version: 66.04
glider: 108
mission: 11
dive: 728
start: 1 25 109 19 47 22
data:
$ID,108
$MISSION,11
$DIVE,728
$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,26
$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
$GPS1,123616,6654.764,-5631.727,0,2087.0,0,-37.3
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-1.4
$GPS2,123616,6654.764,-5631.727,0,2087.0,0,-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,229.2,103635,-13.0,-7.021
$D_GRID,403
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-5.35,0.000,2,0.000,0.000,2691,336,2565
$GC,30,-0.99,-146.0,3.1,-0.0,1,66,0.60,5.32,-26.38,0.000,4,0.049,0.062,2420,3601,3249
$GC,318,-0.69,-146.0,35.2,-12.7,51,325,0.35,2.15,0.00,0.000,6,0.142,0.041,2532,2203,3252
$GC,667,-0.81,-146.0,60.6,-6.0,112,673,0.10,2.17,0.00,0.000,4,0.082,0.054,2484,824,3251
$GC,789,-0.68,-146.0,71.6,-8.8,133,796,0.20,2.28,0.00,0.000,6,0.130,0.055,2530,2237,3251
$GC,1137,-0.78,-146.0,92.4,-5.8,194,1143,0.00,2.28,0.00,0.000,4,0.000,0.055,2530,825,3250
$GC,1331,-0.88,-146.0,103.7,-6.2,219,1336,0.12,2.28,0.00,0.000,6,0.072,0.055,2466,2234,3249
$GC,1654,-0.80,-146.0,128.3,-7.4,235,1659,0.15,2.20,0.00,0.000,4,0.139,0.067,2499,3592,3249
$GC,1678,-0.80,-146.0,130.0,-7.1,236,1681,0.00,2.12,0.00,0.000,6,0.000,0.044,2500,2224,3249
$GC,2008,-0.84,-146.0,149.9,-5.9,252,2012,0.00,2.22,0.00,0.000,4,0.000,0.058,2500,820,3248
$GC,2032,-0.84,-146.0,151.6,-6.0,253,2036,0.00,2.30,0.00,0.000,6,0.000,0.055,2489,2244,3248
$GC,2369,-0.84,-146.0,171.4,-6.0,269,2373,0.00,2.30,0.00,0.000,4,0.000,0.056,2489,823,3247
$GC,2394,-0.84,-146.0,173.1,-6.6,270,2398,0.00,2.28,0.00,0.000,6,0.000,0.055,2480,2232,3247
$GC,2728,-0.84,-146.0,196.3,-7.0,286,2732,0.00,2.28,0.00,0.000,4,0.000,0.055,2480,826,3247
$GC,2741,-0.84,-146.0,197.2,-6.8,286,2745,0.10,2.30,0.00,0.000,6,0.135,0.055,2496,2242,3246
$GC,3059,-0.90,-146.0,214.8,-5.4,301,3063,0.00,2.20,0.00,0.000,4,0.000,0.067,2488,3605,3247
$GC,3073,-0.96,-146.0,215.5,-5.4,301,3076,0.00,2.15,0.00,0.000,6,0.000,0.043,2488,2218,3246
$GC,3396,-0.96,-146.0,236.6,-7.0,317,3402,0.00,2.20,0.00,0.000,4,0.000,0.055,2488,817,3247
$GC,3488,-0.96,-146.0,243.0,-7.0,321,3492,0.00,2.30,0.00,0.000,6,0.000,0.054,2478,2241,3246
$GC,3817,-0.96,-146.0,262.7,-5.8,337,3821,0.00,2.28,0.00,0.000,4,0.000,0.054,2478,823,3246
$GC,3847,-0.96,-146.0,264.4,-5.9,338,3851,0.00,2.28,0.00,0.000,6,0.000,0.054,2468,2240,3246
$GC,4175,-0.96,-146.0,279.6,-3.9,354,4179,0.00,2.28,0.00,0.000,4,0.000,0.053,2468,817,3246
$GC,4239,-0.89,-146.0,282.4,-4.7,356,4245,0.12,2.28,0.00,0.000,6,0.128,0.053,2493,2232,3247
$GC,4557,-0.95,-146.0,296.5,-4.9,372,4561,0.00,2.25,0.00,0.000,4,0.000,0.052,2494,825,3247
$GC,4586,-0.95,-146.0,298.1,-5.9,373,4590,0.00,2.28,0.00,0.000,6,0.000,0.052,2487,2241,3247
$GC,4915,-0.95,-146.0,316.8,-5.6,389,4919,0.00,2.28,0.00,0.000,4,0.000,0.052,2487,815,3247
$GC,4973,-0.95,-146.0,319.9,-4.9,391,4977,0.00,2.28,0.00,0.000,6,0.000,0.051,2477,2234,3248
$GC,5296,-0.95,-146.0,335.2,-4.5,407,5300,0.00,2.25,0.00,0.000,4,0.000,0.051,2477,820,3248
$GC,5370,-0.95,-146.0,338.9,-4.7,410,5374,0.00,2.28,0.00,0.000,6,0.000,0.051,2467,2240,3248
$GC,5700,-0.95,-146.0,355.5,-5.5,426,5703,0.00,2.28,0.00,0.000,4,0.000,0.051,2467,814,3248
$GC,5815,-0.89,-146.0,362.3,-6.2,431,5820,0.12,2.28,0.00,0.000,6,0.127,0.051,2491,2239,3249
$GC,6145,-0.95,-146.0,378.2,-5.0,447,6149,0.00,2.25,0.00,0.000,4,0.000,0.051,2491,824,3250
$GC,6214,-0.95,-146.0,382.4,-6.2,450,6219,0.00,2.25,0.00,0.000,6,0.000,0.050,2484,2244,3250
$GC,6550,-1.27,-146.0,395.4,-0.3,466,6555,0.22,2.17,0.00,0.000,4,0.057,0.064,2376,3601,3251
$STATE,6664,end dive,NO_VERTICAL_VELOCITY
$STATE,6664,begin apogee
$GC,6677,-0.31,0.0,395.4,0.0,471,6808,0.68,0.00,123.55,1.014,6,0.095,0.000,2608,1738,2650
$STATE,6809,end apogee,CONTROL_FINISHED_OK
$STATE,6809,begin climb
$GC,6813,0.99,146.0,394.6,0.0,478,6946,0.85,2.47,125.05,0.953,4,0.088,0.056,2905,335,2054
$GC,6977,0.82,146.0,379.6,11.2,485,6984,0.17,2.35,0.00,0.000,6,0.126,0.041,2858,1737,2051
$GC,7295,0.77,146.0,352.5,8.5,501,7299,0.00,2.22,0.00,0.000,4,0.000,0.056,2858,3159,2048
$GC,7365,0.62,146.0,345.9,9.9,504,7370,0.20,2.20,0.00,0.000,6,0.123,0.041,2807,1735,2047
$GC,7693,0.83,182.6,326.6,5.8,520,7730,0.17,2.25,30.92,0.932,4,0.056,0.054,2905,336,1905
$GC,7756,0.69,182.6,320.7,11.3,522,7761,0.28,2.25,0.00,0.000,6,0.119,0.042,2822,1756,1903
$GC,8084,0.82,182.6,296.5,7.2,538,8088,0.12,2.20,0.00,0.000,4,0.065,0.054,2887,3163,1900
$GC,8170,0.60,182.6,286.5,12.9,541,8177,0.30,2.20,0.00,0.000,6,0.121,0.041,2807,1734,1899
$GC,8487,0.81,182.6,263.6,7.1,557,8489,0.17,0.00,0.00,0.000,6,0.058,0.000,2897,1734,1900
$GC,8797,0.68,182.6,230.0,10.3,572,8799,0.25,0.00,0.00,0.000,6,0.117,0.000,2819,1734,1899
$GC,9107,0.95,254.1,213.9,4.7,587,9174,0.20,2.38,60.90,0.890,4,0.054,0.056,2921,3151,1613
$GC,9225,0.73,254.1,201.2,13.8,592,9229,0.32,2.20,0.00,0.000,6,0.123,0.041,2833,1731,1608
$GC,9554,0.97,285.2,179.3,6.0,608,9586,0.20,2.30,26.98,0.846,4,0.055,0.054,2947,334,1487
$GC,9617,0.85,285.2,172.2,12.8,611,9622,0.30,2.25,0.00,0.000,6,0.118,0.043,2855,1753,1485
$GC,9947,1.01,285.2,147.1,7.2,627,9951,0.15,2.20,0.00,0.000,4,0.060,0.055,2933,3156,1480
$GC,10043,0.81,285.2,134.4,14.0,631,10048,0.30,2.20,0.00,0.000,6,0.119,0.041,2851,1732,1479
$GC,10368,1.06,304.7,110.9,6.4,647,10391,0.20,2.30,17.02,0.803,4,0.058,0.056,2964,329,1408
$GC,10416,0.90,304.7,105.5,12.8,649,10421,0.30,2.25,0.00,0.000,6,0.120,0.044,2872,1755,1408
$GC,10759,1.10,304.7,80.2,7.2,702,10766,0.15,2.20,0.00,0.000,4,0.063,0.058,2951,3150,1404
$GC,10814,0.87,304.7,74.1,12.7,711,10821,0.32,2.20,0.00,0.000,6,0.120,0.043,2863,1731,1403
$GC,11163,1.51,304.7,52.0,8.2,772,11170,0.40,2.25,0.00,0.000,4,0.069,0.056,3017,325,1401
$GC,11213,1.51,304.7,47.1,9.5,780,11219,0.00,2.25,0.00,0.000,6,0.000,0.046,3016,1743,1401
$FREEZE,6.46,-1.752,-1.811
$STATE,11494,end climb,FINISH_DEPTH_REACHED
$STATE,11495,begin subsurface finish
$FINISH1,6.5,1.026533,55
$GC,11505,0.07,54.8,6.5,-15.4,830,11547,1.02,2.33,-35.12,0.000,4,0.126,0.074,2694,3147,2430
$FINISH2,3.9
$STATE,11548,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11548,begin surface
$RAFOS_CLK,477
$RAFOS,4,1232916242,20.750000,20.733889,62,58,58,55,52,51,162,188,213,139,124,197
$RAFOS,3,1232915648,20.583334,20.568890,68,65,54,49,48,45,199,183,210,149,130,114
$RAFOS,2,1232915059,20.416666,20.405277,83,65,60,58,57,55,671,200,186,159,174,213
$RAFOS,1,1232914450,20.250000,20.236111,64,56,53,52,52,52,215,152,119,179,193,134
$RAFOS,0,1232913845,20.083334,20.068056,68,64,59,58,56,53,212,170,127,198,153,186
$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,1826
$INTERNAL_PRESSURE,9.97109
$TCM_TEMP,15.70
$XPDR_PINGS,229
$24V_AH,22.5,109.728
$10V_AH,10.4,49.162
$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,9.175,127.600,384.425,0.000,0.000,0.000,0.000,0.000,57.250,0.000,0.000,0.000,1494.943,7761.896,452.331,1580.772,313.353,0.000,1323.588,0.000,1568.026,1800.000,0.531,0.000
$DEVICE_MAMPS,141.895,74.399,1013.974,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.428,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28409,837
$CAP_FILE_SIZE,106097,0
$CFSIZE,260165632,206995456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.8
$GPS,250109,123616,6654.764,-5631.727,0,2087.0,0,-37.3