version: 65.02
glider: 18
mission: 1
dive: 103
start: 10 4 105 8 54 1
data:
$ID,18
$MISSION,1
$DIVE,103
$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,-111963.23
$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,13
$R_STBD_OVSHOOT,23
$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
$GPS1,084538,6643.158,-5942.838,40,1.4,74
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-50.7
$GPS2,085346,6643.130,-5942.885,18,1.7,35,-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,305.4,47746,-16.4,-7.990
$D_GRID,789
$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,-122.2,0.0,0.0,0,81,0.00,0.00,-61.60,0.000,2,0.000,0.000,789,2089,2633
$GC,82,-1.23,-122.2,3.0,-5.3,12,135,12.07,2.80,-31.65,0.000,4,0.209,0.101,2702,3480,3648
$GC,366,-1.23,-122.2,46.2,-13.8,67,371,0.00,2.67,0.00,0.000,6,0.000,0.063,2703,2085,3648
$GC,682,-1.23,-122.2,85.5,-11.7,128,687,0.00,2.80,0.00,0.000,4,0.000,0.087,2703,3485,3649
$GC,747,-1.23,-122.2,92.9,-12.0,140,755,0.00,2.65,0.00,0.000,6,0.000,0.064,2703,2084,3649
$GC,1073,-1.23,-122.2,131.3,-11.9,165,1081,0.00,2.78,0.00,0.000,4,0.000,0.088,2704,3487,3649
$GC,1108,-1.23,-122.2,135.8,-12.1,166,1116,0.00,2.67,0.00,0.000,6,0.000,0.064,2704,2092,3649
$GC,1421,-1.23,-122.2,171.7,-11.4,182,1429,0.00,2.75,0.00,0.000,4,0.000,0.090,2704,3485,3649
$GC,1450,-1.23,-122.2,175.5,-12.3,183,1455,0.00,2.67,0.00,0.000,6,0.000,0.064,2704,2091,3649
$GC,1769,-1.23,-122.2,210.9,-11.1,199,1777,0.00,2.75,0.00,0.000,4,0.000,0.090,2704,3487,3649
$GC,1812,-1.23,-122.2,215.9,-11.5,201,1820,0.00,2.65,0.00,0.000,6,0.000,0.065,2704,2087,3649
$GC,2138,-1.23,-122.2,253.3,-11.6,217,2146,0.00,2.78,0.00,0.000,4,0.000,0.090,2704,3490,3649
$GC,2203,-1.23,-122.2,260.8,-12.1,220,2211,0.00,2.67,0.00,0.000,6,0.000,0.066,2703,2081,3649
$GC,2529,-1.23,-122.2,297.3,-10.9,236,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2081,3649
$GC,2854,-1.23,-122.2,331.1,-10.1,252,2862,0.00,2.78,0.00,0.000,4,0.000,0.087,2704,3487,3649
$GC,2939,-1.23,-122.2,339.8,-10.4,256,2947,0.00,2.65,0.00,0.000,6,0.000,0.064,2704,2086,3649
$GC,3265,-1.23,-122.2,371.8,-9.6,272,3273,0.00,2.75,0.00,0.000,4,0.000,0.086,2704,3487,3649
$GC,3308,-1.23,-122.2,376.0,-9.8,274,3316,0.00,2.62,0.00,0.000,6,0.000,0.063,2704,2086,3649
$GC,3634,-1.23,-122.2,406.9,-9.5,290,3642,0.00,2.75,0.00,0.000,4,0.000,0.085,2703,3489,3649
$GC,3663,-1.23,-122.2,410.1,-10.6,291,3668,0.00,2.65,0.00,0.000,6,0.000,0.062,2703,2092,3649
$GC,3981,-1.23,-122.2,441.0,-10.2,307,3989,0.00,2.72,0.00,0.000,4,0.000,0.084,2703,3487,3649
$GC,4016,-1.23,-122.2,444.9,-10.8,308,4024,0.00,2.65,0.00,0.000,6,0.000,0.061,2704,2093,3649
$GC,4329,-1.23,-122.2,475.6,-9.7,324,4337,0.00,2.72,0.00,0.000,4,0.000,0.085,2704,3488,3650
$GC,4352,-1.23,-122.2,478.3,-10.4,325,4358,0.00,2.65,0.00,0.000,6,0.000,0.061,2704,2094,3649
$GC,4675,-1.23,-122.2,509.0,-9.5,339,4683,0.00,2.72,0.00,0.000,4,0.000,0.085,2704,3488,3649
$GC,4720,-1.23,-122.2,513.8,-9.9,340,4725,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2090,3649
$GC,5043,-1.23,-122.2,544.7,-9.6,348,5051,0.00,2.72,0.00,0.000,4,0.000,0.085,2703,3489,3649
$GC,5077,-1.23,-122.2,548.4,-9.7,348,5085,0.00,2.65,0.00,0.000,6,0.000,0.061,2704,2093,3649
$GC,5408,-1.23,-122.2,579.1,-9.3,357,5416,0.00,2.72,0.00,0.000,4,0.000,0.084,2703,3489,3649
$GC,5464,-1.23,-122.2,584.8,-9.9,358,5469,0.00,2.65,0.00,0.000,6,0.000,0.061,2704,2089,3649
$GC,5775,-1.23,-122.2,613.6,-9.4,366,5783,0.00,2.72,0.00,0.000,4,0.000,0.084,2704,3487,3649
$GC,5817,-1.23,-122.2,617.7,-9.8,367,5826,0.00,2.62,0.00,0.000,6,0.000,0.061,2703,2086,3649
$GC,6142,-1.23,-122.2,646.4,-8.8,375,6151,0.00,2.75,0.00,0.000,4,0.000,0.084,2704,3489,3649
$GC,6186,-1.23,-122.2,650.5,-9.7,376,6194,0.00,2.62,0.00,0.000,6,0.000,0.061,2703,2085,3649
$GC,6512,-1.23,-122.2,680.2,-9.0,384,6520,0.00,2.75,0.00,0.000,4,0.000,0.084,2703,3490,3649
$GC,6546,-1.23,-122.2,684.0,-10.1,384,6554,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2093,3649
$GC,6877,-1.23,-122.2,714.5,-9.3,393,6885,0.00,2.72,0.00,0.000,4,0.000,0.084,2703,3490,3649
$GC,6912,-1.23,-122.2,718.1,-9.8,393,6920,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2092,3649
$GC,7242,-1.23,-122.2,748.0,-9.1,402,7250,0.00,2.72,0.00,0.000,4,0.000,0.085,2703,3487,3650
$GC,7293,-1.23,-122.2,752.8,-9.0,403,7298,0.00,2.65,0.00,0.000,6,0.000,0.061,2702,2088,3649
$GC,7610,-1.23,-122.2,784.3,-10.7,411,7618,0.00,2.72,0.00,0.000,4,0.000,0.085,2704,3487,3649
$GC,7634,-1.23,-122.2,787.4,-12.5,411,7639,0.00,2.65,0.00,0.000,6,0.000,0.061,2704,2088,3649
$GC,7654,-0.31,0.0,789.1,10.9,412,7773,1.08,0.00,104.95,1.518,6,0.120,0.000,2906,2088,3145
$GC,7775,1.23,122.2,794.3,4.5,415,7898,1.70,0.00,99.93,1.472,6,0.097,0.000,3246,2088,2646
$GC,8220,1.23,207.0,785.1,4.3,426,8303,0.00,3.17,69.45,1.472,4,0.000,0.087,3245,511,2301
$GC,8327,1.37,207.0,777.6,8.9,428,8333,0.10,2.67,0.00,0.000,6,0.064,0.058,3271,1906,2300
$GC,8669,1.37,214.6,750.5,7.7,437,8709,0.00,0.00,6.12,1.555,6,0.000,0.000,3271,1912,2270
$GC,9031,1.38,214.6,719.5,9.1,446,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1911,2270
$GC,9394,1.38,214.6,688.5,8.4,455,9402,0.00,2.75,0.00,0.000,4,0.000,0.084,3271,3327,2270
$GC,9417,1.38,214.6,686.2,8.8,455,9423,0.00,2.67,0.00,0.000,6,0.000,0.062,3271,1924,2270
$GC,9759,1.38,214.6,658.6,8.1,464,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1924,2270
$GC,10121,1.38,214.6,629.0,8.2,473,10130,0.00,2.72,0.00,0.000,4,0.000,0.082,3271,3327,2269
$GC,10164,1.38,214.6,625.4,8.8,474,10172,0.00,2.65,0.00,0.000,6,0.000,0.064,3271,1917,2269
$GC,10489,1.38,218.8,599.9,7.8,482,10498,0.00,2.78,3.00,1.586,4,0.000,0.087,3271,517,2253
$GC,10513,1.39,218.8,597.6,8.3,482,10518,0.00,2.67,0.00,0.000,6,0.000,0.060,3271,1919,2254
$GC,10854,1.39,219.5,570.6,8.0,491,10894,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1924,2253
$GC,11217,1.39,220.2,541.9,8.0,500,11225,0.00,2.75,0.00,0.000,4,0.000,0.084,3271,510,2253
$GC,11251,1.39,220.2,538.5,9.4,500,11259,0.00,2.65,0.00,0.000,6,0.000,0.061,3271,1911,2253
$GC,11582,1.39,220.2,510.4,8.6,509,11621,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1916,2253
$GC,11926,1.39,220.2,481.4,8.2,523,11934,0.00,2.70,0.00,0.000,4,0.000,0.082,3271,3327,2253
$GC,11961,1.39,220.2,478.3,8.7,524,11968,0.00,2.67,0.00,0.000,6,0.000,0.062,3271,1918,2253
$GC,12275,1.39,220.2,452.7,8.2,540,12290,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1918,2253
$GC,12598,1.39,227.6,427.6,7.7,556,12612,0.00,2.85,7.32,1.423,4,0.000,0.081,3271,3328,2217
$GC,12654,1.41,231.5,422.9,7.8,558,12662,0.00,2.70,2.92,1.470,6,0.000,0.063,3271,1921,2202
$GC,12965,1.41,238.8,398.8,7.7,574,12979,0.00,2.78,5.82,1.416,4,0.000,0.081,3271,3327,2171
$GC,13021,1.42,238.8,394.2,8.1,576,13028,0.00,2.70,0.00,0.000,6,0.000,0.063,3271,1921,2170
$GC,13333,1.42,238.8,368.1,8.6,592,13341,0.00,2.72,0.00,0.000,4,0.000,0.081,3271,3327,2170
$GC,13384,1.42,238.8,363.3,9.1,594,13389,0.00,2.67,0.00,0.000,6,0.000,0.063,3271,1921,2170
$GC,13701,1.42,238.8,335.6,8.4,610,13709,0.00,2.72,0.00,0.000,4,0.000,0.081,3271,3327,2171
$GC,13730,1.42,238.8,332.7,8.9,611,13735,0.00,2.67,0.00,0.000,6,0.000,0.063,3272,1921,2170
$GC,14049,1.42,238.8,305.2,8.5,627,14065,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1921,2170
$GC,14373,1.42,238.8,277.4,8.3,643,14382,0.00,2.72,0.00,0.000,4,0.000,0.081,3271,3327,2170
$GC,14437,1.42,238.8,272.0,8.5,646,14445,0.00,2.65,0.00,0.000,6,0.000,0.064,3271,1919,2170
$GC,14763,1.42,258.1,247.9,7.1,662,14788,0.00,2.80,15.23,1.262,4,0.000,0.087,3271,510,2093
$GC,14818,1.46,258.1,243.4,8.2,664,14827,0.08,2.70,0.00,0.000,6,0.064,0.061,3292,1923,2093
$GC,15131,1.46,258.1,217.7,8.1,680,15139,0.00,2.70,0.00,0.000,4,0.000,0.083,3291,3323,2092
$GC,15176,1.46,258.1,213.5,8.2,682,15181,0.00,2.65,0.00,0.000,6,0.000,0.063,3291,1927,2092
$GC,15500,1.46,267.2,188.2,7.6,698,15513,0.00,2.83,7.18,1.273,4,0.000,0.081,3292,3324,2056
$GC,15555,1.47,267.2,183.3,8.4,700,15563,0.00,2.70,0.00,0.000,6,0.000,0.064,3291,1921,2055
$GC,15868,1.47,267.2,157.7,8.1,716,15876,0.00,2.72,0.00,0.000,4,0.000,0.084,3291,3323,2055
$GC,15910,1.47,267.2,154.2,8.6,718,15918,0.00,2.65,0.00,0.000,6,0.000,0.065,3291,1919,2055
$GC,16236,1.47,279.0,128.9,7.5,734,16254,0.00,0.00,9.27,1.232,6,0.000,0.000,3291,1918,2007
$GC,16562,1.49,287.4,104.2,7.6,750,16576,0.00,2.85,6.47,1.236,4,0.000,0.085,3291,3323,1973
$GC,16612,1.51,287.4,99.9,8.2,752,16617,0.00,2.70,0.00,0.000,6,0.000,0.066,3292,1921,1972
$GC,16927,1.51,287.4,75.2,8.4,812,16932,0.00,2.78,0.00,0.000,4,0.000,0.091,3291,519,1972
$GC,16962,1.51,287.4,72.5,8.2,818,16971,0.00,2.62,0.00,0.000,6,0.000,0.065,3291,1925,1972
$GC,17281,1.51,310.8,48.1,7.0,880,17307,0.00,2.80,17.98,1.137,4,0.000,0.086,3293,3325,1877
$GC,17356,1.54,328.2,43.0,7.2,894,17376,0.10,2.67,14.05,1.120,6,0.077,0.067,3312,1921,1808
$GC,17687,1.57,434.3,22.1,3.3,958,17773,0.00,0.00,81.78,1.029,6,0.000,0.000,3312,1921,1373
$FINISH,-0.1,1.015222,0
$SM_CCo,18056,0.00,0.000,0,0,1369,435.90
$RAFOS_CLK,972
$RAFOS,3,1128429252,12.583333,12.570000,72,44,43,675,1317,114
$RAFOS,2,1128428642,12.416667,12.400556,90,42,41,890,224,1909
$RAFOS,1,1128428050,12.250000,12.236111,92,45,44,619,1189,155
$RAFOS,0,1128427462,12.083333,12.072778,85,44,42,462,580,143
$RAFOS,4,1128418159,9.500000,9.488611,42,40,39,1858,489,1908
$RAFOS_FIX,6643.031250,-5947.294922
$TT8_MAMPS,0.020709
$HUMID,1990
$TCM_TEMP,-5.50
$ALTIM_TOP_PING,9.8,10.0
$ALTIM_BOTTOM_PING,767.0,6.5
$24V_AH,23.4,22.490
$10V_AH,10.1,12.166
$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,27.275,206.575,451.475,0.000,0.000,64.665,62.714,188.702,0.500,112.170,988.504,12732.588,1013.935,3484.995,471.917,0.000,2143.712,0.000,1164.219,1800.000,4.152
$DEVICE_MAMPS,208.624,101.244,1586.156,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,904.899,3040.406,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37187,1014
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041005,135709,6643.880,-5949.284,34,1.8,62,-38.0