,0.12,2.22,0.00,0.000,6,0.160,0.050,2396,2049,3490,0,0,0,0,0,0
$GC,1492,-0.58,-146.0,256.8,-11.6,118,1496,0.00,2.28,0.00,0.000,4,0.000,0.067,2388,3463,3489,0,0,0,0,0,0
$GC,1562,-0.58,-146.0,264.8,-10.7,121,1566,0.00,2.17,0.00,0.000,6,0.000,0.044,2387,2044,3487,0,0,1,0,0,0
$GC,1906,-0.58,-146.0,307.2,-11.7,137,1910,0.00,2.20,0.00,0.000,4,0.000,0.059,2388,645,3487,0,0,0,0,0,0
$GC,1966,-0.58,-146.0,314.1,-11.0,138,1970,0.00,2.22,0.00,0.000,6,0.000,0.053,2388,2050,3489,0,0,0,0,0,0
$GC,2315,-0.58,-146.0,350.5,-10.7,147,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2050,3489,0,0,0,0,0,0
$GC,2640,-0.58,-146.0,381.9,-9.1,155,2644,0.00,2.30,0.00,0.000,4,0.000,0.067,2388,3458,3487,0,0,0,0,0,0
$GC,2690,-0.58,-146.0,386.3,-8.0,156,2694,0.00,2.17,0.00,0.000,6,0.000,0.042,2388,2053,3487,0,0,0,0,0,0
$GC,3008,-0.58,-146.0,413.6,-8.6,164,3012,0.00,2.20,0.00,0.000,4,0.000,0.054,2388,629,3485,0,0,0,0,0,0
$GC,3031,-0.58,-146.0,416.0,-9.6,164,3035,0.00,2.28,0.00,0.000,6,0.000,0.055,2387,2054,3487,0,0,0,0,0,0
$GC,3375,-0.58,-146.0,447.1,-8.9,173,3379,0.00,2.25,0.00,0.000,4,0.000,0.066,2387,3458,3483,0,0,0,0,0,0
$GC,3440,-0.58,-146.0,452.1,-7.5,174,3444,0.00,2.20,0.00,0.000,6,0.000,0.044,2388,2046,3483,0,0,0,0,0,0
$GC,3788,-0.58,-146.0,478.1,-7.8,183,3792,0.00,2.33,0.00,0.000,4,0.000,0.072,2387,3457,3481,0,0,1,0,0,0
$GC,3820,-0.58,-146.0,480.9,-8.6,183,3824,0.00,2.20,0.00,0.000,6,0.000,0.046,2386,2051,3480,0,0,0,0,0,0
$GC,4156,-0.58,-146.0,514.8,-10.4,192,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2050,3478,0,0,0,0,0,0
$GC,4480,-0.58,-146.0,542.4,-7.9,200,4484,0.00,2.22,0.00,0.000,4,0.000,0.054,2387,628,3476,0,0,0,0,0,0
$GC,4508,-0.58,-146.0,544.8,-8.6,200,4512,0.00,2.28,0.00,0.000,6,0.000,0.057,2388,2045,3474,0,0,0,0,0,0
$GC,4843,-0.58,-146.0,571.5,-8.2,209,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2045,3474,0,0,0,0,0,0
$GC,5168,-0.58,-146.0,596.1,-7.3,217,5172,0.00,2.30,0.00,0.000,4,0.000,0.067,2387,3465,3474,0,0,0,0,0,0
$GC,5200,-0.58,-146.0,598.2,-6.9,217,5204,0.00,2.22,0.00,0.000,6,0.000,0.046,2387,2037,3470,0,0,0,0,0,0
$GC,5531,-0.58,-146.0,625.0,-8.8,225,5535,0.00,2.33,0.00,0.000,4,0.000,0.067,2387,3466,3468,0,0,0,0,0,0
$GC,5558,-0.58,-146.0,627.7,-9.5,225,5562,0.00,2.22,0.00,0.000,6,0.000,0.046,2387,2045,3467,0,0,0,0,0,0
$GC,5898,-0.58,-146.0,655.2,-7.6,234,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2041,3466,0,0,0,0,0,0
$GC,6223,-0.58,-146.0,679.6,-7.7,242,6227,0.00,2.20,0.00,0.000,4,0.000,0.054,2389,643,3466,0,0,0,0,0,0
$GC,6251,-0.58,-146.0,682.1,-8.3,242,6255,0.00,2.25,0.00,0.000,6,0.000,0.049,2387,2061,3464,0,0,0,0,0,0
$GC,6586,-0.58,-146.0,710.5,-8.4,251,6590,0.00,2.25,0.00,0.000,4,0.000,0.057,2387,636,3461,0,0,0,0,0,0
$GC,6613,-0.58,-146.0,712.9,-8.4,251,6617,0.00,2.25,0.00,0.000,6,0.000,0.049,2388,2058,3461,0,0,0,0,0,0
$GC,6948,-0.58,-146.0,736.3,-6.5,260,6952,0.00,2.28,0.00,0.000,4,0.000,0.067,2387,3465,3459,0,0,0,0,0,0
$GC,6985,-0.58,-146.0,738.5,-6.1,260,6990,0.00,2.20,0.00,0.000,6,0.000,0.044,2387,2050,3459,0,0,0,0,0,0
$GC,7316,-0.58,-146.0,757.5,-5.6,269,7320,0.00,2.20,0.00,0.000,4,0.000,0.054,2387,643,3458,0,0,0,0,0,0
$GC,7349,-0.58,-146.0,759.7,-7.7,269,7353,0.00,2.22,0.00,0.000,6,0.000,0.048,2387,2051,3456,0,0,0,0,0,0
$GC,7679,-0.58,-146.0,779.7,-6.0,277,7683,0.00,2.30,0.00,0.000,4,0.000,0.067,2387,3459,3455,0,0,0,0,0,0
$GC,7753,-0.58,-146.0,784.4,-6.2,278,7757,0.00,2.20,0.00,0.000,6,0.000,0.044,2387,2048,3455,0,0,0,0,0,0
$GC,8094,-0.58,-146.0,804.9,-6.0,287,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2043,3452,0,0,0,0,0,0
$GC,8418,-0.58,-146.0,824.5,-6.1,295,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2043,3451,0,0,0,0,0,0
$GC,8743,-0.58,-146.0,843.0,-5.6,303,8747,0.00,2.20,0.00,0.000,4,0.000,0.056,2388,645,3449,0,0,0,0,0,0
$GC,8766,-0.58,-146.0,844.4,-6.4,303,8771,0.00,2.22,0.00,0.000,6,0.000,0.051,2388,2048,3449,0,0,0,0,0,0
$GC,9111,-0.58,-146.0,864.6,-6.1,312,9115,0.00,2.33,0.00,0.000,4,0.000,0.068,2387,3463,3448,0,0,0,0,0,0
$GC,9157,-0.58,-146.0,867.4,-5.6,313,9161,0.00,2.22,0.00,0.000,6,0.000,0.045,2387,2047,3448,0,0,0,0,0,0
$GC,9480,-0.58,-146.0,888.2,-6.8,321,9484,0.00,2.25,0.00,0.000,4,0.000,0.057,2387,637,3446,0,0,0,0,0,0
$GC,9502,-0.58,-146.0,889.9,-7.9,321,9506,0.00,2.25,0.00,0.000,6,0.000,0.050,2387,2049,3447,0,0,0,0,0,0
$GC,9842,-0.58,-146.0,912.8,-6.7,330,9846,0.00,2.33,0.00,0.000,4,0.000,0.069,2387,3462,3445,0,0,0,0,0,0
$GC,9870,-0.58,-146.0,914.7,-7.2,330,9874,0.00,2.22,0.00,0.000,6,0.000,0.046,2388,2045,3445,0,0,0,0,0,0
$GC,10205,-0.58,-146.0,934.8,-5.7,339,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2041,3445,0,0,0,0,0,0
$GC,10530,-0.58,-146.0,952.2,-5.2,347,10531,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2041,3443,0,0,0,0,0,0
$GC,10855,-0.58,-146.0,967.2,-4.5,355,10859,0.00,2.25,0.00,0.000,4,0.000,0.058,2387,642,3440,0,0,0,0,0,0
$GC,10888,-0.58,-146.0,968.8,-5.2,355,10892,0.00,2.25,0.00,0.000,6,0.000,0.051,2387,2059,3440,0,0,0,0,0,0
$GC,11219,-0.58,-146.0,983.6,-4.7,363,11223,0.00,2.28,0.00,0.000,4,0.000,0.067,2387,3456,3442,0,0,0,0,0,0
$GC,11262,-0.58,-146.0,986.0,-5.8,364,11266,0.00,2.22,0.00,0.000,6,0.000,0.045,2388,2046,3442,0,0,0,0,0,0
$STATE,11343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11343,begin apogee
$GC,11349,-0.28,0.0,990.7,5.7,366,11474,0.32,0.00,122.88,1.359,6,0.130,0.000,2490,2100,2889,0,0,0,0,0,0
$STATE,11476,end apogee,CONTROL_FINISHED_OK
$STATE,11476,begin climb
$GC,11478,0.58,146.0,995.3,0.0,369,11622,0.82,2.45,134.02,1.318,4,0.084,0.058,2781,698,2295,0,0,0,0,0,0
$GC,11688,0.58,146.0,986.8,10.8,374,11692,0.00,2.33,0.00,0.000,6,0.000,0.055,2781,2096,2288,0,0,1,0,0,0
$GC,12002,0.58,146.0,954.7,10.3,382,12006,0.00,2.35,0.00,0.000,4,0.000,0.070,2781,3510,2282,0,0,0,0,0,0
$GC,12098,0.58,146.0,943.3,11.9,384,12103,0.00,2.25,0.00,0.000,6,0.000,0.050,2789,2103,2281,0,0,0,0,0,0
$GC,12417,0.58,146.0,908.3,11.1,392,12421,0.00,2.33,0.00,0.000,4,0.000,0.068,2791,3513,2276,0,0,0,0,0,0
$GC,12459,0.58,146.0,903.0,13.4,392,12465,0.12,2.25,0.00,0.000,6,0.209,0.049,2774,2102,2279,0,0,0,0,0,0
$GC,12790,0.58,146.0,869.5,10.0,401,12791,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2096,2275,0,0,0,0,0,0
$GC,13115,0.58,146.0,835.4,10.5,409,13116,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2095,2277,0,0,0,0,0,0
$GC,13440,0.58,146.0,802.2,10.0,417,13441,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2095,2277,0,0,0,0,0,0
$GC,13765,0.58,146.0,770.6,9.7,425,13766,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2094,2276,0,0,0,0,0,0
$GC,14090,0.58,146.0,738.4,10.2,433,14091,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2094,2275,0,0,0,0,0,0
$GC,14415,0.58,146.0,707.8,9.3,441,14419,0.00,2.28,0.00,0.000,4,0.000,0.061,2783,683,2274,0,0,0,0,0,0
$GC,14457,0.58,146.0,703.7,10.1,442,14462,0.00,2.28,0.00,0.000,6,0.000,0.054,2783,2105,2274,0,0,0,0,0,0
$GC,14784,0.58,146.0,673.1,8.9,450,14785,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2105,2272,0,0,0,0,0,0
$GC,15110,0.58,146.0,647.2,8.0,458,15111,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2102,2273,0,0,0,0,0,0
$GC,15434,0.58,146.0,618.8,8.9,466,15438,0.00,2.33,0.00,0.000,4,0.000,0.069,2783,3515,2273,0,0,0,0,0,0
$GC,15471,0.58,146.0,615.0,11.5,466,15475,0.00,2.25,0.00,0.000,6,0.000,0.050,2793,2095,2273,0,0,0,0,0,0
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$STATE,23247,begin surface coast
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$FG_AHR_10Vo,0.000
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