version: 66.08
glider: 511
mission: 13
dive: 22
start: 8 3 112 0 46 12
data:
$ID,511
$MISSION,13
$DIVE,22
$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,-82341.242
$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,52
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,3500
$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
$GPS1,030812,004001,2113.429,-15756.309,13,2.0,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-71.5
$GPS2,030812,004519,2113.421,-15756.365,14,1.9,14,9.8
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,HOME3
$TGT_LATLONG,2114.000,-15754.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.194,-0.173
$KALMAN_X,-16987.5,-670.6,349.1,19602.7,-1108.2
$KALMAN_Y,14363.7,-755.2,-416.3,-13798.0,1494.5
$MHEAD_RNG_PITCHd_Wd,121.8,4222,-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,-86.05,0.000,6,0.000,0.000,44,1970,3961,0,0,0,0,0,0
$GC,108,-0.75,-146.0,1.8,-3.5,14,123,8.02,2.10,0.00,0.000,4,0.253,0.040,2009,593,3963,0,0,0,0,0,0
$GC,177,-0.75,-146.0,14.7,-14.0,28,184,0.00,2.20,0.00,0.000,6,0.000,0.041,2000,2009,3964,0,0,0,0,0,0
$GC,447,-0.75,-146.0,54.9,-14.9,63,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2008,3967,0,0,0,0,0,0
$GC,702,-0.75,-146.0,86.5,-12.0,87,705,0.00,2.12,0.00,0.000,4,0.000,0.042,1999,604,3968,0,0,0,0,0,0
$GC,726,-0.75,-146.0,89.5,-12.1,89,731,0.00,2.15,0.00,0.000,6,0.000,0.044,1990,2005,3968,0,0,0,0,0,0
$GC,992,-0.75,-146.0,116.0,-8.0,113,995,0.00,2.12,0.00,0.000,4,0.000,0.043,1990,597,3970,0,0,0,0,0,0
$GC,1042,-0.75,-146.0,120.5,-8.4,118,1046,0.00,2.12,0.00,0.000,6,0.000,0.043,1980,1995,3971,0,0,0,0,0,0
$GC,1310,-0.75,-146.0,142.4,-7.1,143,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1995,3972,0,0,0,0,0,0
$GC,1563,-0.75,-146.0,163.9,-7.9,167,1567,0.00,2.15,0.00,0.000,4,0.000,0.051,1969,3409,3973,0,0,0,0,0,0
$GC,1785,-0.75,-146.0,181.8,-6.7,191,1790,0.15,2.10,0.00,0.000,6,0.173,0.037,2009,1985,3974,0,0,0,0,0,0
$GC,2047,-0.75,-146.0,194.5,-5.0,215,2051,0.00,2.08,0.00,0.000,4,0.000,0.045,2009,601,3974,0,0,0,0,0,0
$GC,2241,-0.75,-146.0,205.3,-4.5,229,2248,0.00,2.10,0.00,0.000,6,0.000,0.046,2002,1984,3975,0,0,0,0,0,0
$GC,2495,-0.75,-146.0,213.1,-2.9,242,2499,0.00,2.17,0.00,0.000,4,0.000,0.054,1990,3412,3975,0,0,0,0,0,0
$GC,2607,-0.75,-146.0,218.5,-5.5,247,2612,0.00,2.10,0.00,0.000,6,0.000,0.038,1990,2007,3975,0,0,0,0,0,0
$GC,2875,-0.75,-146.0,240.1,-8.6,260,2879,0.00,2.10,0.00,0.000,4,0.000,0.047,1990,597,3975,0,0,0,0,0,0
$GC,2925,-0.75,-146.0,244.9,-9.6,262,2929,0.00,2.12,0.00,0.000,6,0.000,0.045,1981,1988,3974,0,0,0,0,0,0
$GC,3184,-0.75,-146.0,262.4,-5.7,275,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1989,3974,0,0,0,0,0,0
$GC,3431,-0.75,-146.0,276.8,-5.0,287,3435,0.00,2.20,0.00,0.000,4,0.000,0.057,1970,3407,3974,0,0,0,0,0,0
$GC,3481,-0.75,-146.0,279.2,-5.2,289,3486,0.15,2.15,0.00,0.000,6,0.172,0.041,2010,1973,3974,0,0,0,0,0,0
$GC,3745,-0.75,-146.0,283.8,-1.2,302,3749,0.00,2.22,0.00,0.000,4,0.000,0.054,2001,3410,3973,0,0,0,0,0,0
$GC,3831,-0.75,-146.0,286.4,-3.6,305,3838,0.00,2.15,0.00,0.000,6,0.000,0.039,2001,1975,3973,0,0,0,0,0,0
$GC,4085,-0.75,-146.0,301.3,-7.0,318,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1970,3972,0,0,0,0,0,0
$GC,4329,-0.75,-146.0,317.4,-6.3,324,4333,0.00,2.22,0.00,0.000,4,0.000,0.057,1990,3406,3971,0,0,0,0,0,0
$GC,4537,-0.75,-146.0,327.3,-4.5,328,4541,0.00,2.12,0.00,0.000,6,0.000,0.041,1990,1992,3970,0,0,0,0,0,0
$GC,4796,-0.75,-146.0,338.2,-4.0,335,4800,0.00,2.12,0.00,0.000,4,0.000,0.050,1991,587,3968,0,0,0,0,0,0
$GC,4874,-0.75,-146.0,342.3,-5.8,336,4878,0.00,2.15,0.00,0.000,6,0.000,0.049,1981,1988,3967,0,0,0,0,0,0
$GC,5129,-0.75,-146.0,357.6,-6.3,343,5133,0.00,2.20,0.00,0.000,4,0.000,0.060,1970,3406,3966,0,0,0,0,0,0
$GC,5259,-0.75,-146.0,366.1,-5.9,345,5266,0.15,2.12,0.00,0.000,6,0.174,0.042,2010,1993,3965,0,0,0,0,0,0
$GC,5509,-0.75,-146.0,378.6,-4.8,352,5513,0.00,2.20,0.00,0.000,4,0.000,0.060,2001,3405,3964,0,0,0,0,0,0
$GC,5592,-0.75,-146.0,382.8,-5.5,353,5599,0.00,2.12,0.00,0.000,6,0.000,0.041,2001,1995,3963,0,0,0,0,0,0
$GC,5843,-0.75,-146.0,392.4,-3.7,360,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1991,3962,0,0,0,0,0,0
$STATE,6043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6043,begin apogee
$GC,6049,-0.23,0.0,401.5,4.6,365,6138,0.52,0.00,83.68,0.901,4,0.139,0.000,2173,2308,3500,0,0,0,0,0,0
$STATE,6139,end apogee,CONTROL_FINISHED_OK
$STATE,6139,begin climb
$GC,6141,0.75,146.0,401.2,0.0,367,6266,0.88,2.33,115.03,0.862,4,0.057,0.063,2507,3703,2903,0,0,0,0,0,0
$GC,6474,0.75,146.0,300.3,35.0,374,6478,0.00,2.20,0.00,0.000,6,0.000,0.041,2518,2300,2895,0,0,0,0,0,0
$GC,6742,0.75,146.0,217.9,29.1,387,6746,0.00,2.20,0.00,0.000,4,0.000,0.050,2529,885,2891,0,0,0,0,0,0
$GC,6913,0.75,146.0,170.5,26.2,402,6921,0.15,2.22,0.00,0.000,6,0.219,0.054,2495,2301,2887,0,0,1,0,0,0
$GC,7177,0.75,146.0,100.8,27.8,427,7181,0.00,2.20,0.00,0.000,4,0.000,0.061,2484,3710,2885,0,0,0,0,0,0
$GC,7361,0.75,146.0,50.0,23.6,447,7366,0.00,2.15,0.00,0.000,6,0.000,0.041,2493,2314,2885,0,0,0,0,0,0
$STATE,7570,end climb,SURFACE_DEPTH_REACHED
$STATE,7570,begin surface coast
$FINISH,0.3,1.023271
$STATE,7587,end surface coast,CONTROL_FINISHED_OK
$STATE,7587,begin surface
$SM_CCo,7603,91.55,0.585,0,0,1949,380.21
$SM_GC,0.24,0.00,0.00,91.55,0.000,0.000,0.585,54,1985,1949,-6.86,-0.45,380.21
$IRIDIUM_FIX,2104.07,-15805.48,020812,222211
$TT8_MAMPS,0.025466
$HUMID,70.67
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,24.4,2.679
$10V_AH,10.5,2.253
$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,16.300,70.000,198.700,91.550,0.000,28.063,35.313,145.769,0.000,0.000,17.917,1291.924,4619.498,348.542,1605.988,152.952,33.333,1030.918,0.000,1372.540,0.000,0.539,0.000
$DEVICE_MAMPS,253.215,63.495,901.170,585.225,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,pH_IsFET3,nil,nil,nil,nil,nil,empty,nil,nil
$SENSOR_SECS,322.439,481.484,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,97.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354824
$DATA_FILE_SIZE,23469,480
$CAP_FILE_SIZE,89194,0
$CFSIZE,260165632,257114112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,030812,025555,2113.134,-15756.314,30,3.1,49,9.8