version: 66.07
glider: 511
mission: 5
dive: 382
start: 2 14 111 2 41 34
data:
$ID,511
$MISSION,5
$DIVE,382
$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,-50797.672
$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,34
$R_STBD_OVSHOOT,25
$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,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$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,381
$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
$GPS1,140211,022100,1823.662,12415.990,36,1.0,42,-2.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-71.8
$GPS2,140211,024038,1823.703,12415.764,11,1.2,11,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.032,0.207
$KALMAN_X,-528525.9,247.7,-445.3,181718.4,-1491.4
$KALMAN_Y,583566.9,453.5,-832.9,-829040.2,-1735.3
$MHEAD_RNG_PITCHd_Wd,10.8,331426,-10.3,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.58,-137.6,0.0,0.0,0,118,0.00,0.00,-90.43,0.000,2,0.000,0.000,48,2033,2929,0,0,0,0,0,0
$GC,122,-0.59,-146.0,4.0,-4.4,9,149,10.23,2.30,-11.18,0.000,4,0.250,0.072,2370,3462,3487,0,0,0,0,0,0
$GC,326,-0.59,-146.0,53.6,-18.3,31,330,0.00,2.17,0.00,0.000,6,0.000,0.046,2370,2060,3489,0,0,0,0,0,0
$GC,587,-0.59,-146.0,110.8,-22.1,55,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2061,3491,0,0,0,0,0,0
$GC,842,-0.59,-146.0,161.0,-17.0,79,846,0.00,2.20,0.00,0.000,4,0.000,0.053,2370,630,3489,0,0,0,0,0,0
$GC,869,-0.59,-146.0,165.4,-15.8,81,875,0.00,2.20,0.00,0.000,6,0.000,0.051,2361,2043,3489,0,0,0,0,0,0
$GC,1128,-0.59,-146.0,212.2,-18.4,103,1132,0.00,2.25,0.00,0.000,4,0.000,0.061,2349,3462,3489,0,0,0,0,0,0
$GC,1211,-0.59,-146.0,226.1,-16.5,106,1217,0.12,2.20,0.00,0.000,6,0.166,0.045,2383,2047,3489,0,0,0,0,0,0
$GC,1527,-0.59,-146.0,265.8,-12.3,122,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2047,3487,0,0,0,0,0,0
$GC,1835,-0.59,-146.0,301.9,-11.8,137,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2047,3489,0,0,0,0,0,0
$GC,2160,-0.59,-146.0,338.1,-10.9,145,2164,0.00,2.30,0.00,0.000,4,0.000,0.068,2375,3468,3488,0,0,0,0,0,0
$GC,2225,-0.59,-146.0,345.2,-10.2,146,2229,0.00,2.20,0.00,0.000,6,0.000,0.046,2374,2048,3487,0,0,0,0,0,0
$GC,2574,-0.59,-146.0,386.6,-11.2,155,2578,0.00,2.22,0.00,0.000,4,0.000,0.052,2375,629,3486,0,0,0,0,0,0
$GC,2662,-0.59,-146.0,395.9,-10.4,157,2667,0.00,2.22,0.00,0.000,6,0.000,0.051,2367,2047,3486,0,0,0,0,0,0
$GC,2990,-0.59,-146.0,429.1,-10.1,165,2994,0.00,2.22,0.00,0.000,4,0.000,0.060,2356,3465,3484,0,0,0,0,0,0
$GC,3022,-0.59,-146.0,432.7,-11.1,165,3027,0.12,2.22,0.00,0.000,6,0.148,0.044,2391,2030,3483,0,0,0,0,0,0
$GC,3352,-0.59,-146.0,462.2,-8.7,173,3356,0.00,2.15,0.00,0.000,4,0.000,0.051,2391,644,3481,0,0,0,0,0,0
$GC,3380,-0.59,-146.0,464.5,-8.4,173,3384,0.00,2.17,0.00,0.000,6,0.000,0.047,2386,2062,3481,0,0,0,0,0,0
$GC,3715,-0.59,-146.0,489.9,-7.6,182,3719,0.00,2.20,0.00,0.000,4,0.000,0.061,2376,3452,3481,0,0,0,0,0,0
$GC,3784,-0.59,-146.0,495.5,-8.2,183,3788,0.00,2.17,0.00,0.000,6,0.000,0.046,2376,2051,3478,0,0,0,0,0,0
$GC,4124,-0.59,-146.0,525.3,-9.1,192,4129,0.00,2.30,0.00,0.000,4,0.000,0.070,2366,3462,3476,0,0,0,0,0,0
$GC,4186,-0.59,-146.0,531.1,-9.7,193,4190,0.00,2.20,0.00,0.000,6,0.000,0.048,2364,2049,3476,0,0,0,0,0,0
$GC,4535,-0.59,-146.0,564.7,-9.4,202,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2048,3471,0,0,0,0,0,0
$GC,4862,-0.59,-146.0,590.1,-7.5,210,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2048,3470,0,0,0,0,0,0
$GC,5185,-0.59,-146.0,613.5,-7.3,218,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2049,3470,0,0,0,0,0,0
$GC,5510,-0.59,-146.0,639.4,-8.2,226,5514,0.00,2.33,0.00,0.000,4,0.000,0.072,2363,3460,3465,0,0,0,0,0,0
$GC,5537,-0.59,-146.0,641.8,-8.2,226,5542,0.00,2.22,0.00,0.000,6,0.000,0.048,2363,2040,3465,0,0,0,0,0,0
$GC,5874,-0.59,-146.0,672.0,-9.1,235,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2039,3463,0,0,0,0,0,0
$GC,6199,-0.59,-146.0,701.7,-9.1,243,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2040,3460,0,0,0,0,0,0
$GC,6522,-0.59,-146.0,727.1,-7.3,251,6526,0.00,2.20,0.00,0.000,4,0.000,0.055,2363,636,3459,0,0,0,0,0,0
$GC,6566,-0.59,-146.0,730.3,-7.2,251,6572,0.12,2.20,0.00,0.000,6,0.155,0.048,2390,2046,3462,0,0,0,0,0,0
$GC,6898,-0.59,-146.0,750.6,-6.3,260,6902,0.00,2.28,0.00,0.000,4,0.000,0.066,2382,3457,3454,0,0,0,0,0,0
$GC,6960,-0.59,-146.0,754.9,-7.6,261,6964,0.00,2.17,0.00,0.000,6,0.000,0.043,2382,2046,3455,0,0,0,0,0,0
$GC,7310,-0.59,-146.0,780.9,-7.5,270,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2043,3454,0,0,0,0,0,0
$GC,7633,-0.59,-146.0,803.9,-7.0,278,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2043,3452,0,0,0,0,0,0
$GC,7958,-0.59,-146.0,827.6,-7.4,286,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2041,3450,0,0,0,0,0,0
$GC,8284,-0.59,-146.0,848.9,-6.2,294,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2041,3449,0,0,0,0,0,0
$GC,8609,-0.59,-146.0,865.8,-4.9,302,8612,0.00,2.33,0.00,0.000,4,0.000,0.067,2373,3460,3447,0,0,0,0,0,0
$GC,8651,-0.59,-146.0,868.0,-5.2,302,8657,0.00,2.22,0.00,0.000,6,0.000,0.044,2372,2043,3448,0,0,0,0,0,0
$GC,8983,-0.59,-146.0,885.6,-5.4,311,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2039,3447,0,0,0,0,0,0
$GC,9307,-0.59,-146.0,905.8,-6.6,319,9311,0.00,2.22,0.00,0.000,4,0.000,0.057,2372,637,3445,0,0,0,0,0,0
$GC,9344,-0.59,-146.0,908.7,-6.8,319,9349,0.00,2.22,0.00,0.000,6,0.000,0.049,2365,2050,3445,0,0,0,0,0,0
$GC,9677,-0.59,-146.0,932.6,-7.2,328,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2051,3441,0,0,0,0,0,0
$GC,9999,-0.59,-146.0,955.1,-6.7,336,10003,0.00,2.30,0.00,0.000,4,0.000,0.067,2356,3464,3443,0,0,0,0,0,0
$GC,10036,-0.59,-146.0,957.6,-7.6,336,10042,0.12,2.22,0.00,0.000,6,0.150,0.046,2390,2052,3443,0,0,0,0,0,0
$GC,10367,-0.59,-146.0,974.6,-5.1,345,10369,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2046,3442,0,0,0,0,0,0
$STATE,10690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10690,begin apogee
$GC,10696,-0.28,0.0,992.3,5.6,353,10822,0.30,0.00,122.75,1.351,6,0.127,0.000,2488,2108,2892,0,0,0,0,0,0
$STATE,10842,end apogee,CONTROL_FINISHED_OK
$STATE,10842,begin climb
$GC,10845,0.59,146.0,996.5,0.0,356,10987,0.80,2.47,132.55,1.318,4,0.086,0.061,2779,698,2293,0,0,1,0,0,0
$GC,11038,0.59,146.0,988.5,9.5,360,11043,0.00,2.28,0.00,0.000,6,0.000,0.054,2779,2085,2286,0,0,1,0,0,0
$GC,11378,0.59,146.0,950.8,11.2,369,11382,0.00,2.35,0.00,0.000,4,0.000,0.070,2779,3517,2279,0,0,0,0,0,0
$GC,11415,0.59,146.0,946.1,13.3,369,11420,0.00,2.25,0.00,0.000,6,0.000,0.049,2789,2095,2280,0,0,1,0,0,0
$GC,11746,0.59,146.0,906.2,12.2,378,11750,0.00,2.25,0.00,0.000,4,0.000,0.061,2799,689,2277,0,0,0,0,0,0
$GC,11801,0.59,146.0,898.9,12.5,379,11805,0.00,2.25,0.00,0.000,6,0.000,0.053,2800,2113,2276,0,0,1,0,0,0
$GC,12114,0.59,146.0,856.7,13.6,387,12118,0.00,2.30,0.00,0.000,4,0.000,0.061,2810,685,2276,0,0,0,0,0,0
$GC,12142,0.59,146.0,852.9,12.8,387,12147,0.15,2.25,0.00,0.000,6,0.197,0.053,2775,2104,2275,0,0,0,0,0,0
$GC,12478,0.59,146.0,811.9,12.0,396,12482,0.00,2.33,0.00,0.000,4,0.000,0.070,2774,3512,2274,0,0,0,0,0,0
$GC,12567,0.59,146.0,800.7,12.3,398,12571,0.00,2.22,0.00,0.000,6,0.000,0.051,2783,2100,2275,0,0,0,0,0,0
$GC,12894,0.59,146.0,765.2,10.3,406,12898,0.00,2.33,0.00,0.000,4,0.000,0.067,2783,3507,2274,0,0,0,0,0,0
$GC,12953,0.59,146.0,758.7,10.2,407,12958,0.00,2.20,0.00,0.000,6,0.000,0.050,2794,2097,2274,0,0,1,0,0,0
$GC,13267,0.59,146.0,728.9,9.2,415,13271,0.00,2.28,0.00,0.000,4,0.000,0.061,2804,693,2273,0,0,0,0,0,0
$GC,13313,0.59,146.0,724.2,9.4,416,13318,0.12,2.25,0.00,0.000,6,0.196,0.054,2776,2107,2272,0,0,0,0,0,0
$GC,13636,0.59,146.0,696.2,8.8,424,13640,0.00,2.33,0.00,0.000,4,0.000,0.068,2776,3518,2272,0,0,0,0,0,0
$GC,13730,0.59,146.0,686.4,11.6,426,13734,0.00,2.20,0.00,0.000,6,0.000,0.050,2784,2099,2270,0,0,1,0,0,0
$GC,14056,0.59,146.0,653.9,9.9,434,14061,0.00,2.28,0.00,0.000,4,0.000,0.061,2795,687,2271,0,0,0,0,0,0
$GC,14118,0.59,146.0,647.5,9.9,435,14122,0.00,2.25,0.00,0.000,6,0.000,0.053,2795,2102,2271,0,0,0,0,0,0
$GC,14467,0.59,146.0,611.8,9.9,444,14471,0.00,2.30,0.00,0.000,4,0.000,0.068,2794,3507,2268,0,0,0,0,0,0
$GC,14518,0.59,146.0,606.2,10.7,445,14523,0.12,2.22,0.00,0.000,6,0.200,0.050,2777,2094,2269,0,0,1,0,0,0
$GC,14837,0.59,146.0,579.0,8.2,453,14838,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2089,2271,0,0,0,0,0,0
$GC,15161,0.59,146.0,553.4,7.6,461,15162,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2090,2270,0,0,0,0,0,0
$GC,15486,0.59,146.0,527.1,8.0,469,15490,0.00,2.35,0.00,0.000,4,0.000,0.068,2776,3504,2270,0,0,0,0,0,0
$GC,15537,0.59,146.0,522.4,9.1,470,15542,0.00,2.20,0.00,0.000,6,0.000,0.050,2785,2095,2270,0,0,1,0,0,0
$GC,15855,0.59,146.0,496.4,8.0,478,15856,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2090,2273,0,0,0,0,0,0
$GC,16180,0.59,146.0,468.7,8.9,486,16184,0.00,2.33,0.00,0.000,4,0.000,0.066,2785,3508,2270,0,0,0,0,0,0
$GC,16314,0.59,146.0,456.0,8.3,489,16318,0.00,2.20,0.00,0.000,6,0.000,0.048,2795,2092,2270,0,0,1,0,0,0
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$STATE,22587,end climb,SURFACE_DEPTH_REACHED
$STATE,22588,begin surface coast
$FINISH,0.8,1.012841
$STATE,22638,end surface coast,CONTROL_FINISHED_OK
$STATE,22638,begin surface
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$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51907526656
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.9,77.250
$10V_AH,9.6,53.206
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,46.217,0.000,0.000
$MEM,354888
$DATA_FILE_SIZE,30013,862
$CAP_FILE_SIZE,201288,0
$CFSIZE,260165632,224935936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,140211,090356,1826.399,12415.643,88,4.3,107,-2.1