version: 66.00
glider: 109
mission: 1
dive: 135
start: 11 9 106 2 15 20
data:
$ID,109
$MISSION,1
$DIVE,135
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,20
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,510
$T_MISSION,612
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,180
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.89999998
$RHO,1.02764
$MASS,51762
$KALMAN_USE,2
$HD_A,0.0047432599
$HD_B,0.0148416
$HD_C,5.5615201e-06
$HEADING,-1
$ESCAPE_HEADING,145
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,64
$TGT_DEFAULT_LON,-54
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-67558.109
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.1
$RAFOS_CORR_THRESH,74
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,1288
$PITCH_MAX,3325
$C_PITCH,2747
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27.5
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,80
$PITCH_MAXERRORS,0
$ROLL_MIN,187
$ROLL_MAX,3859
$C_ROLL_DIVE,2064
$C_ROLL_CLIMB,1866
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$VBD_MIN,536
$VBD_MAX,3894
$C_VBD,2793
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,80
$PRESSURE_YINT,-2.0081213
$PRESSURE_SLOPE,9.0991351e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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,1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043437472
$SEABIRD_T_H,0.00064449053
$SEABIRD_T_I,2.611474e-05
$SEABIRD_T_J,2.7048188e-06
$SEABIRD_C_G,-10.199226
$SEABIRD_C_H,1.1361156
$SEABIRD_C_I,-0.00066892913
$SEABIRD_C_J,0.00015921363
$GPS1,020601,6659.346,-5712.124,38,1.2,38,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-47.6
$GPS2,021439,6659.408,-5712.123,11,1.2,12,-37.6
$SPEED_LIMITS,0.112,0.190
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,106.7,18647,-14.4,-6.471
$D_GRID,746
$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
$GC,22,-0.77,-146.0,0.0,0.0,0,79,0.00,0.00,-54.88,0.000,2,0.000,0.000,1291,2073,2818
$GC,81,-0.77,-146.0,3.0,-5.2,11,117,13.75,3.08,-14.80,0.000,4,0.304,0.092,2572,656,3391
$GC,240,-0.77,-146.0,27.3,-14.4,40,245,0.00,2.75,0.00,0.000,6,0.000,0.040,2572,2056,3393
$GC,581,-0.77,-146.0,64.7,-10.3,101,586,0.00,2.85,0.00,0.000,4,0.000,0.054,2572,3463,3393
$GC,839,-0.77,-146.0,91.6,-10.1,147,844,0.00,2.80,0.00,0.000,6,0.000,0.048,2572,2061,3393
$GC,1161,-0.77,-146.0,119.0,-7.7,175,1170,0.00,2.97,0.00,0.000,4,0.000,0.084,2572,658,3393
$GC,1199,-0.77,-146.0,122.3,-8.6,176,1204,0.00,2.70,0.00,0.000,6,0.000,0.036,2572,2074,3393
$GC,1515,-0.77,-146.0,149.8,-8.9,192,1523,0.00,2.72,0.00,0.000,4,0.000,0.050,2572,3455,3393
$GC,1603,-0.77,-146.0,157.4,-8.4,196,1607,0.00,2.75,0.00,0.000,6,0.000,0.045,2572,2059,3392
$GC,1934,-0.77,-146.0,182.3,-7.6,212,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2059,3393
$GC,2263,-0.77,-146.0,207.0,-7.8,228,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2060,3393
$GC,2593,-0.77,-146.0,230.0,-6.4,244,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2060,3393
$GC,2922,-0.77,-146.0,253.7,-7.6,260,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2060,3393
$GC,3251,-0.77,-146.0,278.3,-7.2,276,3256,0.00,2.75,0.00,0.000,4,0.000,0.047,2572,3461,3393
$GC,3267,-0.77,-146.0,279.6,-7.5,276,3273,0.00,2.75,0.00,0.000,6,0.000,0.042,2572,2056,3393
$GC,3582,-0.77,-146.0,302.6,-7.5,292,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2056,3393
$GC,3912,-0.77,-146.0,325.8,-6.5,308,3921,0.00,2.75,0.00,0.000,4,0.000,0.047,2572,3462,3393
$GC,3949,-0.77,-146.0,328.4,-6.8,309,3955,0.00,2.70,0.00,0.000,6,0.000,0.041,2572,2061,3393
$GC,4265,-0.77,-146.0,349.6,-7.1,325,4274,0.00,2.72,0.00,0.000,4,0.000,0.046,2572,3456,3393
$GC,4304,-0.77,-146.0,352.6,-7.8,326,4308,0.00,2.70,0.00,0.000,6,0.000,0.041,2573,2056,3393
$GC,4617,-0.77,-146.0,377.4,-7.9,342,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2056,3393
$GC,4947,-0.77,-146.0,400.8,-6.8,358,4955,0.00,2.75,0.00,0.000,4,0.000,0.047,2572,3462,3393
$GC,5007,-0.77,-146.0,405.2,-7.1,360,5012,0.00,2.70,0.00,0.000,6,0.000,0.041,2572,2059,3393
$GC,5322,-0.77,-146.0,426.7,-7.0,376,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2058,3393
$GC,5651,-0.77,-146.0,448.1,-6.4,392,5660,0.00,2.75,0.00,0.000,4,0.000,0.047,2572,3463,3394
$GC,5674,-0.77,-146.0,449.6,-6.6,393,5683,0.00,2.70,0.00,0.000,6,0.000,0.041,2572,2062,3394
$GC,6003,-0.77,-146.0,472.4,-7.4,409,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2062,3394
$GC,6332,-0.77,-146.0,496.4,-7.2,425,6341,0.00,2.90,0.00,0.000,4,0.000,0.080,2572,663,3395
$GC,6376,-0.77,-146.0,499.8,-8.0,427,6382,0.00,2.62,0.00,0.000,6,0.000,0.038,2572,2068,3395
$GC,6723,-0.77,-146.0,525.5,-7.5,436,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2074,3395
$GC,7089,-0.77,-146.0,551.4,-6.9,445,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2074,3395
$GC,7453,-0.77,-146.0,579.0,-7.6,454,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2074,3395
$GC,7818,-0.77,-146.0,606.5,-7.3,463,7827,0.00,2.90,0.00,0.000,4,0.000,0.077,2572,663,3395
$GC,7873,-0.77,-146.0,610.8,-8.1,464,7877,0.00,2.62,0.00,0.000,6,0.000,0.038,2572,2062,3394
$GC,8190,-0.77,-146.0,634.6,-7.6,472,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2069,3395
$GC,8556,-0.77,-146.0,660.7,-6.9,481,8565,0.00,2.90,0.00,0.000,4,0.000,0.077,2572,663,3395
$GC,8622,-0.77,-146.0,665.7,-7.8,482,8626,0.00,2.65,0.00,0.000,6,0.000,0.038,2572,2073,3395
$GC,8969,-0.77,-146.0,688.2,-6.4,491,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2075,3395
$GC,9334,-0.77,-146.0,713.0,-6.8,500,9338,0.00,2.92,0.00,0.000,4,0.000,0.077,2572,657,3395
$GC,9361,-0.77,-146.0,715.0,-7.7,500,9366,0.00,2.70,0.00,0.000,6,0.000,0.039,2572,2090,3395
$GC,9703,-0.77,-146.0,738.5,-6.9,509,9743,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2092,3394
$GC,9827,-0.18,0.0,746.7,6.8,512,9985,0.82,0.00,148.90,1.254,6,0.147,0.000,2704,1868,2793
$GC,9988,0.77,146.0,750.4,0.0,516,10152,1.27,3.08,150.02,1.190,4,0.124,0.048,2907,3259,2197
$GC,10172,0.77,146.0,739.7,7.8,520,10177,0.00,3.03,0.00,0.000,6,0.000,0.050,2907,1874,2197
$GC,10520,0.77,146.0,711.0,8.2,529,10559,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1874,2197
$GC,10885,0.77,146.0,681.6,8.1,538,10894,0.00,3.08,0.00,0.000,4,0.000,0.088,2907,457,2197
$GC,10934,0.77,146.0,677.1,9.2,539,10939,0.00,2.78,0.00,0.000,6,0.000,0.041,2907,1876,2196
$GC,11258,0.77,146.0,649.9,8.4,547,11267,0.00,3.05,0.00,0.000,4,0.000,0.085,2907,459,2196
$GC,11278,0.77,146.0,647.9,9.8,547,11283,0.00,2.78,0.00,0.000,6,0.000,0.041,2907,1868,2196
$GC,11626,0.77,146.0,618.7,8.3,556,11665,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1869,2195
$GC,11991,0.77,146.0,589.2,8.1,565,12000,0.00,3.03,0.00,0.000,4,0.000,0.086,2907,458,2195
$GC,12029,0.77,146.0,586.0,8.4,565,12034,0.00,2.70,0.00,0.000,6,0.000,0.041,2907,1870,2195
$GC,12359,0.77,146.0,561.1,7.4,574,12368,0.00,3.03,0.00,0.000,4,0.000,0.086,2907,453,2195
$GC,12380,0.77,146.0,559.4,8.1,574,12385,0.00,2.70,0.00,0.000,6,0.000,0.041,2907,1867,2195
$GC,12728,0.77,146.0,534.0,7.1,583,12767,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1868,2195
$GC,13092,0.77,146.0,506.8,7.6,592,13097,0.00,3.00,0.00,0.000,4,0.000,0.087,2907,459,2195
$GC,13131,0.77,146.0,503.6,8.4,592,13136,0.00,2.70,0.00,0.000,6,0.000,0.041,2907,1868,2195
$GC,13444,0.77,146.0,481.0,7.1,606,13464,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1869,2194
$GC,13774,0.77,146.0,455.6,8.0,622,13778,0.00,2.97,0.00,0.000,4,0.000,0.084,2907,458,2193
$GC,13806,0.77,146.0,452.6,8.8,623,13811,0.00,2.67,0.00,0.000,6,0.000,0.041,2907,1869,2193
$GC,14128,0.77,146.0,425.3,8.5,639,14136,0.00,2.70,0.00,0.000,4,0.000,0.048,2907,3262,2193
$GC,14160,0.77,146.0,422.4,8.6,640,14165,0.00,2.78,0.00,0.000,6,0.000,0.051,2907,1863,2192
$GC,14480,0.77,146.0,395.8,8.0,656,14484,0.00,2.92,0.00,0.000,4,0.000,0.084,2907,457,2192
$GC,14507,0.77,146.0,393.4,8.8,657,14512,0.00,2.67,0.00,0.000,6,0.000,0.039,2908,1887,2192
$GC,14835,0.77,146.0,368.3,7.7,673,14843,0.00,2.97,0.00,0.000,4,0.000,0.081,2907,460,2192
$GC,14855,0.77,146.0,366.5,8.5,674,14860,0.00,2.65,0.00,0.000,6,0.000,0.039,2908,1868,2192
$GC,15186,0.77,146.0,341.4,7.1,690,15206,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1871,2192
$GC,15516,0.77,146.0,317.7,7.3,706,15520,0.00,2.67,0.00,0.000,4,0.000,0.045,2908,3253,2192
$GC,15538,0.77,146.0,316.0,7.5,707,15547,0.00,2.72,0.00,0.000,6,0.000,0.049,2907,1866,2192
$GC,15870,0.77,146.0,291.2,7.2,723,15888,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1866,2192
$GC,16199,0.77,146.0,267.7,7.2,739,16207,0.00,2.92,0.00,0.000,4,0.000,0.083,2907,456,2193
$GC,16236,0.77,146.0,264.6,8.0,740,16241,0.00,2.65,0.00,0.000,6,0.000,0.038,2908,1873,2193
$GC,16551,0.77,146.0,242.9,7.0,756,16555,0.00,2.95,0.00,0.000,4,0.000,0.081,2907,459,2193
$GC,16583,0.77,146.0,240.5,6.8,757,16588,0.00,2.65,0.00,0.000,6,0.000,0.038,2908,1860,2194
$GC,16905,0.77,146.0,219.1,6.8,773,16914,0.00,2.67,0.00,0.000,4,0.000,0.045,2908,3249,2194
$GC,16931,0.77,146.0,217.2,7.3,774,16936,0.00,2.75,0.00,0.000,6,0.000,0.048,2907,1869,2195
$GC,17257,0.77,146.0,193.7,7.6,790,17261,0.00,2.92,0.00,0.000,4,0.000,0.083,2907,460,2194
$GC,17302,0.77,146.0,189.9,8.3,792,17306,0.00,2.65,0.00,0.000,6,0.000,0.038,2908,1871,2194
$GC,17633,0.77,146.0,163.4,7.6,808,17637,0.00,2.65,0.00,0.000,4,0.000,0.045,2908,3251,2194
$GC,17660,0.77,146.0,161.2,7.8,809,17665,0.00,2.72,0.00,0.000,6,0.000,0.048,2908,1857,2195
$GC,17986,0.77,146.0,136.9,7.6,825,17990,0.00,2.90,0.00,0.000,4,0.000,0.082,2908,461,2195
$GC,18013,0.77,146.0,134.7,8.2,826,18018,0.00,2.62,0.00,0.000,6,0.000,0.038,2908,1874,2195
$GC,18339,0.77,146.0,108.4,8.2,842,18359,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1875,2195
$GC,18685,0.77,177.1,88.6,5.5,885,18721,0.00,3.05,28.38,0.848,4,0.000,0.081,2908,464,2069
$GC,18776,0.82,177.1,82.8,6.8,902,18782,0.00,2.67,0.00,0.000,6,0.000,0.038,2908,1861,2069
$GC,19119,0.82,177.1,58.8,7.8,963,19124,0.00,2.97,0.00,0.000,4,0.000,0.081,2908,461,2069
$GC,19135,0.82,177.1,57.4,8.1,966,19140,0.00,2.67,0.00,0.000,6,0.000,0.038,2908,1866,2069
$GC,19477,0.82,233.8,39.4,4.8,1027,19534,0.00,3.08,50.58,0.792,4,0.000,0.082,2908,461,1839
$GC,19555,0.91,256.4,35.2,5.8,1042,19582,0.20,2.75,20.17,0.784,6,0.078,0.038,2942,1869,1747
$GC,19917,0.95,256.4,12.0,6.9,1107,19922,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1870,1747
$FINISH,0.1,1.025776
$SM_PING,0,0.000,0.000000
$SM_CCo,20151,39.75,0.768,0,0,1570,300.00
$SM_GC,1.34,0.00,0.00,39.75,0.000,0.000,0.768,1289,2076,1570,-6.71,0.34,300.00
$RAFOS_CLK,1108
$RAFOS,5,1163048059,4.916667,4.905278,66,62,61,55,55,51,187,202,152,127,175,161
$RAFOS,4,1163047447,4.750000,4.735278,66,60,59,57,50,49,208,190,153,112,88,170
$RAFOS,3,1163046871,4.583333,4.575278,73,55,53,51,50,49,209,127,145,163,181,1520
$RAFOS,2,1163046257,4.416667,4.404722,67,62,60,58,55,54,203,151,216,174,161,134
$RAFOS,1,1163045648,4.250000,4.235556,58,56,53,52,51,50,181,209,158,196,145,134
$RAFOS,0,1163045079,4.083333,4.077500,61,60,59,59,58,54,135,213,153,123,165,222
$RAFOS_FIX,6656.481445,-5746.632812,071106,202016
$IRIDIUM_FIX,6631.12,-5718.20,091106,060642
$TT8_MAMPS,0.025311
$HUMID,1839
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,1.10
$XPDR_PINGS,358
$ALTIM_TOP_PING,19.9,0.0
$24V_AH,19.7,25.282
$10V_AH,9.6,10.890
$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,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,24.900,185.900,398.050,39.750,0.000,65.049,73.032,211.543,93.000,57.774,1237.434,16380.834,1260.419,1358.212,593.513,0.000,2322.517,0.000,1219.549,2160.000,32.052
$DEVICE_MAMPS,304.499,92.040,1254.045,767.767,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.801,1037.959,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44113,1144
$CFSIZE,260165632,247238656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091106,075332,6659.991,-5707.833,40,1.2,40,-37.6