version: 65.02
glider: 18
mission: 1
dive: 143
start: 10 10 105 8 53 38
data:
$ID,18
$MISSION,1
$DIVE,143
$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,-116158.23
$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,21
$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
$GPS1,084839,6639.771,-5914.024,35,1.2,36
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-50.7
$GPS2,085322,6639.768,-5914.145,15,1.3,16,-37.7
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_E
$TGT_LATLONG,6705.000,-5642.000
$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,104.6,119257,-16.4,-7.990
$D_GRID,870
$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,18,-1.23,-122.2,0.0,0.0,0,64,0.00,0.00,-44.67,0.000,2,0.000,0.000,789,2093,2521
$GC,66,-1.23,-122.2,3.2,-6.8,9,124,12.15,2.83,-36.42,0.000,4,0.212,0.106,2705,3485,3648
$GC,158,-1.23,-122.2,15.3,-14.5,27,163,0.00,2.70,0.00,0.000,6,0.000,0.065,2705,2084,3648
$GC,473,-1.23,-122.2,59.5,-12.6,88,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2083,3648
$GC,789,-1.23,-122.2,100.5,-13.3,149,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2083,3649
$GC,1117,-1.23,-122.2,140.0,-10.9,165,1125,0.00,2.78,0.00,0.000,4,0.000,0.091,2705,3489,3649
$GC,1159,-1.23,-122.2,144.6,-10.9,167,1168,0.00,2.65,0.00,0.000,6,0.000,0.065,2705,2078,3649
$GC,1486,-1.23,-122.2,180.5,-11.3,183,1495,0.00,2.80,0.00,0.000,4,0.000,0.092,2706,3490,3649
$GC,1529,-1.23,-122.2,185.6,-11.7,185,1537,0.00,2.65,0.00,0.000,6,0.000,0.065,2705,2083,3648
$GC,1855,-1.23,-122.2,222.3,-11.0,201,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2083,3649
$GC,2180,-1.23,-122.2,258.1,-11.3,217,2188,0.00,2.78,0.00,0.000,4,0.000,0.092,2705,3488,3649
$GC,2244,-1.23,-122.2,265.4,-11.6,220,2252,0.00,2.65,0.00,0.000,6,0.000,0.066,2705,2081,3649
$GC,2570,-1.23,-122.2,301.6,-11.0,236,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2081,3649
$GC,2895,-1.23,-122.2,336.0,-10.4,252,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2081,3648
$GC,3221,-1.23,-122.2,369.1,-10.2,268,3229,0.00,2.75,0.00,0.000,4,0.000,0.088,2705,3489,3649
$GC,3245,-1.23,-122.2,372.1,-11.3,269,3250,0.00,2.65,0.00,0.000,6,0.000,0.063,2705,2093,3649
$GC,3569,-1.23,-122.2,405.6,-10.4,285,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2093,3649
$GC,3894,-1.23,-122.2,439.3,-10.2,301,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2093,3649
$GC,4218,-1.23,-122.2,471.7,-9.9,317,4226,0.00,2.72,0.00,0.000,4,0.000,0.086,2705,3489,3648
$GC,4252,-1.23,-122.2,475.4,-10.3,318,4260,0.00,2.65,0.00,0.000,6,0.000,0.061,2705,2091,3649
$GC,4566,-1.23,-122.2,505.4,-9.4,333,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2091,3648
$GC,4927,-1.23,-122.2,539.2,-9.3,342,4935,0.00,2.72,0.00,0.000,4,0.000,0.087,2706,3489,3649
$GC,4951,-1.23,-122.2,541.7,-10.1,342,4957,0.00,2.65,0.00,0.000,6,0.000,0.061,2706,2091,3649
$GC,5293,-1.23,-122.2,572.8,-9.1,351,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2091,3648
$GC,5655,-1.23,-122.2,605.8,-9.1,360,5663,0.00,2.72,0.00,0.000,4,0.000,0.087,2706,3489,3649
$GC,5689,-1.23,-122.2,609.3,-9.6,360,5698,0.00,2.65,0.00,0.000,6,0.000,0.060,2705,2089,3648
$GC,6020,-1.23,-122.2,639.0,-9.0,369,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2089,3649
$GC,6383,-1.23,-122.2,671.3,-8.8,378,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2088,3649
$GC,6746,-1.23,-122.2,703.8,-9.1,387,6754,0.00,2.72,0.00,0.000,4,0.000,0.087,2705,3489,3649
$GC,6796,-1.23,-122.2,708.9,-9.8,388,6801,0.00,2.65,0.00,0.000,6,0.000,0.061,2705,2091,3648
$GC,7113,-1.23,-122.2,736.9,-8.9,396,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2091,3649
$GC,7475,-1.23,-122.2,768.9,-8.8,405,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2091,3648
$GC,7839,-1.23,-122.2,800.4,-8.5,414,7847,0.00,2.72,0.00,0.000,4,0.000,0.087,2705,3489,3648
$GC,7868,-1.23,-122.2,803.3,-9.6,414,7873,0.00,2.65,0.00,0.000,6,0.000,0.061,2705,2090,3649
$GC,8204,-1.23,-122.2,831.7,-8.5,423,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2090,3649
$GC,8566,-1.23,-122.2,862.7,-8.8,432,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2089,3649
$GC,8689,-0.31,0.0,872.5,8.1,435,8808,1.05,0.00,107.30,1.567,6,0.119,0.000,2904,2089,3145
$GC,8810,1.23,122.2,876.6,4.3,438,8921,1.67,3.22,101.10,1.509,4,0.094,0.084,3244,510,2646
$GC,9041,1.23,165.3,871.8,6.1,443,9082,0.00,2.67,35.62,1.505,6,0.000,0.059,3243,1917,2472
$GC,9423,1.30,187.5,845.2,7.0,453,9463,0.00,0.00,18.77,1.529,6,0.000,0.000,3243,1918,2380
$GC,9785,1.34,187.5,814.6,8.7,462,9794,0.12,2.78,0.00,0.000,4,0.074,0.085,3268,510,2380
$GC,9831,1.34,187.5,809.9,9.9,463,9835,0.00,2.67,0.00,0.000,6,0.000,0.061,3268,1918,2380
$GC,10153,1.34,187.5,781.4,8.4,471,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1917,2379
$GC,10515,1.34,187.5,749.9,8.6,480,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1918,2379
$GC,10878,1.34,187.5,719.1,8.5,489,10886,0.00,2.75,0.00,0.000,4,0.000,0.085,3268,508,2379
$GC,10939,1.34,187.5,713.3,9.1,490,10944,0.00,2.67,0.00,0.000,6,0.000,0.062,3268,1917,2379
$GC,11285,1.34,187.5,684.0,8.5,499,11325,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1917,2378
$GC,11647,1.34,194.8,655.9,7.7,508,11688,0.00,0.00,5.78,1.561,6,0.000,0.000,3268,1917,2350
$GC,12011,1.35,199.7,628.2,7.8,517,12052,0.00,0.00,4.22,1.567,6,0.000,0.000,3268,1920,2330
$GC,12373,1.36,199.7,599.6,8.0,526,12381,0.00,2.72,0.00,0.000,4,0.000,0.084,3268,510,2330
$GC,12418,1.36,199.7,595.5,8.9,527,12423,0.00,2.67,0.00,0.000,6,0.000,0.063,3268,1918,2330
$GC,12740,1.36,206.9,570.6,7.7,535,12780,0.00,0.00,5.70,1.509,6,0.000,0.000,3268,1924,2302
$GC,13102,1.37,218.4,542.8,7.5,544,13143,0.00,0.00,9.80,1.443,6,0.000,0.000,3268,1924,2254
$GC,13465,1.39,231.1,515.7,7.4,553,13505,0.00,0.00,10.38,1.420,6,0.000,0.000,3268,1924,2202
$GC,13811,1.41,231.1,487.7,8.2,565,13819,0.00,2.72,0.00,0.000,4,0.000,0.083,3268,511,2202
$GC,13853,1.41,231.1,483.7,8.3,567,13861,0.00,2.62,0.00,0.000,6,0.000,0.062,3268,1924,2202
$GC,14179,1.41,232.7,457.0,7.9,583,14196,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1926,2202
$GC,14505,1.41,239.3,431.8,7.7,599,14522,0.00,0.00,6.65,1.404,6,0.000,0.000,3268,1925,2169
$GC,14829,1.43,243.9,406.6,7.8,615,14847,0.00,0.00,3.67,1.421,6,0.000,0.000,3268,1926,2150
$GC,15154,1.43,243.9,380.1,8.3,631,15162,0.00,2.72,0.00,0.000,4,0.000,0.084,3268,511,2150
$GC,15210,1.43,243.9,374.9,9.2,633,15218,0.00,2.65,0.00,0.000,6,0.000,0.062,3268,1912,2150
$GC,15522,1.43,255.9,351.2,7.5,649,15541,0.00,2.78,9.52,1.325,4,0.000,0.082,3268,3323,2101
$GC,15572,1.45,255.9,347.0,8.3,651,15578,0.08,2.67,0.00,0.000,6,0.062,0.062,3289,1926,2101
$GC,15892,1.45,255.9,320.9,8.6,667,15907,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1926,2101
$GC,16215,1.45,255.9,293.2,8.5,683,16232,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1926,2100
$GC,16541,1.45,255.9,265.1,8.8,699,16557,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1926,2100
$GC,16865,1.45,261.8,238.4,7.7,715,16882,0.00,0.00,4.62,1.295,6,0.000,0.000,3289,1926,2078
$GC,17189,1.46,261.8,211.8,8.7,731,17207,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1926,2078
$GC,17516,1.46,261.8,183.5,8.7,747,17524,0.00,2.70,0.00,0.000,4,0.000,0.081,3289,3323,2078
$GC,17559,1.46,261.8,179.4,9.3,749,17567,0.00,2.62,0.00,0.000,6,0.000,0.064,3289,1921,2077
$GC,17885,1.46,270.1,152.5,7.6,765,17903,0.00,0.00,7.12,1.219,6,0.000,0.000,3289,1921,2044
$GC,18210,1.48,291.7,129.0,7.0,781,18234,0.00,2.85,17.10,1.144,4,0.000,0.081,3289,3323,1954
$GC,18274,1.51,307.5,124.2,7.3,784,18293,0.00,2.65,12.27,1.144,6,0.000,0.065,3289,1921,1891
$GC,18601,1.54,328.8,99.8,7.1,800,18625,0.10,0.00,17.12,1.127,6,0.075,0.000,3310,1921,1803
$GC,18937,1.57,335.1,71.8,7.7,865,18945,0.00,0.00,4.22,1.200,6,0.000,0.000,3309,1921,1778
$GC,19255,1.59,342.0,46.2,7.7,927,19266,0.00,2.80,5.22,1.182,4,0.000,0.084,3309,3311,1749
$GC,19307,1.60,354.2,42.2,7.5,937,19323,0.00,2.67,9.25,1.124,6,0.000,0.067,3310,1927,1702
$GC,19635,1.62,372.2,16.5,7.2,1000,19654,0.00,0.00,13.65,1.088,6,0.000,0.000,3310,1927,1626
$FINISH,0.0,1.025712,0
$SM_CCo,19936,0.00,0.000,0,0,1623,373.84
$RAFOS_CLK,2081
$RAFOS,3,1128947641,12.583333,12.566944,129,43,40,663,165,1183
$RAFOS,2,1128947077,12.416667,12.410277,51,48,42,394,606,1855
$RAFOS,1,1128946469,12.250000,12.241389,97,47,42,467,477,1743
$RAFOS,0,1128945864,12.083333,12.073334,87,48,42,563,223,911
$RAFOS,4,1128936557,9.500000,9.488055,49,43,39,158,200,756
$RAFOS_FIX,6639.181641,-5909.632812
$TT8_MAMPS,0.021476
$HUMID,1986
$TCM_TEMP,-4.50
$ALTIM_TOP_PING,9.7,9.8
$ALTIM_BOTTOM_PING,845.1,7.1
$24V_AH,23.3,29.096
$10V_AH,10.1,15.452
$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,27.225,109.075,409.125,0.000,0.000,32.337,37.615,116.815,0.500,54.514,910.784,14283.829,1363.599,3425.114,333.121,0.000,2404.253,0.000,1096.586,1800.000,3.285
$DEVICE_MAMPS,211.692,105.846,1566.981,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,942.787,3151.520,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37500,1043
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101005,142733,6639.146,-5906.918,39,1.7,40,-37.7