version: 66.04
glider: 108
mission: 11
dive: 724
start: 1 25 109 5 16 37
data:
$ID,108
$MISSION,11
$DIVE,724
$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,31
$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
$GPS1,042930,6650.438,-5639.122,0,3106.3,0,-37.3
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-5.2
$GPS2,042930,6650.438,-5639.122,0,3106.3,0,-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,226.9,94727,-13.0,-7.021
$D_GRID,540
$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,-39.83,0.000,6,0.000,0.000,2695,325,3246
$GC,67,-0.99,-146.0,2.5,-1.7,8,80,0.62,5.35,0.00,0.000,4,0.068,0.054,2445,3599,3247
$GC,337,-0.78,-146.0,31.3,-11.0,55,344,0.20,2.15,0.00,0.000,6,0.147,0.043,2509,2211,3249
$GC,686,-0.78,-146.0,58.7,-7.0,116,692,0.00,2.28,0.00,0.000,4,0.000,0.065,2502,3590,3249
$GC,813,-0.78,-146.0,68.3,-7.0,138,819,0.00,2.12,0.00,0.000,6,0.000,0.044,2502,2232,3249
$GC,1160,-0.78,-146.0,91.6,-5.9,199,1167,0.00,2.22,0.00,0.000,4,0.000,0.057,2502,828,3247
$GC,1180,-0.78,-146.0,92.8,-5.7,202,1187,0.00,2.30,0.00,0.000,6,0.000,0.056,2493,2234,3247
$GC,1528,-0.78,-146.0,115.1,-6.3,233,1532,0.00,2.30,0.00,0.000,4,0.000,0.057,2493,817,3247
$GC,1558,-0.71,-146.0,117.3,-7.0,234,1563,0.15,2.33,0.00,0.000,6,0.130,0.056,2524,2240,3246
$GC,1881,-0.81,-146.0,134.5,-5.1,250,1885,0.00,2.30,0.00,0.000,4,0.000,0.058,2524,824,3246
$GC,1909,-0.88,-146.0,135.9,-5.7,251,1913,0.10,2.30,0.00,0.000,6,0.079,0.057,2470,2234,3246
$GC,2244,-0.82,-146.0,159.5,-7.6,267,2248,0.12,2.30,0.00,0.000,4,0.140,0.057,2509,829,3245
$GC,2268,-0.82,-146.0,161.4,-7.6,268,2272,0.00,2.28,0.00,0.000,6,0.000,0.057,2502,2232,3245
$GC,2603,-0.82,-146.0,183.6,-6.7,284,2607,0.00,2.30,0.00,0.000,4,0.000,0.057,2502,819,3244
$GC,2695,-0.82,-146.0,190.2,-7.7,288,2699,0.00,2.33,0.00,0.000,6,0.000,0.057,2492,2242,3244
$GC,3030,-0.82,-146.0,212.4,-6.4,304,3034,0.00,2.30,0.00,0.000,4,0.000,0.058,2492,829,3244
$GC,3065,-0.82,-146.0,214.8,-6.4,305,3069,0.00,2.30,0.00,0.000,6,0.000,0.055,2482,2240,3243
$GC,3389,-0.82,-146.0,235.5,-6.4,321,3393,0.00,2.30,0.00,0.000,4,0.000,0.056,2482,822,3243
$GC,3431,-0.76,-146.0,238.4,-6.8,322,3438,0.15,2.30,0.00,0.000,6,0.127,0.054,2514,2242,3243
$GC,3749,-0.90,-146.0,254.1,-4.5,338,3754,0.12,2.30,0.00,0.000,4,0.076,0.054,2456,821,3243
$GC,3802,-0.76,-146.0,257.3,-6.3,340,3807,0.25,2.30,0.00,0.000,6,0.125,0.054,2518,2243,3243
$GC,4126,-0.91,-146.0,270.7,-4.2,356,4131,0.15,2.30,0.00,0.000,4,0.069,0.053,2450,818,3243
$GC,4212,-0.77,-146.0,276.2,-6.6,359,4219,0.25,2.30,0.00,0.000,6,0.124,0.052,2513,2239,3243
$GC,4530,-0.92,-146.0,291.1,-4.4,375,4535,0.12,2.30,0.00,0.000,4,0.075,0.051,2454,814,3243
$GC,4601,-0.79,-146.0,295.2,-6.0,378,4606,0.22,2.28,0.00,0.000,6,0.124,0.051,2509,2235,3243
$GC,4936,-0.93,-146.0,307.9,-3.4,394,4940,0.12,2.28,0.00,0.000,4,0.073,0.051,2450,820,3245
$GC,4999,-0.79,-146.0,311.3,-5.4,396,5006,0.25,2.28,0.00,0.000,6,0.124,0.051,2513,2233,3245
$GC,5317,-0.93,-146.0,323.1,-3.9,412,5321,0.12,2.28,0.00,0.000,4,0.074,0.050,2453,817,3246
$GC,5369,-0.79,-146.0,326.1,-6.4,414,5374,0.22,2.28,0.00,0.000,6,0.123,0.049,2508,2245,3246
$GC,5697,-0.93,-146.0,341.1,-4.6,430,5702,0.12,2.30,0.00,0.000,4,0.074,0.050,2450,813,3246
$GC,5756,-0.77,-146.0,344.8,-6.5,432,5760,0.25,2.28,0.00,0.000,6,0.123,0.049,2513,2244,3247
$GC,6078,-0.92,-146.0,359.0,-4.3,448,6083,0.12,2.28,0.00,0.000,4,0.074,0.049,2453,824,3247
$GC,6113,-0.78,-146.0,361.1,-6.7,449,6118,0.22,2.28,0.00,0.000,6,0.123,0.049,2509,2243,3247
$GC,6432,-0.92,-146.0,375.4,-4.3,464,6436,0.12,2.28,0.00,0.000,4,0.074,0.049,2449,820,3248
$GC,6479,-0.76,-146.0,378.2,-6.5,466,6484,0.28,2.28,0.00,0.000,6,0.123,0.049,2520,2243,3248
$GC,6809,-0.94,-146.0,392.0,-4.1,482,6813,0.15,2.28,0.00,0.000,4,0.068,0.048,2449,821,3250
$GC,6878,-0.80,-146.0,396.3,-6.8,485,6883,0.22,2.28,0.00,0.000,6,0.122,0.048,2505,2243,3250
$GC,7204,-0.93,-146.0,411.7,-4.7,495,7208,0.10,2.28,0.00,0.000,4,0.080,0.050,2455,812,3250
$GC,7289,-0.82,-146.0,417.1,-6.8,496,7297,0.20,2.28,0.00,0.000,6,0.123,0.048,2502,2237,3250
$GC,7623,-0.94,-146.0,431.5,-4.2,505,7627,0.10,2.25,0.00,0.000,4,0.078,0.048,2452,822,3251
$GC,7676,-0.81,-146.0,434.3,-5.9,506,7680,0.22,2.25,0.00,0.000,6,0.123,0.048,2508,2232,3251
$GC,7996,-0.95,-146.0,447.3,-4.1,514,8001,0.12,2.25,0.00,0.000,4,0.074,0.047,2449,815,3251
$GC,8025,-0.85,-146.0,448.9,-6.3,514,8030,0.20,2.28,0.00,0.000,6,0.123,0.048,2496,2244,3251
$GC,8365,-0.93,-146.0,465.0,-4.8,523,8369,0.00,2.28,0.00,0.000,4,0.000,0.049,2497,813,3252
$GC,8417,-0.99,-146.0,467.9,-5.8,524,8422,0.10,2.28,0.00,0.000,6,0.074,0.048,2439,2239,3252
$GC,8744,-1.39,-146.0,474.1,-0.0,532,8749,0.20,2.17,0.00,0.000,4,0.063,0.059,2343,3604,3252
$STATE,8780,end dive,NO_VERTICAL_VELOCITY
$STATE,8780,begin apogee
$GC,8792,-0.31,0.0,474.2,0.0,532,8921,0.77,0.00,125.40,1.049,6,0.087,0.000,2613,1736,2650
$STATE,8921,end apogee,CONTROL_FINISHED_OK
$STATE,8921,begin climb
$GC,8926,0.99,146.0,473.7,0.0,536,9060,0.82,2.45,127.03,0.991,4,0.083,0.054,2905,338,2054
$GC,9173,0.82,146.0,451.3,10.6,541,9178,0.17,2.30,0.00,0.000,6,0.127,0.041,2856,1749,2050
$GC,9506,0.77,146.0,424.6,8.2,549,9510,0.00,2.20,0.00,0.000,4,0.000,0.055,2856,3149,2047
$GC,9614,0.61,146.0,414.1,9.9,551,9619,0.17,2.20,0.00,0.000,6,0.125,0.041,2812,1725,2046
$GC,9930,0.75,150.7,392.2,6.9,561,9940,0.12,2.25,4.10,0.639,4,0.067,0.054,2888,320,2035
$GC,9965,0.64,150.7,389.0,10.7,562,9970,0.25,2.25,0.00,0.000,6,0.117,0.041,2812,1751,2035
$GC,10283,0.77,154.4,366.7,6.9,577,10292,0.12,2.22,4.72,0.696,4,0.065,0.055,2878,3157,2020
$GC,10385,0.54,154.4,355.5,12.0,581,10390,0.30,2.20,0.00,0.000,6,0.124,0.041,2798,1731,2019
$GC,10706,0.82,205.4,336.7,5.4,596,10757,0.20,2.33,44.50,0.957,4,0.053,0.054,2915,333,1812
$GC,10788,0.69,205.4,328.2,12.3,599,10794,0.30,2.25,0.00,0.000,6,0.119,0.041,2823,1748,1810
$GC,11105,0.87,252.2,310.0,5.5,615,11152,0.15,2.25,40.78,0.927,4,0.059,0.054,2899,3154,1621
$GC,11256,0.67,252.2,293.6,12.1,621,11263,0.28,2.22,0.00,0.000,6,0.119,0.041,2826,1727,1614
$GC,11574,0.89,287.2,275.1,5.9,637,11611,0.15,2.22,30.90,0.894,4,0.060,0.053,2916,335,1479
$GC,11652,0.89,287.2,266.7,11.8,640,11657,0.17,2.22,0.00,0.000,6,0.119,0.041,2865,1746,1477
$GC,11975,0.94,287.2,236.1,9.1,656,11979,0.00,2.22,0.00,0.000,4,0.000,0.054,2865,3156,1472
$GC,12067,0.89,287.2,226.4,10.3,660,12071,0.00,2.20,0.00,0.000,6,0.000,0.040,2871,1734,1470
$GC,12402,0.89,287.2,195.0,9.2,676,12406,0.00,2.25,0.00,0.000,4,0.000,0.053,2882,327,1470
$GC,12452,1.00,287.2,190.3,10.2,678,12456,0.00,2.25,0.00,0.000,6,0.000,0.041,2882,1748,1470
$GC,12788,1.00,287.2,157.8,8.8,694,12792,0.00,2.22,0.00,0.000,4,0.000,0.054,2882,3153,1469
$GC,12891,0.95,287.2,147.9,9.0,698,12894,0.00,2.20,0.00,0.000,6,0.000,0.041,2891,1736,1469
$GC,13215,1.01,293.4,125.5,6.8,714,13225,0.00,2.25,5.55,0.664,4,0.000,0.054,2900,342,1452
$GC,13250,1.10,293.4,122.7,7.2,715,13256,0.00,2.22,0.00,0.000,6,0.000,0.042,2900,1746,1452
$GC,13571,1.10,293.4,95.2,9.0,737,13577,0.00,2.22,0.00,0.000,4,0.000,0.055,2900,3145,1452
$GC,13671,1.04,293.4,84.9,10.8,754,13677,0.00,2.20,0.00,0.000,6,0.000,0.042,2910,1742,1451
$GC,14018,1.11,293.4,53.5,7.3,815,14025,0.00,2.28,0.00,0.000,4,0.000,0.057,2919,334,1451
$GC,14056,1.20,293.4,50.5,7.5,821,14062,0.00,2.22,0.00,0.000,6,0.000,0.043,2919,1750,1451
$GC,14403,1.24,293.4,23.4,8.3,882,14410,0.12,2.25,0.00,0.000,4,0.069,0.058,2979,3152,1450
$GC,14469,0.97,293.4,15.6,12.1,893,14476,0.35,2.25,0.00,0.000,6,0.129,0.045,2885,1731,1450
$FREEZE,6.99,-1.819,-1.810
$STATE,14588,end climb,FINISH_DEPTH_REACHED
$STATE,14588,begin subsurface finish
$FINISH1,7.0,1.026517,56
$GC,14603,0.07,55.6,7.0,-6.9,914,14639,0.55,2.33,-27.52,0.000,4,0.097,0.071,2694,319,2427
$FINISH2,6.2
$STATE,14640,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14640,begin surface
$RAFOS_CLK,595
$RAFOS,4,1232873041,8.750000,8.733611,67,61,60,57,54,52,210,198,188,174,119,145
$RAFOS,3,1232872444,8.583333,8.567778,62,59,58,53,51,49,218,194,170,146,973,236
$RAFOS,2,1232871841,8.416667,8.400278,128,60,60,59,58,57,733,178,133,190,208,166
$RAFOS,1,1232871253,8.250000,8.236944,67,62,59,58,53,51,213,169,180,197,93,225
$RAFOS,0,1232870648,8.083333,8.068889,64,59,54,54,54,52,192,204,153,172,221,120
$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,1809
$INTERNAL_PRESSURE,9.96132
$TCM_TEMP,15.40
$XPDR_PINGS,253
$24V_AH,22.3,109.253
$10V_AH,10.4,48.959
$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,10.975,173.500,382.975,0.000,0.000,0.000,0.000,0.000,63.250,0.000,0.000,0.000,1749.865,10191.007,491.237,1880.322,381.147,0.000,1524.519,0.000,1851.768,1800.000,0.532,0.000
$DEVICE_MAMPS,147.264,70.564,1049.256,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,640.482,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31582,920
$CAP_FILE_SIZE,135955,0
$CFSIZE,260165632,207187968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.9
$GPS,250109,042930,6650.438,-5639.122,0,3106.3,0,-37.3