version: 65.02
glider: 18
mission: 1
dive: 34
start: 9 21 105 22 4 16
data:
$ID,18
$MISSION,1
$DIVE,34
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$T_DIVE,333
$T_MISSION,400
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$SM_CC,333
$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,-103749.2
$T_RSLEEP,2
$PITCH_MIN,785
$PITCH_MAX,4062
$C_PITCH,2970
$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,2047
$C_ROLL_CLIMB,1916
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,500
$VBD_MIN,532
$VBD_MAX,3910
$C_VBD,3127
$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
$GPS1,215920,6635.918,-5908.681,32,3.1,70
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-50.3
$GPS2,220403,6635.902,-5908.560,35,1.4,46,-37.6
$SPEED_LIMITS,0.139,0.223
$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,100.6,118638,-16.5,-8.008
$D_GRID,837
$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,-55.42,0.000,2,0.000,0.000,786,2044,2474
$GC,76,-1.23,-122.2,3.2,-5.2,11,132,12.05,2.75,-34.38,0.000,4,0.209,0.097,2693,631,3627
$GC,322,-1.23,-122.2,39.7,-13.5,59,328,0.00,2.70,0.00,0.000,6,0.000,0.066,2693,2039,3628
$GC,637,-1.23,-122.2,79.8,-12.9,120,643,0.00,2.80,0.00,0.000,4,0.000,0.092,2693,3452,3630
$GC,674,-1.23,-122.2,84.5,-12.9,127,679,0.00,2.67,0.00,0.000,6,0.000,0.064,2693,2051,3630
$GC,988,-1.23,-122.2,123.4,-12.4,161,996,0.00,2.78,0.00,0.000,4,0.000,0.092,2693,3457,3631
$GC,1023,-1.23,-122.2,128.0,-12.6,162,1031,0.00,2.70,0.00,0.000,6,0.000,0.065,2694,2046,3630
$GC,1335,-1.23,-122.2,164.4,-11.2,178,1344,0.00,2.80,0.00,0.000,4,0.000,0.092,2693,3458,3630
$GC,1370,-1.23,-122.2,168.6,-11.5,179,1378,0.00,2.70,0.00,0.000,6,0.000,0.066,2693,2051,3630
$GC,1683,-1.23,-122.2,202.8,-10.8,195,1691,0.00,2.78,0.00,0.000,4,0.000,0.092,2693,3457,3630
$GC,1712,-1.23,-122.2,206.3,-11.8,196,1717,0.00,2.70,0.00,0.000,6,0.000,0.067,2694,2050,3630
$GC,2030,-1.23,-122.2,240.4,-10.9,212,2038,0.00,2.78,0.00,0.000,4,0.000,0.091,2693,3457,3630
$GC,2074,-1.23,-122.2,245.9,-11.4,214,2080,0.00,2.70,0.00,0.000,6,0.000,0.066,2694,2049,3630
$GC,2398,-1.23,-122.2,280.3,-10.4,230,2406,0.00,2.78,0.00,0.000,4,0.000,0.089,2693,3459,3630
$GC,2442,-1.23,-122.2,285.3,-10.3,232,2448,0.00,2.70,0.00,0.000,6,0.000,0.064,2693,2045,3630
$GC,2766,-1.23,-122.2,315.8,-9.5,248,2774,0.00,2.78,0.00,0.000,4,0.000,0.088,2694,3457,3629
$GC,2800,-1.23,-122.2,319.8,-10.5,249,2808,0.00,2.67,0.00,0.000,6,0.000,0.062,2693,2052,3629
$GC,3113,-1.23,-122.2,351.3,-10.2,265,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2052,3629
$GC,3438,-1.23,-122.2,384.2,-10.2,281,3446,0.00,2.72,0.00,0.000,4,0.000,0.086,2693,3458,3628
$GC,3480,-1.23,-122.2,388.7,-10.7,283,3488,0.00,2.62,0.00,0.000,6,0.000,0.062,2693,2047,3628
$GC,3807,-1.23,-122.2,420.8,-9.6,299,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2047,3628
$GC,4133,-1.23,-122.2,451.6,-9.4,315,4141,0.00,2.72,0.00,0.000,4,0.000,0.084,2694,3458,3628
$GC,4175,-1.23,-122.2,455.9,-9.8,317,4183,0.00,2.62,0.00,0.000,6,0.000,0.060,2694,2045,3628
$GC,4501,-1.23,-122.2,486.8,-9.6,333,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2046,3628
$GC,4845,-1.23,-122.2,521.4,-10.2,345,4853,0.00,2.75,0.00,0.000,4,0.000,0.084,2693,3461,3628
$GC,4901,-1.23,-122.2,527.4,-10.3,346,4906,0.00,2.65,0.00,0.000,6,0.000,0.059,2693,2058,3628
$GC,5212,-1.23,-122.2,556.8,-9.5,354,5220,0.00,2.72,0.00,0.000,4,0.000,0.084,2693,3460,3629
$GC,5236,-1.23,-122.2,559.5,-10.5,354,5241,0.00,2.65,0.00,0.000,6,0.000,0.059,2693,2055,3629
$GC,5577,-1.23,-122.2,591.4,-9.4,363,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2055,3630
$GC,5940,-1.23,-122.2,625.6,-9.4,372,5948,0.00,2.72,0.00,0.000,4,0.000,0.085,2694,3458,3630
$GC,5990,-1.23,-122.2,630.8,-9.9,373,5995,0.00,2.65,0.00,0.000,6,0.000,0.061,2693,2053,3630
$GC,6307,-1.23,-122.2,660.3,-9.4,381,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2053,3631
$GC,6669,-1.23,-122.2,695.2,-9.6,390,6677,0.00,2.72,0.00,0.000,4,0.000,0.086,2694,3458,3630
$GC,6704,-1.23,-122.2,698.9,-10.8,390,6712,0.00,2.65,0.00,0.000,6,0.000,0.061,2693,2054,3630
$GC,7034,-1.23,-122.2,729.3,-8.9,399,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2054,3630
$GC,7397,-1.23,-122.2,764.3,-10.1,408,7405,0.00,2.72,0.00,0.000,4,0.000,0.087,2693,3458,3630
$GC,7432,-1.23,-122.2,768.0,-10.3,408,7440,0.00,2.65,0.00,0.000,6,0.000,0.061,2693,2053,3630
$GC,7762,-1.23,-122.2,798.5,-9.5,417,7770,0.00,2.72,0.00,0.000,4,0.000,0.085,2693,3458,3631
$GC,7780,-0.31,0.0,800.1,9.8,417,7927,1.05,0.00,103.72,1.509,6,0.121,0.000,2893,2041,3126
$GC,7929,1.23,122.2,807.8,5.1,421,8040,1.70,3.05,99.85,1.463,4,0.096,0.085,3237,508,2628
$GC,8276,1.23,213.3,805.6,4.0,429,8358,0.00,2.65,74.25,1.453,6,0.000,0.059,3237,1914,2257
$GC,8669,1.39,213.3,776.6,8.1,439,8709,0.17,0.00,0.00,0.000,6,0.072,0.000,3273,1917,2256
$GC,9032,1.39,213.3,744.8,8.5,448,9040,0.00,2.75,0.00,0.000,4,0.000,0.085,3273,505,2255
$GC,9117,1.39,213.3,737.6,8.5,450,9125,0.00,2.62,0.00,0.000,6,0.000,0.061,3273,1913,2255
$GC,9442,1.39,213.3,711.9,8.0,458,9482,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1913,2255
$GC,9804,1.39,213.3,681.0,8.6,467,9813,0.00,2.72,0.00,0.000,4,0.000,0.085,3273,508,2255
$GC,9866,1.39,213.3,675.0,9.8,468,9871,0.00,2.65,0.00,0.000,6,0.000,0.061,3273,1912,2255
$GC,10212,1.39,213.3,645.5,8.5,477,10220,0.00,2.72,0.00,0.000,4,0.000,0.085,3273,507,2255
$GC,10247,1.39,213.3,642.0,9.2,477,10254,0.00,2.65,0.00,0.000,6,0.000,0.061,3273,1913,2255
$GC,10577,1.39,213.3,613.9,8.6,486,10617,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1918,2255
$GC,10940,1.39,213.3,582.9,8.5,495,10948,0.00,2.70,0.00,0.000,4,0.000,0.084,3273,508,2255
$GC,10983,1.39,213.3,578.9,9.5,496,10991,0.00,2.62,0.00,0.000,6,0.000,0.061,3273,1919,2255
$GC,11308,1.39,213.3,552.2,8.1,504,11316,0.00,2.72,0.00,0.000,4,0.000,0.084,3273,508,2255
$GC,11358,1.39,213.3,547.4,9.3,505,11363,0.00,2.65,0.00,0.000,6,0.000,0.061,3273,1915,2255
$GC,11675,1.39,218.1,522.3,7.8,513,11715,0.00,0.00,3.58,1.510,6,0.000,0.000,3273,1920,2237
$GC,12017,1.39,222.9,495.7,7.8,522,12026,0.00,2.75,4.00,1.480,4,0.000,0.082,3273,508,2218
$GC,12073,1.40,222.9,490.6,9.5,524,12081,0.00,2.67,0.00,0.000,6,0.000,0.061,3273,1917,2218
$GC,12386,1.40,222.9,464.8,8.4,540,12403,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1921,2218
$GC,12710,1.40,222.9,437.5,8.4,556,12718,0.00,2.72,0.00,0.000,4,0.000,0.083,3273,508,2218
$GC,12776,1.40,222.9,431.2,9.6,559,12781,0.00,2.65,0.00,0.000,6,0.000,0.061,3273,1914,2218
$GC,13100,1.40,222.9,403.6,8.7,575,13108,0.00,2.72,0.00,0.000,4,0.000,0.082,3273,505,2218
$GC,13144,1.40,222.9,399.2,10.1,577,13150,0.00,2.65,0.00,0.000,6,0.000,0.061,3273,1912,2218
$GC,13468,1.40,222.9,372.6,8.0,593,13476,0.00,2.70,0.00,0.000,4,0.000,0.081,3273,508,2218
$GC,13531,1.40,222.9,367.3,8.2,596,13540,0.00,2.60,0.00,0.000,6,0.000,0.060,3274,1922,2218
$GC,13859,1.40,240.4,343.1,7.2,612,13875,0.00,0.00,14.12,1.289,6,0.000,0.000,3273,1923,2146
$GC,14183,1.43,240.4,316.6,8.5,628,14200,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1923,2145
$GC,14509,1.43,240.5,289.4,8.0,644,14524,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1922,2145
$GC,14832,1.43,252.4,264.4,7.5,660,14847,0.00,2.78,9.30,1.262,4,0.000,0.083,3273,508,2098
$GC,14924,1.45,252.4,256.9,8.4,664,14929,0.00,2.65,0.00,0.000,6,0.000,0.062,3273,1903,2097
$GC,15243,1.45,276.8,234.4,6.9,680,15273,0.00,2.80,19.12,1.193,4,0.000,0.084,3273,508,1997
$GC,15293,1.49,283.9,230.5,7.7,682,15306,0.00,2.70,5.57,1.233,6,0.000,0.062,3273,1919,1969
$GC,15610,1.50,311.0,207.9,6.8,698,15640,0.10,2.83,20.95,1.165,4,0.083,0.084,3294,505,1859
$GC,15673,1.55,311.0,202.6,9.2,701,15682,0.00,2.65,0.00,0.000,6,0.000,0.064,3294,1914,1858
$GC,15999,1.55,311.0,174.6,8.9,717,16017,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1914,1858
$GC,16326,1.55,311.0,144.7,9.2,733,16341,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1914,1858
$GC,16649,1.55,311.0,116.6,8.4,749,16657,0.00,2.75,0.00,0.000,4,0.000,0.091,3294,508,1858
$GC,16700,1.55,311.0,111.7,9.4,751,16712,0.00,2.65,0.00,0.000,6,0.000,0.067,3294,1914,1858
$GC,17020,1.55,311.0,83.0,8.8,794,17023,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1919,1858
$GC,17334,1.55,324.4,58.2,7.4,855,17350,0.00,2.83,10.57,1.177,4,0.000,0.089,3294,509,1804
$GC,17364,1.57,325.8,55.8,7.9,861,17369,0.00,2.72,0.00,0.000,6,0.000,0.067,3294,1916,1803
$GC,17680,1.57,359.8,34.0,6.5,922,17717,0.00,2.85,27.00,1.097,4,0.000,0.090,3294,509,1659
$GC,17793,1.63,369.6,25.5,7.6,944,17810,0.10,2.70,6.97,1.155,6,0.071,0.067,3320,1917,1620
$GC,18121,1.65,470.6,6.0,3.6,1007,18198,0.00,0.00,73.65,1.016,2,0.000,0.000,3320,1917,1223
$FINISH,0.0,1.018327,0
$SM_CCo,18308,0.00,0.000,0,0,1221,467.54
$RAFOS_CLK,953
$RAFOS,3,1127349247,0.583333,0.568611,54,50,48,625,615,167
$RAFOS,2,1127348643,0.416667,0.400833,80,43,41,798,127,1083
$RAFOS,1,1127348045,0.250000,0.234722,52,45,45,622,1115,1247
$RAFOS,0,1127347451,0.083333,0.069722,57,53,53,223,351,653
$TT8_MAMPS,0.020709
$HUMID,2014
$TCM_TEMP,-4.50
$ALTIM_TOP_PING,9.9,9.7
$ALTIM_BOTTOM_PING,775.4,6.9
$24V_AH,23.4,11.922
$10V_AH,10.1,5.894
$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,27.625,173.950,472.675,0.000,0.000,31.297,29.418,111.878,0.500,119.979,966.187,12795.467,1131.857,3515.142,300.005,0.000,2266.787,0.000,1196.001,1440.000,3.284
$DEVICE_MAMPS,209.391,96.642,1510.223,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,925.356,3051.421,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37432,1028
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220905,031120,6636.311,-5902.600,35,2.2,73,-37.6