version: 66.08
glider: 511
mission: 13
dive: 21
start: 8 2 112 22 22 53
data:
$ID,511
$MISSION,13
$DIVE,21
$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,-82339.984
$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,42
$R_STBD_OVSHOOT,23
$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
$GPS1,020812,221635,2113.536,-15756.893,25,1.6,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-70.0
$GPS2,020812,222200,2113.526,-15756.936,15,1.6,32,9.8
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,HOME3
$TGT_LATLONG,2114.000,-15754.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.231,-0.119
$KALMAN_X,-16942.7,-299.5,781.1,17767.4,-1465.6
$KALMAN_Y,12937.3,-392.3,-103.0,-12854.2,1014.2
$MHEAD_RNG_PITCHd_Wd,107.4,5144,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.75,-146.0,0.0,0.0,0,105,0.00,0.00,-85.88,0.000,6,0.000,0.000,35,1978,3959,0,0,0,0,0,0
$GC,108,-0.75,-146.0,1.9,-3.8,14,123,8.05,2.22,0.00,0.000,4,0.253,0.044,1988,3422,3962,0,0,0,0,0,0
$GC,130,-0.75,-146.0,7.4,-18.4,17,137,0.00,2.17,0.00,0.000,6,0.000,0.037,1988,2000,3964,0,0,0,0,0,0
$GC,395,-0.75,-146.0,48.3,-15.4,55,399,0.00,2.12,0.00,0.000,4,0.000,0.047,1989,586,3966,0,0,0,0,0,0
$GC,411,-0.75,-146.0,50.6,-14.9,56,416,0.12,2.17,0.00,0.000,6,0.185,0.046,2009,2008,3965,0,0,0,0,0,0
$GC,680,-0.75,-146.0,79.3,-9.0,81,683,0.00,2.15,0.00,0.000,4,0.000,0.052,2001,3413,3967,0,0,0,0,0,0
$GC,705,-0.75,-146.0,81.4,-8.1,83,709,0.00,2.08,0.00,0.000,6,0.000,0.036,2000,2008,3967,0,0,0,0,0,0
$GC,969,-0.75,-146.0,104.6,-10.0,107,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2000,3969,0,0,0,0,0,0
$GC,1222,-0.75,-146.0,128.6,-9.2,131,1225,0.00,2.15,0.00,0.000,4,0.000,0.053,1990,3409,3970,0,0,0,0,0,0
$GC,1279,-0.75,-146.0,134.0,-10.0,137,1283,0.00,2.10,0.00,0.000,6,0.000,0.037,1990,1999,3970,0,0,0,0,0,0
$GC,1542,-0.75,-146.0,153.0,-6.0,161,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1992,3971,0,0,0,0,0,0
$GC,1795,-0.75,-146.0,171.4,-8.8,185,1799,0.00,2.15,0.00,0.000,4,0.000,0.052,1980,3410,3972,0,0,0,0,0,0
$GC,2053,-0.75,-146.0,193.5,-6.9,213,2059,0.00,2.08,0.00,0.000,6,0.000,0.037,1980,2013,3973,0,0,0,0,0,0
$GC,2321,-0.75,-146.0,210.1,-7.2,232,2325,0.00,2.10,0.00,0.000,4,0.000,0.046,1980,597,3973,0,0,0,0,0,0
$GC,2535,-0.75,-146.0,227.0,-7.7,241,2539,0.15,2.12,0.00,0.000,6,0.169,0.044,2011,1997,3973,0,0,0,0,0,0
$GC,2790,-0.75,-146.0,238.1,-3.6,253,2793,0.00,2.15,0.00,0.000,4,0.000,0.057,2002,3407,3973,0,0,0,0,0,0
$GC,3056,-0.75,-146.0,252.3,-5.0,264,3063,0.00,2.12,0.00,0.000,6,0.000,0.038,2002,2004,3973,0,0,0,0,0,0
$GC,3311,-0.75,-146.0,262.4,-3.6,277,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2001,3973,0,0,0,0,0,0
$GC,3558,-0.75,-146.0,273.7,-4.9,289,3562,0.00,2.15,0.00,0.000,4,0.000,0.056,1992,3405,3972,0,0,0,0,0,0
$GC,3779,-0.75,-146.0,288.0,-7.0,298,3786,0.00,2.12,0.00,0.000,6,0.000,0.040,1992,1987,3971,0,0,0,0,0,0
$GC,4054,-0.75,-146.0,302.5,-4.5,311,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1982,3970,0,0,0,0,0,0
$GC,4297,-0.75,-146.0,312.2,-4.0,317,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1981,3969,0,0,0,0,0,0
$GC,4541,-0.75,-146.0,320.3,-3.0,323,4545,0.00,2.20,0.00,0.000,4,0.000,0.057,1981,3405,3967,0,0,0,0,0,0
$GC,4646,-0.75,-146.0,323.7,-3.7,325,4650,0.00,2.10,0.00,0.000,6,0.000,0.041,1982,2009,3966,0,0,0,0,0,0
$GC,4915,-0.75,-146.0,333.6,-4.0,332,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2003,3965,0,0,0,0,0,0
$GC,5159,-0.75,-146.0,342.4,-3.3,338,5163,0.00,2.17,0.00,0.000,4,0.000,0.059,1971,3405,3964,0,0,0,0,0,0
$GC,5229,-0.75,-146.0,344.8,-3.7,339,5234,0.12,2.10,0.00,0.000,6,0.179,0.042,2004,2000,3964,0,0,0,0,0,0
$GC,5489,-0.75,-146.0,352.4,-2.8,346,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1994,3962,0,0,0,0,0,0
$GC,5733,-0.75,-146.0,361.6,-4.1,352,5737,0.00,2.20,0.00,0.000,4,0.000,0.060,1995,3405,3960,0,0,0,0,0,0
$GC,5838,-0.75,-146.0,366.7,-6.1,354,5842,0.00,2.10,0.00,0.000,6,0.000,0.043,1995,1999,3959,0,0,0,0,0,0
$GC,6108,-0.75,-146.0,381.5,-5.4,361,6112,0.00,2.20,0.00,0.000,4,0.000,0.060,1984,3404,3958,0,0,0,0,0,0
$GC,6144,-0.75,-146.0,383.6,-5.3,361,6152,0.00,2.08,-0.05,0.000,6,0.000,0.043,1984,2011,3967,0,0,0,0,0,0
$GC,6395,-0.75,-146.0,392.7,-3.3,368,6399,0.00,2.17,0.00,0.000,4,0.000,0.059,1974,3409,3966,0,0,0,0,0,0
$STATE,6554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6554,begin apogee
$GC,6560,-0.23,0.0,400.1,6.3,371,6662,0.60,0.00,95.80,0.901,4,0.146,0.000,2169,2294,3440,0,0,0,0,0,0
$STATE,6662,end apogee,CONTROL_FINISHED_OK
$STATE,6663,begin climb
$GC,6665,0.75,146.0,398.9,0.0,373,6787,0.88,2.30,114.93,0.859,4,0.052,0.051,2506,887,2845,0,0,0,0,0,0
$GC,6867,0.75,146.0,352.4,29.6,378,6871,0.00,2.33,0.00,0.000,6,0.000,0.057,2506,2294,2837,0,0,0,0,0,0
$GC,7132,0.75,146.0,265.9,32.4,387,7136,0.00,2.17,0.00,0.000,4,0.000,0.046,2516,890,2833,0,0,0,0,0,0
$GC,7200,0.75,146.0,245.6,28.0,390,7204,0.00,2.30,0.00,0.000,6,0.000,0.056,2517,2336,2832,0,0,0,0,0,0
$GC,7466,0.75,146.0,162.1,31.0,408,7470,0.00,2.17,0.00,0.000,4,0.000,0.062,2517,3710,2830,0,0,0,0,0,0
$GC,7555,0.75,146.0,131.8,37.1,417,7562,0.15,2.10,0.00,0.000,6,0.235,0.040,2494,2320,2830,0,0,0,0,0,0
$GC,7818,0.75,146.0,62.1,25.5,442,7822,0.00,2.22,0.00,0.000,4,0.000,0.062,2490,3712,2827,0,0,0,0,0,0
$GC,7937,0.75,146.0,31.6,24.5,455,7941,0.00,2.10,0.00,0.000,6,0.000,0.041,2499,2329,2827,0,0,0,0,0,0
$STATE,8048,end climb,SURFACE_DEPTH_REACHED
$STATE,8048,begin surface coast
$FINISH,-0.2,1.023262
$STATE,8068,end surface coast,CONTROL_FINISHED_OK
$STATE,8068,begin surface
$SM_CCo,8083,91.72,0.588,0,0,1889,380.21
$SM_GC,0.22,0.00,0.00,91.72,0.000,0.000,0.588,49,1974,1889,-6.87,-0.76,380.21
$IRIDIUM_FIX,2104.07,-15758.18,020812,202035
$TT8_MAMPS,0.025466
$HUMID,73.35
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,21.20
$XPDR_PINGS,12
$24V_AH,24.4,2.603
$10V_AH,10.5,2.195
$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,16.350,73.400,210.725,91.725,0.000,28.293,39.284,132.623,3.000,0.000,35.365,1304.507,5061.841,358.147,1627.334,155.616,33.323,1056.075,0.000,1386.930,0.000,0.541,0.000
$DEVICE_MAMPS,253.215,61.965,901.170,588.285,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,pH_IsFET3,nil,nil,nil,nil,nil,empty,nil,nil
$SENSOR_SECS,320.309,464.590,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,97.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354796
$DATA_FILE_SIZE,23507,477
$CAP_FILE_SIZE,92434,0
$CFSIZE,260165632,257155072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030812,004001,2113.429,-15756.309,13,2.0,13,9.8