version: 66.04
glider: 108
mission: 11
dive: 730
start: 1 26 109 2 18 39
data:
$ID,108
$MISSION,11
$DIVE,730
$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,33
$R_STBD_OVSHOOT,30
$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,2.31
$_SM_ANGLEo,-7.8
$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,-146.0,0.0,0.0,0,63,0.00,0.00,-41.72,0.000,6,0.000,0.000,2692,1742,3247
$GC,68,-0.99,-146.0,2.0,-1.3,8,75,0.65,3.00,0.00,0.000,4,0.075,0.064,2453,3603,3248
$GC,332,-0.83,-146.0,29.5,-10.2,54,339,0.17,2.15,0.00,0.000,6,0.139,0.044,2501,2211,3250
$GC,681,-0.83,-146.0,62.1,-11.0,115,687,0.00,2.28,0.00,0.000,4,0.000,0.067,2493,3599,3250
$GC,717,-0.83,-146.0,65.9,-10.4,121,724,0.00,2.12,0.00,0.000,6,0.000,0.044,2493,2225,3250
$GC,1065,-0.83,-146.0,98.9,-9.6,182,1071,0.00,2.22,0.00,0.000,4,0.000,0.058,2493,818,3249
$GC,1208,-0.75,-146.0,112.9,-9.4,190,1212,0.12,2.30,0.00,0.000,6,0.130,0.057,2517,2236,3248
$GC,1538,-0.83,-146.0,132.7,-4.6,206,1542,0.00,2.28,0.00,0.000,4,0.000,0.057,2519,823,3247
$GC,1624,-0.89,-146.0,137.7,-5.8,209,1631,0.10,2.30,0.00,0.000,6,0.080,0.057,2465,2240,3247
$GC,1941,-0.80,-146.0,162.0,-8.2,225,1946,0.15,2.30,0.00,0.000,4,0.140,0.057,2510,820,3247
$GC,2058,-0.80,-146.0,170.2,-7.2,230,2062,0.00,2.30,0.00,0.000,6,0.000,0.058,2503,2233,3247
$GC,2394,-0.85,-146.0,195.2,-8.1,246,2397,0.00,2.28,0.00,0.000,4,0.000,0.057,2503,823,3246
$GC,2497,-0.85,-146.0,205.2,-10.5,250,2501,0.00,2.30,0.00,0.000,6,0.000,0.058,2493,2237,3245
$GC,2819,-0.85,-146.0,237.3,-9.4,266,2824,0.00,2.28,0.00,0.000,4,0.000,0.057,2493,823,3245
$GC,2893,-0.85,-146.0,243.5,-7.6,269,2897,0.00,2.30,0.00,0.000,6,0.000,0.057,2483,2240,3245
$GC,3223,-0.85,-146.0,258.8,-3.1,285,3227,0.00,2.28,0.00,0.000,4,0.000,0.056,2484,827,3245
$GC,3280,-0.85,-146.0,260.6,-3.0,287,3284,0.00,2.30,0.00,0.000,6,0.000,0.056,2474,2245,3245
$GC,3603,-0.85,-146.0,269.7,-3.1,303,3608,0.10,2.30,0.00,0.000,4,0.141,0.054,2500,823,3245
$GC,3639,-0.90,-146.0,270.8,-3.0,304,3643,0.00,2.30,0.00,0.000,6,0.000,0.054,2493,2245,3245
$GC,3965,-0.96,-146.0,283.9,-4.8,320,3968,0.00,2.30,0.00,0.000,4,0.000,0.054,2493,814,3245
$GC,4034,-0.96,-146.0,288.2,-6.0,323,4038,0.00,2.30,0.00,0.000,6,0.000,0.054,2483,2241,3245
$GC,4369,-0.96,-146.0,311.8,-7.3,339,4373,0.00,2.28,0.00,0.000,4,0.000,0.054,2483,821,3245
$GC,4443,-0.96,-146.0,317.7,-7.8,342,4447,0.00,2.30,0.00,0.000,6,0.000,0.054,2473,2247,3245
$GC,4771,-0.96,-146.0,337.7,-5.5,358,4776,0.00,2.28,0.00,0.000,4,0.000,0.053,2473,825,3246
$GC,4825,-0.91,-146.0,340.5,-5.1,360,4829,0.00,2.28,0.00,0.000,6,0.000,0.053,2463,2238,3246
$GC,5154,-0.91,-146.0,357.5,-5.2,376,5158,0.00,2.28,0.00,0.000,4,0.000,0.053,2463,817,3246
$GC,5213,-0.82,-146.0,360.8,-5.9,378,5217,0.17,2.28,0.00,0.000,6,0.123,0.051,2503,2236,3246
$GC,5535,-0.94,-146.0,375.3,-4.7,394,5540,0.10,2.25,0.00,0.000,4,0.081,0.051,2454,821,3247
$GC,5583,-0.81,-146.0,378.1,-6.9,396,5587,0.22,2.28,0.00,0.000,6,0.123,0.051,2509,2239,3247
$GC,5918,-0.95,-146.0,393.3,-4.4,412,5922,0.12,2.28,0.00,0.000,4,0.075,0.051,2449,817,3248
$GC,5947,-0.85,-146.0,394.8,-6.1,413,5952,0.20,2.28,0.00,0.000,6,0.125,0.051,2497,2238,3248
$STATE,6140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6140,begin apogee
$GC,6151,-0.31,0.0,403.8,4.5,421,6277,0.38,0.00,123.82,1.029,6,0.113,0.000,2618,1735,2650
$STATE,6278,end apogee,CONTROL_FINISHED_OK
$STATE,6278,begin climb
$GC,6282,0.99,146.0,405.3,0.0,424,6418,0.82,2.55,126.72,0.965,4,0.088,0.055,2895,3157,2054
$GC,6452,0.71,146.0,391.3,11.2,430,6457,0.28,2.35,0.00,0.000,6,0.125,0.041,2829,1738,2050
$GC,6781,0.73,160.2,369.4,6.6,446,6799,0.00,0.00,12.27,0.880,6,0.000,0.000,2829,1738,1996
$GC,7110,0.79,160.8,347.0,7.0,462,7115,0.10,2.28,0.00,0.000,4,0.076,0.055,2884,3164,1994
$GC,7146,0.56,160.8,343.5,11.6,463,7153,0.32,2.22,0.00,0.000,6,0.126,0.041,2797,1720,1995
$GC,7463,0.82,207.4,324.9,5.5,479,7510,0.20,2.25,41.03,0.951,4,0.056,0.055,2912,334,1804
$GC,7535,0.70,207.4,317.8,10.9,482,7540,0.28,2.25,0.00,0.000,6,0.118,0.042,2828,1749,1802
$GC,7863,0.81,207.4,293.0,7.6,498,7868,0.10,2.20,0.00,0.000,4,0.072,0.055,2885,3154,1797
$GC,7955,0.63,207.4,282.4,12.2,502,7959,0.28,2.20,0.00,0.000,6,0.119,0.041,2812,1725,1796
$GC,8277,0.86,216.0,259.5,6.7,518,8292,0.17,2.28,7.53,0.784,4,0.059,0.054,2910,328,1769
$GC,8311,0.78,216.0,256.3,10.8,519,8316,0.22,2.22,0.00,0.000,6,0.122,0.042,2842,1750,1769
$GC,8630,0.87,216.0,230.8,8.4,534,8635,0.10,2.20,0.00,0.000,4,0.075,0.056,2897,3153,1768
$GC,8729,0.66,216.0,219.1,12.1,538,8734,0.28,2.20,0.00,0.000,6,0.121,0.041,2824,1725,1767
$GC,9052,0.96,287.4,200.0,4.7,554,9122,0.20,2.33,63.70,0.887,4,0.057,0.054,2937,330,1478
$GC,9155,0.87,287.4,190.5,11.0,558,9163,0.25,2.25,0.00,0.000,6,0.120,0.043,2861,1739,1475
$GC,9474,1.00,287.4,167.0,7.5,574,9478,0.12,2.22,0.00,0.000,4,0.067,0.055,2926,3160,1468
$GC,9575,0.81,287.4,153.3,14.0,578,9580,0.28,2.20,0.00,0.000,6,0.120,0.042,2853,1734,1465
$GC,9894,1.09,327.4,132.8,5.7,593,9937,0.20,2.30,34.22,0.845,4,0.058,0.056,2963,334,1315
$GC,9978,1.02,327.4,123.3,12.7,596,9985,0.22,2.25,0.00,0.000,6,0.123,0.044,2896,1749,1312
$GC,10305,1.10,327.4,92.7,8.0,621,10312,0.10,2.22,0.00,0.000,4,0.075,0.058,2951,3161,1308
$GC,10399,0.92,327.4,82.1,11.2,637,10406,0.28,2.22,0.00,0.000,6,0.120,0.044,2878,1727,1307
$GC,10748,1.22,399.3,65.7,4.7,698,10820,0.20,2.35,61.85,0.834,4,0.059,0.058,2987,324,1021
$GC,10858,1.18,399.3,53.9,12.3,716,10865,0.20,2.28,0.00,0.000,6,0.122,0.047,2929,1740,1018
$GC,11206,1.26,399.3,18.6,9.8,777,11213,0.10,2.25,0.00,0.000,4,0.076,0.061,2979,3158,1011
$GC,11272,1.05,399.3,10.4,14.6,788,11279,0.28,2.22,0.00,0.000,6,0.128,0.045,2908,1732,1010
$FREEZE,6.90,-1.727,-1.813
$STATE,11301,end climb,FINISH_DEPTH_REACHED
$STATE,11301,begin subsurface finish
$FINISH1,6.9,1.026551,54
$GC,11312,0.07,54.0,6.9,-11.5,793,11365,0.62,2.33,-43.17,0.000,4,0.100,0.071,2693,327,2435
$FINISH2,5.2
$STATE,11366,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11366,begin surface
$RAFOS_CLK,481
$RAFOS,4,1232945043,4.750000,4.734167,62,59,58,56,55,53,119,962,193,212,143,222
$RAFOS,3,1232944447,4.583333,4.568611,75,59,58,58,52,50,213,183,196,154,134,144
$RAFOS,2,1232943844,4.416667,4.401111,67,60,54,53,53,50,216,197,178,163,142,121
$RAFOS,1,1232943259,4.250000,4.238611,59,57,55,52,51,48,208,159,146,119,218,184
$RAFOS,0,1232942641,4.083333,4.066945,59,57,57,56,55,53,184,172,223,210,148,194
$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,15.50
$XPDR_PINGS,155
$24V_AH,22.3,109.971
$10V_AH,10.4,49.263
$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,8.700,126.325,471.150,0.000,0.000,0.000,0.000,0.000,38.750,0.000,0.000,0.000,1463.171,7541.377,558.466,1560.935,297.718,0.000,1429.277,0.000,1542.000,1800.000,0.532,0.000
$DEVICE_MAMPS,141.128,70.564,1028.547,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.094,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28426,802
$CAP_FILE_SIZE,105744,0
$CFSIZE,260165632,206880768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.0
$GPS,250109,123616,6654.764,-5631.727,0,2087.0,0,-37.3