version: 65.02
glider: 18
mission: 1
dive: 144
start: 10 10 105 14 32 45
data:
$ID,18
$MISSION,1
$DIVE,144
$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,-116219.12
$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,16
$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
$GPS1,142733,6639.146,-5906.918,39,1.7,40
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-50.6
$GPS2,143229,6639.157,-5906.830,17,1.7,18,-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,103.1,114888,-16.4,-7.990
$D_GRID,855
$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,-122.2,0.0,0.0,0,71,0.00,0.00,-50.42,0.000,2,0.000,0.000,787,2087,2597
$GC,72,-1.23,-122.2,3.2,-6.4,10,125,12.20,2.80,-33.58,0.000,4,0.214,0.102,2704,3484,3647
$GC,209,-1.23,-122.2,22.0,-15.3,36,217,0.00,2.65,0.00,0.000,6,0.000,0.064,2704,2087,3647
$GC,527,-1.23,-122.2,64.6,-13.1,98,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2087,3647
$GC,862,-1.23,-122.2,105.6,-12.6,156,870,0.00,2.75,0.00,0.000,4,0.000,0.089,2704,3488,3647
$GC,886,-1.23,-122.2,109.2,-13.4,157,891,0.00,2.67,0.00,0.000,6,0.000,0.064,2704,2089,3647
$GC,1209,-1.23,-122.2,150.9,-12.9,173,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2089,3648
$GC,1535,-1.23,-122.2,189.9,-11.6,189,1543,0.00,2.78,0.00,0.000,4,0.000,0.091,2704,3487,3648
$GC,1578,-1.23,-122.2,194.9,-11.2,191,1586,0.00,2.62,0.00,0.000,6,0.000,0.065,2704,2087,3648
$GC,1904,-1.23,-122.2,231.5,-10.9,207,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2087,3648
$GC,2229,-1.23,-122.2,267.6,-10.9,223,2238,0.00,2.75,0.00,0.000,4,0.000,0.090,2704,3487,3648
$GC,2251,-1.23,-122.2,269.9,-10.8,224,2259,0.00,2.65,0.00,0.000,6,0.000,0.064,2704,2087,3648
$GC,2577,-1.23,-122.2,303.9,-10.4,240,2585,0.00,2.70,0.00,0.000,4,0.000,0.084,2704,674,3648
$GC,2642,-1.23,-122.2,310.9,-10.9,243,2650,0.00,2.62,0.00,0.000,6,0.000,0.065,2704,2082,3648
$GC,2968,-1.23,-122.2,345.5,-10.4,259,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2081,3648
$GC,3294,-1.23,-122.2,381.5,-10.8,275,3302,0.00,2.70,0.00,0.000,4,0.000,0.078,2704,674,3649
$GC,3329,-1.23,-122.2,385.7,-11.3,276,3337,0.00,2.65,0.00,0.000,6,0.000,0.062,2704,2076,3648
$GC,3643,-1.23,-122.2,417.3,-10.1,292,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2076,3648
$GC,3966,-1.23,-122.2,450.2,-10.0,308,3974,0.00,2.67,0.00,0.000,4,0.000,0.076,2704,672,3648
$GC,4030,-1.23,-122.2,457.0,-10.9,311,4039,0.00,2.62,0.00,0.000,6,0.000,0.061,2704,2089,3648
$GC,4356,-1.23,-122.2,488.6,-9.6,327,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2089,3648
$GC,4680,-1.23,-122.2,519.4,-9.3,338,4688,0.00,2.70,0.00,0.000,4,0.000,0.077,2704,675,3648
$GC,4746,-1.23,-122.2,526.1,-9.5,339,4751,0.00,2.65,0.00,0.000,6,0.000,0.061,2704,2080,3648
$GC,5088,-1.23,-122.2,557.6,-9.6,348,5096,0.00,2.67,0.00,0.000,4,0.000,0.077,2704,675,3648
$GC,5132,-1.23,-122.2,562.0,-10.3,349,5140,0.00,2.62,0.00,0.000,6,0.000,0.061,2704,2089,3648
$GC,5457,-1.23,-122.2,594.0,-9.9,357,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2089,3648
$GC,5820,-1.23,-122.2,629.1,-9.6,366,5828,0.00,2.70,0.00,0.000,4,0.000,0.078,2704,675,3648
$GC,5870,-1.23,-122.2,634.4,-10.4,367,5875,0.00,2.65,0.00,0.000,6,0.000,0.061,2704,2080,3648
$GC,6187,-1.23,-122.2,663.4,-9.2,375,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2080,3648
$GC,6550,-1.23,-122.2,696.0,-9.0,384,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2080,3648
$GC,6912,-1.23,-122.2,728.7,-9.1,393,6920,0.00,2.67,0.00,0.000,4,0.000,0.079,2704,675,3648
$GC,6946,-1.23,-122.2,732.2,-10.1,393,6955,0.00,2.65,0.00,0.000,6,0.000,0.061,2704,2081,3648
$GC,7279,-1.23,-122.2,761.6,-9.0,402,7287,0.00,2.70,0.00,0.000,4,0.000,0.080,2704,675,3648
$GC,7329,-1.23,-122.2,766.8,-9.3,403,7334,0.00,2.65,0.00,0.000,6,0.000,0.062,2704,2080,3648
$GC,7647,-1.23,-122.2,794.5,-8.7,411,7655,0.00,2.70,0.00,0.000,4,0.000,0.079,2704,675,3648
$GC,7698,-1.23,-122.2,799.4,-9.4,412,7702,0.00,2.65,0.00,0.000,6,0.000,0.062,2704,2081,3648
$GC,8014,-1.23,-122.2,827.1,-8.8,420,8022,0.00,2.70,0.00,0.000,4,0.000,0.080,2704,676,3648
$GC,8043,-1.23,-122.2,830.1,-10.0,420,8048,0.00,2.65,0.00,0.000,6,0.000,0.062,2704,2078,3648
$GC,8341,-0.31,0.0,856.7,8.9,428,8459,1.08,0.00,106.82,1.553,6,0.120,0.000,2907,2078,3145
$GC,8461,1.23,122.2,861.6,4.8,431,8572,1.67,2.55,100.95,1.499,4,0.101,0.081,3241,3329,2645
$GC,8633,1.23,221.4,862.1,3.6,435,8726,0.00,2.70,82.57,1.479,6,0.000,0.060,3240,1921,2242
$GC,9032,1.40,221.4,828.9,9.9,445,9072,0.20,0.00,0.00,0.000,6,0.067,0.000,3282,1921,2242
$GC,9394,1.40,221.4,794.7,9.1,454,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1921,2242
$GC,9757,1.40,221.4,761.2,9.2,463,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1921,2241
$GC,10120,1.40,221.4,727.9,9.2,472,10159,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1921,2241
$GC,10482,1.40,221.4,694.3,9.4,481,10522,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1921,2241
$GC,10845,1.40,221.4,660.1,9.3,490,10884,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1920,2241
$GC,11207,1.40,221.4,627.1,9.1,499,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1921,2241
$GC,11571,1.40,221.4,594.4,9.0,508,11610,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1921,2240
$GC,11933,1.40,221.4,561.7,9.0,517,11972,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1921,2240
$GC,12295,1.40,221.4,527.2,9.5,526,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1921,2240
$GC,12638,1.40,221.4,495.7,9.0,535,12655,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1921,2240
$GC,12965,1.40,221.4,468.1,8.4,551,12980,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1921,2240
$GC,13288,1.40,221.4,441.2,8.2,567,13296,0.00,2.72,0.00,0.000,4,0.000,0.083,3282,3327,2240
$GC,13338,1.40,221.4,436.7,8.9,569,13343,0.00,2.67,0.00,0.000,6,0.000,0.063,3282,1920,2240
$GC,13656,1.40,231.8,412.3,7.5,585,13670,0.00,2.80,8.62,1.393,4,0.000,0.081,3282,3327,2200
$GC,13698,1.41,232.7,408.9,8.0,587,13707,0.00,2.67,0.00,0.000,6,0.000,0.063,3282,1921,2198
$GC,14025,1.41,237.4,383.4,7.8,603,14042,0.00,0.00,4.43,1.417,6,0.000,0.000,3282,1921,2177
$GC,14349,1.42,252.8,358.7,7.3,619,14367,0.00,0.00,12.27,1.322,6,0.000,0.000,3283,1921,2115
$GC,14675,1.45,252.8,332.8,8.3,635,14692,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1921,2113
$GC,15001,1.45,252.8,306.0,8.5,651,15016,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1921,2113
$GC,15324,1.45,252.8,277.9,8.4,667,15332,0.00,2.70,0.00,0.000,4,0.000,0.080,3282,3327,2113
$GC,15359,1.45,252.8,274.8,8.3,668,15367,0.00,2.65,0.00,0.000,6,0.000,0.061,3282,1927,2113
$GC,15671,1.45,254.9,250.2,7.9,684,15689,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1927,2113
$GC,15998,1.45,261.5,226.2,7.7,700,16011,0.00,2.80,6.93,1.265,4,0.000,0.078,3282,3326,2079
$GC,16042,1.46,261.8,222.1,8.0,702,16047,0.00,2.67,0.00,0.000,6,0.000,0.062,3283,1925,2078
$GC,16365,1.46,263.4,196.1,7.9,718,16373,0.00,2.70,0.00,0.000,4,0.000,0.080,3282,3326,2078
$GC,16394,1.47,263.4,193.4,8.8,719,16399,0.00,2.65,0.00,0.000,6,0.000,0.061,3282,1927,2078
$GC,16714,1.47,269.7,168.2,7.7,735,16730,0.00,0.00,6.57,1.238,6,0.000,0.000,3282,1928,2046
$GC,17037,1.48,275.3,142.5,7.7,751,17055,0.00,0.00,4.68,1.250,6,0.000,0.000,3282,1928,2022
$GC,17362,1.49,291.0,117.4,7.3,767,17381,0.00,2.85,12.25,1.172,4,0.000,0.082,3283,3327,1958
$GC,17418,1.51,305.8,113.2,7.3,769,17439,0.08,2.70,11.93,1.143,6,0.068,0.064,3303,1927,1898
$GC,17745,1.54,351.0,89.9,6.0,806,17786,0.00,2.85,35.35,1.089,4,0.000,0.084,3303,3324,1713
$GC,17817,1.61,359.4,84.8,7.6,820,17833,0.12,2.67,6.53,1.144,6,0.074,0.066,3328,1921,1679
$GC,18145,1.63,359.4,56.3,8.8,883,18154,0.00,2.75,0.00,0.000,4,0.000,0.092,3328,510,1677
$GC,18174,1.63,359.4,53.2,10.1,889,18180,0.00,2.70,0.00,0.000,6,0.000,0.065,3328,1919,1676
$GC,18490,1.63,359.4,23.2,10.6,950,18495,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1924,1676
$FINISH,0.0,1.010857,0
$SM_CCo,18860,0.00,0.000,0,0,1673,361.57
$RAFOS_CLK,1021
$RAFOS,3,1128962042,16.583334,16.567223,49,43,39,683,695,899
$RAFOS,2,1128961476,16.416666,16.410000,134,48,43,600,906,1259
$RAFOS,1,1128960871,16.250000,16.241945,123,50,47,440,111,1738
$RAFOS,0,1128960262,16.083334,16.072779,130,45,42,592,1808,1454
$RAFOS,4,1128958142,15.500000,15.483889,41,40,39,189,285,428
$RAFOS_FIX,6640.993164,-5903.467285
$TT8_MAMPS,0.020709
$HUMID,1999
$TCM_TEMP,-4.00
$ALTIM_TOP_PING,9.9,9.6
$ALTIM_BOTTOM_PING,830.1,6.6
$24V_AH,23.3,29.268
$10V_AH,10.1,15.553
$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,27.600,124.175,399.900,0.000,0.000,37.000,35.458,118.831,0.500,60.889,892.554,13425.597,1259.541,3336.936,339.427,0.000,2288.338,0.000,1084.349,1800.000,3.286
$DEVICE_MAMPS,213.993,102.011,1553.175,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,906.615,3039.478,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,36712,1006
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101005,194908,6641.879,-5901.530,40,1.2,69,-37.7