version: 66.07
glider: 511
mission: 5
dive: 391
start: 2 16 111 16 11 52
data:
$ID,511
$MISSION,5
$DIVE,391
$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,-51074.117
$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,29
$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,390
$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
$GPS1,160211,155737,1843.628,12418.213,43,1.9,43,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-72.2
$GPS2,160211,161056,1843.672,12418.103,36,1.9,36,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.120,0.179
$KALMAN_X,-549009.3,117.8,-29.5,205954.1,-4409.7
$KALMAN_Y,571949.7,-379.5,357.8,-780796.8,-1988.2
$MHEAD_RNG_PITCHd_Wd,36.1,295013,-9.8,-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,26,-0.57,-146.0,0.0,0.0,0,118,0.00,0.00,-89.93,0.000,2,0.000,0.000,42,2086,2917,0,0,0,0,0,0
$GC,122,-0.57,-146.0,3.9,-4.2,9,149,10.43,2.30,-11.57,0.000,4,0.255,0.077,2379,3457,3487,0,0,0,0,0,0
$GC,228,-0.57,-146.0,33.5,-20.9,20,233,0.00,2.20,0.00,0.000,6,0.000,0.045,2379,2052,3490,0,0,0,0,0,0
$GC,488,-0.57,-146.0,89.8,-20.3,45,492,0.00,2.17,0.00,0.000,4,0.000,0.049,2379,631,3490,0,0,0,0,0,0
$GC,516,-0.57,-146.0,95.5,-18.8,47,521,0.00,2.22,0.00,0.000,6,0.000,0.048,2370,2049,3490,0,0,0,0,0,0
$GC,776,-0.57,-146.0,148.6,-21.5,72,780,0.00,2.22,0.00,0.000,4,0.000,0.061,2359,3459,3490,0,0,0,0,0,0
$GC,828,-0.57,-146.0,159.3,-20.7,77,832,0.12,2.17,0.00,0.000,6,0.160,0.043,2393,2038,3490,0,0,0,0,0,0
$GC,1090,-0.57,-146.0,199.6,-15.7,101,1094,0.00,2.30,0.00,0.000,4,0.000,0.067,2384,3462,3490,0,0,0,0,0,0
$GC,1136,-0.57,-146.0,206.7,-13.6,103,1140,0.00,2.17,0.00,0.000,6,0.000,0.043,2384,2042,3490,0,0,0,0,0,0
$GC,1461,-0.57,-146.0,252.5,-13.9,119,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2041,3490,0,0,0,0,0,0
$GC,1769,-0.57,-146.0,290.8,-11.8,134,1773,0.00,2.30,0.00,0.000,4,0.000,0.068,2373,3457,3490,0,0,0,0,0,0
$GC,1830,-0.57,-146.0,297.1,-10.4,136,1834,0.00,2.15,0.00,0.000,6,0.000,0.043,2373,2050,3490,0,0,0,0,0,0
$GC,2161,-0.57,-146.0,332.3,-11.2,145,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2050,3490,0,0,0,0,0,0
$GC,2486,-0.57,-146.0,370.1,-11.5,153,2490,0.00,2.28,0.00,0.000,4,0.000,0.069,2374,3457,3488,0,0,0,0,0,0
$GC,2513,-0.57,-146.0,373.3,-11.2,153,2517,0.00,2.17,0.00,0.000,6,0.000,0.044,2374,2039,3488,0,0,0,0,0,0
$GC,2853,-0.57,-146.0,410.1,-11.0,162,2857,0.00,2.17,0.00,0.000,4,0.000,0.052,2374,631,3486,0,0,0,0,0,0
$GC,2890,-0.57,-146.0,414.4,-10.9,162,2894,0.00,2.22,0.00,0.000,6,0.000,0.053,2364,2046,3487,0,0,0,0,0,0
$GC,3225,-0.57,-146.0,447.0,-9.1,171,3229,0.00,2.25,0.00,0.000,4,0.000,0.063,2362,3462,3482,0,0,0,0,0,0
$GC,3285,-0.57,-146.0,452.5,-8.1,172,3290,0.12,2.20,0.00,0.000,6,0.145,0.045,2398,2057,3484,0,0,0,0,0,0
$GC,3599,-0.57,-146.0,474.0,-7.0,180,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2054,3482,0,0,0,0,0,0
$GC,3924,-0.57,-146.0,498.7,-7.8,188,3928,0.00,2.22,0.00,0.000,4,0.000,0.052,2399,630,3479,0,0,0,0,0,0
$GC,3975,-0.57,-146.0,503.1,-8.5,189,3979,0.00,2.25,0.00,0.000,6,0.000,0.054,2400,2053,3479,0,0,0,0,0,0
$GC,4292,-0.57,-146.0,527.4,-7.6,197,4296,0.00,2.28,0.00,0.000,4,0.000,0.064,2393,3465,3477,0,0,0,0,0,0
$GC,4361,-0.57,-146.0,532.8,-8.1,198,4366,0.00,2.22,0.00,0.000,6,0.000,0.048,2389,2038,3476,0,0,1,0,0,0
$GC,4706,-0.57,-146.0,557.0,-6.8,207,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2038,3472,0,0,0,0,0,0
$GC,5031,-0.57,-146.0,580.6,-7.5,215,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2038,3471,0,0,0,0,0,0
$GC,5356,-0.57,-146.0,604.8,-7.6,223,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2036,3468,0,0,0,0,0,0
$GC,5681,-0.57,-146.0,630.1,-7.8,231,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2038,3466,0,0,0,0,0,0
$GC,6006,-0.57,-146.0,654.8,-7.5,239,6010,0.00,2.30,0.00,0.000,4,0.000,0.066,2379,3458,3464,0,0,0,0,0,0
$GC,6042,-0.57,-146.0,657.8,-7.9,239,6048,0.00,2.22,0.00,0.000,6,0.000,0.049,2376,2039,3464,0,0,0,0,0,0
$GC,6373,-0.57,-146.0,681.6,-7.2,248,6377,0.00,2.35,0.00,0.000,4,0.000,0.073,2371,3461,3461,0,0,0,0,0,0
$GC,6424,-0.57,-146.0,685.3,-6.5,249,6428,0.00,2.22,0.00,0.000,6,0.000,0.050,2371,2044,3462,0,0,0,0,0,0
$GC,6746,-0.57,-146.0,710.8,-8.0,257,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2041,3460,0,0,0,0,0,0
$GC,7071,-0.57,-146.0,736.0,-7.7,265,7075,0.00,2.35,0.00,0.000,4,0.000,0.071,2363,3458,3458,0,0,0,0,0,0
$GC,7104,-0.57,-146.0,738.7,-9.6,265,7108,0.10,2.22,0.00,0.000,6,0.155,0.049,2390,2052,3456,0,0,0,0,0,0
$GC,7440,-0.57,-146.0,759.6,-6.2,274,7444,0.00,2.22,0.00,0.000,4,0.000,0.058,2390,634,3455,0,0,0,0,0,0
$GC,7468,-0.57,-146.0,761.6,-7.4,274,7472,0.00,2.25,0.00,0.000,6,0.000,0.052,2388,2055,3455,0,0,0,0,0,0
$GC,7803,-0.57,-146.0,783.8,-6.8,283,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2056,3453,0,0,0,0,0,0
$GC,8128,-0.57,-146.0,806.2,-6.8,291,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2057,3451,0,0,0,0,0,0
$GC,8453,-0.57,-146.0,827.1,-6.2,299,8457,0.00,2.30,0.00,0.000,4,0.000,0.068,2379,3460,3450,0,0,0,0,0,0
$GC,8497,-0.57,-146.0,829.7,-6.5,299,8502,0.00,2.22,0.00,0.000,6,0.000,0.047,2379,2039,3449,0,0,0,0,0,0
$GC,8827,-0.57,-146.0,851.7,-6.8,308,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2034,3449,0,0,0,0,0,0
$GC,9152,-0.57,-146.0,874.7,-7.2,316,9153,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2034,3448,0,0,0,0,0,0
$GC,9477,-0.57,-146.0,897.2,-6.8,324,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2036,3446,0,0,0,0,0,0
$GC,9803,-0.57,-146.0,918.6,-6.6,332,9807,0.00,2.38,0.00,0.000,4,0.000,0.071,2369,3464,3445,0,0,0,0,0,0
$GC,9826,-0.57,-146.0,920.3,-7.3,332,9830,0.00,2.22,0.00,0.000,6,0.000,0.047,2369,2049,3445,0,0,0,0,0,0
$GC,10170,-0.57,-146.0,944.0,-6.9,341,10174,0.00,2.25,0.00,0.000,4,0.000,0.058,2369,645,3444,0,0,0,0,0,0
$GC,10207,-0.57,-146.0,946.9,-7.2,341,10211,0.00,2.25,0.00,0.000,6,0.000,0.051,2366,2050,3444,0,0,0,0,0,0
$GC,10542,-0.57,-146.0,972.9,-8.0,350,10546,0.00,2.35,0.00,0.000,4,0.000,0.069,2357,3464,3443,0,0,0,0,0,0
$GC,10620,-0.57,-146.0,979.6,-8.7,351,10625,0.12,2.22,0.00,0.000,6,0.148,0.047,2391,2047,3442,0,0,0,0,0,0
$STATE,10791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10791,begin apogee
$GC,10798,-0.28,0.0,991.6,6.8,356,10925,0.30,0.00,124.05,1.343,6,0.126,0.000,2488,2105,2890,0,0,0,0,0,0
$STATE,10928,end apogee,CONTROL_FINISHED_OK
$STATE,10928,begin climb
$GC,10930,0.57,146.0,997.1,0.0,359,11073,0.77,2.47,132.85,1.311,4,0.085,0.060,2769,701,2296,0,0,1,0,0,0
$GC,11152,0.57,146.0,987.2,9.9,364,11156,0.00,2.30,0.00,0.000,6,0.000,0.057,2769,2093,2288,0,0,1,0,0,0
$GC,11470,0.57,146.0,953.9,10.5,372,11474,0.00,2.35,0.00,0.000,4,0.000,0.071,2769,3515,2284,0,0,0,0,0,0
$GC,11507,0.57,146.0,949.6,11.4,372,11511,0.00,2.22,0.00,0.000,6,0.000,0.050,2780,2103,2282,0,0,1,0,0,0
$GC,11842,0.57,146.0,910.4,11.6,381,11843,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2096,2282,0,0,0,0,0,0
$GC,12167,0.57,146.0,872.1,11.6,389,12171,0.00,2.25,0.00,0.000,4,0.000,0.061,2790,693,2279,0,0,0,0,0,0
$GC,12245,0.57,146.0,863.0,10.9,390,12250,0.00,2.28,0.00,0.000,6,0.000,0.055,2791,2112,2277,0,0,0,0,0,0
$GC,12576,0.57,146.0,824.8,11.5,398,12580,0.00,2.28,0.00,0.000,4,0.000,0.069,2790,3511,2277,0,0,0,0,0,0
$GC,12659,0.57,146.0,813.9,12.1,399,12666,0.15,2.25,0.00,0.000,6,0.201,0.051,2766,2102,2279,0,0,0,0,0,0
$GC,12990,0.57,146.0,781.0,9.6,408,12991,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2095,2276,0,0,0,0,0,0
$GC,13315,0.57,146.0,752.9,8.4,416,13319,0.00,2.25,0.00,0.000,4,0.000,0.061,2774,697,2276,0,0,0,0,0,0
$GC,13366,0.57,146.0,748.6,8.1,417,13370,0.00,2.28,0.00,0.000,6,0.000,0.054,2775,2111,2278,0,0,0,0,0,0
$GC,13688,0.57,146.0,720.7,8.6,425,13692,0.00,2.28,0.00,0.000,4,0.000,0.069,2775,3511,2275,0,0,0,0,0,0
$GC,13739,0.57,146.0,715.7,10.4,426,13743,0.00,2.22,0.00,0.000,6,0.000,0.051,2785,2101,2275,0,0,1,0,0,0
$GC,14061,0.57,146.0,686.3,9.3,434,14063,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2090,2275,0,0,0,0,0,0
$GC,14386,0.57,146.0,655.2,9.9,442,14390,0.00,2.35,0.00,0.000,4,0.000,0.068,2785,3512,2274,0,0,0,0,0,0
$GC,14508,0.57,146.0,641.6,11.1,444,14513,0.12,2.25,0.00,0.000,6,0.197,0.051,2767,2096,2275,0,0,0,0,0,0
$GC,14844,0.57,146.0,611.2,9.0,453,14845,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2090,2274,0,0,0,0,0,0
$GC,15169,0.57,146.0,580.3,9.8,461,15173,0.00,2.35,0.00,0.000,4,0.000,0.071,2767,3511,2273,0,0,0,0,0,0
$GC,15243,0.57,146.0,572.3,10.7,462,15247,0.00,2.28,0.00,0.000,6,0.000,0.050,2776,2093,2274,0,0,0,0,0,0
$GC,15578,0.57,146.0,541.1,8.9,471,15582,0.00,2.25,0.00,0.000,4,0.000,0.060,2786,691,2273,0,0,0,0,0,0
$GC,15633,0.57,146.0,536.4,8.9,472,15638,0.00,2.28,0.00,0.000,6,0.000,0.054,2786,2104,2273,0,0,0,0,0,0
$GC,15947,0.57,146.0,512.3,7.3,480,15951,0.00,2.33,0.00,0.000,4,0.000,0.068,2786,3515,2273,0,0,0,0,0,0
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$STATE,23498,end climb,SURFACE_DEPTH_REACHED
$STATE,23498,begin surface coast
$FINISH,1.1,1.022521
$STATE,23542,end surface coast,CONTROL_FINISHED_OK
$STATE,23542,begin surface
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$XPDR_PINGS,164
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$AR_CDRIVE_FREE,8091009024
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51722289152
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,79.066
$10V_AH,8.2,54.827
$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
$DEVICE_SECS,20.000,189.750,346.075,101.925,0.000,29.280,33.895,516.502,41.000,0.000,38.445,1826.317,18712.574,587.249,2896.594,440.081,33.371,1868.665,0.000,2278.406,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.780,0.000,0.000
$MEM,354832
$DATA_FILE_SIZE,33352,913
$CAP_FILE_SIZE,192141,0
$CFSIZE,260165632,224063488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,160211,225006,1846.273,12419.144,174,1.4,174,-2.2