version: 66.04
glider: 108
mission: 11
dive: 719
start: 1 24 109 7 51 49
data:
$ID,108
$MISSION,11
$DIVE,719
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_FINISH,7
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,470
$T_MISSION,550
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02765
$MASS,51779
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,150
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-136041.95
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2680
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,1740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2650
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.639299
$PRESSURE_SLOPE,0.0001161151
$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,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,073626,6653.787,-5638.305,39,1.7,39,-37.3
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-68.7
$GPS2,075126,6653.627,-5638.278,11,1.1,11,-37.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,NUUK1
$TGT_LATLONG,6600.000,-5700.000
$TGT_RADIUS,20000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,226.7,100656,-13.0,-7.021
$D_GRID,521
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,107,0.00,0.00,-86.55,0.000,6,0.000,0.000,332,2241,3247
$GC,113,-0.99,-146.0,3.0,-1.1,16,127,8.85,2.28,0.00,0.000,4,0.243,0.067,2453,3601,3250
$GC,384,-0.55,-146.0,44.1,-13.7,63,391,0.35,2.17,0.00,0.000,6,0.156,0.044,2557,2218,3254
$GC,732,-0.61,-146.0,75.8,-9.1,124,740,0.00,2.30,0.00,0.000,4,0.000,0.070,2549,3597,3253
$GC,759,-0.67,-146.0,78.2,-8.9,128,766,0.00,2.17,0.00,0.000,6,0.000,0.045,2549,2218,3253
$GC,1099,-0.76,-146.0,106.9,-8.1,177,1104,0.12,2.25,0.00,0.000,4,0.076,0.057,2490,830,3252
$GC,1124,-0.67,-146.0,109.1,-9.5,178,1129,0.20,2.30,0.00,0.000,6,0.133,0.058,2536,2235,3252
$GC,1463,-0.74,-146.0,129.0,-4.5,194,1467,0.00,2.33,0.00,0.000,4,0.000,0.058,2535,825,3251
$GC,1492,-0.74,-146.0,130.6,-4.9,195,1496,0.00,2.33,0.00,0.000,6,0.000,0.058,2528,2243,3251
$GC,1817,-0.80,-146.0,146.1,-5.1,211,1820,0.00,2.33,0.00,0.000,4,0.000,0.058,2528,828,3252
$GC,1829,-0.85,-146.0,146.9,-5.2,211,1834,0.10,2.30,0.00,0.000,6,0.077,0.057,2471,2239,3252
$GC,2152,-0.72,-146.0,170.7,-7.9,227,2157,0.20,2.35,0.00,0.000,4,0.141,0.057,2534,828,3252
$GC,2188,-0.78,-146.0,173.2,-6.4,228,2194,0.00,2.33,0.00,0.000,6,0.000,0.057,2526,2231,3252
$GC,2505,-0.87,-146.0,193.9,-6.4,244,2510,0.12,2.33,0.00,0.000,4,0.074,0.056,2464,827,3252
$GC,2558,-0.70,-146.0,198.4,-9.0,246,2562,0.25,2.33,0.00,0.000,6,0.130,0.058,2525,2235,3252
$GC,2881,-0.80,-146.0,216.2,-5.0,262,2884,0.00,2.33,0.00,0.000,4,0.000,0.057,2525,826,3252
$GC,2938,-0.86,-146.0,219.3,-5.4,264,2943,0.10,2.33,0.00,0.000,6,0.077,0.058,2471,2234,3251
$GC,3262,-0.78,-146.0,239.8,-6.3,280,3267,0.15,2.33,0.00,0.000,4,0.139,0.056,2513,828,3251
$GC,3303,-0.83,-146.0,242.2,-5.0,281,3309,0.00,2.33,0.00,0.000,6,0.000,0.057,2505,2241,3251
$GC,3621,-0.89,-146.0,258.2,-5.0,297,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2241,3251
$GC,3931,-0.95,-146.0,274.7,-5.6,312,3936,0.12,2.33,0.00,0.000,4,0.072,0.055,2446,825,3252
$GC,3995,-0.75,-146.0,279.7,-8.2,315,4000,0.30,2.33,0.00,0.000,6,0.128,0.056,2522,2243,3252
$GC,4325,-0.89,-146.0,297.6,-5.4,331,4329,0.12,2.33,0.00,0.000,4,0.074,0.054,2464,818,3253
$GC,4382,-0.77,-146.0,301.8,-7.4,333,4389,0.22,2.33,0.00,0.000,6,0.124,0.054,2518,2244,3252
$GC,4700,-0.91,-146.0,318.2,-5.0,349,4705,0.15,2.30,0.00,0.000,4,0.070,0.054,2449,827,3253
$GC,4786,-0.74,-146.0,324.2,-7.1,352,4792,0.28,2.30,0.00,0.000,6,0.125,0.053,2520,2246,3253
$GC,5104,-0.89,-146.0,336.9,-3.8,368,5109,0.12,2.33,0.00,0.000,4,0.074,0.051,2461,813,3254
$GC,5156,-0.75,-146.0,339.7,-5.5,370,5161,0.22,2.30,0.00,0.000,6,0.123,0.052,2515,2234,3254
$GC,5474,-0.88,-146.0,351.8,-4.0,385,5478,0.10,2.28,0.00,0.000,4,0.080,0.051,2465,826,3255
$GC,5554,-0.77,-146.0,356.1,-5.5,388,5559,0.20,2.28,0.00,0.000,6,0.124,0.052,2513,2238,3255
$GC,5877,-0.90,-146.0,369.9,-4.2,404,5882,0.10,2.30,0.00,0.000,4,0.081,0.051,2463,814,3256
$GC,5913,-0.76,-146.0,371.8,-5.9,405,5920,0.22,2.30,0.00,0.000,6,0.126,0.051,2518,2242,3257
$GC,6231,-0.92,-146.0,385.5,-3.8,421,6235,0.15,2.30,0.00,0.000,4,0.068,0.050,2450,816,3257
$GC,6305,-0.76,-146.0,390.5,-7.2,424,6310,0.28,2.30,0.00,0.000,6,0.125,0.051,2520,2245,3257
$GC,6648,-0.92,-146.0,405.7,-4.0,438,6652,0.15,2.30,0.00,0.000,4,0.067,0.050,2452,813,3258
$GC,6716,-0.77,-146.0,410.0,-6.9,439,6721,0.25,2.28,0.00,0.000,6,0.127,0.051,2513,2233,3258
$GC,7056,-0.91,-146.0,425.8,-4.5,448,7061,0.12,2.25,0.00,0.000,4,0.074,0.050,2455,824,3259
$GC,7091,-0.76,-146.0,427.9,-6.4,448,7096,0.25,2.28,0.00,0.000,6,0.124,0.051,2518,2244,3259
$GC,7425,-0.92,-146.0,443.0,-4.2,456,7430,0.15,2.28,0.00,0.000,4,0.069,0.050,2450,824,3260
$GC,7494,-0.76,-146.0,447.4,-7.0,457,7498,0.28,2.28,0.00,0.000,6,0.125,0.050,2520,2244,3260
$GC,7838,-0.92,-146.0,462.1,-4.1,466,7843,0.15,2.30,0.00,0.000,4,0.067,0.050,2451,819,3261
$GC,7902,-0.77,-146.0,466.0,-6.2,467,7907,0.25,2.28,0.00,0.000,6,0.125,0.050,2514,2233,3260
$GC,8246,-0.90,-146.0,482.3,-4.6,476,8251,0.12,2.28,0.00,0.000,4,0.074,0.049,2456,820,3261
$GC,8281,-0.75,-146.0,484.5,-6.7,476,8289,0.25,2.28,0.00,0.000,6,0.125,0.050,2518,2241,3261
$GC,8616,-0.91,-146.0,499.9,-4.5,485,8621,0.12,2.30,0.00,0.000,4,0.071,0.049,2458,814,3261
$GC,8645,-0.83,-146.0,501.7,-6.4,485,8650,0.20,2.28,0.00,0.000,6,0.125,0.050,2505,2235,3261
$GC,8980,-0.95,-146.0,517.4,-4.6,493,8984,0.12,2.28,0.00,0.000,4,0.073,0.049,2447,818,3261
$GC,9014,-0.78,-146.0,519.5,-6.8,493,9019,0.25,2.28,0.00,0.000,6,0.125,0.050,2510,2236,3261
$STATE,9058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9059,begin apogee
$GC,9069,-0.31,0.0,521.9,5.1,494,9200,0.32,0.00,128.88,1.091,6,0.110,0.000,2616,1735,2650
$STATE,9201,end apogee,CONTROL_FINISHED_OK
$STATE,9201,begin climb
$GC,9206,0.99,146.0,523.4,0.0,497,9345,0.88,2.53,129.75,1.029,4,0.091,0.055,2901,3150,2053
$GC,9394,0.69,146.0,506.1,12.6,502,9399,0.30,2.38,0.00,0.000,6,0.126,0.041,2828,1729,2049
$GC,9726,0.75,151.5,482.6,6.8,510,9733,0.00,0.00,4.82,0.724,6,0.000,0.000,2828,1729,2032
$GC,10050,0.84,168.3,461.4,6.5,518,10072,0.12,2.33,16.08,0.979,4,0.067,0.055,2894,3163,1962
$GC,10108,0.58,168.3,455.8,11.1,519,10113,0.35,2.25,0.00,0.000,6,0.125,0.041,2799,1726,1961
$GC,10458,0.86,215.6,436.1,5.5,528,10504,0.22,0.00,42.10,1.020,6,0.051,0.000,2909,1726,1770
$GC,10828,0.68,215.6,391.1,12.9,538,10833,0.25,2.30,0.00,0.000,4,0.121,0.056,2827,3147,1762
$GC,10874,0.68,215.6,386.1,8.8,540,10878,0.00,2.20,0.00,0.000,6,0.000,0.041,2834,1738,1760
$GC,11203,0.76,215.6,357.7,8.7,556,11204,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1737,1760
$GC,11512,0.84,215.6,331.7,8.4,571,11516,0.10,2.30,0.00,0.000,4,0.077,0.055,2892,3163,1759
$GC,11554,0.63,215.6,327.0,12.4,572,11561,0.30,2.25,0.00,0.000,6,0.122,0.042,2811,1725,1758
$GC,11872,0.86,235.3,305.8,6.4,588,11895,0.17,2.33,16.65,0.911,4,0.058,0.054,2913,327,1690
$GC,11925,0.74,235.3,300.1,12.2,590,11930,0.25,2.25,0.00,0.000,6,0.121,0.043,2838,1739,1690
$GC,12248,0.84,235.3,273.5,8.0,606,12252,0.10,2.25,0.00,0.000,4,0.072,0.055,2894,3160,1687
$GC,12350,0.66,235.3,261.0,13.2,610,12355,0.28,2.22,0.00,0.000,6,0.117,0.041,2820,1737,1686
$GC,12670,0.93,262.4,239.4,6.1,625,12701,0.20,2.30,24.70,0.886,4,0.055,0.055,2936,329,1580
$GC,12731,0.80,262.4,232.6,12.9,627,12738,0.30,2.25,0.00,0.000,6,0.118,0.042,2843,1751,1579
$GC,13049,0.99,266.6,209.8,6.9,643,13059,0.17,2.22,4.70,0.637,4,0.056,0.056,2937,3157,1563
$GC,13134,0.76,266.6,198.3,14.8,646,13141,0.35,2.22,0.00,0.000,6,0.120,0.041,2839,1733,1562
$GC,13453,1.39,266.6,172.4,9.2,662,13457,0.40,2.28,0.00,0.000,4,0.074,0.054,2990,328,1561
$GC,13493,1.32,266.6,167.9,10.0,663,13500,0.10,2.25,0.00,0.000,6,0.160,0.043,2966,1745,1562
$GC,13810,1.12,266.6,127.0,12.6,679,13815,0.15,2.25,0.00,0.000,4,0.131,0.056,2920,3153,1561
$GC,13886,0.96,266.6,118.2,11.4,682,13891,0.15,2.22,0.00,0.000,6,0.124,0.043,2885,1736,1561
$GC,14213,1.04,267.7,92.1,7.0,711,14220,0.08,2.30,0.00,0.000,4,0.087,0.057,2945,324,1561
$GC,14275,0.95,267.7,86.5,9.7,721,14282,0.20,2.28,0.00,0.000,6,0.117,0.045,2885,1745,1561
$GC,14624,1.14,304.7,63.1,5.8,782,14666,0.15,2.30,35.05,0.839,4,0.061,0.059,2961,3157,1408
$GC,14765,0.94,304.7,47.8,12.7,805,14772,0.30,2.28,0.00,0.000,6,0.121,0.044,2881,1729,1403
$GC,15113,1.63,304.7,20.1,9.7,866,15120,0.45,2.30,0.00,0.000,4,0.094,0.058,3037,325,1399
$GC,15180,1.36,304.7,12.2,12.7,877,15187,0.22,2.28,0.00,0.000,6,0.145,0.048,2975,1748,1399
$FREEZE,6.68,-1.813,-1.810
$STATE,15219,end climb,FINISH_DEPTH_REACHED
$STATE,15219,begin subsurface finish
$FINISH1,6.7,1.026514,56
$GC,15230,0.07,55.8,6.7,-12.2,884,15271,0.85,2.33,-31.95,0.000,4,0.111,0.074,2685,3160,2426
$FINISH2,5.2
$STATE,15271,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15272,begin surface
$RAFOS_CLK,615
$RAFOS,4,1232786642,8.750000,8.733889,60,59,58,58,54,54,202,903,219,191,114,162
$RAFOS,3,1232786046,8.583333,8.568334,75,62,61,60,58,52,971,215,198,149,159,135
$RAFOS,2,1232785450,8.416667,8.402778,139,53,52,52,51,51,656,151,165,137,193,176
$RAFOS,1,1232784860,8.250000,8.238889,68,67,66,64,57,57,149,822,218,227,204,125
$RAFOS,0,1232784245,8.083333,8.068055,68,59,57,51,51,49,188,225,216,175,198,129
$RAFOS_FIX,6652.897949,-5645.099609,240109,080824,4,86,2.20
$IRIDIUM_FIX,6548.42,-5642.25,160498,050538
$TT8_MAMPS,0.029146
$HUMID,1830
$INTERNAL_PRESSURE,9.95155
$TCM_TEMP,15.30
$XPDR_PINGS,184
$24V_AH,22.0,108.641
$10V_AH,10.4,48.658
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.450,167.950,402.725,0.000,0.000,23.370,29.642,519.632,46.000,0.000,0.000,13.076,1710.741,10917.229,572.629,1764.753,1208.430,0.000,1563.355,0.000,1734.692,2160.000,0.532,0.000
$DEVICE_MAMPS,243.139,74.399,1090.674,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.067,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31555,891
$CAP_FILE_SIZE,154309,0
$CFSIZE,260165632,207491072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.0
$GPS,240109,083024,6652.898,-5645.100,0,4085.5,0,-37.3