version: 66.07
glider: 511
mission: 5
dive: 374
start: 2 11 111 22 0 21
data:
$ID,511
$MISSION,5
$DIVE,374
$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,-50574.797
$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,39
$R_STBD_OVSHOOT,24
$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,373
$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
$GPS1,110211,214308,1828.307,12437.527,109,0.9,109,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-67.2
$GPS2,110211,215926,1828.271,12437.085,14,1.1,14,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.212,0.035
$KALMAN_X,-522347.1,261.1,-604.7,212647.0,1559.0
$KALMAN_Y,588113.8,-154.0,589.2,-825940.2,-3287.4
$MHEAD_RNG_PITCHd_Wd,281.6,37145,-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,27,-0.58,-146.0,0.0,0.0,0,110,0.00,0.00,-80.75,0.000,2,0.000,0.000,34,2030,2659,0,0,0,0,0,0
$GC,114,-0.58,-146.0,3.0,-2.5,8,150,10.27,2.35,-19.33,0.000,4,0.251,0.080,2376,3454,3486,0,0,0,0,0,0
$GC,215,-0.58,-146.0,24.4,-20.1,19,220,0.00,2.15,0.00,0.000,6,0.000,0.046,2376,2065,3486,0,0,0,0,0,0
$GC,413,-0.58,-146.0,71.4,-23.8,37,417,0.00,2.28,0.00,0.000,4,0.000,0.061,2375,633,3487,0,0,0,0,0,0
$GC,486,-0.58,-146.0,87.8,-18.6,44,491,0.00,2.22,0.00,0.000,6,0.000,0.052,2366,2048,3487,0,0,0,0,0,0
$GC,747,-0.58,-146.0,148.4,-24.3,69,751,0.00,2.28,0.00,0.000,4,0.000,0.070,2355,3462,3488,0,0,0,0,0,0
$GC,812,-0.58,-146.0,162.2,-19.6,75,818,0.15,2.17,0.00,0.000,6,0.158,0.046,2396,2044,3487,0,0,0,0,0,0
$GC,1074,-0.58,-146.0,201.3,-13.0,100,1078,0.00,2.20,0.00,0.000,4,0.000,0.063,2396,646,3487,0,0,0,0,0,0
$GC,1101,-0.58,-146.0,205.1,-12.1,101,1105,0.00,2.20,0.00,0.000,6,0.000,0.052,2388,2050,3487,0,0,0,0,0,0
$GC,1425,-0.58,-146.0,245.6,-12.5,117,1429,0.00,2.33,0.00,0.000,4,0.000,0.075,2387,3468,3494,0,0,0,0,0,0
$GC,1458,-0.58,-146.0,249.6,-11.6,118,1462,0.00,2.20,0.00,0.000,6,0.000,0.044,2387,2048,3487,0,0,0,0,0,0
$GC,1773,-0.58,-146.0,286.9,-12.4,133,1777,0.00,2.22,0.00,0.000,4,0.000,0.060,2387,641,3487,0,0,0,0,0,0
$GC,1838,-0.58,-146.0,294.7,-11.2,136,1842,0.00,2.22,0.00,0.000,6,0.000,0.054,2380,2050,3488,0,0,0,0,0,0
$GC,2188,-0.58,-146.0,331.0,-10.7,146,2192,0.00,2.28,0.00,0.000,4,0.000,0.065,2370,3464,3488,0,0,0,0,0,0
$GC,2225,-0.58,-146.0,335.3,-11.9,146,2230,0.00,2.15,0.00,0.000,6,0.000,0.047,2369,2058,3489,0,0,1,0,0,0
$GC,2555,-0.58,-146.0,374.9,-11.8,155,2559,0.00,2.20,0.00,0.000,4,0.000,0.054,2370,630,3485,0,0,0,0,0,0
$GC,2692,-0.58,-146.0,390.2,-11.0,158,2696,0.00,2.25,0.00,0.000,6,0.000,0.054,2370,2058,3484,0,0,0,0,0,0
$GC,3019,-0.58,-146.0,427.0,-11.2,166,3023,0.00,2.25,0.00,0.000,4,0.000,0.064,2362,3465,3483,0,0,0,0,0,0
$GC,3037,-0.58,-146.0,429.1,-10.6,166,3042,0.12,2.17,0.00,0.000,6,0.146,0.048,2397,2037,3481,0,0,1,0,0,0
$GC,3387,-0.58,-146.0,457.5,-7.9,175,3391,0.00,2.33,0.00,0.000,4,0.000,0.070,2388,3460,3479,0,0,0,0,0,0
$GC,3438,-0.58,-146.0,461.5,-8.8,176,3442,0.00,2.20,0.00,0.000,6,0.000,0.046,2388,2047,3479,0,0,0,0,0,0
$GC,3760,-0.58,-146.0,485.0,-7.1,184,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2046,3477,0,0,0,0,0,0
$GC,4085,-0.58,-146.0,507.7,-6.6,192,4089,0.00,2.17,0.00,0.000,4,0.000,0.054,2388,643,3475,0,0,0,0,0,0
$GC,4130,-0.58,-146.0,511.1,-7.4,193,4135,0.00,2.25,0.00,0.000,6,0.000,0.051,2388,2059,3474,0,0,0,0,0,0
$GC,4453,-0.58,-146.0,534.6,-7.5,201,4457,0.00,2.22,0.00,0.000,4,0.000,0.066,2388,3457,3471,0,0,0,0,0,0
$GC,4476,-0.58,-146.0,536.5,-7.4,201,4480,0.00,2.15,0.00,0.000,6,0.000,0.041,2388,2049,3471,0,0,0,0,0,0
$GC,4820,-0.58,-146.0,564.8,-8.5,210,4824,0.00,2.28,0.00,0.000,4,0.000,0.066,2388,3456,3470,0,0,0,0,0,0
$GC,4876,-0.58,-146.0,569.5,-8.1,211,4880,0.00,2.15,0.00,0.000,6,0.000,0.041,2392,2047,3467,0,0,0,0,0,0
$GC,5193,-0.58,-146.0,593.1,-6.9,219,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2046,3465,0,0,0,0,0,0
$GC,5518,-0.58,-146.0,613.5,-6.6,227,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2045,3462,0,0,0,0,0,0
$GC,5844,-0.58,-146.0,639.7,-8.4,235,5848,0.00,2.20,0.00,0.000,4,0.000,0.054,2388,646,3460,0,0,0,0,0,0
$GC,5871,-0.58,-146.0,642.3,-9.2,235,5875,0.00,2.22,0.00,0.000,6,0.000,0.048,2388,2050,3460,0,0,0,0,0,0
$GC,6206,-0.58,-146.0,669.1,-7.8,244,6210,0.00,2.30,0.00,0.000,4,0.000,0.067,2388,3460,3458,0,0,0,0,0,0
$GC,6275,-0.58,-146.0,674.2,-8.0,245,6279,0.00,2.17,0.00,0.000,6,0.000,0.042,2388,2042,3457,0,0,0,0,0,0
$GC,6615,-0.58,-146.0,699.6,-7.5,254,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2036,3455,0,0,0,0,0,0
$GC,6940,-0.58,-146.0,722.0,-6.6,262,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2036,3454,0,0,0,0,0,0
$GC,7265,-0.58,-146.0,744.6,-7.0,270,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2036,3451,0,0,0,0,0,0
$GC,7591,-0.58,-146.0,766.9,-6.7,278,7595,0.00,2.22,0.00,0.000,4,0.000,0.056,2388,645,3449,0,0,0,0,0,0
$GC,7627,-0.58,-146.0,769.7,-7.3,278,7632,0.00,2.25,0.00,0.000,6,0.000,0.051,2388,2056,3449,0,0,0,0,0,0
$GC,7958,-0.58,-146.0,790.2,-6.2,287,7962,0.00,2.30,0.00,0.000,4,0.000,0.068,2388,3456,3448,0,0,0,0,0,0
$GC,8014,-0.58,-146.0,793.7,-6.8,288,8018,0.00,2.17,0.00,0.000,6,0.000,0.044,2388,2049,3447,0,0,0,0,0,0
$GC,8327,-0.58,-146.0,814.0,-6.8,296,8331,0.00,2.30,0.00,0.000,4,0.000,0.066,2388,3461,3444,0,0,0,0,0,0
$GC,8369,-0.58,-146.0,817.1,-7.2,297,8373,0.00,2.17,0.00,0.000,6,0.000,0.044,2390,2039,3446,0,0,1,0,0,0
$GC,8696,-0.58,-146.0,839.9,-7.0,305,8700,0.00,2.22,0.00,0.000,4,0.000,0.057,2388,647,3445,0,0,0,0,0,0
$GC,8733,-0.58,-146.0,842.6,-6.7,305,8739,0.00,2.22,0.00,0.000,6,0.000,0.051,2388,2051,3445,0,0,0,0,0,0
$GC,9064,-0.58,-146.0,863.5,-6.2,314,9068,0.00,2.30,0.00,0.000,4,0.000,0.070,2388,3461,3443,0,0,0,0,0,0
$GC,9101,-0.58,-146.0,865.5,-5.7,314,9107,0.00,2.22,0.00,0.000,6,0.000,0.045,2388,2043,3443,0,0,0,0,0,0
$GC,9432,-0.58,-146.0,885.3,-6.1,323,9436,0.00,2.25,0.00,0.000,4,0.000,0.057,2388,640,3442,0,0,0,0,0,0
$GC,9464,-0.58,-146.0,887.4,-6.8,323,9468,0.00,2.22,0.00,0.000,6,0.000,0.050,2388,2053,3443,0,0,0,0,0,0
$GC,9796,-0.58,-146.0,907.3,-6.0,331,9800,0.00,2.30,0.00,0.000,4,0.000,0.069,2388,3456,3441,0,0,0,0,0,0
$GC,9839,-0.58,-146.0,909.9,-5.7,331,9844,0.00,2.20,0.00,0.000,6,0.000,0.045,2388,2050,3442,0,0,0,0,0,0
$GC,10169,-0.58,-146.0,929.8,-6.0,340,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2048,3440,0,0,0,0,0,0
$GC,10495,-0.58,-146.0,950.7,-6.6,348,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2049,3439,0,0,0,0,0,0
$GC,10819,-0.58,-146.0,972.1,-6.6,356,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2048,3439,0,0,0,0,0,0
$STATE,11142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11142,begin apogee
$GC,11148,-0.28,0.0,992.3,6.2,364,11273,0.30,0.00,122.28,1.348,6,0.127,0.000,2484,2097,2891,0,0,0,0,0,0
$STATE,11277,end apogee,CONTROL_FINISHED_OK
$STATE,11277,begin climb
$GC,11280,0.58,146.0,996.7,0.0,367,11422,0.77,2.42,133.95,1.311,4,0.090,0.061,2762,699,2294,0,0,1,0,0,0
$GC,11523,0.58,146.0,983.6,9.8,372,11528,0.00,2.30,0.00,0.000,6,0.000,0.054,2762,2105,2284,0,0,0,0,0,0
$GC,11859,0.58,146.0,949.4,10.1,381,11863,0.00,2.35,0.00,0.000,4,0.000,0.071,2762,3515,2281,0,0,0,0,0,0
$GC,11902,0.58,146.0,944.7,10.8,382,11906,0.00,2.20,0.00,0.000,6,0.000,0.050,2772,2109,2280,0,0,1,0,0,0
$GC,12228,0.58,146.0,909.9,10.8,390,12233,0.00,2.30,0.00,0.000,4,0.000,0.071,2772,3507,2277,0,0,0,0,0,0
$GC,12293,0.58,146.0,902.0,12.1,391,12297,0.00,2.20,0.00,0.000,6,0.000,0.050,2782,2099,2276,0,0,1,0,0,0
$GC,12638,0.58,146.0,862.4,11.2,400,12639,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2092,2276,0,0,0,0,0,0
$GC,12962,0.58,146.0,826.8,10.8,408,12963,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2092,2275,0,0,0,0,0,0
$GC,13287,0.58,146.0,792.2,10.9,416,13291,0.00,2.28,0.00,0.000,4,0.000,0.061,2795,691,2275,0,0,0,0,0,0
$GC,13301,0.58,146.0,790.6,11.1,416,13305,0.00,2.25,0.00,0.000,6,0.000,0.053,2793,2103,2273,0,0,0,0,0,0
$GC,13650,0.58,146.0,752.5,10.9,425,13651,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2103,2272,0,0,0,0,0,0
$GC,13975,0.58,146.0,716.0,11.0,433,13979,0.00,2.30,0.00,0.000,4,0.000,0.061,2803,692,2274,0,0,0,0,0,0
$GC,14045,0.58,146.0,708.2,10.0,434,14049,0.15,2.28,0.00,0.000,6,0.189,0.054,2767,2100,2272,0,0,0,0,0,0
$GC,14385,0.58,146.0,678.4,8.6,443,14386,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2100,2272,0,0,0,0,0,0
$GC,14711,0.58,146.0,651.8,8.2,451,14715,0.00,2.33,0.00,0.000,4,0.000,0.071,2767,3506,2272,0,0,0,0,0,0
$GC,14834,0.58,146.0,640.0,10.9,453,14838,0.00,2.22,0.00,0.000,6,0.000,0.051,2776,2100,2273,0,0,0,0,0,0
$GC,15169,0.58,146.0,607.2,9.5,462,15173,0.00,2.28,0.00,0.000,4,0.000,0.063,2785,693,2271,0,0,0,0,0,0
$GC,15258,0.58,146.0,598.5,10.5,464,15262,0.00,2.28,0.00,0.000,6,0.000,0.054,2787,2101,2271,0,0,0,0,0,0
$GC,15585,0.58,146.0,569.0,8.8,472,15589,0.00,2.35,0.00,0.000,4,0.000,0.070,2786,3514,2270,0,0,0,0,0,0
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$STATE,23211,end climb,SURFACE_DEPTH_REACHED
$STATE,23211,begin surface coast
$FINISH,1.1,1.007272
$STATE,23244,end surface coast,CONTROL_FINISHED_OK
$STATE,23244,begin surface
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$IRIDIUM_FIX,1821.40,12436.25,060812,161612
$TT8_MAMPS,0.057525
$HUMID,1078702571
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,25.40
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8432320512
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51907887104
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,75.878
$10V_AH,9.8,52.070
$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
$DEVICE_SECS,19.725,216.100,354.225,97.675,0.000,58.546,80.321,612.767,0.250,0.000,16.457,1812.921,18454.150,602.653,2983.514,479.317,33.362,1901.922,0.000,2279.717,0.000,0.544,0.000
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$SENSOR_SECS,593.635,0.000,0.000,0.000,0.000,0.000,0.000,22325.199,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.278,0.000,0.000
$MEM,354852
$DATA_FILE_SIZE,30040,878
$CAP_FILE_SIZE,202018,0
$CFSIZE,260165632,225607680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,120211,043252,1828.163,12433.361,115,3.1,134,-2.1