version: 65.02
glider: 18
mission: 1
dive: 157
start: 10 13 105 5 54 53
data:
$ID,18
$MISSION,1
$DIVE,157
$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,-3
$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,641.21417
$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,-117538.47
$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,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
$GPS1,053502,6648.901,-5810.367,74,1.8,74
$_CALLS,5
$_XMS_NAKs,26
$_XMS_TOUTs,3
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-50.7
$GPS2,055439,6648.648,-5810.439,38,1.6,39,-37.6
$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,102.2,70603,-16.4,-7.990
$D_GRID,721
$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,19,-1.23,-122.2,0.0,0.0,0,77,0.00,0.00,-56.08,0.000,2,0.000,0.000,785,2091,2773
$GC,78,-1.23,-122.2,3.4,-5.4,11,126,12.23,2.75,-25.30,0.000,4,0.214,0.094,2702,675,3647
$GC,282,-1.23,-122.2,34.6,-14.7,50,291,0.00,2.65,0.00,0.000,6,0.000,0.067,2702,2081,3647
$GC,601,-1.23,-122.2,76.3,-12.0,112,606,0.00,2.75,0.00,0.000,4,0.000,0.080,2702,675,3647
$GC,637,-1.23,-122.2,80.7,-12.6,119,642,0.00,2.70,0.00,0.000,6,0.000,0.065,2702,2085,3647
$GC,963,-1.23,-122.2,119.8,-11.9,158,971,0.00,2.72,0.00,0.000,4,0.000,0.081,2702,674,3648
$GC,1007,-1.23,-122.2,125.5,-11.9,160,1012,0.00,2.70,0.00,0.000,6,0.000,0.066,2702,2086,3648
$GC,1331,-1.23,-122.2,162.8,-11.6,176,1339,0.00,2.72,0.00,0.000,4,0.000,0.082,2702,675,3648
$GC,1415,-1.23,-122.2,173.0,-12.1,180,1423,0.00,2.67,0.00,0.000,6,0.000,0.068,2702,2089,3648
$GC,1742,-1.23,-122.2,212.4,-12.5,196,1750,0.00,2.75,0.00,0.000,4,0.000,0.083,2702,673,3648
$GC,1847,-1.23,-122.2,226.1,-12.8,201,1855,0.00,2.67,0.00,0.000,6,0.000,0.068,2702,2087,3648
$GC,2174,-1.23,-122.2,263.6,-10.8,217,2182,0.00,2.72,0.00,0.000,4,0.000,0.081,2702,675,3648
$GC,2237,-1.23,-122.2,270.7,-11.0,220,2246,0.00,2.67,0.00,0.000,6,0.000,0.067,2702,2091,3648
$GC,2565,-1.23,-122.2,305.1,-10.5,236,2573,0.00,2.72,0.00,0.000,4,0.000,0.079,2702,674,3648
$GC,2650,-1.23,-122.2,314.6,-11.2,240,2658,0.00,2.65,0.00,0.000,6,0.000,0.065,2702,2087,3648
$GC,2976,-1.23,-122.2,349.4,-10.4,256,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2088,3648
$GC,3301,-1.23,-122.2,382.0,-9.7,272,3310,0.00,2.70,0.00,0.000,4,0.000,0.076,2702,674,3647
$GC,3368,-1.23,-122.2,388.7,-9.8,275,3372,0.00,2.65,0.00,0.000,6,0.000,0.062,2702,2076,3648
$GC,3690,-1.23,-122.2,418.1,-9.4,291,3698,0.00,2.67,0.00,0.000,4,0.000,0.075,2702,675,3648
$GC,3745,-1.23,-122.2,423.9,-10.1,293,3754,0.00,2.65,0.00,0.000,6,0.000,0.061,2702,2081,3648
$GC,4059,-1.23,-122.2,453.3,-9.5,309,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2081,3647
$GC,4384,-1.23,-122.2,484.7,-9.7,325,4393,0.00,2.67,0.00,0.000,4,0.000,0.075,2702,673,3648
$GC,4492,-1.23,-122.2,496.1,-10.2,330,4497,0.00,2.65,0.00,0.000,6,0.000,0.061,2702,2081,3648
$GC,4834,-1.23,-122.2,529.0,-9.7,340,4842,0.00,2.67,0.00,0.000,4,0.000,0.074,2702,675,3648
$GC,4890,-1.23,-122.2,534.9,-10.2,341,4895,0.00,2.65,0.00,0.000,6,0.000,0.061,2702,2078,3648
$GC,5201,-1.23,-122.2,564.6,-9.6,349,5209,0.00,2.67,0.00,0.000,4,0.000,0.075,2700,675,3648
$GC,5246,-1.23,-122.2,569.5,-10.0,350,5251,0.00,2.65,0.00,0.000,6,0.000,0.061,2702,2079,3648
$GC,5569,-1.23,-122.2,600.4,-9.5,358,5577,0.00,2.67,0.00,0.000,4,0.000,0.077,2702,674,3648
$GC,5603,-1.23,-122.2,604.1,-9.9,358,5611,0.00,2.65,0.00,0.000,6,0.000,0.061,2702,2075,3648
$GC,5934,-1.23,-122.2,635.5,-9.5,367,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2075,3648
$GC,6296,-1.23,-122.2,670.0,-9.7,376,6305,0.00,2.70,0.00,0.000,4,0.000,0.079,2702,672,3648
$GC,6358,-1.23,-122.2,676.6,-10.4,377,6363,0.00,2.65,0.00,0.000,6,0.000,0.061,2702,2079,3648
$GC,6705,-1.23,-122.2,710.0,-9.7,386,6713,0.00,2.70,0.00,0.000,4,0.000,0.079,2702,675,3648
$GC,6739,-1.23,-122.2,713.9,-10.5,386,6747,0.00,2.67,0.00,0.000,6,0.000,0.062,2702,2086,3648
$GC,6829,-0.31,0.0,722.0,9.6,389,6949,1.08,0.00,105.47,1.464,6,0.121,0.000,2904,2086,3144
$GC,6951,1.23,122.2,726.5,4.8,392,7058,1.75,2.47,99.60,1.405,4,0.097,0.082,3244,3329,2648
$GC,7130,1.23,211.7,726.1,4.1,396,7212,0.00,2.70,73.82,1.380,6,0.000,0.060,3244,1920,2282
$GC,7519,1.38,212.1,697.3,8.0,406,7558,0.15,0.00,0.00,0.000,6,0.070,0.000,3275,1920,2281
$GC,7880,1.38,212.1,664.1,9.2,415,7920,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1920,2280
$GC,8243,1.38,212.1,631.3,9.0,424,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1920,2280
$GC,8606,1.38,212.1,599.6,8.8,433,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1919,2280
$GC,8971,1.38,212.1,568.7,8.5,442,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1919,2279
$GC,9331,1.38,219.3,540.3,7.7,451,9372,0.00,0.00,6.05,1.474,6,0.000,0.000,3275,1920,2250
$GC,9694,1.39,228.1,512.6,7.6,460,9734,0.00,0.00,7.18,1.440,6,0.000,0.000,3275,1920,2215
$GC,10039,1.41,232.1,485.7,7.8,472,10055,0.00,0.00,3.35,1.473,6,0.000,0.000,3276,1920,2198
$GC,10362,1.41,235.4,460.1,7.8,488,10380,0.00,0.00,2.50,1.474,6,0.000,0.000,3275,1919,2185
$GC,10688,1.42,235.4,432.2,8.9,504,10705,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1919,2184
$GC,11014,1.42,235.4,402.4,9.3,520,11022,0.00,2.72,0.00,0.000,4,0.000,0.081,3276,3326,2184
$GC,11048,1.42,235.4,398.8,9.6,521,11056,0.00,2.67,0.00,0.000,6,0.000,0.061,3276,1921,2183
$GC,11361,1.42,235.4,369.9,9.2,537,11378,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1921,2183
$GC,11687,1.42,235.4,341.2,8.9,553,11703,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1921,2183
$GC,12010,1.42,239.3,314.3,7.8,569,12019,0.00,2.78,3.08,1.357,4,0.000,0.078,3275,3325,2170
$GC,12077,1.43,239.3,308.7,8.1,572,12081,0.00,2.67,0.00,0.000,6,0.000,0.062,3275,1920,2170
$GC,12401,1.43,244.4,283.5,7.8,588,12417,0.00,0.00,4.00,1.316,6,0.000,0.000,3275,1919,2149
$GC,12724,1.43,244.4,256.4,8.8,604,12733,0.00,2.70,0.00,0.000,4,0.000,0.084,3275,510,2149
$GC,12775,1.43,244.4,251.3,10.0,606,12779,0.00,2.65,0.00,0.000,6,0.000,0.060,3275,1916,2149
$GC,13093,1.43,244.4,221.4,9.6,622,13109,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1922,2149
$GC,13417,1.43,255.8,194.8,7.5,638,13431,0.00,2.78,9.07,1.212,4,0.000,0.081,3275,510,2103
$GC,13460,1.45,255.8,191.3,9.2,640,13468,0.00,2.65,0.00,0.000,6,0.000,0.061,3275,1927,2102
$GC,13786,1.45,258.2,165.3,7.9,656,13804,0.00,0.00,2.22,1.298,6,0.000,0.000,3275,1927,2092
$GC,14111,1.46,274.5,141.2,7.3,672,14129,0.00,0.00,13.43,1.163,6,0.000,0.000,3275,1927,2024
$GC,14437,1.48,298.3,117.6,6.9,688,14475,0.12,0.00,18.75,1.126,6,0.071,0.000,3302,1927,1928
$GC,14783,1.52,298.3,86.0,9.4,723,14786,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1927,1926
$GC,15096,1.52,298.3,59.1,8.3,784,15102,0.00,2.78,0.00,0.000,4,0.000,0.087,3301,523,1926
$GC,15175,1.52,298.3,52.3,8.9,799,15179,0.00,2.65,0.00,0.000,6,0.000,0.067,3302,1905,1926
$GC,15489,1.52,330.2,30.7,6.6,860,15521,0.00,2.88,24.62,1.088,4,0.000,0.087,3302,511,1798
$GC,15567,1.58,330.2,25.1,8.3,875,15572,0.00,2.70,0.00,0.000,6,0.000,0.067,3302,1925,1798
$GC,15883,1.58,332.1,4.3,7.9,936,15887,0.00,2.75,0.00,0.000,4,0.000,0.087,3302,3318,1796
$FINISH,1.7,1.025790,0
$SM_CCo,15938,299.12,0.929,37,0,531,641.21
$RAFOS_CLK,1934
$RAFOS,4,1129195742,9.500000,9.483889,43,40,40,201,165,1299
$RAFOS,3,1129192466,8.583333,8.573889,47,46,46,822,177,668
$RAFOS,2,1129191862,8.416667,8.406111,67,54,47,505,515,1458
$RAFOS,1,1129191257,8.250000,8.238055,61,41,40,600,1463,1374
$RAFOS,0,1129190653,8.083333,8.070278,46,44,40,65,792,1408
$TT8_MAMPS,0.022243
$HUMID,1934
$TCM_TEMP,-5.50
$ALTIM_TOP_PING,9.7,9.5
$ALTIM_BOTTOM_PING,698.3,10.1
$24V_AH,23.4,31.468
$10V_AH,10.1,16.826
$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,27.875,123.500,373.150,299.125,0.000,160.602,208.698,407.965,0.500,116.169,882.667,11224.854,1496.590,3160.668,959.688,0.000,2452.440,0.000,1032.712,1800.000,3.290
$DEVICE_MAMPS,213.993,93.574,1474.174,928.837,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,845.460,2803.090,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34500,943
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,37,0
$GPS,131005,103105,6650.068,-5806.596,62,1.7,100,-37.6