version: 66.04
glider: 108
mission: 11
dive: 721
start: 1 24 109 16 40 29
data:
$ID,108
$MISSION,11
$DIVE,721
$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,35
$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
$GPS1,122930,6655.326,-5642.916,0,3090.7,0,-37.3
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-2.7
$GPS2,122930,6655.326,-5642.916,0,3090.7,0,-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,224.5,103269,-13.0,-7.021
$D_GRID,560
$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,-146.0,0.0,0.0,0,58,0.00,0.00,-38.15,0.000,6,0.000,0.000,2692,334,3247
$GC,63,-0.99,-146.0,2.7,-2.1,7,75,0.62,5.32,0.00,0.000,4,0.067,0.053,2441,3597,3248
$GC,270,-0.77,-146.0,25.7,-12.4,43,277,0.22,2.17,0.00,0.000,6,0.145,0.044,2513,2212,3250
$GC,618,-0.77,-146.0,51.5,-7.7,104,624,0.00,2.22,0.00,0.000,4,0.000,0.054,2513,819,3250
$GC,672,-0.77,-146.0,55.4,-7.8,113,678,0.00,2.33,0.00,0.000,6,0.000,0.054,2505,2229,3250
$GC,1020,-0.77,-146.0,79.4,-6.9,174,1026,0.00,2.25,0.00,0.000,4,0.000,0.068,2495,3593,3249
$GC,1034,-0.77,-146.0,80.6,-7.1,176,1040,0.00,2.15,0.00,0.000,6,0.000,0.043,2495,2227,3249
$GC,1384,-0.77,-146.0,107.5,-7.1,224,1388,0.00,2.28,0.00,0.000,4,0.000,0.057,2495,817,3248
$GC,1409,-0.72,-146.0,109.3,-7.6,225,1414,0.15,2.30,0.00,0.000,6,0.131,0.056,2526,2231,3248
$GC,1737,-0.83,-146.0,129.7,-6.4,241,1742,0.10,2.33,0.00,0.000,4,0.081,0.055,2476,820,3247
$GC,1751,-0.89,-146.0,130.6,-6.3,241,1757,0.00,2.33,0.00,0.000,6,0.000,0.056,2467,2245,3247
$GC,2068,-0.80,-146.0,153.3,-6.7,257,2073,0.15,2.35,0.00,0.000,4,0.140,0.056,2510,829,3247
$GC,2148,-0.80,-146.0,158.1,-5.9,260,2154,0.00,2.30,0.00,0.000,6,0.000,0.056,2503,2238,3246
$GC,2466,-0.80,-146.0,179.3,-7.7,276,2469,0.00,2.33,0.00,0.000,4,0.000,0.057,2502,826,3246
$GC,2523,-0.80,-146.0,184.5,-8.7,278,2527,0.00,2.33,0.00,0.000,6,0.000,0.057,2493,2230,3246
$GC,2845,-0.80,-146.0,212.5,-8.5,294,2849,0.00,2.33,0.00,0.000,4,0.000,0.057,2492,817,3245
$GC,2875,-0.80,-146.0,215.2,-9.3,295,2880,0.10,2.35,0.00,0.000,6,0.134,0.056,2509,2234,3245
$GC,3197,-0.91,-146.0,238.7,-7.1,311,3202,0.10,2.33,0.00,0.000,4,0.082,0.054,2461,825,3244
$GC,3239,-0.77,-146.0,242.1,-8.6,313,3243,0.22,2.30,0.00,0.000,6,0.128,0.056,2515,2234,3245
$GC,3570,-0.90,-146.0,262.5,-5.5,329,3574,0.12,2.33,0.00,0.000,4,0.076,0.054,2457,820,3244
$GC,3678,-0.79,-146.0,270.6,-7.6,334,3683,0.22,2.30,0.00,0.000,6,0.127,0.055,2512,2232,3243
$GC,4008,-0.93,-146.0,286.9,-4.6,350,4012,0.12,2.30,0.00,0.000,4,0.075,0.053,2454,825,3244
$GC,4020,-1.01,-146.0,287.7,-4.5,350,4026,0.00,2.30,0.00,0.000,6,0.000,0.053,2444,2243,3244
$GC,4339,-0.90,-146.0,308.3,-6.4,366,4344,0.15,2.33,0.00,0.000,4,0.133,0.053,2487,824,3243
$GC,4402,-0.90,-146.0,312.0,-5.3,369,4406,0.00,2.30,0.00,0.000,6,0.000,0.053,2479,2247,3244
$GC,4737,-0.90,-146.0,330.4,-5.5,385,4741,0.00,2.30,0.00,0.000,4,0.000,0.051,2480,824,3245
$GC,4789,-0.90,-146.0,333.6,-6.0,387,4793,0.00,2.30,0.00,0.000,6,0.000,0.053,2469,2236,3245
$GC,5118,-0.90,-146.0,352.0,-5.5,403,5122,0.00,2.28,0.00,0.000,4,0.000,0.051,2470,824,3246
$GC,5148,-0.84,-146.0,353.7,-5.7,404,5153,0.15,2.28,0.00,0.000,6,0.125,0.051,2501,2232,3246
$GC,5473,-0.94,-146.0,366.7,-3.8,420,5478,0.12,2.28,0.00,0.000,4,0.074,0.050,2444,818,3247
$GC,5537,-0.78,-146.0,370.3,-6.8,423,5542,0.28,2.30,0.00,0.000,6,0.125,0.051,2514,2244,3247
$GC,5867,-0.94,-146.0,382.2,-3.7,439,5871,0.15,2.30,0.00,0.000,4,0.068,0.050,2444,817,3248
$GC,5913,-0.77,-146.0,384.7,-6.2,441,5918,0.28,2.30,0.00,0.000,6,0.124,0.050,2514,2244,3248
$GC,6237,-0.93,-146.0,397.4,-4.0,457,6242,0.12,2.30,0.00,0.000,4,0.071,0.050,2454,813,3249
$GC,6279,-0.78,-146.0,399.7,-6.1,459,6284,0.22,2.30,0.00,0.000,6,0.123,0.049,2509,2243,3249
$GC,6623,-0.92,-146.0,415.0,-4.4,468,6628,0.12,2.30,0.00,0.000,4,0.071,0.049,2449,811,3250
$GC,6710,-0.78,-146.0,420.2,-6.4,470,6715,0.25,2.30,0.00,0.000,6,0.123,0.049,2511,2242,3250
$GC,7037,-0.94,-146.0,432.8,-3.6,478,7041,0.12,2.28,0.00,0.000,4,0.071,0.048,2452,818,3250
$GC,7106,-0.81,-146.0,436.5,-5.6,479,7111,0.22,2.28,0.00,0.000,6,0.123,0.048,2507,2232,3250
$GC,7450,-0.95,-146.0,449.3,-3.8,488,7455,0.12,2.25,0.00,0.000,4,0.071,0.048,2447,817,3251
$GC,7497,-0.80,-146.0,451.7,-5.3,489,7502,0.25,2.28,0.00,0.000,6,0.125,0.048,2510,2242,3251
$GC,7830,-0.95,-146.0,462.7,-3.1,497,7835,0.15,2.28,0.00,0.000,4,0.066,0.048,2440,814,3252
$GC,7887,-0.78,-146.0,465.5,-5.1,498,7892,0.28,2.28,0.00,0.000,6,0.123,0.048,2512,2232,3252
$GC,8238,-0.93,-146.0,477.7,-3.6,507,8242,0.12,2.25,0.00,0.000,4,0.071,0.048,2451,813,3253
$GC,8295,-0.79,-146.0,480.8,-5.9,508,8300,0.22,2.28,0.00,0.000,6,0.122,0.048,2506,2240,3253
$GC,8616,-0.92,-146.0,493.0,-3.6,516,8620,0.10,2.28,0.00,0.000,4,0.080,0.049,2456,811,3253
$GC,8646,-0.84,-146.0,494.4,-5.1,516,8650,0.20,2.28,0.00,0.000,6,0.126,0.048,2503,2237,3253
$GC,8990,-0.96,-146.0,508.7,-4.2,525,8994,0.12,2.25,0.00,0.000,4,0.073,0.048,2445,821,3254
$GC,9065,-0.81,-146.0,513.1,-5.7,526,9070,0.25,2.28,0.00,0.000,6,0.127,0.049,2507,2230,3254
$GC,9403,-1.28,-146.0,518.1,-0.0,535,9408,0.30,2.22,0.00,0.000,4,0.058,0.061,2382,3599,3254
$STATE,9440,end dive,NO_VERTICAL_VELOCITY
$STATE,9441,begin apogee
$GC,9453,-0.31,0.0,518.1,0.0,536,9583,0.70,0.00,126.47,1.088,6,0.089,0.000,2621,1733,2650
$STATE,9584,end apogee,CONTROL_FINISHED_OK
$STATE,9584,begin climb
$GC,9589,0.99,146.0,517.9,0.0,539,9726,0.82,2.53,128.40,1.028,4,0.087,0.054,2908,332,2054
$GC,9844,0.82,146.0,493.6,11.5,544,9851,0.20,2.33,0.00,0.000,6,0.125,0.042,2851,1743,2050
$GC,10177,0.82,146.0,465.3,8.8,553,10182,0.00,2.22,0.00,0.000,4,0.000,0.055,2851,3151,2047
$GC,10291,0.68,146.0,453.6,10.4,555,10296,0.12,2.17,0.00,0.000,6,0.131,0.041,2824,1735,2046
$GC,10641,0.76,146.0,426.8,7.3,564,10643,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1734,2046
$GC,10966,0.84,158.5,404.9,6.6,572,10981,0.12,2.33,10.25,0.915,4,0.068,0.054,2886,3158,2004
$GC,11034,0.57,158.5,398.1,10.6,573,11039,0.32,2.20,0.00,0.000,6,0.126,0.041,2799,1733,2002
$GC,11363,0.85,229.2,381.1,4.7,589,11431,0.20,2.30,61.95,0.996,4,0.054,0.053,2915,332,1714
$GC,11465,0.75,229.2,371.1,11.4,593,11471,0.25,2.28,0.00,0.000,6,0.120,0.042,2840,1746,1712
$GC,11783,0.81,229.2,346.2,8.1,609,11787,0.00,2.22,0.00,0.000,4,0.000,0.054,2840,3152,1705
$GC,11876,0.81,229.2,337.8,8.9,613,11880,0.00,2.22,0.00,0.000,6,0.000,0.040,2848,1727,1703
$GC,12211,0.81,229.2,310.7,7.4,629,12216,0.00,2.22,0.00,0.000,4,0.000,0.054,2857,338,1703
$GC,12241,0.91,238.2,308.4,6.7,630,12257,0.00,2.25,7.15,0.795,6,0.000,0.041,2857,1754,1678
$GC,12568,0.92,246.3,285.1,6.8,646,12583,0.08,2.28,8.50,0.811,4,0.087,0.055,2907,3152,1646
$GC,12679,0.71,246.3,273.7,10.8,650,12686,0.30,2.20,0.00,0.000,6,0.121,0.040,2826,1737,1644
$GC,12997,0.96,303.2,256.0,5.2,666,13054,0.20,2.30,51.85,0.904,4,0.053,0.053,2942,333,1412
$GC,13100,0.88,303.2,243.6,14.2,669,13107,0.25,2.28,0.00,0.000,6,0.120,0.041,2867,1748,1410
$GC,13420,0.94,303.2,210.7,10.1,685,13424,0.00,2.25,0.00,0.000,4,0.000,0.054,2867,3162,1404
$GC,13495,0.94,303.2,201.9,11.7,688,13499,0.00,2.22,0.00,0.000,6,0.000,0.041,2874,1727,1402
$GC,13824,1.01,303.2,170.5,9.1,704,13828,0.10,2.22,0.00,0.000,4,0.077,0.052,2940,327,1402
$GC,13848,1.01,303.2,167.9,10.5,705,13853,0.15,2.22,0.00,0.000,6,0.123,0.041,2896,1746,1402
$GC,14176,1.01,303.2,136.1,9.9,721,14180,0.00,2.22,0.00,0.000,4,0.000,0.054,2896,3143,1402
$GC,14269,0.96,303.2,125.8,10.8,725,14272,0.00,2.20,0.00,0.000,6,0.000,0.041,2903,1736,1401
$GC,14590,0.96,303.2,96.0,8.5,744,14596,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1736,1402
$GC,14937,1.05,318.5,71.2,6.5,805,14956,0.00,2.40,12.70,0.789,4,0.000,0.057,2903,3150,1351
$GC,14993,1.10,318.5,66.9,7.7,814,14999,0.00,2.22,0.00,0.000,6,0.000,0.041,2912,1738,1350
$GC,15341,1.17,318.5,39.5,7.5,875,15347,0.08,2.30,0.00,0.000,4,0.091,0.057,2969,334,1348
$GC,15378,1.17,318.5,35.5,9.7,881,15385,0.15,2.28,0.00,0.000,6,0.123,0.044,2926,1750,1348
$FREEZE,6.91,-1.825,-1.812
$STATE,15695,end climb,FINISH_DEPTH_REACHED
$STATE,15695,begin subsurface finish
$FINISH1,6.9,1.026545,54
$GC,15706,0.07,54.2,6.9,-7.8,937,15747,0.68,2.35,-31.80,0.000,4,0.103,0.074,2691,3152,2432
$FINISH2,5.7
$STATE,15747,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15748,begin surface
$RAFOS_CLK,648
$RAFOS,4,1232829845,20.750000,20.734722,65,62,59,59,55,51,194,212,152,908,130,225
$RAFOS,3,1232829256,20.583334,20.571112,59,58,58,56,55,52,222,208,152,174,196,125
$RAFOS,2,1232828642,20.416666,20.400555,104,70,66,56,53,50,714,208,191,221,170,152
$RAFOS,1,1232828056,20.250000,20.237778,99,59,58,57,55,54,849,185,176,204,167,226
$RAFOS,0,1232827444,20.083334,20.067778,57,56,56,55,54,54,159,218,595,208,187,112
$RAFOS,4,1232815443,16.750000,16.734167,91,60,58,56,50,48,901,120,156,207,138,224
$RAFOS,3,1232814845,16.583334,16.568056,70,66,59,57,53,53,216,185,203,168,125,152
$RAFOS_FIX,6653.929688,-5643.701660,240109,161652,3,91,0.18
$IRIDIUM_FIX,6548.42,-5642.25,160498,050538
$TT8_MAMPS,0.026845
$HUMID,1814
$INTERNAL_PRESSURE,9.95155
$TCM_TEMP,15.40
$XPDR_PINGS,188
$24V_AH,22.2,108.888
$10V_AH,10.4,48.782
$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,11.200,179.225,407.275,0.000,0.000,0.000,0.000,0.000,47.000,0.000,0.000,0.000,1784.530,11154.984,519.814,1944.010,410.508,0.000,1595.041,0.000,1919.182,2160.000,0.532,0.000
$DEVICE_MAMPS,144.963,73.632,1087.606,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,657.208,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31564,944
$CAP_FILE_SIZE,141703,0
$CFSIZE,260165632,207372288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.8
$GPS,240109,162952,6653.930,-5643.702,0,3091.0,0,-37.3