version: 66.04
glider: 108
mission: 11
dive: 731
start: 1 26 109 5 30 5
data:
$ID,108
$MISSION,11
$DIVE,731
$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,32
$R_STBD_OVSHOOT,29
$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,2.64
$_SM_ANGLEo,-4.2
$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,-146.0,0.0,0.0,0,63,0.00,0.00,-39.28,0.000,6,0.000,0.000,2693,327,3247
$GC,68,-0.99,-146.0,2.8,-2.3,8,74,0.62,0.80,0.00,0.000,4,0.062,0.046,2452,836,3248
$GC,139,-0.68,-146.0,10.7,-12.4,20,146,0.32,2.22,0.00,0.000,6,0.135,0.055,2535,2243,3249
$GC,488,-0.76,-146.0,40.3,-7.6,81,494,0.00,2.30,0.00,0.000,4,0.000,0.056,2536,811,3250
$GC,548,-0.76,-146.0,44.2,-6.6,91,554,0.00,2.30,0.00,0.000,6,0.000,0.055,2528,2240,3250
$GC,895,-0.84,-146.0,62.5,-4.5,152,902,0.12,2.30,0.00,0.000,4,0.074,0.056,2465,814,3250
$GC,956,-0.65,-146.0,66.9,-8.0,162,963,0.30,2.30,0.00,0.000,6,0.135,0.057,2542,2236,3249
$GC,1306,-0.80,-146.0,88.2,-8.2,223,1312,0.12,2.30,0.00,0.000,4,0.074,0.056,2485,813,3248
$GC,1321,-0.91,-146.0,89.5,-8.1,225,1327,0.00,2.30,0.00,0.000,6,0.000,0.057,2475,2234,3248
$GC,1650,-0.85,-146.0,124.7,-10.1,253,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2234,3247
$GC,1957,-0.78,-146.0,150.5,-7.4,268,1961,0.15,2.30,0.00,0.000,4,0.137,0.056,2519,816,3247
$GC,1968,-0.78,-146.0,151.5,-7.4,268,1972,0.00,2.30,0.00,0.000,6,0.000,0.056,2512,2235,3247
$GC,2292,-0.86,-146.0,170.0,-5.6,284,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2235,3247
$GC,2602,-0.94,-146.0,186.9,-5.6,299,2607,0.12,2.30,0.00,0.000,4,0.074,0.056,2451,814,3246
$GC,2671,-0.77,-146.0,192.4,-8.3,302,2676,0.25,2.30,0.00,0.000,6,0.131,0.057,2512,2232,3246
$GC,3001,-0.86,-146.0,208.2,-3.8,318,3005,0.00,2.30,0.00,0.000,4,0.000,0.057,2512,807,3246
$GC,3026,-0.93,-146.0,209.2,-3.9,319,3031,0.10,2.30,0.00,0.000,6,0.077,0.056,2458,2234,3246
$GC,3360,-0.84,-146.0,227.4,-5.5,335,3365,0.15,2.30,0.00,0.000,4,0.141,0.055,2500,815,3246
$GC,3413,-0.84,-146.0,229.8,-3.9,337,3417,0.00,2.30,0.00,0.000,6,0.000,0.055,2492,2238,3246
$GC,3742,-0.90,-146.0,244.6,-5.3,353,3745,0.00,2.30,0.00,0.000,4,0.000,0.055,2493,811,3245
$GC,3806,-0.90,-146.0,248.5,-6.3,355,3812,0.00,2.30,0.00,0.000,6,0.000,0.054,2483,2237,3245
$GC,4122,-0.90,-146.0,272.8,-8.3,371,4126,0.00,2.30,0.00,0.000,4,0.000,0.054,2483,805,3245
$GC,4147,-0.90,-146.0,275.0,-8.9,372,4151,0.00,2.30,0.00,0.000,6,0.000,0.052,2473,2236,3245
$GC,4481,-0.90,-146.0,302.8,-7.9,388,4485,0.00,2.28,0.00,0.000,4,0.000,0.054,2473,816,3245
$GC,4533,-0.82,-146.0,306.8,-8.2,390,4538,0.15,2.30,0.00,0.000,6,0.127,0.053,2504,2245,3245
$GC,4856,-0.93,-146.0,325.6,-5.2,406,4861,0.10,2.30,0.00,0.000,4,0.082,0.053,2457,814,3246
$GC,4944,-0.80,-146.0,331.3,-6.5,410,4949,0.22,2.30,0.00,0.000,6,0.126,0.053,2512,2246,3246
$GC,5278,-0.94,-146.0,347.1,-4.7,426,5282,0.12,2.30,0.00,0.000,4,0.075,0.052,2454,814,3246
$GC,5326,-0.80,-146.0,350.1,-7.0,428,5331,0.22,2.30,0.00,0.000,6,0.125,0.052,2509,2246,3246
$GC,5655,-0.94,-146.0,367.9,-5.3,444,5659,0.12,2.30,0.00,0.000,4,0.074,0.051,2452,811,3247
$GC,5696,-0.79,-146.0,370.6,-6.8,446,5701,0.25,2.30,0.00,0.000,6,0.127,0.051,2513,2246,3247
$GC,6026,-0.94,-146.0,386.0,-4.9,462,6030,0.15,2.30,0.00,0.000,4,0.068,0.051,2445,811,3247
$GC,6055,-0.84,-146.0,388.1,-7.8,463,6059,0.22,2.30,0.00,0.000,6,0.127,0.051,2499,2247,3247
$STATE,6387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6387,begin apogee
$GC,6399,-0.31,0.0,404.4,4.9,477,6525,0.35,0.00,123.90,1.039,6,0.114,0.000,2613,1730,2650
$STATE,6526,end apogee,CONTROL_FINISHED_OK
$STATE,6526,begin climb
$GC,6530,0.99,146.0,406.6,0.0,480,6664,0.85,2.50,126.50,0.972,4,0.090,0.056,2896,3148,2053
$GC,6744,0.71,146.0,387.5,11.8,487,6749,0.28,2.30,0.00,0.000,6,0.126,0.041,2829,1736,2049
$GC,7073,0.79,156.1,365.4,6.7,503,7088,0.08,2.28,8.85,0.839,4,0.087,0.057,2887,338,2014
$GC,7113,0.69,156.1,361.9,9.6,504,7120,0.20,2.22,0.00,0.000,6,0.118,0.044,2827,1748,2013
$GC,7430,0.79,156.1,337.6,7.5,520,7435,0.10,2.20,0.00,0.000,4,0.073,0.057,2881,3155,2013
$GC,7527,0.58,156.1,327.7,10.0,524,7532,0.30,2.20,0.00,0.000,6,0.123,0.041,2802,1727,2012
$GC,7851,0.92,272.3,314.0,3.3,540,7955,0.20,0.00,101.22,0.945,6,0.055,0.000,2908,1727,1539
$GC,8267,0.82,272.3,275.3,10.0,560,8271,0.17,2.30,0.00,0.000,4,0.121,0.055,2855,3159,1528
$GC,8296,0.82,272.3,272.2,8.8,561,8300,0.00,2.20,0.00,0.000,6,0.000,0.042,2862,1736,1526
$GC,8625,0.82,272.3,245.1,8.2,577,8629,0.00,2.22,0.00,0.000,4,0.000,0.057,2872,330,1524
$GC,8665,0.92,272.3,241.7,8.2,578,8671,0.00,2.22,0.00,0.000,6,0.000,0.044,2872,1743,1524
$GC,8983,0.92,272.3,213.0,9.1,594,8987,0.00,2.22,0.00,0.000,4,0.000,0.058,2872,3158,1523
$GC,9063,0.83,272.3,205.4,8.9,597,9067,0.00,2.20,0.00,0.000,6,0.000,0.042,2882,1735,1521
$GC,9386,0.83,272.3,180.0,8.0,613,9390,0.00,2.22,0.00,0.000,4,0.000,0.056,2892,333,1522
$GC,9417,0.88,272.3,177.4,8.5,614,9421,0.00,2.22,0.00,0.000,6,0.000,0.043,2892,1753,1522
$GC,9745,0.88,272.3,138.5,14.8,630,9749,0.00,2.20,0.00,0.000,4,0.000,0.058,2892,3153,1522
$GC,9837,0.80,272.3,124.1,15.1,634,9843,0.17,2.20,0.00,0.000,6,0.120,0.042,2849,1729,1522
$GC,10174,1.14,364.5,100.0,4.1,650,10262,0.22,2.33,78.68,0.835,4,0.058,0.058,2966,334,1163
$GC,10297,1.04,364.5,89.6,9.6,670,10304,0.22,2.25,0.00,0.000,6,0.120,0.044,2899,1737,1160
$GC,10645,1.25,364.5,63.4,7.4,731,10652,0.17,2.25,0.00,0.000,4,0.060,0.058,2983,3163,1153
$GC,10740,1.04,364.5,51.7,12.9,747,10746,0.30,2.22,0.00,0.000,6,0.126,0.044,2904,1733,1152
$GC,11088,1.24,385.1,31.7,6.4,808,11112,0.15,2.25,16.67,0.794,4,0.064,0.059,2989,335,1080
$GC,11154,1.16,385.1,23.9,13.4,819,11161,0.22,2.25,0.00,0.000,6,0.123,0.047,2923,1751,1079
$FREEZE,6.99,-1.736,-1.814
$STATE,11342,end climb,FINISH_DEPTH_REACHED
$STATE,11342,begin subsurface finish
$FINISH1,7.0,1.026560,53
$GC,11352,0.07,53.5,7.0,-10.9,852,11400,0.68,2.33,-41.40,0.000,4,0.102,0.076,2683,3158,2434
$FINISH2,5.3
$STATE,11400,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11401,begin surface
$RAFOS_CLK,484
$RAFOS,2,1232958242,8.416667,8.400556,69,68,60,54,54,47,206,183,225,154,136,236
$RAFOS,1,1232957646,8.250000,8.235000,67,59,58,57,54,54,1826,144,226,193,156,205
$RAFOS,0,1232957041,8.083333,8.066944,54,53,52,52,50,50,212,157,193,223,100,134
$RAFOS_FIX,6654.764160,-5631.726562,250109,121216,2,87,0.33
$IRIDIUM_FIX,6548.42,-5642.25,160498,050538
$TT8_MAMPS,0.029146
$HUMID,1816
$INTERNAL_PRESSURE,9.95155
$TCM_TEMP,15.40
$XPDR_PINGS,202
$24V_AH,22.3,110.099
$10V_AH,10.4,49.313
$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,8.525,120.000,455.825,0.000,0.000,0.000,0.000,0.000,50.500,0.000,0.000,0.000,1505.569,7561.758,542.863,1535.953,310.254,0.000,1395.637,0.000,1528.001,1440.000,0.532,0.000
$DEVICE_MAMPS,141.128,75.933,1039.285,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,598.087,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28375,860
$CAP_FILE_SIZE,104762,0
$CFSIZE,260165632,206827520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.6
$GPS,250109,123616,6654.764,-5631.727,0,2087.0,0,-37.3