version: 66.04
glider: 108
mission: 11
dive: 744
start: 1 28 109 2 57 56
data:
$ID,108
$MISSION,11
$DIVE,744
$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,-138130.28
$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,38
$R_STBD_OVSHOOT,28
$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
$GPS1,232343,6622.936,-5628.028,12,1.2,30,-36.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-63.9
$GPS2,232343,6622.936,-5628.028,12,1.2,30,-36.6
$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,246.2,48830,-13.0,-7.021
$D_GRID,399
$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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.22,0.000,2,0.000,0.000,335,2239,3056
$GC,91,-0.99,-146.0,3.0,-0.9,12,112,8.85,2.28,-5.60,0.000,4,0.242,0.081,2450,3605,3249
$GC,369,-0.79,-146.0,34.8,-11.0,60,376,0.20,2.15,0.00,0.000,6,0.137,0.044,2510,2215,3252
$GC,718,-0.79,-146.0,60.9,-7.1,121,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2215,3252
$GC,1063,-0.79,-146.0,85.9,-8.2,182,1070,0.00,2.20,0.00,0.000,4,0.000,0.056,2510,825,3251
$GC,1135,-0.79,-146.0,92.8,-9.7,194,1141,0.00,2.30,0.00,0.000,6,0.000,0.057,2503,2233,3251
$GC,1464,-0.79,-146.0,122.1,-8.8,220,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2233,3250
$GC,1775,-0.79,-146.0,145.2,-6.8,235,1779,0.00,2.28,0.00,0.000,4,0.000,0.056,2503,827,3249
$GC,1793,-0.79,-146.0,146.7,-6.9,235,1799,0.00,2.30,0.00,0.000,6,0.000,0.055,2493,2241,3249
$GC,2111,-0.79,-146.0,167.8,-6.8,251,2115,0.00,2.28,0.00,0.000,4,0.000,0.057,2492,829,3248
$GC,2158,-0.74,-146.0,171.2,-7.4,253,2163,0.15,2.28,0.00,0.000,6,0.124,0.054,2525,2233,3248
$GC,2494,-0.89,-146.0,189.4,-5.4,269,2498,0.15,2.28,0.00,0.000,4,0.070,0.054,2457,820,3248
$GC,2618,-0.74,-146.0,198.8,-7.7,274,2623,0.25,2.30,0.00,0.000,6,0.125,0.054,2519,2238,3248
$GC,2937,-0.87,-146.0,217.0,-5.8,289,2942,0.12,2.28,0.00,0.000,4,0.077,0.054,2461,821,3248
$GC,2977,-0.73,-146.0,219.9,-7.3,290,2984,0.25,2.30,0.00,0.000,6,0.127,0.054,2523,2238,3248
$GC,3296,-0.88,-146.0,235.3,-4.7,306,3301,0.12,2.28,0.00,0.000,4,0.076,0.053,2465,828,3249
$GC,3405,-0.77,-146.0,242.6,-7.2,310,3412,0.20,2.28,0.00,0.000,6,0.127,0.053,2512,2233,3249
$GC,3723,-0.91,-146.0,258.6,-4.7,326,3728,0.12,2.28,0.00,0.000,4,0.076,0.051,2455,814,3249
$GC,3793,-0.77,-146.0,262.9,-6.7,329,3798,0.22,2.30,0.00,0.000,6,0.123,0.051,2510,2241,3249
$GC,4124,-0.90,-146.0,276.8,-3.9,345,4128,0.10,2.28,0.00,0.000,4,0.082,0.051,2462,819,3250
$GC,4171,-0.78,-146.0,279.3,-5.5,347,4176,0.20,2.28,0.00,0.000,6,0.121,0.051,2509,2236,3250
$GC,4497,-0.90,-146.0,292.5,-3.8,363,4502,0.10,2.25,0.00,0.000,4,0.080,0.049,2460,828,3251
$GC,4561,-0.79,-146.0,295.9,-5.6,365,4570,0.20,2.28,0.00,0.000,6,0.123,0.050,2507,2247,3251
$GC,4879,-0.92,-146.0,307.7,-3.5,381,4884,0.10,2.28,0.00,0.000,4,0.081,0.048,2458,817,3253
$GC,4955,-0.80,-146.0,311.3,-5.0,384,4959,0.20,2.28,0.00,0.000,6,0.123,0.049,2506,2245,3252
$GC,5278,-0.92,-146.0,322.5,-3.5,400,5279,0.10,0.00,0.00,0.000,6,0.081,0.000,2457,2245,3253
$GC,5588,-0.86,-146.0,338.8,-5.6,415,5592,0.15,2.28,0.00,0.000,4,0.133,0.048,2500,821,3254
$GC,5674,-0.92,-146.0,343.4,-5.7,418,5680,0.00,2.28,0.00,0.000,6,0.000,0.049,2493,2246,3254
$GC,5992,-0.99,-146.0,360.5,-5.8,434,5996,0.10,2.28,0.00,0.000,4,0.077,0.048,2439,813,3255
$GC,6044,-0.80,-146.0,364.5,-8.7,436,6049,0.28,2.28,0.00,0.000,6,0.120,0.048,2510,2242,3255
$GC,6362,-0.95,-146.0,380.7,-4.8,451,6368,0.12,2.25,0.00,0.000,4,0.073,0.048,2451,824,3256
$GC,6450,-0.81,-146.0,386.4,-6.7,454,6456,0.22,2.28,0.00,0.000,6,0.120,0.048,2507,2244,3256
$STATE,6721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6721,begin apogee
$GC,6731,-0.31,0.0,399.2,4.2,468,6859,0.35,0.00,124.88,1.013,6,0.108,0.000,2622,1736,2650
$STATE,6860,end apogee,CONTROL_FINISHED_OK
$STATE,6860,begin climb
$GC,6864,0.99,146.0,400.3,0.0,472,6998,0.82,2.53,124.82,0.950,4,0.089,0.052,2899,3156,2053
$GC,7050,0.72,146.0,381.7,13.4,479,7055,0.28,2.30,0.00,0.000,6,0.123,0.039,2830,1736,2049
$GC,7368,0.76,146.0,354.4,8.4,494,7372,0.00,2.22,0.00,0.000,4,0.000,0.054,2839,327,2048
$GC,7400,0.85,146.0,351.7,8.5,495,7404,0.10,2.25,0.00,0.000,6,0.074,0.041,2893,1758,2048
$GC,7728,0.70,146.0,316.8,10.3,511,7733,0.20,2.17,0.00,0.000,4,0.124,0.054,2829,3156,2048
$GC,7821,0.65,146.0,309.2,7.9,515,7825,0.00,2.20,0.00,0.000,6,0.000,0.040,2837,1720,2047
$GC,8155,0.66,156.0,285.8,6.7,531,8170,0.00,2.33,8.77,0.811,4,0.000,0.053,2837,3149,2013
$GC,8211,0.60,156.0,281.2,9.3,533,8216,0.15,2.17,0.00,0.000,6,0.122,0.039,2803,1726,2011
$GC,8535,0.85,193.3,262.6,5.8,549,8572,0.20,0.00,32.67,0.903,6,0.053,0.000,2903,1726,1862
$GC,8883,0.71,193.3,224.8,10.9,566,8885,0.25,0.00,0.00,0.000,6,0.117,0.000,2826,1726,1856
$GC,9193,0.87,214.1,203.6,6.4,581,9217,0.15,2.35,17.85,0.844,4,0.061,0.052,2900,3152,1777
$GC,9258,0.69,214.1,196.7,12.5,583,9265,0.28,2.17,0.00,0.000,6,0.118,0.039,2827,1738,1773
$GC,9577,0.93,239.1,175.0,6.2,599,9607,0.17,2.30,22.60,0.835,4,0.056,0.053,2930,332,1675
$GC,9644,0.84,239.1,168.1,11.1,602,9649,0.25,2.22,0.00,0.000,6,0.119,0.041,2853,1746,1672
$GC,9973,1.06,305.9,149.2,4.9,618,10038,0.17,2.33,58.75,0.834,4,0.055,0.054,2941,3160,1401
$GC,10117,0.87,305.9,131.9,13.7,624,10122,0.30,2.22,0.00,0.000,6,0.118,0.040,2861,1729,1394
$GC,10441,1.13,305.9,103.5,7.6,640,10445,0.20,2.20,0.00,0.000,4,0.058,0.053,2967,335,1391
$GC,10471,1.13,305.9,100.3,11.0,641,10476,0.17,2.20,0.00,0.000,6,0.123,0.041,2916,1744,1391
$GC,10819,1.18,305.9,67.8,8.3,700,10824,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1744,1390
$GC,11166,1.23,305.9,40.5,8.4,761,11173,0.12,2.22,0.00,0.000,4,0.067,0.057,2978,3160,1389
$GC,11215,1.02,305.9,34.4,12.6,769,11222,0.30,2.22,0.00,0.000,6,0.127,0.043,2899,1726,1388
$FREEZE,7.00,-1.563,-1.819
$FREEZE,6.61,-1.569,-1.819
$FREEZE,6.10,-1.572,-1.819
$GC,11566,1.12,305.9,6.1,7.3,830,11572,0.10,2.22,0.00,0.000,4,0.077,0.057,2964,334,1386
$FREEZE,4.58,-1.574,-1.817
$FREEZE,4.02,-1.575,-1.817
$FREEZE,3.35,-1.578,-1.817
$FREEZE,2.81,-1.581,-1.816
$STATE,11594,end climb,SURFACE_DEPTH_REACHED
$STATE,11594,begin surface coast
$FREEZE,2.37,-1.583,-1.816
$FREEZE,1.88,-1.584,-1.815
$FREEZE,1.33,-1.591,-1.815
$FREEZE,1.28,-1.596,-1.815
$FREEZE,1.25,-1.593,-1.814
$FREEZE,1.27,-1.591,-1.815
$FINISH,1.3,1.026630
$STATE,11633,end surface coast,CONTROL_FINISHED_OK
$STATE,11633,begin surface
$SM_CCo,11719,0.00,0.000,0,0,1384,310.55
$SM_GC,2.60,7.28,0.00,0.00,0.058,0.000,0.000,327,2223,1384,-10.70,-0.20,310.55
$RAFOS_CLK,506
$RAFOS,4,1233117842,4.750000,4.733889,67,64,63,62,54,53,219,139,178,193,119,166
$RAFOS,3,1233117256,4.583333,4.571111,57,55,54,53,52,52,173,201,212,147,114,138
$RAFOS,2,1233116645,4.416667,4.401389,59,56,55,54,53,51,161,238,151,194,214,112
$RAFOS,1,1233116042,4.250000,4.233889,64,60,58,56,53,51,206,224,168,194,122,156
$RAFOS,0,1233115448,4.083333,4.068889,64,58,56,50,49,48,211,190,148,170,226,76
$RAFOS_FIX,6636.974609,-5639.870605,260109,121257,3,66,0.39
$IRIDIUM_FIX,6553.70,-5630.49,230498,232342
$TT8_MAMPS,0.026845
$HUMID,1794
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,15.50
$XPDR_PINGS,283
$24V_AH,22.5,111.631
$10V_AH,10.4,50.139
$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,24.375,110.275,390.350,0.000,0.000,103.196,85.051,0.000,70.750,0.000,0.000,183.214,1539.413,7985.249,486.903,1743.597,691.978,0.000,1345.876,0.000,1552.690,1800.000,0.532,0.000
$DEVICE_MAMPS,241.605,81.302,1013.207,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,585.117,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28446,841
$CAP_FILE_SIZE,112139,0
$CFSIZE,260165632,206012416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.2
$GPS,270109,232343,6622.936,-5628.028,12,1.2,30,-36.6