version: 66.08
glider: 511
mission: 13
dive: 28
start: 8 3 112 14 18 11
data:
$ID,511
$MISSION,13
$DIVE,28
$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,-82348.828
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2090
$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,1900
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,3630
$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
$GPS1,030812,141143,2113.350,-15754.817,13,1.8,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-72.4
$GPS2,030812,141715,2113.347,-15754.863,14,2.9,33,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOME3
$TGT_LATLONG,2114.000,-15754.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.145
$KALMAN_X,-27093.7,-364.7,235.3,32116.1,-2292.5
$KALMAN_Y,16566.3,-163.7,57.5,-17195.4,1020.4
$MHEAD_RNG_PITCHd_Wd,114.2,1919,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.74,-146.0,0.0,0.0,0,97,0.00,0.00,-77.93,0.000,6,0.000,0.000,36,1878,3961,0,0,0,0,0,0
$GC,100,-0.74,-146.0,2.0,-2.8,13,115,7.38,2.22,0.00,0.000,4,0.252,0.043,1827,3331,3962,0,0,0,0,0,0
$GC,169,-0.74,-146.0,21.3,-29.1,27,176,0.00,2.20,0.00,0.000,6,0.000,0.041,1827,1908,3964,0,0,0,0,0,0
$GC,440,-0.74,-146.0,89.9,-22.2,55,444,0.00,2.17,0.00,0.000,4,0.000,0.049,1827,486,3965,0,0,0,0,0,0
$GC,555,-0.74,-146.0,114.0,-19.8,67,559,0.12,2.17,0.00,0.000,6,0.221,0.043,1844,1906,3966,0,0,0,0,0,0
$GC,819,-0.74,-146.0,156.0,-15.9,91,823,0.00,2.12,0.00,0.000,4,0.000,0.052,1835,3305,3967,0,0,0,0,0,0
$GC,862,-0.74,-146.0,163.7,-16.6,95,866,0.00,2.12,0.00,0.000,6,0.000,0.039,1835,1887,3968,0,0,0,0,0,0
$GC,1129,-0.74,-146.0,203.2,-13.7,120,1133,0.00,2.08,0.00,0.000,4,0.000,0.048,1835,492,3969,0,0,0,0,0,0
$GC,1361,-0.74,-146.0,233.1,-12.9,145,1365,0.00,2.10,0.00,0.000,6,0.000,0.042,1825,1885,3970,0,0,0,0,0,0
$GC,1629,-0.74,-146.0,259.6,-8.4,170,1633,0.00,2.10,0.00,0.000,4,0.000,0.046,1825,500,3971,0,0,0,0,0,0
$GC,1765,-0.74,-146.0,272.4,-8.8,184,1773,0.10,2.10,0.00,0.000,6,0.200,0.042,1843,1871,3971,0,0,0,0,0,0
$GC,2028,-0.74,-146.0,293.9,-9.8,209,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1871,3971,0,0,0,0,0,0
$GC,2287,-0.74,-146.0,318.0,-9.7,225,2290,0.00,2.08,0.00,0.000,4,0.000,0.048,1843,492,3971,0,0,0,0,0,0
$GC,2494,-0.74,-146.0,339.7,-9.9,234,2498,0.00,2.10,0.00,0.000,6,0.000,0.044,1835,1877,3970,0,0,0,0,0,0
$GC,2763,-0.74,-146.0,364.4,-9.4,247,2767,0.00,2.17,0.00,0.000,4,0.000,0.056,1824,3307,3969,0,0,0,0,0,0
$GC,2901,-0.74,-146.0,377.6,-9.3,253,2905,0.00,2.15,0.00,0.000,6,0.000,0.039,1824,1871,3968,0,0,0,0,0,0
$GC,3165,-0.74,-146.0,400.6,-9.4,266,3169,0.00,2.22,0.00,0.000,4,0.000,0.056,1813,3307,3967,0,0,0,0,0,0
$GC,3231,-0.74,-146.0,408.1,-11.2,269,3236,0.15,2.12,0.00,0.000,6,0.224,0.041,1847,1876,3966,0,0,0,0,0,0
$GC,3500,-0.74,-146.0,433.7,-9.3,282,3504,0.00,2.20,0.00,0.000,4,0.000,0.056,1838,3304,3965,0,0,0,0,0,0
$STATE,3673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3673,begin apogee
$GC,3680,-0.23,0.0,450.5,9.0,289,3746,0.57,0.00,60.75,0.916,4,0.194,0.000,2005,2294,3630,0,0,0,0,0,0
$STATE,3747,end apogee,CONTROL_FINISHED_OK
$STATE,3747,begin climb
$GC,3750,0.74,146.0,452.7,0.0,292,3874,1.02,2.22,113.35,0.890,4,0.139,0.049,2324,896,3033,0,0,0,0,0,0
$GC,3943,0.74,146.0,434.7,12.2,301,3948,0.00,2.28,0.00,0.000,6,0.000,0.054,2324,2290,3028,0,0,0,0,0,0
$GC,4207,0.74,146.0,399.5,13.4,314,4211,0.00,2.17,0.00,0.000,4,0.000,0.045,2334,901,3025,0,0,0,0,0,0
$GC,4278,0.74,146.0,391.0,12.0,317,4282,0.00,2.28,0.00,0.000,6,0.000,0.054,2334,2318,3023,0,0,0,0,0,0
$GC,4547,0.74,146.0,356.4,12.8,330,4551,0.00,2.22,0.00,0.000,4,0.000,0.060,2334,3714,3021,0,0,0,0,0,0
$GC,4752,0.74,146.0,325.2,15.1,339,4756,0.00,2.10,0.00,0.000,6,0.000,0.039,2344,2346,3020,0,0,0,0,0,0
$GC,5012,0.74,146.0,288.4,13.3,355,5016,0.00,2.20,0.00,0.000,4,0.000,0.064,2344,3714,3018,0,0,0,0,0,0
$GC,5147,0.74,146.0,269.0,14.5,369,5154,0.00,2.10,0.00,0.000,6,0.000,0.038,2354,2353,3017,0,0,0,0,0,0
$GC,5411,0.74,146.0,233.3,14.2,394,5415,0.00,2.15,0.00,0.000,4,0.000,0.064,2353,3714,3016,0,0,0,0,0,0
$GC,5445,0.74,146.0,227.7,16.7,397,5449,0.12,2.08,0.00,0.000,6,0.188,0.042,2332,2364,3016,0,0,0,0,0,0
$GC,5709,0.74,146.0,196.9,10.3,421,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2358,3014,0,0,0,0,0,0
$GC,5972,0.74,146.0,171.2,10.4,446,5975,0.00,2.12,0.00,0.000,4,0.000,0.063,2332,3716,3012,0,0,0,0,0,0
$GC,6059,0.74,146.0,160.8,13.0,455,6062,0.00,2.05,0.00,0.000,6,0.000,0.041,2341,2366,3013,0,0,0,0,0,0
$GC,6326,0.74,146.0,130.4,11.1,480,6330,0.00,2.15,0.00,0.000,4,0.000,0.063,2340,3722,3012,0,0,0,0,0,0
$GC,6404,0.74,146.0,120.2,13.0,488,6408,0.00,2.05,0.00,0.000,6,0.000,0.039,2350,2370,3012,0,0,0,0,0,0
$GC,6672,0.74,146.0,93.2,10.8,513,6676,0.00,2.10,0.00,0.000,4,0.000,0.062,2350,3716,3012,0,0,0,0,0,0
$GC,6759,0.74,146.0,83.2,10.7,522,6763,0.00,2.03,0.00,0.000,6,0.000,0.040,2359,2381,3013,0,0,0,0,0,0
$GC,7028,0.79,182.7,61.4,8.3,547,7060,0.00,2.30,25.50,0.623,4,0.000,0.047,2369,886,2883,0,0,0,0,0,0
$GC,7074,0.79,185.3,56.5,9.9,551,7081,0.00,2.38,0.00,0.000,6,0.000,0.049,2369,2392,2882,0,0,0,0,0,0
$GC,7340,0.83,214.3,29.8,8.7,576,7372,0.00,2.12,24.85,0.587,4,0.000,0.061,2370,3707,2755,0,0,0,0,0,0
$GC,7449,0.83,214.3,16.7,13.6,598,7456,0.00,2.03,0.00,0.000,6,0.000,0.037,2379,2395,2752,0,0,0,0,0,0
$STATE,7542,end climb,SURFACE_DEPTH_REACHED
$STATE,7542,begin surface coast
$FINISH,0.0,1.023340
$STATE,7571,end surface coast,CONTROL_FINISHED_OK
$STATE,7572,begin surface
$SM_CCo,7588,65.53,0.551,0,0,2079,380.21
$SM_GC,0.88,0.00,0.00,65.53,0.000,0.000,0.551,52,1890,2079,-6.37,-0.28,380.21
$IRIDIUM_FIX,2104.07,-15755.17,030812,121217
$TT8_MAMPS,0.025466
$HUMID,59.92
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.10
$XPDR_PINGS,5
$24V_AH,24.4,3.162
$10V_AH,10.5,2.762
$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,15.550,81.850,224.450,65.525,0.000,31.487,31.278,138.840,1.250,0.000,36.746,1578.868,3902.038,348.946,1984.903,177.757,33.330,1114.285,0.000,1750.495,0.000,0.543,0.000
$DEVICE_MAMPS,251.685,64.260,915.705,550.800,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,pH_IsFET3,nil,nil,nil,nil,nil,empty,nil,nil
$SENSOR_SECS,417.268,1165.901,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,97.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354712
$DATA_FILE_SIZE,30062,620
$CAP_FILE_SIZE,95764,0
$CFSIZE,260165632,256806912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030812,162700,2113.132,-15754.509,36,1.7,36,9.8