version: 65.02
glider: 18
mission: 1
dive: 107
start: 10 5 105 3 15 54
data:
$ID,18
$MISSION,1
$DIVE,107
$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,-112324.91
$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
$GPS1,030640,6641.013,-6003.460,34,1.2,34
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-50.2
$GPS2,031539,6640.901,-6003.453,14,1.6,37,-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,311.5,32696,-16.4,-7.990
$D_GRID,575
$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,-55.55,0.000,2,0.000,0.000,789,2079,2653
$GC,77,-1.23,-122.2,3.5,-6.9,11,124,12.15,2.85,-28.08,0.000,4,0.212,0.103,2703,3486,3649
$GC,239,-1.23,-122.2,30.2,-13.9,42,247,0.00,2.65,0.00,0.000,6,0.000,0.064,2703,2086,3649
$GC,557,-1.23,-122.2,71.1,-11.7,104,563,0.00,2.80,0.00,0.000,4,0.000,0.087,2703,3486,3649
$GC,612,-1.23,-122.2,77.4,-12.4,114,620,0.00,2.65,0.00,0.000,6,0.000,0.064,2703,2086,3649
$GC,936,-1.23,-122.2,118.4,-12.4,156,944,0.00,2.78,0.00,0.000,4,0.000,0.089,2703,3486,3649
$GC,979,-1.23,-122.2,123.8,-12.8,158,987,0.00,2.65,0.00,0.000,6,0.000,0.064,2703,2086,3649
$GC,1306,-1.23,-122.2,164.4,-12.3,174,1314,0.00,2.78,0.00,0.000,4,0.000,0.090,2703,3487,3649
$GC,1350,-1.23,-122.2,170.4,-12.4,176,1356,0.00,2.67,0.00,0.000,6,0.000,0.065,2703,2091,3649
$GC,1674,-1.23,-122.2,207.9,-11.2,192,1682,0.00,2.78,0.00,0.000,4,0.000,0.091,2703,3489,3649
$GC,1740,-1.23,-122.2,215.5,-11.1,195,1745,0.00,2.67,0.00,0.000,6,0.000,0.065,2703,2092,3649
$GC,2063,-1.23,-122.2,248.3,-10.1,211,2071,0.00,2.75,0.00,0.000,4,0.000,0.091,2703,3487,3649
$GC,2093,-1.23,-122.2,251.7,-11.2,212,2097,0.00,2.67,0.00,0.000,6,0.000,0.065,2703,2093,3649
$GC,2410,-1.23,-122.2,284.1,-10.4,228,2418,0.00,2.75,0.00,0.000,4,0.000,0.090,2703,3486,3649
$GC,2434,-1.23,-122.2,286.9,-11.8,229,2439,0.00,2.67,0.00,0.000,6,0.000,0.064,2703,2091,3649
$GC,2758,-1.23,-122.2,320.3,-10.3,245,2766,0.00,2.75,0.00,0.000,4,0.000,0.088,2702,3487,3649
$GC,2802,-1.23,-122.2,325.4,-10.6,247,2808,0.00,2.67,0.00,0.000,6,0.000,0.064,2703,2091,3649
$GC,3126,-1.23,-122.2,356.9,-9.6,263,3134,0.00,2.75,0.00,0.000,4,0.000,0.088,2703,3487,3649
$GC,3150,-1.23,-122.2,359.4,-9.9,264,3154,0.00,2.67,0.00,0.000,6,0.000,0.064,2703,2086,3649
$GC,3473,-1.23,-122.2,388.3,-9.3,280,3481,0.00,2.75,0.00,0.000,4,0.000,0.087,2703,3487,3649
$GC,3524,-1.23,-122.2,393.6,-9.9,282,3529,0.00,2.67,0.00,0.000,6,0.000,0.064,2703,2086,3649
$GC,3841,-1.23,-122.2,424.4,-9.9,298,3849,0.00,2.75,0.00,0.000,4,0.000,0.086,2703,3487,3649
$GC,3865,-1.23,-122.2,427.1,-11.1,299,3870,0.00,2.65,0.00,0.000,6,0.000,0.063,2703,2095,3649
$GC,4190,-1.23,-122.2,457.4,-9.5,315,4198,0.00,2.72,0.00,0.000,4,0.000,0.086,2703,3487,3649
$GC,4224,-1.23,-122.2,461.3,-9.9,316,4232,0.00,2.65,0.00,0.000,6,0.000,0.062,2703,2094,3649
$GC,4538,-1.23,-122.2,491.1,-9.5,332,4546,0.00,2.72,0.00,0.000,4,0.000,0.085,2703,3487,3649
$GC,4561,-1.23,-122.2,493.8,-9.9,333,4567,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2090,3649
$GC,4883,-1.23,-122.2,524.3,-9.6,343,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2089,3649
$GC,5247,-1.23,-122.2,560.0,-9.7,352,5255,0.00,2.72,0.00,0.000,4,0.000,0.085,2703,3489,3649
$GC,5292,-1.23,-122.2,564.9,-9.8,353,5297,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2091,3649
$GC,5414,-0.31,0.0,576.2,9.6,356,5533,1.08,0.00,102.75,1.388,6,0.118,0.000,2906,2091,3146
$GC,5535,1.23,122.2,580.9,5.1,359,5641,1.67,2.47,98.05,1.331,4,0.094,0.077,3243,3323,2646
$GC,5803,1.23,221.1,578.2,3.7,365,5890,0.00,2.67,79.50,1.312,6,0.000,0.062,3243,1927,2244
$GC,6232,1.39,236.3,549.2,7.3,376,6251,0.17,2.83,12.23,1.369,4,0.067,0.077,3279,3323,2182
$GC,6323,1.42,236.3,540.1,9.7,378,6329,0.00,2.70,0.00,0.000,6,0.000,0.063,3280,1920,2181
$GC,6640,1.42,236.3,510.7,9.1,386,6648,0.00,2.72,0.00,0.000,4,0.000,0.078,3280,3326,2181
$GC,6675,1.42,236.3,507.3,9.3,386,6683,0.00,2.67,0.00,0.000,6,0.000,0.063,3279,1927,2181
$GC,6987,1.42,236.3,479.8,8.6,400,6995,0.00,2.75,0.00,0.000,4,0.000,0.087,3279,510,2181
$GC,7021,1.42,236.3,476.4,9.4,401,7029,0.00,2.65,0.00,0.000,6,0.000,0.060,3279,1909,2180
$GC,7334,1.42,236.3,450.3,8.4,417,7343,0.00,2.72,0.00,0.000,4,0.000,0.081,3280,3327,2180
$GC,7356,1.42,236.3,448.4,8.9,418,7364,0.00,2.65,0.00,0.000,6,0.000,0.063,3280,1921,2180
$GC,7682,1.42,236.3,421.9,8.1,434,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1921,2179
$GC,8007,1.42,236.3,393.8,8.9,450,8015,0.00,2.72,0.00,0.000,4,0.000,0.080,3279,3327,2180
$GC,8031,1.42,236.3,391.4,10.0,451,8036,0.00,2.67,0.00,0.000,6,0.000,0.063,3280,1923,2180
$GC,8354,1.42,236.3,363.8,8.5,467,8371,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1922,2180
$GC,8680,1.42,248.1,338.4,7.5,483,8696,0.00,0.00,9.52,1.335,6,0.000,0.000,3279,1922,2133
$GC,9004,1.44,251.3,312.7,7.9,499,9022,0.00,0.00,2.20,1.415,6,0.000,0.000,3279,1922,2120
$GC,9329,1.45,251.3,284.6,8.8,515,9337,0.00,2.72,0.00,0.000,4,0.000,0.081,3279,3327,2120
$GC,9363,1.45,251.3,281.2,9.3,516,9371,0.00,2.67,0.00,0.000,6,0.000,0.063,3280,1920,2120
$GC,9676,1.45,251.3,255.0,8.0,532,9693,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1920,2120
$GC,10001,1.45,259.1,229.3,7.6,548,10014,0.00,2.83,6.45,1.302,4,0.000,0.087,3280,510,2089
$GC,10045,1.46,259.1,225.5,8.5,550,10050,0.00,2.67,0.00,0.000,6,0.000,0.062,3279,1911,2088
$GC,10369,1.46,279.1,201.4,7.1,566,10393,0.00,2.80,15.75,1.216,4,0.000,0.082,3279,3324,2007
$GC,10418,1.49,281.5,197.6,7.9,568,10432,0.08,2.70,1.90,1.320,6,0.064,0.064,3300,1927,1998
$GC,10736,1.50,294.9,173.8,7.4,584,10754,0.00,0.00,10.80,1.210,6,0.000,0.000,3300,1927,1942
$GC,11061,1.52,294.9,147.8,8.5,600,11070,0.00,2.75,0.00,0.000,4,0.000,0.085,3300,3328,1941
$GC,11085,1.52,294.9,145.3,9.4,601,11090,0.00,2.70,0.00,0.000,6,0.000,0.067,3299,1921,1941
$GC,11408,1.52,294.9,113.8,9.6,617,11417,0.00,2.75,0.00,0.000,4,0.000,0.084,3300,3326,1941
$GC,11437,1.52,294.9,110.8,10.0,618,11443,0.00,2.70,0.00,0.000,6,0.000,0.067,3300,1921,1940
$GC,11751,1.52,299.3,84.6,7.8,660,11762,0.00,2.85,3.35,1.276,4,0.000,0.093,3299,508,1923
$GC,11791,1.53,299.3,81.7,8.5,667,11800,0.00,2.65,0.00,0.000,6,0.000,0.065,3300,1924,1924
$GC,12110,1.53,331.7,60.4,6.6,729,12141,0.00,2.80,26.00,1.111,4,0.000,0.087,3299,3321,1792
$GC,12164,1.58,331.7,56.4,8.8,739,12173,0.00,2.70,0.00,0.000,6,0.000,0.068,3299,1917,1791
$GC,12483,1.58,343.0,27.8,7.5,801,12499,0.00,2.88,8.18,1.158,4,0.000,0.093,3299,509,1746
$GC,12532,1.60,358.1,24.5,7.3,810,12552,0.12,2.65,11.73,1.117,6,0.076,0.065,3325,1920,1685
$GC,12864,1.62,380.6,4.0,7.0,874,12888,0.00,2.85,17.17,1.078,4,0.000,0.087,3325,3322,1593
$FINISH,-0.0,1.025323,0
$SM_CCo,12999,0.00,0.000,0,0,1588,382.18
$RAFOS_CLK,719
$RAFOS,3,1128486876,4.583333,4.576667,54,47,45,566,863,555
$RAFOS,2,1128486261,4.416667,4.405833,52,48,46,1500,511,1376
$RAFOS,1,1128485649,4.250000,4.235833,48,47,41,1428,253,800
$RAFOS,0,1128485056,4.083333,4.071111,135,49,45,489,146,1667
$RAFOS,4,1128482948,3.500000,3.485556,49,43,40,175,1073,1898
$TT8_MAMPS,0.020709
$HUMID,2015
$TCM_TEMP,-5.50
$ALTIM_TOP_PING,10.0,10.5
$ALTIM_BOTTOM_PING,552.4,42.1
$24V_AH,23.4,23.176
$10V_AH,10.1,12.533
$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,27.700,157.275,405.575,0.000,0.000,64.664,69.508,229.417,0.500,74.696,845.669,8612.753,769.612,2892.065,499.765,0.000,1676.823,0.000,976.328,1800.000,3.332
$DEVICE_MAMPS,212.459,102.778,1415.115,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,782.258,2572.199,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32875,885
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051005,065356,6638.762,-6007.614,41,1.3,41,-37.9