version: 66.04
glider: 108
mission: 11
dive: 746
start: 1 28 109 10 13 34
data:
$ID,108
$MISSION,11
$DIVE,746
$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,-138870.84
$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,37
$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,2.25
$_SM_ANGLEo,-22.5
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,101,0.00,0.00,-80.93,0.000,6,0.000,0.000,327,2237,3247
$GC,107,-0.99,-146.0,2.5,-0.7,15,121,8.93,2.28,0.00,0.000,4,0.241,0.066,2454,3602,3249
$GC,378,-0.81,-146.0,32.3,-10.4,62,385,0.17,2.15,0.00,0.000,6,0.137,0.044,2505,2221,3251
$GC,726,-0.81,-146.0,61.6,-7.7,123,732,0.00,2.28,0.00,0.000,4,0.000,0.068,2497,3598,3251
$GC,768,-0.81,-146.0,65.2,-8.8,130,775,0.00,2.15,0.00,0.000,6,0.000,0.044,2497,2217,3251
$GC,1116,-0.81,-146.0,97.5,-9.0,191,1122,0.00,2.20,0.00,0.000,4,0.000,0.057,2497,828,3250
$GC,1175,-0.75,-146.0,103.0,-9.3,197,1180,0.12,2.30,0.00,0.000,6,0.127,0.057,2521,2242,3250
$GC,1500,-0.83,-146.0,127.6,-6.6,213,1503,0.00,2.30,0.00,0.000,4,0.000,0.058,2522,822,3249
$GC,1586,-0.88,-146.0,133.2,-6.0,216,1593,0.10,2.33,0.00,0.000,6,0.078,0.057,2468,2245,3249
$GC,1906,-0.81,-146.0,155.7,-7.3,232,1911,0.15,2.33,0.00,0.000,4,0.140,0.057,2511,821,3248
$GC,1958,-0.87,-146.0,159.0,-5.3,234,1962,0.00,2.33,0.00,0.000,6,0.000,0.057,2503,2244,3248
$GC,2282,-0.93,-146.0,175.4,-5.3,250,2284,0.10,0.00,0.00,0.000,6,0.084,0.000,2451,2244,3247
$GC,2590,-0.82,-146.0,199.3,-7.6,265,2595,0.17,2.33,0.00,0.000,4,0.137,0.055,2501,817,3248
$GC,2642,-0.82,-146.0,202.6,-5.9,267,2645,0.00,2.33,0.00,0.000,6,0.000,0.054,2493,2246,3247
$GC,2966,-0.87,-146.0,222.3,-5.9,283,2970,0.00,2.30,0.00,0.000,4,0.000,0.054,2493,816,3248
$GC,3001,-0.87,-146.0,224.4,-5.9,284,3005,0.00,2.30,0.00,0.000,6,0.000,0.054,2483,2236,3248
$GC,3324,-0.87,-146.0,240.8,-4.8,300,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2236,3248
$GC,3634,-0.87,-146.0,256.5,-5.3,315,3638,0.00,2.28,0.00,0.000,4,0.000,0.052,2483,817,3249
$GC,3742,-0.87,-146.0,262.8,-5.9,319,3748,0.00,2.30,0.00,0.000,6,0.000,0.052,2473,2238,3249
$GC,4060,-0.87,-146.0,279.4,-5.1,335,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2238,3250
$GC,4368,-0.87,-146.0,293.9,-4.7,350,4372,0.00,2.28,0.00,0.000,4,0.000,0.051,2473,817,3251
$GC,4461,-0.81,-146.0,298.6,-5.3,354,4466,0.15,2.28,0.00,0.000,6,0.123,0.050,2506,2239,3252
$GC,4791,-0.94,-146.0,312.9,-4.6,370,4795,0.12,2.28,0.00,0.000,4,0.072,0.049,2446,815,3253
$GC,4826,-0.76,-146.0,315.4,-7.8,371,4831,0.28,2.30,0.00,0.000,6,0.123,0.049,2517,2244,3253
$GC,5146,-0.93,-146.0,331.6,-5.2,386,5151,0.15,2.28,0.00,0.000,4,0.069,0.049,2449,819,3254
$GC,5226,-0.78,-146.0,337.7,-7.8,389,5231,0.25,2.28,0.00,0.000,6,0.122,0.050,2512,2244,3254
$GC,5550,-0.93,-146.0,352.5,-4.1,405,5554,0.12,2.28,0.00,0.000,4,0.073,0.048,2452,817,3255
$GC,5602,-0.80,-146.0,355.4,-5.9,407,5607,0.22,2.25,0.00,0.000,6,0.123,0.048,2508,2233,3255
$GC,5931,-0.93,-146.0,367.8,-3.4,423,5935,0.12,2.25,0.00,0.000,4,0.074,0.047,2448,818,3256
$GC,5962,-0.82,-146.0,369.4,-5.8,424,5967,0.22,2.28,0.00,0.000,6,0.123,0.048,2503,2241,3256
$GC,6285,-0.93,-146.0,381.8,-3.9,440,6287,0.10,0.00,0.00,0.000,6,0.081,0.000,2454,2241,3257
$GC,6595,-0.86,-146.0,396.1,-4.6,455,6596,0.15,0.00,0.00,0.000,6,0.136,0.000,2495,2241,3257
$STATE,6672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6672,begin apogee
$GC,6683,-0.31,0.0,399.2,3.7,459,6815,0.38,0.00,125.35,1.006,6,0.110,0.000,2618,1733,2649
$STATE,6816,end apogee,CONTROL_FINISHED_OK
$STATE,6816,begin climb
$GC,6820,0.99,146.0,398.4,0.0,466,6953,0.88,2.47,124.97,0.943,4,0.096,0.054,2903,3141,2053
$GC,7007,0.70,146.0,380.3,12.6,475,7012,0.30,2.28,0.00,0.000,6,0.125,0.040,2827,1735,2049
$GC,7335,0.76,146.0,356.3,7.1,491,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1735,2047
$GC,7647,0.86,174.2,335.5,6.1,506,7678,0.15,2.33,23.83,0.912,4,0.063,0.054,2904,3151,1938
$GC,7715,0.60,174.2,328.3,12.6,509,7720,0.35,2.20,0.00,0.000,6,0.126,0.040,2809,1729,1936
$GC,8044,0.86,241.0,310.3,4.9,525,8106,0.17,0.00,57.78,0.921,6,0.055,0.000,2898,1728,1667
$GC,8420,0.76,241.0,269.9,11.7,543,8425,0.20,2.28,0.00,0.000,4,0.117,0.052,2832,3158,1657
$GC,8455,0.82,241.0,265.7,10.1,544,8461,0.00,2.20,0.00,0.000,6,0.000,0.040,2839,1726,1655
$GC,8775,0.91,241.0,237.1,8.8,560,8777,0.12,0.00,0.00,0.000,6,0.069,0.000,2907,1726,1654
$GC,9082,0.80,241.0,199.3,12.1,575,9084,0.20,0.00,0.00,0.000,6,0.117,0.000,2845,1726,1654
$GC,9392,0.94,254.9,177.9,6.6,590,9413,0.12,2.35,11.32,0.788,4,0.068,0.052,2912,3160,1609
$GC,9449,0.74,254.9,172.0,11.9,592,9454,0.28,2.20,0.00,0.000,6,0.118,0.040,2837,1728,1607
$GC,9767,0.97,254.9,149.0,8.3,607,9771,0.17,2.20,0.00,0.000,4,0.059,0.052,2934,334,1606
$GC,9797,0.97,254.9,145.5,12.7,608,9802,0.17,2.22,0.00,0.000,6,0.123,0.040,2884,1757,1606
$GC,10120,1.02,254.9,112.2,8.6,624,10124,0.00,2.17,0.00,0.000,4,0.000,0.054,2884,3153,1607
$GC,10212,1.02,254.9,102.7,10.8,628,10215,0.00,2.17,0.00,0.000,6,0.000,0.040,2890,1735,1606
$GC,10556,1.09,254.9,71.6,7.6,683,10563,0.10,2.22,0.00,0.000,4,0.077,0.054,2955,331,1606
$GC,10623,1.02,254.9,65.3,10.4,694,10630,0.20,2.22,0.00,0.000,6,0.120,0.043,2895,1746,1606
$GC,10974,1.18,298.3,43.4,5.6,755,11022,0.15,2.28,39.38,0.816,4,0.063,0.057,2968,3155,1433
$GC,11070,0.95,298.3,33.4,11.6,771,11077,0.32,2.22,0.00,0.000,6,0.123,0.044,2880,1733,1429
$GC,11419,1.15,314.5,10.3,6.5,832,11439,0.17,2.35,14.50,0.772,4,0.061,0.057,2966,3155,1367
$FREEZE,6.80,-1.530,-1.819
$FREEZE,6.17,-1.531,-1.818
$FREEZE,5.84,-1.533,-1.818
$FREEZE,5.35,-1.531,-1.818
$FREEZE,4.69,-1.534,-1.817
$GC,11478,0.96,314.5,4.7,10.6,841,11485,0.30,2.22,0.00,0.000,6,0.117,0.044,2883,1731,1365
$FREEZE,2.75,-1.538,-1.816
$STATE,11489,end climb,SURFACE_DEPTH_REACHED
$STATE,11490,begin surface coast
$FREEZE,2.35,-1.535,-1.815
$FREEZE,1.88,-1.540,-1.815
$FREEZE,1.62,-1.543,-1.813
$FREEZE,1.72,-1.556,-1.810
$FREEZE,1.68,-1.554,-1.808
$FINISH,1.7,1.026536
$STATE,11518,end surface coast,CONTROL_FINISHED_OK
$STATE,11518,begin surface
$SM_CCo,11602,0.00,0.000,0,0,1361,316.19
$SM_GC,2.96,6.88,0.00,0.00,0.048,0.000,0.000,323,2230,1361,-10.70,0.00,316.19
$RAFOS_CLK,514
$RAFOS,4,1233146650,12.750000,12.736111,71,58,55,51,51,49,195,173,211,151,229,134
$RAFOS,3,1233146043,12.583333,12.567500,70,59,55,54,53,48,192,221,159,201,135,120
$RAFOS,2,1233145446,12.416667,12.401667,91,60,58,53,53,51,833,207,163,134,180,190
$RAFOS,1,1233144841,12.250000,12.233611,83,74,58,57,54,54,988,204,118,213,151,130
$RAFOS,0,1233144244,12.083333,12.067778,60,60,56,53,48,48,145,197,179,123,164,215
$RAFOS_FIX,6618.624512,-5644.962402,280109,121220,2,87,0.32
$IRIDIUM_FIX,6553.70,-5630.49,230498,232342
$TT8_MAMPS,0.026845
$HUMID,1786
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,15.60
$XPDR_PINGS,256
$24V_AH,22.6,111.858
$10V_AH,10.4,50.275
$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,23.275,101.350,397.125,0.000,0.000,99.104,85.057,0.000,64.000,0.000,0.000,186.781,1517.397,7981.995,491.143,1679.124,1021.490,0.000,1316.738,0.000,1490.213,1800.000,0.532,0.000
$DEVICE_MAMPS,240.838,68.263,1005.537,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.604,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28389,848
$CAP_FILE_SIZE,110769,0
$CFSIZE,260165632,205914112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.2
$GPS,280109,122120,6618.625,-5644.962,0,2087.0,0,-36.6