version: 66.04
glider: 108
mission: 11
dive: 729
start: 1 25 109 23 1 52
data:
$ID,108
$MISSION,11
$DIVE,729
$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,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
$GPS1,123616,6654.764,-5631.727,0,2087.0,0,-37.3
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,4.08
$_SM_ANGLEo,-4.3
$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,17,-0.99,-146.0,0.0,0.0,0,24,0.00,0.00,-5.32,0.000,2,0.000,0.000,2694,3146,2568
$GC,29,-0.99,-146.0,3.3,-0.0,1,65,0.62,3.75,-26.75,0.000,4,0.057,0.055,2456,816,3249
$GC,322,-0.75,-146.0,36.3,-11.9,52,329,0.25,2.28,0.00,0.000,6,0.135,0.053,2519,2232,3252
$GC,670,-0.75,-146.0,63.8,-5.4,113,676,0.00,2.28,0.00,0.000,4,0.000,0.054,2520,811,3252
$GC,887,-0.75,-146.0,79.3,-7.8,151,894,0.00,2.30,0.00,0.000,6,0.000,0.055,2512,2234,3251
$GC,1235,-0.75,-146.0,98.2,-5.0,212,1241,0.00,2.28,0.00,0.000,4,0.000,0.055,2512,820,3250
$GC,1288,-0.75,-146.0,100.9,-5.2,219,1292,0.00,2.30,0.00,0.000,6,0.000,0.055,2502,2242,3250
$GC,1617,-0.75,-146.0,117.1,-5.3,235,1621,0.00,2.30,0.00,0.000,4,0.000,0.056,2502,815,3249
$GC,1657,-0.75,-146.0,119.7,-6.4,236,1664,0.10,2.30,0.00,0.000,6,0.133,0.055,2518,2234,3249
$GC,1975,-0.87,-146.0,140.4,-6.7,252,1980,0.10,2.30,0.00,0.000,4,0.081,0.055,2470,811,3248
$GC,2022,-0.74,-146.0,144.3,-9.0,254,2027,0.22,2.33,0.00,0.000,6,0.130,0.055,2523,2245,3248
$GC,2345,-0.88,-146.0,165.1,-6.4,270,2350,0.12,2.33,0.00,0.000,4,0.077,0.055,2467,813,3247
$GC,2380,-0.75,-146.0,168.0,-8.4,271,2387,0.22,2.33,0.00,0.000,6,0.129,0.055,2521,2245,3247
$GC,2698,-0.90,-146.0,187.4,-5.6,287,2703,0.12,2.30,0.00,0.000,4,0.077,0.055,2464,821,3247
$GC,2755,-0.77,-146.0,191.5,-7.7,289,2760,0.20,2.30,0.00,0.000,6,0.128,0.055,2511,2239,3247
$GC,3074,-0.88,-146.0,207.5,-4.5,304,3079,0.10,2.30,0.00,0.000,4,0.085,0.054,2463,815,3247
$GC,3171,-0.77,-146.0,213.5,-6.5,308,3176,0.22,2.30,0.00,0.000,6,0.126,0.054,2518,2236,3247
$GC,3489,-0.91,-146.0,229.2,-5.1,323,3493,0.15,2.30,0.00,0.000,4,0.071,0.054,2451,811,3247
$GC,3540,-0.76,-146.0,233.4,-8.5,325,3545,0.25,2.30,0.00,0.000,6,0.126,0.053,2513,2236,3247
$GC,3864,-0.89,-146.0,251.6,-5.3,341,3869,0.10,2.30,0.00,0.000,4,0.084,0.053,2465,808,3247
$GC,3899,-0.77,-146.0,254.0,-7.1,342,3906,0.20,2.30,0.00,0.000,6,0.125,0.053,2513,2236,3247
$GC,4217,-0.91,-146.0,269.5,-4.8,358,4222,0.12,2.28,0.00,0.000,4,0.075,0.052,2455,817,3247
$GC,4252,-0.75,-146.0,271.8,-7.2,359,4257,0.25,2.28,0.00,0.000,6,0.125,0.052,2517,2234,3247
$GC,4570,-0.90,-146.0,286.2,-4.3,374,4574,0.12,2.28,0.00,0.000,4,0.075,0.051,2459,815,3247
$GC,4662,-0.79,-146.0,291.9,-6.6,378,4666,0.22,2.30,0.00,0.000,6,0.123,0.052,2514,2244,3247
$GC,4988,-0.94,-146.0,307.2,-5.0,394,4993,0.15,2.30,0.00,0.000,4,0.071,0.052,2447,813,3248
$GC,5091,-0.79,-146.0,314.9,-7.9,398,5097,0.25,2.30,0.00,0.000,6,0.125,0.052,2509,2245,3248
$GC,5408,-0.93,-146.0,331.7,-5.0,414,5413,0.12,2.30,0.00,0.000,4,0.074,0.051,2450,814,3248
$GC,5506,-0.79,-146.0,338.5,-7.4,418,5511,0.25,2.30,0.00,0.000,6,0.124,0.051,2513,2245,3248
$GC,5831,-0.95,-146.0,353.1,-3.8,434,5835,0.15,2.30,0.00,0.000,4,0.070,0.051,2445,811,3248
$GC,5889,-0.79,-146.0,356.5,-6.9,436,5896,0.28,2.30,0.00,0.000,6,0.124,0.051,2515,2246,3248
$GC,6206,-0.95,-146.0,370.3,-4.0,452,6211,0.15,2.30,0.00,0.000,4,0.067,0.051,2446,811,3249
$GC,6236,-0.88,-146.0,372.0,-6.1,453,6240,0.20,2.28,0.00,0.000,6,0.123,0.050,2493,2232,3249
$GC,6556,-0.96,-146.0,386.5,-4.8,468,6560,0.00,2.25,0.00,0.000,4,0.000,0.051,2493,816,3249
$GC,6569,-1.04,-146.0,387.2,-4.7,468,6573,0.12,2.28,0.00,0.000,6,0.069,0.049,2429,2243,3249
$STATE,6804,end dive,NO_VERTICAL_VELOCITY
$STATE,6804,begin apogee
$GC,6816,-0.31,0.0,388.9,0.0,480,6947,0.55,0.00,123.50,1.017,6,0.083,0.000,2620,1725,2650
$STATE,6947,end apogee,CONTROL_FINISHED_OK
$STATE,6947,begin climb
$GC,6952,0.99,146.0,388.3,0.0,487,7086,0.82,2.55,125.20,0.954,4,0.088,0.054,2899,3156,2054
$GC,7156,0.71,146.0,367.3,13.3,496,7161,0.28,2.30,0.00,0.000,6,0.123,0.041,2830,1736,2049
$GC,7478,0.71,146.0,341.3,7.3,512,7482,0.00,2.22,0.00,0.000,4,0.000,0.057,2839,331,2048
$GC,7507,0.79,146.0,339.0,7.6,513,7511,0.00,2.22,0.00,0.000,6,0.000,0.043,2839,1747,2048
$GC,7836,0.79,146.0,313.1,7.9,529,7840,0.00,2.20,0.00,0.000,4,0.000,0.056,2839,3159,2048
$GC,7933,0.68,146.0,304.9,7.5,533,7936,0.00,2.20,0.00,0.000,6,0.000,0.041,2848,1731,2047
$GC,8261,0.70,165.1,283.5,6.4,549,8280,0.00,0.00,16.02,0.885,6,0.000,0.000,2848,1730,1977
$GC,8591,0.70,165.1,257.9,8.4,565,8595,0.00,2.25,0.00,0.000,4,0.000,0.055,2848,3145,1975
$GC,8638,0.61,165.1,253.2,10.2,567,8643,0.17,2.17,0.00,0.000,6,0.122,0.041,2806,1733,1975
$GC,8974,0.85,191.5,230.0,6.2,583,9000,0.20,0.00,23.73,0.888,6,0.054,0.000,2906,1733,1869
$GC,9302,0.70,191.5,201.3,7.8,599,9306,0.22,2.28,0.00,0.000,4,0.119,0.056,2831,3151,1865
$GC,9349,0.79,260.7,198.7,4.8,601,9413,0.00,2.17,59.58,0.881,6,0.000,0.041,2838,1736,1587
$GC,9727,1.00,260.7,174.0,8.6,619,9732,0.17,2.22,0.00,0.000,4,0.061,0.055,2936,336,1578
$GC,9756,1.00,260.7,170.1,12.9,620,9760,0.15,2.22,0.00,0.000,6,0.131,0.042,2894,1753,1577
$GC,10086,1.00,260.7,133.8,10.1,636,10090,0.00,2.20,0.00,0.000,4,0.000,0.058,2894,3157,1575
$GC,10148,0.89,260.7,126.8,10.6,638,10156,0.12,2.20,0.00,0.000,6,0.130,0.042,2866,1732,1575
$GC,10466,1.13,314.6,106.3,5.3,654,10519,0.20,2.28,46.85,0.839,4,0.056,0.056,2975,328,1367
$GC,10571,1.04,314.6,96.6,10.7,661,10578,0.25,2.25,0.00,0.000,6,0.123,0.045,2901,1741,1364
$GC,10920,1.16,314.6,68.9,8.4,722,10926,0.12,2.25,0.00,0.000,4,0.068,0.059,2963,3163,1358
$GC,10980,0.97,314.6,61.5,13.2,732,10987,0.28,2.22,0.00,0.000,6,0.121,0.044,2890,1730,1357
$GC,11329,1.16,314.6,37.1,8.3,793,11336,0.15,2.25,0.00,0.000,4,0.065,0.058,2971,324,1355
$GC,11401,1.09,314.6,29.4,11.6,805,11408,0.20,2.25,0.00,0.000,6,0.120,0.048,2913,1741,1355
$FREEZE,6.85,-1.728,-1.813
$STATE,11633,end climb,FINISH_DEPTH_REACHED
$STATE,11633,begin subsurface finish
$FINISH1,6.8,1.026548,54
$GC,11644,0.07,54.1,6.8,-9.3,846,11685,0.65,0.00,-36.25,0.000,6,0.104,0.000,2692,1742,2433
$FINISH2,3.6
$STATE,11686,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11686,begin surface
$RAFOS_CLK,486
$RAFOS,4,1232930652,0.750000,0.736667,60,59,58,54,53,51,144,214,204,117,126,186
$RAFOS,3,1232930047,0.583333,0.568611,58,58,58,52,51,48,146,167,222,238,192,1161
$RAFOS,2,1232929450,0.416667,0.402778,64,59,58,53,52,52,220,207,193,180,142,161
$RAFOS,1,1232928850,0.250000,0.236111,60,59,57,55,54,51,196,146,174,133,212,124
$RAFOS,0,1232928247,0.083333,0.068611,59,56,55,55,54,52,142,220,196,153,164,208
$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,1824
$INTERNAL_PRESSURE,9.96132
$TCM_TEMP,15.30
$XPDR_PINGS,273
$24V_AH,22.5,109.841
$10V_AH,10.4,49.212
$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,9.950,125.200,394.875,0.000,0.000,0.000,0.000,0.000,68.250,0.000,0.000,0.000,1538.190,7835.256,480.759,1576.705,311.612,0.000,1347.758,0.000,1565.486,1800.000,0.533,0.000
$DEVICE_MAMPS,134.992,59.059,1017.042,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,594.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28426,853
$CAP_FILE_SIZE,110091,0
$CFSIZE,260165632,206934016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.6
$GPS,250109,123616,6654.764,-5631.727,0,2087.0,0,-37.3