version: 66.07
glider: 511
mission: 5
dive: 386
start: 2 15 111 5 54 26
data:
$ID,511
$MISSION,5
$DIVE,386
$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,-50914.445
$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,27
$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,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,385
$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
$GPS1,150211,053106,1830.760,12419.240,48,1.0,48,-2.1
$_CALLS,3
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-72.6
$GPS2,150211,055332,1830.770,12418.864,8,1.7,8,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.017,0.214
$KALMAN_X,-540945.5,230.1,701.9,198375.2,-8396.3
$KALMAN_Y,575557.9,-744.6,1739.1,-809318.5,-7031.0
$MHEAD_RNG_PITCHd_Wd,357.6,318910,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.58,-146.0,0.0,0.0,0,98,0.00,0.00,-70.03,0.000,2,0.000,0.000,38,2042,2900,0,0,0,0,0,0
$GC,102,-0.58,-146.0,3.7,-3.6,7,129,10.15,2.30,-11.73,0.000,4,0.246,0.068,2385,637,3486,0,0,0,0,0,0
$GC,153,-0.58,-146.0,21.8,-27.0,12,158,0.00,2.20,0.00,0.000,6,0.000,0.048,2376,2053,3488,0,0,0,0,0,0
$GC,350,-0.58,-146.0,65.4,-20.7,31,354,0.00,2.20,0.00,0.000,4,0.000,0.058,2366,3453,3488,0,0,0,0,0,0
$GC,439,-0.58,-146.0,83.3,-19.6,40,443,0.00,2.12,0.00,0.000,6,0.000,0.043,2366,2053,3488,0,0,1,0,0,0
$GC,701,-0.58,-146.0,137.8,-19.0,64,705,0.00,2.20,0.00,0.000,4,0.000,0.049,2366,623,3488,0,0,0,0,0,0
$GC,734,-0.58,-146.0,145.3,-19.7,67,739,0.12,2.20,0.00,0.000,6,0.167,0.044,2389,2054,3489,0,0,0,0,0,0
$GC,996,-0.58,-146.0,188.9,-15.7,91,1000,0.00,2.20,0.00,0.000,4,0.000,0.058,2379,3467,3489,0,0,0,0,0,0
$GC,1057,-0.58,-146.0,198.4,-14.9,97,1062,0.00,2.20,0.00,0.000,6,0.000,0.043,2385,2035,3489,0,0,0,0,0,0
$GC,1326,-0.58,-146.0,241.4,-15.6,111,1330,0.00,2.17,0.00,0.000,4,0.000,0.054,2379,641,3489,0,0,0,0,0,0
$GC,1386,-0.58,-146.0,249.7,-12.7,113,1391,0.00,2.20,0.00,0.000,6,0.000,0.049,2370,2056,3489,0,0,0,0,0,0
$GC,1701,-0.58,-146.0,288.5,-13.0,129,1705,0.00,2.20,0.00,0.000,4,0.000,0.060,2361,3461,3487,0,0,0,0,0,0
$GC,1797,-0.58,-146.0,301.2,-13.2,133,1802,0.12,2.17,0.00,0.000,6,0.150,0.044,2396,2051,3487,0,0,0,0,0,0
$GC,2121,-0.58,-146.0,334.7,-9.6,141,2125,0.00,2.20,0.00,0.000,4,0.000,0.051,2396,628,3488,0,0,0,0,0,0
$GC,2153,-0.58,-146.0,337.9,-9.0,141,2157,0.00,2.25,0.00,0.000,6,0.000,0.051,2389,2059,3488,0,0,0,0,0,0
$GC,2483,-0.58,-146.0,366.2,-8.9,149,2487,0.00,2.20,0.00,0.000,4,0.000,0.059,2380,3462,3487,0,0,0,0,0,0
$GC,2548,-0.58,-146.0,372.2,-9.2,150,2552,0.00,2.20,0.00,0.000,6,0.000,0.042,2379,2032,3486,0,0,0,0,0,0
$GC,2893,-0.58,-146.0,403.8,-9.1,159,2896,0.00,2.15,0.00,0.000,4,0.000,0.051,2380,638,3484,0,0,0,0,0,0
$GC,2953,-0.58,-146.0,409.8,-10.2,160,2957,0.00,2.17,0.00,0.000,6,0.000,0.046,2373,2058,3484,0,0,0,0,0,0
$GC,3266,-0.58,-146.0,441.2,-10.1,168,3270,0.00,2.20,0.00,0.000,4,0.000,0.061,2363,3450,3482,0,0,0,0,0,0
$GC,3339,-0.58,-146.0,448.9,-10.9,169,3344,0.10,2.12,0.00,0.000,6,0.155,0.038,2392,2045,3481,0,0,0,0,0,0
$GC,3676,-0.58,-146.0,477.5,-7.8,178,3680,0.00,2.28,0.00,0.000,4,0.000,0.068,2382,3449,3479,0,0,0,0,0,0
$GC,3712,-0.58,-146.0,480.5,-7.8,178,3719,0.00,2.15,0.00,0.000,6,0.000,0.038,2381,2045,3479,0,0,0,0,0,0
$GC,4043,-0.58,-146.0,509.4,-9.3,187,4047,0.00,2.25,0.00,0.000,4,0.000,0.061,2371,3457,3477,0,0,0,0,0,0
$GC,4089,-0.58,-146.0,513.8,-9.3,188,4093,0.00,2.15,0.00,0.000,6,0.000,0.039,2372,2042,3477,0,0,0,0,0,0
$GC,4411,-0.58,-146.0,540.7,-7.8,196,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2039,3475,0,0,0,0,0,0
$GC,4736,-0.58,-146.0,567.3,-8.1,204,4740,0.00,2.25,0.00,0.000,4,0.000,0.062,2365,3449,3471,0,0,0,0,0,0
$GC,4769,-0.58,-146.0,570.0,-8.6,204,4773,0.00,2.12,0.00,0.000,6,0.000,0.041,2364,2051,3471,0,0,0,0,0,0
$GC,5099,-0.58,-146.0,598.0,-8.5,212,5104,0.00,2.25,0.00,0.000,4,0.000,0.061,2359,3455,3468,0,0,0,0,0,0
$GC,5159,-0.58,-146.0,603.4,-9.1,213,5164,0.12,2.17,0.00,0.000,6,0.148,0.041,2391,2048,3467,0,0,0,0,0,0
$GC,5509,-0.58,-146.0,629.6,-7.6,222,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2044,3466,0,0,0,0,0,0
$GC,5834,-0.58,-146.0,656.5,-8.5,230,5838,0.00,2.25,0.00,0.000,4,0.000,0.063,2383,3449,3463,0,0,0,0,0,0
$GC,5866,-0.58,-146.0,659.1,-7.6,230,5870,0.00,2.17,0.00,0.000,6,0.000,0.041,2383,2046,3463,0,0,0,0,0,0
$GC,6197,-0.58,-146.0,682.2,-6.9,238,6201,0.00,2.25,0.00,0.000,4,0.000,0.063,2374,3445,3461,0,0,0,0,0,0
$GC,6252,-0.58,-146.0,686.4,-8.1,239,6256,0.00,2.15,0.00,0.000,6,0.000,0.043,2374,2048,3463,0,0,0,0,0,0
$GC,6565,-0.58,-146.0,709.1,-7.4,247,6569,0.00,2.28,0.00,0.000,4,0.000,0.063,2366,3455,3459,0,0,0,0,0,0
$GC,6588,-0.58,-146.0,710.9,-8.0,247,6592,0.00,2.17,0.00,0.000,6,0.000,0.042,2366,2041,3458,0,0,0,0,0,0
$GC,6932,-0.58,-146.0,740.7,-8.7,256,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2035,3457,0,0,0,0,0,0
$GC,7257,-0.58,-146.0,767.4,-7.9,264,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2035,3455,0,0,0,0,0,0
$GC,7582,-0.58,-146.0,792.4,-7.6,272,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2034,3453,0,0,0,0,0,0
$GC,7908,-0.58,-146.0,816.8,-7.5,280,7912,0.00,2.30,0.00,0.000,4,0.000,0.065,2358,3449,3450,0,0,0,0,0,0
$GC,7950,-0.58,-146.0,820.0,-7.1,280,7957,0.12,2.20,0.00,0.000,6,0.148,0.044,2393,2043,3451,0,0,0,0,0,0
$GC,8281,-0.58,-146.0,840.1,-5.9,289,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2037,3447,0,0,0,0,0,0
$GC,8606,-0.58,-146.0,860.1,-6.2,297,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2037,3448,0,0,0,0,0,0
$GC,8931,-0.58,-146.0,879.9,-6.1,305,8932,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2037,3445,0,0,0,0,0,0
$GC,9256,-0.58,-146.0,901.3,-6.8,313,9260,0.00,2.30,0.00,0.000,4,0.000,0.066,2384,3450,3446,0,0,0,0,0,0
$GC,9288,-0.58,-146.0,903.7,-7.0,313,9292,0.00,2.17,0.00,0.000,6,0.000,0.046,2384,2051,3446,0,0,0,0,0,0
$GC,9619,-0.58,-146.0,927.5,-7.2,321,9623,0.00,2.28,0.00,0.000,4,0.000,0.064,2376,3450,3445,0,0,0,0,0,0
$GC,9651,-0.58,-146.0,930.0,-8.1,321,9655,0.00,2.17,0.00,0.000,6,0.000,0.045,2375,2051,3444,0,0,0,0,0,0
$GC,9986,-0.58,-146.0,954.9,-7.3,330,9990,0.00,2.28,0.00,0.000,4,0.000,0.064,2366,3450,3444,0,0,0,0,0,0
$GC,10043,-0.58,-146.0,959.1,-7.6,331,10047,0.00,2.17,0.00,0.000,6,0.000,0.045,2366,2051,3444,0,0,0,0,0,0
$GC,10356,-0.58,-146.0,980.6,-6.7,339,10360,0.00,2.28,0.00,0.000,4,0.000,0.064,2357,3449,3443,0,0,0,0,0,0
$GC,10384,-0.58,-146.0,982.7,-7.8,339,10389,0.12,2.17,0.00,0.000,6,0.148,0.045,2392,2051,3442,0,0,0,0,0,0
$STATE,10555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10555,begin apogee
$GC,10562,-0.28,0.0,992.0,5.3,344,10688,0.30,0.00,123.40,1.351,6,0.125,0.000,2491,2094,2890,0,0,0,0,0,0
$STATE,10711,end apogee,CONTROL_FINISHED_OK
$STATE,10711,begin climb
$GC,10714,0.58,146.0,996.1,0.0,347,10856,0.77,2.40,132.05,1.318,4,0.085,0.058,2776,698,2296,0,0,0,0,0,0
$GC,10943,0.58,146.0,983.1,10.7,352,10948,0.00,2.28,0.00,0.000,6,0.000,0.053,2773,2105,2285,0,0,1,0,0,0
$GC,11293,0.58,146.0,943.4,11.3,361,11297,0.00,2.30,0.00,0.000,4,0.000,0.068,2773,3508,2281,0,0,0,0,0,0
$GC,11387,0.58,146.0,931.8,12.4,363,11391,0.00,2.20,0.00,0.000,6,0.000,0.051,2784,2103,2280,0,0,1,0,0,0
$GC,11715,0.58,146.0,894.0,11.4,371,11719,0.00,2.25,0.00,0.000,4,0.000,0.061,2794,693,2278,0,0,0,0,0,0
$GC,11761,0.58,146.0,888.4,11.5,372,11765,0.00,2.22,0.00,0.000,6,0.000,0.053,2794,2105,2279,0,0,1,0,0,0
$GC,12083,0.58,146.0,850.3,11.8,380,12084,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2101,2277,0,0,0,0,0,0
$GC,12409,0.58,146.0,812.4,11.6,388,12413,0.00,2.30,0.00,0.000,4,0.000,0.067,2794,3514,2274,0,0,0,0,0,0
$GC,12478,0.58,146.0,803.5,13.2,389,12482,0.15,2.20,0.00,0.000,6,0.200,0.050,2769,2100,2276,0,0,1,0,0,0
$GC,12818,0.58,146.0,772.1,8.8,398,12819,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2094,2274,0,0,0,0,0,0
$GC,13143,0.58,146.0,744.3,8.4,406,13147,0.00,2.28,0.00,0.000,4,0.000,0.061,2778,691,2274,0,0,0,0,0,0
$GC,13217,0.58,146.0,737.6,8.9,407,13221,0.00,2.28,0.00,0.000,6,0.000,0.053,2778,2104,2273,0,0,0,0,0,0
$GC,13557,0.58,146.0,707.3,9.0,416,13561,0.00,2.33,0.00,0.000,4,0.000,0.069,2778,3511,2273,0,0,0,0,0,0
$GC,13608,0.58,146.0,701.6,11.3,417,13612,0.00,2.22,0.00,0.000,6,0.000,0.051,2789,2096,2273,0,0,1,0,0,0
$GC,13930,0.58,146.0,669.4,10.2,425,13934,0.00,2.35,0.00,0.000,4,0.000,0.067,2789,3511,2273,0,0,0,0,0,0
$GC,13958,0.58,146.0,666.2,10.7,425,13963,0.12,2.20,0.00,0.000,6,0.202,0.049,2771,2103,2272,0,0,1,0,0,0
$GC,14294,0.58,146.0,634.3,9.1,434,14298,0.00,2.33,0.00,0.000,4,0.000,0.069,2770,3510,2272,0,0,0,0,0,0
$GC,14345,0.58,146.0,629.4,9.2,435,14349,0.00,2.22,0.00,0.000,6,0.000,0.051,2779,2102,2273,0,0,0,0,0,0
$GC,14663,0.58,146.0,603.3,8.2,443,14667,0.00,2.28,0.00,0.000,4,0.000,0.060,2790,689,2272,0,0,0,0,0,0
$GC,14699,0.58,146.0,600.1,7.0,443,14704,0.00,2.25,0.00,0.000,6,0.000,0.052,2790,2102,2271,0,0,0,0,0,0
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$STATE,22695,end climb,SURFACE_DEPTH_REACHED
$STATE,22695,begin surface coast
$FINISH,1.0,1.010968
$STATE,22709,end surface coast,CONTROL_FINISHED_OK
$STATE,22709,begin surface
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$SM_GC,1.53,0.00,0.00,33.40,0.000,0.000,0.544,41,2085,1054,-7.93,1.07,450.12
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$TT8_MAMPS,0.059826
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$TCM_TEMP,25.00
$XPDR_PINGS,10
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,8033468416
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51856015360
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.0,78.058
$10V_AH,9.1,54.109
$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
$DEVICE_SECS,20.550,218.650,451.100,33.400,0.000,75.489,114.588,807.938,2.500,0.000,10.251,1758.251,17987.281,604.707,3242.925,512.376,33.359,1899.391,0.000,2244.280,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,17.754,0.000,0.000
$MEM,354604
$DATA_FILE_SIZE,30027,859
$CAP_FILE_SIZE,208138,0
$CFSIZE,260165632,224559104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,150211,121926,1833.360,12418.420,260,2.7,279,-2.1