version: 66.00
glider: 109
mission: 1
dive: 285
start: 12 16 106 14 8 49
data:
$ID,109
$MISSION,1
$DIVE,285
$D_SURF,2
$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,510
$T_MISSION,612
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,180
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,500
$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,80
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,64
$TGT_DEFAULT_LON,-54
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,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,-84503.25
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.1
$RAFOS_CORR_THRESH,74
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,1288
$PITCH_MAX,3325
$C_PITCH,2743
$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,1
$ROLL_MIN,187
$ROLL_MAX,3859
$C_ROLL_DIVE,2045
$C_ROLL_CLIMB,1835
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,30
$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,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$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
$GPS1,134538,6701.352,-5732.021,22,1.7,22,-37.7
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-45.3
$GPS2,140805,6701.423,-5731.945,8,3.2,28,-37.7
$SPEED_LIMITS,0.112,0.190
$TGT_NAME,TARGET_ADD3_WB
$TGT_LATLONG,6655.000,-5823.000
$TGT_RADIUS,10000.000
$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,289.9,38934,-14.4,-6.471
$D_GRID,827
$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,26,-0.77,-146.0,0.0,0.0,0,98,0.00,0.00,-69.43,0.000,2,0.000,0.000,1285,2037,2855
$GC,101,-0.77,-146.0,3.4,-5.6,14,141,15.80,3.08,-14.57,0.000,4,0.325,0.092,2566,631,3394
$GC,158,-0.77,-146.0,11.6,-12.0,25,162,0.00,2.75,0.00,0.000,6,0.000,0.038,2566,2044,3395
$GC,500,-0.77,-146.0,52.2,-12.3,86,504,0.00,2.83,0.00,0.000,4,0.000,0.055,2566,3437,3395
$GC,634,-0.77,-146.0,66.2,-9.3,110,639,0.00,2.80,0.00,0.000,6,0.000,0.051,2566,2041,3395
$GC,977,-0.77,-146.0,99.9,-10.0,171,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2040,3395
$GC,1291,-0.77,-146.0,129.2,-8.3,187,1299,0.00,2.80,0.00,0.000,4,0.000,0.049,2566,3447,3394
$GC,1345,-0.77,-146.0,133.8,-8.1,189,1350,0.00,2.78,0.00,0.000,6,0.000,0.045,2566,2043,3394
$GC,1666,-0.77,-146.0,163.1,-10.0,205,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2042,3395
$GC,1995,-0.77,-146.0,191.1,-7.5,221,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2042,3395
$GC,2324,-0.77,-146.0,217.3,-8.2,237,2333,0.00,2.75,0.00,0.000,4,0.000,0.045,2566,3446,3395
$GC,2379,-0.77,-146.0,222.0,-8.7,239,2389,0.00,2.72,0.00,0.000,6,0.000,0.041,2566,2041,3395
$GC,2699,-0.77,-146.0,247.2,-7.6,255,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2041,3394
$GC,3028,-0.77,-146.0,271.7,-7.5,271,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2041,3395
$GC,3358,-0.77,-146.0,296.6,-7.6,287,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2041,3396
$GC,3687,-0.77,-146.0,321.6,-7.6,303,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2041,3397
$GC,4016,-0.77,-146.0,347.6,-8.1,319,4025,0.00,2.75,0.00,0.000,4,0.000,0.045,2566,3447,3398
$GC,4066,-0.77,-146.0,351.7,-8.3,321,4075,0.00,2.72,0.00,0.000,6,0.000,0.041,2566,2037,3398
$GC,4391,-0.77,-146.0,376.8,-7.3,337,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2037,3398
$GC,4722,-0.77,-146.0,401.1,-7.6,353,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2037,3399
$GC,5050,-0.77,-146.0,424.7,-7.2,369,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2037,3399
$GC,5380,-0.77,-146.0,448.3,-7.2,385,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2037,3400
$GC,5709,-0.77,-146.0,471.6,-7.1,401,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2037,3401
$GC,6039,-0.77,-146.0,495.4,-7.7,417,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2036,3400
$GC,6383,-0.77,-146.0,522.1,-7.9,427,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2037,3401
$GC,6750,-0.77,-146.0,550.8,-7.9,436,6758,0.00,2.92,0.00,0.000,4,0.000,0.075,2567,638,3401
$GC,6782,-0.77,-146.0,553.6,-8.8,436,6792,0.00,2.65,0.00,0.000,6,0.000,0.035,2566,2061,3401
$GC,7117,-0.77,-146.0,581.1,-8.3,445,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2062,3401
$GC,7482,-0.77,-146.0,609.6,-7.8,454,7491,0.00,2.97,0.00,0.000,4,0.000,0.074,2566,637,3400
$GC,7521,-0.77,-146.0,612.7,-8.9,454,7525,0.00,2.65,0.00,0.000,6,0.000,0.037,2566,2042,3401
$GC,7851,-0.77,-146.0,638.0,-7.6,463,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2043,3401
$GC,8215,-0.77,-146.0,665.5,-7.5,472,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2045,3401
$GC,8580,-0.77,-146.0,693.1,-7.5,481,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2046,3401
$GC,8946,-0.77,-146.0,720.9,-7.8,490,8954,0.00,2.92,0.00,0.000,4,0.000,0.073,2566,642,3401
$GC,8972,-0.77,-146.0,723.2,-9.6,490,8981,0.00,2.65,0.00,0.000,6,0.000,0.037,2566,2046,3400
$GC,9317,-0.77,-146.0,750.4,-7.8,499,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2047,3401
$GC,9678,-0.77,-146.0,776.1,-6.7,508,9683,0.00,2.90,0.00,0.000,4,0.000,0.073,2566,640,3401
$GC,9728,-0.77,-146.0,779.7,-7.7,509,9738,0.00,2.67,0.00,0.000,6,0.000,0.037,2566,2053,3401
$GC,10054,-0.77,-146.0,803.0,-7.5,517,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2053,3400
$GC,10420,-0.18,0.0,829.6,6.9,526,10617,0.85,0.00,156.32,1.314,6,0.146,0.000,2698,1834,2792
$GC,10620,0.77,146.0,833.4,0.0,531,10782,1.27,0.00,156.40,1.253,6,0.119,0.000,2901,1834,2197
$GC,11107,0.77,146.0,802.7,6.8,543,11116,0.00,2.85,0.00,0.000,4,0.000,0.046,2901,3229,2197
$GC,11157,0.77,146.0,799.1,7.4,544,11165,0.00,2.88,0.00,0.000,6,0.000,0.052,2901,1835,2197
$GC,11479,0.77,146.0,775.6,7.4,552,11488,0.00,3.05,0.00,0.000,4,0.000,0.085,2901,426,2197
$GC,11512,0.77,146.0,773.0,8.0,552,11522,0.00,2.72,0.00,0.000,6,0.000,0.039,2901,1844,2197
$GC,11848,0.77,146.0,746.7,8.0,561,11886,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1845,2197
$GC,12212,0.77,146.0,717.6,8.0,570,12251,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1845,2196
$GC,12577,0.77,146.0,690.2,7.2,579,12586,0.00,3.03,0.00,0.000,4,0.000,0.082,2901,428,2196
$GC,12615,0.77,146.0,687.1,8.0,579,12620,0.00,2.70,0.00,0.000,6,0.000,0.040,2901,1839,2196
$GC,12946,0.77,146.0,664.1,7.0,588,12985,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1840,2196
$GC,13310,0.77,146.0,636.6,7.5,597,13350,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1841,2196
$GC,13675,0.77,146.0,609.6,7.3,606,13715,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1842,2196
$GC,14041,0.77,146.0,583.2,7.3,615,14080,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1843,2195
$GC,14406,0.77,146.0,555.9,7.5,624,14445,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1843,2195
$GC,14771,0.77,146.0,529.7,7.0,633,14810,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1846,2195
$GC,15136,0.77,146.0,503.2,7.2,642,15175,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1845,2195
$GC,15484,0.77,146.0,479.0,6.8,657,15503,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1846,2195
$GC,15814,0.77,146.0,457.1,6.8,673,15833,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1846,2195
$GC,16144,0.77,146.0,434.3,7.0,689,16152,0.00,2.97,0.00,0.000,4,0.000,0.078,2901,429,2195
$GC,16170,0.77,146.0,432.3,7.4,690,16179,0.00,2.65,0.00,0.000,6,0.000,0.038,2901,1841,2195
$GC,16495,0.77,146.0,409.7,6.9,706,16504,0.00,2.70,0.00,0.000,4,0.000,0.045,2901,3223,2195
$GC,16528,0.77,146.0,407.3,7.9,707,16538,0.00,2.78,0.00,0.000,6,0.000,0.049,2901,1828,2195
$GC,16847,0.77,146.0,385.1,6.8,723,16867,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1828,2195
$GC,17177,0.77,146.0,362.5,6.7,739,17185,0.00,2.97,0.00,0.000,4,0.000,0.081,2901,423,2195
$GC,17215,0.77,146.0,359.6,7.4,740,17220,0.00,2.65,0.00,0.000,6,0.000,0.038,2901,1830,2195
$GC,17531,0.77,146.0,337.9,6.6,756,17539,0.00,2.72,0.00,0.000,4,0.000,0.045,2901,3227,2195
$GC,17563,0.77,146.0,335.6,6.7,757,17568,0.00,2.80,0.00,0.000,6,0.000,0.050,2901,1827,2195
$GC,17884,0.77,156.2,314.8,6.2,773,17903,0.00,0.00,9.38,1.103,6,0.000,0.000,2901,1827,2156
$GC,18214,0.78,176.1,295.0,5.9,789,18253,0.00,0.00,19.27,1.050,6,0.000,0.000,2901,1827,2074
$GC,18562,0.82,176.1,269.2,8.1,806,18571,0.00,2.97,0.00,0.000,4,0.000,0.080,2901,425,2074
$GC,18600,0.82,176.1,265.8,8.2,807,18605,0.00,2.67,0.00,0.000,6,0.000,0.037,2901,1844,2073
$GC,18917,0.82,176.1,240.7,7.7,823,18934,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1846,2074
$GC,19246,0.82,176.1,215.6,7.5,839,19263,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1846,2074
$GC,19575,0.82,176.1,193.1,7.1,855,19583,0.00,3.00,0.00,0.000,4,0.000,0.079,2901,424,2074
$GC,19641,0.82,176.1,187.7,8.6,858,19650,0.00,2.65,0.00,0.000,6,0.000,0.036,2901,1835,2074
$GC,19972,0.82,176.1,162.7,7.8,874,19980,0.00,2.97,0.00,0.000,4,0.000,0.077,2901,424,2074
$GC,20004,0.82,176.1,159.9,8.9,875,20014,0.00,2.65,0.00,0.000,6,0.000,0.037,2901,1836,2074
$GC,20324,0.82,176.1,136.2,6.8,891,20343,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1837,2074
$GC,20655,0.82,177.4,114.8,6.4,907,20672,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1837,2074
$GC,20992,0.82,192.1,93.3,6.0,938,21011,0.00,0.00,15.57,0.878,6,0.000,0.000,2901,1837,2009
$GC,21349,0.84,192.1,69.7,6.5,1002,21354,0.15,3.00,0.00,0.000,4,0.085,0.079,2928,427,2009
$GC,21394,0.84,192.1,66.1,8.5,1010,21398,0.00,2.67,0.00,0.000,6,0.000,0.037,2928,1835,2009
$GC,21735,0.84,195.8,44.6,6.4,1071,21745,0.00,2.97,4.00,0.917,4,0.000,0.080,2928,429,1993
$GC,21784,0.85,195.8,41.1,7.5,1080,21789,0.00,2.67,0.00,0.000,6,0.000,0.037,2928,1839,1993
$GC,22126,0.85,226.9,20.8,5.5,1141,22158,0.00,0.00,27.95,0.816,6,0.000,0.000,2928,1840,1867
$FREEZE,6.83,-0.253,-1.800
$FREEZE,6.48,-0.253,-1.800
$FREEZE,6.02,-0.253,-1.800
$FREEZE,5.81,-0.253,-1.800
$FREEZE,5.60,-0.253,-1.799
$FREEZE,5.41,-0.253,-1.799
$FREEZE,5.17,-0.253,-1.799
$FREEZE,4.76,-0.253,-1.799
$FREEZE,4.37,-0.253,-1.799
$FREEZE,4.13,-0.253,-1.798
$FREEZE,3.87,-0.253,-1.798
$FREEZE,3.68,-0.253,-1.798
$FREEZE,3.36,-0.253,-1.798
$FREEZE,3.05,-0.253,-1.798
$FREEZE,2.71,-0.253,-1.797
$FREEZE,2.32,-0.253,-1.797
$FREEZE,2.06,-0.253,-1.797
$FREEZE,1.91,-0.253,-1.797
$FREEZE,1.71,-0.219,-1.795
$FREEZE,1.48,-0.253,-1.797
$FREEZE,1.02,-0.253,-1.796
$FREEZE,0.63,-0.219,-1.794
$FREEZE,0.18,-0.253,-0.992
$FREEZE,0.20,-0.352,-0.728
$FREEZE,0.15,-0.253,-1.045
$FINISH,0.1,1.015442
$SM_PING,0,0.000,0.000000
$SM_CCo,22506,112.05,0.760,0,0,1366,350.04
$SM_GC,0.87,0.00,0.00,112.05,0.000,0.000,0.760,1282,2045,1366,-6.72,-0.06,350.04
$RAFOS_CLK,1295
$RAFOS,1,1166300045,20.250000,20.234722,65,63,57,56,53,45,210,177,201,188,144,132
$RAFOS,0,1166299443,20.083334,20.067499,75,57,54,54,53,51,917,124,190,160,204,214
$RAFOS,5,1166288057,16.916666,16.904722,63,55,52,51,49,48,213,195,140,121,160,131
$RAFOS,4,1166287443,16.750000,16.734167,83,63,57,52,51,51,734,205,176,116,219,158
$RAFOS,3,1166286870,16.583334,16.575001,68,59,56,55,55,54,757,203,120,222,194,212
$RAFOS,2,1166286262,16.416666,16.406111,138,72,60,59,53,51,439,171,208,188,118,220
$RAFOS,1,1166285642,16.250000,16.233889,66,57,54,51,51,51,207,117,148,171,191,128
$RAFOS,0,1166285042,16.083334,16.067223,131,56,55,55,53,52,945,170,212,145,201,158
$RAFOS_FIX,6701.265625,-5737.488281,161206,161618
$IRIDIUM_FIX,6631.12,-5728.78,161206,171747
$TT8_MAMPS,0.025311
$HUMID,1816
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,-0.40
$XPDR_PINGS,245
$ALTIM_TOP_PING,20.0,20.8
$ALTIM_BOTTOM_PING,803.0,49.9
$24V_AH,19.2,52.402
$10V_AH,9.7,23.509
$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,26.825,118.875,388.900,112.050,0.000,97.568,134.052,789.683,65.250,58.485,1224.383,18392.312,1711.719,1349.963,1411.880,0.000,2758.934,0.000,1206.915,2880.000,35.316
$DEVICE_MAMPS,325.208,92.040,1313.871,760.097,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1086.226,1092.552,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,45483,1204
$CFSIZE,260165632,236150784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0
$GPS,161206,202738,6700.513,-5739.402,31,0.9,31,-37.7