version: 66.07
glider: 511
mission: 5
dive: 372
start: 2 11 111 8 36 9
data:
$ID,511
$MISSION,5
$DIVE,372
$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,-50541.879
$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,2579
$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,28
$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,371
$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
$GPS1,110211,082525,1829.275,12445.180,77,1.5,77,-2.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-68.9
$GPS2,110211,083513,1829.255,12444.936,32,1.6,32,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.199,0.081
$KALMAN_X,-521316.5,-46.4,-934.9,225877.0,4279.6
$KALMAN_Y,590785.4,382.0,343.6,-827080.4,-3404.5
$MHEAD_RNG_PITCHd_Wd,294.4,50785,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-70.35,0.000,2,0.000,0.000,35,2033,2912,0,0,0,0,0,0
$GC,103,-0.58,-146.0,3.9,-4.2,7,130,10.18,2.30,-11.18,0.000,4,0.247,0.072,2376,3461,3487,0,0,0,0,0,0
$GC,272,-0.58,-146.0,47.5,-19.0,25,277,0.00,2.20,0.00,0.000,6,0.000,0.047,2376,2056,3489,0,0,0,0,0,0
$GC,533,-0.58,-146.0,104.0,-21.6,50,537,0.00,2.25,0.00,0.000,4,0.000,0.061,2376,634,3487,0,0,0,0,0,0
$GC,625,-0.58,-146.0,122.0,-19.4,59,630,0.00,2.22,0.00,0.000,6,0.000,0.051,2363,2047,3489,0,0,0,0,0,0
$GC,885,-0.58,-146.0,174.6,-16.8,84,889,0.00,2.25,0.00,0.000,4,0.000,0.067,2356,3463,3490,0,0,0,0,0,0
$GC,1002,-0.58,-146.0,192.7,-15.3,96,1007,0.12,2.20,0.00,0.000,6,0.167,0.045,2389,2047,3490,0,0,0,0,0,0
$GC,1267,-0.58,-146.0,227.3,-13.0,111,1271,0.00,2.20,0.00,0.000,4,0.000,0.058,2389,636,3490,0,0,0,0,0,0
$GC,1383,-0.58,-146.0,242.3,-12.2,116,1387,0.00,2.22,0.00,0.000,6,0.000,0.051,2382,2057,3491,0,0,0,0,0,0
$GC,1711,-0.58,-146.0,284.0,-11.3,132,1715,0.00,2.25,0.00,0.000,4,0.000,0.067,2371,3462,3490,0,0,0,0,0,0
$GC,1785,-0.58,-146.0,292.2,-11.4,135,1789,0.00,2.17,0.00,0.000,6,0.000,0.046,2372,2050,3490,0,0,0,0,0,0
$GC,2105,-0.58,-146.0,331.2,-12.1,145,2109,0.00,2.20,0.00,0.000,4,0.000,0.054,2372,636,3493,0,0,0,0,0,0
$GC,2165,-0.58,-146.0,337.9,-11.0,146,2170,0.10,2.25,0.00,0.000,6,0.167,0.054,2389,2047,3490,0,0,0,0,0,0
$GC,2479,-0.58,-146.0,365.8,-8.7,154,2483,0.00,2.25,0.00,0.000,4,0.000,0.064,2380,3467,3489,0,0,0,0,0,0
$GC,2571,-0.58,-146.0,374.2,-8.4,156,2576,0.00,2.20,0.00,0.000,6,0.000,0.047,2380,2051,3488,0,0,0,0,0,0
$GC,2894,-0.58,-146.0,399.8,-7.7,164,2898,0.00,2.33,0.00,0.000,4,0.000,0.071,2371,3465,3486,0,0,0,0,0,0
$GC,2921,-0.58,-146.0,402.5,-9.7,164,2926,0.00,2.20,0.00,0.000,6,0.000,0.048,2372,2039,3487,0,0,1,0,0,0
$GC,3261,-0.58,-146.0,437.5,-10.2,173,3265,0.00,2.17,0.00,0.000,4,0.000,0.054,2372,634,3485,0,0,0,0,0,0
$GC,3312,-0.58,-146.0,442.5,-9.3,174,3317,0.10,2.25,0.00,0.000,6,0.165,0.056,2390,2052,3485,0,0,0,0,0,0
$GC,3635,-0.58,-146.0,467.9,-7.8,182,3639,0.00,2.28,0.00,0.000,4,0.000,0.066,2381,3461,3482,0,0,0,0,0,0
$GC,3662,-0.58,-146.0,470.3,-8.9,182,3666,0.00,2.20,0.00,0.000,6,0.000,0.050,2378,2052,3481,0,0,0,0,0,0
$GC,3998,-0.58,-146.0,501.4,-9.4,191,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2052,3479,0,0,0,0,0,0
$GC,4322,-0.58,-146.0,527.8,-7.7,199,4326,0.00,2.33,0.00,0.000,4,0.000,0.074,2373,3458,3477,0,0,0,0,0,0
$GC,4365,-0.58,-146.0,530.9,-7.6,199,4370,0.00,2.22,0.00,0.000,6,0.000,0.051,2373,2043,3475,0,0,0,0,0,0
$GC,4696,-0.58,-146.0,557.3,-8.1,208,4700,0.00,2.35,0.00,0.000,4,0.000,0.076,2365,3462,3474,0,0,0,0,0,0
$GC,4738,-0.58,-146.0,560.8,-8.1,209,4743,0.00,2.20,0.00,0.000,6,0.000,0.044,2370,2031,3474,0,0,0,0,0,0
$GC,5065,-0.58,-146.0,588.5,-8.7,217,5069,0.00,2.17,0.00,0.000,4,0.000,0.054,2365,644,3472,0,0,0,0,0,0
$GC,5108,-0.58,-146.0,592.4,-9.6,218,5113,0.12,2.25,0.00,0.000,6,0.156,0.054,2393,2058,3471,0,0,0,0,0,0
$GC,5436,-0.58,-146.0,617.8,-7.5,226,5440,0.00,2.28,0.00,0.000,4,0.000,0.065,2383,3458,3468,0,0,0,0,0,0
$GC,5482,-0.58,-146.0,621.6,-7.6,227,5486,0.00,2.20,0.00,0.000,6,0.000,0.043,2383,2038,3468,0,0,0,0,0,0
$GC,5804,-0.58,-146.0,648.5,-8.6,235,5808,0.00,2.33,0.00,0.000,4,0.000,0.064,2377,3461,3464,0,0,0,0,0,0
$GC,5841,-0.58,-146.0,651.7,-8.9,235,5846,0.00,2.17,0.00,0.000,6,0.000,0.042,2373,2044,3466,0,0,0,0,0,0
$GC,6172,-0.58,-146.0,680.4,-8.6,244,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2039,3464,0,0,0,0,0,0
$GC,6496,-0.58,-146.0,708.8,-8.9,252,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2038,3462,0,0,0,0,0,0
$GC,6821,-0.58,-146.0,735.9,-8.0,260,6825,0.00,2.33,0.00,0.000,4,0.000,0.067,2365,3463,3462,0,0,0,0,0,0
$GC,6876,-0.58,-146.0,740.3,-7.7,261,6881,0.00,2.17,0.00,0.000,6,0.000,0.044,2366,2058,3458,0,0,0,0,0,0
$GC,7195,-0.58,-146.0,765.5,-7.8,269,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2048,3458,0,0,0,0,0,0
$GC,7519,-0.58,-146.0,790.3,-7.8,277,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2048,3456,0,0,0,0,0,0
$GC,7844,-0.58,-146.0,816.0,-8.0,285,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2048,3454,0,0,0,0,0,0
$GC,8169,-0.58,-146.0,841.5,-7.9,293,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2048,3452,0,0,0,0,0,0
$GC,8494,-0.58,-146.0,866.0,-7.4,301,8498,0.00,2.22,0.00,0.000,4,0.000,0.056,2365,642,3448,0,0,0,0,0,0
$GC,8521,-0.58,-146.0,868.3,-8.2,301,8526,0.12,2.25,0.00,0.000,6,0.157,0.049,2390,2056,3450,0,0,0,0,0,0
$GC,8857,-0.58,-146.0,889.0,-6.1,310,8861,0.00,2.28,0.00,0.000,4,0.000,0.068,2382,3455,3449,0,0,0,0,0,0
$GC,8894,-0.58,-146.0,891.5,-6.5,310,8900,0.00,2.17,0.00,0.000,6,0.000,0.044,2381,2043,3448,0,0,0,0,0,0
$GC,9225,-0.58,-146.0,913.4,-6.5,319,9229,0.00,2.22,0.00,0.000,4,0.000,0.057,2382,653,3447,0,0,0,0,0,0
$GC,9252,-0.58,-146.0,915.1,-6.9,319,9256,0.00,2.22,0.00,0.000,6,0.000,0.050,2375,2049,3448,0,0,0,0,0,0
$GC,9587,-0.58,-146.0,938.1,-7.1,328,9591,0.00,2.33,0.00,0.000,4,0.000,0.067,2366,3464,3447,0,0,0,0,0,0
$GC,9647,-0.58,-146.0,943.0,-8.2,329,9651,0.00,2.20,0.00,0.000,6,0.000,0.045,2364,2048,3446,0,0,0,0,0,0
$GC,9996,-0.58,-146.0,973.9,-9.2,338,9997,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2046,3449,0,0,0,0,0,0
$STATE,10197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10197,begin apogee
$GC,10203,-0.28,0.0,992.5,9.2,343,10330,0.38,0.00,123.35,1.347,6,0.131,0.000,2483,2102,2892,0,0,0,0,0,0
$STATE,10331,end apogee,CONTROL_FINISHED_OK
$STATE,10331,begin climb
$GC,10333,0.58,146.0,998.8,0.0,346,10476,0.80,2.53,133.30,1.315,4,0.087,0.069,2759,3497,2295,0,0,0,0,0,0
$GC,10532,0.58,146.0,992.4,9.6,350,10536,0.00,2.28,0.00,0.000,6,0.000,0.048,2767,2105,2290,0,0,1,0,0,0
$GC,10867,0.58,146.0,959.5,9.9,359,10871,0.00,2.33,0.00,0.000,4,0.000,0.069,2769,3508,2283,0,0,0,0,0,0
$GC,10890,0.58,146.0,956.8,11.5,359,10894,0.00,2.22,0.00,0.000,6,0.000,0.049,2780,2099,2283,0,0,1,0,0,0
$GC,11234,0.58,146.0,919.1,11.4,368,11235,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2093,2279,0,0,0,0,0,0
$GC,11560,0.58,146.0,880.2,12.0,376,11564,0.00,2.33,0.00,0.000,4,0.000,0.068,2779,3506,2279,0,0,0,0,0,0
$GC,11610,0.58,146.0,873.2,13.0,377,11614,0.00,2.20,0.00,0.000,6,0.000,0.050,2790,2098,2279,0,0,1,0,0,0
$GC,11932,0.58,146.0,832.4,12.5,385,11933,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2092,2276,0,0,0,0,0,0
$GC,12258,0.58,146.0,791.5,12.4,393,12262,0.00,2.25,0.00,0.000,4,0.000,0.061,2801,691,2277,0,0,0,0,0,0
$GC,12294,0.58,146.0,786.8,11.9,393,12299,0.15,2.25,0.00,0.000,6,0.194,0.054,2765,2099,2276,0,0,0,0,0,0
$GC,12630,0.58,146.0,753.9,9.5,402,12631,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2099,2275,0,0,0,0,0,0
$GC,12956,0.58,146.0,722.1,9.8,410,12957,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2099,2275,0,0,0,0,0,0
$GC,13280,0.58,146.0,687.7,10.6,418,13284,0.00,2.33,0.00,0.000,4,0.000,0.070,2765,3504,2274,0,0,0,0,0,0
$GC,13344,0.58,146.0,680.3,10.7,419,13348,0.00,2.22,0.00,0.000,6,0.000,0.051,2774,2097,2275,0,0,1,0,0,0
$GC,13694,0.58,146.0,647.7,8.9,428,13695,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2091,2273,0,0,0,0,0,0
$GC,14018,0.58,146.0,623.1,7.3,436,14022,0.00,2.33,0.00,0.000,4,0.000,0.068,2774,3508,2273,0,0,0,0,0,0
$GC,14092,0.58,146.0,616.7,9.0,437,14096,0.00,2.22,0.00,0.000,6,0.000,0.048,2784,2092,2273,0,0,1,0,0,0
$GC,14432,0.58,146.0,583.8,10.0,446,14433,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2086,2276,0,0,0,0,0,0
$GC,14756,0.58,146.0,550.7,10.0,454,14760,0.00,2.25,0.00,0.000,4,0.000,0.061,2795,693,2273,0,0,0,0,0,0
$GC,14914,0.58,146.0,535.6,8.8,457,14918,0.00,2.28,0.00,0.000,6,0.000,0.053,2795,2105,2270,0,0,0,0,0,0
$GC,15259,0.58,146.0,504.0,9.4,466,15263,0.00,2.33,0.00,0.000,4,0.000,0.067,2795,3509,2271,0,0,0,0,0,0
$GC,15337,0.58,146.0,496.2,9.4,467,15342,0.15,2.22,0.00,0.000,6,0.197,0.049,2769,2098,2270,0,0,1,0,0,0
$GC,15668,0.58,146.0,473.5,6.5,475,15670,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2092,2272,0,0,0,0,0,0
$GC,15993,0.58,146.0,453.0,6.4,483,15997,0.00,2.28,0.00,0.000,4,0.000,0.061,2779,689,2271,0,0,0,0,0,0
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$STATE,22523,end climb,SURFACE_DEPTH_REACHED
$STATE,22523,begin surface coast
$FINISH,1.0,1.023403
$STATE,22567,end surface coast,CONTROL_FINISHED_OK
$STATE,22567,begin surface
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$SM_GC,1.69,0.00,0.00,70.10,0.000,0.000,0.543,41,2039,1054,-7.93,-0.34,450.12
$IRIDIUM_FIX,1823.67,12458.96,050812,202034
$TT8_MAMPS,0.056758
$HUMID,1078687087
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.50
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8432320512
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51908280320
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,75.491
$10V_AH,9.8,51.830
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.900,198.225,396.975,70.100,0.000,25.720,36.842,354.242,0.500,0.000,35.830,1783.692,17777.277,578.987,2701.260,399.497,33.365,1861.701,0.000,2258.378,0.000,0.543,0.000
$DEVICE_MAMPS,246.974,142.662,1346.852,543.036,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,590.901,0.000,0.000,0.000,0.000,0.000,0.000,21339.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,18.353,0.000,0.000
$MEM,354888
$DATA_FILE_SIZE,30015,876
$CAP_FILE_SIZE,189470,0
$CFSIZE,260165632,225779712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,110211,145707,1829.830,12441.530,149,1.1,149,-2.2