version: 66.04
glider: 108
mission: 11
dive: 722
start: 1 24 109 21 5 13
data:
$ID,108
$MISSION,11
$DIVE,722
$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,33
$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
$GPS1,162952,6653.930,-5643.702,0,3091.0,0,-37.3
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,3.41
$_SM_ANGLEo,-2.4
$GPS2,162952,6653.930,-5643.702,0,3091.0,0,-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,224.3,100629,-13.0,-7.021
$D_GRID,580
$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,18,-0.99,-146.0,0.0,0.0,0,62,0.00,0.00,-39.90,0.000,6,0.000,0.000,2691,3152,3246
$GC,67,-0.99,-146.0,2.5,-1.9,8,74,0.62,0.70,0.00,0.000,4,0.075,0.070,2460,3588,3247
$GC,331,-0.83,-146.0,29.5,-10.9,54,338,0.15,2.15,0.00,0.000,6,0.143,0.043,2500,2220,3249
$GC,679,-0.83,-146.0,60.5,-8.3,115,685,0.00,2.25,0.00,0.000,4,0.000,0.055,2501,817,3249
$GC,693,-0.78,-146.0,61.8,-8.1,117,700,0.00,2.30,0.00,0.000,6,0.000,0.054,2493,2237,3249
$GC,1041,-0.78,-146.0,87.8,-6.7,178,1047,0.00,2.22,0.00,0.000,4,0.000,0.069,2483,3599,3248
$GC,1301,-0.73,-146.0,107.5,-7.7,211,1306,0.15,2.17,0.00,0.000,6,0.138,0.044,2523,2218,3247
$GC,1626,-0.83,-146.0,127.8,-6.1,227,1630,0.10,2.33,0.00,0.000,4,0.086,0.067,2466,3604,3247
$GC,1689,-0.77,-146.0,133.2,-8.4,230,1694,0.17,2.17,0.00,0.000,6,0.137,0.045,2515,2224,3247
$GC,2024,-0.85,-146.0,153.8,-5.7,246,2028,0.00,2.28,0.00,0.000,4,0.000,0.058,2515,817,3246
$GC,2064,-0.85,-146.0,156.2,-5.4,247,2070,0.00,2.35,0.00,0.000,6,0.000,0.056,2507,2239,3246
$GC,2382,-0.92,-146.0,174.1,-5.8,263,2386,0.10,2.35,0.00,0.000,4,0.081,0.055,2455,816,3245
$GC,2401,-0.92,-146.0,175.3,-5.9,264,2406,0.15,2.35,0.00,0.000,6,0.133,0.055,2486,2242,3245
$GC,2735,-0.92,-146.0,196.6,-6.2,280,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2242,3244
$GC,3044,-0.92,-146.0,215.2,-5.7,295,3048,0.00,2.35,0.00,0.000,4,0.000,0.056,2485,818,3244
$GC,3092,-0.92,-146.0,218.2,-6.2,297,3096,0.00,2.33,0.00,0.000,6,0.000,0.055,2477,2242,3244
$GC,3422,-0.92,-146.0,236.1,-5.7,313,3425,0.00,2.33,0.00,0.000,4,0.000,0.055,2477,827,3244
$GC,3458,-0.86,-146.0,238.4,-6.8,314,3463,0.10,2.33,0.00,0.000,6,0.133,0.054,2494,2240,3244
$GC,3777,-0.93,-146.0,255.0,-5.4,329,3781,0.00,2.33,0.00,0.000,4,0.000,0.054,2494,820,3243
$GC,3795,-0.93,-146.0,256.1,-5.3,329,3801,0.00,2.30,0.00,0.000,6,0.000,0.054,2487,2237,3243
$GC,4112,-0.93,-146.0,273.9,-5.6,345,4116,0.00,2.30,0.00,0.000,4,0.000,0.053,2487,824,3243
$GC,4166,-0.93,-146.0,277.0,-5.7,347,4170,0.00,2.28,0.00,0.000,6,0.000,0.052,2477,2232,3243
$GC,4497,-0.93,-146.0,294.7,-5.4,363,4500,0.00,2.30,0.00,0.000,4,0.000,0.051,2476,816,3244
$GC,4538,-0.87,-146.0,297.0,-5.4,364,4546,0.10,2.30,0.00,0.000,6,0.132,0.051,2493,2246,3244
$GC,4856,-0.95,-146.0,312.0,-4.8,380,4860,0.00,2.30,0.00,0.000,4,0.000,0.051,2494,824,3245
$GC,4904,-0.95,-146.0,314.5,-4.6,382,4908,0.00,2.28,0.00,0.000,6,0.000,0.051,2486,2241,3245
$GC,5239,-0.95,-146.0,330.3,-4.6,398,5242,0.00,2.30,0.00,0.000,4,0.000,0.051,2486,820,3246
$GC,5286,-0.95,-146.0,332.6,-5.4,400,5290,0.00,2.28,0.00,0.000,6,0.000,0.050,2476,2239,3246
$GC,5620,-0.95,-146.0,347.4,-4.3,416,5624,0.00,2.30,0.00,0.000,4,0.000,0.050,2476,814,3247
$GC,5691,-0.95,-146.0,350.8,-4.7,419,5695,0.00,2.28,0.00,0.000,6,0.000,0.049,2466,2233,3247
$GC,6025,-0.95,-146.0,367.3,-4.9,435,6029,0.00,2.28,0.00,0.000,4,0.000,0.048,2466,821,3248
$GC,6060,-0.87,-146.0,369.3,-6.1,436,6065,0.12,2.28,0.00,0.000,6,0.127,0.049,2491,2242,3248
$GC,6379,-0.94,-146.0,383.2,-4.4,451,6383,0.00,2.30,0.00,0.000,4,0.000,0.051,2490,814,3248
$GC,6408,-0.94,-146.0,384.6,-4.9,452,6412,0.00,2.30,0.00,0.000,6,0.000,0.048,2483,2241,3249
$GC,6736,-0.94,-146.0,399.4,-4.7,468,6740,0.00,2.30,0.00,0.000,4,0.000,0.049,2483,811,3249
$GC,6777,-0.94,-146.0,401.4,-4.9,469,6784,0.00,2.30,0.00,0.000,6,0.000,0.048,2473,2241,3250
$GC,7110,-0.94,-146.0,418.7,-5.3,478,7114,0.00,2.28,0.00,0.000,4,0.000,0.049,2473,823,3251
$GC,7174,-0.89,-146.0,422.3,-5.9,479,7179,0.10,2.28,0.00,0.000,6,0.132,0.048,2490,2239,3250
$GC,7490,-0.96,-146.0,435.9,-4.2,487,7494,0.00,2.28,0.00,0.000,4,0.000,0.049,2490,813,3251
$GC,7553,-0.96,-146.0,438.9,-4.8,488,7557,0.00,2.30,0.00,0.000,6,0.000,0.048,2482,2243,3251
$GC,7868,-0.96,-146.0,453.0,-4.5,496,7872,0.00,2.30,0.00,0.000,4,0.000,0.050,2482,811,3251
$GC,7954,-0.96,-146.0,457.4,-5.0,497,7960,0.00,2.30,0.00,0.000,6,0.000,0.048,2472,2237,3252
$GC,8287,-0.96,-146.0,474.2,-5.1,506,8291,0.00,2.25,0.00,0.000,4,0.000,0.049,2472,824,3252
$GC,8356,-1.03,-146.0,477.7,-4.9,507,8360,0.00,2.25,0.00,0.000,6,0.000,0.048,2464,2237,3252
$STATE,8499,end dive,NO_VERTICAL_VELOCITY
$STATE,8499,begin apogee
$GC,8510,-0.31,0.0,477.7,0.0,511,8638,0.45,0.00,125.50,1.059,6,0.093,0.000,2616,1734,2650
$STATE,8639,end apogee,CONTROL_FINISHED_OK
$STATE,8639,begin climb
$GC,8643,0.99,146.0,477.0,0.0,514,8780,0.85,2.55,127.55,0.998,4,0.098,0.054,2905,330,2054
$GC,8820,0.84,146.0,461.2,11.2,518,8825,0.17,2.40,0.00,0.000,6,0.126,0.041,2858,1738,2051
$GC,9140,0.79,146.0,434.1,8.3,526,9144,0.00,2.28,0.00,0.000,4,0.000,0.055,2858,3166,2048
$GC,9237,0.64,146.0,425.2,9.9,528,9242,0.17,2.25,0.00,0.000,6,0.127,0.041,2815,1725,2046
$GC,9558,0.80,181.9,406.0,5.9,536,9594,0.15,2.28,30.55,0.982,4,0.062,0.054,2902,327,1907
$GC,9625,0.68,181.9,399.7,10.5,536,9630,0.25,2.30,0.00,0.000,6,0.120,0.043,2826,1754,1907
$GC,9948,0.78,181.9,376.6,7.1,552,9953,0.08,2.25,0.00,0.000,4,0.087,0.054,2875,3162,1903
$GC,10057,0.59,181.9,364.7,11.4,557,10062,0.28,2.22,0.00,0.000,6,0.120,0.041,2803,1733,1901
$GC,10386,0.86,222.6,344.6,5.7,573,10429,0.20,2.30,34.70,0.962,4,0.054,0.054,2920,327,1742
$GC,10464,0.74,222.6,336.3,11.8,576,10469,0.28,2.30,0.00,0.000,6,0.121,0.043,2836,1751,1741
$GC,10783,0.84,236.4,314.2,6.6,591,10805,0.10,2.30,12.95,0.881,4,0.074,0.055,2891,3154,1685
$GC,10901,0.67,236.4,301.7,12.0,596,10906,0.28,2.20,0.00,0.000,6,0.119,0.041,2818,1738,1681
$GC,11234,0.91,277.6,282.1,5.7,612,11278,0.20,2.35,37.08,0.915,4,0.053,0.054,2932,329,1518
$GC,11313,0.82,277.6,272.9,12.6,615,11318,0.28,2.25,0.00,0.000,6,0.120,0.042,2848,1745,1516
$GC,11631,0.92,277.6,249.2,7.4,630,11635,0.12,2.22,0.00,0.000,4,0.067,0.053,2913,3153,1511
$GC,11717,0.72,277.6,238.7,13.3,634,11722,0.30,2.20,0.00,0.000,6,0.120,0.040,2830,1739,1509
$GC,12046,0.94,292.5,216.3,6.5,650,12068,0.17,2.30,13.15,0.823,4,0.058,0.054,2934,337,1457
$GC,12109,0.88,292.5,208.9,12.5,652,12116,0.22,2.25,0.00,0.000,6,0.119,0.041,2866,1751,1457
$GC,12427,0.98,292.5,182.8,7.5,668,12432,0.10,2.25,0.00,0.000,4,0.073,0.054,2922,3156,1455
$GC,12521,0.79,292.5,171.6,13.5,672,12525,0.28,2.22,0.00,0.000,6,0.120,0.041,2848,1728,1454
$GC,12849,1.12,372.0,153.7,4.5,688,12927,0.20,2.33,70.75,0.843,4,0.058,0.054,2962,343,1132
$GC,12966,1.12,372.0,141.7,11.6,693,12970,0.15,2.25,0.00,0.000,6,0.124,0.042,2919,1750,1130
$GC,13296,1.12,372.0,105.0,10.7,709,13300,0.00,2.22,0.00,0.000,4,0.000,0.056,2919,3159,1124
$GC,13367,1.05,372.0,97.0,11.4,715,13373,0.00,2.22,0.00,0.000,6,0.000,0.043,2927,1742,1122
$GC,13714,1.05,372.0,65.7,7.5,776,13721,0.00,2.30,0.00,0.000,4,0.000,0.055,2938,325,1121
$GC,13780,1.16,372.0,60.3,8.4,787,13786,0.00,2.28,0.00,0.000,6,0.000,0.044,2938,1745,1121
$GC,14127,1.16,372.0,27.6,10.0,848,14133,0.00,2.30,0.00,0.000,4,0.000,0.058,2938,3157,1118
$GC,14192,1.12,372.0,21.1,10.1,859,14199,0.10,2.25,0.00,0.000,6,0.133,0.044,2921,1733,1117
$FREEZE,6.66,-1.810,-1.811
$STATE,14360,end climb,FINISH_DEPTH_REACHED
$STATE,14360,begin subsurface finish
$FINISH1,6.7,1.026530,55
$GC,14371,0.07,55.0,6.7,-7.9,888,14419,0.68,2.30,-40.53,0.000,4,0.100,0.069,2690,333,2427
$FINISH2,5.0
$STATE,14420,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14420,begin surface
$RAFOS_CLK,596
$RAFOS,4,1232844258,0.750000,0.738333,63,58,56,56,54,53,210,181,140,152,193,220
$RAFOS,3,1232843642,0.583333,0.567222,58,58,55,52,52,51,191,201,216,167,114,126
$RAFOS,2,1232843050,0.416667,0.402778,99,59,58,58,56,53,667,162,193,148,184,217
$RAFOS,1,1232842450,0.250000,0.236111,61,54,51,51,50,48,205,222,143,192,75,169
$RAFOS,0,1232841849,0.083333,0.069167,63,60,56,54,54,52,205,188,149,127,177,114
$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,1812
$INTERNAL_PRESSURE,9.95155
$TCM_TEMP,15.40
$XPDR_PINGS,270
$24V_AH,22.2,109.020
$10V_AH,10.4,48.840
$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,7.925,161.350,452.225,0.000,0.000,0.000,0.000,0.000,67.500,0.000,0.000,0.000,1665.942,10046.045,544.201,1849.294,367.740,0.000,1573.330,0.000,1820.250,1800.000,0.532,0.000
$DEVICE_MAMPS,142.662,69.797,1059.227,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,623.673,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28434,896
$CAP_FILE_SIZE,128556,0
$CFSIZE,260165632,207327232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.7
$GPS,240109,162952,6653.930,-5643.702,0,3091.0,0,-37.3