version: 66.04
glider: 108
mission: 11
dive: 738
start: 1 27 109 5 10 59
data:
$ID,108
$MISSION,11
$DIVE,738
$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,-137160.08
$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,44
$R_STBD_OVSHOOT,31
$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,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.95
$_SM_ANGLEo,-27.7
$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,17,-0.99,-146.0,0.0,0.0,0,25,0.00,0.00,-6.07,0.000,2,0.000,0.000,323,2201,1447
$GC,30,-0.99,-146.0,3.1,-0.0,1,123,7.47,2.38,-79.32,0.000,4,0.166,0.081,2452,3597,3247
$GC,381,-1.25,-146.0,2.7,0.1,62,387,0.15,2.12,0.00,0.000,6,0.074,0.044,2392,2225,3251
$GC,729,-1.32,-146.0,2.9,1.6,123,736,0.00,2.28,0.00,0.000,4,0.000,0.071,2381,3595,3250
$GC,993,-0.86,-146.0,28.1,-14.0,169,1000,0.40,2.15,0.00,0.000,6,0.153,0.048,2494,2222,3250
$GC,1342,-0.79,-146.0,61.6,-11.6,230,1348,0.00,2.28,0.00,0.000,4,0.000,0.071,2487,3594,3250
$GC,1368,-0.71,-146.0,64.9,-12.2,234,1375,0.15,2.15,0.00,0.000,6,0.140,0.047,2527,2221,3250
$GC,1717,-0.80,-146.0,99.4,-7.1,295,1723,0.00,2.22,0.00,0.000,4,0.000,0.060,2527,827,3250
$GC,1804,-0.86,-146.0,105.8,-7.7,299,1811,0.10,2.30,0.00,0.000,6,0.083,0.060,2474,2231,3249
$GC,2124,-0.79,-146.0,137.8,-9.3,315,2126,0.12,0.00,0.00,0.000,6,0.148,0.000,2507,2231,3249
$GC,2431,-0.85,-146.0,154.4,-4.1,330,2435,0.00,2.30,0.00,0.000,4,0.000,0.059,2507,821,3248
$GC,2503,-0.85,-146.0,157.7,-4.9,333,2507,0.00,2.33,0.00,0.000,6,0.000,0.059,2499,2241,3248
$GC,2839,-0.85,-146.0,177.2,-6.6,349,2842,0.00,2.22,0.00,0.000,4,0.000,0.071,2489,3607,3248
$GC,2851,-0.85,-146.0,178.2,-6.6,349,2855,0.00,2.17,0.00,0.000,6,0.000,0.047,2489,2220,3248
$GC,3174,-0.85,-146.0,199.4,-6.3,365,3178,0.00,2.22,0.00,0.000,4,0.000,0.058,2489,821,3248
$GC,3192,-0.85,-146.0,200.6,-6.1,365,3198,0.00,2.33,0.00,0.000,6,0.000,0.057,2479,2245,3248
$GC,3510,-0.85,-146.0,218.3,-4.2,381,3513,0.00,2.33,0.00,0.000,4,0.000,0.057,2479,814,3248
$GC,3603,-0.80,-146.0,222.2,-4.1,385,3608,0.15,2.33,0.00,0.000,6,0.131,0.055,2509,2244,3248
$GC,3932,-0.91,-146.0,233.6,-4.5,401,3937,0.12,2.30,0.00,0.000,4,0.078,0.055,2454,828,3248
$GC,4034,-0.78,-146.0,241.0,-7.8,405,4041,0.25,2.30,0.00,0.000,6,0.129,0.056,2515,2244,3248
$GC,4353,-0.92,-146.0,257.4,-4.8,421,4357,0.12,2.30,0.00,0.000,4,0.079,0.054,2459,822,3249
$GC,4450,-0.82,-146.0,264.3,-7.7,425,4455,0.20,2.30,0.00,0.000,6,0.127,0.054,2506,2241,3249
$GC,4774,-0.92,-146.0,282.5,-5.7,441,4778,0.10,2.28,0.00,0.000,4,0.085,0.053,2460,824,3250
$GC,4803,-0.83,-146.0,284.8,-7.8,442,4808,0.17,2.28,0.00,0.000,6,0.130,0.052,2498,2234,3250
$GC,5127,-0.92,-146.0,304.3,-6.1,458,5131,0.00,2.25,0.00,0.000,4,0.000,0.052,2500,824,3251
$GC,5213,-0.92,-146.0,309.6,-5.5,461,5219,0.00,2.28,0.00,0.000,6,0.000,0.051,2492,2240,3251
$STATE,5484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5484,begin apogee
$GC,5495,-0.31,0.0,325.1,5.5,475,5621,0.40,0.00,123.53,0.987,6,0.119,0.000,2617,1739,2650
$STATE,5622,end apogee,CONTROL_FINISHED_OK
$STATE,5622,begin climb
$GC,5627,0.99,146.0,327.4,0.0,481,5760,0.82,2.53,124.70,0.923,4,0.091,0.055,2893,3150,2053
$GC,5819,0.74,146.0,313.8,8.5,490,5824,0.22,2.33,0.00,0.000,6,0.128,0.042,2841,1735,2049
$GC,6137,0.83,215.1,298.4,4.8,505,6201,0.00,2.38,57.78,0.916,4,0.000,0.056,2849,324,1772
$GC,6249,0.99,248.0,292.2,6.0,510,6285,0.15,2.28,29.60,0.876,6,0.065,0.043,2921,1746,1637
$GC,6607,0.85,248.0,253.0,12.6,527,6612,0.20,2.22,0.00,0.000,4,0.125,0.056,2857,3161,1629
$GC,6699,0.80,248.0,243.3,9.6,531,6703,0.00,2.22,0.00,0.000,6,0.000,0.042,2863,1722,1627
$GC,7034,0.80,248.0,213.9,8.6,547,7038,0.00,2.20,0.00,0.000,4,0.000,0.054,2872,332,1627
$GC,7086,0.88,248.0,209.3,8.5,549,7090,0.00,2.22,0.00,0.000,6,0.000,0.042,2872,1751,1627
$GC,7415,0.88,248.0,182.3,8.1,565,7419,0.00,2.20,0.00,0.000,4,0.000,0.057,2872,3151,1626
$GC,7503,0.80,248.0,174.1,9.5,568,7510,0.12,2.20,0.00,0.000,6,0.125,0.041,2847,1726,1626
$GC,7821,1.01,248.0,150.1,7.5,584,7825,0.17,2.20,0.00,0.000,4,0.061,0.055,2941,333,1626
$GC,7845,1.01,248.0,147.9,9.2,585,7849,0.17,2.22,0.00,0.000,6,0.128,0.043,2891,1752,1626
$GC,8179,1.01,248.0,117.8,8.9,601,8183,0.00,2.20,0.00,0.000,4,0.000,0.057,2891,3151,1626
$GC,8276,0.95,248.0,107.8,11.0,605,8280,0.00,2.20,0.00,0.000,6,0.000,0.042,2898,1731,1626
$GC,8615,1.03,248.0,79.7,7.8,652,8621,0.00,2.22,0.00,0.000,4,0.000,0.057,2909,337,1626
$GC,8664,1.14,248.0,76.0,7.7,660,8670,0.00,2.22,0.00,0.000,6,0.000,0.044,2909,1751,1626
$GC,9012,1.14,248.0,48.6,7.1,721,9018,0.00,2.22,0.00,0.000,4,0.000,0.060,2909,3153,1626
$GC,9071,1.07,248.0,43.3,8.8,731,9078,0.00,2.22,0.00,0.000,6,0.000,0.044,2916,1727,1626
$GC,9420,1.07,251.2,14.8,6.9,792,9426,0.00,2.25,0.00,0.000,4,0.000,0.060,2927,326,1626
$GC,9463,1.07,251.2,11.3,8.3,799,9469,0.00,2.25,0.00,0.000,6,0.000,0.048,2927,1736,1626
$FREEZE,6.41,-1.652,-1.817
$FREEZE,5.86,-1.653,-1.817
$FREEZE,5.50,-1.655,-1.816
$FREEZE,5.03,-1.651,-1.816
$FREEZE,4.51,-1.652,-1.816
$FREEZE,3.88,-1.652,-1.815
$FREEZE,3.39,-1.656,-1.815
$FREEZE,2.90,-1.657,-1.814
$STATE,9553,end climb,SURFACE_DEPTH_REACHED
$STATE,9553,begin surface coast
$FREEZE,2.39,-1.657,-1.814
$FREEZE,1.86,-1.660,-1.813
$FREEZE,1.67,-1.665,-1.813
$FREEZE,1.67,-1.669,-1.813
$FREEZE,1.63,-1.670,-1.813
$FREEZE,1.72,-1.669,-1.813
$FINISH,1.7,1.026608
$STATE,9589,end surface coast,CONTROL_FINISHED_OK
$STATE,9589,begin surface
$SM_CCo,9672,0.00,0.000,0,0,1624,251.68
$SM_GC,2.99,7.20,0.00,0.00,0.059,0.000,0.000,338,2246,1624,-10.67,0.45,251.68
$RAFOS_CLK,445
$RAFOS,4,1233031446,4.750000,4.735000,61,59,58,56,50,47,221,198,187,144,160,117
$RAFOS_FIX,6636.974609,-5639.870605,260109,121257,3,66,0.39
$IRIDIUM_FIX,6609.62,-5626.11,220498,191942
$TT8_MAMPS,0.026845
$HUMID,1829
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,15.40
$XPDR_PINGS,190
$24V_AH,22.4,110.903
$10V_AH,10.4,49.734
$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,19.000,100.925,335.600,0.000,0.000,99.349,85.345,0.000,47.500,0.000,0.000,183.219,1448.208,6199.541,436.662,1666.916,936.717,0.000,1240.482,0.000,1477.577,0.000,0.532,0.000
$DEVICE_MAMPS,165.672,81.302,987.129,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.479,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28395,821
$CAP_FILE_SIZE,98243,0
$CFSIZE,260165632,206467072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.6
$GPS,260109,192402,6634.198,-5625.873,7,1.8,7,-36.8