version: 65.02
glider: 18
mission: 1
dive: 85
start: 9 29 105 22 30 59
data:
$ID,18
$MISSION,1
$DIVE,85
$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,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,-109912.92
$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,2014
$C_ROLL_CLIMB,1903
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,25
$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
$GPS1,221841,6709.598,-5737.812,28,1.7,28
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-50.8
$GPS2,223045,6709.649,-5738.076,14,1.7,31,-37.9
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_W
$TGT_LATLONG,6642.000,-6048.000
$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,287.7,148253,-16.4,-7.990
$D_GRID,780
$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,-122.2,0.0,0.0,0,64,0.00,0.00,-44.45,0.000,2,0.000,0.000,786,2035,2878
$GC,66,-1.23,-122.2,3.5,-8.0,9,108,11.90,2.70,-21.48,0.000,4,0.202,0.088,2701,3412,3648
$GC,339,-1.23,-122.2,40.8,-13.6,62,344,0.00,2.62,0.00,0.000,6,0.000,0.052,2701,2008,3649
$GC,654,-1.23,-122.2,77.2,-10.2,123,659,0.00,2.72,0.00,0.000,4,0.000,0.075,2701,3409,3650
$GC,760,-1.23,-122.2,88.1,-11.1,143,769,0.00,2.58,0.00,0.000,6,0.000,0.053,2701,2009,3650
$GC,1093,-1.23,-122.2,124.5,-10.6,175,1101,0.00,2.62,0.00,0.000,4,0.000,0.073,2701,610,3650
$GC,1117,-1.23,-122.2,127.5,-11.2,176,1122,0.00,2.62,0.00,0.000,6,0.000,0.055,2701,2008,3650
$GC,1440,-1.23,-122.2,163.5,-11.0,192,1449,0.00,2.70,0.00,0.000,4,0.000,0.078,2701,3424,3650
$GC,1483,-1.23,-122.2,168.3,-11.2,194,1491,0.00,2.60,0.00,0.000,6,0.000,0.053,2701,2012,3650
$GC,1810,-1.23,-122.2,201.5,-10.0,210,1818,0.00,2.70,0.00,0.000,4,0.000,0.076,2701,3421,3650
$GC,1852,-1.23,-122.2,205.8,-9.8,212,1860,0.00,2.58,0.00,0.000,6,0.000,0.053,2699,2014,3650
$GC,2179,-1.23,-122.2,239.7,-10.7,228,2187,0.00,2.67,0.00,0.000,4,0.000,0.077,2701,3419,3650
$GC,2229,-1.23,-122.2,245.4,-10.9,230,2234,0.00,2.60,0.00,0.000,6,0.000,0.053,2701,2022,3650
$GC,2547,-1.23,-122.2,276.3,-9.6,246,2555,0.00,2.67,0.00,0.000,4,0.000,0.076,2701,3419,3650
$GC,2589,-1.23,-122.2,280.5,-9.8,248,2598,0.00,2.60,0.00,0.000,6,0.000,0.053,2701,2006,3650
$GC,2916,-1.23,-122.2,312.9,-10.1,264,2924,0.00,2.67,0.00,0.000,4,0.000,0.074,2701,3419,3650
$GC,2950,-1.23,-122.2,316.8,-10.3,265,2959,0.00,2.60,0.00,0.000,6,0.000,0.052,2701,2019,3650
$GC,3263,-1.23,-122.2,347.9,-10.2,281,3271,0.00,2.65,0.00,0.000,4,0.000,0.074,2701,3421,3650
$GC,3306,-1.23,-122.2,352.4,-10.2,283,3314,0.00,2.58,0.00,0.000,6,0.000,0.053,2701,2007,3650
$GC,3632,-1.23,-122.2,384.5,-9.9,299,3640,0.00,2.67,0.00,0.000,4,0.000,0.074,2701,3419,3650
$GC,3688,-1.23,-122.2,390.5,-10.4,301,3696,0.00,2.60,0.00,0.000,6,0.000,0.052,2701,2019,3650
$GC,4001,-1.23,-122.2,422.9,-10.8,317,4009,0.00,2.67,0.00,0.000,4,0.000,0.074,2701,3422,3650
$GC,4043,-1.23,-122.2,427.7,-11.0,319,4051,0.00,2.58,0.00,0.000,6,0.000,0.052,2701,2015,3650
$GC,4370,-1.23,-122.2,462.2,-10.4,335,4378,0.00,2.67,0.00,0.000,4,0.000,0.074,2701,3419,3650
$GC,4412,-1.23,-122.2,466.8,-10.4,337,4420,0.00,2.58,0.00,0.000,6,0.000,0.052,2701,2011,3650
$GC,4739,-1.23,-122.2,500.6,-10.2,353,4747,0.00,2.70,0.00,0.000,4,0.000,0.076,2702,3422,3650
$GC,4773,-1.23,-122.2,504.5,-10.6,353,4782,0.00,2.62,0.00,0.000,6,0.000,0.052,2701,2007,3651
$GC,5104,-1.23,-122.2,536.7,-9.8,362,5112,0.00,2.70,0.00,0.000,4,0.000,0.075,2701,3420,3650
$GC,5134,-1.23,-122.2,539.8,-10.5,362,5138,0.00,2.60,0.00,0.000,6,0.000,0.053,2701,2017,3651
$GC,5469,-1.23,-122.2,570.2,-8.9,371,5477,0.00,2.67,0.00,0.000,4,0.000,0.075,2701,3419,3650
$GC,5504,-1.23,-122.2,573.5,-9.2,371,5512,0.00,2.60,0.00,0.000,6,0.000,0.052,2701,2017,3650
$GC,5834,-1.23,-122.2,602.6,-9.0,380,5842,0.00,2.67,0.00,0.000,4,0.000,0.076,2699,3419,3650
$GC,5864,-1.23,-122.2,605.5,-9.8,380,5869,0.00,2.60,0.00,0.000,6,0.000,0.052,2701,2016,3650
$GC,6202,-1.23,-122.2,635.7,-9.3,389,6210,0.00,2.67,0.00,0.000,4,0.000,0.076,2701,3419,3650
$GC,6252,-1.23,-122.2,641.0,-9.9,390,6257,0.00,2.60,0.00,0.000,6,0.000,0.053,2700,2018,3650
$GC,6570,-1.23,-122.2,669.8,-9.0,398,6578,0.00,2.67,0.00,0.000,4,0.000,0.077,2701,3419,3650
$GC,6613,-1.23,-122.2,673.9,-9.8,399,6621,0.00,2.58,0.00,0.000,6,0.000,0.054,2701,2014,3650
$GC,6938,-1.23,-122.2,703.1,-9.1,407,6946,0.00,2.67,0.00,0.000,4,0.000,0.077,2701,3419,3650
$GC,6968,-1.23,-122.2,706.2,-10.4,407,6973,0.00,2.62,0.00,0.000,6,0.000,0.054,2701,2010,3650
$GC,7303,-1.23,-122.2,736.6,-9.2,416,7312,0.00,2.70,0.00,0.000,4,0.000,0.078,2701,3419,3650
$GC,7347,-1.23,-122.2,740.7,-9.9,417,7355,0.00,2.58,0.00,0.000,6,0.000,0.054,2701,2014,3650
$GC,7672,-1.23,-122.2,770.6,-9.1,425,7680,0.00,2.70,0.00,0.000,4,0.000,0.078,2701,3421,3650
$GC,7701,-1.23,-122.2,773.7,-10.0,425,7706,0.00,2.62,0.00,0.000,6,0.000,0.054,2701,2014,3650
$GC,7797,-0.31,0.0,782.0,9.3,428,7916,1.08,0.00,104.05,1.462,6,0.113,0.000,2907,2015,3145
$GC,7918,1.23,122.2,787.1,5.1,431,8029,1.67,3.00,98.93,1.410,4,0.095,0.078,3245,496,2647
$GC,8091,1.23,207.2,785.5,4.3,435,8166,0.00,2.62,69.00,1.393,6,0.000,0.052,3245,1899,2301
$GC,8488,1.37,207.2,754.4,8.5,445,8528,0.15,0.00,0.00,0.000,6,0.067,0.000,3277,1899,2300
$GC,8850,1.37,207.2,720.8,9.3,454,8858,0.00,2.70,0.00,0.000,4,0.000,0.078,3277,497,2300
$GC,8893,1.37,207.2,716.5,10.2,455,8902,0.00,2.58,0.00,0.000,6,0.000,0.055,3277,1899,2300
$GC,9219,1.37,207.2,686.3,9.3,463,9258,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1899,2300
$GC,9581,1.37,207.2,654.3,8.7,472,9621,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1899,2300
$GC,9943,1.37,207.2,623.0,8.6,481,9952,0.00,2.70,0.00,0.000,4,0.000,0.079,3277,498,2299
$GC,9988,1.37,207.2,618.5,9.2,482,9994,0.00,2.62,0.00,0.000,6,0.000,0.055,3277,1901,2299
$GC,10311,1.37,207.2,589.9,8.9,490,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1906,2299
$GC,10673,1.37,207.2,558.3,8.6,499,10713,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1906,2299
$GC,11036,1.37,207.2,526.6,8.7,508,11044,0.00,2.70,0.00,0.000,4,0.000,0.078,3277,494,2299
$GC,11070,1.37,207.2,523.3,9.2,508,11079,0.00,2.62,0.00,0.000,6,0.000,0.056,3277,1905,2299
$GC,11401,1.37,212.3,497.4,7.8,517,11419,0.00,0.00,4.05,1.445,6,0.000,0.000,3277,1908,2280
$GC,11726,1.38,216.1,471.9,7.8,533,11735,0.00,2.75,2.85,1.460,4,0.000,0.077,3277,501,2264
$GC,11755,1.39,216.1,469.3,8.7,534,11760,0.00,2.62,0.00,0.000,6,0.000,0.056,3277,1897,2263
$GC,12074,1.39,216.1,442.2,8.6,550,12090,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1902,2263
$GC,12398,1.39,216.1,413.1,9.0,566,12406,0.00,2.67,0.00,0.000,4,0.000,0.077,3277,498,2263
$GC,12427,1.39,216.1,410.0,9.4,567,12432,0.00,2.62,0.00,0.000,6,0.000,0.056,3277,1903,2263
$GC,12745,1.39,216.1,382.8,8.4,583,12762,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1908,2263
$GC,13071,1.39,216.1,355.7,8.4,599,13080,0.00,2.65,0.00,0.000,4,0.000,0.076,3277,3309,2263
$GC,13093,1.39,216.1,353.7,8.5,600,13101,0.00,2.58,0.00,0.000,6,0.000,0.056,3277,1907,2263
$GC,13419,1.39,216.1,325.8,8.7,616,13436,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1907,2263
$GC,13746,1.39,216.1,298.2,8.2,632,13754,0.00,2.67,0.00,0.000,4,0.000,0.073,3277,3312,2263
$GC,13788,1.39,216.1,294.6,8.2,634,13796,0.00,2.60,0.00,0.000,6,0.000,0.057,3277,1902,2263
$GC,14114,1.39,228.1,270.2,7.5,650,14133,0.00,2.75,9.38,1.237,4,0.000,0.072,3277,3314,2216
$GC,14144,1.41,232.8,267.7,7.8,651,14157,0.00,2.65,3.62,1.265,6,0.000,0.055,3277,1914,2196
$GC,14461,1.41,232.8,241.2,8.3,667,14478,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1914,2196
$GC,14787,1.41,232.8,213.6,8.8,683,14803,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1914,2196
$GC,15111,1.41,232.8,185.5,8.4,699,15120,0.00,2.65,0.00,0.000,4,0.000,0.073,3278,3309,2196
$GC,15154,1.41,232.8,181.7,8.7,701,15162,0.00,2.60,0.00,0.000,6,0.000,0.058,3277,1900,2196
$GC,15480,1.41,232.8,154.9,8.3,717,15489,0.00,2.65,0.00,0.000,4,0.000,0.081,3277,495,2196
$GC,15544,1.41,232.8,149.1,8.9,720,15553,0.00,2.58,0.00,0.000,6,0.000,0.055,3277,1909,2196
$GC,15871,1.41,232.8,120.3,8.7,736,15879,0.00,2.62,0.00,0.000,4,0.000,0.074,3277,3302,2196
$GC,15934,1.41,232.8,114.7,9.1,739,15942,0.00,2.58,0.00,0.000,6,0.000,0.056,3277,1902,2196
$GC,16252,1.41,255.8,90.5,7.0,771,16276,0.00,0.00,17.80,1.078,6,0.000,0.000,3277,1902,2102
$GC,16586,1.45,272.2,64.3,7.3,836,16608,0.00,2.72,12.27,1.064,4,0.000,0.071,3277,3302,2035
$GC,16641,1.48,279.3,60.4,7.7,846,16655,0.10,2.60,5.35,1.095,6,0.073,0.057,3298,1903,2007
$GC,16968,1.49,289.5,34.7,7.5,909,16982,0.00,2.78,7.55,1.065,4,0.000,0.078,3298,495,1964
$GC,17030,1.51,289.5,29.6,8.0,921,17039,0.00,2.58,0.00,0.000,6,0.000,0.054,3298,1902,1964
$GC,17349,1.51,289.5,5.1,8.3,983,17354,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1903,1963
$FINISH,0.1,1.026586,0
$SM_CCo,17494,0.00,0.000,0,0,1961,290.68
$RAFOS_CLK,870
$RAFOS,3,1128040449,0.583333,0.569167,75,49,42,909,1251,299
$RAFOS,2,1128039876,0.416667,0.410000,119,43,43,420,665,1323
$RAFOS,1,1128039258,0.250000,0.238333,125,44,43,688,1800,1069
$RAFOS,0,1128038651,0.083333,0.069722,100,42,41,893,165,461
$RAFOS_FIX,6710.091797,-5741.423340
$TT8_MAMPS,0.021476
$HUMID,1997
$TCM_TEMP,0.00
$ALTIM_TOP_PING,10.0,9.6
$ALTIM_BOTTOM_PING,756.0,10.5
$24V_AH,23.5,19.125
$10V_AH,10.2,10.161
$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,26.825,185.550,334.850,0.000,0.000,96.995,233.093,122.757,0.500,62.323,963.653,12421.963,934.383,3349.989,637.092,0.000,2001.662,0.000,1131.772,1440.000,3.290
$DEVICE_MAMPS,201.721,88.205,1461.902,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,885.645,2981.983,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,36778,996
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300905,032410,6709.625,-5746.632,40,1.6,40,-38.0