version: 65.02
glider: 18
mission: 1
dive: 74
start: 9 28 105 9 9 53
data:
$ID,18
$MISSION,1
$DIVE,74
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$SM_CC,275
$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,-109210.66
$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,2031
$C_ROLL_CLIMB,1908
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,500
$VBD_MIN,532
$VBD_MAX,3910
$C_VBD,3153
$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
$GPS1,090444,6705.978,-5658.620,41,2.4,79
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-45.4
$GPS2,090939,6705.985,-5658.725,14,1.4,49,-37.6
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_E_N
$TGT_LATLONG,6710.000,-5658.000
$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,41.6,7454,-16.5,-7.990
$D_GRID,492
$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,-122.2,0.0,0.0,0,59,0.00,0.00,-39.60,0.000,2,0.000,0.000,783,2039,2846
$GC,61,-1.23,-122.2,3.0,-5.7,8,103,11.75,2.67,-24.42,0.000,4,0.198,0.089,2699,3430,3654
$GC,127,-1.23,-122.2,10.8,-12.4,21,132,0.00,2.60,0.00,0.000,6,0.000,0.051,2699,2039,3654
$GC,442,-1.23,-122.2,50.8,-12.0,82,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2038,3654
$GC,758,-1.23,-122.2,87.4,-11.6,143,763,0.00,2.67,0.00,0.000,4,0.000,0.075,2699,3418,3654
$GC,784,-1.23,-122.2,90.4,-11.6,148,789,0.00,2.58,0.00,0.000,6,0.000,0.051,2700,2032,3653
$GC,1098,-1.23,-122.2,122.8,-9.8,176,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2032,3654
$GC,1423,-1.23,-122.2,151.7,-8.4,192,1431,0.00,2.65,0.00,0.000,4,0.000,0.073,2699,3429,3654
$GC,1499,-1.23,-122.2,159.4,-9.8,195,1507,0.00,2.58,0.00,0.000,6,0.000,0.050,2699,2038,3654
$GC,1812,-1.23,-122.2,188.7,-9.3,211,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2037,3654
$GC,2137,-1.23,-122.2,221.2,-10.0,227,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2037,3654
$GC,2461,-1.23,-122.2,253.3,-9.6,243,2470,0.00,2.65,0.00,0.000,4,0.000,0.074,2699,3430,3654
$GC,2506,-1.23,-122.2,258.1,-10.0,245,2512,0.00,2.58,0.00,0.000,6,0.000,0.051,2699,2037,3654
$GC,2830,-1.23,-122.2,290.9,-10.5,261,2838,0.00,2.65,0.00,0.000,4,0.000,0.073,2699,3430,3654
$GC,2851,-1.23,-122.2,293.3,-10.7,262,2859,0.00,2.55,0.00,0.000,6,0.000,0.051,2699,2031,3654
$GC,3179,-1.23,-122.2,328.4,-10.5,278,3187,0.00,2.65,0.00,0.000,4,0.000,0.073,2699,3430,3654
$GC,3213,-1.23,-122.2,332.6,-11.0,279,3221,0.00,2.58,0.00,0.000,6,0.000,0.051,2699,2039,3654
$GC,3526,-1.23,-122.2,363.2,-9.6,295,3534,0.00,2.65,0.00,0.000,4,0.000,0.074,2699,3433,3654
$GC,3555,-1.23,-122.2,366.3,-10.4,296,3560,0.00,2.58,0.00,0.000,6,0.000,0.051,2699,2041,3654
$GC,3873,-1.23,-122.2,396.2,-9.4,312,3882,0.00,2.62,0.00,0.000,4,0.000,0.074,2699,3430,3654
$GC,3897,-1.23,-122.2,398.8,-10.3,313,3902,0.00,2.60,0.00,0.000,6,0.000,0.051,2699,2026,3653
$GC,4220,-1.23,-122.2,429.5,-9.6,329,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2026,3654
$GC,4545,-1.23,-122.2,460.6,-9.5,345,4553,0.00,2.67,0.00,0.000,4,0.000,0.074,2699,3431,3654
$GC,4590,-1.23,-122.2,465.2,-9.8,347,4595,0.00,2.58,0.00,0.000,6,0.000,0.051,2699,2039,3654
$GC,4913,-1.23,-122.2,490.1,-3.2,363,4921,0.00,2.62,0.00,0.000,4,0.000,0.073,2699,3431,3654
$GC,5047,-0.31,0.0,490.0,-0.0,369,5164,1.00,0.00,98.88,1.262,6,0.093,0.000,2902,2027,3152
$GC,5165,1.23,122.2,490.0,0.1,375,5268,1.65,0.00,95.62,1.216,6,0.086,0.000,3242,2027,2654
$GC,5572,1.23,202.8,475.9,4.5,395,5642,0.00,2.55,62.75,1.222,4,0.000,0.069,3242,3307,2326
$GC,5739,1.37,202.8,464.6,8.1,403,5747,0.15,2.60,0.00,0.000,6,0.064,0.054,3274,1908,2326
$GC,6066,1.37,202.8,436.4,8.6,419,6074,0.00,2.65,0.00,0.000,4,0.000,0.076,3274,498,2325
$GC,6117,1.37,202.8,431.5,9.1,421,6121,0.00,2.60,0.00,0.000,6,0.000,0.052,3274,1900,2324
$GC,6436,1.37,202.8,404.8,8.7,437,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1906,2325
$GC,6759,1.37,202.8,375.7,8.8,453,6767,0.00,2.67,0.00,0.000,4,0.000,0.074,3274,492,2325
$GC,6804,1.37,202.8,371.1,9.9,455,6809,0.00,2.62,0.00,0.000,6,0.000,0.053,3274,1909,2325
$GC,7128,1.37,202.8,341.4,9.6,471,7144,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1914,2325
$GC,7453,1.37,202.8,312.4,9.0,487,7461,0.00,2.62,0.00,0.000,4,0.000,0.072,3275,3314,2325
$GC,7503,1.37,202.8,307.3,9.3,489,7509,0.00,2.62,0.00,0.000,6,0.000,0.053,3275,1908,2324
$GC,7823,1.37,202.8,278.8,8.9,505,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1908,2324
$GC,8146,1.37,202.8,249.7,8.9,521,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1908,2324
$GC,8473,1.37,207.0,223.0,7.8,537,8481,0.00,2.70,3.17,1.229,4,0.000,0.069,3275,3305,2307
$GC,8536,1.38,207.0,218.0,8.0,540,8545,0.00,2.58,0.00,0.000,6,0.000,0.054,3274,1907,2306
$GC,8864,1.38,235.3,195.2,6.7,556,8905,0.00,0.00,21.70,1.111,6,0.000,0.000,3274,1907,2192
$GC,9210,1.42,235.3,168.6,8.1,573,9218,0.00,2.65,0.00,0.000,4,0.000,0.077,3274,498,2192
$GC,9255,1.42,235.3,164.2,9.9,575,9260,0.00,2.60,0.00,0.000,6,0.000,0.053,3274,1905,2192
$GC,9578,1.42,235.3,134.6,9.5,591,9586,0.00,2.67,0.00,0.000,4,0.000,0.074,3274,498,2191
$GC,9633,1.42,235.3,128.8,9.8,593,9641,0.00,2.60,0.00,0.000,6,0.000,0.054,3274,1909,2192
$GC,9946,1.42,235.3,101.7,8.2,609,9955,0.00,2.65,0.00,0.000,4,0.000,0.074,3274,498,2192
$GC,10011,1.42,235.3,95.5,9.1,619,10017,0.00,2.58,0.00,0.000,6,0.000,0.054,3274,1893,2191
$GC,10327,1.42,235.3,64.6,9.7,680,10332,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1897,2191
$GC,10643,1.42,275.3,41.5,6.2,741,10679,0.00,2.75,30.05,0.986,4,0.000,0.070,3274,3302,2030
$GC,10761,1.49,275.3,32.8,8.2,764,10768,0.08,2.60,0.00,0.000,6,0.061,0.052,3298,1910,2029
$GC,11077,1.49,275.3,6.5,8.2,825,11083,0.00,2.67,0.00,0.000,4,0.000,0.069,3298,3311,2029
$FINISH,1.2,1.026557,0
$SM_CCo,11214,0.00,0.000,0,0,2026,276.45
$RAFOS_CLK,531
$RAFOS,0,1127909047,12.083333,12.068611,56,41,41,1016,162,1891
$RAFOS,4,1127899752,9.500000,9.486667,48,45,41,1183,1438,71
$RAFOS_FIX,6705.401855,-5657.842773
$TT8_MAMPS,0.022243
$HUMID,1983
$TCM_TEMP,0.00
$ALTIM_TOP_PING,9.8,9.6
$ALTIM_BOTTOM_PING,468.5,22.5
$24V_AH,23.6,17.707
$10V_AH,10.2,9.273
$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,26.675,104.750,312.175,0.000,0.000,32.337,30.306,111.454,0.500,133.292,778.036,7229.938,620.780,2736.992,281.478,0.000,1432.106,0.000,875.477,1080.000,3.307
$DEVICE_MAMPS,197.886,88.972,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,736.434,2425.676,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,30194,836
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280905,121810,6708.116,-5701.590,31,1.7,31,-37.7