version: 66.08
glider: 511
mission: 13
dive: 20
start: 8 2 112 20 9 30
data:
$ID,511
$MISSION,13
$DIVE,20
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,400
$D_ABORT,420
$D_NO_BLEED,500
$D_BOOST,0
$T_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,133
$T_MISSION,266
$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,51745
$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,2128
$TGT_DEFAULT_LON,15786
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-82338.727
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2250
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,3440
$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,-49.810421
$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,0
$ALTIM_FREQUENCY,10
$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
$DEVICE2,115
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,0.004355412
$SEABIRD_T_H,0.00062323338
$SEABIRD_T_I,2.2374716e-05
$SEABIRD_T_J,2.2679408e-06
$SEABIRD_C_G,-10.106524
$SEABIRD_C_H,1.132452
$SEABIRD_C_I,-0.0024335571
$SEABIRD_C_J,0.00027308665
$GPS1,020812,200407,2113.661,-15757.752,12,1.4,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-71.4
$GPS2,020812,200837,2113.656,-15757.757,11,1.5,11,9.8
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,HOME3
$TGT_LATLONG,2114.000,-15754.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.146
$KALMAN_X,-17199.1,401.5,549.7,16145.0,-1522.4
$KALMAN_Y,11423.5,-36.6,161.6,-11707.2,1186.5
$MHEAD_RNG_PITCHd_Wd,114.4,6517,-17.5,-10.025
$D_GRID,400
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.75,-146.0,0.0,0.0,0,110,0.00,0.08,-86.65,0.000,6,0.000,0.476,29,2041,3960,0,0,0,0,0,0
$GC,113,-0.75,-146.0,2.4,-4.0,15,127,7.95,2.15,0.00,0.000,4,0.248,0.038,2008,614,3962,0,0,0,0,0,0
$GC,198,-0.75,-146.0,18.3,-13.7,33,205,0.00,2.10,0.00,0.000,6,0.000,0.041,1999,1978,3964,0,0,0,0,0,0
$GC,464,-0.75,-146.0,56.3,-15.1,65,468,0.00,2.17,0.00,0.000,4,0.000,0.050,1988,3401,3964,0,0,0,0,0,0
$GC,509,-0.75,-146.0,63.4,-15.0,69,516,0.00,2.05,0.00,0.000,6,0.000,0.034,1988,2029,3964,0,0,0,0,0,0
$GC,770,-0.75,-146.0,97.0,-11.1,94,774,0.00,2.15,0.00,0.000,4,0.000,0.043,1989,587,3965,0,0,0,0,0,0
$GC,860,-0.75,-146.0,106.3,-9.9,103,867,0.12,2.15,0.00,0.000,6,0.183,0.044,2010,2004,3965,0,0,0,0,0,0
$GC,1123,-0.75,-146.0,125.7,-7.2,128,1127,0.00,2.15,0.00,0.000,4,0.000,0.054,2001,3405,3966,0,0,0,0,0,0
$GC,1210,-0.75,-146.0,132.7,-7.4,137,1215,0.00,2.05,0.00,0.000,6,0.000,0.037,2001,2008,3966,0,0,0,0,0,0
$GC,1475,-0.75,-146.0,152.8,-7.8,161,1479,0.00,2.15,0.00,0.000,4,0.000,0.050,1991,3410,3968,0,0,0,0,0,0
$GC,1520,-0.75,-146.0,157.3,-8.2,165,1527,0.00,2.08,0.00,0.000,6,0.000,0.036,1991,2006,3967,0,0,0,0,0,0
$GC,1785,-0.75,-146.0,177.2,-6.2,190,1789,0.00,2.10,0.00,0.000,4,0.000,0.044,1991,587,3968,0,0,0,0,0,0
$GC,1838,-0.75,-146.0,181.1,-7.4,195,1842,0.00,2.15,0.00,0.000,6,0.000,0.043,1981,2013,3967,0,0,0,0,0,0
$GC,2102,-0.75,-146.0,200.1,-5.7,219,2105,0.00,2.12,0.00,0.000,4,0.000,0.052,1970,3409,3968,0,0,0,0,0,0
$GC,2263,-0.75,-146.0,210.3,-7.5,226,2267,0.15,2.05,0.00,0.000,6,0.173,0.037,2011,2022,3968,0,0,0,0,0,0
$GC,2527,-0.75,-146.0,226.2,-5.7,239,2531,0.00,2.12,0.00,0.000,4,0.000,0.046,2011,599,3968,0,0,0,0,0,0
$GC,2628,-0.75,-146.0,231.9,-4.7,243,2632,0.00,2.15,0.00,0.000,6,0.000,0.043,2002,2028,3968,0,0,0,0,0,0
$GC,2882,-0.75,-146.0,242.9,-5.0,255,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2029,3968,0,0,0,0,0,0
$GC,3130,-0.75,-146.0,253.1,-3.9,267,3134,0.00,2.10,0.00,0.000,4,0.000,0.055,1992,3409,3967,0,0,0,0,0,0
$GC,3293,-0.75,-146.0,263.2,-6.2,274,3297,0.00,2.05,0.00,0.000,6,0.000,0.037,1991,2030,3967,0,0,0,0,0,0
$GC,3566,-0.75,-146.0,277.8,-5.1,287,3570,0.00,2.15,0.00,0.000,4,0.000,0.048,1991,598,3966,0,0,0,0,0,0
$GC,3611,-0.75,-146.0,280.6,-6.6,289,3615,0.00,2.17,0.00,0.000,6,0.000,0.044,1981,2027,3966,0,0,0,0,0,0
$GC,3874,-0.75,-146.0,292.6,-4.3,302,3878,0.00,2.17,0.00,0.000,4,0.000,0.047,1981,584,3965,0,0,0,0,0,0
$GC,4011,-0.75,-146.0,300.5,-6.0,308,4016,0.12,2.17,0.00,0.000,6,0.176,0.045,2005,2017,3964,0,0,0,0,0,0
$GC,4299,-0.75,-146.0,315.5,-5.1,315,4303,0.00,2.15,0.00,0.000,4,0.000,0.057,1995,3414,3963,0,0,0,0,0,0
$GC,4342,-0.75,-146.0,317.9,-6.0,316,4346,0.00,2.08,0.00,0.000,6,0.000,0.040,1995,2010,3963,0,0,0,0,0,0
$GC,4629,-0.75,-146.0,331.9,-4.9,323,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2002,3960,0,0,0,0,0,0
$GC,4874,-0.75,-146.0,342.4,-4.4,329,4877,0.00,2.17,0.00,0.000,4,0.000,0.057,1985,3411,3959,0,0,0,0,0,0
$GC,4975,-0.75,-146.0,347.6,-5.3,331,4980,0.00,2.10,-0.05,0.000,6,0.000,0.041,1985,2005,3968,0,0,0,0,0,0
$GC,5254,-0.75,-146.0,362.2,-5.3,338,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1998,3967,0,0,0,0,0,0
$GC,5497,-0.75,-146.0,377.3,-6.3,344,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1998,3965,0,0,0,0,0,0
$GC,5741,-0.75,-146.0,391.7,-5.7,350,5745,0.00,2.17,0.00,0.000,4,0.000,0.058,1975,3409,3964,0,0,0,0,0,0
$STATE,5887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5887,begin apogee
$GC,5894,-0.23,0.0,400.1,5.9,353,5995,0.60,0.00,94.43,0.884,4,0.149,0.000,2170,2289,3439,0,0,0,0,0,0
$STATE,5996,end apogee,CONTROL_FINISHED_OK
$STATE,5996,begin climb
$GC,5998,0.75,146.0,399.6,0.0,355,6120,0.88,2.25,113.50,0.848,4,0.058,0.048,2499,888,2845,0,0,0,0,0,0
$GC,6194,0.75,146.0,358.0,25.8,360,6199,0.00,2.30,0.00,0.000,6,0.000,0.057,2499,2297,2839,0,0,0,0,0,0
$GC,6459,0.75,146.0,273.8,33.1,368,6463,0.00,2.17,0.00,0.000,4,0.000,0.045,2510,885,2836,0,0,0,0,0,0
$GC,6547,0.75,146.0,249.2,24.6,372,6551,0.00,2.28,0.00,0.000,6,0.000,0.054,2510,2315,2833,0,0,0,0,0,0
$GC,6808,0.75,146.0,169.2,28.6,389,6812,0.00,2.22,0.00,0.000,4,0.000,0.063,2510,3716,2831,0,0,0,0,0,0
$GC,6915,0.75,146.0,133.6,30.0,400,6923,0.08,2.17,0.00,0.000,6,0.220,0.041,2492,2319,2830,0,0,0,0,0,0
$GC,7178,0.75,146.0,68.0,22.4,425,7182,0.00,2.22,0.00,0.000,4,0.000,0.066,2492,3708,2828,0,0,0,0,0,0
$GC,7428,0.75,146.0,4.5,27.5,463,7436,0.00,2.12,0.00,0.000,6,0.000,0.039,2501,2327,2828,0,0,0,0,0,0
$STATE,7441,end climb,SURFACE_DEPTH_REACHED
$STATE,7441,begin surface coast
$FINISH,-0.3,1.023281
$STATE,7453,end surface coast,CONTROL_FINISHED_OK
$STATE,7453,begin surface
$SM_CCo,7469,91.12,0.578,0,0,1889,380.21
$SM_GC,0.36,0.00,0.00,91.12,0.000,0.000,0.578,43,1978,1889,-6.89,-0.62,380.21
$IRIDIUM_FIX,2104.07,-15757.32,020812,181854
$TT8_MAMPS,0.025466
$HUMID,72.09
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,21.80
$XPDR_PINGS,2
$24V_AH,24.5,2.523
$10V_AH,10.5,2.137
$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,16.175,77.425,207.925,91.125,0.000,29.918,36.237,110.486,0.500,0.000,14.418,1270.041,4536.129,360.713,1527.156,147.509,33.314,1039.469,0.000,1329.917,0.000,0.541,0.000
$DEVICE_MAMPS,247.860,475.830,884.340,577.575,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,pH_IsFET3,nil,nil,nil,nil,nil,empty,nil,nil
$SENSOR_SECS,312.850,468.336,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,97.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354792
$DATA_FILE_SIZE,23457,467
$CAP_FILE_SIZE,90280,0
$CFSIZE,260165632,257200128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020812,221635,2113.536,-15756.893,25,1.6,25,9.8