version: 66.04
glider: 108
mission: 11
dive: 764
start: 2 1 109 5 12 37
data:
$ID,108
$MISSION,11
$DIVE,764
$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,-140730.45
$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,36
$R_STBD_OVSHOOT,32
$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,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-56.6
$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,17,-0.99,-146.0,0.0,0.0,0,81,0.00,0.00,-62.00,0.000,2,0.000,0.000,324,2239,2784
$GC,87,-0.99,-146.0,3.0,-0.9,11,119,8.75,2.38,-17.55,0.000,4,0.235,0.066,2469,814,3248
$GC,331,-0.80,-146.0,26.2,-10.4,53,338,0.17,2.30,0.00,0.000,6,0.127,0.054,2511,2234,3252
$GC,680,-0.80,-146.0,54.4,-8.4,114,686,0.00,2.28,0.00,0.000,4,0.000,0.053,2512,811,3251
$GC,694,-0.80,-146.0,55.6,-8.3,116,700,0.00,2.30,0.00,0.000,6,0.000,0.053,2504,2233,3251
$GC,1042,-0.80,-146.0,81.8,-6.3,177,1048,0.00,2.28,0.00,0.000,4,0.000,0.054,2504,821,3251
$GC,1064,-0.80,-146.0,83.3,-6.8,180,1070,0.00,2.30,0.00,0.000,6,0.000,0.053,2494,2243,3250
$GC,1409,-0.80,-146.0,107.2,-6.7,227,1413,0.00,2.30,0.00,0.000,4,0.000,0.055,2493,822,3249
$GC,1450,-0.80,-146.0,110.0,-7.5,228,1457,0.10,2.30,0.00,0.000,6,0.131,0.055,2510,2233,3249
$GC,1769,-0.88,-146.0,128.2,-5.3,244,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2233,3248
$GC,2077,-0.97,-146.0,145.5,-5.5,259,2082,0.15,2.30,0.00,0.000,4,0.072,0.053,2446,815,3248
$GC,2090,-0.97,-146.0,146.4,-5.6,259,2096,0.12,2.30,0.00,0.000,6,0.133,0.053,2468,2233,3248
$GC,2407,-0.97,-146.0,168.0,-6.4,275,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2233,3248
$GC,2716,-0.97,-146.0,184.7,-5.4,290,2720,0.00,2.20,0.00,0.000,4,0.000,0.064,2460,3602,3248
$GC,2746,-0.92,-146.0,186.6,-6.4,291,2751,0.00,2.12,0.00,0.000,6,0.000,0.041,2460,2211,3248
$GC,3077,-0.86,-146.0,206.0,-5.6,307,3081,0.12,2.20,0.00,0.000,4,0.141,0.051,2497,817,3248
$GC,3090,-0.81,-146.0,206.8,-5.6,307,3093,0.00,2.30,0.00,0.000,6,0.000,0.051,2490,2243,3248
$GC,3414,-0.81,-146.0,222.4,-4.5,323,3418,0.00,2.28,0.00,0.000,4,0.000,0.051,2490,820,3249
$GC,3467,-0.81,-146.0,225.2,-5.4,325,3471,0.10,2.28,0.00,0.000,6,0.128,0.051,2507,2234,3250
$GC,3797,-0.93,-146.0,240.5,-5.0,341,3799,0.12,0.00,0.00,0.000,6,0.076,0.000,2449,2234,3251
$GC,4106,-0.83,-146.0,261.2,-6.8,356,4110,0.17,2.28,0.00,0.000,4,0.135,0.048,2500,817,3251
$GC,4119,-0.76,-146.0,262.3,-6.7,356,4123,0.10,2.28,0.00,0.000,6,0.125,0.048,2520,2239,3252
$GC,4443,-0.92,-146.0,277.0,-4.3,372,4448,0.15,2.28,0.00,0.000,4,0.068,0.049,2450,817,3253
$GC,4458,-1.01,-146.0,277.6,-4.1,372,4461,0.00,2.28,0.00,0.000,6,0.000,0.048,2440,2238,3253
$GC,4781,-0.88,-146.0,298.4,-6.3,388,4783,0.17,0.00,0.00,0.000,6,0.128,0.000,2491,2238,3253
$GC,5091,-0.95,-146.0,314.0,-4.8,403,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2238,3255
$GC,5400,-1.01,-146.0,328.4,-4.4,418,5404,0.12,2.28,0.00,0.000,4,0.074,0.048,2433,813,3255
$GC,5412,-1.01,-146.0,329.1,-4.4,418,5416,0.15,2.28,0.00,0.000,6,0.125,0.048,2465,2238,3255
$GC,5735,-1.01,-146.0,345.9,-5.1,434,5739,0.00,2.25,0.00,0.000,4,0.000,0.048,2465,821,3256
$GC,5788,-0.94,-146.0,348.7,-5.1,436,5792,0.00,2.25,0.00,0.000,6,0.000,0.047,2457,2233,3256
$GC,6117,-0.88,-146.0,364.8,-5.0,452,6121,0.12,2.25,0.00,0.000,4,0.130,0.047,2494,823,3257
$GC,6144,-0.88,-146.0,366.0,-4.6,453,6148,0.00,2.25,0.00,0.000,6,0.000,0.047,2487,2240,3257
$GC,6481,-0.93,-146.0,380.8,-4.7,469,6485,0.00,2.25,0.00,0.000,4,0.000,0.048,2487,822,3257
$GC,6499,-0.93,-146.0,382.0,-4.8,469,6505,0.00,2.25,0.00,0.000,6,0.000,0.048,2477,2234,3257
$GC,6818,-0.93,-146.0,397.5,-4.8,485,6821,0.00,2.25,0.00,0.000,4,0.000,0.048,2477,814,3257
$GC,6830,-0.93,-146.0,398.3,-4.9,485,6834,0.00,2.25,0.00,0.000,6,0.000,0.046,2467,2231,3258
$GC,7170,-0.93,-146.0,416.0,-5.2,495,7173,0.00,2.25,0.00,0.000,4,0.000,0.048,2467,814,3258
$GC,7183,-0.93,-146.0,416.7,-5.1,495,7187,0.00,2.28,0.00,0.000,6,0.000,0.046,2457,2244,3258
$GC,7505,-0.88,-146.0,434.3,-5.6,503,7509,0.12,2.28,0.00,0.000,4,0.131,0.047,2494,817,3258
$GC,7517,-0.88,-146.0,435.1,-5.7,503,7521,0.00,2.25,0.00,0.000,6,0.000,0.046,2487,2239,3258
$GC,7838,-0.94,-146.0,450.7,-4.9,511,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2239,3258
$GC,8164,-1.00,-146.0,466.3,-4.8,519,8168,0.08,2.25,0.00,0.000,4,0.089,0.048,2439,817,3258
$GC,8182,-0.95,-146.0,467.5,-4.9,519,8187,0.17,2.28,0.00,0.000,6,0.123,0.047,2478,2244,3259
$GC,8532,-0.95,-146.0,485.2,-5.0,528,8535,0.00,2.25,0.00,0.000,4,0.000,0.048,2478,824,3258
$GC,8568,-0.95,-146.0,487.0,-4.6,528,8572,0.00,2.25,0.00,0.000,6,0.000,0.047,2470,2237,3259
$GC,8906,-0.95,-146.0,503.6,-4.9,537,8910,0.00,2.25,0.00,0.000,4,0.000,0.048,2470,821,3258
$GC,8925,-0.95,-146.0,504.5,-4.8,537,8929,0.00,2.25,0.00,0.000,6,0.000,0.046,2460,2234,3258
$GC,9241,-0.95,-146.0,520.7,-4.9,545,9245,0.00,2.25,0.00,0.000,4,0.000,0.047,2460,812,3258
$GC,9254,-0.90,-146.0,521.4,-5.0,545,9258,0.12,2.25,0.00,0.000,6,0.124,0.045,2484,2240,3258
$GC,9574,-0.97,-146.0,534.6,-4.0,553,9578,0.00,2.25,0.00,0.000,4,0.000,0.048,2485,817,3259
$GC,9587,-1.02,-146.0,535.1,-3.9,553,9591,0.00,2.25,0.00,0.000,6,0.000,0.046,2477,2233,3259
$GC,9909,-1.02,-146.0,549.7,-4.6,561,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2233,3259
$GC,10233,-1.02,-146.0,564.9,-4.7,569,10237,0.00,2.25,0.00,0.000,4,0.000,0.047,2477,812,3259
$GC,10247,-1.02,-146.0,565.6,-4.7,569,10251,0.00,2.28,0.00,0.000,6,0.000,0.046,2467,2243,3259
$GC,10568,-1.02,-146.0,581.8,-5.0,577,10572,0.00,2.25,0.00,0.000,4,0.000,0.048,2467,824,3259
$GC,10604,-0.96,-146.0,583.9,-5.8,577,10608,0.00,2.25,0.00,0.000,6,0.000,0.047,2457,2237,3259
$STATE,10816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10816,begin apogee
$GC,10827,-0.31,0.0,595.3,5.2,583,10965,0.50,0.00,130.65,1.108,6,0.113,0.000,2616,1728,2650
$STATE,10966,end apogee,CONTROL_FINISHED_OK
$STATE,10966,begin climb
$GC,10972,0.99,146.0,596.7,0.0,586,11109,0.85,2.50,130.02,1.061,4,0.090,0.051,2898,3151,2053
$GC,11142,0.70,146.0,580.2,12.8,590,11147,0.28,2.35,0.00,0.000,6,0.125,0.038,2832,1725,2049
$GC,11463,0.70,146.0,554.0,7.8,598,11467,0.00,2.20,0.00,0.000,4,0.000,0.053,2841,333,2047
$GC,11521,0.76,146.0,549.3,8.4,599,11525,0.00,2.22,0.00,0.000,6,0.000,0.040,2841,1753,2047
$GC,11841,0.76,146.0,523.3,8.1,607,11845,0.00,2.17,0.00,0.000,4,0.000,0.054,2841,3151,2046
$GC,11928,0.63,146.0,515.4,9.3,608,11935,0.15,2.17,0.00,0.000,6,0.125,0.039,2808,1732,2045
$GC,12261,0.80,175.7,494.6,6.1,617,12290,0.15,0.00,25.10,1.025,6,0.059,0.000,2885,1732,1933
$GC,12632,0.66,175.7,455.4,10.9,626,12634,0.22,0.00,0.00,0.000,6,0.116,0.000,2816,1732,1929
$GC,12956,0.78,183.1,432.5,6.8,634,12970,0.12,2.33,7.25,0.847,4,0.065,0.053,2881,3154,1903
$GC,13006,0.57,183.1,427.1,12.6,635,13011,0.30,2.17,0.00,0.000,6,0.121,0.039,2801,1733,1902
$GC,13328,0.83,222.1,407.2,5.8,643,13370,0.20,2.28,34.55,0.992,4,0.051,0.053,2921,326,1744
$GC,13412,0.70,222.1,397.6,12.4,644,13419,0.30,2.25,0.00,0.000,6,0.117,0.041,2828,1745,1741
$GC,13730,0.82,222.1,374.5,7.2,660,13735,0.10,2.20,0.00,0.000,4,0.071,0.053,2884,3158,1738
$GC,13839,0.65,222.1,361.9,11.4,664,13846,0.25,2.20,0.00,0.000,6,0.118,0.040,2818,1725,1737
$GC,14159,0.84,250.9,341.0,6.1,680,14190,0.15,2.22,25.38,0.941,4,0.058,0.053,2907,337,1627
$GC,14227,0.76,250.9,334.1,11.1,683,14231,0.22,2.22,0.00,0.000,6,0.117,0.040,2839,1752,1625
$GC,14555,0.85,250.9,308.5,8.0,699,14559,0.10,2.17,0.00,0.000,4,0.072,0.052,2895,3150,1621
$GC,14658,0.68,250.9,295.9,13.1,703,14663,0.28,2.17,0.00,0.000,6,0.119,0.040,2821,1735,1619
$GC,14976,0.90,277.4,274.7,6.2,718,15007,0.17,2.28,23.80,0.898,4,0.054,0.052,2922,335,1519
$GC,15053,0.81,277.4,265.9,12.7,721,15058,0.22,2.20,0.00,0.000,6,0.119,0.041,2854,1745,1518
$GC,15376,0.88,277.4,237.9,8.6,737,15380,0.00,2.17,0.00,0.000,4,0.000,0.053,2854,3148,1514
$GC,15457,0.88,277.4,230.0,10.3,740,15460,0.00,2.17,0.00,0.000,6,0.000,0.039,2860,1730,1512
$GC,15779,0.88,277.4,201.3,9.0,756,15783,0.00,2.17,0.00,0.000,4,0.000,0.052,2871,335,1512
$GC,15843,0.96,277.4,195.5,8.6,758,15849,0.00,2.20,0.00,0.000,6,0.000,0.040,2871,1748,1512
$GC,16161,0.96,277.4,165.9,9.2,774,16165,0.00,2.17,0.00,0.000,4,0.000,0.053,2871,3153,1511
$GC,16230,0.89,277.4,158.5,11.3,777,16234,0.00,2.17,0.00,0.000,6,0.000,0.040,2880,1734,1511
$GC,16565,0.89,277.4,125.7,9.7,793,16568,0.00,2.20,0.00,0.000,4,0.000,0.053,2890,339,1511
$GC,16636,0.95,277.4,119.1,9.3,796,16639,0.00,2.20,0.00,0.000,6,0.000,0.040,2890,1749,1511
$GC,16965,0.95,277.4,88.7,8.4,827,16971,0.00,2.17,0.00,0.000,4,0.000,0.054,2890,3142,1511
$GC,17048,0.88,277.4,81.2,9.2,841,17055,0.12,2.17,0.00,0.000,6,0.125,0.040,2865,1728,1511
$GC,17396,1.41,277.4,59.3,7.6,902,17403,0.35,2.22,0.00,0.000,4,0.074,0.052,2994,328,1511
$GC,17434,1.68,277.4,55.9,8.6,908,17441,0.17,2.22,0.00,0.000,6,0.067,0.041,3067,1749,1511
$FREEZE,6.68,-1.600,-1.820
$FREEZE,5.64,-1.601,-1.820
$FREEZE,4.77,-1.593,-1.818
$FREEZE,3.66,-1.592,-1.817
$FREEZE,2.64,-1.590,-1.817
$STATE,17734,end climb,SURFACE_DEPTH_REACHED
$STATE,17734,begin surface coast
$FREEZE,1.76,-1.597,-1.816
$FREEZE,1.71,-1.601,-1.816
$FREEZE,1.74,-1.597,-1.816
$FINISH,1.7,1.026650
$STATE,17757,end surface coast,CONTROL_FINISHED_OK
$STATE,17757,begin surface
$SM_CCo,17852,0.00,0.000,0,0,1510,279.64
$SM_GC,2.44,7.65,0.00,0.00,0.061,0.000,0.000,325,2235,1510,-10.70,0.14,279.64
$RAFOS_CLK,744
$RAFOS,4,1233477864,8.750000,8.740000,67,65,64,53,53,52,166,187,215,155,126,143
$RAFOS,3,1233477250,8.583333,8.569445,60,55,54,51,51,50,209,200,178,158,219,146
$RAFOS,2,1233476646,8.416667,8.401667,66,60,59,58,51,51,191,141,200,217,117,239
$RAFOS,1,1233476054,8.250000,8.237223,59,59,57,55,54,53,188,233,210,118,172,149
$RAFOS,0,1233475476,8.083333,8.076667,67,60,59,56,53,50,195,134,175,211,224,152
$RAFOS,4,1233463445,4.750000,4.734722,60,52,51,51,46,46,217,176,196,228,137,166
$RAFOS_FIX,6614.886719,-5648.581055,290109,161652,2,86,0.18
$IRIDIUM_FIX,6543.17,-5648.09,260498,060607
$TT8_MAMPS,0.026845
$HUMID,1801
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.40
$XPDR_PINGS,277
$24V_AH,22.2,114.098
$10V_AH,10.4,51.553
$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,24.025,176.750,376.750,0.000,0.000,99.156,85.692,0.000,69.250,0.000,0.000,183.219,1852.176,13334.315,530.713,2032.785,1173.903,0.000,1568.742,0.000,1833.213,1800.000,0.531,0.000
$DEVICE_MAMPS,234.702,65.962,1107.548,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,669.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31561,964
$CAP_FILE_SIZE,150736,0
$CFSIZE,260165632,204730368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.8
$GPS,300109,063702,6606.950,-5643.778,10,1.5,10,-36.3