version: 66.04
glider: 108
mission: 11
dive: 725
start: 1 25 109 9 22 39
data:
$ID,108
$MISSION,11
$DIVE,725
$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,35
$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,5.63
$_SM_ANGLEo,-4.2
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.40,0.000,2,0.000,0.000,2694,319,2581
$GC,29,-0.99,-146.0,4.3,-0.0,1,65,0.62,5.38,-24.98,0.000,4,0.051,0.060,2414,3599,3248
$GC,102,-0.57,-146.0,9.5,-12.0,13,109,0.45,2.15,0.00,0.000,6,0.142,0.041,2555,2212,3251
$GC,451,-0.71,-146.0,33.9,-7.0,74,457,0.12,2.20,0.00,0.000,4,0.071,0.054,2498,828,3251
$GC,545,-0.60,-146.0,42.9,-9.1,90,552,0.22,2.28,0.00,0.000,6,0.133,0.054,2550,2227,3251
$GC,894,-0.75,-146.0,66.2,-7.0,151,901,0.12,2.28,0.00,0.000,4,0.069,0.054,2491,825,3251
$GC,971,-0.64,-146.0,73.5,-9.9,164,978,0.22,2.30,0.00,0.000,6,0.137,0.055,2544,2240,3250
$GC,1321,-0.80,-146.0,100.0,-6.9,225,1325,0.15,2.30,0.00,0.000,4,0.066,0.055,2475,820,3250
$GC,1451,-0.67,-146.0,111.9,-9.0,230,1458,0.25,2.30,0.00,0.000,6,0.132,0.055,2537,2235,3249
$GC,1771,-0.81,-146.0,127.1,-4.4,246,1773,0.12,0.00,0.00,0.000,6,0.073,0.000,2478,2234,3248
$GC,2077,-0.76,-146.0,148.0,-7.0,261,2082,0.15,2.30,0.00,0.000,4,0.140,0.056,2520,829,3248
$GC,2107,-0.81,-146.0,150.1,-6.5,262,2111,0.00,2.28,0.00,0.000,6,0.000,0.055,2513,2233,3248
$GC,2431,-0.89,-146.0,171.0,-6.7,278,2435,0.10,2.30,0.00,0.000,4,0.083,0.056,2461,823,3247
$GC,2443,-0.89,-146.0,171.9,-6.7,278,2447,0.15,2.30,0.00,0.000,6,0.135,0.055,2491,2231,3247
$GC,2761,-0.89,-146.0,194.3,-6.7,293,2765,0.00,2.28,0.00,0.000,4,0.000,0.057,2491,832,3246
$GC,2773,-0.89,-146.0,195.3,-6.5,293,2777,0.00,2.28,0.00,0.000,6,0.000,0.054,2484,2233,3247
$GC,3096,-0.89,-146.0,216.9,-6.6,309,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2233,3246
$GC,3408,-0.89,-146.0,236.9,-6.3,324,3412,0.00,2.30,0.00,0.000,4,0.000,0.056,2484,819,3246
$GC,3456,-0.84,-146.0,240.0,-6.4,326,3460,0.10,2.30,0.00,0.000,6,0.136,0.054,2500,2239,3246
$GC,3790,-0.92,-146.0,257.7,-5.4,342,3794,0.00,2.30,0.00,0.000,4,0.000,0.055,2500,822,3245
$GC,3803,-0.99,-146.0,258.4,-5.3,342,3808,0.10,2.30,0.00,0.000,6,0.077,0.053,2447,2236,3245
$GC,4127,-0.89,-146.0,279.0,-5.8,358,4131,0.15,2.30,0.00,0.000,4,0.143,0.054,2490,821,3246
$GC,4153,-0.89,-146.0,280.2,-5.1,359,4157,0.00,2.30,0.00,0.000,6,0.000,0.053,2482,2243,3245
$GC,4488,-0.89,-146.0,297.5,-6.0,375,4491,0.00,2.28,0.00,0.000,4,0.000,0.054,2482,827,3245
$GC,4500,-0.89,-146.0,298.4,-5.9,375,4504,0.00,2.28,0.00,0.000,6,0.000,0.051,2473,2240,3245
$GC,4823,-0.89,-146.0,319.0,-6.4,391,4827,0.00,2.28,0.00,0.000,4,0.000,0.053,2473,825,3246
$GC,4850,-0.89,-146.0,320.8,-7.1,392,4854,0.10,2.28,0.00,0.000,6,0.133,0.051,2489,2238,3246
$GC,5185,-0.95,-146.0,341.6,-6.4,408,5189,0.00,2.25,0.00,0.000,4,0.000,0.051,2489,829,3247
$GC,5248,-0.95,-146.0,346.1,-6.6,410,5255,0.00,2.25,0.00,0.000,6,0.000,0.050,2481,2234,3247
$GC,5566,-0.95,-146.0,364.8,-5.4,426,5570,0.00,2.25,0.00,0.000,4,0.000,0.050,2481,821,3248
$GC,5646,-0.95,-146.0,369.4,-5.6,429,5650,0.00,2.25,0.00,0.000,6,0.000,0.049,2471,2232,3248
$GC,5970,-0.95,-146.0,386.3,-5.1,445,5974,0.00,2.25,0.00,0.000,4,0.000,0.050,2471,818,3249
$GC,5994,-0.95,-146.0,387.6,-5.4,446,5998,0.00,2.28,0.00,0.000,6,0.000,0.049,2462,2240,3249
$GC,6349,-0.95,-146.0,407.5,-5.7,460,6353,0.00,2.25,0.00,0.000,4,0.000,0.050,2461,828,3250
$GC,6362,-0.89,-146.0,408.3,-5.7,460,6366,0.12,2.25,0.00,0.000,6,0.128,0.048,2486,2237,3250
$GC,6683,-0.95,-146.0,423.9,-4.8,468,6687,0.00,2.25,0.00,0.000,4,0.000,0.050,2486,820,3251
$GC,6730,-0.95,-146.0,426.5,-5.8,469,6734,0.00,2.25,0.00,0.000,6,0.000,0.048,2478,2234,3251
$GC,7062,-0.95,-146.0,442.7,-4.9,477,7066,0.00,2.25,0.00,0.000,4,0.000,0.049,2478,814,3251
$GC,7075,-0.95,-146.0,443.4,-4.9,477,7079,0.00,2.28,0.00,0.000,6,0.000,0.047,2468,2245,3252
$GC,7395,-0.95,-146.0,460.6,-5.5,485,7399,0.00,2.25,0.00,0.000,4,0.000,0.049,2468,825,3252
$GC,7481,-0.88,-146.0,465.6,-6.7,486,7488,0.12,2.25,0.00,0.000,6,0.126,0.048,2492,2236,3252
$GC,7816,-1.31,-146.0,472.9,-0.0,495,7820,0.28,2.25,0.00,0.000,4,0.058,0.048,2373,822,3253
$STATE,7891,end dive,NO_VERTICAL_VELOCITY
$STATE,7891,begin apogee
$GC,7902,-0.31,0.0,472.8,0.0,496,8031,0.70,0.00,125.72,1.048,6,0.088,0.000,2613,1753,2650
$STATE,8032,end apogee,CONTROL_FINISHED_OK
$STATE,8032,begin climb
$GC,8037,0.99,146.0,472.2,0.0,500,8171,0.85,2.40,126.93,0.992,4,0.089,0.053,2897,3145,2054
$GC,8296,0.71,146.0,446.9,10.9,506,8300,0.28,2.22,0.00,0.000,6,0.125,0.040,2828,1733,2049
$GC,8628,0.78,164.2,424.7,6.4,514,8646,0.08,0.00,15.60,0.927,6,0.087,0.000,2875,1733,1980
$GC,8932,0.68,164.2,397.6,9.2,522,8936,0.17,2.28,0.00,0.000,4,0.117,0.054,2821,3157,1978
$GC,8988,0.68,164.2,393.1,7.9,524,8992,0.00,2.20,0.00,0.000,6,0.000,0.041,2829,1726,1978
$GC,9312,0.73,164.2,369.5,7.3,540,9316,0.00,2.28,0.00,0.000,4,0.000,0.054,2829,3154,1978
$GC,9358,0.73,164.2,365.8,8.6,542,9362,0.00,2.17,0.00,0.000,6,0.000,0.040,2838,1733,1977
$GC,9694,0.73,164.2,340.4,7.5,558,9696,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1733,1977
$GC,10001,0.73,164.2,314.2,8.8,573,10005,0.00,2.28,0.00,0.000,4,0.000,0.054,2839,3161,1977
$GC,10076,0.65,164.2,306.6,11.3,576,10080,0.12,2.20,0.00,0.000,6,0.128,0.040,2813,1728,1977
$GC,10405,0.83,173.6,283.4,6.7,592,10416,0.15,0.00,9.02,0.821,6,0.060,0.000,2892,1728,1942
$GC,10713,0.70,173.6,254.4,8.7,607,10718,0.20,2.28,0.00,0.000,4,0.117,0.053,2826,3146,1942
$GC,10756,0.75,213.6,251.8,5.7,609,10798,0.00,2.17,34.83,0.897,6,0.000,0.040,2834,1734,1779
$GC,11113,1.00,317.7,235.6,3.7,626,11212,0.20,2.35,91.05,0.874,4,0.056,0.054,2930,3148,1354
$GC,11252,0.81,317.7,221.1,13.5,632,11257,0.30,2.22,0.00,0.000,6,0.118,0.039,2849,1732,1348
$GC,11573,1.05,324.8,197.3,6.8,647,11584,0.20,2.22,5.55,0.653,4,0.056,0.053,2966,327,1325
$GC,11620,0.88,324.8,191.1,14.7,649,11625,0.32,2.22,0.00,0.000,6,0.119,0.043,2866,1744,1325
$GC,11947,1.08,350.7,166.0,6.2,665,11977,0.17,2.28,23.83,0.826,4,0.056,0.055,2953,3153,1220
$GC,12057,0.89,350.7,153.7,12.6,669,12064,0.30,2.20,0.00,0.000,6,0.120,0.041,2872,1733,1216
$GC,12374,1.12,353.2,131.5,6.9,685,12379,0.17,2.22,0.00,0.000,4,0.059,0.055,2966,334,1214
$GC,12420,1.01,353.2,126.5,12.1,687,12425,0.25,2.22,0.00,0.000,6,0.118,0.043,2890,1752,1214
$GC,12743,1.15,353.2,97.5,10.0,705,12750,0.15,2.22,0.00,0.000,4,0.060,0.057,2965,3159,1212
$GC,12831,0.97,353.2,87.8,11.3,720,12838,0.30,2.22,0.00,0.000,6,0.120,0.044,2883,1730,1211
$GC,13180,1.62,353.2,64.0,9.9,781,13187,0.40,2.25,0.00,0.000,4,0.067,0.056,3042,327,1209
$GC,13286,1.34,353.2,48.9,16.6,799,13293,0.25,2.25,0.00,0.000,6,0.138,0.048,2971,1737,1209
$FREEZE,6.94,-1.797,-1.810
$STATE,13620,end climb,FINISH_DEPTH_REACHED
$STATE,13620,begin subsurface finish
$FINISH1,6.9,1.026517,56
$GC,13631,0.07,55.6,6.9,-11.8,858,13674,0.85,2.35,-36.08,0.000,4,0.112,0.072,2680,3155,2426
$FINISH2,5.9
$STATE,13674,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13674,begin surface
$RAFOS_CLK,563
$RAFOS,4,1232887460,12.750000,12.738889,67,66,60,56,55,52,833,165,220,143,178,198
$RAFOS,3,1232886841,12.583333,12.566944,67,65,59,57,55,54,211,197,174,156,146,125
$RAFOS,2,1232886257,12.416667,12.404722,107,65,59,58,56,55,648,192,222,152,120,213
$RAFOS,1,1232885655,12.250000,12.237500,60,57,55,55,54,53,191,216,200,152,116,179
$RAFOS,0,1232885047,12.083333,12.068611,62,61,60,59,55,55,199,217,152,139,121,182
$RAFOS_FIX,6654.764160,-5631.726562,250109,121216,2,87,0.33
$IRIDIUM_FIX,6548.42,-5642.25,160498,050538
$TT8_MAMPS,0.026845
$HUMID,1807
$INTERNAL_PRESSURE,9.97109
$TCM_TEMP,15.40
$XPDR_PINGS,237
$24V_AH,22.3,109.377
$10V_AH,10.4,49.013
$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,10.100,144.825,432.525,0.000,0.000,0.000,0.000,0.000,59.250,0.000,0.000,0.000,1614.697,9578.160,511.921,1671.764,360.322,0.000,1443.623,0.000,1658.514,1800.000,0.532,0.000
$DEVICE_MAMPS,142.662,72.098,1048.489,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,602.441,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28465,865
$CAP_FILE_SIZE,120048,0
$CFSIZE,260165632,207147008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.2
$GPS,250109,123616,6654.764,-5631.727,0,2087.0,0,-37.3