version: 66.04
glider: 108
mission: 11
dive: 732
start: 1 26 109 8 42 3
data:
$ID,108
$MISSION,11
$DIVE,732
$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,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,2.51
$_SM_ANGLEo,-2.3
$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,18,-0.99,-146.0,0.0,0.0,0,64,0.00,0.00,-40.40,0.000,6,0.000,0.000,2683,3159,3247
$GC,69,-0.99,-146.0,2.5,-1.9,8,75,0.62,0.68,0.00,0.000,4,0.077,0.071,2455,3588,3249
$GC,259,-0.84,-146.0,22.2,-11.2,41,266,0.17,2.12,0.00,0.000,6,0.156,0.044,2502,2209,3250
$GC,608,-0.84,-146.0,52.2,-8.9,102,614,0.00,2.17,0.00,0.000,4,0.000,0.057,2502,828,3250
$GC,650,-0.78,-146.0,56.6,-10.2,109,657,0.00,2.28,0.00,0.000,6,0.000,0.056,2494,2237,3250
$GC,998,-0.78,-146.0,86.3,-5.7,170,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2237,3250
$GC,1348,-0.78,-146.0,104.1,-4.8,221,1352,0.00,2.28,0.00,0.000,4,0.000,0.058,2494,827,3249
$GC,1396,-0.72,-146.0,106.9,-6.2,223,1401,0.15,2.30,0.00,0.000,6,0.129,0.058,2525,2242,3248
$GC,1724,-0.83,-146.0,130.5,-9.4,239,1729,0.12,2.30,0.00,0.000,4,0.079,0.058,2469,826,3248
$GC,1789,-0.70,-146.0,138.6,-13.2,242,1794,0.25,2.30,0.00,0.000,6,0.132,0.058,2530,2246,3247
$GC,2123,-0.85,-146.0,164.6,-5.2,258,2128,0.12,2.30,0.00,0.000,4,0.079,0.057,2475,828,3247
$GC,2153,-0.79,-146.0,166.5,-7.0,259,2157,0.17,2.30,0.00,0.000,6,0.129,0.057,2514,2245,3247
$GC,2473,-0.87,-146.0,183.8,-5.6,274,2475,0.10,0.00,0.00,0.000,6,0.088,0.000,2470,2245,3247
$GC,2779,-0.81,-146.0,210.4,-9.7,289,2784,0.12,2.30,0.00,0.000,4,0.144,0.057,2504,831,3247
$GC,2906,-0.81,-146.0,220.5,-7.4,294,2912,0.00,2.28,0.00,0.000,6,0.000,0.057,2496,2232,3246
$GC,3223,-0.86,-146.0,235.4,-3.6,310,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2232,3246
$GC,3533,-0.93,-146.0,247.8,-4.5,325,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2232,3246
$GC,3843,-1.00,-146.0,265.8,-6.9,340,3847,0.12,2.28,0.00,0.000,4,0.074,0.054,2437,824,3246
$GC,3867,-0.89,-146.0,267.8,-8.1,341,3872,0.20,2.30,0.00,0.000,6,0.128,0.054,2484,2247,3246
$GC,4196,-0.89,-146.0,292.1,-7.0,357,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2247,3246
$GC,4505,-0.89,-146.0,311.4,-5.5,372,4508,0.00,2.28,0.00,0.000,4,0.000,0.053,2484,823,3246
$GC,4517,-0.89,-146.0,312.3,-5.7,372,4522,0.00,2.28,0.00,0.000,6,0.000,0.053,2476,2236,3246
$GC,4841,-0.89,-146.0,330.3,-5.3,388,4845,0.00,2.17,0.00,0.000,4,0.000,0.066,2465,3599,3247
$GC,4860,-0.89,-146.0,331.4,-5.3,388,4866,0.00,2.12,0.00,0.000,6,0.000,0.041,2465,2216,3247
$GC,5177,-0.89,-146.0,350.4,-6.1,404,5181,0.00,2.17,0.00,0.000,4,0.000,0.053,2465,826,3247
$GC,5225,-0.81,-146.0,353.5,-6.9,406,5229,0.17,2.28,0.00,0.000,6,0.122,0.052,2505,2244,3247
$GC,5556,-0.94,-146.0,369.4,-5.0,422,5560,0.12,2.28,0.00,0.000,4,0.074,0.051,2448,825,3248
$GC,5573,-0.94,-146.0,370.6,-5.0,422,5581,0.15,2.25,0.00,0.000,6,0.123,0.051,2479,2236,3248
$GC,5892,-0.94,-146.0,388.4,-5.5,438,5895,0.00,2.25,0.00,0.000,4,0.000,0.051,2480,822,3248
$GC,5944,-0.94,-146.0,391.6,-5.9,440,5947,0.00,2.28,0.00,0.000,6,0.000,0.051,2472,2242,3248
$STATE,6163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6163,begin apogee
$GC,6173,-0.31,0.0,405.1,6.1,449,6300,0.45,0.00,124.10,1.028,6,0.116,0.000,2614,1738,2650
$STATE,6301,end apogee,CONTROL_FINISHED_OK
$STATE,6301,begin climb
$GC,6306,0.99,146.0,407.4,0.0,452,6439,0.85,2.50,126.07,0.966,4,0.088,0.056,2899,3157,2054
$GC,6509,0.70,146.0,389.4,12.2,458,6514,0.28,2.33,0.00,0.000,6,0.126,0.042,2831,1734,2049
$GC,6828,0.70,146.0,366.1,7.4,473,6832,0.00,2.25,0.00,0.000,4,0.000,0.057,2840,321,2048
$GC,6857,0.79,146.0,363.7,7.4,474,6862,0.00,2.25,0.00,0.000,6,0.000,0.043,2840,1749,2048
$GC,7186,0.79,146.0,339.5,7.1,490,7189,0.00,2.20,0.00,0.000,4,0.000,0.057,2840,3155,2048
$GC,7279,0.68,146.0,332.0,8.8,494,7283,0.00,2.20,0.00,0.000,6,0.000,0.041,2850,1726,2047
$GC,7613,0.68,146.0,305.3,7.8,510,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1726,2047
$GC,7922,0.68,146.0,280.8,8.2,525,7926,0.00,2.28,0.00,0.000,4,0.000,0.055,2850,3151,2048
$GC,7994,0.57,146.0,274.2,9.8,528,7998,0.20,2.17,0.00,0.000,6,0.121,0.041,2801,1735,2047
$GC,8328,0.82,175.4,252.8,6.1,544,8355,0.17,0.00,24.55,0.905,6,0.057,0.000,2890,1734,1936
$GC,8661,0.70,175.4,221.8,8.7,560,8663,0.20,0.00,0.00,0.000,6,0.117,0.000,2829,1735,1932
$GC,8970,0.87,191.9,203.7,6.5,575,8993,0.15,2.28,15.30,0.851,4,0.061,0.055,2905,3149,1866
$GC,9028,0.64,191.9,197.3,12.2,577,9033,0.32,2.20,0.00,0.000,6,0.123,0.041,2817,1724,1864
$GC,9346,1.13,191.9,168.2,9.8,592,9351,0.30,2.30,0.00,0.000,4,0.070,0.054,2933,3158,1863
$GC,9426,0.78,191.9,158.7,14.0,595,9433,0.32,2.20,0.00,0.000,6,0.127,0.041,2845,1731,1863
$GC,9745,1.03,272.6,140.8,4.4,611,9822,0.20,2.33,69.70,0.856,4,0.055,0.055,2957,332,1538
$GC,9866,0.91,272.6,129.7,10.6,616,9871,0.28,2.25,0.00,0.000,6,0.121,0.044,2874,1742,1535
$GC,10190,1.16,348.2,111.9,4.6,632,10262,0.17,2.33,64.80,0.829,4,0.058,0.058,2958,3153,1229
$GC,10350,0.99,348.2,93.2,14.4,643,10357,0.25,2.22,0.00,0.000,6,0.122,0.043,2894,1731,1223
$GC,10699,1.20,348.2,58.8,9.6,704,10706,0.15,2.25,0.00,0.000,4,0.064,0.058,2976,324,1219
$GC,10748,1.20,348.2,52.8,13.0,712,10755,0.15,2.25,0.00,0.000,6,0.127,0.047,2933,1738,1219
$GC,11097,1.20,348.2,19.1,7.9,773,11103,0.00,2.28,0.00,0.000,4,0.000,0.062,2933,3163,1217
$GC,11179,1.11,348.2,9.5,12.1,787,11185,0.00,2.22,0.00,0.000,6,0.000,0.044,2941,1733,1215
$FREEZE,6.49,-1.734,-1.813
$STATE,11201,end climb,FINISH_DEPTH_REACHED
$STATE,11201,begin subsurface finish
$FINISH1,6.5,1.026560,54
$GC,11212,0.07,53.5,6.5,-12.0,791,11259,0.75,2.30,-37.72,0.000,4,0.114,0.070,2696,334,2435
$FINISH2,4.7
$STATE,11260,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11260,begin surface
$RAFOS_CLK,473
$RAFOS,4,1232959441,8.750000,8.733611,62,53,52,50,50,49,191,222,152,203,114,133
$RAFOS,3,1232958843,8.583333,8.567500,59,58,57,56,56,53,202,156,221,211,402,120
$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,1815
$INTERNAL_PRESSURE,9.95155
$TCM_TEMP,15.40
$XPDR_PINGS,119
$24V_AH,22.3,110.215
$10V_AH,10.4,49.360
$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,7.825,100.875,424.525,0.000,0.000,0.000,0.000,0.000,29.750,0.000,0.000,0.000,1415.131,7651.464,489.651,1458.337,298.103,0.000,1306.316,0.000,1451.897,360.000,0.533,0.000
$DEVICE_MAMPS,155.701,71.331,1027.780,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.707,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25295,799
$CAP_FILE_SIZE,97316,0
$CFSIZE,260165632,206782464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.2
$GPS,250109,123616,6654.764,-5631.727,0,2087.0,0,-37.3