version: 65.02
glider: 18
mission: 1
dive: 104
start: 10 4 105 14 2 27
data:
$ID,18
$MISSION,1
$DIVE,104
$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,-112044.2
$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,15
$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
$GPS1,135709,6643.880,-5949.284,34,1.8,62
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-50.1
$GPS2,140210,6643.892,-5949.358,15,1.8,16,-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,303.3,43101,-16.4,-7.990
$D_GRID,726
$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,-122.2,0.0,0.0,0,96,0.00,0.00,-76.15,0.000,2,0.000,0.000,789,2089,2833
$GC,98,-1.23,-122.2,3.7,-5.1,15,140,12.10,2.83,-21.30,0.000,4,0.211,0.104,2703,3485,3648
$GC,371,-1.23,-122.2,47.4,-13.2,68,376,0.00,2.67,0.00,0.000,6,0.000,0.063,2703,2089,3648
$GC,687,-1.23,-122.2,87.7,-12.7,129,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2089,3648
$GC,1016,-1.23,-122.2,126.6,-11.6,160,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2089,3648
$GC,1342,-1.23,-122.2,164.1,-12.0,176,1351,0.00,2.78,0.00,0.000,4,0.000,0.092,2703,3487,3648
$GC,1371,-1.23,-122.2,168.1,-12.6,177,1377,0.00,2.67,0.00,0.000,6,0.000,0.064,2703,2092,3648
$GC,1690,-1.23,-122.2,204.1,-10.9,193,1698,0.00,2.78,0.00,0.000,4,0.000,0.091,2703,3487,3648
$GC,1740,-1.23,-122.2,209.8,-10.8,195,1745,0.00,2.67,0.00,0.000,6,0.000,0.064,2703,2091,3648
$GC,2058,-1.23,-122.2,240.8,-9.5,211,2066,0.00,2.78,0.00,0.000,4,0.000,0.091,2703,3490,3648
$GC,2082,-1.23,-122.2,243.3,-10.2,212,2087,0.00,2.67,0.00,0.000,6,0.000,0.065,2703,2092,3648
$GC,2405,-1.23,-122.2,275.3,-10.4,228,2413,0.00,2.72,0.00,0.000,4,0.000,0.085,2703,676,3648
$GC,2440,-1.23,-122.2,279.4,-11.4,229,2447,0.00,2.67,0.00,0.000,6,0.000,0.066,2703,2078,3648
$GC,2752,-1.23,-122.2,313.6,-11.3,245,2761,0.00,2.75,0.00,0.000,4,0.000,0.091,2703,3490,3648
$GC,2781,-1.23,-122.2,317.4,-12.3,246,2787,0.00,2.67,0.00,0.000,6,0.000,0.062,2703,2090,3648
$GC,3101,-1.23,-122.2,351.4,-10.4,262,3109,0.00,2.78,0.00,0.000,4,0.000,0.088,2703,3493,3648
$GC,3124,-1.23,-122.2,353.8,-10.6,263,3132,0.00,2.65,0.00,0.000,6,0.000,0.063,2703,2085,3648
$GC,3450,-1.23,-122.2,387.7,-10.1,279,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2085,3649
$GC,3776,-1.23,-122.2,421.2,-10.4,295,3784,0.00,2.75,0.00,0.000,4,0.000,0.087,2703,3491,3648
$GC,3826,-1.23,-122.2,427.1,-11.0,297,3831,0.00,2.67,0.00,0.000,6,0.000,0.061,2703,2084,3648
$GC,4145,-1.23,-122.2,459.4,-9.9,313,4153,0.00,2.70,0.00,0.000,4,0.000,0.082,2703,673,3648
$GC,4166,-1.23,-122.2,461.7,-10.1,314,4174,0.00,2.62,0.00,0.000,6,0.000,0.063,2703,2086,3648
$GC,4492,-1.23,-122.2,493.3,-9.7,330,4501,0.00,2.72,0.00,0.000,4,0.000,0.080,2703,672,3648
$GC,4535,-1.23,-122.2,497.5,-10.5,332,4543,0.00,2.65,0.00,0.000,6,0.000,0.063,2703,2091,3648
$GC,4860,-1.23,-122.2,528.5,-9.6,341,4868,0.00,2.72,0.00,0.000,4,0.000,0.077,2703,672,3648
$GC,4878,-1.23,-122.2,530.6,-9.8,341,4884,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2075,3648
$GC,5227,-1.23,-122.2,564.7,-10.0,350,5236,0.00,2.70,0.00,0.000,4,0.000,0.078,2703,672,3648
$GC,5264,-1.23,-122.2,568.9,-10.9,350,5270,0.00,2.67,0.00,0.000,6,0.000,0.062,2703,2085,3648
$GC,5593,-1.23,-122.2,601.5,-9.7,359,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2085,3648
$GC,5955,-1.23,-122.2,636.4,-9.6,368,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2085,3648
$GC,6318,-1.23,-122.2,671.7,-9.5,377,6326,0.00,2.72,0.00,0.000,4,0.000,0.080,2703,673,3648
$GC,6395,-1.23,-122.2,679.6,-9.8,378,6403,0.00,2.67,0.00,0.000,6,0.000,0.062,2703,2086,3648
$GC,6725,-1.23,-122.2,709.6,-9.3,387,6734,0.00,2.70,0.00,0.000,4,0.000,0.079,2703,675,3648
$GC,6768,-1.23,-122.2,713.6,-9.4,388,6776,0.00,2.62,0.00,0.000,6,0.000,0.062,2703,2086,3648
$GC,6934,-0.31,0.0,729.6,9.9,392,7053,1.08,0.00,104.15,1.476,6,0.120,0.000,2906,2086,3144
$GC,7054,1.23,122.2,734.0,4.9,395,7165,1.65,2.47,99.50,1.416,4,0.088,0.081,3241,3327,2646
$GC,7401,1.23,202.5,727.6,4.5,403,7473,0.00,2.67,65.50,1.410,6,0.000,0.061,3241,1923,2319
$GC,7795,1.36,214.7,700.7,7.5,413,7836,0.15,0.00,10.18,1.467,6,0.070,0.000,3273,1923,2268
$GC,8158,1.38,214.7,669.8,8.4,422,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1922,2269
$GC,8523,1.38,214.7,638.9,8.5,431,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1922,2269
$GC,8883,1.38,214.7,608.1,8.5,440,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1923,2268
$GC,9246,1.38,214.7,577.5,8.5,449,9254,0.00,2.72,0.00,0.000,4,0.000,0.082,3273,3327,2268
$GC,9270,1.38,214.7,575.3,8.9,449,9275,0.00,2.67,0.00,0.000,6,0.000,0.063,3272,1924,2268
$GC,9611,1.38,214.7,547.1,8.3,458,9619,0.00,2.72,0.00,0.000,4,0.000,0.081,3272,3327,2268
$GC,9630,1.38,214.7,545.1,9.3,458,9635,0.00,2.67,0.00,0.000,6,0.000,0.064,3273,1926,2268
$GC,9976,1.38,214.7,516.7,8.4,467,9984,0.00,2.72,0.00,0.000,4,0.000,0.081,3273,3327,2268
$GC,10011,1.38,214.7,513.4,8.8,467,10019,0.00,2.67,0.00,0.000,6,0.000,0.064,3273,1922,2268
$GC,10323,1.38,214.7,486.5,8.7,479,10340,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1922,2268
$GC,10649,1.38,214.7,457.4,9.2,495,10657,0.00,2.72,0.00,0.000,4,0.000,0.081,3273,3327,2268
$GC,10683,1.38,214.7,453.7,9.9,496,10691,0.00,2.67,0.00,0.000,6,0.000,0.064,3273,1924,2268
$GC,10996,1.38,214.7,426.8,8.6,512,11004,0.00,2.72,0.00,0.000,4,0.000,0.081,3273,3327,2268
$GC,11030,1.38,214.7,423.5,8.5,513,11039,0.00,2.67,0.00,0.000,6,0.000,0.064,3273,1924,2268
$GC,11343,1.38,228.8,399.9,7.4,529,11362,0.00,2.78,11.07,1.350,4,0.000,0.085,3272,510,2213
$GC,11386,1.41,228.8,396.5,8.5,531,11394,0.00,2.65,0.00,0.000,6,0.000,0.061,3272,1926,2213
$GC,11712,1.41,228.8,370.1,8.2,547,11720,0.00,2.70,0.00,0.000,4,0.000,0.082,3271,3324,2213
$GC,11734,1.41,228.8,368.2,8.1,548,11742,0.00,2.65,0.00,0.000,6,0.000,0.063,3272,1917,2212
$GC,12061,1.41,233.3,342.3,7.8,564,12070,0.00,2.75,3.83,1.393,4,0.000,0.080,3272,3321,2193
$GC,12131,1.42,233.3,336.1,8.4,567,12137,0.00,2.67,0.00,0.000,6,0.000,0.063,3273,1921,2192
$GC,12451,1.42,233.3,311.0,8.1,583,12459,0.00,2.72,0.00,0.000,4,0.000,0.081,3272,3324,2192
$GC,12494,1.42,235.9,307.3,7.9,585,12502,0.00,2.62,0.00,0.000,6,0.000,0.064,3273,1920,2192
$GC,12820,1.42,243.6,282.1,7.7,601,12834,0.00,2.80,8.00,1.302,4,0.000,0.087,3272,519,2153
$GC,12854,1.43,243.6,279.1,8.8,602,12862,0.00,2.67,0.00,0.000,6,0.000,0.061,3272,1920,2152
$GC,13167,1.43,254.8,255.1,7.5,618,13181,0.00,2.78,8.88,1.276,4,0.000,0.082,3272,3324,2107
$GC,13222,1.45,254.8,250.5,8.2,620,13230,0.00,2.70,0.00,0.000,6,0.000,0.063,3272,1919,2106
$GC,13535,1.45,254.8,225.8,8.1,636,13552,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1919,2106
$GC,13860,1.45,264.7,200.5,7.6,652,13874,0.00,2.83,7.75,1.259,4,0.000,0.087,3272,511,2065
$GC,13903,1.47,264.7,197.2,8.5,654,13911,0.12,2.65,0.00,0.000,6,0.071,0.063,3298,1921,2065
$GC,14229,1.47,264.7,169.7,8.4,670,14237,0.00,2.70,0.00,0.000,4,0.000,0.084,3298,3321,2065
$GC,14250,1.47,264.7,167.8,8.4,671,14258,0.00,2.65,0.00,0.000,6,0.000,0.064,3298,1917,2065
$GC,14578,1.47,267.9,141.1,7.8,687,14587,0.00,2.80,2.70,1.325,4,0.000,0.083,3298,3321,2052
$GC,14642,1.47,272.4,135.9,7.8,690,14650,0.00,2.65,3.47,1.282,6,0.000,0.066,3298,1921,2034
$GC,14968,1.48,291.1,112.6,7.2,706,14986,0.00,0.00,14.65,1.160,6,0.000,0.000,3298,1921,1958
$GC,15296,1.51,306.1,86.6,7.3,746,15315,0.00,2.85,11.20,1.153,4,0.000,0.084,3298,3320,1898
$GC,15345,1.54,306.1,82.9,8.4,755,15353,0.00,2.67,0.00,0.000,6,0.000,0.067,3298,1920,1897
$GC,15663,1.54,306.1,54.5,8.8,817,15668,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1919,1896
$GC,15978,1.54,353.4,31.4,5.9,878,16020,0.00,0.00,36.88,1.086,6,0.000,0.000,3298,1919,1705
$GC,16330,1.62,398.0,12.7,6.0,946,16376,0.15,2.88,34.17,1.059,4,0.077,0.085,3330,3320,1522
$GC,16400,1.69,398.0,7.5,8.1,959,16405,0.00,2.72,0.00,0.000,6,0.000,0.068,3330,1921,1521
$FINISH,0.7,1.025400,0
$SM_CCo,16563,0.00,0.000,0,0,1516,399.84
$RAFOS_CLK,885
$RAFOS,3,1128443672,16.583334,16.575556,80,50,47,585,1788,1489
$RAFOS,2,1128443068,16.416666,16.407778,62,45,43,767,1135,1084
$RAFOS,1,1128442463,16.250000,16.239721,100,44,42,561,571,353
$RAFOS,0,1128441843,16.083334,16.067499,56,49,45,558,540,1575
$RAFOS,4,1128439772,15.500000,15.492222,52,45,44,165,803,1522
$TT8_MAMPS,0.020709
$HUMID,2013
$TCM_TEMP,-5.00
$ALTIM_TOP_PING,9.9,0.0
$ALTIM_BOTTOM_PING,702.0,10.2
$24V_AH,23.4,22.662
$10V_AH,10.1,12.262
$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,27.900,168.100,421.925,0.000,0.000,32.327,29.908,125.862,0.500,80.974,917.345,11465.078,972.348,3270.304,352.560,0.000,2015.571,0.000,1096.688,1800.000,3.785
$DEVICE_MAMPS,210.925,103.545,1476.475,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,866.870,2900.239,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35935,975
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041005,184008,6643.158,-5954.545,43,1.5,53,-38.0