version: 66.04
glider: 108
mission: 11
dive: 747
start: 1 28 109 13 49 17
data:
$ID,108
$MISSION,11
$DIVE,747
$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,-139242.91
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,122120,6618.625,-5644.962,0,2087.0,0,-36.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-16.4
$GPS2,122120,6618.625,-5644.962,0,2087.0,0,-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,234.8,36305,-13.0,-7.021
$D_GRID,575
$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,11,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,106,0.00,0.00,-85.20,0.000,6,0.000,0.000,323,2241,3247
$GC,112,-0.99,-146.0,2.6,0.0,16,125,6.72,2.22,0.00,0.000,4,0.120,0.063,2453,3608,3249
$GC,382,-0.78,-146.0,25.6,-12.7,63,389,0.20,2.17,0.00,0.000,6,0.140,0.044,2509,2206,3250
$GC,730,-0.78,-146.0,56.2,-7.7,124,737,0.00,2.30,0.00,0.000,4,0.000,0.069,2502,3598,3249
$GC,858,-0.78,-146.0,67.2,-9.1,146,864,0.00,2.15,0.00,0.000,6,0.000,0.045,2502,2216,3249
$GC,1205,-0.78,-146.0,92.0,-6.9,207,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2215,3249
$GC,1549,-0.78,-146.0,115.8,-7.2,238,1553,0.00,2.22,0.00,0.000,4,0.000,0.058,2501,814,3248
$GC,1606,-0.78,-146.0,120.5,-8.5,240,1609,0.00,2.33,0.00,0.000,6,0.000,0.058,2492,2239,3248
$GC,1929,-0.78,-146.0,145.0,-7.9,256,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2239,3247
$GC,2238,-0.78,-146.0,165.8,-5.7,271,2242,0.00,2.30,0.00,0.000,4,0.000,0.058,2492,821,3246
$GC,2318,-0.78,-146.0,170.2,-4.7,274,2323,0.12,2.33,0.00,0.000,6,0.128,0.057,2516,2241,3246
$GC,2638,-0.92,-146.0,183.0,-4.1,289,2640,0.12,0.00,0.00,0.000,6,0.076,0.000,2460,2240,3246
$GC,2945,-0.84,-146.0,203.3,-6.8,304,2950,0.15,2.30,0.00,0.000,4,0.137,0.054,2502,823,3246
$GC,3032,-0.84,-146.0,208.7,-6.3,308,3036,0.00,2.30,0.00,0.000,6,0.000,0.055,2494,2238,3246
$GC,3367,-0.90,-146.0,229.4,-5.8,324,3371,0.00,2.28,0.00,0.000,4,0.000,0.054,2494,820,3248
$GC,3447,-0.90,-146.0,234.2,-5.7,327,3451,0.00,2.28,0.00,0.000,6,0.000,0.054,2484,2233,3248
$GC,3771,-0.90,-146.0,251.2,-5.0,343,3774,0.00,2.28,0.00,0.000,4,0.000,0.052,2484,811,3249
$GC,3811,-0.90,-146.0,253.5,-5.5,344,3818,0.00,2.30,0.00,0.000,6,0.000,0.051,2474,2242,3249
$GC,4129,-0.90,-146.0,271.0,-5.6,360,4133,0.00,2.28,0.00,0.000,4,0.000,0.052,2474,817,3250
$GC,4210,-0.83,-146.0,275.6,-5.8,363,4215,0.15,2.30,0.00,0.000,6,0.127,0.051,2506,2246,3250
$GC,4533,-0.95,-146.0,290.8,-4.6,379,4538,0.12,2.28,0.00,0.000,4,0.074,0.050,2448,821,3252
$GC,4604,-0.81,-146.0,295.4,-6.7,382,4609,0.25,2.28,0.00,0.000,6,0.123,0.051,2510,2243,3252
$GC,4928,-0.95,-146.0,312.0,-5.5,398,4932,0.15,2.28,0.00,0.000,4,0.070,0.050,2443,814,3253
$GC,4940,-1.02,-146.0,312.8,-5.4,398,4945,0.10,2.28,0.00,0.000,6,0.136,0.050,2458,2239,3253
$GC,5265,-0.98,-146.0,333.8,-6.3,414,5268,0.00,2.25,0.00,0.000,4,0.000,0.050,2458,820,3254
$GC,5290,-0.88,-146.0,335.4,-6.3,415,5295,0.15,2.25,0.00,0.000,6,0.126,0.049,2492,2234,3254
$GC,5625,-0.96,-146.0,352.4,-5.1,431,5629,0.00,2.25,0.00,0.000,4,0.000,0.049,2492,817,3254
$GC,5696,-0.96,-146.0,355.9,-4.9,434,5700,0.00,2.28,0.00,0.000,6,0.000,0.049,2485,2244,3254
$GC,6032,-0.96,-146.0,372.0,-4.6,450,6036,0.00,2.28,0.00,0.000,4,0.000,0.050,2485,811,3255
$GC,6069,-0.96,-146.0,373.8,-5.0,451,6073,0.00,2.28,0.00,0.000,6,0.000,0.048,2475,2242,3255
$GC,6393,-0.96,-146.0,389.6,-4.6,467,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2242,3256
$GC,6701,-0.96,-146.0,403.8,-4.5,480,6705,0.00,2.25,0.00,0.000,4,0.000,0.049,2475,813,3257
$GC,6771,-0.91,-146.0,407.3,-4.9,481,6774,0.00,2.28,0.00,0.000,6,0.000,0.048,2465,2244,3257
$GC,7121,-0.91,-146.0,424.5,-5.0,490,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2244,3257
$GC,7446,-0.91,-146.0,441.4,-5.0,498,7449,0.00,2.17,0.00,0.000,4,0.000,0.061,2454,3604,3258
$GC,7464,-0.91,-146.0,442.4,-5.0,498,7469,0.12,2.10,0.00,0.000,6,0.137,0.037,2487,2209,3258
$GC,7780,-0.98,-146.0,455.8,-4.1,506,7784,0.00,2.12,0.00,0.000,4,0.000,0.048,2487,832,3258
$GC,7843,-0.98,-146.0,458.9,-5.4,507,7847,0.00,2.22,0.00,0.000,6,0.000,0.047,2480,2239,3258
$GC,8159,-0.98,-146.0,473.9,-5.0,515,8163,0.00,2.22,0.00,0.000,4,0.000,0.048,2480,832,3258
$GC,8177,-0.98,-146.0,474.9,-5.2,515,8180,0.00,2.22,0.00,0.000,6,0.000,0.046,2470,2240,3259
$GC,8493,-0.98,-146.0,490.1,-4.8,523,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2240,3258
$GC,8817,-0.98,-146.0,505.1,-4.4,531,8820,0.00,2.22,0.00,0.000,4,0.000,0.048,2470,832,3259
$GC,8831,-0.98,-146.0,505.7,-4.2,531,8835,0.00,2.22,0.00,0.000,6,0.000,0.046,2460,2240,3259
$GC,9152,-0.98,-146.0,522.1,-5.1,539,9156,0.00,2.22,0.00,0.000,4,0.000,0.048,2460,833,3259
$GC,9164,-0.92,-146.0,522.6,-5.0,539,9169,0.12,2.22,0.00,0.000,6,0.125,0.046,2485,2240,3259
$GC,9486,-0.99,-146.0,535.8,-4.2,547,9487,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2240,3259
$GC,9810,-1.13,-146.0,549.2,-3.7,555,9815,0.17,2.25,0.00,0.000,4,0.063,0.047,2405,824,3260
$STATE,9952,end dive,NO_VERTICAL_VELOCITY
$STATE,9952,begin apogee
$GC,9964,-0.31,0.0,549.1,0.0,558,10095,0.60,0.00,127.62,1.101,6,0.086,0.000,2615,1749,2650
$STATE,10096,end apogee,CONTROL_FINISHED_OK
$STATE,10096,begin climb
$GC,10100,0.99,146.0,548.9,0.0,561,10238,0.85,2.45,128.57,1.037,4,0.091,0.054,2898,3138,2054
$GC,10363,0.72,146.0,521.1,12.5,567,10368,0.28,2.20,0.00,0.000,6,0.126,0.040,2828,1744,2048
$GC,10696,0.77,146.0,495.8,7.7,575,10699,0.00,2.22,0.00,0.000,4,0.000,0.054,2836,330,2047
$GC,10726,0.84,146.0,493.4,7.7,575,10731,0.10,2.22,0.00,0.000,6,0.075,0.041,2893,1754,2047
$GC,11064,0.67,146.0,458.1,10.3,584,11069,0.22,2.20,0.00,0.000,4,0.123,0.054,2820,3160,2047
$GC,11160,0.67,146.0,450.0,8.2,586,11164,0.00,2.20,0.00,0.000,6,0.000,0.040,2829,1725,2046
$GC,11482,0.67,146.0,426.9,7.3,594,11485,0.00,2.28,0.00,0.000,4,0.000,0.052,2829,3145,2046
$GC,11534,0.60,146.0,422.3,8.7,595,11538,0.12,2.17,0.00,0.000,6,0.127,0.039,2803,1729,2045
$GC,11860,0.82,183.3,403.0,5.8,603,11898,0.17,0.00,31.90,0.996,6,0.057,0.000,2893,1728,1901
$GC,12209,0.69,183.3,365.7,10.9,619,12211,0.22,0.00,0.00,0.000,6,0.116,0.000,2823,1728,1896
$GC,12519,0.79,183.3,342.3,7.6,634,12524,0.10,2.28,0.00,0.000,4,0.073,0.051,2879,3146,1895
$GC,12554,0.61,183.3,338.6,11.1,635,12561,0.28,2.17,0.00,0.000,6,0.121,0.039,2807,1730,1895
$GC,12872,0.82,199.1,316.6,6.5,651,12894,0.17,2.25,13.65,0.894,4,0.055,0.053,2911,336,1838
$GC,12920,0.67,199.1,311.7,11.5,653,12925,0.30,2.22,0.00,0.000,6,0.120,0.041,2818,1752,1837
$GC,13249,0.84,204.3,287.8,6.9,669,13260,0.15,2.20,5.57,0.719,4,0.058,0.053,2897,3157,1817
$GC,13356,0.64,204.3,275.5,12.6,673,13363,0.30,2.20,0.00,0.000,6,0.120,0.040,2815,1726,1816
$GC,13675,0.84,216.9,252.9,6.6,689,13697,0.15,2.28,12.35,0.848,4,0.058,0.052,2907,324,1765
$GC,13727,0.74,216.9,247.7,11.3,691,13731,0.22,2.22,0.00,0.000,6,0.117,0.041,2838,1742,1764
$GC,14050,0.86,231.7,224.9,6.5,707,14073,0.10,2.22,14.27,0.842,4,0.074,0.053,2895,3156,1704
$GC,14193,0.70,231.7,209.4,11.7,713,14198,0.25,2.20,0.00,0.000,6,0.117,0.040,2828,1724,1701
$GC,14524,0.87,241.2,186.4,6.7,729,14539,0.15,2.20,9.45,0.776,4,0.058,0.052,2922,332,1666
$GC,14586,0.78,241.2,179.3,12.1,731,14592,0.25,2.20,0.00,0.000,6,0.116,0.041,2844,1744,1666
$GC,14904,0.92,241.2,153.6,7.5,747,14908,0.12,2.17,0.00,0.000,4,0.064,0.052,2912,3149,1663
$GC,15006,0.72,241.2,141.2,13.0,751,15011,0.30,2.17,0.00,0.000,6,0.120,0.039,2830,1732,1662
$GC,15325,1.23,244.9,122.2,6.9,766,15334,0.32,2.22,4.12,0.565,4,0.091,0.052,2946,324,1652
$GC,15387,1.14,244.9,116.8,8.9,768,15393,0.00,2.22,0.00,0.000,6,0.000,0.040,2946,1757,1651
$GC,15721,1.00,244.9,78.3,11.5,808,15728,0.17,2.17,0.00,0.000,4,0.127,0.054,2894,3146,1651
$GC,15759,0.92,244.9,74.4,10.6,814,15765,0.00,2.17,0.00,0.000,6,0.000,0.040,2901,1731,1651
$GC,16107,0.97,244.9,46.8,7.2,875,16113,0.00,2.20,0.00,0.000,4,0.000,0.054,2911,333,1651
$GC,16156,1.06,246.0,43.4,7.0,883,16162,0.00,2.20,0.00,0.000,6,0.000,0.042,2911,1742,1651
$GC,16504,1.07,258.2,16.8,6.6,944,16523,0.00,2.28,13.73,0.769,4,0.000,0.057,2912,3145,1597
$GC,16566,1.02,258.2,12.3,7.6,954,16572,0.00,2.20,0.00,0.000,6,0.000,0.042,2920,1724,1595
$FREEZE,6.76,-1.537,-1.819
$FREEZE,6.21,-1.542,-1.819
$FREEZE,5.84,-1.538,-1.818
$FREEZE,5.32,-1.538,-1.818
$FREEZE,4.70,-1.551,-1.817
$FREEZE,4.32,-1.541,-1.817
$FREEZE,3.86,-1.544,-1.817
$FREEZE,3.38,-1.545,-1.816
$FREEZE,2.88,-1.552,-1.816
$STATE,16676,end climb,SURFACE_DEPTH_REACHED
$STATE,16676,begin surface coast
$FREEZE,2.16,-1.546,-1.815
$FREEZE,1.88,-1.561,-1.814
$FREEZE,1.84,-1.567,-1.804
$FREEZE,1.80,-1.567,-1.804
$FREEZE,1.83,-1.568,-1.804
$FREEZE,1.76,-1.566,-1.802
$FREEZE,1.89,-1.557,-1.801
$FINISH,1.9,1.026426
$STATE,16716,end surface coast,CONTROL_FINISHED_OK
$STATE,16716,begin surface
$SM_CCo,16805,0.00,0.000,0,0,1592,259.53
$SM_GC,3.22,7.12,0.00,0.00,0.059,0.000,0.000,329,2229,1592,-10.68,-0.03,259.53
$RAFOS_CLK,709
$RAFOS,4,1233161045,16.750000,16.734722,67,64,60,57,56,52,217,174,161,185,202,138
$RAFOS,3,1233160443,16.583334,16.567499,68,59,59,52,52,50,220,201,128,154,184,143
$RAFOS,2,1233159874,16.416666,16.409445,114,65,59,58,56,56,675,204,215,155,181,145
$RAFOS,1,1233159247,16.250000,16.235277,74,67,63,56,54,54,952,192,227,176,206,136
$RAFOS,0,1233158670,16.083334,16.075001,69,69,69,58,57,54,178,203,226,120,144,214
$RAFOS_FIX,6619.728027,-5643.445801,280109,161624,2,94,0.16
$IRIDIUM_FIX,6553.70,-5630.49,230498,232342
$TT8_MAMPS,0.026845
$HUMID,1801
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,15.70
$XPDR_PINGS,314
$24V_AH,22.2,111.978
$10V_AH,10.4,50.357
$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,21.725,156.675,361.250,0.000,0.000,99.228,85.146,0.000,78.500,0.000,0.000,186.776,1868.181,12234.901,498.549,2155.731,1133.406,0.000,1574.958,0.000,1949.962,1800.000,0.532,0.000
$DEVICE_MAMPS,139.594,69.030,1101.412,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.335,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31557,980
$CAP_FILE_SIZE,147958,0
$CFSIZE,260165632,205811712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.2
$GPS,280109,162224,6619.728,-5643.446,0,2094.0,0,-36.6