version: 66.04
glider: 108
mission: 11
dive: 723
start: 1 25 109 1 7 34
data:
$ID,108
$MISSION,11
$DIVE,723
$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,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,2.92
$_SM_ANGLEo,-5.6
$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,-146.0,0.0,0.0,0,63,0.00,0.00,-39.10,0.000,6,0.000,0.000,2690,333,3248
$GC,68,-0.99,-146.0,2.8,-2.2,8,76,0.60,5.40,0.00,0.000,4,0.048,0.051,2420,3599,3249
$GC,333,-0.67,-146.0,34.8,-12.8,54,341,0.38,2.17,0.00,0.000,6,0.145,0.042,2538,2204,3251
$GC,682,-0.75,-146.0,63.7,-8.2,115,688,0.00,2.33,0.00,0.000,4,0.000,0.066,2529,3587,3251
$GC,708,-0.83,-146.0,65.9,-8.3,119,715,0.12,2.15,0.00,0.000,6,0.074,0.043,2468,2221,3251
$GC,1057,-0.71,-146.0,98.7,-8.4,180,1064,0.20,2.28,0.00,0.000,4,0.137,0.056,2533,815,3250
$GC,1139,-0.80,-146.0,104.0,-6.6,186,1143,0.00,2.33,0.00,0.000,6,0.000,0.055,2525,2228,3250
$GC,1463,-0.90,-146.0,125.2,-6.5,202,1467,0.15,2.33,0.00,0.000,4,0.066,0.055,2455,818,3249
$GC,1514,-0.71,-146.0,129.6,-9.1,204,1519,0.28,2.35,0.00,0.000,6,0.132,0.056,2524,2234,3249
$GC,1833,-0.83,-146.0,146.2,-4.9,219,1838,0.10,2.33,0.00,0.000,4,0.084,0.056,2478,821,3248
$GC,1932,-0.73,-146.0,152.9,-6.8,223,1937,0.20,2.33,0.00,0.000,6,0.128,0.056,2525,2244,3248
$GC,2255,-0.87,-146.0,172.3,-6.2,239,2260,0.12,2.35,0.00,0.000,4,0.079,0.057,2469,817,3248
$GC,2341,-0.76,-146.0,179.4,-8.7,242,2348,0.20,2.33,0.00,0.000,6,0.127,0.056,2515,2240,3247
$GC,2659,-0.87,-146.0,198.2,-5.5,258,2663,0.10,2.33,0.00,0.000,4,0.084,0.057,2467,830,3247
$GC,2717,-0.76,-146.0,202.5,-7.7,260,2722,0.20,2.33,0.00,0.000,6,0.127,0.055,2514,2239,3247
$GC,3035,-0.88,-146.0,220.6,-5.5,275,3039,0.10,2.33,0.00,0.000,4,0.084,0.055,2467,822,3246
$GC,3104,-0.79,-146.0,225.4,-7.3,278,3109,0.20,2.30,0.00,0.000,6,0.127,0.055,2514,2238,3246
$GC,3433,-0.92,-146.0,242.0,-4.9,294,3438,0.12,2.33,0.00,0.000,4,0.076,0.053,2457,821,3246
$GC,3481,-0.78,-146.0,245.0,-6.6,296,3486,0.22,2.33,0.00,0.000,6,0.129,0.054,2511,2235,3245
$GC,3810,-0.91,-146.0,261.6,-5.2,312,3815,0.12,2.30,0.00,0.000,4,0.075,0.052,2453,827,3245
$GC,3886,-0.77,-146.0,266.9,-7.7,315,3891,0.25,2.33,0.00,0.000,6,0.124,0.053,2516,2244,3246
$GC,4210,-0.92,-146.0,284.3,-5.3,331,4215,0.12,2.30,0.00,0.000,4,0.076,0.052,2458,829,3246
$GC,4264,-0.80,-146.0,288.0,-7.0,333,4269,0.20,2.30,0.00,0.000,6,0.125,0.051,2505,2236,3245
$GC,4587,-0.92,-146.0,305.4,-5.2,349,4591,0.10,2.30,0.00,0.000,4,0.080,0.051,2456,817,3246
$GC,4617,-0.83,-146.0,307.3,-7.0,350,4622,0.20,2.30,0.00,0.000,6,0.125,0.050,2503,2233,3246
$GC,4940,-0.95,-146.0,321.6,-4.0,366,4944,0.12,2.28,0.00,0.000,4,0.074,0.049,2446,826,3247
$GC,4992,-0.79,-146.0,324.2,-5.5,368,4997,0.25,2.30,0.00,0.000,6,0.125,0.050,2509,2243,3247
$GC,5315,-0.92,-146.0,335.3,-3.5,384,5319,0.12,2.30,0.00,0.000,4,0.074,0.050,2450,818,3248
$GC,5362,-0.78,-146.0,337.8,-5.9,386,5367,0.25,2.30,0.00,0.000,6,0.123,0.050,2513,2243,3248
$GC,5692,-0.92,-146.0,350.5,-4.0,402,5696,0.12,2.28,0.00,0.000,4,0.075,0.050,2454,826,3250
$GC,5739,-0.78,-146.0,353.1,-6.0,404,5744,0.22,2.28,0.00,0.000,6,0.123,0.050,2509,2234,3250
$GC,6068,-0.92,-146.0,366.8,-4.0,420,6072,0.12,2.28,0.00,0.000,4,0.074,0.048,2450,814,3251
$GC,6165,-0.79,-146.0,372.5,-6.1,424,6171,0.25,2.30,0.00,0.000,6,0.122,0.048,2514,2244,3251
$GC,6489,-0.95,-146.0,384.2,-3.8,440,6494,0.15,2.30,0.00,0.000,4,0.069,0.049,2445,813,3251
$GC,6520,-0.84,-146.0,385.8,-6.2,441,6525,0.22,2.30,0.00,0.000,6,0.123,0.048,2500,2244,3251
$GC,6844,-0.95,-146.0,399.3,-4.2,457,6849,0.10,2.28,0.00,0.000,4,0.082,0.048,2452,819,3252
$GC,6897,-0.82,-146.0,402.4,-6.5,459,6902,0.22,2.28,0.00,0.000,6,0.123,0.048,2507,2233,3252
$GC,7218,-0.95,-146.0,416.2,-4.2,467,7222,0.12,2.28,0.00,0.000,4,0.073,0.048,2448,814,3252
$GC,7270,-0.80,-146.0,419.2,-6.1,468,7275,0.22,2.28,0.00,0.000,6,0.123,0.048,2504,2232,3252
$GC,7591,-0.93,-146.0,432.8,-4.2,476,7595,0.10,2.25,0.00,0.000,4,0.081,0.048,2455,824,3253
$GC,7671,-0.81,-146.0,437.6,-6.7,477,7676,0.22,2.28,0.00,0.000,6,0.122,0.048,2510,2238,3253
$GC,8005,-0.95,-146.0,451.1,-3.9,485,8009,0.15,2.28,0.00,0.000,4,0.068,0.048,2443,815,3254
$GC,8056,-0.78,-146.0,454.1,-6.3,486,8062,0.28,2.28,0.00,0.000,6,0.125,0.048,2513,2234,3253
$GC,8378,-0.94,-146.0,467.4,-4.0,494,8382,0.15,2.28,0.00,0.000,4,0.069,0.047,2445,812,3254
$GC,8391,-1.02,-146.0,467.9,-4.0,494,8395,0.10,2.28,0.00,0.000,6,0.137,0.047,2461,2232,3254
$GC,8711,-1.24,-146.0,479.9,-1.8,502,8715,0.17,2.20,0.00,0.000,4,0.061,0.058,2383,3599,3255
$GC,8724,-1.62,-146.0,479.8,-0.0,502,8729,0.17,2.10,0.00,0.000,6,0.054,0.036,2293,2215,3255
$STATE,8837,end dive,NO_VERTICAL_VELOCITY
$STATE,8837,begin apogee
$GC,8847,-0.31,0.0,479.8,0.0,505,8976,0.98,0.00,126.38,1.050,6,0.096,0.000,2618,1746,2650
$STATE,8977,end apogee,CONTROL_FINISHED_OK
$STATE,8977,begin climb
$GC,8982,0.99,146.0,479.3,0.0,508,9116,0.82,2.47,127.38,0.996,4,0.085,0.051,2896,3148,2053
$GC,9287,0.72,146.0,447.8,11.8,515,9292,0.25,2.22,0.00,0.000,6,0.127,0.041,2833,1743,2048
$GC,9614,0.72,146.0,423.4,7.2,523,9618,0.00,2.25,0.00,0.000,4,0.000,0.054,2842,335,2047
$GC,9643,0.78,146.0,421.3,7.4,523,9647,0.00,2.22,0.00,0.000,6,0.000,0.041,2842,1744,2047
$GC,9966,0.78,146.0,396.9,7.5,532,9970,0.00,2.22,0.00,0.000,4,0.000,0.054,2842,3147,2046
$GC,10082,0.66,146.0,386.9,9.4,537,10087,0.12,2.20,0.00,0.000,6,0.128,0.041,2816,1727,2045
$GC,10416,0.77,156.4,365.1,6.7,553,10431,0.12,2.28,8.45,0.854,4,0.067,0.054,2893,335,2012
$GC,10456,0.64,156.4,361.5,9.8,554,10463,0.25,2.22,0.00,0.000,6,0.120,0.041,2817,1744,2012
$GC,10773,0.76,163.2,339.4,6.8,570,10788,0.10,2.30,7.43,0.818,4,0.072,0.054,2873,3151,1984
$GC,10891,0.57,163.2,327.5,11.6,575,10895,0.28,2.20,0.00,0.000,6,0.120,0.041,2801,1726,1983
$GC,11228,0.86,231.9,308.8,4.8,591,11295,0.20,2.33,59.50,0.943,4,0.053,0.053,2918,332,1703
$GC,11335,0.76,231.9,298.2,11.4,595,11342,0.25,2.28,0.00,0.000,6,0.119,0.041,2843,1742,1701
$GC,11652,0.84,231.9,273.8,7.8,611,11656,0.00,2.25,0.00,0.000,4,0.000,0.054,2843,3154,1695
$GC,11750,0.84,231.9,265.1,9.3,615,11754,0.00,2.20,0.00,0.000,6,0.000,0.040,2850,1733,1693
$GC,12080,0.88,231.9,238.0,8.2,631,12082,0.08,0.00,0.00,0.000,6,0.088,0.000,2899,1733,1693
$GC,12388,0.78,231.9,204.2,11.2,646,12394,0.17,2.30,0.00,0.000,4,0.117,0.052,2845,3154,1693
$GC,12419,0.78,231.9,201.1,9.4,647,12422,0.00,2.20,0.00,0.000,6,0.000,0.040,2853,1736,1692
$GC,12747,0.88,231.9,174.3,8.2,663,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1736,1692
$GC,13057,1.03,253.4,151.7,6.3,678,13080,0.17,2.38,17.88,0.821,4,0.059,0.053,2940,3162,1617
$GC,13111,0.77,253.4,146.0,13.3,680,13116,0.35,2.22,0.00,0.000,6,0.123,0.041,2843,1733,1615
$GC,13437,1.47,253.4,123.2,8.6,696,13442,0.45,2.25,0.00,0.000,4,0.085,0.053,3004,327,1613
$GC,13484,1.29,253.4,117.5,12.3,698,13489,0.17,2.22,0.00,0.000,6,0.154,0.043,2958,1742,1613
$GC,13819,1.12,253.4,77.4,10.8,739,13825,0.12,2.22,0.00,0.000,4,0.133,0.055,2920,3147,1613
$GC,13891,1.00,253.4,70.4,9.3,751,13898,0.12,2.22,0.00,0.000,6,0.127,0.042,2892,1726,1612
$GC,14240,1.19,298.2,51.3,5.6,812,14288,0.15,2.35,41.40,0.821,4,0.062,0.056,2977,328,1433
$GC,14319,1.06,298.2,43.3,11.1,825,14326,0.25,2.28,0.00,0.000,6,0.120,0.046,2902,1746,1431
$GC,14668,1.22,307.9,17.7,6.7,886,14682,0.15,2.33,8.75,0.736,4,0.062,0.062,2973,3154,1394
$GC,14748,0.97,307.9,8.9,12.3,899,14755,0.32,2.25,0.00,0.000,6,0.128,0.046,2886,1729,1392
$FREEZE,6.68,-1.805,-1.809
$STATE,14760,end climb,FINISH_DEPTH_REACHED
$STATE,14760,begin subsurface finish
$FINISH1,6.7,1.026505,56
$GC,14771,0.07,56.2,6.7,-12.3,901,14808,0.55,2.33,-30.60,0.000,4,0.100,0.069,2695,324,2424
$FINISH2,5.4
$STATE,14808,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14809,begin surface
$RAFOS_CLK,603
$RAFOS,4,1232858644,4.750000,4.734445,74,58,57,55,54,49,916,206,188,159,223,120
$RAFOS,3,1232858046,4.583333,4.568333,59,55,54,53,51,51,192,92,179,209,145,125
$RAFOS,2,1232857460,4.416667,4.405556,162,60,59,52,51,51,623,217,197,154,179,134
$RAFOS,1,1232856853,4.250000,4.236945,83,68,58,56,53,51,873,175,210,192,158,227
$RAFOS,0,1232856258,4.083333,4.071667,63,59,58,56,51,50,215,193,137,156,179,229
$RAFOS_FIX,6650.438477,-5639.121582,250109,040430,3,106,0.17
$IRIDIUM_FIX,6548.42,-5642.25,160498,050538
$TT8_MAMPS,0.026845
$HUMID,1802
$INTERNAL_PRESSURE,9.96132
$TCM_TEMP,15.40
$XPDR_PINGS,302
$24V_AH,22.3,109.138
$10V_AH,10.4,48.899
$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,14.625,170.200,397.150,0.000,0.000,0.000,0.000,0.000,75.500,0.000,0.000,0.000,1769.316,10351.121,499.108,1864.858,388.703,0.000,1526.851,0.000,1841.045,1800.000,0.532,0.000
$DEVICE_MAMPS,154.167,69.030,1050.023,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,631.110,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31500,907
$CAP_FILE_SIZE,141538,0
$CFSIZE,260165632,207245312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.5
$GPS,250109,042930,6650.438,-5639.122,0,3106.3,0,-37.3