version: 66.07
glider: 511
mission: 5
dive: 390
start: 2 16 111 9 36 28
data:
$ID,511
$MISSION,5
$DIVE,390
$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,586.50275
$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,-51035.043
$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,44
$R_STBD_OVSHOOT,23
$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,389
$AR_SAMPLENUM,0
$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
$GPS1,160211,091507,1842.915,12416.241,48,1.7,48,-2.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-73.5
$GPS2,160211,093534,1843.067,12416.199,14,2.2,33,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.195,0.081
$KALMAN_X,-547177.0,200.6,982.3,199732.0,-6532.0
$KALMAN_Y,573059.6,395.6,-32.4,-783436.1,-1821.5
$MHEAD_RNG_PITCHd_Wd,69.8,295786,-10.2,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.58,-140.0,0.0,0.0,0,101,0.00,0.00,-70.82,0.000,2,0.000,0.000,43,2030,2942,0,0,0,0,0,0
$GC,105,-0.59,-146.0,4.4,-4.9,7,131,10.38,0.00,-10.65,0.000,6,0.251,0.000,2379,2029,3486,0,0,0,0,0,0
$GC,322,-0.59,-146.0,62.9,-24.6,28,326,0.00,2.33,0.00,0.000,4,0.000,0.067,2370,3461,3488,0,0,0,0,0,0
$GC,411,-0.59,-146.0,82.4,-21.5,37,416,0.00,2.12,0.00,0.000,6,0.000,0.040,2370,2062,3489,0,0,0,0,0,0
$GC,676,-0.59,-146.0,140.2,-19.7,62,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2056,3489,0,0,0,0,0,0
$GC,932,-0.59,-146.0,188.7,-16.9,86,936,0.00,2.17,0.00,0.000,4,0.000,0.050,2375,639,3487,0,0,0,0,0,0
$GC,969,-0.59,-146.0,195.2,-16.4,89,974,0.00,2.15,0.00,0.000,6,0.000,0.044,2361,2049,3489,0,0,0,0,0,0
$GC,1233,-0.59,-146.0,239.9,-16.0,104,1237,0.00,2.22,0.00,0.000,4,0.000,0.058,2350,3458,3490,0,0,0,0,0,0
$GC,1265,-0.59,-146.0,244.9,-14.8,105,1270,0.12,2.17,0.00,0.000,6,0.156,0.043,2384,2048,3490,0,0,0,0,0,0
$GC,1580,-0.59,-146.0,281.9,-11.0,120,1584,0.00,2.20,0.00,0.000,4,0.000,0.053,2385,636,3492,0,0,0,0,0,0
$GC,1636,-0.59,-146.0,288.2,-10.8,122,1640,0.00,2.22,0.00,0.000,6,0.000,0.049,2378,2048,3489,0,0,0,0,0,0
$GC,1948,-0.59,-146.0,324.9,-11.7,132,1952,0.00,2.22,0.00,0.000,4,0.000,0.059,2373,3465,3489,0,0,0,0,0,0
$GC,1980,-0.59,-146.0,329.1,-12.2,132,1984,0.00,2.20,0.00,0.000,6,0.000,0.044,2367,2049,3489,0,0,0,0,0,0
$GC,2311,-0.59,-146.0,371.4,-12.4,140,2315,0.00,2.30,0.00,0.000,4,0.000,0.067,2357,3461,3488,0,0,0,0,0,0
$GC,2384,-0.59,-146.0,380.1,-11.3,141,2389,0.12,2.17,0.00,0.000,6,0.145,0.044,2392,2048,3488,0,0,0,0,0,0
$GC,2720,-0.59,-146.0,406.8,-7.8,150,2724,0.00,2.33,0.00,0.000,4,0.000,0.068,2384,3468,3485,0,0,0,0,0,0
$GC,2763,-0.59,-146.0,410.4,-8.4,151,2767,0.00,2.22,0.00,0.000,6,0.000,0.045,2384,2042,3485,0,0,0,0,0,0
$GC,3090,-0.59,-146.0,439.7,-8.9,159,3094,0.00,2.33,0.00,0.000,4,0.000,0.070,2375,3466,3483,0,0,0,0,0,0
$GC,3122,-0.59,-146.0,442.7,-9.3,159,3126,0.00,2.20,0.00,0.000,6,0.000,0.044,2371,2040,3483,0,0,0,0,0,0
$GC,3457,-0.59,-146.0,474.3,-9.6,168,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2042,3480,0,0,0,0,0,0
$GC,3782,-0.59,-146.0,507.9,-10.4,176,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2041,3478,0,0,0,0,0,0
$GC,4107,-0.59,-146.0,541.0,-9.9,184,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2040,3476,0,0,0,0,0,0
$GC,4431,-0.59,-146.0,573.3,-10.3,192,4436,0.00,2.30,0.00,0.000,4,0.000,0.067,2378,3458,3473,0,0,0,0,0,0
$GC,4478,-0.59,-146.0,578.1,-10.3,193,4482,0.00,2.17,0.00,0.000,6,0.000,0.041,2374,2047,3473,0,0,0,0,0,0
$GC,4805,-0.59,-146.0,611.5,-10.1,201,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2042,3473,0,0,0,0,0,0
$GC,5130,-0.59,-146.0,640.2,-8.3,209,5134,0.00,2.20,0.00,0.000,4,0.000,0.054,2374,636,3468,0,0,0,0,0,0
$GC,5171,-0.59,-146.0,643.7,-8.2,209,5177,0.00,2.22,0.00,0.000,6,0.000,0.047,2374,2061,3467,0,0,0,0,0,0
$GC,5502,-0.59,-146.0,668.8,-7.6,218,5506,0.00,2.25,0.00,0.000,4,0.000,0.065,2374,3456,3465,0,0,0,0,0,0
$GC,5525,-0.59,-146.0,670.6,-7.2,218,5529,0.00,2.20,0.00,0.000,6,0.000,0.041,2372,2038,3464,0,0,0,0,0,0
$GC,5870,-0.59,-146.0,697.2,-7.9,227,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2033,3462,0,0,0,0,0,0
$GC,6194,-0.59,-146.0,723.9,-8.2,235,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2029,3460,0,0,0,0,0,0
$GC,6519,-0.59,-146.0,749.5,-7.7,243,6523,0.00,2.30,0.00,0.000,4,0.000,0.064,2367,3457,3458,0,0,0,0,0,0
$GC,6546,-0.59,-146.0,751.6,-7.1,243,6550,0.00,2.20,0.00,0.000,6,0.000,0.043,2367,2043,3458,0,0,0,0,0,0
$GC,6886,-0.59,-146.0,776.2,-7.3,252,6890,0.00,2.30,0.00,0.000,4,0.000,0.065,2365,3456,3455,0,0,0,0,0,0
$GC,6913,-0.59,-146.0,778.3,-6.7,252,6918,0.00,2.17,0.00,0.000,6,0.000,0.044,2364,2047,3455,0,0,0,0,0,0
$GC,7253,-0.59,-146.0,806.9,-9.0,261,7257,0.00,2.22,0.00,0.000,4,0.000,0.055,2365,646,3453,0,0,0,0,0,0
$GC,7300,-0.59,-146.0,811.3,-10.0,262,7304,0.00,2.22,0.00,0.000,6,0.000,0.049,2364,2049,3450,0,0,0,0,0,0
$GC,7626,-0.59,-146.0,840.4,-8.8,270,7630,0.00,2.30,0.00,0.000,4,0.000,0.066,2365,3468,3451,0,0,0,0,0,0
$GC,7654,-0.59,-146.0,843.0,-9.0,270,7658,0.00,2.20,0.00,0.000,6,0.000,0.044,2364,2052,3451,0,0,0,0,0,0
$GC,7989,-0.59,-146.0,868.6,-7.4,279,7993,0.00,2.25,0.00,0.000,4,0.000,0.054,2366,636,3449,0,0,0,0,0,0
$GC,8022,-0.59,-146.0,871.3,-7.4,279,8026,0.00,2.22,0.00,0.000,6,0.000,0.049,2365,2058,3449,0,0,0,0,0,0
$GC,8353,-0.59,-146.0,893.2,-6.4,287,8354,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2058,3448,0,0,0,0,0,0
$GC,8678,-0.59,-146.0,914.9,-6.7,295,8682,0.00,2.28,0.00,0.000,4,0.000,0.066,2356,3461,3445,0,0,0,0,0,0
$GC,8706,-0.59,-146.0,917.1,-8.1,295,8710,0.12,2.20,0.00,0.000,6,0.144,0.044,2390,2048,3446,0,0,0,0,0,0
$GC,9042,-0.59,-146.0,936.0,-5.7,304,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2042,3445,0,0,0,0,0,0
$GC,9367,-0.59,-146.0,955.1,-6.1,312,9368,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2042,3443,0,0,0,0,0,0
$GC,9691,-0.59,-146.0,976.6,-6.8,320,9693,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2042,3443,0,0,0,0,0,0
$STATE,9892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9892,begin apogee
$GC,9898,-0.28,0.0,990.5,6.9,325,10024,0.30,0.00,123.43,1.345,6,0.123,0.000,2488,2100,2890,0,0,0,0,0,0
$STATE,10028,end apogee,CONTROL_FINISHED_OK
$STATE,10028,begin climb
$GC,10031,0.59,146.0,996.3,0.0,328,10173,0.80,2.45,132.68,1.311,4,0.084,0.061,2778,703,2295,0,0,1,0,0,0
$GC,10256,0.59,146.0,986.4,10.3,333,10260,0.00,2.30,0.00,0.000,6,0.000,0.054,2779,2107,2286,0,0,1,0,0,0
$GC,10569,0.59,146.0,953.2,10.7,341,10573,0.00,2.33,0.00,0.000,4,0.000,0.070,2778,3517,2282,0,0,0,0,0,0
$GC,10706,0.59,146.0,936.8,12.6,343,10711,0.00,2.20,0.00,0.000,6,0.000,0.048,2788,2103,2281,0,0,1,0,0,0
$GC,11036,0.59,146.0,895.7,12.5,352,11040,0.00,2.30,0.00,0.000,4,0.000,0.067,2789,3511,2278,0,0,0,0,0,0
$GC,11082,0.59,146.0,889.0,14.9,353,11086,0.00,2.22,0.00,0.000,6,0.000,0.051,2799,2104,2278,0,0,0,0,0,0
$GC,11405,0.59,146.0,846.6,13.3,361,11406,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2098,2278,0,0,0,0,0,0
$GC,11729,0.59,146.0,806.6,11.9,369,11734,0.12,2.33,0.00,0.000,4,0.225,0.067,2771,3513,2274,0,0,0,0,0,0
$GC,11758,0.59,146.0,803.0,12.1,369,11762,0.00,2.22,0.00,0.000,6,0.000,0.051,2779,2099,2277,0,0,1,0,0,0
$GC,12093,0.59,146.0,768.5,10.2,378,12097,0.00,2.28,0.00,0.000,4,0.000,0.063,2790,688,2275,0,0,0,0,0,0
$GC,12125,0.59,146.0,765.0,10.5,378,12129,0.00,2.30,0.00,0.000,6,0.000,0.054,2790,2112,2275,0,0,0,0,0,0
$GC,12456,0.59,146.0,730.1,10.1,386,12460,0.00,2.30,0.00,0.000,4,0.000,0.067,2790,3518,2274,0,0,0,0,0,0
$GC,12587,0.59,146.0,715.4,11.0,388,12592,0.00,2.25,0.00,0.000,6,0.000,0.050,2799,2093,2274,0,0,1,0,0,0
$GC,12917,0.59,146.0,682.6,9.4,397,12922,0.12,2.33,0.00,0.000,4,0.211,0.068,2770,3505,2273,0,0,0,0,0,0
$GC,13047,0.59,146.0,670.3,8.7,399,13052,0.00,2.22,0.00,0.000,6,0.000,0.051,2777,2100,2274,0,0,1,0,0,0
$GC,13378,0.59,146.0,642.5,8.1,408,13379,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2094,2273,0,0,0,0,0,0
$GC,13703,0.59,146.0,615.3,8.5,416,13704,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2094,2273,0,0,0,0,0,0
$GC,14028,0.59,146.0,587.2,8.5,424,14029,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2094,2273,0,0,0,0,0,0
$GC,14353,0.59,146.0,557.4,9.3,432,14357,0.00,2.35,0.00,0.000,4,0.000,0.067,2780,3509,2270,0,0,0,0,0,0
$GC,14570,0.59,146.0,536.4,8.8,436,14574,0.00,2.22,0.00,0.000,6,0.000,0.048,2790,2098,2273,0,0,0,0,0,0
$GC,14900,0.59,146.0,510.0,8.0,444,14904,0.00,2.33,0.00,0.000,4,0.000,0.067,2791,3508,2275,0,0,0,0,0,0
$GC,14989,0.59,146.0,502.0,9.0,446,14994,0.12,2.20,0.00,0.000,6,0.195,0.049,2772,2099,2273,0,0,1,0,0,0
$GC,15317,0.59,146.0,479.6,6.5,454,15318,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2096,2272,0,0,0,0,0,0
$GC,15641,0.59,146.0,459.4,6.2,462,15645,0.00,2.28,0.00,0.000,4,0.000,0.059,2781,684,2272,0,0,0,0,0,0
$GC,15738,0.59,146.0,452.1,6.9,464,15743,0.00,2.28,0.00,0.000,6,0.000,0.051,2780,2104,2271,0,0,0,0,0,0
$GC,16061,0.59,146.0,429.1,7.0,472,16065,0.00,2.33,0.00,0.000,4,0.000,0.067,2781,3509,2271,0,0,0,0,0,0
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$STATE,22511,end climb,SURFACE_DEPTH_REACHED
$STATE,22511,begin surface coast
$FINISH,0.9,1.011114
$STATE,22554,end surface coast,CONTROL_FINISHED_OK
$STATE,22554,begin surface
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$24V_AH,22.9,78.895
$10V_AH,8.4,54.718
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354544
$DATA_FILE_SIZE,30050,875
$CAP_FILE_SIZE,186152,0
$CFSIZE,260165632,224149504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,160211,155737,1843.628,12418.213,43,1.9,43,-2.2