version: 65.02
glider: 18
mission: 1
dive: 101
start: 10 3 105 22 25 12
data:
$ID,18
$MISSION,1
$DIVE,101
$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,-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,0.0037974301
$HD_B,0.0100514
$HD_C,8.7181998e-06
$HEADING,-1
$SM_CC,315
$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,-111713.2
$T_RSLEEP,2
$PITCH_MIN,785
$PITCH_MAX,4062
$C_PITCH,2978
$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,2086
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,500
$VBD_MIN,532
$VBD_MAX,3910
$C_VBD,3146
$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
$GPS1,221938,6646.297,-5930.808,43,1.9,54
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-50.6
$GPS2,222457,6646.300,-5930.680,37,2.0,48,-37.9
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_W
$TGT_LATLONG,6642.000,-6048.000
$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,299.9,57198,-16.4,-7.990
$D_GRID,871
$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,-55.38,0.000,2,0.000,0.000,788,2092,2526
$GC,77,-1.23,-122.2,3.1,-5.9,11,134,12.10,2.78,-35.12,0.000,4,0.210,0.104,2703,3487,3647
$GC,334,-1.23,-122.2,43.9,-14.3,61,339,0.00,2.67,0.00,0.000,6,0.000,0.063,2703,2091,3647
$GC,649,-1.23,-122.2,82.8,-11.8,122,655,0.00,2.75,0.00,0.000,4,0.000,0.083,2702,677,3648
$GC,674,-1.23,-122.2,85.3,-12.1,126,683,0.00,2.65,0.00,0.000,6,0.000,0.066,2703,2085,3648
$GC,997,-1.23,-122.2,123.8,-11.6,159,1005,0.00,2.72,0.00,0.000,4,0.000,0.081,2701,675,3648
$GC,1042,-1.23,-122.2,129.5,-11.9,161,1047,0.00,2.70,0.00,0.000,6,0.000,0.067,2702,2084,3648
$GC,1365,-1.23,-122.2,165.9,-11.5,177,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2084,3648
$GC,1690,-1.23,-122.2,202.9,-11.4,193,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2084,3648
$GC,2016,-1.23,-122.2,238.8,-11.2,209,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2084,3648
$GC,2340,-1.23,-122.2,274.5,-10.7,225,2348,0.00,2.72,0.00,0.000,4,0.000,0.081,2702,670,3648
$GC,2427,-1.23,-122.2,284.4,-10.9,229,2432,0.00,2.70,0.00,0.000,6,0.000,0.067,2703,2087,3648
$GC,2750,-1.23,-122.2,317.0,-10.0,245,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2087,3648
$GC,3077,-1.23,-122.2,347.9,-9.4,261,3085,0.00,2.75,0.00,0.000,4,0.000,0.091,2703,3494,3648
$GC,3106,-1.23,-122.2,351.3,-10.6,262,3111,0.00,2.67,0.00,0.000,6,0.000,0.061,2703,2087,3648
$GC,3424,-1.23,-122.2,383.3,-10.4,278,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2087,3648
$GC,3751,-1.23,-122.2,417.4,-10.4,294,3759,0.00,2.78,0.00,0.000,4,0.000,0.087,2702,3496,3649
$GC,3775,-1.23,-122.2,420.4,-11.3,295,3780,0.00,2.67,0.00,0.000,6,0.000,0.061,2703,2086,3648
$GC,4098,-1.23,-122.2,453.2,-10.1,311,4106,0.00,2.75,0.00,0.000,4,0.000,0.087,2703,3493,3648
$GC,4119,-1.23,-122.2,455.5,-10.8,312,4127,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2080,3648
$GC,4447,-1.23,-122.2,488.8,-10.1,328,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2080,3648
$GC,4769,-1.23,-122.2,520.2,-9.6,339,4777,0.00,2.78,0.00,0.000,4,0.000,0.087,2703,3493,3648
$GC,4798,-1.23,-122.2,523.4,-10.4,339,4803,0.00,2.65,0.00,0.000,6,0.000,0.060,2703,2093,3648
$GC,5134,-1.23,-122.2,555.1,-9.5,348,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2093,3648
$GC,5497,-1.23,-122.2,590.2,-9.6,357,5505,0.00,2.75,0.00,0.000,4,0.000,0.087,2702,3498,3648
$GC,5515,-1.23,-122.2,592.3,-9.6,357,5521,0.00,2.65,0.00,0.000,6,0.000,0.060,2703,2093,3648
$GC,5862,-1.23,-122.2,625.0,-9.4,366,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2094,3649
$GC,6225,-1.23,-122.2,658.5,-9.1,375,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2094,3648
$GC,6587,-1.23,-122.2,690.9,-8.9,384,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2094,3648
$GC,6951,-1.23,-122.2,723.3,-8.9,393,6959,0.00,2.75,0.00,0.000,4,0.000,0.087,2703,3493,3648
$GC,6969,-1.23,-122.2,725.3,-9.2,393,6974,0.00,2.65,0.00,0.000,6,0.000,0.060,2702,2090,3648
$GC,7316,-1.23,-122.2,755.7,-8.8,402,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2089,3648
$GC,7678,-1.23,-122.2,789.7,-9.4,411,7686,0.00,2.75,0.00,0.000,4,0.000,0.087,2703,3493,3648
$GC,7697,-1.23,-122.2,791.7,-9.5,411,7702,0.00,2.65,0.00,0.000,6,0.000,0.060,2703,2092,3648
$GC,8044,-1.23,-122.2,822.4,-9.3,420,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2092,3648
$GC,8407,-1.23,-122.2,854.6,-9.3,429,8416,0.00,2.70,0.00,0.000,4,0.000,0.083,2702,676,3648
$GC,8474,-1.23,-122.2,861.5,-9.7,430,8479,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2081,3648
$GC,8615,-0.31,0.0,873.7,8.9,434,8734,1.08,0.00,105.53,1.578,6,0.120,0.000,2905,2081,3145
$GC,8736,1.23,122.2,877.8,4.4,437,8847,1.67,2.53,100.43,1.529,4,0.095,0.081,3245,3327,2646
$GC,9041,1.23,153.3,869.3,6.6,444,9072,0.00,2.67,25.55,1.532,6,0.000,0.061,3245,1921,2521
$GC,9394,1.28,209.7,848.4,5.5,453,9448,0.00,2.88,46.53,1.526,4,0.000,0.084,3244,511,2290
$GC,9506,1.38,209.7,839.3,8.8,455,9511,0.12,2.67,0.00,0.000,6,0.062,0.060,3276,1912,2289
$GC,9842,1.38,209.7,807.2,9.7,464,9850,0.00,2.75,0.00,0.000,4,0.000,0.084,3276,508,2288
$GC,9885,1.38,209.7,802.7,10.7,465,9893,0.00,2.62,0.00,0.000,6,0.000,0.061,3275,1919,2288
$GC,10210,1.38,209.7,771.8,9.2,473,10218,0.00,2.70,0.00,0.000,4,0.000,0.084,3276,3326,2288
$GC,10234,1.38,209.7,769.2,10.0,473,10239,0.00,2.67,0.00,0.000,6,0.000,0.061,3276,1921,2288
$GC,10575,1.38,209.7,737.6,9.1,482,10583,0.00,2.72,0.00,0.000,4,0.000,0.087,3276,511,2288
$GC,10599,1.38,209.7,735.0,10.0,482,10604,0.00,2.65,0.00,0.000,6,0.000,0.061,3276,1910,2288
$GC,10940,1.38,209.7,703.9,9.2,491,10948,0.00,2.72,0.00,0.000,4,0.000,0.084,3276,3327,2288
$GC,10959,1.38,209.7,701.8,10.3,491,10964,0.00,2.67,0.00,0.000,6,0.000,0.062,3276,1922,2288
$GC,11305,1.38,209.7,670.9,9.0,500,11313,0.00,2.72,0.00,0.000,4,0.000,0.087,3276,510,2288
$GC,11334,1.38,209.7,667.9,9.5,500,11340,0.00,2.67,0.00,0.000,6,0.000,0.061,3275,1919,2288
$GC,11670,1.38,209.7,639.4,8.4,509,11678,0.00,2.72,0.00,0.000,4,0.000,0.084,3276,510,2288
$GC,11700,1.38,209.7,636.5,8.8,509,11705,0.00,2.65,0.00,0.000,6,0.000,0.061,3276,1909,2288
$GC,12035,1.38,209.7,609.4,8.2,518,12075,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1909,2288
$GC,12398,1.38,209.7,579.0,8.4,527,12438,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1909,2288
$GC,12760,1.38,209.7,546.6,9.0,536,12769,0.00,2.72,0.00,0.000,4,0.000,0.084,3276,509,2288
$GC,12796,1.38,209.7,543.0,9.1,536,12803,0.00,2.67,0.00,0.000,6,0.000,0.061,3276,1920,2288
$GC,13125,1.38,209.7,514.1,8.8,545,13165,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1926,2288
$GC,13469,1.38,209.7,483.5,8.8,558,13478,0.00,2.75,0.00,0.000,4,0.000,0.084,3275,507,2288
$GC,13498,1.38,209.7,480.6,8.9,559,13504,0.00,2.65,0.00,0.000,6,0.000,0.061,3276,1911,2288
$GC,13818,1.38,216.7,454.9,7.7,575,13832,0.00,2.78,5.22,1.467,4,0.000,0.082,3276,3327,2262
$GC,13873,1.39,217.2,450.2,8.0,577,13882,0.00,2.67,0.00,0.000,6,0.000,0.061,3276,1927,2261
$GC,14186,1.39,230.2,427.1,7.4,593,14205,0.00,2.78,10.95,1.404,4,0.000,0.079,3276,3326,2206
$GC,14237,1.41,230.2,423.0,8.5,595,14241,0.00,2.70,0.00,0.000,6,0.000,0.062,3276,1922,2206
$GC,14555,1.41,230.2,397.5,8.1,611,14564,0.00,2.72,0.00,0.000,4,0.000,0.087,3276,508,2206
$GC,14579,1.41,230.2,395.1,8.7,612,14584,0.00,2.67,0.00,0.000,6,0.000,0.061,3276,1920,2206
$GC,14903,1.41,230.2,369.3,8.2,628,14911,0.00,2.75,0.00,0.000,4,0.000,0.084,3276,508,2206
$GC,14937,1.41,230.2,366.0,8.9,629,14946,0.00,2.67,0.00,0.000,6,0.000,0.061,3276,1925,2206
$GC,15250,1.41,230.2,340.9,8.1,645,15259,0.00,2.75,0.00,0.000,4,0.000,0.084,3276,505,2206
$GC,15280,1.41,230.2,338.1,8.7,646,15285,0.00,2.65,0.00,0.000,6,0.000,0.061,3276,1911,2206
$GC,15598,1.41,230.2,311.3,8.5,662,15607,0.00,2.72,0.00,0.000,4,0.000,0.082,3275,3327,2206
$GC,15654,1.41,230.2,306.2,8.8,664,15662,0.00,2.67,0.00,0.000,6,0.000,0.061,3276,1918,2206
$GC,15967,1.41,242.0,281.7,7.5,680,15984,0.00,0.00,9.60,1.318,6,0.000,0.000,3276,1918,2159
$GC,16291,1.43,259.4,258.4,7.2,696,16310,0.00,2.80,13.43,1.276,4,0.000,0.080,3276,3324,2088
$GC,16347,1.46,266.8,253.9,7.7,698,16358,0.00,2.70,5.72,1.294,6,0.000,0.062,3275,1920,2057
$GC,16681,1.47,266.8,228.0,8.2,715,16690,0.10,2.75,0.00,0.000,4,0.074,0.081,3297,3327,2056
$GC,16726,1.47,266.8,223.5,9.0,717,16731,0.00,2.67,0.00,0.000,6,0.000,0.063,3297,1925,2057
$GC,17049,1.47,266.8,195.3,8.5,733,17057,0.00,2.75,0.00,0.000,4,0.000,0.089,3297,509,2057
$GC,17092,1.47,266.8,191.4,9.0,735,17101,0.00,2.62,0.00,0.000,6,0.000,0.062,3297,1924,2056
$GC,17418,1.47,279.4,166.0,7.4,751,17437,0.00,2.78,10.18,1.240,4,0.000,0.084,3297,3321,2007
$GC,17468,1.49,279.4,162.1,8.5,753,17473,0.00,2.70,0.00,0.000,6,0.000,0.064,3297,1921,2005
$GC,17788,1.49,286.7,138.9,7.7,769,17802,0.00,2.78,5.47,1.262,4,0.000,0.088,3297,510,1976
$GC,17811,1.50,286.7,136.6,9.6,770,17817,0.00,2.67,0.00,0.000,6,0.000,0.063,3297,1907,1976
$GC,18135,1.50,286.7,109.8,8.3,786,18143,0.00,2.75,0.00,0.000,4,0.000,0.086,3297,3327,1975
$GC,18206,1.50,286.7,103.6,9.2,789,18211,0.00,2.67,0.00,0.000,6,0.000,0.065,3297,1927,1975
$GC,18520,1.50,316.7,81.1,6.7,843,18546,0.00,0.00,23.55,1.140,6,0.000,0.000,3297,1927,1854
$GC,18856,1.55,330.1,53.7,7.4,908,18872,0.00,0.00,10.85,1.167,6,0.000,0.000,3297,1927,1799
$GC,19182,1.58,358.3,28.4,6.8,971,19214,0.12,2.85,21.50,1.102,4,0.073,0.092,3323,510,1684
$GC,19247,1.62,368.1,23.8,7.6,983,19261,0.00,2.67,7.30,1.143,6,0.000,0.066,3323,1923,1645
$FINISH,-0.0,1.025510,0
$SM_CCo,19669,0.00,0.000,0,0,1642,368.93
$RAFOS_CLK,1050
$RAFOS,4,1128396552,3.500000,3.486667,50,41,41,197,168,881
$RAFOS,3,1128386073,0.583333,0.575833,86,45,42,568,1883,208
$RAFOS,2,1128385467,0.416667,0.407500,97,46,41,720,147,211
$RAFOS,1,1128384859,0.250000,0.238611,88,59,45,531,165,206
$RAFOS,0,1128384254,0.083333,0.070556,95,50,47,541,225,1180
$RAFOS_FIX,6646.812988,-5937.797852
$TT8_MAMPS,0.020709
$HUMID,1993
$TCM_TEMP,-5.50
$ALTIM_TOP_PING,9.9,9.7
$ALTIM_BOTTOM_PING,846.5,6.6
$24V_AH,23.4,22.099
$10V_AH,10.1,11.962
$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,27.500,189.825,401.800,0.000,0.000,32.339,34.021,126.447,0.500,105.289,997.750,14029.118,1119.991,3600.217,351.529,0.000,2247.501,0.000,1190.672,1800.000,3.284
$DEVICE_MAMPS,210.158,103.545,1577.719,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,936.874,3170.081,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38065,1049
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041005,035509,6646.422,-5938.013,76,1.3,77,-38.0