version: 66.07
glider: 511
mission: 5
dive: 356
start: 2 6 111 17 50 58
data:
$ID,511
$MISSION,5
$DIVE,356
$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,-50066.973
$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,38
$R_STBD_OVSHOOT,22
$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,355
$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
$GPS1,060211,172107,1830.581,12537.095,82,1.5,82,-2.2
$_CALLS,3
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-73.8
$GPS2,060211,175004,1830.750,12537.042,11,2.4,30,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.208,0.055
$KALMAN_X,-541273.2,-234.7,338.1,335065.3,924.2
$KALMAN_Y,597209.9,324.5,300.4,-830646.9,-2598.0
$MHEAD_RNG_PITCHd_Wd,287.1,141209,-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,27,-0.58,-146.0,0.0,0.0,0,89,0.00,0.00,-60.20,0.000,2,0.000,0.000,38,2037,2634,0,0,0,0,0,0
$GC,93,-0.58,-146.0,3.2,-3.1,6,128,9.93,2.33,-19.75,0.000,4,0.239,0.074,2380,3459,3486,0,0,0,0,0,0
$GC,290,-0.58,-146.0,44.0,-18.6,27,295,0.00,2.15,0.00,0.000,6,0.000,0.044,2380,2062,3488,0,0,0,0,0,0
$GC,550,-0.58,-146.0,99.9,-21.5,52,554,0.00,2.25,0.00,0.000,4,0.000,0.060,2383,636,3488,0,0,0,0,0,0
$GC,602,-0.58,-146.0,110.3,-18.7,57,606,0.00,2.22,0.00,0.000,6,0.000,0.051,2370,2047,3488,0,0,0,0,0,0
$GC,864,-0.58,-146.0,167.2,-20.5,81,868,0.00,2.28,0.00,0.000,4,0.000,0.065,2360,3467,3488,0,0,0,0,0,0
$GC,888,-0.58,-146.0,171.8,-17.8,83,892,0.12,2.17,0.00,0.000,6,0.166,0.044,2391,2048,3488,0,0,0,0,0,0
$GC,1158,-0.58,-146.0,213.7,-15.0,104,1162,0.00,2.22,0.00,0.000,4,0.000,0.063,2392,644,3488,0,0,0,0,0,0
$GC,1315,-0.58,-146.0,233.7,-10.6,111,1319,0.00,2.22,0.00,0.000,6,0.000,0.051,2386,2059,3488,0,0,0,0,0,0
$GC,1644,-0.58,-146.0,271.1,-11.2,127,1648,0.00,2.25,0.00,0.000,4,0.000,0.061,2386,638,3488,0,0,0,0,0,0
$GC,1672,-0.58,-146.0,274.4,-11.5,128,1676,0.00,2.22,0.00,0.000,6,0.000,0.052,2386,2048,3488,0,0,0,0,0,0
$GC,1990,-0.58,-146.0,310.5,-11.5,142,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2049,3487,0,0,0,0,0,0
$GC,2315,-0.58,-146.0,344.4,-10.2,150,2319,0.00,2.25,0.00,0.000,4,0.000,0.067,2381,3463,3486,0,0,0,0,0,0
$GC,2366,-0.58,-146.0,350.1,-10.7,151,2370,0.00,2.20,0.00,0.000,6,0.000,0.044,2381,2046,3486,0,0,0,0,0,0
$GC,2683,-0.58,-146.0,384.2,-10.9,159,2687,0.00,2.20,0.00,0.000,4,0.000,0.057,2381,627,3484,0,0,0,0,0,0
$GC,2730,-0.58,-146.0,389.1,-9.9,160,2734,0.00,2.25,0.00,0.000,6,0.000,0.054,2374,2050,3484,0,0,0,0,0,0
$GC,3057,-0.58,-146.0,421.8,-10.1,168,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2050,3483,0,0,0,0,0,0
$GC,3382,-0.58,-146.0,456.6,-10.7,176,3386,0.00,2.28,0.00,0.000,4,0.000,0.064,2365,3469,3479,0,0,0,0,0,0
$GC,3425,-0.58,-146.0,461.1,-10.6,177,3429,0.12,2.20,0.00,0.000,6,0.147,0.046,2400,2046,3480,0,0,0,0,0,0
$GC,3752,-0.58,-146.0,485.8,-7.2,185,3756,0.00,2.33,0.00,0.000,4,0.000,0.071,2391,3467,3477,0,0,0,0,0,0
$GC,3789,-0.58,-146.0,488.6,-7.3,185,3792,0.00,2.22,0.00,0.000,6,0.000,0.048,2391,2042,3477,0,0,0,0,0,0
$GC,4124,-0.58,-146.0,515.6,-8.2,194,4128,0.00,2.20,0.00,0.000,4,0.000,0.054,2391,626,3475,0,0,0,0,0,0
$GC,4171,-0.58,-146.0,519.7,-8.3,195,4175,0.00,2.30,0.00,0.000,6,0.000,0.058,2391,2056,3474,0,0,0,0,0,0
$GC,4498,-0.58,-146.0,545.6,-7.9,203,4502,0.00,2.28,0.00,0.000,4,0.000,0.065,2382,3466,3472,0,0,0,0,0,0
$GC,4567,-0.58,-146.0,551.4,-7.6,204,4571,0.00,2.20,0.00,0.000,6,0.000,0.046,2382,2040,3471,0,0,0,0,0,0
$GC,4906,-0.58,-146.0,577.6,-7.8,213,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2039,3467,0,0,0,0,0,0
$GC,5232,-0.58,-146.0,601.1,-7.1,221,5236,0.00,2.17,0.00,0.000,4,0.000,0.054,2382,645,3466,0,0,0,0,0,0
$GC,5296,-0.58,-146.0,606.3,-8.0,222,5300,0.00,2.22,0.00,0.000,6,0.000,0.050,2375,2054,3465,0,0,0,0,0,0
$GC,5645,-0.58,-146.0,635.2,-8.7,231,5649,0.00,2.28,0.00,0.000,4,0.000,0.066,2365,3457,3461,0,0,0,0,0,0
$GC,5677,-0.58,-146.0,638.4,-9.1,231,5682,0.12,2.17,0.00,0.000,6,0.147,0.042,2400,2041,3462,0,0,0,0,0,0
$GC,6008,-0.58,-146.0,663.8,-7.3,239,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2039,3460,0,0,0,0,0,0
$GC,6333,-0.58,-146.0,684.0,-5.8,247,6337,0.00,2.30,0.00,0.000,4,0.000,0.066,2392,3457,3458,0,0,0,0,0,0
$GC,6370,-0.58,-146.0,686.3,-6.4,247,6376,0.00,2.15,0.00,0.000,6,0.000,0.044,2392,2047,3457,0,0,1,0,0,0
$GC,6701,-0.58,-146.0,706.6,-6.2,256,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2044,3455,0,0,0,0,0,0
$GC,7026,-0.58,-146.0,727.7,-6.7,264,7030,0.00,2.22,0.00,0.000,4,0.000,0.055,2392,641,3453,0,0,0,0,0,0
$GC,7068,-0.58,-146.0,730.8,-7.9,265,7072,0.00,2.22,0.00,0.000,6,0.000,0.049,2388,2047,3453,0,0,0,0,0,0
$GC,7395,-0.58,-146.0,755.8,-7.8,273,7400,0.00,2.30,0.00,0.000,4,0.000,0.065,2378,3462,3450,0,0,0,0,0,0
$GC,7438,-0.58,-146.0,759.5,-7.9,274,7442,0.00,2.17,0.00,0.000,6,0.000,0.044,2379,2056,3451,0,0,0,0,0,0
$GC,7765,-0.58,-146.0,785.9,-8.0,282,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2046,3445,0,0,0,0,0,0
$GC,8089,-0.58,-146.0,811.2,-7.9,290,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2046,3447,0,0,0,0,0,0
$GC,8414,-0.58,-146.0,837.7,-8.2,298,8418,0.00,2.22,0.00,0.000,4,0.000,0.056,2378,636,3446,0,0,0,0,0,0
$GC,8461,-0.58,-146.0,841.7,-8.3,299,8465,0.00,2.25,0.00,0.000,6,0.000,0.050,2375,2051,3445,0,0,0,0,0,0
$GC,8788,-0.58,-146.0,867.3,-7.7,307,8792,0.00,2.30,0.00,0.000,4,0.000,0.067,2366,3459,3444,0,0,0,0,0,0
$GC,8843,-0.58,-146.0,871.6,-7.7,308,8848,0.12,2.20,0.00,0.000,6,0.150,0.046,2400,2046,3441,0,0,0,0,0,0
$GC,9162,-0.58,-146.0,888.0,-4.8,316,9163,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2040,3443,0,0,0,0,0,0
$GC,9487,-0.58,-146.0,902.6,-4.5,324,9491,0.00,2.22,0.00,0.000,4,0.000,0.058,2401,641,3445,0,0,0,0,0,0
$GC,9514,-0.58,-146.0,904.0,-5.7,324,9518,0.00,2.25,0.00,0.000,6,0.000,0.051,2401,2050,3441,0,0,0,0,0,0
$GC,9855,-0.58,-146.0,922.2,-5.6,333,9859,0.00,2.35,0.00,0.000,4,0.000,0.069,2391,3465,3438,0,0,0,0,0,0
$GC,9891,-0.58,-146.0,924.5,-7.1,333,9897,0.00,2.22,0.00,0.000,6,0.000,0.048,2391,2039,3441,0,0,0,0,0,0
$GC,10222,-0.58,-146.0,945.3,-6.2,342,10226,0.00,2.25,0.00,0.000,4,0.000,0.059,2391,637,3439,0,0,0,0,0,0
$GC,10254,-0.58,-146.0,947.4,-7.9,342,10258,0.00,2.28,0.00,0.000,6,0.000,0.051,2382,2060,3440,0,0,0,0,0,0
$GC,10585,-0.58,-146.0,966.3,-5.5,350,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2060,3439,0,0,0,0,0,0
$GC,10909,-0.58,-146.0,982.6,-4.9,358,10911,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2060,3438,0,0,0,0,0,0
$STATE,11071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11071,begin apogee
$GC,11077,-0.28,0.0,990.7,5.0,362,11201,0.35,0.00,121.80,1.353,6,0.130,0.000,2493,2097,2891,0,0,0,0,0,0
$STATE,11205,end apogee,CONTROL_FINISHED_OK
$STATE,11205,begin climb
$GC,11207,0.58,146.0,994.3,0.0,365,11350,0.77,2.50,133.02,1.315,4,0.084,0.068,2764,3513,2295,0,0,0,0,0,0
$GC,11438,0.58,146.0,980.6,12.5,370,11442,0.00,2.28,0.00,0.000,6,0.000,0.049,2774,2105,2289,0,0,1,0,0,0
$GC,11787,0.58,146.0,942.7,10.8,379,11788,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2099,2283,0,0,0,0,0,0
$GC,12112,0.58,146.0,906.1,11.5,387,12114,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2099,2279,0,0,0,0,0,0
$GC,12437,0.58,146.0,868.5,11.5,395,12441,0.00,2.28,0.00,0.000,4,0.000,0.061,2789,690,2279,0,0,0,0,0,0
$GC,12469,0.58,146.0,864.8,11.0,395,12473,0.00,2.28,0.00,0.000,6,0.000,0.057,2785,2107,2277,0,0,0,0,0,0
$GC,12800,0.58,146.0,830.0,10.1,403,12804,0.00,2.33,0.00,0.000,4,0.000,0.069,2785,3513,2278,0,0,0,0,0,0
$GC,12883,0.58,146.0,820.6,11.5,404,12889,0.00,2.28,0.00,0.000,6,0.000,0.051,2795,2091,2277,0,0,0,0,0,0
$GC,13214,0.58,146.0,786.9,10.1,413,13218,0.00,2.28,0.00,0.000,4,0.000,0.061,2806,689,2275,0,0,0,0,0,0
$GC,13297,0.58,146.0,778.4,9.2,414,13303,0.15,2.28,0.00,0.000,6,0.195,0.055,2771,2100,2275,0,0,0,0,0,0
$GC,13628,0.58,146.0,751.0,8.1,423,13632,0.00,2.35,0.00,0.000,4,0.000,0.071,2770,3516,2275,0,0,0,0,0,0
$GC,13708,0.58,146.0,743.7,9.5,424,13712,0.00,2.28,0.00,0.000,6,0.000,0.053,2779,2099,2279,0,0,0,0,0,0
$GC,14039,0.58,146.0,713.7,9.1,432,14043,0.00,2.30,0.00,0.000,4,0.000,0.067,2790,698,2274,0,0,0,0,0,0
$GC,14081,0.58,146.0,709.3,10.3,433,14085,0.00,2.28,0.00,0.000,6,0.000,0.057,2790,2100,2272,0,0,0,0,0,0
$GC,14408,0.58,146.0,676.8,9.6,441,14412,0.00,2.33,0.00,0.000,4,0.000,0.069,2790,3508,2273,0,0,0,0,0,0
$GC,14486,0.58,146.0,668.4,10.0,442,14491,0.12,2.25,0.00,0.000,6,0.207,0.057,2773,2105,2274,0,0,1,0,0,0
$GC,14818,0.58,146.0,640.4,8.4,450,14822,0.00,2.35,0.00,0.000,4,0.000,0.071,2772,3513,2271,0,0,0,0,0,0
$GC,14896,0.58,146.0,632.2,10.2,451,14901,0.00,2.30,0.00,0.000,6,0.000,0.057,2777,2098,2273,0,0,0,0,0,0
$GC,15227,0.58,146.0,601.4,9.3,459,15231,0.00,2.35,0.00,0.000,4,0.000,0.069,2781,3508,2273,0,0,0,0,0,0
$GC,15264,0.58,146.0,597.6,10.3,459,15270,0.00,2.28,0.00,0.000,6,0.000,0.057,2791,2096,2273,0,0,1,0,0,0
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$STATE,23017,end climb,SURFACE_DEPTH_REACHED
$STATE,23017,begin surface coast
$FINISH,0.9,1.022945
$STATE,23050,end surface coast,CONTROL_FINISHED_OK
$STATE,23050,begin surface
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$TCM_TEMP,25.10
$XPDR_PINGS,2
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$AR_CDRIVE_FREE,8432812032
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52100104192
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,72.465
$10V_AH,9.7,49.515
$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
$DEVICE_SECS,20.000,216.925,393.325,70.050,0.000,79.529,100.232,1253.489,0.500,0.000,32.952,1780.651,18356.158,588.933,3504.258,640.313,33.362,1889.930,0.000,2274.143,0.000,0.545,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,4.336,0.000,0.000
$MEM,354992
$DATA_FILE_SIZE,30045,857
$CAP_FILE_SIZE,215149,0
$CFSIZE,260165632,227192832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,070211,002151,1830.948,12534.114,241,4.4,260,-2.2