version: 65.02
glider: 18
mission: 1
dive: 32
start: 9 21 105 11 35 16
data:
$ID,18
$MISSION,1
$DIVE,32
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$T_DIVE,333
$T_MISSION,400
$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,2
$KALMAN_Q,1000
$KALMAN_R,100
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$SM_CC,333
$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,-102657.63
$T_RSLEEP,2
$PITCH_MIN,785
$PITCH_MAX,4062
$C_PITCH,2970
$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,2047
$C_ROLL_CLIMB,1916
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,500
$VBD_MIN,532
$VBD_MAX,3910
$C_VBD,3127
$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
$GPS1,113008,6633.792,-5921.149,43,1.3,47
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-50.7
$GPS2,113503,6633.798,-5920.992,33,1.3,50,-37.6
$SPEED_LIMITS,0.139,0.223
$TGT_NAME,TARGET_E
$TGT_LATLONG,6705.000,-5642.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.200,0.099
$KALMAN_X,-568.6,-7.4,-303.7,56537.0,749.0
$KALMAN_Y,-38661.5,-363.0,1802.7,29602.7,-5516.6
$MHEAD_RNG_PITCHd_Wd,100.9,128396,-16.5,-8.008
$D_GRID,829
$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,17,-1.23,-122.2,0.0,0.0,0,75,0.00,0.00,-55.45,0.000,2,0.000,0.000,787,1986,2474
$GC,76,-1.23,-122.2,3.3,-5.4,11,129,12.10,2.95,-33.50,0.000,4,0.211,0.104,2694,3455,3627
$GC,297,-1.23,-122.2,39.0,-14.2,54,303,0.00,2.70,0.00,0.000,6,0.000,0.064,2694,2045,3628
$GC,613,-1.23,-122.2,82.1,-13.3,115,619,0.00,2.83,0.00,0.000,4,0.000,0.091,2694,3451,3630
$GC,649,-1.23,-122.2,86.8,-13.3,122,655,0.00,2.67,0.00,0.000,6,0.000,0.064,2694,2055,3630
$GC,964,-1.23,-122.2,125.9,-12.6,153,972,0.00,2.78,0.00,0.000,4,0.000,0.093,2694,3457,3630
$GC,1008,-1.23,-122.2,132.0,-12.7,155,1014,0.00,2.70,0.00,0.000,6,0.000,0.066,2694,2048,3630
$GC,1332,-1.23,-122.2,172.5,-12.3,171,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2048,3630
$GC,1657,-1.23,-122.2,211.9,-11.7,187,1665,0.00,2.80,0.00,0.000,4,0.000,0.092,2692,3458,3630
$GC,1741,-1.23,-122.2,222.0,-11.8,191,1749,0.00,2.65,0.00,0.000,6,0.000,0.067,2694,2047,3630
$GC,2067,-1.23,-122.2,259.5,-11.3,207,2075,0.00,2.72,0.00,0.000,4,0.000,0.087,2693,635,3630
$GC,2110,-1.23,-122.2,264.3,-11.7,209,2118,0.00,2.67,0.00,0.000,6,0.000,0.067,2694,2054,3630
$GC,2436,-1.23,-122.2,298.1,-10.4,225,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2053,3630
$GC,2761,-1.23,-122.2,331.8,-10.3,241,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2054,3630
$GC,3086,-1.23,-122.2,365.6,-10.5,257,3094,0.00,2.72,0.00,0.000,4,0.000,0.081,2694,636,3630
$GC,3149,-1.23,-122.2,372.5,-11.0,260,3157,0.00,2.62,0.00,0.000,6,0.000,0.064,2694,2047,3630
$GC,3477,-1.23,-122.2,405.8,-10.1,276,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2047,3629
$GC,3802,-1.23,-122.2,437.3,-9.6,292,3810,0.00,2.70,0.00,0.000,4,0.000,0.079,2694,636,3630
$GC,3865,-1.23,-122.2,444.0,-10.3,295,3873,0.00,2.62,0.00,0.000,6,0.000,0.064,2694,2046,3630
$GC,4192,-1.23,-122.2,476.0,-9.6,311,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2046,3630
$GC,4536,-1.23,-122.2,509.6,-9.8,326,4544,0.00,2.67,0.00,0.000,4,0.000,0.078,2694,637,3630
$GC,4565,-1.23,-122.2,512.9,-11.0,326,4571,0.00,2.65,0.00,0.000,6,0.000,0.061,2694,2045,3629
$GC,4901,-1.23,-122.2,545.1,-9.7,335,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2045,3630
$GC,5264,-1.23,-122.2,579.0,-9.3,344,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2045,3630
$GC,5626,-1.23,-122.2,612.7,-9.1,353,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2045,3630
$GC,5989,-1.23,-122.2,647.7,-10.0,362,5997,0.00,2.70,0.00,0.000,4,0.000,0.080,2694,638,3630
$GC,6039,-1.23,-122.2,653.2,-10.6,363,6045,0.00,2.65,0.00,0.000,6,0.000,0.062,2694,2042,3631
$GC,6356,-1.23,-122.2,684.0,-9.9,371,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2042,3631
$GC,6719,-1.23,-122.2,718.3,-9.1,380,6727,0.00,2.70,0.00,0.000,4,0.000,0.081,2694,638,3631
$GC,6753,-1.23,-122.2,721.8,-9.9,380,6762,0.00,2.65,0.00,0.000,6,0.000,0.061,2693,2043,3631
$GC,7084,-1.23,-122.2,754.6,-10.6,389,7092,0.00,2.70,0.00,0.000,4,0.000,0.081,2694,638,3631
$GC,7108,-1.23,-122.2,757.4,-11.6,389,7113,0.00,2.65,0.00,0.000,6,0.000,0.063,2694,2044,3631
$GC,7449,-1.23,-122.2,791.4,-10.0,398,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2045,3631
$GC,7571,-0.31,0.0,802.2,9.3,401,7690,1.08,0.00,104.03,1.509,6,0.120,0.000,2896,2044,3127
$GC,7692,1.23,122.2,806.7,4.5,404,7804,1.75,2.55,100.53,1.460,4,0.095,0.082,3236,3323,2628
$GC,7980,1.23,216.5,805.4,3.9,411,8063,0.00,2.65,76.72,1.452,6,0.000,0.061,3237,1917,2244
$GC,8385,1.39,267.2,781.5,5.8,421,8465,0.17,0.00,42.10,1.449,6,0.071,0.000,3272,1917,2037
$GC,8787,1.48,267.2,746.3,9.4,431,8795,0.00,2.75,0.00,0.000,4,0.000,0.083,3272,3324,2036
$GC,8822,1.48,267.2,742.7,10.2,431,8830,0.00,2.67,0.00,0.000,6,0.000,0.062,3272,1920,2036
$GC,9152,1.48,267.2,712.8,8.7,440,9192,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1920,2036
$GC,9515,1.48,267.2,679.8,9.3,449,9523,0.00,2.72,0.00,0.000,4,0.000,0.084,3272,3323,2036
$GC,9558,1.48,267.2,675.6,9.6,450,9566,0.00,2.65,0.00,0.000,6,0.000,0.064,3272,1915,2036
$GC,9883,1.48,267.2,644.8,9.3,458,9923,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1915,2036
$GC,10246,1.48,267.2,611.7,9.1,467,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1915,2036
$GC,10608,1.48,267.2,578.6,9.3,476,10617,0.00,2.72,0.00,0.000,4,0.000,0.082,3272,3323,2036
$GC,10643,1.48,267.2,574.8,10.3,476,10651,0.00,2.67,0.00,0.000,6,0.000,0.063,3272,1917,2036
$GC,10973,1.48,267.2,544.4,9.0,485,11013,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1917,2036
$GC,11336,1.48,267.2,512.8,8.7,494,11344,0.00,2.72,0.00,0.000,4,0.000,0.082,3272,3324,2036
$GC,11379,1.48,267.2,508.9,8.8,495,11387,0.00,2.65,0.00,0.000,6,0.000,0.064,3272,1915,2036
$GC,11706,1.48,267.2,481.8,8.2,508,11723,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1915,2036
$GC,12031,1.48,272.9,456.1,7.8,524,12048,0.00,0.00,4.47,1.442,6,0.000,0.000,3272,1915,2014
$GC,12356,1.49,272.9,429.9,8.1,540,12373,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1915,2014
$GC,12682,1.49,272.9,403.6,8.1,556,12690,0.00,2.72,0.00,0.000,4,0.000,0.080,3272,3324,2014
$GC,12724,1.49,272.9,399.9,8.8,558,12732,0.00,2.62,0.00,0.000,6,0.000,0.062,3272,1916,2013
$GC,13050,1.49,272.9,371.6,9.0,574,13067,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1915,2014
$GC,13375,1.49,272.9,342.3,8.9,590,13384,0.00,2.72,0.00,0.000,4,0.000,0.081,3271,3327,2014
$GC,13410,1.49,272.9,338.8,9.5,591,13418,0.00,2.65,0.00,0.000,6,0.000,0.062,3272,1925,2014
$GC,13722,1.49,272.9,309.4,9.9,607,13739,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1924,2014
$GC,14047,1.49,272.9,279.3,9.1,623,14055,0.00,2.72,0.00,0.000,4,0.000,0.087,3271,507,2014
$GC,14076,1.49,272.9,276.3,9.3,624,14082,0.05,2.65,0.00,0.000,6,0.077,0.062,3286,1910,2014
$GC,14395,1.49,272.9,246.6,9.3,640,14411,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1914,2014
$GC,14720,1.49,272.9,217.6,8.5,656,14736,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1914,2014
$GC,15044,1.49,304.9,195.4,6.6,672,15083,0.00,0.00,25.10,1.172,6,0.000,0.000,3286,1914,1883
$GC,15390,1.54,304.9,167.0,8.3,689,15398,0.00,2.75,0.00,0.000,4,0.000,0.090,3286,502,1883
$GC,15445,1.54,304.9,161.8,8.6,691,15453,0.00,2.67,0.00,0.000,6,0.000,0.066,3286,1909,1884
$GC,15759,1.54,319.8,138.1,7.4,707,15778,0.00,2.85,11.77,1.187,4,0.000,0.087,3286,3320,1823
$GC,15809,1.56,320.6,134.0,8.0,709,15815,0.08,2.70,0.00,0.000,6,0.069,0.067,3305,1922,1823
$GC,16130,1.57,326.3,109.6,7.8,725,16145,0.00,0.00,5.30,1.232,6,0.000,0.000,3305,1922,1795
$GC,16456,1.57,326.3,82.8,8.6,771,16464,0.00,2.75,0.00,0.000,4,0.000,0.094,3305,508,1795
$GC,16503,1.57,326.3,78.6,9.1,780,16512,0.00,2.67,0.00,0.000,6,0.000,0.068,3305,1924,1795
$GC,16822,1.57,333.3,53.1,7.7,842,16833,0.00,0.00,4.78,1.227,6,0.000,0.000,3305,1924,1768
$GC,17143,1.59,333.3,28.1,8.2,904,17147,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1924,1767
$GC,17459,1.59,397.6,10.8,5.2,965,17518,0.00,2.88,49.12,1.048,4,0.000,0.091,3305,505,1504
$GC,17580,1.69,429.4,3.7,6.6,988,17611,0.17,2.67,24.10,1.030,6,0.074,0.068,3340,1920,1376
$FINISH,-0.0,1.025016,0
$SM_CCo,17721,0.00,0.000,0,0,1372,430.50
$RAFOS_CLK,922
$RAFOS,1,1127319243,16.250000,16.234167,65,46,39,621,1880,223
$RAFOS,0,1127318643,16.083334,16.067499,94,50,47,669,207,1707
$RAFOS,4,1127316543,15.500000,15.484167,43,42,42,762,400,1916
$RAFOS,3,1127306052,12.583333,12.570000,94,46,45,591,607,271
$RAFOS,2,1127305460,12.416667,12.405556,119,53,49,748,79,1296
$RAFOS,1,1127304850,12.250000,12.236111,76,40,40,616,982,1251
$RAFOS,0,1127304244,12.083333,12.067778,106,45,43,675,684,1202
$RAFOS_FIX,6633.583496,-5919.387695
$TT8_MAMPS,0.022243
$HUMID,2034
$TCM_TEMP,-4.50
$ALTIM_TOP_PING,9.9,0.0
$ALTIM_BOTTOM_PING,775.1,7.0
$24V_AH,23.4,11.543
$10V_AH,10.1,5.665
$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,28.100,124.600,448.025,0.000,0.000,31.295,33.770,114.235,0.500,99.657,882.492,12422.327,1228.222,3289.988,300.790,0.000,2235.725,0.000,1064.918,2880.000,3.603
$DEVICE_MAMPS,210.925,103.545,1508.689,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,898.936,2964.298,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,36526,1000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210905,113503,6633.798,-5920.992,903,99.0,903,-37.6