version: 66.04
glider: 108
mission: 11
dive: 740
start: 1 27 109 11 4 26
data:
$ID,108
$MISSION,11
$DIVE,740
$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,-137541.14
$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,23
$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
$GPS1,104900,6627.430,-5630.308,38,1.2,38,-36.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-20.7
$GPS2,110407,6627.269,-5630.110,11,1.7,11,-36.7
$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,240.7,55294,-13.0,-7.021
$D_GRID,424
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.99,-146.0,0.0,0.0,0,117,0.00,0.00,-94.62,0.000,6,0.000,0.000,333,2236,3245
$GC,122,-0.99,-146.0,1.5,-0.3,17,136,7.03,2.22,0.00,0.000,4,0.142,0.068,2456,3603,3249
$GC,393,-1.08,-146.0,1.4,0.0,64,399,0.00,2.15,0.00,0.000,6,0.000,0.044,2455,2211,3250
$GC,741,-0.87,-146.0,1.6,-0.1,125,748,0.15,2.30,0.00,0.000,4,0.146,0.064,2488,3611,3250
$GC,1006,-0.77,-146.0,1.6,-0.3,171,1013,0.10,2.17,0.00,0.000,6,0.141,0.049,2514,2230,3250
$GC,1355,-0.77,-146.0,1.5,-0.0,232,1361,0.00,2.30,0.00,0.000,4,0.000,0.074,2506,3600,3249
$GC,1617,-0.77,-146.0,1.6,1.3,278,1623,0.00,2.17,0.00,0.000,6,0.000,0.049,2505,2219,3249
$GC,1967,-0.65,-146.0,1.5,0.1,339,1973,0.12,2.30,0.00,0.000,4,0.147,0.066,2532,3608,3249
$GC,2231,-0.56,-146.0,1.6,-0.1,385,2238,0.10,2.20,0.00,0.000,6,0.158,0.050,2557,2219,3249
$GC,2581,-0.50,-146.0,1.6,-0.5,446,2587,0.00,2.28,0.00,0.000,4,0.000,0.067,2549,3596,3249
$GC,2844,-0.50,-146.0,1.6,0.7,492,2850,0.00,2.17,0.00,0.000,6,0.000,0.050,2549,2224,3249
$GC,3192,-0.43,-146.0,1.6,-0.1,553,3199,0.15,2.30,0.00,0.000,4,0.150,0.067,2582,3605,3248
$GC,3456,-0.43,-146.0,1.5,-0.0,599,3462,0.00,2.17,0.00,0.000,6,0.000,0.048,2582,2225,3248
$GC,3804,-0.37,-146.0,1.6,-0.1,660,3810,0.00,2.30,0.00,0.000,4,0.000,0.070,2572,3601,3248
$GC,4068,-0.37,-146.0,1.6,-0.0,706,4075,0.12,2.20,0.00,0.000,6,0.146,0.051,2604,2219,3248
$GC,4416,-0.31,-146.0,1.5,0.2,767,4422,0.00,2.35,0.00,0.000,4,0.000,0.075,2596,3607,3248
$GC,4679,-0.40,-146.0,1.9,-1.1,813,4685,0.00,2.20,0.00,0.000,6,0.000,0.048,2596,2212,3247
$GC,5027,-0.67,-146.0,20.8,-5.3,874,5034,0.20,2.35,0.00,0.000,4,0.063,0.071,2493,3605,3247
$GC,5280,-0.67,-146.0,42.5,-8.0,918,5287,0.17,2.20,0.00,0.000,6,0.149,0.051,2538,2221,3247
$GC,5628,-0.76,-146.0,62.8,-6.4,979,5635,0.10,2.28,0.00,0.000,4,0.090,0.062,2495,822,3247
$GC,5728,-0.67,-146.0,71.0,-8.7,996,5735,0.17,2.35,0.00,0.000,6,0.133,0.062,2533,2237,3247
$GC,6076,-0.75,-146.0,95.0,-6.3,1057,6083,0.00,2.33,0.00,0.000,4,0.000,0.062,2533,828,3246
$GC,6210,-0.82,-146.0,103.8,-6.5,1072,6216,0.10,2.35,0.00,0.000,6,0.084,0.062,2483,2242,3246
$GC,6527,-0.82,-146.0,126.2,-7.3,1088,6531,0.00,2.33,0.00,0.000,4,0.000,0.062,2482,824,3245
$GC,6597,-0.74,-146.0,131.7,-8.4,1091,6602,0.17,2.35,0.00,0.000,6,0.132,0.062,2520,2239,3245
$GC,6926,-0.84,-146.0,151.9,-6.0,1107,6930,0.10,2.35,0.00,0.000,4,0.093,0.061,2478,818,3245
$GC,6944,-0.84,-146.0,153.3,-6.7,1108,6949,0.12,2.35,0.00,0.000,6,0.135,0.061,2500,2241,3245
$GC,7279,-0.90,-146.0,175.6,-6.4,1124,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2240,3245
$GC,7588,-0.95,-146.0,193.4,-5.5,1139,7590,0.12,0.00,0.00,0.000,6,0.084,0.000,2448,2240,3244
$GC,7899,-0.84,-146.0,215.0,-6.9,1154,7903,0.17,2.25,0.00,0.000,4,0.147,0.071,2488,3598,3245
$GC,7933,-0.84,-146.0,217.3,-6.2,1155,7937,0.00,2.17,0.00,0.000,6,0.000,0.047,2488,2219,3244
$GC,8256,-0.84,-146.0,234.5,-5.5,1171,8260,0.00,2.25,0.00,0.000,4,0.000,0.058,2488,812,3245
$GC,8430,-0.84,-146.0,244.9,-5.9,1178,8434,0.00,2.35,0.00,0.000,6,0.000,0.057,2478,2246,3245
$GC,8753,-0.84,-146.0,264.1,-5.7,1194,8756,0.00,2.20,0.00,0.000,4,0.000,0.067,2467,3605,3246
$GC,8846,-0.84,-146.0,269.8,-6.3,1198,8850,0.12,2.17,0.00,0.000,6,0.139,0.044,2500,2208,3246
$GC,9181,-0.94,-146.0,285.0,-4.3,1214,9186,0.10,2.20,0.00,0.000,4,0.089,0.054,2454,821,3248
$GC,9268,-0.80,-146.0,290.3,-6.2,1217,9275,0.22,2.30,0.00,0.000,6,0.124,0.054,2508,2240,3248
$GC,9586,-0.93,-146.0,303.7,-4.0,1233,9591,0.12,2.30,0.00,0.000,4,0.081,0.052,2453,818,3249
$GC,9621,-0.78,-146.0,305.6,-6.3,1234,9628,0.25,2.30,0.00,0.000,6,0.125,0.053,2514,2241,3249
$GC,9940,-0.92,-146.0,317.6,-3.7,1250,9944,0.12,2.30,0.00,0.000,4,0.078,0.051,2459,815,3250
$GC,9986,-0.80,-146.0,320.2,-5.5,1252,9991,0.20,2.30,0.00,0.000,6,0.125,0.052,2505,2241,3251
$GC,10312,-0.92,-146.0,333.9,-4.3,1268,10316,0.10,2.30,0.00,0.000,4,0.084,0.051,2459,813,3252
$GC,10429,-0.81,-146.0,341.1,-6.4,1273,10434,0.20,2.30,0.00,0.000,6,0.122,0.051,2506,2244,3252
$GC,10753,-0.93,-146.0,355.6,-4.2,1289,10757,0.12,2.30,0.00,0.000,4,0.077,0.051,2450,813,3254
$GC,10855,-0.80,-146.0,361.8,-6.3,1293,10862,0.22,2.30,0.00,0.000,6,0.123,0.051,2504,2245,3253
$GC,11174,-0.92,-146.0,374.3,-3.5,1309,11179,0.10,2.30,0.00,0.000,4,0.086,0.050,2459,812,3254
$GC,11267,-0.81,-146.0,379.0,-5.9,1313,11272,0.20,2.28,0.00,0.000,6,0.123,0.050,2505,2233,3254
$GC,11594,-0.94,-146.0,389.3,-3.5,1329,11596,0.12,0.00,0.00,0.000,6,0.077,0.000,2451,2232,3255
$GC,11900,-0.85,-146.0,406.5,-6.5,1342,11902,0.17,0.00,0.00,0.000,6,0.133,0.000,2501,2233,3256
$GC,12223,-0.98,-146.0,420.5,-5.1,1350,12228,0.12,2.20,0.00,0.000,4,0.078,0.062,2435,3598,3256
$GC,12236,-1.08,-146.0,421.3,-4.7,1350,12240,0.00,2.10,0.00,0.000,6,0.000,0.037,2435,2217,3256
$STATE,12389,end dive,NO_VERTICAL_VELOCITY
$STATE,12390,begin apogee
$GC,12400,-0.31,0.0,422.3,0.0,1354,12529,0.55,0.00,125.75,1.022,6,0.083,0.000,2627,1747,2650
$STATE,12529,end apogee,CONTROL_FINISHED_OK
$STATE,12529,begin climb
$GC,12534,0.99,146.0,422.1,0.0,1357,12671,0.80,2.53,127.40,0.962,4,0.081,0.054,2910,342,2053
$GC,12699,0.84,146.0,407.0,9.3,1360,12706,0.20,2.40,0.00,0.000,6,0.128,0.043,2858,1753,2051
$GC,13017,0.77,146.0,376.5,8.7,1374,13021,0.00,2.20,0.00,0.000,4,0.000,0.056,2857,3156,2048
$GC,13116,0.63,146.0,366.7,9.6,1378,13120,0.17,2.20,0.00,0.000,6,0.128,0.041,2815,1733,2047
$GC,13446,0.77,169.3,345.8,6.3,1394,13468,0.12,0.00,19.75,0.920,6,0.069,0.000,2877,1733,1959
$GC,13774,0.68,169.3,313.7,9.9,1410,13778,0.17,2.22,0.00,0.000,4,0.119,0.054,2833,331,1956
$GC,13814,0.81,169.3,310.1,7.8,1411,13821,0.08,2.22,0.00,0.000,6,0.087,0.042,2881,1748,1955
$GC,14132,0.72,169.3,279.4,9.7,1427,14136,0.17,2.20,0.00,0.000,4,0.124,0.054,2828,3155,1955
$GC,14211,0.72,169.3,272.6,8.9,1430,14215,0.00,2.20,0.00,0.000,6,0.000,0.040,2836,1724,1955
$GC,14534,0.78,170.6,248.8,7.0,1446,14538,0.00,2.28,0.00,0.000,4,0.000,0.053,2836,3157,1954
$GC,14575,0.73,170.6,245.6,7.8,1447,14581,0.00,2.20,0.00,0.000,6,0.000,0.040,2845,1725,1954
$GC,14892,0.73,170.6,222.8,7.0,1463,14896,0.00,2.28,0.00,0.000,4,0.000,0.053,2845,3161,1954
$GC,14927,0.67,170.6,220.2,7.7,1464,14931,0.12,2.20,0.00,0.000,6,0.129,0.039,2820,1729,1954
$GC,15250,0.89,231.0,203.5,5.1,1480,15306,0.17,0.00,53.00,0.877,6,0.058,0.000,2904,1729,1708
$GC,15603,0.79,231.0,166.1,11.3,1497,15608,0.20,2.28,0.00,0.000,4,0.120,0.053,2838,3156,1699
$GC,15639,0.85,231.0,162.8,8.9,1498,15645,0.00,2.20,0.00,0.000,6,0.000,0.040,2844,1725,1698
$GC,15957,0.99,231.0,141.0,7.1,1514,15961,0.17,2.28,0.00,0.000,4,0.061,0.052,2928,3161,1698
$GC,15991,0.75,231.0,137.0,12.4,1515,15996,0.32,2.20,0.00,0.000,6,0.125,0.040,2840,1730,1697
$GC,16310,0.98,246.6,114.5,6.5,1530,16332,0.17,2.25,13.12,0.783,4,0.061,0.054,2939,342,1644
$GC,16362,0.87,246.6,108.9,11.9,1532,16367,0.25,2.20,0.00,0.000,6,0.123,0.041,2863,1745,1644
$GC,16699,1.04,246.6,85.1,7.1,1577,16706,0.15,2.20,0.00,0.000,4,0.064,0.054,2940,3149,1641
$GC,16743,0.89,246.6,80.0,11.9,1584,16750,0.28,2.17,0.00,0.000,6,0.126,0.041,2868,1738,1640
$GC,17091,1.08,246.6,57.3,7.0,1645,17098,0.15,2.22,0.00,0.000,4,0.065,0.055,2952,338,1640
$GC,17169,0.99,246.6,49.4,10.8,1658,17176,0.20,2.20,0.00,0.000,6,0.123,0.044,2893,1739,1640
$GC,17518,1.10,246.6,25.3,7.0,1719,17525,0.10,2.25,0.00,0.000,4,0.076,0.061,2950,3152,1640
$GC,17573,0.90,246.6,20.4,10.2,1728,17580,0.30,2.20,0.00,0.000,6,0.122,0.044,2869,1745,1639
$FREEZE,6.61,-1.591,-1.817
$FREEZE,6.07,-1.590,-1.817
$FREEZE,5.64,-1.596,-1.816
$FREEZE,5.22,-1.595,-1.816
$FREEZE,4.91,-1.596,-1.816
$FREEZE,4.73,-1.597,-1.816
$FREEZE,4.54,-1.598,-1.816
$FREEZE,4.62,-1.601,-1.816
$FREEZE,3.88,-1.598,-1.815
$FREEZE,3.17,-1.605,-1.815
$FREEZE,2.45,-1.615,-1.815
$GC,17926,1.18,299.5,4.6,5.3,1789,17954,0.20,0.00,25.30,0.809,2,0.058,0.000,2968,1744,1529
$STATE,17955,end climb,SURFACE_DEPTH_REACHED
$STATE,17955,begin surface coast
$FREEZE,1.88,-1.611,-1.813
$FREEZE,1.79,-1.616,-1.813
$FREEZE,1.76,-1.620,-1.813
$FREEZE,1.75,-1.625,-1.813
$FREEZE,1.86,-1.628,-1.813
$FREEZE,1.86,-1.618,-1.813
$FREEZE,1.72,-1.619,-1.813
$FREEZE,1.74,-1.631,-1.813
$FREEZE,1.77,-1.616,-1.813
$FREEZE,1.78,-1.622,-1.813
$FREEZE,1.82,-1.626,-1.813
$FREEZE,1.80,-1.621,-1.813
$FREEZE,1.75,-1.617,-1.813
$FINISH,1.8,1.026600
$STATE,18031,end surface coast,CONTROL_FINISHED_OK
$STATE,18031,begin surface
$SM_CCo,18198,0.00,0.000,0,0,1521,276.70
$SM_GC,3.10,7.35,0.00,0.00,0.064,0.000,0.000,330,2240,1521,-10.70,0.28,276.70
$RAFOS_CLK,741
$RAFOS,4,1233060242,12.750000,12.733889,67,64,57,54,52,50,207,216,162,129,177,229
$RAFOS,3,1233059641,12.583333,12.566944,67,58,56,54,54,53,211,152,184,193,136,221
$RAFOS,2,1233059045,12.416667,12.401389,67,54,54,54,53,53,175,149,219,802,123,200
$RAFOS,1,1233058445,12.250000,12.234722,63,58,54,52,52,51,211,198,139,157,224,640
$RAFOS,0,1233057844,12.083333,12.067778,57,57,57,57,51,51,141,157,193,213,118,175
$RAFOS_FIX,6636.974609,-5639.870605,260109,121257,3,66,0.39
$IRIDIUM_FIX,6558.99,-5621.58,230498,111143
$TT8_MAMPS,0.029146
$HUMID,1802
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,15.50
$XPDR_PINGS,461
$24V_AH,22.1,111.133
$10V_AH,10.4,49.894
$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,24.175,159.450,364.325,0.000,0.000,82.507,228.909,0.000,115.250,0.000,0.000,12.938,3026.521,11304.036,569.122,2976.893,1223.088,0.000,2055.692,0.000,2946.199,2160.000,0.533,0.000
$DEVICE_MAMPS,158.002,75.166,1022.411,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1263.219,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59721,1805
$CAP_FILE_SIZE,183496,0
$CFSIZE,260165632,206266368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.0
$GPS,270109,110407,6627.269,-5630.110,11,1.7,11,-36.7