version: 65.02
glider: 18
mission: 1
dive: 102
start: 10 4 105 4 6 59
data:
$ID,18
$MISSION,1
$DIVE,102
$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,-111851.06
$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
$GPS1,035509,6646.422,-5938.013,76,1.3,77
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-50.6
$GPS2,040645,6646.360,-5938.193,47,1.0,58,-38.0
$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,299.0,51771,-16.4,-7.990
$D_GRID,854
$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,-122.2,0.0,0.0,0,64,0.00,0.00,-44.95,0.000,2,0.000,0.000,787,2085,2531
$GC,66,-1.23,-122.2,3.2,-7.0,9,119,12.02,2.78,-34.88,0.000,4,0.208,0.103,2703,3488,3646
$GC,318,-1.23,-122.2,42.1,-13.2,58,324,0.00,2.67,0.00,0.000,6,0.000,0.062,2703,2086,3647
$GC,634,-1.23,-122.2,79.9,-12.1,119,639,0.00,2.72,0.00,0.000,4,0.000,0.082,2703,681,3648
$GC,774,-1.23,-122.2,97.3,-12.1,146,780,0.00,2.67,0.00,0.000,6,0.000,0.066,2703,2081,3649
$GC,1087,-1.23,-122.2,133.4,-11.9,165,1095,0.00,2.78,0.00,0.000,4,0.000,0.092,2703,3492,3649
$GC,1109,-1.23,-122.2,136.0,-12.4,166,1117,0.00,2.67,0.00,0.000,6,0.000,0.064,2703,2078,3649
$GC,1435,-1.23,-122.2,174.0,-11.5,182,1443,0.00,2.70,0.00,0.000,4,0.000,0.085,2703,676,3649
$GC,1469,-1.23,-122.2,178.3,-11.8,183,1477,0.00,2.70,0.00,0.000,6,0.000,0.067,2703,2086,3649
$GC,1782,-1.23,-122.2,213.6,-11.3,199,1790,0.00,2.72,0.00,0.000,4,0.000,0.083,2702,676,3649
$GC,1816,-1.23,-122.2,218.0,-11.8,200,1824,0.00,2.67,0.00,0.000,6,0.000,0.067,2703,2074,3649
$GC,2130,-1.23,-122.2,253.9,-11.7,216,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2074,3649
$GC,2454,-1.23,-122.2,291.9,-11.9,232,2462,0.00,2.70,0.00,0.000,4,0.000,0.082,2703,676,3649
$GC,2496,-1.23,-122.2,297.1,-12.2,234,2504,0.00,2.65,0.00,0.000,6,0.000,0.066,2703,2086,3649
$GC,2823,-1.23,-122.2,333.0,-10.3,250,2831,0.00,2.70,0.00,0.000,4,0.000,0.081,2703,676,3649
$GC,2873,-1.23,-122.2,338.6,-10.7,252,2878,0.00,2.67,0.00,0.000,6,0.000,0.064,2703,2082,3649
$GC,3192,-1.23,-122.2,371.2,-10.4,268,3200,0.00,2.70,0.00,0.000,4,0.000,0.080,2703,676,3649
$GC,3263,-1.23,-122.2,379.2,-10.8,271,3268,0.00,2.67,0.00,0.000,6,0.000,0.064,2703,2086,3649
$GC,3581,-1.23,-122.2,410.2,-9.8,287,3590,0.00,2.70,0.00,0.000,4,0.000,0.078,2703,676,3649
$GC,3668,-1.23,-122.2,419.3,-10.1,291,3674,0.00,2.67,0.00,0.000,6,0.000,0.063,2703,2085,3649
$GC,3992,-1.23,-122.2,450.6,-9.9,307,4000,0.00,2.70,0.00,0.000,4,0.000,0.077,2703,676,3649
$GC,4015,-1.23,-122.2,453.4,-11.0,308,4021,0.00,2.65,0.00,0.000,6,0.000,0.062,2703,2077,3649
$GC,4340,-1.23,-122.2,485.9,-10.0,324,4348,0.00,2.67,0.00,0.000,4,0.000,0.077,2701,677,3649
$GC,4369,-1.23,-122.2,489.3,-11.2,325,4375,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2082,3649
$GC,4686,-1.23,-122.2,520.7,-10.0,336,4694,0.00,2.70,0.00,0.000,4,0.000,0.078,2703,675,3649
$GC,4731,-1.23,-122.2,525.8,-10.6,337,4736,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2077,3649
$GC,5053,-1.23,-122.2,557.5,-9.9,345,5061,0.00,2.67,0.00,0.000,4,0.000,0.077,2703,675,3649
$GC,5096,-1.23,-122.2,562.0,-10.8,346,5104,0.00,2.62,0.00,0.000,6,0.000,0.061,2703,2088,3649
$GC,5422,-1.23,-122.2,592.9,-9.2,354,5430,0.00,2.70,0.00,0.000,4,0.000,0.077,2703,677,3649
$GC,5472,-1.23,-122.2,598.0,-9.8,355,5477,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2081,3649
$GC,5789,-1.23,-122.2,626.6,-9.1,363,5797,0.00,2.70,0.00,0.000,4,0.000,0.079,2703,676,3649
$GC,5824,-1.23,-122.2,630.2,-10.0,363,5831,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2080,3649
$GC,6154,-1.23,-122.2,660.1,-9.2,372,6162,0.00,2.67,0.00,0.000,4,0.000,0.079,2703,676,3649
$GC,6178,-1.23,-122.2,662.6,-10.3,372,6183,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2081,3649
$GC,6519,-1.23,-122.2,694.9,-9.5,381,6527,0.00,2.70,0.00,0.000,4,0.000,0.080,2703,677,3649
$GC,6585,-1.23,-122.2,701.8,-10.1,382,6590,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2085,3649
$GC,6926,-1.23,-122.2,734.3,-9.6,391,6934,0.00,2.70,0.00,0.000,4,0.000,0.079,2704,678,3649
$GC,6961,-1.23,-122.2,738.2,-10.4,391,6969,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2085,3649
$GC,7291,-1.23,-122.2,769.1,-9.4,400,7300,0.00,2.70,0.00,0.000,4,0.000,0.079,2703,678,3649
$GC,7335,-1.23,-122.2,773.2,-9.9,401,7343,0.00,2.62,0.00,0.000,6,0.000,0.062,2703,2088,3649
$GC,7660,-1.23,-122.2,802.8,-8.8,409,7668,0.00,2.70,0.00,0.000,4,0.000,0.079,2702,678,3649
$GC,7721,-1.23,-122.2,809.3,-10.4,410,7726,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2081,3649
$GC,8068,-1.23,-122.2,840.5,-9.2,419,8076,0.00,2.70,0.00,0.000,4,0.000,0.079,2703,678,3649
$GC,8113,-1.23,-122.2,845.0,-9.1,420,8118,0.00,2.65,0.00,0.000,6,0.000,0.062,2703,2081,3649
$GC,8235,-0.31,0.0,856.2,9.4,423,8354,1.05,0.00,105.38,1.571,6,0.117,0.000,2903,2081,3145
$GC,8355,1.23,122.2,857.7,3.0,426,8466,1.67,2.47,99.88,1.513,4,0.090,0.084,3244,3326,2646
$GC,8703,1.23,310.3,857.8,-0.3,434,8867,0.00,2.67,155.82,1.480,6,0.000,0.062,3244,1927,1880
$GC,9177,1.54,310.3,820.0,10.3,446,9186,0.32,2.72,0.00,0.000,4,0.061,0.081,3313,3327,1880
$GC,9330,1.54,310.3,799.0,14.1,449,9338,0.00,2.65,0.00,0.000,6,0.000,0.063,3314,1920,1880
$GC,9669,1.54,310.3,753.0,13.6,458,9677,0.00,2.75,0.00,0.000,4,0.000,0.084,3313,3327,1880
$GC,9698,1.54,310.3,748.7,13.1,458,9703,0.00,2.67,0.00,0.000,6,0.000,0.063,3313,1927,1880
$GC,10034,1.54,310.3,703.4,13.8,467,10073,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1927,1880
$GC,10397,1.54,310.3,654.5,13.3,476,10405,0.00,2.72,0.00,0.000,4,0.000,0.084,3313,3325,1879
$GC,10426,1.54,310.3,650.1,13.6,476,10431,0.00,2.67,0.00,0.000,6,0.000,0.063,3313,1924,1880
$GC,10762,1.54,310.3,607.2,12.7,485,10770,0.00,2.75,0.00,0.000,4,0.000,0.084,3313,3328,1880
$GC,10786,1.54,310.3,603.7,13.7,485,10791,0.00,2.67,0.00,0.000,6,0.000,0.063,3313,1925,1880
$GC,11128,1.54,310.3,560.7,12.7,494,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1925,1879
$GC,11490,1.54,310.3,515.4,12.3,503,11498,0.00,2.72,0.00,0.000,4,0.000,0.084,3313,3325,1880
$GC,11519,1.54,310.3,511.2,12.9,503,11524,0.00,2.67,0.00,0.000,6,0.000,0.064,3313,1924,1880
$GC,11836,1.54,310.3,470.8,12.8,517,11845,0.00,2.72,0.00,0.000,4,0.000,0.083,3313,3327,1879
$GC,11860,1.54,310.3,467.3,13.2,518,11865,0.00,2.67,0.00,0.000,6,0.000,0.064,3313,1921,1880
$GC,12183,1.54,310.3,425.5,13.2,534,12191,0.00,2.72,0.00,0.000,4,0.000,0.082,3313,3327,1879
$GC,12226,1.54,310.3,419.7,13.6,536,12234,0.00,2.65,0.00,0.000,6,0.000,0.064,3313,1919,1880
$GC,12552,1.54,310.3,375.6,13.8,552,12569,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1919,1880
$GC,12877,1.54,310.3,333.3,12.6,568,12885,0.00,2.72,0.00,0.000,4,0.000,0.083,3313,3326,1880
$GC,12901,1.54,310.3,329.9,13.6,569,12906,0.00,2.67,0.00,0.000,6,0.000,0.064,3313,1921,1880
$GC,13224,1.54,310.3,294.2,10.8,585,13233,0.00,2.72,0.00,0.000,4,0.000,0.083,3313,3327,1880
$GC,13253,1.54,310.3,290.6,11.6,586,13259,0.00,2.67,0.00,0.000,6,0.000,0.064,3313,1921,1880
$GC,13572,1.54,310.3,256.5,11.0,602,13580,0.00,2.72,0.00,0.000,4,0.000,0.082,3313,3327,1880
$GC,13593,1.54,310.3,253.9,11.7,603,13601,0.00,2.65,0.00,0.000,6,0.000,0.064,3313,1921,1880
$GC,13920,1.54,310.3,220.2,9.9,619,13936,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1921,1880
$GC,14244,1.54,310.3,189.0,9.6,635,14252,0.00,2.72,0.00,0.000,4,0.000,0.082,3313,3327,1880
$GC,14289,1.54,310.3,184.4,10.4,637,14294,0.00,2.67,0.00,0.000,6,0.000,0.065,3313,1922,1880
$GC,14612,1.54,310.3,154.5,9.2,653,14629,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1922,1880
$GC,14937,1.54,310.3,124.2,9.6,669,14945,0.00,2.72,0.00,0.000,4,0.000,0.084,3313,3326,1880
$GC,14982,1.54,310.3,119.5,10.3,671,14987,0.00,2.67,0.00,0.000,6,0.000,0.067,3313,1928,1880
$GC,15297,1.54,310.3,88.5,9.2,703,15300,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1928,1879
$GC,15611,1.54,316.3,61.8,7.7,764,15622,0.00,2.80,5.35,1.236,4,0.000,0.086,3313,3322,1855
$GC,15682,1.55,321.1,56.6,7.8,777,15691,0.00,2.67,3.80,1.258,6,0.000,0.068,3313,1918,1836
$GC,16001,1.56,340.2,31.4,7.2,839,16022,0.00,2.83,15.48,1.147,4,0.000,0.093,3313,510,1757
$GC,16088,1.59,395.6,26.6,5.6,856,16140,0.00,2.70,42.50,1.061,6,0.000,0.066,3313,1918,1532
$GC,16452,1.69,420.1,2.7,6.9,926,16466,0.15,0.00,11.80,1.108,2,0.071,0.000,3346,1919,1466
$FINISH,-0.1,1.025465,0
$SM_CCo,16577,0.00,0.000,0,0,1461,413.33
$RAFOS_CLK,1903
$RAFOS,3,1128414845,8.583333,8.568055,76,51,46,698,614,147
$RAFOS,2,1128414241,8.416667,8.400278,100,40,40,880,316,1624
$RAFOS,1,1128413654,8.250000,8.237223,114,44,41,581,147,1671
$RAFOS,0,1128413043,8.083333,8.067500,161,52,41,575,331,205
$RAFOS,3,1128400459,4.583333,4.571944,132,44,42,641,1596,1309
$RAFOS,2,1128399845,4.416667,4.401389,132,45,45,852,372,1718
$RAFOS,1,1128399244,4.250000,4.234445,98,46,44,623,1576,158
$RAFOS_FIX,6644.168457,-5943.384766
$TT8_MAMPS,0.020709
$HUMID,1992
$TCM_TEMP,-5.00
$ALTIM_TOP_PING,10.0,9.4
$ALTIM_BOTTOM_PING,829.2,7.0
$24V_AH,23.3,22.298
$10V_AH,10.1,12.062
$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,27.700,193.900,440.000,0.000,0.000,95.963,185.679,112.569,0.500,137.863,957.896,11714.636,873.116,3288.543,585.927,0.000,1945.525,0.000,1149.780,2520.000,3.283
$DEVICE_MAMPS,207.857,102.778,1570.816,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,831.502,2772.768,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34417,935
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041005,084538,6643.158,-5942.838,40,1.4,74,-37.9