version: 66.08
glider: 511
mission: 13
dive: 23
start: 8 3 112 3 2 55
data:
$ID,511
$MISSION,13
$DIVE,23
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,450
$D_ABORT,470
$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,150
$T_MISSION,300
$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,-82342.508
$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,2200
$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,1930
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$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,3600
$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
$GPS1,030812,025555,2113.134,-15756.314,30,3.1,49,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-71.9
$GPS2,030812,030200,2113.161,-15756.368,10,1.3,15,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOME3
$TGT_LATLONG,2114.000,-15754.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.204,-0.161
$KALMAN_X,-18014.3,-488.4,-350.2,21149.2,-767.4
$KALMAN_Y,15190.6,-824.9,-267.3,-15183.4,1853.2
$MHEAD_RNG_PITCHd_Wd,118.5,4374,-17.5,-10.000
$D_GRID,450
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.74,-146.0,0.0,0.0,0,103,0.00,0.00,-83.50,0.000,6,0.000,0.000,51,1988,3960,0,0,0,0,0,0
$GC,106,-0.74,-146.0,1.9,-3.2,14,121,7.80,2.22,0.00,0.000,4,0.252,0.039,1959,527,3962,0,0,0,0,0,0
$GC,204,-0.74,-146.0,21.3,-15.3,35,211,0.00,2.20,0.00,0.000,6,0.000,0.041,1950,1941,3964,0,0,0,0,0,0
$GC,470,-0.74,-146.0,65.1,-15.0,64,474,0.00,2.12,0.00,0.000,4,0.000,0.042,1950,526,3966,0,0,0,0,0,0
$GC,603,-0.74,-146.0,82.9,-12.1,78,607,0.00,2.12,0.00,0.000,6,0.000,0.041,1941,1925,3966,0,0,0,0,0,0
$GC,867,-0.74,-146.0,119.8,-15.2,102,868,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1925,3968,0,0,0,0,0,0
$GC,1122,-0.74,-146.0,148.7,-8.9,126,1126,0.00,2.15,0.00,0.000,4,0.000,0.050,1930,3338,3969,0,0,0,0,0,0
$GC,1255,-0.74,-146.0,162.1,-11.2,140,1259,0.00,2.12,0.00,0.000,6,0.000,0.036,1930,1903,3971,0,0,0,0,0,0
$GC,1519,-0.74,-146.0,195.5,-14.2,164,1523,0.00,2.20,0.00,0.000,4,0.000,0.048,1920,3342,3971,0,0,0,0,0,0
$GC,1688,-0.74,-146.0,215.5,-10.1,182,1696,0.10,2.12,0.00,0.000,6,0.183,0.035,1957,1911,3971,0,0,0,0,0,0
$GC,1952,-0.74,-146.0,237.2,-8.2,207,1956,0.00,2.05,0.00,0.000,4,0.000,0.044,1957,541,3972,0,0,0,0,0,0
$GC,2055,-0.74,-146.0,246.3,-8.5,218,2062,0.00,2.10,0.00,0.000,6,0.000,0.043,1949,1912,3972,0,0,0,0,0,0
$GC,2320,-0.74,-146.0,267.4,-8.6,243,2324,0.00,2.15,0.00,0.000,4,0.000,0.053,1939,3335,3972,0,0,0,0,0,0
$GC,2345,-0.74,-146.0,269.9,-9.1,245,2349,0.00,2.10,0.00,0.000,6,0.000,0.037,1938,1922,3972,0,0,0,0,0,0
$GC,2609,-0.74,-146.0,291.2,-7.3,269,2613,0.00,2.17,0.00,0.000,4,0.000,0.054,1928,3332,3972,0,0,0,0,0,0
$GC,2634,-0.74,-146.0,293.1,-6.9,271,2638,0.12,2.10,0.00,0.000,6,0.190,0.038,1958,1916,3972,0,0,0,0,0,0
$GC,2891,-0.74,-146.0,313.1,-7.8,287,2895,0.00,2.08,0.00,0.000,4,0.000,0.048,1958,536,3972,0,0,0,0,0,0
$GC,2969,-0.74,-146.0,319.9,-8.6,290,2973,0.00,2.10,0.00,0.000,6,0.000,0.045,1951,1918,3972,0,0,0,0,0,0
$GC,3225,-0.74,-146.0,340.2,-8.2,302,3229,0.00,2.17,0.00,0.000,4,0.000,0.054,1940,3340,3972,0,0,0,0,0,0
$GC,3252,-0.74,-146.0,342.9,-9.0,303,3256,0.00,2.12,0.00,0.000,6,0.000,0.039,1940,1917,3971,0,0,0,0,0,0
$GC,3512,-0.74,-146.0,359.4,-5.8,316,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,1912,3971,0,0,0,0,0,0
$GC,3760,-0.74,-146.0,370.8,-4.8,328,3764,0.00,2.08,0.00,0.000,4,0.000,0.050,1940,532,3970,0,0,0,0,0,0
$GC,3829,-0.74,-146.0,375.0,-6.0,331,3833,0.00,2.10,0.00,0.000,6,0.000,0.045,1930,1909,3969,0,0,0,0,0,0
$GC,4093,-0.74,-146.0,393.3,-7.6,344,4097,0.00,2.17,0.00,0.000,4,0.000,0.058,1920,3333,3968,0,0,0,0,0,0
$GC,4259,-0.74,-146.0,408.2,-10.0,351,4263,0.15,2.12,0.00,0.000,6,0.194,0.042,1957,1924,3967,0,0,0,0,0,0
$GC,4520,-0.74,-146.0,425.7,-5.6,364,4524,0.00,2.17,0.00,0.000,4,0.000,0.056,1949,3336,3965,0,0,0,0,0,0
$GC,4593,-0.74,-146.0,429.8,-5.2,367,4597,0.00,2.10,0.00,0.000,6,0.000,0.041,1949,1937,3965,0,0,0,0,0,0
$GC,4852,-0.74,-146.0,442.9,-5.5,380,4856,0.00,2.15,0.00,0.000,4,0.000,0.054,1949,530,3964,0,0,0,0,0,0
$STATE,4955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4955,begin apogee
$GC,4963,-0.23,0.0,450.2,7.5,384,5038,0.57,0.00,66.00,0.924,4,0.162,0.000,2116,2292,3600,0,0,0,0,0,0
$STATE,5040,end apogee,CONTROL_FINISHED_OK
$STATE,5040,begin climb
$GC,5043,0.74,146.0,451.6,0.0,388,5165,0.95,2.33,114.60,0.892,4,0.097,0.063,2436,3711,3004,0,0,0,0,0,0
$GC,5326,0.74,146.0,387.1,26.7,400,5331,0.00,2.22,0.00,0.000,6,0.000,0.041,2446,2299,2995,0,0,0,0,0,0
$GC,5585,0.74,146.0,324.8,23.6,413,5589,0.00,2.20,0.00,0.000,4,0.000,0.048,2457,882,2991,0,0,0,0,0,0
$GC,5690,0.74,146.0,300.6,20.5,417,5697,0.00,2.25,0.00,0.000,6,0.000,0.052,2457,2311,2989,0,0,0,0,0,0
$GC,5955,0.74,146.0,241.8,23.4,442,5959,0.00,2.22,0.00,0.000,4,0.000,0.063,2457,3715,2987,0,0,0,0,0,0
$GC,6215,0.74,146.0,178.7,24.4,470,6223,0.00,2.15,0.00,0.000,6,0.000,0.043,2467,2343,2986,0,0,0,0,0,0
$GC,6479,0.74,146.0,122.8,22.3,495,6482,0.00,2.15,0.00,0.000,4,0.000,0.061,2467,3708,2984,0,0,0,0,0,0
$GC,6568,0.74,146.0,103.0,21.0,504,6576,0.10,2.12,0.00,0.000,6,0.200,0.042,2441,2338,2983,0,0,0,0,0,0
$GC,6832,0.74,146.0,57.2,16.3,529,6836,0.00,2.22,0.00,0.000,4,0.000,0.050,2449,890,2983,0,0,0,0,0,0
$GC,6911,0.74,146.0,45.6,13.4,537,6915,0.00,2.28,0.00,0.000,6,0.000,0.052,2449,2341,2982,0,0,0,0,0,0
$GC,7173,0.74,146.0,6.2,17.0,575,7180,0.00,2.17,0.00,0.000,4,0.000,0.062,2449,3714,2983,0,0,0,0,0,0
$STATE,7185,end climb,SURFACE_DEPTH_REACHED
$STATE,7186,begin surface coast
$FINISH,-0.3,1.023292
$STATE,7208,end surface coast,CONTROL_FINISHED_OK
$STATE,7209,begin surface
$SM_CCo,7226,90.85,0.571,0,0,2049,380.21
$SM_GC,0.53,0.00,0.00,90.85,0.000,0.000,0.571,48,1918,2049,-6.72,-0.31,380.21
$IRIDIUM_FIX,2104.07,-15755.17,030812,000033
$TT8_MAMPS,0.025466
$HUMID,64.37
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,23.60
$XPDR_PINGS,3
$24V_AH,24.4,2.755
$10V_AH,10.5,2.334
$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,15.975,83.175,180.600,90.850,0.000,25.032,36.687,193.549,0.750,0.000,18.006,1502.560,3764.715,348.278,1901.092,174.339,33.334,1063.625,0.000,1637.623,0.000,0.540,0.000
$DEVICE_MAMPS,252.450,63.495,924.120,570.690,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,pH_IsFET3,nil,nil,nil,nil,nil,empty,nil,nil
$SENSOR_SECS,392.305,1094.473,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,97.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354724
$DATA_FILE_SIZE,26825,582
$CAP_FILE_SIZE,93402,0
$CFSIZE,260165632,257060864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030812,050603,2112.760,-15755.982,11,2.2,31,9.8