version: 66.04
glider: 108
mission: 11
dive: 745
start: 1 28 109 6 34 44
data:
$ID,108
$MISSION,11
$DIVE,745
$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,-138498.78
$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,24
$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,2.54
$_SM_ANGLEo,-55.4
$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,-67.00,0.000,2,0.000,0.000,327,2223,2873
$GC,92,-0.99,-146.0,3.1,-0.6,12,123,8.95,2.30,-12.52,0.000,4,0.242,0.080,2451,3597,3249
$GC,380,-0.81,-146.0,36.7,-13.1,62,387,0.20,2.15,0.00,0.000,6,0.136,0.044,2509,2217,3252
$GC,728,-0.81,-146.0,64.5,-7.7,123,735,0.00,2.30,0.00,0.000,4,0.000,0.069,2501,3606,3252
$GC,765,-0.81,-146.0,67.2,-7.5,129,771,0.00,2.15,0.00,0.000,6,0.000,0.045,2501,2228,3252
$GC,1113,-0.81,-146.0,90.0,-5.9,190,1119,0.00,2.22,0.00,0.000,4,0.000,0.058,2501,826,3251
$GC,1230,-0.75,-146.0,97.8,-6.8,210,1237,0.10,2.30,0.00,0.000,6,0.130,0.058,2518,2234,3251
$GC,1562,-0.83,-146.0,119.2,-6.8,230,1566,0.00,2.22,0.00,0.000,4,0.000,0.070,2510,3602,3250
$GC,1671,-0.94,-146.0,127.9,-7.7,234,1678,0.12,2.15,0.00,0.000,6,0.079,0.045,2451,2227,3250
$GC,1988,-0.80,-146.0,158.3,-9.8,250,1993,0.20,2.25,0.00,0.000,4,0.132,0.058,2514,821,3249
$GC,2068,-0.86,-146.0,164.0,-6.6,253,2073,0.00,2.30,0.00,0.000,6,0.000,0.057,2506,2235,3249
$GC,2393,-0.92,-146.0,180.8,-4.4,269,2397,0.10,2.22,0.00,0.000,4,0.082,0.067,2444,3606,3249
$GC,2422,-0.82,-146.0,182.6,-6.8,270,2427,0.20,2.15,0.00,0.000,6,0.136,0.044,2501,2225,3248
$GC,2752,-0.89,-146.0,200.2,-5.4,286,2756,0.00,2.22,0.00,0.000,4,0.000,0.057,2501,822,3248
$GC,2788,-0.89,-146.0,202.3,-5.9,287,2791,0.00,2.30,0.00,0.000,6,0.000,0.054,2493,2239,3248
$GC,3113,-0.95,-146.0,219.1,-5.0,303,3117,0.00,2.28,0.00,0.000,4,0.000,0.054,2493,821,3249
$GC,3155,-0.95,-146.0,221.5,-5.5,304,3161,0.00,2.30,0.00,0.000,6,0.000,0.054,2483,2244,3248
$GC,3472,-0.95,-146.0,240.6,-5.9,320,3476,0.00,2.28,0.00,0.000,4,0.000,0.054,2483,825,3249
$GC,3529,-0.95,-146.0,244.2,-6.2,322,3533,0.00,2.30,0.00,0.000,6,0.000,0.053,2473,2246,3249
$GC,3853,-0.95,-146.0,260.5,-4.3,338,3858,0.00,2.28,0.00,0.000,4,0.000,0.052,2473,823,3251
$GC,3917,-0.88,-146.0,263.0,-4.1,340,3924,0.10,2.30,0.00,0.000,6,0.130,0.053,2489,2247,3251
$GC,4235,-0.94,-146.0,273.8,-3.9,356,4239,0.00,2.28,0.00,0.000,4,0.000,0.051,2490,815,3253
$GC,4260,-0.94,-146.0,274.7,-3.9,357,4264,0.00,2.30,0.00,0.000,6,0.000,0.051,2482,2245,3252
$GC,4595,-0.94,-146.0,290.6,-5.0,373,4599,0.00,2.28,0.00,0.000,4,0.000,0.051,2482,817,3253
$GC,4675,-0.94,-146.0,295.0,-5.7,376,4679,0.00,2.30,0.00,0.000,6,0.000,0.051,2472,2247,3253
$GC,4999,-0.94,-146.0,312.1,-5.3,392,5003,0.00,2.28,0.00,0.000,4,0.000,0.050,2472,811,3255
$GC,5052,-0.88,-146.0,315.1,-5.9,394,5057,0.12,2.28,0.00,0.000,6,0.126,0.049,2496,2234,3255
$GC,5385,-0.96,-146.0,333.2,-5.9,410,5389,0.10,2.25,0.00,0.000,4,0.081,0.048,2447,817,3256
$GC,5420,-0.80,-146.0,336.0,-7.5,411,5426,0.25,2.28,0.00,0.000,6,0.120,0.048,2510,2243,3256
$GC,5737,-0.94,-146.0,353.4,-5.0,427,5743,0.12,2.25,0.00,0.000,4,0.074,0.048,2452,824,3256
$GC,5768,-0.84,-146.0,355.4,-7.2,428,5773,0.20,2.25,0.00,0.000,6,0.122,0.048,2499,2237,3256
$GC,6091,-0.94,-146.0,369.5,-3.9,444,6096,0.10,2.25,0.00,0.000,4,0.081,0.048,2450,817,3257
$GC,6155,-0.80,-146.0,372.7,-5.4,446,6162,0.22,2.28,0.00,0.000,6,0.120,0.048,2506,2245,3257
$GC,6475,-0.93,-146.0,383.9,-3.5,462,6479,0.12,2.28,0.00,0.000,4,0.073,0.048,2446,813,3258
$GC,6532,-0.78,-146.0,387.1,-5.6,464,6537,0.25,2.28,0.00,0.000,6,0.121,0.048,2510,2243,3258
$STATE,6824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6824,begin apogee
$GC,6835,-0.31,0.0,399.3,4.1,478,6963,0.32,0.00,125.32,1.010,6,0.107,0.000,2617,1734,2651
$STATE,6964,end apogee,CONTROL_FINISHED_OK
$STATE,6964,begin climb
$GC,6969,0.99,146.0,400.3,0.0,482,7103,0.82,2.47,125.00,0.950,4,0.085,0.053,2897,3143,2053
$GC,7176,0.73,146.0,380.0,12.6,490,7181,0.25,2.28,0.00,0.000,6,0.124,0.040,2835,1726,2049
$GC,7493,0.73,146.0,354.8,7.5,505,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1726,2048
$GC,7804,0.73,146.0,332.1,7.2,520,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1726,2048
$GC,8112,0.76,174.1,311.6,6.1,535,8142,0.00,2.33,23.38,0.915,4,0.000,0.052,2835,3148,1940
$GC,8180,0.76,174.1,307.3,7.2,538,8184,0.00,2.20,0.00,0.000,6,0.000,0.039,2844,1722,1937
$GC,8514,0.83,229.2,288.8,5.2,554,8567,0.00,2.35,47.62,0.918,4,0.000,0.051,2843,3161,1714
$GC,8591,0.87,258.1,284.4,6.1,557,8622,0.00,2.22,26.08,0.872,6,0.000,0.038,2853,1733,1597
$GC,8957,0.93,263.0,261.0,6.9,575,8967,0.10,2.25,4.43,0.615,4,0.077,0.054,2921,313,1577
$GC,8991,0.84,263.0,257.3,10.6,576,8996,0.20,2.25,0.00,0.000,6,0.117,0.041,2860,1747,1577
$GC,9311,0.88,263.0,230.1,8.8,591,9315,0.00,2.17,0.00,0.000,4,0.000,0.054,2860,3147,1575
$GC,9385,0.83,263.0,222.5,10.6,594,9389,0.00,2.17,0.00,0.000,6,0.000,0.039,2868,1730,1574
$GC,9714,0.83,263.0,187.3,10.9,610,9718,0.00,2.20,0.00,0.000,4,0.000,0.053,2878,327,1573
$GC,9750,0.91,263.0,183.6,10.6,611,9754,0.00,2.22,0.00,0.000,6,0.000,0.041,2878,1749,1573
$GC,10075,0.91,263.0,149.3,10.2,627,10079,0.00,2.20,0.00,0.000,4,0.000,0.054,2878,3152,1574
$GC,10190,0.86,263.0,135.9,10.8,632,10194,0.00,2.17,0.00,0.000,6,0.000,0.040,2887,1735,1573
$GC,10525,0.86,263.0,102.6,9.1,648,10528,0.00,2.22,0.00,0.000,4,0.000,0.054,2898,330,1573
$GC,10578,0.94,263.0,97.7,9.4,651,10584,0.00,2.20,0.00,0.000,6,0.000,0.041,2898,1744,1573
$GC,10926,0.99,263.0,67.6,8.9,712,10932,0.00,2.20,0.00,0.000,4,0.000,0.054,2898,3145,1573
$GC,11001,0.99,263.0,60.1,10.3,725,11008,0.00,2.17,0.00,0.000,6,0.000,0.041,2907,1736,1572
$GC,11350,1.04,263.0,27.9,10.4,786,11355,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1736,1572
$FREEZE,6.99,-1.530,-1.819
$FREEZE,6.38,-1.528,-1.818
$FREEZE,6.01,-1.531,-1.818
$FREEZE,5.80,-1.530,-1.818
$FREEZE,5.41,-1.531,-1.818
$FREEZE,4.94,-1.530,-1.817
$FREEZE,4.36,-1.530,-1.817
$FREEZE,3.66,-1.531,-1.816
$FREEZE,3.00,-1.533,-1.816
$STATE,11671,end climb,SURFACE_DEPTH_REACHED
$STATE,11671,begin surface coast
$FREEZE,2.33,-1.535,-1.815
$FREEZE,1.80,-1.546,-1.815
$FREEZE,1.45,-1.549,-1.815
$FREEZE,1.35,-1.545,-1.814
$FREEZE,1.38,-1.547,-1.814
$FREEZE,1.41,-1.552,-1.814
$FREEZE,1.39,-1.546,-1.814
$FINISH,1.4,1.026622
$STATE,11713,end surface coast,CONTROL_FINISHED_OK
$STATE,11713,begin surface
$SM_CCo,11797,0.00,0.000,0,0,1571,264.68
$SM_GC,2.73,7.15,0.00,0.00,0.060,0.000,0.000,327,2236,1571,-10.68,0.17,264.68
$RAFOS_CLK,516
$RAFOS,4,1233132241,8.750000,8.733611,64,60,59,58,51,51,188,223,199,161,140,1182
$RAFOS,3,1233131646,8.583333,8.568334,64,63,61,58,58,52,221,190,204,153,121,171
$RAFOS,2,1233131061,8.416667,8.405833,82,67,59,57,54,52,754,217,208,155,125,190
$RAFOS,1,1233130446,8.250000,8.235000,65,60,54,54,52,51,221,167,94,127,147,190
$RAFOS,0,1233129860,8.083333,8.072222,61,61,61,56,54,53,179,205,217,116,193,157
$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,1797
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,15.80
$XPDR_PINGS,180
$24V_AH,22.5,111.739
$10V_AH,10.4,50.208
$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,20.325,118.650,351.825,0.000,0.000,99.043,85.120,0.000,45.000,0.000,0.000,183.215,1548.810,8076.507,450.511,1769.461,985.248,0.000,1318.639,0.000,1567.828,1800.000,0.532,0.000
$DEVICE_MAMPS,242.372,79.768,1010.139,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,591.067,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28396,850
$CAP_FILE_SIZE,111580,0
$CFSIZE,260165632,205967360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.4
$GPS,270109,232343,6622.936,-5628.028,12,1.2,30,-36.6