version: 65.02
glider: 18
mission: 1
dive: 27
start: 9 20 105 14 44 0
data:
$ID,18
$MISSION,1
$DIVE,27
$D_SURF,2
$D_FLARE,3
$D_TGT,650
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$T_DIVE,271
$T_MISSION,325
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$D_OFFGRID,100
$CAPTURING,1
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52230
$KALMAN_USE,1
$KALMAN_Q,1000
$KALMAN_R,100
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$SM_CC,300
$N_FILEKB,4
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-102227.99
$T_RSLEEP,2
$PITCH_MIN,785
$PITCH_MAX,4062
$C_PITCH,2974
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$ROLL_MIN,312
$ROLL_MAX,3750
$C_ROLL_DIVE,1987
$C_ROLL_CLIMB,1901
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,500
$VBD_MIN,532
$VBD_MAX,3910
$C_VBD,3081
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,4
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-4.8417439
$PRESSURE_SLOPE,9.0669513e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$DEEPGLIDER,0
$MOTHERBOARD,3
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,143809,6633.970,-5942.017,65,1.1,65
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-50.6
$GPS2,144310,6633.985,-5941.974,39,1.5,40,-37.7
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_E
$TGT_LATLONG,6705.000,-5642.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,0.130
$KALMAN_X,-712.6,89.6,-508.0,46075.2,317.8
$KALMAN_Y,-33864.4,-652.4,858.8,22989.8,-699.2
$MHEAD_RNG_PITCHd_Wd,92.0,141931,-16.5,-7.995
$D_GRID,745
$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,16,-1.23,-122.2,0.0,0.0,0,74,0.00,0.00,-55.72,0.000,2,0.000,0.000,789,1983,2502
$GC,76,-1.23,-122.2,3.2,-5.1,11,128,12.07,2.80,-32.83,0.000,4,0.209,0.101,2697,3388,3582
$GC,245,-1.23,-122.2,28.4,-13.8,44,250,0.00,2.67,0.00,0.000,6,0.000,0.063,2697,1988,3582
$GC,560,-1.23,-122.2,68.4,-11.9,105,566,0.00,2.75,0.00,0.000,4,0.000,0.086,2697,577,3584
$GC,605,-1.23,-122.2,73.4,-11.9,113,613,0.00,2.65,0.00,0.000,6,0.000,0.067,2697,1988,3584
$GC,940,-1.23,-122.2,111.7,-11.0,163,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1988,3585
$GC,1266,-1.23,-122.2,147.1,-11.3,179,1274,0.00,2.75,0.00,0.000,4,0.000,0.094,2697,3394,3585
$GC,1290,-1.23,-122.2,150.3,-12.5,180,1295,0.00,2.70,0.00,0.000,6,0.000,0.065,2697,1985,3585
$GC,1613,-1.23,-122.2,187.4,-11.5,196,1621,0.00,2.78,0.00,0.000,4,0.000,0.091,2697,3396,3585
$GC,1637,-1.23,-122.2,190.4,-12.4,197,1642,0.00,2.70,0.00,0.000,6,0.000,0.066,2697,1987,3584
$GC,1961,-1.23,-122.2,225.6,-11.1,213,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1987,3585
$GC,2285,-1.23,-122.2,261.4,-10.8,229,2293,0.00,2.78,0.00,0.000,4,0.000,0.090,2697,3397,3584
$GC,2319,-1.23,-122.2,265.5,-11.3,230,2327,0.00,2.67,0.00,0.000,6,0.000,0.064,2697,1994,3584
$GC,2632,-1.23,-122.2,299.0,-10.8,246,2641,0.00,2.75,0.00,0.000,4,0.000,0.088,2697,3394,3584
$GC,2656,-1.23,-122.2,301.8,-11.7,247,2661,0.00,2.67,0.00,0.000,6,0.000,0.063,2697,1988,3583
$GC,2979,-1.23,-122.2,336.3,-10.4,263,2987,0.00,2.75,0.00,0.000,4,0.000,0.087,2697,3398,3583
$GC,3008,-1.23,-122.2,339.6,-11.0,264,3013,0.00,2.67,0.00,0.000,6,0.000,0.062,2697,1987,3582
$GC,3326,-1.23,-122.2,372.0,-10.3,280,3335,0.00,2.75,0.00,0.000,4,0.000,0.087,2697,3397,3584
$GC,3348,-1.23,-122.2,374.3,-10.7,281,3356,0.00,2.62,0.00,0.000,6,0.000,0.063,2697,1986,3583
$GC,3674,-1.23,-122.2,408.8,-10.6,297,3682,0.00,2.75,0.00,0.000,4,0.000,0.087,2697,3397,3583
$GC,3697,-1.23,-122.2,411.8,-12.2,298,3703,0.00,2.65,0.00,0.000,6,0.000,0.062,2697,1995,3583
$GC,4021,-1.23,-122.2,445.7,-10.5,314,4029,0.00,2.72,0.00,0.000,4,0.000,0.087,2697,3397,3583
$GC,4050,-1.23,-122.2,449.2,-11.5,315,4055,0.00,2.65,0.00,0.000,6,0.000,0.061,2697,1989,3583
$GC,4369,-1.23,-122.2,482.1,-10.4,331,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1989,3583
$GC,4713,-1.23,-122.2,517.9,-10.3,344,4721,0.00,2.72,0.00,0.000,4,0.000,0.087,2697,3396,3583
$GC,4769,-1.23,-122.2,524.2,-10.5,345,4774,0.00,2.65,0.00,0.000,6,0.000,0.061,2697,1989,3583
$GC,5080,-1.23,-122.2,554.5,-9.6,353,5088,0.00,2.72,0.00,0.000,4,0.000,0.086,2697,3394,3583
$GC,5110,-1.23,-122.2,557.8,-11.0,353,5115,0.00,2.65,0.00,0.000,6,0.000,0.060,2697,1987,3583
$GC,5445,-1.23,-122.2,589.9,-9.6,362,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1987,3583
$GC,5811,-1.23,-122.2,625.6,-9.8,371,5819,0.00,2.72,0.00,0.000,4,0.000,0.085,2697,3397,3583
$GC,5872,-1.23,-122.2,632.2,-10.1,372,5877,0.00,2.65,0.00,0.000,6,0.000,0.061,2697,1989,3584
$GC,6099,-0.31,0.0,653.4,9.5,378,6218,1.10,0.00,101.62,1.426,6,0.123,0.000,2903,1989,3081
$GC,6220,1.23,122.2,658.8,5.4,381,6331,1.67,3.00,98.95,1.372,4,0.095,0.086,3239,495,2582
$GC,6567,1.23,217.0,655.8,3.8,389,6650,0.00,2.67,75.93,1.368,6,0.000,0.061,3239,1910,2196
$GC,6960,1.39,234.4,630.3,7.2,399,6980,0.17,2.83,13.77,1.410,4,0.072,0.083,3275,494,2124
$GC,7010,1.42,234.4,625.6,10.0,400,7015,0.00,2.67,0.00,0.000,6,0.000,0.061,3275,1893,2124
$GC,7327,1.42,234.4,598.2,8.6,408,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1898,2124
$GC,7689,1.42,234.4,565.7,9.3,417,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1898,2124
$GC,8052,1.42,234.4,532.2,8.9,426,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1898,2124
$GC,8415,1.42,234.4,500.7,8.8,435,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1898,2124
$GC,8759,1.42,234.4,470.6,8.9,451,8768,0.00,2.72,0.00,0.000,4,0.000,0.084,3275,3312,2124
$GC,8804,1.42,234.4,466.3,9.4,453,8810,0.00,2.67,0.00,0.000,6,0.000,0.062,3275,1903,2124
$GC,9128,1.42,234.4,437.7,9.0,469,9136,0.00,2.70,0.00,0.000,4,0.000,0.080,3275,3309,2124
$GC,9183,1.42,234.4,432.1,10.1,471,9191,0.00,2.67,0.00,0.000,6,0.000,0.063,3275,1902,2124
$GC,9496,1.42,234.4,403.9,9.1,487,9513,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1902,2124
$GC,9821,1.42,234.4,375.8,8.2,503,9829,0.00,2.72,0.00,0.000,4,0.000,0.080,3275,3314,2124
$GC,9871,1.42,234.4,371.2,9.1,505,9876,0.00,2.67,0.00,0.000,6,0.000,0.063,3274,1906,2124
$GC,10189,1.42,250.0,347.3,7.3,521,10208,0.00,2.83,12.60,1.312,4,0.000,0.086,3275,499,2061
$GC,10233,1.45,250.0,343.6,8.7,523,10238,0.00,2.67,0.00,0.000,6,0.000,0.061,3275,1902,2061
$GC,10556,1.45,252.6,318.9,7.9,539,10574,0.00,0.00,1.73,1.435,6,0.000,0.000,3275,1907,2051
$GC,10883,1.45,252.7,292.3,8.0,555,10898,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1907,2051
$GC,11206,1.45,252.7,265.8,8.1,571,11223,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1908,2051
$GC,11533,1.45,252.7,238.6,8.3,587,11541,0.00,2.70,0.00,0.000,4,0.000,0.085,3275,3309,2050
$GC,11575,1.45,252.7,234.8,8.9,589,11583,0.00,2.65,0.00,0.000,6,0.000,0.064,3275,1900,2051
$GC,11901,1.45,252.7,207.5,8.2,605,11909,0.00,2.72,0.00,0.000,4,0.000,0.083,3275,3308,2051
$GC,11944,1.45,260.3,204.1,7.7,607,11958,0.00,2.62,6.25,1.278,6,0.000,0.065,3275,1901,2019
$GC,12271,1.47,280.0,179.9,7.1,623,12295,0.00,2.78,15.38,1.200,4,0.000,0.083,3275,3314,1938
$GC,12336,1.50,280.0,174.2,8.8,626,12343,0.08,2.72,0.00,0.000,6,0.068,0.066,3295,1905,1938
$GC,12660,1.50,280.0,147.7,8.1,642,12668,0.00,2.75,0.00,0.000,4,0.000,0.085,3295,3312,1938
$GC,12724,1.50,280.0,142.3,8.7,645,12732,0.00,2.65,0.00,0.000,6,0.000,0.068,3295,1902,1938
$GC,13051,1.50,282.1,116.5,7.9,661,13067,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1902,1938
$GC,13377,1.50,300.0,91.3,7.2,692,13401,0.00,2.83,15.18,1.160,4,0.000,0.086,3295,3307,1858
$GC,13432,1.53,308.6,87.0,7.6,703,13447,0.00,2.72,6.78,1.189,6,0.000,0.069,3295,1906,1823
$GC,13757,1.55,322.4,63.7,7.4,766,13772,0.00,0.00,10.60,1.170,6,0.000,0.000,3295,1906,1766
$GC,14083,1.57,323.8,37.8,7.9,829,14088,0.00,2.80,0.00,0.000,4,0.000,0.088,3295,3308,1765
$GC,14140,1.57,323.8,33.2,8.0,840,14145,0.00,2.70,0.00,0.000,6,0.000,0.071,3295,1909,1764
$GC,14455,1.57,410.2,13.3,4.2,901,14528,0.00,2.85,66.53,1.035,4,0.000,0.085,3295,3302,1407
$GC,14542,1.72,413.7,8.0,7.8,918,14553,0.20,2.75,2.70,1.124,6,0.067,0.069,3341,1900,1394
$FINISH,-0.0,1.025027,0
$SM_CCo,14726,0.00,0.000,0,0,1392,414.31
$RAFOS_CLK,1768
$RAFOS,3,1127234043,16.583334,16.567499,63,45,41,657,203,674
$RAFOS,2,1127233457,16.416666,16.404722,47,45,43,871,1910,1683
$RAFOS,1,1127232845,16.250000,16.234722,103,47,43,645,223,157
$RAFOS,0,1127232279,16.083334,16.077499,127,48,42,426,994,1877
$RAFOS,4,1127230155,15.500000,15.487500,45,43,43,451,551,771
$TT8_MAMPS,0.020709
$HUMID,2028
$TCM_TEMP,-5.00
$ALTIM_TOP_PING,10.0,0.0
$ALTIM_BOTTOM_PING,625.6,160.3
$24V_AH,23.4,10.672
$10V_AH,10.1,5.205
$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,27.875,141.675,428.000,0.000,0.000,32.325,29.803,134.350,0.250,108.055,857.469,9930.638,947.282,3095.304,308.347,33.362,1909.552,0.000,1031.322,1800.000,3.234
$DEVICE_MAMPS,208.624,101.244,1435.057,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,834.377,2734.689,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34262,938
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200905,185040,6635.743,-5937.676,34,1.8,34,-37.7