version: 66.04
glider: 108
mission: 11
dive: 741
start: 1 27 109 16 10 5
data:
$ID,108
$MISSION,11
$DIVE,741
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,110407,6627.269,-5630.110,11,1.7,11,-36.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.12
$_SM_ANGLEo,-62.0
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-0.99,-146.0,0.0,0.0,0,76,0.00,0.00,-55.95,0.000,2,0.000,0.000,330,2241,2830
$GC,81,-0.99,-146.0,3.1,-0.7,10,111,8.88,2.35,-13.40,0.000,4,0.242,0.067,2462,814,3248
$GC,159,-0.68,-146.0,10.8,-8.9,23,166,0.28,2.28,0.00,0.000,6,0.135,0.053,2533,2234,3251
$GC,508,-0.76,-146.0,32.1,-3.0,84,514,0.00,2.20,0.00,0.000,4,0.000,0.066,2525,3601,3251
$GC,771,-0.87,-146.0,49.0,-7.9,130,778,0.12,2.15,0.00,0.000,6,0.079,0.044,2467,2213,3250
$GC,1120,-0.76,-146.0,88.0,-11.4,191,1126,0.17,2.20,0.00,0.000,4,0.133,0.056,2524,829,3249
$GC,1209,-0.76,-146.0,96.9,-9.5,206,1215,0.00,2.28,0.00,0.000,6,0.000,0.056,2517,2233,3249
$GC,1537,-0.84,-146.0,123.8,-6.9,226,1540,0.00,2.28,0.00,0.000,4,0.000,0.056,2516,821,3247
$GC,1571,-0.84,-146.0,126.3,-6.6,227,1576,0.00,2.30,0.00,0.000,6,0.000,0.056,2506,2239,3247
$GC,1890,-0.90,-146.0,141.8,-4.2,242,1895,0.10,2.30,0.00,0.000,4,0.083,0.055,2457,817,3246
$GC,1902,-0.90,-146.0,142.5,-4.1,242,1909,0.15,2.30,0.00,0.000,6,0.137,0.055,2486,2235,3246
$GC,2220,-0.90,-146.0,160.1,-5.7,258,2223,0.00,2.28,0.00,0.000,4,0.000,0.054,2486,820,3246
$GC,2268,-0.90,-146.0,163.0,-6.2,260,2272,0.00,2.30,0.00,0.000,6,0.000,0.054,2479,2243,3245
$GC,2596,-0.90,-146.0,178.0,-3.8,276,2600,0.00,2.28,0.00,0.000,4,0.000,0.054,2479,827,3245
$GC,2704,-0.90,-146.0,182.3,-3.6,280,2711,0.00,2.28,0.00,0.000,6,0.000,0.054,2469,2238,3245
$GC,3023,-0.90,-146.0,196.4,-5.4,296,3027,0.00,2.28,0.00,0.000,4,0.000,0.054,2469,820,3245
$GC,3077,-0.82,-146.0,199.6,-6.3,298,3082,0.17,2.28,0.00,0.000,6,0.127,0.053,2508,2234,3245
$GC,3401,-0.92,-146.0,216.0,-5.6,314,3405,0.12,2.28,0.00,0.000,4,0.076,0.051,2452,814,3246
$GC,3470,-0.79,-146.0,221.4,-8.3,317,3475,0.22,2.28,0.00,0.000,6,0.127,0.051,2507,2234,3246
$GC,3799,-0.91,-146.0,240.7,-6.1,333,3803,0.10,2.25,0.00,0.000,4,0.084,0.050,2460,825,3247
$GC,3857,-0.81,-146.0,244.8,-7.6,335,3863,0.20,2.28,0.00,0.000,6,0.126,0.051,2507,2246,3247
$GC,4174,-0.92,-146.0,259.3,-4.1,351,4179,0.12,2.28,0.00,0.000,4,0.077,0.051,2451,823,3248
$GC,4244,-0.79,-146.0,263.5,-6.7,354,4249,0.25,2.28,0.00,0.000,6,0.125,0.051,2514,2246,3248
$GC,4567,-0.93,-146.0,276.6,-4.1,370,4572,0.15,2.28,0.00,0.000,4,0.072,0.050,2449,821,3249
$GC,4625,-0.77,-146.0,279.9,-6.5,372,4632,0.25,2.28,0.00,0.000,6,0.125,0.050,2510,2246,3249
$GC,4943,-0.90,-146.0,293.6,-4.3,388,4948,0.10,2.28,0.00,0.000,4,0.083,0.049,2464,815,3250
$GC,4985,-0.79,-146.0,296.0,-5.7,390,4990,0.20,2.28,0.00,0.000,6,0.124,0.049,2511,2246,3250
$GC,5315,-0.93,-146.0,308.0,-3.5,406,5319,0.12,2.28,0.00,0.000,4,0.074,0.048,2454,813,3250
$GC,5329,-1.01,-146.0,308.5,-3.3,406,5335,0.00,2.28,0.00,0.000,6,0.000,0.048,2443,2245,3250
$GC,5647,-0.89,-146.0,325.6,-5.7,422,5652,0.15,2.28,0.00,0.000,4,0.131,0.049,2487,818,3251
$GC,5732,-0.89,-146.0,331.1,-6.2,425,5739,0.00,2.25,0.00,0.000,6,0.000,0.048,2479,2234,3251
$GC,6050,-0.89,-146.0,349.5,-5.7,441,6054,0.00,2.15,0.00,0.000,4,0.000,0.060,2469,3595,3252
$GC,6108,-0.89,-146.0,352.9,-5.9,443,6112,0.00,2.10,0.00,0.000,6,0.000,0.037,2469,2208,3252
$GC,6431,-0.89,-146.0,370.0,-4.3,459,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2208,3252
$GC,6741,-0.89,-146.0,384.2,-4.7,474,6744,0.00,2.12,0.00,0.000,4,0.000,0.049,2469,832,3253
$GC,6754,-0.89,-146.0,384.8,-4.4,474,6759,0.10,2.22,0.00,0.000,6,0.130,0.047,2485,2238,3253
$GC,7097,-1.04,-146.0,402.7,-4.9,490,7099,0.12,0.00,0.00,0.000,6,0.070,0.000,2420,2237,3254
$STATE,7336,end dive,NO_VERTICAL_VELOCITY
$STATE,7336,begin apogee
$GC,7346,-0.31,0.0,402.6,0.0,496,7476,0.60,0.00,127.12,1.003,6,0.092,0.000,2623,1742,2650
$STATE,7477,end apogee,CONTROL_FINISHED_OK
$STATE,7477,begin climb
$GC,7482,0.99,146.0,402.1,0.0,499,7617,0.85,2.47,124.97,0.946,4,0.087,0.053,2905,3149,2053
$GC,7657,0.69,146.0,385.1,11.5,506,7662,0.32,2.30,0.00,0.000,6,0.127,0.039,2823,1731,2049
$GC,7981,0.79,170.2,362.3,6.2,522,8007,0.10,2.30,20.42,0.907,4,0.074,0.053,2878,3153,1956
$GC,8037,0.60,170.2,357.0,10.8,524,8042,0.28,2.20,0.00,0.000,6,0.124,0.039,2806,1730,1953
$GC,8355,0.83,186.9,337.6,6.5,539,8378,0.17,2.22,15.35,0.886,4,0.057,0.053,2901,328,1887
$GC,8396,0.69,186.9,333.1,11.9,540,8403,0.25,2.22,0.00,0.000,6,0.124,0.041,2826,1748,1887
$GC,8715,0.79,186.9,309.3,8.4,556,8719,0.10,2.17,0.00,0.000,4,0.076,0.053,2878,3142,1885
$GC,8812,0.61,186.9,297.9,13.1,560,8817,0.28,2.17,0.00,0.000,6,0.120,0.041,2805,1728,1884
$GC,9134,0.83,186.9,274.4,7.2,576,9139,0.17,2.20,0.00,0.000,4,0.058,0.053,2898,324,1883
$GC,9164,0.83,186.9,271.5,10.6,577,9168,0.15,2.22,0.00,0.000,6,0.125,0.040,2855,1752,1884
$GC,9486,0.83,186.9,241.9,8.9,593,9489,0.00,2.17,0.00,0.000,4,0.000,0.054,2855,3152,1883
$GC,9573,0.72,186.9,233.4,9.7,596,9580,0.10,2.17,0.00,0.000,6,0.138,0.040,2834,1732,1883
$GC,9891,0.80,186.9,209.3,7.6,612,9893,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1732,1883
$GC,10200,0.90,202.1,188.1,6.5,627,10222,0.15,2.30,13.35,0.819,4,0.064,0.053,2906,3143,1825
$GC,10242,0.67,202.1,183.8,12.4,628,10249,0.30,2.17,0.00,0.000,6,0.124,0.040,2825,1731,1824
$GC,10560,0.84,215.9,161.8,6.6,644,10578,0.12,0.00,13.00,0.799,6,0.067,0.000,2893,1731,1769
$GC,10889,0.76,215.9,130.3,9.4,660,10891,0.17,0.00,0.00,0.000,6,0.117,0.000,2839,1731,1767
$GC,11199,0.98,270.1,112.5,5.3,675,11250,0.17,0.00,47.95,0.819,6,0.059,0.000,2923,1731,1549
$GC,11568,0.92,270.1,73.3,12.1,722,11575,0.17,2.28,0.00,0.000,4,0.120,0.053,2869,3148,1540
$GC,11589,0.92,270.1,70.9,11.8,725,11595,0.00,2.17,0.00,0.000,6,0.000,0.040,2875,1734,1540
$GC,11937,1.12,287.8,45.5,6.4,786,11961,0.15,2.28,15.70,0.757,4,0.065,0.054,2963,338,1475
$GC,11992,1.03,287.8,40.2,10.3,795,11999,0.20,2.22,0.00,0.000,6,0.120,0.042,2903,1747,1475
$GC,12341,1.15,287.8,16.5,10.5,856,12348,0.10,2.22,0.00,0.000,4,0.076,0.056,2958,3150,1471
$GC,12374,1.10,287.8,13.0,10.7,861,12381,0.20,2.17,0.00,0.000,6,0.136,0.040,2911,1736,1471
$FREEZE,6.53,-1.615,-1.817
$FREEZE,5.91,-1.616,-1.817
$FREEZE,5.18,-1.622,-1.816
$FREEZE,4.57,-1.614,-1.816
$FREEZE,3.99,-1.621,-1.815
$FREEZE,3.56,-1.615,-1.815
$FREEZE,2.99,-1.618,-1.814
$STATE,12448,end climb,SURFACE_DEPTH_REACHED
$STATE,12448,begin surface coast
$FREEZE,2.62,-1.618,-1.814
$FREEZE,2.07,-1.620,-1.814
$FREEZE,1.42,-1.618,-1.813
$FREEZE,1.04,-1.628,-1.783
$FREEZE,0.97,-1.694,-0.919
$FINISH,1.0,1.013548
$STATE,12480,end surface coast,FINISH_DEPTH_REACHED
$STATE,12480,begin surface
$SM_CCo,12563,0.00,0.000,0,0,1466,290.19
$SM_GC,1.75,7.07,0.00,0.00,0.058,0.000,0.000,340,2243,1466,-10.67,0.37,290.19
$RAFOS_CLK,508
$RAFOS,4,1233074655,16.750000,16.737499,64,58,57,54,53,51,187,216,198,176,164,117
$RAFOS,3,1233074053,16.583334,16.570278,67,64,61,58,53,52,164,151,209,176,131,222
$RAFOS,2,1233073443,16.416666,16.400833,58,58,57,56,54,50,184,207,171,155,134,118
$RAFOS,1,1233072842,16.250000,16.233889,64,61,56,55,55,51,234,209,161,135,171,122
$RAFOS,0,1233072241,16.083334,16.066944,73,61,57,54,51,50,146,158,207,237,117,171
$RAFOS_FIX,6636.974609,-5639.870605,260109,121257,3,66,0.39
$IRIDIUM_FIX,6558.99,-5621.58,230498,111143
$TT8_MAMPS,0.026845
$HUMID,1772
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,16.00
$XPDR_PINGS,225
$24V_AH,22.5,111.240
$10V_AH,10.4,49.946
$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,24.300,122.925,377.875,0.000,0.000,0.000,0.000,0.000,56.250,0.000,0.000,0.000,1570.136,8646.905,508.709,1555.351,343.941,0.000,1364.274,0.000,1551.539,1440.000,0.531,0.000
$DEVICE_MAMPS,242.372,67.496,1003.236,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.094,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28420,879
$CAP_FILE_SIZE,114877,0
$CFSIZE,260165632,206282752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.8
$GPS,270109,194057,6625.697,-5627.078,34,1.7,37,-36.6