version: 66.00
glider: 112
mission: 1
dive: 30
start: 10 9 106 19 7 56
data:
$ID,112
$MISSION,1
$DIVE,30
$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,413
$T_MISSION,495
$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,1
$RHO,1.023
$MASS,51747
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,225
$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,-2834.3665
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,80
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2237
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,0
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$VBD_MIN,421
$VBD_MAX,3792
$C_VBD,2927
$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,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,80
$PRESSURE_YINT,-4.3173275
$PRESSURE_SLOPE,9.129227e-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,0.0043712994
$SEABIRD_T_H,0.00064806995
$SEABIRD_T_I,2.9318924e-05
$SEABIRD_T_J,3.4945006e-06
$SEABIRD_C_G,-10.125541
$SEABIRD_C_H,1.1422628
$SEABIRD_C_I,-0.00066794927
$SEABIRD_C_J,0.00014236888
$GPS1,190338,6722.840,-5814.112,32,1.4,32,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-49.9
$GPS2,190715,6722.823,-5814.044,11,1.5,11,-38.4
$SPEED_LIMITS,0.138,0.241
$TGT_NAME,TARGET_W
$TGT_LATLONG,6642.000,-6048.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.212,0.115
$KALMAN_X,-1588.1,1250.0,-270.3,-25468.8,-495.2
$KALMAN_Y,24391.3,-1024.4,8989.8,-5924.0,-1852.4
$MHEAD_RNG_PITCHd_Wd,274.6,135777,-14.9,-7.990
$D_GRID,1015
$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,20,-0.99,-146.6,0.0,0.0,0,98,0.00,0.00,-75.07,0.000,2,0.000,0.000,677,2218,1995
$GC,100,-0.99,-146.6,3.1,-2.1,15,182,10.60,2.97,-63.00,0.000,4,0.246,0.091,2010,824,3527
$GC,399,-0.99,-146.6,43.1,-13.7,70,405,0.00,2.83,0.00,0.000,6,0.000,0.058,2010,2233,3533
$GC,741,-0.99,-146.6,88.2,-13.5,131,747,0.00,2.92,0.00,0.000,4,0.000,0.075,2009,826,3534
$GC,763,-0.99,-146.6,91.3,-14.0,135,769,0.00,2.85,0.00,0.000,6,0.000,0.061,2010,2237,3534
$GC,1098,-0.99,-146.6,137.3,-13.6,160,1103,0.00,3.28,0.00,0.000,4,0.000,0.132,2010,3636,3535
$GC,1125,-0.99,-146.6,141.1,-13.8,161,1131,0.00,2.85,0.00,0.000,6,0.000,0.055,2010,2232,3534
$GC,1451,-0.99,-146.6,181.4,-12.0,177,1461,0.00,3.25,0.00,0.000,4,0.000,0.123,2010,3636,3534
$GC,1540,-0.99,-146.6,192.4,-12.6,181,1545,0.00,2.83,0.00,0.000,6,0.000,0.057,2010,2230,3534
$GC,1871,-0.99,-146.6,232.9,-12.6,197,1881,0.00,3.22,0.00,0.000,4,0.000,0.120,2010,3634,3534
$GC,1909,-0.99,-146.6,237.7,-12.4,198,1915,0.00,2.83,0.00,0.000,6,0.000,0.054,2010,2232,3534
$GC,2226,-0.99,-146.6,276.6,-12.0,214,2234,0.00,3.25,0.00,0.000,4,0.000,0.127,2010,3639,3534
$GC,2285,-0.99,-146.6,283.8,-11.7,216,2290,0.00,2.85,0.00,0.000,6,0.000,0.056,2010,2230,3534
$GC,2599,-0.99,-146.6,320.1,-11.7,232,2609,0.00,3.28,0.00,0.000,4,0.000,0.127,2010,3635,3534
$GC,2649,-0.99,-146.6,326.3,-12.3,234,2654,0.00,2.83,0.00,0.000,6,0.000,0.060,2010,2227,3534
$GC,2975,-0.99,-146.6,367.4,-13.1,250,2984,0.00,3.22,0.00,0.000,4,0.000,0.120,2009,3634,3534
$GC,3029,-0.99,-146.6,374.7,-13.1,252,3034,0.00,2.83,0.00,0.000,6,0.000,0.061,2010,2229,3534
$GC,3350,-0.99,-146.6,414.6,-11.9,268,3359,0.00,3.20,0.00,0.000,4,0.000,0.117,2010,3634,3534
$GC,3427,-0.99,-146.6,424.0,-12.1,271,3432,0.00,2.83,0.00,0.000,6,0.000,0.061,2010,2230,3534
$GC,3747,-0.99,-146.6,460.9,-11.4,287,3757,0.00,3.20,0.00,0.000,4,0.000,0.115,2010,3639,3534
$GC,3791,-0.99,-146.6,466.0,-11.6,289,3796,0.00,2.83,0.00,0.000,6,0.000,0.060,2010,2230,3534
$GC,4142,-0.99,-146.6,505.6,-11.4,305,4152,0.00,3.20,0.00,0.000,4,0.000,0.117,2010,3637,3534
$GC,4203,-0.99,-146.6,512.8,-11.9,306,4208,0.00,2.85,0.00,0.000,6,0.000,0.060,2010,2216,3534
$GC,4515,-0.99,-146.6,547.2,-10.9,314,4524,0.00,3.22,0.00,0.000,4,0.000,0.118,2010,3634,3534
$GC,4553,-0.99,-146.6,551.6,-11.5,314,4559,0.00,2.88,0.00,0.000,6,0.000,0.061,2010,2226,3534
$GC,4886,-0.99,-146.6,586.9,-10.7,323,4894,0.00,3.20,0.00,0.000,4,0.000,0.119,2010,3639,3534
$GC,4923,-0.99,-146.6,591.3,-10.9,323,4928,0.00,2.85,0.00,0.000,6,0.000,0.061,2010,2229,3534
$GC,5253,-0.99,-146.6,626.8,-10.5,332,5263,0.00,3.22,0.00,0.000,4,0.000,0.119,2010,3639,3534
$GC,5314,-0.99,-146.6,633.4,-11.0,333,5318,0.00,2.85,0.00,0.000,6,0.000,0.061,2010,2221,3534
$GC,5626,-0.99,-146.6,667.9,-11.1,341,5631,0.00,3.22,0.00,0.000,4,0.000,0.120,2010,3634,3534
$GC,5704,-0.99,-146.6,677.1,-11.8,342,5708,0.00,2.88,0.00,0.000,6,0.000,0.062,2009,2218,3534
$GC,6040,-0.99,-146.6,715.3,-11.3,351,6044,0.00,3.22,0.00,0.000,4,0.000,0.118,2010,3636,3534
$GC,6117,-0.99,-146.6,724.4,-11.5,352,6122,0.00,2.85,0.00,0.000,6,0.000,0.061,2010,2218,3534
$GC,6453,-0.99,-146.6,761.5,-10.9,361,6458,0.00,3.22,0.00,0.000,4,0.000,0.118,2010,3637,3534
$GC,6492,-0.99,-146.6,765.7,-11.3,361,6498,0.00,2.90,0.00,0.000,6,0.000,0.063,2010,2227,3534
$GC,6822,-0.99,-146.6,800.0,-10.2,370,6829,0.00,3.20,0.00,0.000,4,0.000,0.119,2010,3634,3534
$GC,6883,-0.99,-146.6,806.4,-10.6,371,6888,0.00,2.85,0.00,0.000,6,0.000,0.063,2010,2223,3534
$GC,7195,-0.99,-146.6,838.1,-10.1,379,7204,0.00,3.25,0.00,0.000,4,0.000,0.123,2010,3635,3534
$GC,7255,-0.99,-146.6,844.7,-11.1,380,7260,0.00,2.85,0.00,0.000,6,0.000,0.063,2010,2220,3534
$GC,7568,-0.99,-146.6,876.8,-10.3,388,7577,0.00,3.25,0.00,0.000,4,0.000,0.122,2010,3635,3534
$GC,7634,-0.99,-146.6,883.9,-10.7,389,7638,0.00,2.88,0.00,0.000,6,0.000,0.063,2010,2209,3534
$GC,7981,-0.99,-146.6,920.2,-10.4,398,7990,0.00,3.30,0.00,0.000,4,0.000,0.123,2010,3639,3534
$GC,8053,-0.99,-146.6,928.0,-11.1,399,8057,0.00,2.90,0.00,0.000,6,0.000,0.064,2010,2230,3534
$GC,8395,-0.99,-146.6,965.2,-11.0,408,8404,0.00,3.22,0.00,0.000,4,0.000,0.123,2010,3635,3534
$GC,8455,-0.99,-146.6,972.1,-10.9,409,8460,0.00,2.85,0.00,0.000,6,0.000,0.063,2010,2221,3534
$GC,8648,-0.25,0.0,991.8,10.4,414,8806,1.00,0.00,142.60,1.384,6,0.137,0.000,2176,2331,2927
$GC,8808,0.99,146.6,998.6,0.0,418,8972,1.52,3.53,146.98,1.338,4,0.079,0.103,2453,922,2330
$GC,9223,0.99,146.6,977.9,9.2,427,9228,0.00,3.05,0.00,0.000,6,0.000,0.070,2453,2332,2331
$GC,9565,0.99,146.6,949.8,8.3,436,9569,0.00,3.10,0.00,0.000,4,0.000,0.083,2453,914,2331
$GC,9631,0.99,146.6,943.9,9.4,437,9636,0.00,3.05,0.00,0.000,6,0.000,0.070,2453,2349,2331
$GC,9979,0.99,146.6,914.4,8.4,446,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2349,2331
$GC,10343,0.99,146.6,884.6,8.0,455,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2349,2331
$GC,10709,0.99,150.9,855.9,7.8,464,10718,0.00,0.00,3.55,1.502,6,0.000,0.000,2453,2349,2312
$GC,11037,1.00,154.7,830.4,7.9,472,11046,0.00,0.00,3.38,1.493,6,0.000,0.000,2453,2350,2296
$GC,11366,1.00,156.7,804.4,7.9,480,11370,0.00,0.00,1.92,1.530,6,0.000,0.000,2453,2351,2288
$GC,11694,1.01,156.7,778.0,8.1,488,11698,0.00,3.05,0.00,0.000,4,0.000,0.082,2453,920,2290
$GC,11788,1.01,156.7,770.0,8.6,490,11793,0.00,2.92,0.00,0.000,6,0.000,0.069,2453,2334,2290
$GC,12112,1.01,161.4,744.7,7.8,498,12152,0.00,0.00,4.70,1.424,6,0.000,0.000,2453,2334,2269
$GC,12477,1.02,161.4,715.3,8.0,507,12517,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2334,2270
$GC,12842,1.02,161.4,685.8,8.2,516,12846,0.00,2.97,0.00,0.000,4,0.000,0.080,2452,922,2269
$GC,12931,1.02,161.4,677.9,8.9,518,12936,0.00,2.90,0.00,0.000,6,0.000,0.067,2453,2334,2270
$GC,13260,1.02,161.4,650.3,8.3,526,13300,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2335,2269
$GC,13625,1.02,161.4,620.2,8.2,535,13629,0.00,2.97,0.00,0.000,4,0.000,0.080,2453,914,2269
$GC,13669,1.02,161.4,616.4,8.8,536,13674,0.00,2.90,0.00,0.000,6,0.000,0.067,2453,2334,2269
$GC,13998,1.02,164.1,590.4,7.9,544,14039,0.00,0.00,2.40,1.394,6,0.000,0.000,2453,2334,2259
$GC,14363,1.02,165.7,561.0,7.9,553,14403,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2334,2259
$GC,14729,1.02,175.0,533.3,7.6,562,14769,0.00,0.00,10.07,1.226,6,0.000,0.000,2453,2334,2213
$GC,15096,1.04,175.0,502.6,8.5,571,15133,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2336,2214
$GC,15442,1.04,175.0,473.2,8.3,587,15463,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2336,2214
$GC,15772,1.04,175.0,446.1,8.1,603,15782,0.00,3.45,0.00,0.000,4,0.000,0.150,2453,3739,2214
$GC,15872,1.04,175.0,437.1,9.3,607,15877,0.00,2.90,0.00,0.000,6,0.000,0.061,2453,2331,2213
$GC,16192,1.04,176.2,411.0,7.9,623,16212,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2331,2214
$GC,16521,1.04,176.2,384.0,8.2,639,16541,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2331,2214
$GC,16851,1.04,176.2,357.3,8.0,655,16871,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2331,2214
$GC,17180,1.04,204.5,333.1,7.0,671,17220,0.00,0.00,25.55,1.029,6,0.000,0.000,2453,2331,2093
$GC,17530,1.09,204.5,306.2,8.1,688,17549,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2331,2093
$GC,17859,1.09,204.5,279.1,8.2,704,17879,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2331,2093
$GC,18188,1.09,213.4,252.2,7.7,720,18203,0.00,3.35,7.70,1.061,4,0.000,0.120,2453,3738,2056
$GC,18265,1.10,213.4,245.8,8.4,723,18270,0.08,2.90,0.00,0.000,6,0.061,0.058,2472,2331,2056
$GC,18586,1.10,213.4,218.5,8.5,739,18605,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2331,2057
$GC,18915,1.10,213.4,190.9,8.8,755,18924,0.00,3.25,0.00,0.000,4,0.000,0.117,2472,3742,2057
$GC,18981,1.10,213.4,184.7,8.6,758,18990,0.00,2.85,0.00,0.000,6,0.000,0.058,2472,2330,2057
$GC,19312,1.10,213.4,157.0,8.1,774,19321,0.00,3.08,0.00,0.000,4,0.000,0.099,2472,914,2058
$GC,19507,1.10,213.4,139.1,9.1,782,19513,0.00,2.92,0.00,0.000,6,0.000,0.066,2472,2328,2058
$GC,19822,1.10,213.4,112.0,8.2,798,19842,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2328,2058
$GC,20167,1.10,262.0,87.4,6.2,838,20218,0.00,3.08,41.25,0.865,4,0.000,0.085,2472,915,1857
$GC,20256,1.18,262.0,80.9,8.6,855,20262,0.12,2.97,0.00,0.000,6,0.051,0.067,2499,2335,1857
$GC,20597,1.18,262.0,46.6,10.9,916,20603,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2336,1857
$GC,20940,1.18,334.1,16.2,5.3,977,21007,0.00,3.15,59.72,0.805,4,0.000,0.086,2500,921,1565
$FINISH,1.5,1.025511
$SM_PING,0,0.000,0.000000
$SM_CCo,21218,0.00,0.000,0,0,1563,334.59
$SM_GC,3.07,9.55,0.00,0.00,0.059,0.000,0.000,678,2235,1563,-7.13,0.14,334.59
$RAFOS_CLK,1242
$RAFOS,2,1160440146,0.500000,0.485000,66,59,56,56,55,50,209,190,121,172,153,219
$RAFOS,1,1160439543,0.333333,0.317500,69,58,54,53,50,50,196,208,126,169,144,220
$RAFOS,0,1160438960,0.166667,0.155556,64,61,60,57,50,50,158,209,174,183,116,129
$RAFOS,2,1160436544,23.500000,23.484444,70,66,56,51,48,47,183,199,217,171,147,114
$RAFOS,1,1160435969,23.333334,23.324722,75,64,56,53,50,48,205,164,189,220,120,176
$RAFOS,0,1160435360,23.166666,23.155556,67,61,53,51,50,50,201,216,123,146,167,136
$RAFOS,2,1160432947,22.500000,22.485277,67,58,54,54,51,50,217,193,115,148,171,159
$RAFOS,1,1160432366,22.333334,22.323889,60,57,57,53,53,49,158,188,217,205,115,140
$RAFOS,0,1160431750,22.166666,22.152779,59,55,54,51,51,51,170,149,191,181,116,212
$RAFOS,2,1160429341,21.500000,21.483612,69,57,54,52,51,48,201,156,181,120,87,215
$RAFOS,1,1160428775,21.333334,21.326389,65,60,59,59,58,53,179,163,202,224,149,120
$RAFOS,0,1160428142,21.166666,21.150555,62,59,57,56,55,53,175,200,162,117,209,186
$RAFOS,2,1160425759,20.500000,20.488611,63,60,58,55,53,51,200,186,217,171,146,116
$RAFOS,1,1160425147,20.333334,20.318611,65,64,62,60,51,50,214,195,183,157,138,169
$RAFOS,0,1160424541,20.166666,20.150278,64,61,59,59,55,51,206,150,165,129,189,224
$RAFOS,2,1160422141,19.500000,19.483612,65,64,61,59,53,52,184,124,217,199,160,150
$RAFOS,1,1160421544,19.333334,19.317778,65,59,59,51,51,48,189,208,219,158,149,128
$RAFOS,0,1160420942,19.166666,19.150555,63,60,57,54,54,49,216,204,181,172,146,93
$RAFOS_FIX,-31055.792969,-516148.125000,081006,070720
$IRIDIUM_FIX,6652.93,-5800.86,091006,181827
$TT8_MAMPS,0.026078
$HUMID,1948
$INTERNAL_PRESSURE,10.3227
$TCM_TEMP,-0.50
$XPDR_PINGS,31
$ALTIM_TOP_PING,20.0,18.9
$24V_AH,19.8,7.230
$10V_AH,9.6,2.446
$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,22.875,200.675,449.825,0.000,0.000,32.522,32.042,71.882,12.250,50.128,1213.013,17299.217,1279.857,1434.158,324.060,0.000,2395.221,0.000,1291.569,8640.000,40.625
$DEVICE_MAMPS,246.207,149.565,1530.165,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,916.940,923.753,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38322,1012
$CFSIZE,260165632,254087168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101006,010308,6721.226,-5818.863,30,0.9,31,-38.4