version: 65.02
glider: 18
mission: 1
dive: 31
start: 9 21 105 7 19 29
data:
$ID,18
$MISSION,1
$DIVE,31
$D_SURF,2
$D_FLARE,3
$D_TGT,650
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$T_DIVE,271
$T_MISSION,325
$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,1
$KALMAN_Q,1000
$KALMAN_R,100
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,-102557.98
$T_RSLEEP,2
$PITCH_MIN,785
$PITCH_MAX,4062
$C_PITCH,2974
$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,1987
$C_ROLL_CLIMB,1901
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,500
$VBD_MIN,532
$VBD_MAX,3910
$C_VBD,3081
$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
$GPS1,070803,6635.582,-5927.193,42,1.6,42
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-50.6
$GPS2,071841,6635.646,-5927.374,35,1.2,36,-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,101.3,131067,-16.5,-7.995
$D_GRID,841
$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,-122.2,0.0,0.0,0,81,0.00,0.00,-61.75,0.000,2,0.000,0.000,787,1984,2464
$GC,82,-1.23,-122.2,3.1,-5.3,12,135,12.10,2.78,-33.83,0.000,4,0.210,0.099,2695,3394,3582
$GC,303,-1.23,-122.2,34.7,-12.8,55,309,0.00,2.67,0.00,0.000,6,0.000,0.062,2695,1991,3583
$GC,619,-1.23,-122.2,77.3,-13.2,116,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1991,3585
$GC,945,-1.23,-122.2,118.0,-12.2,158,953,0.00,2.75,0.00,0.000,4,0.000,0.091,2694,3392,3585
$GC,1031,-1.23,-122.2,129.0,-12.3,162,1037,0.00,2.67,0.00,0.000,6,0.000,0.066,2695,1992,3585
$GC,1355,-1.23,-122.2,165.3,-11.2,178,1363,0.00,2.75,0.00,0.000,4,0.000,0.091,2694,3392,3585
$GC,1405,-1.23,-122.2,171.5,-12.0,180,1410,0.00,2.67,0.00,0.000,6,0.000,0.066,2695,1996,3585
$GC,1724,-1.23,-122.2,206.7,-10.9,196,1732,0.00,2.75,0.00,0.000,4,0.000,0.091,2694,3393,3585
$GC,1769,-1.23,-122.2,212.0,-10.8,198,1774,0.00,2.67,0.00,0.000,6,0.000,0.066,2695,1995,3585
$GC,2092,-1.23,-122.2,244.3,-10.0,214,2100,0.00,2.75,0.00,0.000,4,0.000,0.090,2695,3393,3585
$GC,2163,-1.23,-122.2,251.8,-10.0,217,2168,0.00,2.67,0.00,0.000,6,0.000,0.065,2695,1990,3585
$GC,2481,-1.23,-122.2,281.5,-9.5,233,2490,0.00,2.75,0.00,0.000,4,0.000,0.087,2695,3393,3583
$GC,2545,-1.23,-122.2,287.7,-10.2,236,2553,0.00,2.62,0.00,0.000,6,0.000,0.064,2695,1987,3583
$GC,2871,-1.23,-122.2,319.7,-9.9,252,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1986,3583
$GC,3196,-1.23,-122.2,351.6,-10.0,268,3204,0.00,2.75,0.00,0.000,4,0.000,0.085,2695,3394,3583
$GC,3260,-1.23,-122.2,358.2,-10.3,271,3268,0.00,2.62,0.00,0.000,6,0.000,0.063,2694,1987,3582
$GC,3586,-1.23,-122.2,391.6,-10.3,287,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1987,3583
$GC,3911,-1.23,-122.2,425.4,-10.6,303,3919,0.00,2.72,0.00,0.000,4,0.000,0.085,2695,3392,3583
$GC,3987,-1.23,-122.2,434.0,-10.7,306,3995,0.00,2.65,0.00,0.000,6,0.000,0.061,2695,1989,3583
$GC,4300,-1.23,-122.2,466.2,-10.4,322,4308,0.00,2.72,0.00,0.000,4,0.000,0.084,2694,3394,3583
$GC,4329,-1.23,-122.2,469.6,-11.5,323,4334,0.00,2.65,0.00,0.000,6,0.000,0.061,2696,1991,3583
$GC,4667,-1.23,-122.2,504.3,-10.2,339,4675,0.00,2.72,0.00,0.000,4,0.000,0.084,2695,3394,3583
$GC,4723,-1.23,-122.2,510.6,-10.8,340,4728,0.00,2.65,0.00,0.000,6,0.000,0.061,2695,1987,3583
$GC,5035,-1.23,-122.2,541.1,-9.8,348,5043,0.00,2.72,0.00,0.000,4,0.000,0.084,2695,3394,3583
$GC,5080,-1.23,-122.2,545.9,-10.0,349,5085,0.00,2.65,0.00,0.000,6,0.000,0.060,2695,1987,3583
$GC,5402,-1.23,-122.2,575.5,-9.1,357,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1987,3583
$GC,5764,-1.23,-122.2,608.1,-8.8,366,5772,0.00,2.72,0.00,0.000,4,0.000,0.084,2695,3392,3583
$GC,5836,-1.23,-122.2,614.9,-9.2,367,5841,0.00,2.65,0.00,0.000,6,0.000,0.061,2695,1988,3583
$GC,6172,-1.23,-122.2,644.1,-8.7,376,6180,0.00,2.72,0.00,0.000,4,0.000,0.084,2695,3394,3583
$GC,6206,-1.23,-122.2,647.5,-9.6,376,6214,0.00,2.65,0.00,0.000,6,0.000,0.060,2694,1987,3583
$GC,6256,-0.31,0.0,651.5,9.0,378,6375,1.10,0.00,101.82,1.419,6,0.123,0.000,2900,1988,3080
$GC,6377,1.23,122.2,655.7,4.6,381,6488,1.70,3.00,98.80,1.368,4,0.097,0.086,3240,495,2582
$GC,6724,1.23,191.1,647.8,5.0,389,6786,0.00,2.65,55.05,1.368,6,0.000,0.059,3240,1904,2302
$GC,7116,1.35,217.3,622.1,6.8,399,7157,0.12,0.00,21.20,1.388,6,0.080,0.000,3265,1902,2195
$GC,7479,1.39,217.9,593.0,8.0,408,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1902,2194
$GC,7841,1.39,227.8,565.2,7.6,417,7881,0.00,0.00,8.20,1.447,6,0.000,0.000,3265,1902,2152
$GC,8205,1.41,227.8,536.8,8.1,426,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1902,2151
$GC,8566,1.41,227.8,506.8,8.5,435,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1903,2151
$GC,8911,1.41,227.8,478.5,8.1,449,8928,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1902,2151
$GC,9236,1.41,227.8,450.8,8.6,465,9244,0.00,2.72,0.00,0.000,4,0.000,0.085,3265,493,2151
$GC,9279,1.41,227.8,446.8,9.4,467,9287,0.00,2.60,0.00,0.000,6,0.000,0.061,3265,1899,2151
$GC,9605,1.41,227.8,418.7,8.4,483,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1899,2151
$GC,9930,1.41,231.0,392.7,7.9,499,9948,0.00,0.00,2.28,1.457,6,0.000,0.000,3265,1899,2139
$GC,10255,1.42,245.5,367.8,7.4,515,10272,0.00,0.00,11.80,1.333,6,0.000,0.000,3265,1899,2080
$GC,10580,1.44,255.8,343.3,7.5,531,10598,0.10,0.00,8.30,1.338,6,0.083,0.000,3285,1899,2038
$GC,10904,1.46,255.8,314.2,9.2,547,10922,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1899,2038
$GC,11231,1.46,255.8,284.5,9.2,563,11246,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1899,2038
$GC,11554,1.46,255.8,255.5,8.8,579,11571,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1899,2038
$GC,11880,1.46,255.8,227.9,8.5,595,11889,0.00,2.72,0.00,0.000,4,0.000,0.085,3285,487,2038
$GC,11925,1.46,255.8,223.5,8.7,597,11930,0.00,2.65,0.00,0.000,6,0.000,0.063,3285,1893,2038
$GC,12248,1.46,259.0,197.8,7.9,613,12257,0.00,2.78,2.53,1.351,4,0.000,0.085,3285,496,2025
$GC,12291,1.46,259.0,194.3,8.7,615,12300,0.00,2.62,0.00,0.000,6,0.000,0.064,3285,1904,2025
$GC,12617,1.46,270.9,169.1,7.5,631,12636,0.00,2.78,9.45,1.226,4,0.000,0.085,3285,3302,1975
$GC,12681,1.48,270.9,164.0,8.7,634,12689,0.00,2.65,0.00,0.000,6,0.000,0.065,3285,1902,1975
$GC,13007,1.48,279.8,138.6,7.6,650,13025,0.00,0.00,6.75,1.234,6,0.000,0.000,3285,1902,1938
$GC,13332,1.50,279.8,112.0,8.2,666,13340,0.00,2.75,0.00,0.000,4,0.000,0.086,3285,3307,1939
$GC,13382,1.50,279.8,107.4,9.2,668,13387,0.00,2.70,0.00,0.000,6,0.000,0.068,3285,1903,1939
$GC,13696,1.50,279.8,81.7,8.2,716,13701,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1903,1939
$GC,14012,1.50,296.9,57.2,7.2,777,14027,0.00,0.00,13.00,1.157,6,0.000,0.000,3285,1903,1869
$GC,14337,1.53,352.9,36.2,5.5,840,14390,0.00,2.83,42.95,1.057,4,0.000,0.086,3285,3302,1641
$GC,14435,1.62,373.7,30.0,7.1,859,14457,0.15,2.72,15.65,1.058,6,0.068,0.070,3321,1903,1557
$GC,14768,1.65,415.1,7.3,6.2,923,14808,0.00,2.90,31.30,1.028,4,0.000,0.094,3321,492,1387
$FINISH,0.6,1.024929,0
$SM_CCo,14939,0.00,0.000,0,0,1382,416.27
$RAFOS_CLK,1793
$RAFOS,4,1127294970,9.500000,9.491667,43,41,39,1750,996,604
$RAFOS,3,1127291654,8.583333,8.570556,90,46,45,571,593,1442
$RAFOS,2,1127291060,8.416667,8.405556,158,50,42,753,1094,1207
$RAFOS,1,1127290442,8.250000,8.233889,116,48,44,649,220,110
$RAFOS,0,1127289857,8.083333,8.071389,107,48,43,580,1277,191
$RAFOS_FIX,6634.323730,-5923.165039
$TT8_MAMPS,0.020709
$HUMID,2030
$TCM_TEMP,-5.00
$ALTIM_TOP_PING,9.9,10.1
$ALTIM_BOTTOM_PING,626.4,217.4
$24V_AH,23.4,11.359
$10V_AH,10.1,5.566
$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,27.850,114.125,429.075,0.000,0.000,95.951,135.708,158.002,0.500,80.622,879.620,10224.958,967.288,3080.038,525.641,33.349,1921.002,0.000,1043.152,1800.000,3.567
$DEVICE_MAMPS,210.158,98.943,1457.300,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,843.934,2748.578,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34327,941
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210905,113008,6633.792,-5921.149,43,1.3,47,-37.6