version: 66.07
glider: 511
mission: 5
dive: 387
start: 2 15 111 12 49 58
data:
$ID,511
$MISSION,5
$DIVE,387
$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,-50944.84
$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,31
$R_STBD_OVSHOOT,18
$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,386
$AR_SAMPLENUM,3
$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
$GPS1,150211,121926,1833.360,12418.420,260,2.7,279,-2.1
$_CALLS,4
$_XMS_NAKs,26
$_XMS_TOUTs,7
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-72.2
$GPS2,150211,124904,1833.481,12417.815,8,2.9,27,-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,-542316.1,681.3,839.0,197312.0,-7569.0
$KALMAN_Y,575343.2,389.7,-903.6,-802595.6,-580.4
$MHEAD_RNG_PITCHd_Wd,357.6,313729,-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,-70.53,0.000,2,0.000,0.000,26,2088,2944,0,0,0,0,0,0
$GC,103,-0.58,-146.0,4.5,-5.5,7,129,10.43,2.25,-10.38,0.000,4,0.252,0.072,2379,3472,3487,0,0,0,0,0,0
$GC,153,-0.58,-146.0,23.8,-30.6,12,158,0.00,2.20,0.00,0.000,6,0.000,0.044,2379,2049,3489,0,0,0,0,0,0
$GC,350,-0.58,-146.0,67.3,-18.8,31,354,0.00,2.30,0.00,0.000,4,0.000,0.065,2369,3461,3489,0,0,0,0,0,0
$GC,423,-0.58,-146.0,82.3,-20.1,38,428,0.00,2.22,0.00,0.000,6,0.000,0.046,2369,2041,3489,0,0,0,0,0,0
$GC,684,-0.58,-146.0,137.7,-20.4,63,688,0.00,2.28,0.00,0.000,4,0.000,0.061,2358,3468,3489,0,0,0,0,0,0
$GC,739,-0.58,-146.0,149.7,-20.9,68,745,0.12,2.17,0.00,0.000,6,0.163,0.041,2391,2038,3490,0,0,0,0,0,0
$GC,1001,-0.58,-146.0,186.9,-13.0,93,1005,0.00,2.15,0.00,0.000,4,0.000,0.051,2392,643,3490,0,0,0,0,0,0
$GC,1035,-0.58,-146.0,191.4,-12.7,96,1039,0.00,2.20,0.00,0.000,6,0.000,0.051,2384,2051,3490,0,0,0,0,0,0
$GC,1300,-0.58,-146.0,225.9,-13.4,112,1304,0.00,2.20,0.00,0.000,4,0.000,0.058,2374,3464,3490,0,0,0,0,0,0
$GC,1366,-0.58,-146.0,234.1,-12.4,115,1370,0.00,2.15,0.00,0.000,6,0.000,0.043,2374,2060,3490,0,0,0,0,0,0
$GC,1701,-0.58,-146.0,281.9,-13.1,131,1705,0.00,2.25,0.00,0.000,4,0.000,0.065,2364,3461,3489,0,0,0,0,0,0
$GC,1737,-0.58,-146.0,287.1,-12.8,132,1743,0.00,2.15,0.00,0.000,6,0.000,0.044,2364,2044,3489,0,0,1,0,0,0
$GC,2050,-0.58,-146.0,328.9,-13.4,143,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2044,3489,0,0,0,0,0,0
$GC,2374,-0.58,-146.0,367.0,-11.1,151,2378,0.00,2.17,0.00,0.000,4,0.000,0.051,2364,632,3487,0,0,0,0,0,0
$GC,2411,-0.58,-146.0,370.8,-10.0,151,2415,0.12,2.22,0.00,0.000,6,0.155,0.051,2390,2050,3488,0,0,0,0,0,0
$GC,2747,-0.58,-146.0,398.9,-8.5,160,2751,0.00,2.22,0.00,0.000,4,0.000,0.060,2381,3464,3486,0,0,0,0,0,0
$GC,2779,-0.58,-146.0,402.2,-9.9,160,2783,0.00,2.17,0.00,0.000,6,0.000,0.044,2381,2051,3486,0,0,0,0,0,0
$GC,3114,-0.58,-146.0,433.7,-9.0,169,3118,0.00,2.17,0.00,0.000,4,0.000,0.051,2382,636,3484,0,0,0,0,0,0
$GC,3136,-0.58,-146.0,435.8,-9.4,169,3141,0.00,2.22,0.00,0.000,6,0.000,0.053,2381,2046,3483,0,0,0,0,0,0
$GC,3477,-0.58,-146.0,467.1,-9.2,178,3481,0.00,2.25,0.00,0.000,4,0.000,0.061,2371,3473,3480,0,0,0,0,0,0
$GC,3568,-0.58,-146.0,476.1,-9.1,180,3573,0.00,2.22,0.00,0.000,6,0.000,0.044,2371,2044,3480,0,0,0,0,0,0
$GC,3891,-0.58,-146.0,506.3,-9.0,188,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2044,3475,0,0,0,0,0,0
$GC,4216,-0.58,-146.0,533.0,-8.2,196,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2044,3476,0,0,0,0,0,0
$GC,4541,-0.58,-146.0,561.9,-9.0,204,4545,0.00,2.30,0.00,0.000,4,0.000,0.064,2363,3467,3473,0,0,0,0,0,0
$GC,4573,-0.58,-146.0,564.7,-8.5,204,4578,0.10,2.20,0.00,0.000,6,0.153,0.040,2391,2044,3473,0,0,0,0,0,0
$GC,4904,-0.58,-146.0,588.3,-7.0,212,4908,0.00,2.30,0.00,0.000,4,0.000,0.063,2382,3471,3471,0,0,0,0,0,0
$GC,4936,-0.58,-146.0,590.7,-7.5,212,4940,0.00,2.17,0.00,0.000,6,0.000,0.041,2382,2046,3470,0,0,0,0,0,0
$GC,5271,-0.58,-146.0,616.0,-7.7,221,5275,0.00,2.28,0.00,0.000,4,0.000,0.063,2372,3467,3467,0,0,0,0,0,0
$GC,5295,-0.58,-146.0,617.9,-7.9,221,5299,0.00,2.20,0.00,0.000,6,0.000,0.041,2373,2047,3467,0,0,0,0,0,0
$GC,5634,-0.58,-146.0,647.5,-8.9,230,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2043,3466,0,0,0,0,0,0
$GC,5959,-0.58,-146.0,676.5,-8.9,238,5963,0.00,2.33,0.00,0.000,4,0.000,0.064,2364,3471,3462,0,0,0,0,0,0
$GC,6020,-0.58,-146.0,681.9,-9.3,239,6024,0.00,2.20,0.00,0.000,6,0.000,0.042,2364,2042,3463,0,0,0,0,0,0
$GC,6368,-0.58,-146.0,710.1,-7.7,248,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2037,3461,0,0,0,0,0,0
$GC,6693,-0.58,-146.0,732.8,-6.8,256,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2037,3458,0,0,0,0,0,0
$GC,7019,-0.58,-146.0,755.8,-7.1,264,7023,0.00,2.33,0.00,0.000,4,0.000,0.065,2355,3472,3456,0,0,0,0,0,0
$GC,7051,-0.58,-146.0,758.4,-8.2,264,7056,0.12,2.20,0.00,0.000,6,0.149,0.043,2389,2050,3453,0,0,0,0,0,0
$GC,7383,-0.58,-146.0,777.6,-5.6,272,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2043,3454,0,0,0,0,0,0
$GC,7708,-0.58,-146.0,795.9,-5.8,280,7712,0.00,2.30,0.00,0.000,4,0.000,0.064,2381,3469,3452,0,0,0,0,0,0
$GC,7769,-0.58,-146.0,799.7,-6.4,281,7773,0.00,2.20,0.00,0.000,6,0.000,0.044,2381,2046,3452,0,0,0,0,0,0
$GC,8119,-0.58,-146.0,823.2,-6.8,290,8123,0.00,2.30,0.00,0.000,4,0.000,0.064,2374,3466,3450,0,0,0,0,0,0
$GC,8142,-0.58,-146.0,824.8,-7.7,290,8146,0.00,2.20,0.00,0.000,6,0.000,0.044,2372,2046,3449,0,0,0,0,0,0
$GC,8482,-0.58,-146.0,850.3,-7.7,299,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2044,3448,0,0,0,0,0,0
$GC,8807,-0.58,-146.0,874.5,-7.3,307,8811,0.00,2.33,0.00,0.000,4,0.000,0.064,2364,3467,3447,0,0,0,0,0,0
$GC,8834,-0.58,-146.0,876.5,-7.5,307,8838,0.00,2.20,0.00,0.000,6,0.000,0.044,2364,2053,3447,0,0,0,0,0,0
$GC,9175,-0.58,-146.0,900.3,-6.8,316,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2048,3446,0,0,0,0,0,0
$GC,9499,-0.58,-146.0,920.4,-6.1,324,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2047,3445,0,0,0,0,0,0
$GC,9824,-0.58,-146.0,941.7,-6.8,332,9828,0.00,2.30,0.00,0.000,4,0.000,0.064,2355,3467,3443,0,0,0,0,0,0
$GC,9857,-0.58,-146.0,944.0,-6.5,332,9862,0.12,2.22,0.00,0.000,6,0.150,0.046,2390,2042,3443,0,0,0,0,0,0
$GC,10188,-0.58,-146.0,961.9,-5.5,340,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2034,3443,0,0,0,0,0,0
$GC,10513,-0.58,-146.0,979.6,-5.5,348,10517,0.00,2.33,0.00,0.000,4,0.000,0.067,2381,3465,3441,0,0,0,0,0,0
$GC,10537,-0.58,-146.0,980.8,-5.7,348,10541,0.00,2.22,0.00,0.000,6,0.000,0.048,2381,2045,3441,0,0,0,0,0,0
$STATE,10712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10712,begin apogee
$GC,10718,-0.28,0.0,991.3,6.0,353,10844,0.32,0.00,122.85,1.351,6,0.127,0.000,2485,2109,2892,0,0,0,0,0,0
$STATE,10853,end apogee,CONTROL_FINISHED_OK
$STATE,10853,begin climb
$GC,10856,0.58,146.0,995.5,0.0,356,10998,0.80,2.47,133.32,1.317,4,0.086,0.059,2774,700,2293,0,0,1,0,0,0
$GC,11070,0.58,146.0,985.0,11.7,361,11074,0.00,2.28,0.00,0.000,6,0.000,0.053,2774,2104,2284,0,0,1,0,0,0
$GC,11397,0.58,146.0,950.4,10.6,369,11400,0.00,2.30,0.00,0.000,4,0.000,0.069,2774,3511,2279,0,0,0,0,0,0
$GC,11447,0.58,146.0,944.5,11.9,370,11451,0.00,2.22,0.00,0.000,6,0.000,0.050,2784,2105,2278,0,0,0,0,0,0
$GC,11770,0.58,146.0,910.2,10.7,378,11774,0.00,2.30,0.00,0.000,4,0.000,0.067,2784,3508,2278,0,0,0,0,0,0
$GC,11802,0.58,146.0,906.2,12.2,378,11806,0.00,2.22,0.00,0.000,6,0.000,0.051,2796,2103,2278,0,0,0,0,0,0
$GC,12132,0.58,146.0,869.2,11.1,386,12137,0.00,2.28,0.00,0.000,4,0.000,0.061,2805,684,2273,0,0,0,0,0,0
$GC,12175,0.58,146.0,864.5,11.1,387,12180,0.15,2.25,0.00,0.000,6,0.198,0.053,2770,2102,2278,0,0,0,0,0,0
$GC,12503,0.58,146.0,834.3,9.2,395,12507,0.00,2.30,0.00,0.000,4,0.000,0.069,2770,3510,2276,0,0,0,0,0,0
$GC,12568,0.58,146.0,827.3,11.8,396,12572,0.00,2.22,0.00,0.000,6,0.000,0.051,2779,2098,2274,0,0,1,0,0,0
$GC,12917,0.58,146.0,790.9,10.7,405,12921,0.00,2.33,0.00,0.000,4,0.000,0.068,2779,3506,2274,0,0,0,0,0,0
$GC,12968,0.58,146.0,785.0,11.7,406,12972,0.00,2.22,0.00,0.000,6,0.000,0.051,2789,2101,2273,0,0,0,0,0,0
$GC,13290,0.58,146.0,750.8,10.4,414,13294,0.00,2.33,0.00,0.000,4,0.000,0.067,2789,3505,2273,0,0,0,0,0,0
$GC,13369,0.58,146.0,742.1,10.2,415,13373,0.15,2.22,0.00,0.000,6,0.199,0.051,2764,2099,2273,0,0,1,0,0,0
$GC,13699,0.58,146.0,714.5,8.2,423,13700,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2093,2271,0,0,0,0,0,0
$GC,14025,0.58,146.0,689.0,7.9,431,14026,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2093,2271,0,0,0,0,0,0
$GC,14349,0.58,146.0,663.0,8.2,439,14353,0.00,2.28,0.00,0.000,4,0.000,0.062,2779,689,2271,0,0,0,0,0,0
$GC,14400,0.58,146.0,658.7,8.7,440,14404,0.00,2.28,0.00,0.000,6,0.000,0.053,2772,2104,2270,0,0,0,0,0,0
$GC,14718,0.58,146.0,630.2,9.1,448,14722,0.00,2.30,0.00,0.000,4,0.000,0.068,2770,3510,2267,0,0,0,0,0,0
$GC,14818,0.58,146.0,619.3,11.5,450,14822,0.00,2.25,0.00,0.000,6,0.000,0.051,2784,2091,2268,0,0,0,0,0,0
$GC,15136,0.58,146.0,588.5,9.5,458,15140,0.00,2.28,0.00,0.000,4,0.000,0.062,2795,692,2271,0,0,0,0,0,0
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$STATE,23224,end climb,SURFACE_DEPTH_REACHED
$STATE,23224,begin surface coast
$FINISH,1.0,1.014304
$STATE,23257,end surface coast,CONTROL_FINISHED_OK
$STATE,23257,begin surface
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$AR_CDRIVE_SIZE,8453062656
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$AR_DDRIVE_SIZE,59996930048
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$10V_AH,8.8,54.314
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.100,206.975,414.350,61.625,0.000,125.936,143.457,1069.877,7.250,0.000,29.762,1844.628,18492.809,604.353,3600.295,569.049,33.369,1908.196,0.000,2301.657,0.000,0.544,0.000
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$MEM,354824
$DATA_FILE_SIZE,33345,913
$CAP_FILE_SIZE,214203,0
$CFSIZE,260165632,224440320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,150211,192037,1836.170,12416.545,45,1.4,45,-2.2