version: 66.04
glider: 108
mission: 11
dive: 734
start: 1 26 109 15 34 18
data:
$ID,108
$MISSION,11
$DIVE,734
$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,-136410.45
$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,34
$R_STBD_OVSHOOT,33
$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
$GPS1,122557,6636.975,-5639.871,0,3066.0,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-61.6
$GPS2,122557,6636.975,-5639.871,0,3066.0,0,-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,229.8,70135,-13.0,-7.021
$D_GRID,523
$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,-5.35,0.000,2,0.000,0.000,333,2244,1402
$GC,29,-0.99,-146.0,3.0,-0.0,1,133,8.30,2.28,-89.07,0.000,4,0.216,0.082,2453,3601,3247
$GC,391,-0.81,-146.0,30.9,-10.5,64,398,0.20,2.15,0.00,0.000,6,0.138,0.046,2509,2217,3250
$GC,739,-0.81,-146.0,58.0,-7.2,125,745,0.00,2.28,0.00,0.000,4,0.000,0.070,2502,3598,3251
$GC,759,-0.81,-146.0,59.5,-7.2,128,765,0.00,2.15,0.00,0.000,6,0.000,0.046,2502,2217,3251
$GC,1106,-0.81,-146.0,88.6,-7.5,189,1112,0.00,2.22,0.00,0.000,4,0.000,0.059,2502,818,3250
$GC,1304,-0.76,-146.0,101.5,-5.9,220,1309,0.10,2.30,0.00,0.000,6,0.131,0.059,2519,2230,3250
$GC,1628,-0.85,-146.0,121.7,-6.8,236,1630,0.10,0.00,0.00,0.000,6,0.082,0.000,2472,2230,3249
$GC,1940,-0.79,-146.0,145.4,-6.7,251,1944,0.15,2.25,0.00,0.000,4,0.138,0.071,2505,3606,3249
$GC,1958,-0.79,-146.0,146.6,-6.2,252,1962,0.00,2.15,0.00,0.000,6,0.000,0.046,2506,2228,3249
$GC,2293,-0.85,-146.0,163.0,-5.0,268,2297,0.00,2.22,0.00,0.000,4,0.000,0.059,2505,826,3248
$GC,2346,-0.85,-146.0,165.9,-5.6,270,2350,0.00,2.30,0.00,0.000,6,0.000,0.058,2496,2240,3248
$GC,2676,-0.85,-146.0,187.3,-6.8,286,2680,0.00,2.30,0.00,0.000,4,0.000,0.058,2495,820,3248
$GC,2727,-0.85,-146.0,191.4,-7.5,288,2732,0.00,2.30,0.00,0.000,6,0.000,0.056,2486,2234,3248
$GC,3051,-0.85,-146.0,211.8,-5.9,304,3055,0.00,2.30,0.00,0.000,4,0.000,0.056,2486,812,3248
$GC,3086,-0.85,-146.0,214.1,-6.4,305,3090,0.00,2.30,0.00,0.000,6,0.000,0.055,2476,2232,3248
$GC,3405,-0.85,-146.0,233.2,-6.2,320,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2232,3248
$GC,3712,-0.85,-146.0,252.8,-6.1,335,3716,0.00,2.25,0.00,0.000,4,0.000,0.054,2476,821,3249
$GC,3753,-0.80,-146.0,255.3,-6.2,336,3760,0.15,2.30,0.00,0.000,6,0.125,0.054,2508,2244,3249
$GC,4072,-0.92,-146.0,268.1,-4.0,352,4077,0.12,2.30,0.00,0.000,4,0.076,0.054,2452,817,3250
$GC,4169,-0.77,-146.0,274.2,-6.1,356,4174,0.25,2.30,0.00,0.000,6,0.124,0.053,2514,2244,3250
$GC,4487,-0.92,-146.0,287.2,-4.0,371,4492,0.12,2.28,0.00,0.000,4,0.077,0.053,2457,821,3251
$GC,4545,-0.79,-146.0,290.4,-6.0,373,4550,0.22,2.28,0.00,0.000,6,0.124,0.053,2512,2235,3251
$GC,4867,-0.94,-146.0,301.8,-3.5,388,4871,0.15,2.28,0.00,0.000,4,0.071,0.051,2446,812,3252
$GC,4915,-0.77,-146.0,304.3,-5.5,390,4920,0.28,2.28,0.00,0.000,6,0.123,0.051,2516,2238,3252
$GC,5249,-0.93,-146.0,316.2,-3.4,406,5254,0.15,2.28,0.00,0.000,4,0.070,0.051,2448,815,3253
$GC,5330,-0.78,-146.0,320.7,-5.7,409,5337,0.25,2.28,0.00,0.000,6,0.123,0.051,2511,2238,3253
$GC,5649,-0.92,-146.0,331.9,-3.4,425,5654,0.12,2.28,0.00,0.000,4,0.074,0.050,2454,813,3254
$GC,5692,-0.79,-146.0,334.0,-5.4,427,5697,0.22,2.28,0.00,0.000,6,0.123,0.050,2509,2239,3254
$GC,6022,-0.93,-146.0,346.6,-3.8,443,6027,0.12,2.28,0.00,0.000,4,0.074,0.049,2450,812,3255
$GC,6064,-0.78,-146.0,349.0,-5.7,445,6069,0.25,2.28,0.00,0.000,6,0.122,0.049,2513,2240,3255
$GC,6395,-0.93,-146.0,362.9,-4.0,461,6400,0.15,2.28,0.00,0.000,4,0.068,0.049,2445,812,3256
$GC,6463,-0.79,-146.0,367.7,-8.2,464,6468,0.25,2.28,0.00,0.000,6,0.122,0.049,2508,2240,3256
$GC,6787,-0.93,-146.0,379.5,-3.3,480,6792,0.12,2.28,0.00,0.000,4,0.076,0.048,2450,809,3257
$GC,6800,-1.00,-146.0,380.0,-3.6,480,6807,0.10,2.28,0.00,0.000,6,0.132,0.048,2465,2242,3257
$GC,7118,-1.00,-146.0,396.2,-4.2,496,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2241,3257
$STATE,7360,end dive,NO_VERTICAL_VELOCITY
$STATE,7360,begin apogee
$GC,7370,-0.31,0.0,399.3,0.0,508,7503,0.45,0.00,125.10,1.008,6,0.083,0.000,2625,1737,2650
$STATE,7503,end apogee,CONTROL_FINISHED_OK
$STATE,7504,begin climb
$GC,7508,0.99,146.0,398.3,0.0,515,7642,0.80,2.47,125.10,0.951,4,0.087,0.054,2906,333,2054
$GC,7712,0.84,146.0,377.8,12.1,524,7717,0.17,2.33,0.00,0.000,6,0.125,0.043,2858,1747,2051
$GC,8034,0.79,146.0,348.9,8.3,540,8038,0.00,2.20,0.00,0.000,4,0.000,0.055,2858,3161,2048
$GC,8115,0.63,146.0,340.8,10.4,543,8120,0.17,2.20,0.00,0.000,6,0.126,0.040,2815,1733,2047
$GC,8433,0.74,146.0,317.4,7.1,558,8434,0.10,0.00,0.00,0.000,6,0.074,0.000,2871,1732,2047
$GC,8743,0.65,146.0,286.9,9.9,573,8748,0.17,2.25,0.00,0.000,4,0.117,0.053,2817,3147,2047
$GC,8777,0.65,146.0,283.8,7.9,574,8783,0.00,2.17,0.00,0.000,6,0.000,0.040,2824,1730,2047
$GC,9094,0.73,146.0,261.4,7.1,590,9098,0.00,2.25,0.00,0.000,4,0.000,0.053,2824,3151,2047
$GC,9131,0.73,146.0,258.5,8.1,591,9135,0.00,2.17,0.00,0.000,6,0.000,0.040,2834,1731,2047
$GC,9454,0.79,146.0,233.1,7.6,607,9458,0.00,2.25,0.00,0.000,4,0.000,0.053,2834,3159,2047
$GC,9495,0.79,146.0,229.7,9.2,608,9501,0.00,2.17,0.00,0.000,6,0.000,0.040,2843,1730,2047
$GC,9813,0.80,155.4,207.3,6.7,624,9823,0.00,0.00,8.15,0.775,6,0.000,0.000,2843,1730,2016
$GC,10121,0.80,155.4,186.2,7.1,639,10125,0.00,2.25,0.00,0.000,4,0.000,0.054,2843,3151,2015
$GC,10161,0.74,155.4,183.0,8.3,640,10168,0.00,2.17,0.00,0.000,6,0.000,0.040,2853,1732,2014
$GC,10481,0.74,155.4,159.4,7.7,656,10485,0.00,2.25,0.00,0.000,4,0.000,0.054,2853,3154,2015
$GC,10510,0.74,155.4,156.9,7.9,657,10514,0.00,2.17,0.00,0.000,6,0.000,0.040,2862,1730,2014
$GC,10838,0.75,158.3,133.8,6.9,673,10844,0.00,0.00,4.35,0.598,6,0.000,0.000,2862,1730,2004
$GC,11148,0.75,158.3,113.4,7.2,688,11151,0.00,2.25,0.00,0.000,4,0.000,0.054,2862,3146,2004
$GC,11218,0.69,158.3,107.1,9.8,691,11222,0.17,2.17,0.00,0.000,6,0.118,0.041,2819,1732,2003
$GC,11558,1.10,166.3,81.7,6.8,737,11572,0.28,2.33,8.32,0.742,4,0.064,0.055,2932,3146,1971
$GC,11733,0.81,166.3,63.6,11.5,767,11740,0.30,2.17,0.00,0.000,6,0.127,0.042,2852,1737,1970
$GC,12082,1.08,237.4,41.9,4.7,828,12152,0.20,2.33,60.75,0.813,4,0.056,0.057,2960,341,1682
$GC,12205,0.98,237.4,30.6,10.4,848,12212,0.25,2.25,0.00,0.000,6,0.121,0.046,2885,1750,1677
$FREEZE,6.65,-1.656,-1.814
$FREEZE,6.47,-1.657,-1.814
$FREEZE,5.98,-1.659,-1.814
$FREEZE,5.52,-1.659,-1.813
$FREEZE,5.16,-1.655,-1.813
$FREEZE,4.77,-1.656,-1.813
$GC,12558,1.12,237.4,4.8,7.3,909,12565,0.12,2.22,0.00,0.000,4,0.073,0.060,2945,3153,1671
$FREEZE,3.03,-1.656,-1.811
$FREEZE,2.32,-1.658,-1.811
$STATE,12575,end climb,SURFACE_DEPTH_REACHED
$STATE,12575,begin surface coast
$FREEZE,1.93,-1.665,-1.811
$FREEZE,1.31,-1.666,-1.810
$FREEZE,1.04,-2.057,-1.135
$FINISH,1.0,1.016744
$STATE,12593,end surface coast,FINISH_DEPTH_REACHED
$STATE,12593,begin surface
$SM_CCo,12677,0.00,0.000,0,0,1667,240.88
$SM_GC,1.91,7.10,0.00,0.00,0.052,0.000,0.000,334,2204,1667,-10.69,-0.74,240.88
$RAFOS_CLK,564
$RAFOS,4,1232988251,16.750000,16.736389,61,59,55,52,49,48,169,193,151,212,129,138
$RAFOS,3,1232987642,16.583334,16.567223,70,61,58,56,56,56,222,193,136,209,175,235
$RAFOS,2,1232987042,16.416666,16.400555,80,61,59,52,50,49,779,198,223,174,158,120
$RAFOS,1,1232986460,16.250000,16.238890,62,59,57,51,51,45,219,156,196,118,173,139
$RAFOS,0,1232985846,16.083334,16.068333,60,60,56,53,52,51,191,217,134,207,116,170
$RAFOS_FIX,6636.974609,-5639.870605,260109,121257,3,66,0.39
$IRIDIUM_FIX,6625.71,-5641.36,200498,070728
$TT8_MAMPS,0.026845
$HUMID,1801
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,15.70
$XPDR_PINGS,231
$24V_AH,22.5,110.432
$10V_AH,10.4,49.483
$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,22.200,121.800,331.775,0.000,0.000,99.393,85.660,0.000,57.750,0.000,0.000,183.213,1625.250,8819.831,457.456,1800.935,1027.732,0.000,1345.137,0.000,1609.223,1800.000,0.532,0.000
$DEVICE_MAMPS,215.527,82.069,1007.838,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,635.582,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31510,915
$CAP_FILE_SIZE,119235,0
$CFSIZE,260165632,206643200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.5
$GPS,260109,190708,6634.405,-5626.350,41,1.4,41,-36.8