version: 66.04
glider: 108
mission: 11
dive: 736
start: 1 26 109 22 10 9
data:
$ID,108
$MISSION,11
$DIVE,736
$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,-136423.08
$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,36
$R_STBD_OVSHOOT,26
$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
$GPS1,192402,6634.198,-5625.873,7,1.8,7,-36.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-67.4
$GPS2,192402,6634.198,-5625.873,7,1.8,7,-36.8
$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,238.9,68353,-13.0,-7.021
$D_GRID,325
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-5.32,0.000,2,0.000,0.000,339,2236,1877
$GC,30,-0.99,-146.0,3.1,-0.0,1,105,8.35,2.25,-60.55,0.000,4,0.225,0.078,2456,3599,3247
$GC,362,-0.82,-146.0,28.8,-10.9,59,369,0.17,2.12,0.00,0.000,6,0.139,0.042,2504,2215,3251
$GC,710,-0.82,-146.0,56.3,-8.1,120,716,0.00,2.25,0.00,0.000,4,0.000,0.066,2497,3595,3250
$GC,865,-0.82,-146.0,69.9,-8.8,147,871,0.00,2.12,0.00,0.000,6,0.000,0.043,2497,2217,3249
$GC,1213,-0.82,-146.0,96.0,-6.3,208,1219,0.00,2.20,0.00,0.000,4,0.000,0.055,2497,815,3248
$GC,1339,-0.82,-146.0,104.8,-7.0,222,1343,0.00,2.30,0.00,0.000,6,0.000,0.055,2487,2241,3247
$GC,1662,-0.82,-146.0,126.7,-6.4,238,1666,0.00,2.28,0.00,0.000,4,0.000,0.056,2487,819,3247
$GC,1725,-0.76,-146.0,130.8,-6.4,240,1732,0.15,2.30,0.00,0.000,6,0.127,0.055,2519,2242,3247
$GC,2044,-0.88,-146.0,145.3,-4.6,256,2048,0.12,2.28,0.00,0.000,4,0.078,0.054,2464,821,3246
$GC,2091,-0.74,-146.0,148.4,-7.1,258,2095,0.25,2.28,0.00,0.000,6,0.130,0.054,2526,2241,3246
$GC,2425,-0.89,-146.0,165.1,-5.2,274,2429,0.15,2.30,0.00,0.000,4,0.074,0.054,2461,815,3245
$GC,2495,-0.77,-146.0,170.0,-7.5,277,2500,0.22,2.30,0.00,0.000,6,0.130,0.054,2515,2240,3244
$GC,2818,-0.90,-146.0,186.7,-4.6,293,2823,0.12,2.28,0.00,0.000,4,0.079,0.054,2460,822,3244
$GC,2832,-0.96,-146.0,187.3,-4.5,293,2835,0.00,2.28,0.00,0.000,6,0.000,0.053,2451,2233,3244
$GC,3155,-0.86,-146.0,206.7,-5.9,309,3157,0.15,0.00,0.00,0.000,6,0.137,0.000,2493,2233,3244
$GC,3464,-0.91,-146.0,221.1,-4.9,324,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2233,3244
$GC,3776,-0.98,-146.0,238.3,-5.6,339,3781,0.10,2.25,0.00,0.000,4,0.086,0.051,2445,828,3244
$GC,3840,-0.82,-146.0,242.9,-7.3,342,3845,0.25,2.28,0.00,0.000,6,0.127,0.053,2507,2243,3244
$GC,4169,-0.94,-146.0,258.7,-4.2,358,4174,0.12,2.28,0.00,0.000,4,0.079,0.051,2452,818,3245
$GC,4333,-0.81,-146.0,268.8,-6.8,365,4338,0.22,2.28,0.00,0.000,6,0.124,0.051,2507,2240,3245
$GC,4662,-0.93,-146.0,282.9,-3.8,381,4667,0.12,2.25,0.00,0.000,4,0.079,0.051,2450,826,3246
$GC,4698,-0.76,-146.0,284.9,-6.6,382,4703,0.28,2.25,0.00,0.000,6,0.126,0.050,2521,2235,3246
$GC,5018,-0.93,-146.0,296.7,-3.7,397,5023,0.15,2.25,0.00,0.000,4,0.071,0.049,2453,821,3247
$GC,5048,-0.84,-146.0,298.4,-5.9,398,5053,0.20,2.25,0.00,0.000,6,0.127,0.049,2500,2242,3247
$GC,5377,-0.94,-146.0,312.4,-4.1,414,5381,0.10,2.25,0.00,0.000,4,0.084,0.049,2454,827,3248
$GC,5419,-0.79,-146.0,314.3,-4.5,416,5424,0.22,2.25,0.00,0.000,6,0.126,0.049,2508,2242,3248
$STATE,5660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5660,begin apogee
$GC,5670,-0.31,0.0,325.0,4.0,428,5796,0.32,0.00,122.20,0.964,6,0.114,0.000,2614,1734,2650
$STATE,5796,end apogee,CONTROL_FINISHED_OK
$STATE,5796,begin climb
$GC,5801,0.99,146.0,326.1,0.0,434,5932,0.82,2.50,123.53,0.905,4,0.090,0.053,2892,3159,2054
$GC,6009,0.73,146.0,306.0,11.2,444,6014,0.22,2.28,0.00,0.000,6,0.128,0.041,2839,1738,2049
$GC,6332,0.73,146.0,281.7,8.1,460,6336,0.00,2.22,0.00,0.000,4,0.000,0.055,2847,332,2048
$GC,6367,0.79,146.0,278.8,8.1,461,6371,0.00,2.22,0.00,0.000,6,0.000,0.041,2847,1751,2048
$GC,6690,0.79,146.0,252.0,8.0,477,6694,0.00,2.17,0.00,0.000,4,0.000,0.054,2847,3157,2047
$GC,6771,0.67,146.0,244.5,9.3,480,6775,0.12,2.20,0.00,0.000,6,0.132,0.041,2822,1726,2047
$GC,7093,0.76,146.0,220.5,7.4,496,7097,0.10,2.20,0.00,0.000,4,0.077,0.053,2883,334,2048
$GC,7122,0.76,146.0,217.5,9.9,497,7126,0.15,2.20,0.00,0.000,6,0.116,0.041,2840,1746,2047
$GC,7446,0.76,146.0,190.4,7.9,513,7450,0.00,2.17,0.00,0.000,4,0.000,0.054,2839,3145,2048
$GC,7526,0.70,146.0,183.3,8.8,516,7530,0.00,2.17,0.00,0.000,6,0.000,0.040,2847,1730,2047
$GC,7850,0.73,173.8,161.3,6.1,532,7880,0.00,2.35,23.17,0.834,4,0.000,0.052,2847,3158,1940
$GC,7940,0.68,178.7,155.3,6.9,536,7951,0.12,2.20,5.60,0.651,6,0.128,0.040,2822,1728,1921
$GC,8272,0.99,277.7,141.5,3.8,552,8365,0.20,2.30,85.12,0.825,4,0.056,0.053,2934,337,1517
$GC,8388,0.89,277.7,132.0,9.2,557,8393,0.22,2.25,0.00,0.000,6,0.120,0.041,2868,1748,1514
$GC,8715,1.05,301.7,111.4,6.2,573,8741,0.15,2.22,20.27,0.777,4,0.062,0.054,2942,3149,1419
$GC,8793,0.87,301.7,102.6,12.3,576,8798,0.28,2.17,0.00,0.000,6,0.123,0.041,2870,1739,1415
$GC,9138,1.14,348.5,83.1,5.5,633,9186,0.20,2.28,40.78,0.798,4,0.058,0.054,2981,329,1228
$GC,9254,1.06,348.5,69.9,13.1,652,9261,0.25,2.25,0.00,0.000,6,0.120,0.044,2906,1744,1225
$GC,9603,1.24,361.4,43.4,6.6,713,9623,0.15,2.28,11.30,0.739,4,0.063,0.058,2978,3153,1176
$GC,9677,1.04,361.4,34.9,12.9,725,9684,0.30,2.20,0.00,0.000,6,0.125,0.044,2898,1736,1174
$FREEZE,6.88,-1.688,-1.814
$GC,10027,1.31,410.4,11.1,5.4,786,10077,0.20,2.33,42.55,0.795,4,0.061,0.064,3007,327,974
$FREEZE,4.57,-1.695,-1.812
$FREEZE,3.88,-1.697,-1.812
$GC,10092,1.05,410.4,3.9,13.2,796,10100,0.30,2.28,0.00,0.000,6,0.055,0.047,2887,1744,972
$FREEZE,2.72,-1.693,-1.800
$STATE,10105,end climb,SURFACE_DEPTH_REACHED
$STATE,10105,begin surface coast
$FREEZE,2.49,-1.694,-1.799
$FREEZE,2.30,-1.694,-1.798
$FREEZE,1.78,-1.693,-1.796
$FREEZE,1.88,-1.693,-1.796
$FINISH,1.9,1.026358
$STATE,10128,end surface coast,CONTROL_FINISHED_OK
$STATE,10129,begin surface
$SM_CCo,10213,0.00,0.000,0,0,969,412.35
$SM_GC,1.80,7.03,0.00,0.00,0.058,0.000,0.000,324,2244,969,-10.70,0.40,412.35
$RAFOS_CLK,424
$RAFOS,4,1233017044,0.750000,0.734444,64,57,56,56,56,54,135,217,196,205,122,179
$RAFOS,3,1233016453,0.583333,0.570278,59,58,58,58,55,55,143,185,200,419,210,157
$RAFOS,2,1233015846,0.416667,0.401667,131,59,56,56,51,49,772,209,128,187,152,227
$RAFOS,1,1233015248,0.250000,0.235556,59,58,58,56,55,51,166,193,217,134,206,119
$RAFOS,0,1233014650,0.083333,0.069444,58,58,57,57,54,53,145,189,208,223,161,134
$RAFOS_FIX,6636.974609,-5639.870605,260109,121257,3,66,0.39
$IRIDIUM_FIX,6625.71,-5641.36,200498,070728
$TT8_MAMPS,0.026078
$HUMID,1781
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,15.60
$XPDR_PINGS,209
$24V_AH,22.7,110.680
$10V_AH,10.4,49.587
$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,22.625,105.075,474.525,0.000,0.000,0.000,0.000,0.000,52.250,0.000,0.000,0.000,1405.910,6581.501,518.386,1465.927,302.169,0.000,1337.802,0.000,1455.363,1800.000,0.532,0.000
$DEVICE_MAMPS,224.731,78.234,964.119,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25296,802
$CAP_FILE_SIZE,100116,0
$CFSIZE,260165632,206573568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.1
$GPS,260109,192402,6634.198,-5625.873,7,1.8,7,-36.8