version: 66.08
glider: 511
mission: 13
dive: 24
start: 8 3 112 5 12 31
data:
$ID,511
$MISSION,13
$DIVE,24
$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,-82343.773
$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,2000
$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,37
$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
$GPS1,030812,050603,2112.760,-15755.982,11,2.2,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-71.6
$GPS2,030812,051136,2112.773,-15756.031,12,0.9,16,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOME3
$TGT_LATLONG,2114.000,-15754.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.260,-0.006
$KALMAN_X,-19248.1,-147.8,-705.4,22979.0,-458.5
$KALMAN_Y,15458.9,-692.3,74.3,-16642.4,1269.7
$MHEAD_RNG_PITCHd_Wd,81.6,4179,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,98,0.00,0.00,-79.50,0.000,6,0.000,0.000,44,1917,3960,0,0,0,0,0,0
$GC,101,-0.74,-146.0,1.7,-2.2,13,116,6.88,2.20,0.00,0.000,4,0.247,0.043,1739,3358,3962,0,0,0,0,0,0
$GC,144,-0.74,-146.0,13.8,-30.6,21,151,0.00,2.20,0.00,0.000,6,0.000,0.039,1739,1929,3963,0,0,0,0,0,0
$GC,410,-0.74,-146.0,94.7,-26.6,50,414,0.00,2.12,0.00,0.000,4,0.000,0.044,1739,517,3965,0,0,0,0,0,0
$GC,423,-0.74,-146.0,98.6,-23.9,51,430,0.00,2.17,0.00,0.000,6,0.000,0.043,1729,1923,3965,0,0,0,0,0,0
$GC,686,-0.74,-146.0,160.7,-24.8,76,691,0.12,2.12,0.00,0.000,4,0.235,0.044,1755,515,3966,0,0,1,0,0,0
$GC,947,-0.74,-146.0,217.4,-20.5,104,954,0.00,2.12,0.00,0.000,6,0.000,0.043,1746,1908,3968,0,0,0,0,0,0
$GC,1210,-0.74,-146.0,257.7,-13.0,129,1214,0.00,2.08,0.00,0.000,4,0.000,0.045,1747,518,3969,0,0,0,0,0,0
$GC,1254,-0.74,-146.0,264.4,-13.9,133,1262,0.00,2.10,0.00,0.000,6,0.000,0.042,1737,1891,3969,0,0,0,0,0,0
$GC,1519,-0.74,-146.0,301.3,-13.2,158,1523,0.00,2.17,0.00,0.000,4,0.000,0.048,1726,3341,3970,0,0,0,0,0,0
$GC,1670,-0.74,-146.0,318.2,-11.6,164,1678,0.10,2.20,0.00,0.000,6,0.228,0.037,1751,1874,3971,0,0,0,0,0,0
$GC,1925,-0.74,-146.0,345.1,-9.6,177,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1875,3971,0,0,0,0,0,0
$GC,2173,-0.74,-146.0,368.2,-9.3,189,2176,0.00,2.03,0.00,0.000,4,0.000,0.047,1751,519,3971,0,0,0,0,0,0
$GC,2296,-0.74,-146.0,380.2,-10.4,194,2299,0.00,2.05,0.00,0.000,6,0.000,0.044,1743,1883,3970,0,0,0,0,0,0
$GC,2556,-0.74,-146.0,408.4,-10.8,207,2559,0.00,2.05,0.00,0.000,4,0.000,0.050,1743,526,3969,0,0,0,0,0,0
$GC,2684,-0.74,-146.0,423.0,-11.6,212,2691,0.00,2.05,0.00,0.000,6,0.000,0.045,1734,1861,3969,0,0,0,0,0,0
$STATE,2936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2937,begin apogee
$GC,2943,-0.23,0.0,451.8,11.3,225,3014,0.68,0.00,67.15,0.903,4,0.210,0.000,1919,2307,3599,0,0,0,0,0,0
$STATE,3016,end apogee,CONTROL_FINISHED_OK
$STATE,3016,begin climb
$GC,3018,0.74,146.0,456.3,0.0,228,3140,1.10,2.30,113.70,0.881,4,0.156,0.060,2235,3704,3004,0,0,0,0,0,0
$GC,3159,0.82,205.5,449.0,7.3,234,3212,0.00,2.25,47.75,0.861,6,0.000,0.037,2239,2300,2762,0,0,0,0,0,0
$GC,3466,0.82,205.5,420.3,10.5,249,3470,0.00,2.22,0.00,0.000,4,0.000,0.050,2239,894,2750,0,0,0,0,0,0
$GC,3733,0.86,243.4,393.9,8.2,260,3768,0.08,2.25,29.30,0.851,6,0.102,0.051,2275,2292,2607,0,0,0,0,0,0
$GC,4032,0.88,254.9,368.1,9.5,275,4048,0.00,2.22,10.20,0.770,4,0.000,0.047,2276,891,2560,0,0,1,0,0,0
$GC,4085,0.88,254.9,362.3,11.8,277,4089,0.00,2.25,0.00,0.000,6,0.000,0.050,2276,2312,2557,0,0,0,0,0,0
$GC,4344,0.88,254.9,332.4,11.2,290,4348,0.00,2.22,0.00,0.000,4,0.000,0.064,2273,3717,2555,0,0,0,0,0,0
$GC,4425,0.88,254.9,323.2,10.9,293,4430,0.00,2.17,0.00,0.000,6,0.000,0.040,2273,2305,2555,0,0,0,0,0,0
$GC,4681,0.88,254.9,299.0,10.4,305,4685,0.00,2.17,0.00,0.000,4,0.000,0.053,2272,892,2552,0,0,0,0,0,0
$GC,4717,0.88,259.1,295.1,9.8,308,4725,0.00,2.22,3.80,0.525,6,0.000,0.052,2273,2313,2543,0,0,0,0,0,0
$GC,4982,0.89,263.9,270.4,9.8,333,4994,0.00,2.20,5.70,0.642,4,0.000,0.062,2273,3709,2523,0,0,0,0,0,0
$GC,5042,0.90,271.9,263.9,9.6,339,5056,0.00,2.12,8.27,0.705,6,0.000,0.039,2273,2306,2490,0,0,0,0,0,0
$GC,5319,0.91,277.5,237.5,9.7,365,5331,0.00,2.25,5.35,0.607,4,0.000,0.063,2273,3710,2469,0,0,0,0,0,0
$GC,5434,0.91,277.5,226.6,10.1,377,5438,0.00,2.12,0.00,0.000,6,0.000,0.039,2273,2323,2469,0,0,0,0,0,0
$GC,5697,0.91,277.5,195.9,12.9,401,5701,0.00,2.22,0.00,0.000,4,0.000,0.064,2273,3712,2466,0,0,0,0,0,0
$GC,5734,0.91,277.5,190.9,12.8,405,5738,0.00,2.12,0.00,0.000,6,0.000,0.040,2273,2321,2467,0,0,0,0,0,0
$GC,5999,0.91,277.5,162.6,10.4,429,6003,0.00,2.22,0.00,0.000,4,0.000,0.063,2273,3714,2466,0,0,0,0,0,0
$GC,6053,0.91,277.5,156.7,10.1,434,6060,0.00,2.12,0.00,0.000,6,0.000,0.038,2273,2326,2466,0,0,0,0,0,0
$GC,6318,0.91,278.9,131.3,9.9,459,6322,0.00,2.20,0.00,0.000,4,0.000,0.061,2273,3716,2466,0,0,0,0,0,0
$GC,6369,0.92,290.4,125.6,9.5,464,6391,0.00,2.05,11.62,0.627,6,0.000,0.037,2273,2334,2416,0,0,0,0,0,0
$GC,6647,0.92,290.4,95.3,11.4,490,6651,0.00,2.15,0.00,0.000,4,0.000,0.059,2273,3713,2414,0,0,0,0,0,0
$GC,6673,0.92,290.4,92.1,10.7,492,6680,0.00,2.08,0.00,0.000,6,0.000,0.036,2273,2342,2414,0,0,0,0,0,0
$GC,6938,0.92,292.1,67.0,9.9,517,6942,0.00,2.15,0.00,0.000,4,0.000,0.059,2273,3711,2414,0,0,0,0,0,0
$GC,6973,0.92,292.1,62.6,11.1,520,6981,0.00,2.05,0.00,0.000,6,0.000,0.037,2273,2358,2414,0,0,0,0,0,0
$GC,7235,0.92,292.1,35.1,10.9,545,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2358,2414,0,0,0,0,0,0
$GC,7490,0.92,292.1,11.6,10.4,587,7497,0.00,2.22,0.00,0.000,4,0.000,0.048,2272,903,2415,0,0,0,0,0,0
$STATE,7562,end climb,SURFACE_DEPTH_REACHED
$STATE,7562,begin surface coast
$FINISH,-0.1,1.000083
$STATE,7605,end surface coast,CONTROL_FINISHED_OK
$STATE,7605,begin surface
$SM_CCo,7621,35.47,0.545,0,0,2048,380.21
$SM_GC,0.79,0.00,0.00,35.47,0.000,0.000,0.545,48,1953,2048,-6.10,0.65,380.21
$IRIDIUM_FIX,2106.38,-15755.17,030812,020226
$TT8_MAMPS,0.025466
$HUMID,64.21
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,24.4,2.846
$10V_AH,10.5,2.418
$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,14.575,86.550,302.850,35.475,0.000,31.081,36.483,154.202,0.250,0.000,18.833,1545.821,3976.727,378.631,1916.207,178.006,33.338,1145.246,0.000,1680.121,0.000,0.542,0.000
$DEVICE_MAMPS,247.095,64.260,902.700,544.680,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,pH_IsFET3,nil,nil,nil,nil,nil,empty,nil,nil
$SENSOR_SECS,411.007,1150.851,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,97.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354668
$DATA_FILE_SIZE,30169,612
$CAP_FILE_SIZE,95842,0
$CFSIZE,260165632,257007616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,030812,072115,2112.749,-15755.752,8,3.6,28,9.8