version: 65.02
glider: 18
mission: 1
dive: 81
start: 9 29 105 5 13 32
data:
$ID,18
$MISSION,1
$DIVE,81
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$T_DIVE,413
$T_MISSION,496
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$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,275
$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,-109670.08
$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,2031
$C_ROLL_CLIMB,1908
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,500
$VBD_MIN,532
$VBD_MAX,3910
$C_VBD,3153
$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
$GPS1,050838,6709.989,-5707.797,29,1.2,29
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-50.8
$GPS2,051316,6709.995,-5707.860,15,1.6,16,-37.8
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,UW
$TGT_LATLONG,4739.360,-12219.030
$TGT_RADIUS,1852.000
$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,283.8,5339064,-16.5,-7.990
$D_GRID,553
$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,-122.2,0.0,0.0,0,65,0.00,0.00,-44.80,0.000,2,0.000,0.000,786,2033,2882
$GC,66,-1.23,-122.2,3.4,-7.3,9,108,11.77,2.70,-21.38,0.000,4,0.198,0.087,2696,3421,3655
$GC,256,-1.23,-122.2,30.2,-13.7,46,261,0.00,2.58,0.00,0.000,6,0.000,0.051,2696,2036,3655
$GC,572,-1.23,-122.2,71.0,-10.7,107,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2036,3655
$GC,899,-1.23,-122.2,106.9,-11.2,161,907,0.00,2.65,0.00,0.000,4,0.000,0.076,2696,3430,3655
$GC,920,-1.23,-122.2,109.4,-11.9,162,928,0.00,2.55,0.00,0.000,6,0.000,0.051,2696,2031,3655
$GC,1248,-1.23,-122.2,147.7,-12.1,178,1256,0.00,2.60,0.00,0.000,4,0.000,0.071,2696,623,3655
$GC,1332,-1.23,-122.2,157.7,-11.2,182,1341,0.00,2.55,0.00,0.000,6,0.000,0.052,2696,2025,3655
$GC,1659,-1.23,-122.2,189.9,-9.9,198,1667,0.00,2.65,0.00,0.000,4,0.000,0.074,2696,3440,3655
$GC,1709,-1.23,-122.2,195.4,-10.4,200,1714,0.00,2.60,0.00,0.000,6,0.000,0.050,2696,2035,3655
$GC,2028,-1.23,-122.2,226.5,-9.8,216,2036,0.00,2.67,0.00,0.000,4,0.000,0.073,2696,3438,3655
$GC,2049,-1.23,-122.2,228.8,-10.6,217,2058,0.00,2.58,0.00,0.000,6,0.000,0.050,2696,2025,3655
$GC,2376,-1.23,-122.2,260.6,-9.7,233,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2025,3655
$GC,2702,-1.23,-122.2,292.5,-9.8,249,2710,0.00,2.67,0.00,0.000,4,0.000,0.073,2696,3437,3655
$GC,2723,-1.23,-122.2,294.7,-10.3,250,2732,0.00,2.58,0.00,0.000,6,0.000,0.051,2696,2029,3655
$GC,3050,-1.23,-122.2,325.8,-9.8,266,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2029,3655
$GC,3376,-1.23,-122.2,357.1,-10.0,282,3385,0.00,2.58,0.00,0.000,4,0.000,0.070,2696,625,3655
$GC,3398,-1.23,-122.2,359.7,-10.9,283,3406,0.00,2.58,0.00,0.000,6,0.000,0.053,2697,2031,3655
$GC,3724,-1.23,-122.2,391.6,-9.6,299,3732,0.00,2.62,0.00,0.000,4,0.000,0.075,2694,3439,3655
$GC,3767,-1.23,-122.2,395.8,-10.2,301,3775,0.00,2.58,0.00,0.000,6,0.000,0.051,2696,2032,3655
$GC,4093,-1.23,-122.2,425.6,-9.1,317,4101,0.00,2.65,0.00,0.000,4,0.000,0.074,2696,3439,3655
$GC,4143,-1.23,-122.2,430.7,-9.5,319,4149,0.00,2.60,0.00,0.000,6,0.000,0.051,2696,2035,3655
$GC,4462,-1.23,-122.2,461.6,-9.9,335,4470,0.00,2.65,0.00,0.000,4,0.000,0.074,2696,3439,3655
$GC,4485,-1.23,-122.2,464.3,-10.4,336,4491,0.00,2.62,0.00,0.000,6,0.000,0.051,2696,2018,3655
$GC,4809,-1.23,-122.2,496.2,-10.2,352,4817,0.00,2.67,0.00,0.000,4,0.000,0.074,2695,3439,3655
$GC,4832,-1.23,-122.2,499.0,-10.8,353,4838,0.00,2.60,0.00,0.000,6,0.000,0.051,2696,2036,3655
$GC,5175,-1.23,-122.2,533.5,-10.2,362,5183,0.00,2.65,0.00,0.000,4,0.000,0.074,2696,3439,3655
$GC,5199,-1.23,-122.2,536.5,-11.2,362,5205,0.00,2.60,0.00,0.000,6,0.000,0.051,2696,2034,3655
$GC,5381,-0.31,0.0,554.2,9.9,367,5500,1.08,0.00,100.15,1.297,6,0.112,0.000,2903,2033,3152
$GC,5501,1.23,122.2,558.5,4.8,370,5607,1.62,3.03,96.03,1.249,4,0.084,0.073,3241,501,2653
$GC,5675,1.23,204.7,557.9,4.4,374,5750,0.00,2.62,64.93,1.238,6,0.000,0.051,3240,1912,2318
$GC,6072,1.37,217.4,530.0,7.4,384,6112,0.15,0.00,10.55,1.299,6,0.064,0.000,3272,1911,2265
$GC,6434,1.39,217.4,498.3,9.1,393,6442,0.00,2.70,0.00,0.000,4,0.000,0.074,3272,495,2264
$GC,6457,1.39,217.4,495.6,10.3,394,6463,0.00,2.60,0.00,0.000,6,0.000,0.053,3272,1893,2264
$GC,6781,1.39,217.4,465.3,9.1,410,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1898,2264
$GC,7108,1.39,217.4,435.6,9.4,426,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1898,2263
$GC,7431,1.39,217.4,405.9,8.9,442,7439,0.00,2.62,0.00,0.000,4,0.000,0.074,3272,501,2263
$GC,7475,1.39,217.4,401.4,9.7,444,7481,0.00,2.60,0.00,0.000,6,0.000,0.054,3272,1901,2263
$GC,7799,1.39,220.4,375.1,7.9,460,7817,0.00,0.00,1.90,1.381,6,0.000,0.000,3272,1906,2253
$GC,8125,1.40,220.4,349.6,8.1,476,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1906,2253
$GC,8449,1.40,220.4,322.0,8.3,492,8457,0.00,2.67,0.00,0.000,4,0.000,0.073,3272,495,2251
$GC,8505,1.40,220.4,316.8,9.2,494,8512,0.00,2.60,0.00,0.000,6,0.000,0.054,3272,1900,2252
$GC,8817,1.40,226.8,292.8,7.7,510,8831,0.00,2.70,4.72,1.289,4,0.000,0.073,3272,495,2227
$GC,8893,1.41,226.8,286.0,8.8,513,8901,0.00,2.62,0.00,0.000,6,0.000,0.054,3272,1908,2228
$GC,9206,1.41,226.8,259.1,8.8,529,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1909,2227
$GC,9530,1.41,226.8,231.4,8.2,545,9538,0.00,2.67,0.00,0.000,4,0.000,0.073,3272,496,2228
$GC,9565,1.41,226.8,228.2,8.9,546,9573,0.00,2.60,0.00,0.000,6,0.000,0.054,3272,1903,2228
$GC,9877,1.41,237.6,205.1,7.5,562,9891,0.00,2.75,8.57,1.199,4,0.000,0.073,3272,3309,2183
$GC,9912,1.43,242.8,202.3,7.8,563,9920,0.00,2.62,3.58,1.222,6,0.000,0.052,3272,1910,2164
$GC,10224,1.44,254.2,179.7,7.5,579,10243,0.00,0.00,8.90,1.147,6,0.000,0.000,3272,1910,2116
$GC,10549,1.45,254.2,152.7,9.1,595,10557,0.00,2.62,0.00,0.000,4,0.000,0.071,3272,3308,2114
$GC,10583,1.45,254.2,149.1,10.2,596,10591,0.00,2.60,0.00,0.000,6,0.000,0.054,3272,1912,2114
$GC,10896,1.45,254.2,118.5,9.6,612,10904,0.00,2.65,0.00,0.000,4,0.000,0.077,3272,498,2115
$GC,10952,1.45,254.2,112.3,10.8,614,10959,0.00,2.58,0.00,0.000,6,0.000,0.052,3272,1899,2114
$GC,11267,1.45,254.2,81.6,8.9,657,11275,0.00,2.65,0.00,0.000,4,0.000,0.072,3272,3308,2115
$GC,11325,1.45,254.2,76.7,8.5,668,11333,0.00,2.58,0.00,0.000,6,0.000,0.053,3272,1904,2114
$GC,11644,1.45,300.0,55.6,6.0,730,11686,0.00,2.78,34.53,0.987,4,0.000,0.074,3272,499,1929
$GC,11720,1.53,313.9,50.4,7.4,745,11737,0.12,2.62,10.45,0.997,6,0.061,0.051,3304,1908,1872
$GC,12049,1.55,313.9,23.6,9.0,808,12057,0.00,2.65,0.00,0.000,4,0.000,0.072,3304,3311,1871
$GC,12119,1.55,313.9,17.0,9.1,822,12124,0.00,2.60,0.00,0.000,6,0.000,0.052,3304,1911,1871
$FINISH,0.1,1.026521,0
$SM_CCo,12388,0.00,0.000,0,0,1869,314.97
$RAFOS_CLK,1586
$RAFOS,2,1127982246,8.416667,8.401667,92,45,45,604,1581,1804
$RAFOS,1,1127981647,8.250000,8.235278,111,46,43,815,509,1791
$RAFOS,0,1127981054,8.083333,8.070556,102,44,41,948,165,1296
$RAFOS_FIX,6708.869141,-5708.550781
$TT8_MAMPS,0.021476
$HUMID,2002
$TCM_TEMP,0.50
$ALTIM_TOP_PING,9.5,8.8
$ALTIM_BOTTOM_PING,529.4,35.7
$24V_AH,23.6,18.545
$10V_AH,10.2,9.779
$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,26.625,126.775,344.300,0.000,0.000,31.293,31.160,128.767,0.500,48.216,811.206,8191.484,707.999,2744.238,308.488,0.000,1557.293,0.000,909.001,1440.000,3.323
$DEVICE_MAMPS,197.886,86.671,1380.600,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,760.304,2501.185,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31492,859
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290905,084141,6709.667,-5712.598,38,1.8,38,-37.8