version: 66.04
glider: 108
mission: 11
dive: 720
start: 1 24 109 12 8 41
data:
$ID,108
$MISSION,11
$DIVE,720
$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,31
$R_STBD_OVSHOOT,29
$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
$GPS1,083024,6652.898,-5645.100,0,4085.5,0,-37.3
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,3.57
$_SM_ANGLEo,-4.4
$GPS2,083024,6652.898,-5645.100,0,4085.5,0,-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,223.8,98608,-13.0,-7.021
$D_GRID,587
$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,-146.0,0.0,0.0,0,62,0.00,0.00,-40.20,0.000,6,0.000,0.000,2685,3160,3247
$GC,67,-0.99,-146.0,2.6,-1.6,8,73,0.60,0.70,0.00,0.000,4,0.064,0.071,2456,3598,3249
$GC,104,-1.10,-146.0,6.1,-8.4,14,110,0.00,2.17,0.00,0.000,6,0.000,0.044,2456,2210,3250
$GC,451,-0.91,-146.0,41.0,-10.2,75,458,0.10,2.22,0.00,0.000,4,0.153,0.054,2487,828,3251
$GC,512,-0.78,-146.0,46.6,-9.0,85,519,0.12,2.30,0.00,0.000,6,0.133,0.056,2513,2231,3251
$GC,860,-0.78,-146.0,74.8,-8.4,146,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2230,3250
$GC,1207,-0.78,-146.0,98.6,-6.3,207,1213,0.00,2.33,0.00,0.000,4,0.000,0.057,2514,816,3250
$GC,1329,-0.78,-146.0,106.8,-6.8,215,1333,0.00,2.33,0.00,0.000,6,0.000,0.057,2506,2244,3249
$GC,1657,-0.78,-146.0,128.4,-6.2,231,1661,0.00,2.33,0.00,0.000,4,0.000,0.058,2506,827,3248
$GC,1782,-0.78,-146.0,137.7,-7.6,236,1786,0.00,2.30,0.00,0.000,6,0.000,0.058,2496,2233,3248
$GC,2099,-0.78,-146.0,160.9,-6.9,251,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2233,3248
$GC,2408,-0.78,-146.0,182.0,-6.9,266,2412,0.00,2.33,0.00,0.000,4,0.000,0.057,2495,817,3248
$GC,2437,-0.78,-146.0,184.2,-7.1,267,2442,0.10,2.33,0.00,0.000,6,0.135,0.057,2512,2242,3248
$GC,2755,-0.89,-146.0,203.3,-6.0,282,2760,0.10,2.33,0.00,0.000,4,0.078,0.057,2462,829,3247
$GC,2797,-0.74,-146.0,206.4,-7.9,284,2802,0.22,2.30,0.00,0.000,6,0.128,0.057,2516,2239,3247
$GC,3126,-0.88,-146.0,224.0,-4.8,300,3131,0.10,2.33,0.00,0.000,4,0.081,0.056,2468,821,3246
$GC,3157,-0.80,-146.0,225.7,-6.8,301,3162,0.17,2.30,0.00,0.000,6,0.127,0.057,2506,2231,3246
$GC,3476,-0.89,-146.0,239.0,-3.9,316,3480,0.00,2.30,0.00,0.000,4,0.000,0.056,2508,818,3246
$GC,3534,-0.95,-146.0,241.8,-4.9,318,3538,0.12,2.30,0.00,0.000,6,0.071,0.056,2445,2236,3246
$GC,3856,-0.85,-146.0,264.4,-7.2,334,3861,0.17,2.30,0.00,0.000,4,0.139,0.054,2500,828,3245
$GC,3886,-0.85,-146.0,266.4,-6.6,335,3890,0.00,2.30,0.00,0.000,6,0.000,0.055,2493,2242,3246
$GC,4209,-0.92,-146.0,284.3,-5.0,351,4213,0.00,2.30,0.00,0.000,4,0.000,0.055,2492,822,3246
$GC,4279,-0.92,-146.0,288.1,-6.1,354,4283,0.00,2.30,0.00,0.000,6,0.000,0.054,2483,2244,3246
$GC,4614,-0.92,-146.0,305.6,-5.5,370,4618,0.00,2.30,0.00,0.000,4,0.000,0.054,2483,823,3246
$GC,4654,-0.92,-146.0,308.1,-6.1,371,4661,0.00,2.28,0.00,0.000,6,0.000,0.053,2473,2233,3246
$GC,4972,-0.92,-146.0,325.8,-5.6,387,4976,0.00,2.28,0.00,0.000,4,0.000,0.052,2473,814,3247
$GC,4997,-0.92,-146.0,327.3,-6.0,388,5001,0.00,2.28,0.00,0.000,6,0.000,0.052,2463,2240,3247
$GC,5332,-0.92,-146.0,348.5,-6.5,404,5335,0.00,2.28,0.00,0.000,4,0.000,0.052,2463,821,3248
$GC,5350,-0.86,-146.0,349.6,-6.5,404,5357,0.15,2.28,0.00,0.000,6,0.125,0.051,2495,2237,3249
$GC,5669,-0.95,-146.0,366.9,-5.5,420,5673,0.00,2.25,0.00,0.000,4,0.000,0.052,2495,825,3249
$GC,5703,-0.95,-146.0,369.1,-6.3,421,5707,0.00,2.28,0.00,0.000,6,0.000,0.051,2487,2239,3249
$GC,6028,-1.00,-146.0,386.6,-5.1,437,6032,0.10,2.28,0.00,0.000,4,0.076,0.051,2434,821,3250
$GC,6101,-0.82,-146.0,391.8,-7.1,440,6106,0.28,2.28,0.00,0.000,6,0.123,0.051,2505,2233,3250
$GC,6428,-0.94,-146.0,405.6,-4.2,453,6433,0.12,2.28,0.00,0.000,4,0.071,0.050,2445,812,3251
$GC,6486,-0.79,-146.0,408.9,-6.4,454,6491,0.25,2.28,0.00,0.000,6,0.123,0.050,2508,2241,3251
$GC,6801,-0.94,-146.0,420.9,-3.6,462,6806,0.12,2.28,0.00,0.000,4,0.072,0.050,2449,814,3251
$GC,6854,-0.81,-146.0,423.9,-5.9,463,6859,0.22,2.28,0.00,0.000,6,0.123,0.050,2504,2237,3251
$GC,7180,-0.94,-146.0,437.6,-4.1,471,7184,0.12,2.28,0.00,0.000,4,0.071,0.049,2444,816,3252
$GC,7237,-0.78,-146.0,440.9,-6.0,472,7242,0.28,2.28,0.00,0.000,6,0.123,0.050,2515,2236,3252
$GC,7553,-0.96,-146.0,453.6,-4.0,480,7558,0.15,2.25,0.00,0.000,4,0.067,0.048,2445,823,3253
$GC,7616,-0.81,-146.0,457.4,-6.8,481,7621,0.25,2.28,0.00,0.000,6,0.123,0.049,2507,2240,3253
$GC,7967,-0.95,-146.0,472.4,-4.3,490,7971,0.12,2.28,0.00,0.000,4,0.074,0.049,2448,816,3254
$GC,8018,-0.81,-146.0,475.4,-6.4,491,8023,0.22,2.28,0.00,0.000,6,0.123,0.049,2503,2232,3254
$GC,8339,-0.94,-146.0,491.0,-4.8,499,8343,0.10,2.25,0.00,0.000,4,0.080,0.049,2454,817,3254
$GC,8392,-0.81,-146.0,494.5,-6.7,500,8396,0.22,2.28,0.00,0.000,6,0.122,0.049,2508,2239,3254
$GC,8712,-0.96,-146.0,511.0,-5.1,508,8717,0.15,2.28,0.00,0.000,4,0.067,0.049,2440,814,3254
$GC,8787,-0.79,-146.0,516.2,-7.1,509,8792,0.28,2.28,0.00,0.000,6,0.126,0.049,2510,2234,3255
$GC,9121,-0.92,-146.0,532.6,-5.1,517,9122,0.12,0.00,0.00,0.000,6,0.071,0.000,2451,2234,3255
$GC,9446,-1.14,-146.0,544.6,-1.6,525,9450,0.00,2.25,0.00,0.000,4,0.000,0.050,2451,824,3255
$STATE,9572,end dive,NO_VERTICAL_VELOCITY
$STATE,9572,begin apogee
$GC,9584,-0.31,0.0,544.5,0.0,527,9714,0.47,0.00,127.43,1.108,6,0.087,0.000,2618,1753,2650
$STATE,9715,end apogee,CONTROL_FINISHED_OK
$STATE,9715,begin climb
$GC,9719,0.99,146.0,543.7,0.0,531,9857,0.82,2.50,129.93,1.045,4,0.083,0.056,2897,3141,2054
$GC,10004,0.71,146.0,514.2,13.4,537,10009,0.28,2.25,0.00,0.000,6,0.124,0.041,2827,1739,2048
$GC,10348,0.81,169.9,491.1,6.3,546,10374,0.10,2.28,20.55,1.005,4,0.074,0.056,2894,335,1957
$GC,10405,0.70,169.9,486.1,9.5,547,10410,0.22,2.25,0.00,0.000,6,0.120,0.044,2827,1749,1956
$GC,10755,0.80,178.9,462.6,6.7,556,10770,0.10,2.28,8.95,0.909,4,0.074,0.058,2882,3142,1920
$GC,10871,0.59,178.9,450.2,11.4,558,10876,0.30,2.20,0.00,0.000,6,0.123,0.042,2802,1736,1918
$GC,11216,0.84,206.4,428.1,6.1,567,11246,0.20,2.30,24.62,1.010,4,0.054,0.056,2920,327,1808
$GC,11288,0.69,206.4,420.1,12.9,568,11293,0.32,2.28,0.00,0.000,6,0.123,0.044,2821,1740,1807
$GC,11607,0.82,207.4,396.7,7.0,577,11611,0.12,2.25,0.00,0.000,4,0.065,0.056,2886,3160,1802
$GC,11709,0.63,207.4,384.9,11.6,581,11717,0.28,2.22,0.00,0.000,6,0.123,0.042,2814,1730,1801
$GC,12027,0.83,235.2,363.6,6.1,597,12059,0.15,2.25,25.90,0.971,4,0.058,0.054,2906,335,1690
$GC,12090,0.74,235.2,357.3,11.9,600,12095,0.22,2.25,0.00,0.000,6,0.117,0.043,2838,1754,1689
$GC,12419,0.82,235.2,332.8,7.5,616,12423,0.00,2.17,0.00,0.000,4,0.000,0.055,2838,3152,1685
$GC,12515,0.82,235.2,324.2,9.4,620,12519,0.00,2.22,0.00,0.000,6,0.000,0.041,2845,1725,1683
$GC,12845,0.88,235.2,297.3,8.3,636,12850,0.10,2.30,0.00,0.000,4,0.076,0.053,2901,3153,1683
$GC,12879,0.68,235.2,293.2,12.0,637,12886,0.30,2.20,0.00,0.000,6,0.120,0.041,2821,1736,1682
$GC,13199,0.89,254.9,272.0,6.4,653,13222,0.17,2.33,17.60,0.885,4,0.056,0.054,2923,335,1610
$GC,13248,0.74,254.9,266.6,12.6,655,13253,0.28,2.25,0.00,0.000,6,0.120,0.042,2839,1754,1610
$GC,13577,0.88,254.9,239.9,7.7,671,13581,0.12,2.22,0.00,0.000,4,0.064,0.054,2908,3152,1607
$GC,13665,0.67,254.9,229.4,12.9,674,13672,0.30,2.20,0.00,0.000,6,0.119,0.041,2826,1738,1606
$GC,13982,1.00,323.9,211.3,4.8,690,14051,0.20,2.30,62.17,0.877,4,0.055,0.053,2943,335,1328
$GC,14102,0.95,323.9,199.2,10.3,695,14107,0.20,2.25,0.00,0.000,6,0.120,0.042,2884,1753,1325
$GC,14424,1.01,323.9,172.4,8.4,711,14428,0.00,2.22,0.00,0.000,4,0.000,0.055,2883,3163,1320
$GC,14499,1.01,323.9,165.3,10.0,714,14504,0.00,2.22,0.00,0.000,6,0.000,0.041,2889,1732,1318
$GC,14827,1.09,323.9,136.1,8.5,730,14832,0.10,2.25,0.00,0.000,4,0.076,0.054,2956,331,1317
$GC,14862,1.01,323.9,132.4,11.1,731,14869,0.20,2.22,0.00,0.000,6,0.120,0.042,2896,1750,1317
$GC,15180,1.09,323.9,107.3,7.8,747,15184,0.08,2.22,0.00,0.000,4,0.088,0.056,2948,3146,1317
$GC,15289,0.92,323.9,96.1,10.7,754,15296,0.28,2.22,0.00,0.000,6,0.119,0.044,2874,1733,1315
$GC,15637,1.61,323.9,70.6,11.7,815,15644,0.45,2.30,0.00,0.000,4,0.088,0.056,3033,325,1314
$GC,15699,1.49,323.9,62.7,13.5,825,15706,0.12,2.25,0.00,0.000,6,0.156,0.046,3002,1739,1313
$GC,16047,1.27,323.9,13.7,13.2,886,16054,0.17,2.28,0.00,0.000,4,0.143,0.058,2950,3160,1313
$FREEZE,6.79,-1.823,-1.812
$STATE,16104,end climb,FINISH_DEPTH_REACHED
$STATE,16104,begin subsurface finish
$FINISH1,6.8,1.026538,55
$GC,16117,0.07,54.6,6.8,-10.2,896,16164,0.82,2.33,-36.47,0.000,4,0.117,0.067,2692,334,2432
$FINISH2,4.4
$STATE,16165,end subsurface finish,CONTROL_FINISHED_OK
$STATE,16165,begin surface
$RAFOS_CLK,670
$RAFOS,2,1232814243,16.416666,16.400833,115,62,59,56,51,51,690,190,164,211,135,1279
$RAFOS,1,1232813661,16.250000,16.239166,67,62,59,58,57,56,814,167,210,151,180,129
$RAFOS,0,1232813052,16.083334,16.070000,68,64,60,60,52,51,187,212,199,138,163,178
$RAFOS,4,1232801056,12.750000,12.737778,91,63,62,57,56,53,822,185,210,157,170,232
$RAFOS,3,1232800449,12.583333,12.569167,65,60,58,54,54,52,193,211,173,152,133,119
$RAFOS,2,1232799841,12.416667,12.400278,114,59,57,56,54,51,703,125,174,215,157,148
$RAFOS,1,1232799245,12.250000,12.234722,67,60,58,56,53,52,905,216,121,179,134,151
$RAFOS,0,1232798644,12.083333,12.067778,69,66,60,59,54,52,191,177,203,215,124,152
$RAFOS_FIX,6655.326172,-5642.916016,240109,121230,3,91,0.33
$IRIDIUM_FIX,6548.42,-5642.25,160498,050538
$TT8_MAMPS,0.029913
$HUMID,1804
$INTERNAL_PRESSURE,9.96132
$TCM_TEMP,15.50
$XPDR_PINGS,99
$24V_AH,22.0,108.766
$10V_AH,10.4,48.720
$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,12.600,177.275,417.150,0.000,0.000,0.000,0.000,0.000,24.750,0.000,0.000,0.000,1773.941,11570.048,520.485,1957.098,414.221,0.000,1607.298,0.000,1930.445,2880.000,0.533,0.000
$DEVICE_MAMPS,156.468,71.331,1107.548,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,629.374,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31545,904
$CAP_FILE_SIZE,145918,0
$CFSIZE,260165632,207433728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.5
$GPS,240109,122930,6655.326,-5642.916,0,3090.7,0,-37.3