version: 66.04
glider: 108
mission: 11
dive: 761
start: 1 31 109 13 12 26
data:
$ID,108
$MISSION,11
$DIVE,761
$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,-139993.45
$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,35
$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
$GPS1,063702,6606.950,-5643.778,10,1.5,10,-36.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,10.4
$GPS2,063702,6606.950,-5643.778,10,1.5,10,-36.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,NUUK2
$TGT_LATLONG,6500.000,-5600.000
$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,200.9,128638,-13.0,-7.021
$D_GRID,595
$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,-146.0,0.0,0.0,0,86,0.00,0.00,-64.72,0.000,6,0.000,0.000,2958,1734,3247
$GC,91,-0.99,-146.0,2.8,-1.5,12,97,1.55,0.00,0.00,0.000,6,0.122,0.000,2464,1733,3249
$GC,439,-0.82,-146.0,35.9,-10.0,73,446,0.15,3.03,0.00,0.000,4,0.130,0.061,2496,3592,3249
$GC,703,-0.82,-146.0,59.3,-8.7,119,709,0.00,2.12,0.00,0.000,6,0.000,0.041,2496,2209,3248
$GC,1050,-0.82,-146.0,87.2,-8.7,180,1056,0.00,2.28,0.00,0.000,4,0.000,0.064,2487,3599,3247
$GC,1142,-0.82,-146.0,95.1,-8.4,196,1148,0.00,2.12,0.00,0.000,6,0.000,0.042,2487,2220,3247
$GC,1475,-0.82,-146.0,118.3,-6.4,220,1479,0.00,2.20,0.00,0.000,4,0.000,0.054,2487,821,3245
$GC,1510,-0.77,-146.0,120.7,-7.1,221,1515,0.15,2.28,0.00,0.000,6,0.124,0.053,2519,2232,3245
$GC,1830,-0.90,-146.0,137.6,-5.5,236,1835,0.12,2.28,0.00,0.000,4,0.069,0.052,2458,818,3243
$GC,1871,-0.72,-146.0,140.8,-8.0,237,1878,0.28,2.30,0.00,0.000,6,0.125,0.053,2528,2241,3243
$GC,2190,-0.90,-146.0,157.9,-5.2,253,2191,0.15,0.00,0.00,0.000,6,0.067,0.000,2460,2241,3243
$GC,2498,-0.83,-146.0,177.5,-6.2,268,2503,0.15,2.30,0.00,0.000,4,0.137,0.052,2508,817,3242
$GC,2510,-0.83,-146.0,178.3,-6.3,268,2516,0.00,2.30,0.00,0.000,6,0.000,0.052,2500,2244,3242
$GC,2829,-0.91,-146.0,191.8,-4.1,284,2833,0.00,2.28,0.00,0.000,4,0.000,0.051,2500,820,3242
$GC,2854,-0.91,-146.0,192.8,-3.8,285,2858,0.00,2.28,0.00,0.000,6,0.000,0.051,2490,2244,3242
$GC,3188,-0.91,-146.0,207.9,-4.9,301,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2243,3242
$GC,3499,-0.96,-146.0,226.0,-6.0,316,3503,0.00,2.28,0.00,0.000,4,0.000,0.051,2490,815,3242
$GC,3524,-0.96,-146.0,227.6,-5.8,317,3528,0.00,2.28,0.00,0.000,6,0.000,0.050,2480,2245,3242
$GC,3858,-0.96,-146.0,246.5,-5.3,333,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2245,3243
$GC,4168,-0.96,-146.0,262.1,-4.9,348,4172,0.00,2.28,0.00,0.000,4,0.000,0.048,2480,812,3243
$GC,4181,-0.96,-146.0,262.9,-4.7,348,4185,0.00,2.28,0.00,0.000,6,0.000,0.048,2470,2239,3243
$GC,4504,-0.96,-146.0,279.9,-5.4,364,4508,0.00,2.25,0.00,0.000,4,0.000,0.049,2470,818,3244
$GC,4524,-0.90,-146.0,280.8,-5.5,364,4530,0.10,2.25,0.00,0.000,6,0.130,0.048,2486,2232,3244
$GC,4842,-0.95,-146.0,296.9,-5.2,380,4845,0.00,2.22,0.00,0.000,4,0.000,0.048,2486,822,3245
$GC,4882,-0.95,-146.0,299.2,-5.1,381,4889,0.00,2.25,0.00,0.000,6,0.000,0.048,2479,2238,3245
$GC,5201,-0.95,-146.0,316.1,-5.2,397,5205,0.00,2.25,0.00,0.000,4,0.000,0.048,2479,818,3246
$GC,5230,-0.95,-146.0,317.7,-5.1,398,5234,0.00,2.25,0.00,0.000,6,0.000,0.047,2469,2236,3246
$GC,5559,-0.95,-146.0,334.3,-4.9,414,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2236,3246
$GC,5871,-0.95,-146.0,348.9,-4.6,429,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2236,3247
$GC,6177,-0.95,-146.0,362.6,-4.5,444,6181,0.00,2.25,0.00,0.000,4,0.000,0.048,2469,815,3247
$GC,6190,-0.95,-146.0,363.2,-4.4,444,6194,0.00,2.28,0.00,0.000,6,0.000,0.047,2459,2245,3247
$GC,6515,-0.89,-146.0,379.6,-5.0,460,6520,0.10,2.25,0.00,0.000,4,0.134,0.047,2487,820,3248
$GC,6569,-0.89,-146.0,382.3,-5.0,462,6572,0.00,2.25,0.00,0.000,6,0.000,0.047,2479,2238,3248
$GC,6897,-0.89,-146.0,397.4,-4.4,478,6901,0.00,2.22,0.00,0.000,4,0.000,0.048,2479,818,3248
$GC,6923,-0.89,-146.0,398.7,-5.2,479,6927,0.00,2.25,0.00,0.000,6,0.000,0.046,2469,2238,3248
$GC,7252,-0.89,-146.0,415.3,-5.0,488,7256,0.00,2.25,0.00,0.000,4,0.000,0.048,2469,814,3248
$GC,7265,-0.89,-146.0,415.9,-5.1,488,7270,0.10,2.25,0.00,0.000,6,0.129,0.046,2486,2233,3248
$GC,7587,-0.95,-146.0,430.7,-4.5,496,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2232,3249
$GC,7911,-1.01,-146.0,445.5,-4.4,504,7915,0.10,2.25,0.00,0.000,4,0.078,0.045,2436,818,3249
$GC,7923,-1.01,-146.0,446.2,-4.5,504,7928,0.12,2.28,0.00,0.000,6,0.130,0.046,2460,2242,3249
$GC,8238,-1.01,-146.0,463.7,-5.7,512,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2242,3249
$GC,8562,-1.01,-146.0,482.3,-5.6,520,8566,0.00,2.25,0.00,0.000,4,0.000,0.048,2460,821,3249
$GC,8577,-0.96,-146.0,483.1,-5.4,520,8581,0.00,2.25,0.00,0.000,6,0.000,0.046,2453,2238,3249
$GC,8898,-0.90,-146.0,501.9,-6.0,528,8902,0.12,2.25,0.00,0.000,4,0.128,0.046,2488,823,3249
$GC,8911,-0.86,-146.0,502.7,-5.9,528,8915,0.00,2.22,0.00,0.000,6,0.000,0.046,2481,2233,3249
$GC,9231,-0.86,-146.0,519.9,-5.3,536,9235,0.00,2.22,0.00,0.000,4,0.000,0.046,2481,823,3249
$GC,9268,-0.86,-146.0,521.8,-5.6,536,9272,0.10,2.25,0.00,0.000,6,0.127,0.046,2498,2241,3249
$GC,9608,-0.97,-146.0,536.5,-4.2,545,9612,0.12,2.25,0.00,0.000,4,0.071,0.046,2438,821,3249
$GC,9620,-1.03,-146.0,537.2,-4.2,545,9625,0.12,2.25,0.00,0.000,6,0.127,0.046,2462,2238,3249
$GC,9940,-1.03,-146.0,553.7,-5.2,553,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2238,3249
$GC,10266,-1.03,-146.0,570.6,-5.2,561,10270,0.00,2.25,0.00,0.000,4,0.000,0.048,2462,814,3249
$GC,10284,-0.98,-146.0,571.6,-5.1,561,10288,0.00,2.25,0.00,0.000,6,0.000,0.046,2455,2232,3249
$GC,10599,-0.93,-146.0,587.7,-5.0,569,10603,0.10,2.22,0.00,0.000,4,0.133,0.047,2482,826,3249
$GC,10657,-0.93,-146.0,590.5,-4.8,570,10661,0.00,2.25,0.00,0.000,6,0.000,0.047,2474,2242,3249
$STATE,10769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10769,begin apogee
$GC,10780,-0.31,0.0,596.0,4.7,573,10916,0.45,0.00,128.30,1.112,6,0.108,0.000,2619,1731,2650
$STATE,10917,end apogee,CONTROL_FINISHED_OK
$STATE,10917,begin climb
$GC,10921,0.99,146.0,596.9,0.0,576,11058,0.85,2.55,129.18,1.063,4,0.081,0.051,2903,3158,2054
$GC,11111,0.69,146.0,577.7,13.6,581,11116,0.30,2.33,0.00,0.000,6,0.123,0.038,2827,1727,2049
$GC,11437,0.69,146.1,553.8,7.0,589,11441,0.00,2.20,0.00,0.000,4,0.000,0.053,2837,324,2047
$GC,11489,0.76,146.1,549.8,7.7,590,11494,0.00,2.22,0.00,0.000,6,0.000,0.040,2837,1749,2048
$GC,11815,0.76,146.1,525.3,7.5,598,11819,0.00,2.17,0.00,0.000,4,0.000,0.054,2837,3149,2046
$GC,11941,0.66,146.1,514.7,8.3,600,11946,0.10,2.17,0.00,0.000,6,0.136,0.039,2819,1726,2045
$GC,12280,0.75,163.6,492.5,6.5,609,12300,0.10,2.22,14.75,0.989,4,0.073,0.053,2886,330,1983
$GC,12330,0.66,163.6,488.0,9.3,610,12335,0.22,2.22,0.00,0.000,6,0.114,0.041,2818,1749,1982
$GC,12651,0.79,186.1,467.2,6.3,618,12677,0.12,2.22,21.02,1.008,4,0.063,0.053,2884,3159,1890
$GC,12785,0.58,186.1,453.2,11.2,621,12790,0.30,2.20,0.00,0.000,6,0.120,0.040,2804,1729,1887
$GC,13112,0.84,235.5,434.2,5.4,629,13163,0.20,2.30,44.25,1.007,4,0.051,0.053,2917,334,1690
$GC,13204,0.74,235.5,424.2,11.7,631,13209,0.28,2.22,0.00,0.000,6,0.117,0.040,2832,1741,1687
$GC,13525,0.84,235.5,400.2,7.3,639,13530,0.10,2.20,0.00,0.000,4,0.071,0.051,2888,3161,1682
$GC,13642,0.67,235.5,386.9,11.9,643,13647,0.25,2.20,0.00,0.000,6,0.119,0.040,2822,1729,1679
$GC,13973,0.83,243.1,363.9,6.8,659,13984,0.12,2.28,6.35,0.783,4,0.063,0.052,2901,327,1658
$GC,14026,0.76,243.1,358.3,11.1,661,14030,0.20,2.22,0.00,0.000,6,0.116,0.041,2840,1750,1658
$GC,14344,0.84,243.1,334.7,7.5,676,14348,0.08,2.17,0.00,0.000,4,0.085,0.052,2890,3148,1657
$GC,14451,0.67,243.1,322.1,11.8,680,14458,0.25,2.17,0.00,0.000,6,0.117,0.039,2824,1730,1656
$GC,14772,0.86,268.4,301.3,6.2,696,14802,0.15,2.28,23.88,0.919,4,0.058,0.052,2912,332,1555
$GC,14849,0.80,268.4,293.2,11.0,699,14854,0.22,2.22,0.00,0.000,6,0.117,0.040,2843,1750,1553
$GC,15167,0.89,268.4,268.5,7.5,714,15171,0.12,2.17,0.00,0.000,4,0.064,0.051,2908,3151,1550
$GC,15261,0.71,268.4,257.2,12.7,718,15266,0.28,2.17,0.00,0.000,6,0.120,0.040,2833,1734,1548
$GC,15591,0.88,274.1,233.0,6.8,734,15602,0.15,2.22,5.55,0.691,4,0.058,0.051,2923,326,1532
$GC,15661,0.81,274.1,225.0,12.0,737,15666,0.22,2.22,0.00,0.000,6,0.119,0.041,2854,1752,1532
$GC,15989,0.88,274.1,197.7,8.0,753,15993,0.00,2.17,0.00,0.000,4,0.000,0.053,2854,3152,1531
$GC,16075,0.88,274.1,189.8,9.1,756,16082,0.00,2.17,0.00,0.000,6,0.000,0.039,2861,1733,1530
$GC,16394,0.94,274.1,164.5,8.0,772,16399,0.08,2.22,0.00,0.000,4,0.090,0.051,2918,327,1530
$GC,16436,0.87,274.1,160.3,12.0,773,16443,0.17,2.22,0.00,0.000,6,0.119,0.041,2866,1748,1530
$GC,16754,0.93,274.1,133.7,7.9,789,16758,0.00,2.17,0.00,0.000,4,0.000,0.053,2866,3152,1530
$GC,16839,0.93,274.1,125.9,8.9,792,16845,0.00,2.17,0.00,0.000,6,0.000,0.039,2873,1734,1529
$GC,17159,1.01,274.1,98.1,9.0,811,17166,0.10,2.22,0.00,0.000,4,0.076,0.051,2936,329,1530
$GC,17225,0.94,274.1,91.0,11.5,822,17232,0.20,2.22,0.00,0.000,6,0.117,0.041,2877,1751,1530
$GC,17574,1.13,281.5,65.0,6.8,883,17588,0.17,2.25,8.18,0.710,4,0.056,0.054,2960,3148,1502
$GC,17669,0.91,281.5,54.0,12.3,899,17676,0.32,2.17,0.00,0.000,6,0.120,0.041,2870,1733,1500
$GC,18018,1.59,281.5,27.3,9.6,960,18025,0.45,2.22,0.00,0.000,4,0.085,0.052,3030,334,1499
$GC,18062,1.72,281.5,22.6,10.4,967,18069,0.08,2.22,0.00,0.000,6,0.098,0.042,3065,1751,1499
$FREEZE,6.73,-1.348,-1.817
$FREEZE,5.66,-1.355,-1.816
$FREEZE,4.67,-1.414,-1.815
$FREEZE,3.56,-1.436,-1.814
$FREEZE,2.69,-1.451,-1.813
$STATE,18180,end climb,SURFACE_DEPTH_REACHED
$STATE,18180,begin surface coast
$FREEZE,2.09,-1.479,-1.801
$FREEZE,2.03,-1.304,-1.695
$FREEZE,1.99,-1.441,-1.698
$FINISH,2.0,1.024954
$STATE,18197,end surface coast,CONTROL_FINISHED_OK
$STATE,18197,begin surface
$RAFOS_CLK,724
$RAFOS,4,1233420244,16.750000,16.734444,59,58,58,56,53,50,170,202,215,149,124,1043
$RAFOS,3,1233419658,16.583334,16.571667,64,59,59,59,57,57,244,173,228,142,203,212
$RAFOS,2,1233419044,16.416666,16.401112,63,60,59,59,55,51,120,159,198,215,137,955
$RAFOS,1,1233418476,16.250000,16.243334,61,59,58,58,53,51,189,210,117,173,135,219
$RAFOS,0,1233417844,16.083334,16.067778,59,56,56,55,46,46,219,194,168,117,144,182
$RAFOS_FIX,6614.886719,-5648.581055,290109,161652,2,86,0.18
$IRIDIUM_FIX,6537.93,-5627.43,260498,060622
$TT8_MAMPS,0.026078
$HUMID,1806
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.10
$XPDR_PINGS,260
$24V_AH,22.2,113.715
$10V_AH,10.4,51.322
$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,10.300,180.625,381.450,0.000,0.000,0.000,0.000,0.000,65.000,0.000,0.000,0.000,1910.020,13530.069,495.967,1983.821,462.268,0.000,1607.483,0.000,1959.903,1800.000,0.532,0.000
$DEVICE_MAMPS,136.526,63.661,1112.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,687.844,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31559,990
$CAP_FILE_SIZE,152483,0
$CFSIZE,260165632,204926976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.1
$GPS,300109,063702,6606.950,-5643.778,10,1.5,10,-36.3