version: 65.02
glider: 18
mission: 1
dive: 87
start: 9 30 105 8 58 31
data:
$ID,18
$MISSION,1
$DIVE,87
$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,-110109.19
$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,17
$R_STBD_OVSHOOT,27
$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
$GPS1,085226,6706.997,-5751.035,67,1.5,95
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-50.1
$GPS2,085816,6706.916,-5750.984,36,1.9,37,-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,288.3,137638,-16.4,-7.990
$D_GRID,819
$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,-122.2,0.0,0.0,0,65,0.00,0.00,-45.20,0.000,2,0.000,0.000,787,2016,2984
$GC,67,-1.23,-122.2,3.4,-5.6,9,104,11.75,2.72,-17.58,0.000,4,0.197,0.090,2703,3409,3649
$GC,335,-1.23,-122.2,42.2,-14.1,61,340,0.00,2.60,0.00,0.000,6,0.000,0.052,2703,2014,3649
$GC,650,-1.23,-122.2,81.4,-12.2,122,656,0.00,2.70,0.00,0.000,4,0.000,0.075,2703,3404,3650
$GC,746,-1.23,-122.2,92.1,-10.3,140,755,0.00,2.55,0.00,0.000,6,0.000,0.054,2703,2013,3651
$GC,1075,-1.23,-122.2,126.0,-10.5,168,1083,0.00,2.67,0.00,0.000,4,0.000,0.076,2703,3412,3651
$GC,1151,-1.23,-122.2,135.1,-11.3,171,1159,0.00,2.60,0.00,0.000,6,0.000,0.054,2703,2020,3651
$GC,1464,-1.23,-122.2,170.4,-11.0,187,1472,0.00,2.67,0.00,0.000,4,0.000,0.078,2703,3411,3652
$GC,1562,-1.23,-122.2,181.0,-10.0,191,1569,0.00,2.60,0.00,0.000,6,0.000,0.056,2703,2022,3651
$GC,1874,-1.23,-122.2,211.2,-9.4,207,1882,0.00,2.67,0.00,0.000,4,0.000,0.079,2703,3412,3651
$GC,1938,-1.23,-122.2,217.2,-9.6,210,1946,0.00,2.60,0.00,0.000,6,0.000,0.057,2703,2010,3651
$GC,2264,-1.23,-122.2,248.2,-9.5,226,2272,0.00,2.70,0.00,0.000,4,0.000,0.079,2703,3411,3651
$GC,2335,-1.23,-122.2,255.9,-10.5,229,2340,0.00,2.60,0.00,0.000,6,0.000,0.057,2703,2026,3651
$GC,2653,-1.23,-122.2,288.4,-10.1,245,2662,0.00,2.65,0.00,0.000,4,0.000,0.077,2703,3411,3651
$GC,2717,-1.23,-122.2,295.0,-10.4,248,2725,0.00,2.58,0.00,0.000,6,0.000,0.056,2703,2011,3651
$GC,3043,-1.23,-122.2,325.5,-9.0,264,3051,0.00,2.67,0.00,0.000,4,0.000,0.076,2703,3410,3650
$GC,3094,-1.23,-122.2,330.5,-9.5,266,3098,0.00,2.60,0.00,0.000,6,0.000,0.054,2703,2015,3650
$GC,3412,-1.23,-122.2,360.9,-10.1,282,3421,0.00,2.67,0.00,0.000,4,0.000,0.075,2703,3413,3650
$GC,3447,-1.23,-122.2,364.8,-10.3,283,3455,0.00,2.60,0.00,0.000,6,0.000,0.053,2703,2014,3650
$GC,3760,-1.23,-122.2,394.9,-9.3,299,3768,0.00,2.65,0.00,0.000,4,0.000,0.076,2703,3412,3650
$GC,3805,-1.23,-122.2,399.3,-9.3,301,3810,0.00,2.60,0.00,0.000,6,0.000,0.054,2703,2015,3650
$GC,4128,-1.23,-122.2,426.5,-8.3,317,4136,0.00,2.65,0.00,0.000,4,0.000,0.075,2703,3412,3650
$GC,4171,-1.23,-122.2,430.3,-8.9,319,4179,0.00,2.55,0.00,0.000,6,0.000,0.054,2703,2014,3650
$GC,4497,-1.23,-122.2,458.8,-8.9,335,4505,0.00,2.65,0.00,0.000,4,0.000,0.074,2703,3412,3650
$GC,4542,-1.23,-122.2,463.1,-9.5,337,4547,0.00,2.60,0.00,0.000,6,0.000,0.053,2703,2014,3650
$GC,4865,-1.23,-122.2,491.8,-8.8,353,4874,0.00,2.65,0.00,0.000,4,0.000,0.075,2703,3412,3650
$GC,4900,-1.23,-122.2,495.3,-9.5,354,4908,0.00,2.60,0.00,0.000,6,0.000,0.053,2703,2011,3650
$GC,5211,-1.23,-122.2,522.8,-9.1,364,5219,0.00,2.67,0.00,0.000,4,0.000,0.074,2703,3414,3650
$GC,5245,-1.23,-122.2,526.4,-9.7,364,5253,0.00,2.60,0.00,0.000,6,0.000,0.053,2703,2014,3650
$GC,5576,-1.23,-122.2,557.1,-9.5,373,5584,0.00,2.67,0.00,0.000,4,0.000,0.074,2703,3416,3650
$GC,5605,-1.23,-122.2,560.3,-10.2,373,5611,0.00,2.60,0.00,0.000,6,0.000,0.053,2703,2017,3650
$GC,5941,-1.23,-122.2,589.8,-8.7,382,5949,0.00,2.65,0.00,0.000,4,0.000,0.074,2703,3411,3650
$GC,5986,-1.23,-122.2,594.0,-9.0,383,5991,0.00,2.60,0.00,0.000,6,0.000,0.053,2703,2014,3650
$GC,6309,-1.23,-122.2,623.2,-9.3,391,6317,0.00,2.65,0.00,0.000,4,0.000,0.075,2703,3410,3650
$GC,6359,-1.23,-122.2,628.4,-10.0,392,6364,0.00,2.58,0.00,0.000,6,0.000,0.053,2703,2024,3650
$GC,6676,-1.23,-122.2,659.4,-9.9,400,6684,0.00,2.65,0.00,0.000,4,0.000,0.077,2703,3412,3650
$GC,6719,-1.23,-122.2,663.8,-10.6,401,6727,0.00,2.58,0.00,0.000,6,0.000,0.054,2703,2011,3650
$GC,7044,-1.23,-122.2,697.0,-10.0,409,7052,0.00,2.67,0.00,0.000,4,0.000,0.077,2703,3410,3650
$GC,7073,-1.23,-122.2,700.3,-10.8,409,7078,0.00,2.60,0.00,0.000,6,0.000,0.054,2703,2016,3650
$GC,7409,-1.23,-122.2,731.3,-9.2,418,7417,0.00,2.67,0.00,0.000,4,0.000,0.078,2703,3413,3650
$GC,7465,-1.23,-122.2,736.9,-9.6,419,7470,0.00,2.60,0.00,0.000,6,0.000,0.055,2703,2019,3650
$GC,7776,-1.23,-122.2,764.4,-8.9,427,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2020,3650
$GC,8140,-1.23,-122.2,795.9,-8.7,436,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2019,3650
$GC,8422,-0.31,0.0,820.4,8.6,443,8541,1.05,0.00,103.40,1.497,6,0.110,0.000,2906,2019,3146
$GC,8543,1.23,122.2,824.5,4.4,446,8654,1.65,3.03,98.57,1.463,4,0.094,0.081,3241,495,2649
$GC,8891,1.23,167.7,814.0,6.0,454,8937,0.00,2.62,37.83,1.460,6,0.000,0.055,3241,1893,2462
$GC,9243,1.31,191.7,790.0,6.9,463,9272,0.00,2.80,19.33,1.486,4,0.000,0.081,3241,497,2364
$GC,9292,1.35,196.6,786.0,7.8,464,9304,0.10,2.67,3.70,1.546,6,0.060,0.057,3269,1902,2343
$GC,9609,1.35,204.1,761.1,7.7,472,9623,0.00,2.85,6.22,1.552,4,0.000,0.081,3267,497,2312
$GC,9681,1.37,204.1,755.0,8.9,473,9693,0.00,2.62,0.00,0.000,6,0.000,0.058,3267,1902,2312
$GC,10015,1.37,204.1,728.2,8.1,482,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1901,2311
$GC,10379,1.37,204.1,699.1,8.1,491,10387,0.00,2.72,0.00,0.000,4,0.000,0.084,3267,498,2311
$GC,10422,1.37,204.1,695.3,9.1,492,10430,0.00,2.60,0.00,0.000,6,0.000,0.061,3267,1900,2311
$GC,10747,1.37,204.1,665.9,9.3,500,10755,0.00,2.72,0.00,0.000,4,0.000,0.084,3267,497,2310
$GC,10771,1.37,204.1,663.2,10.5,500,10776,0.00,2.65,0.00,0.000,6,0.000,0.060,3267,1898,2310
$GC,11112,1.37,204.1,632.1,9.0,509,11120,0.00,2.72,0.00,0.000,4,0.000,0.084,3267,3312,2309
$GC,11136,1.37,204.1,629.7,9.1,509,11141,0.00,2.65,0.00,0.000,6,0.000,0.061,3267,1915,2309
$GC,11477,1.37,204.1,601.6,8.4,518,11517,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1915,2309
$GC,11840,1.37,204.1,570.8,8.5,527,11848,0.00,2.70,0.00,0.000,4,0.000,0.081,3267,3311,2307
$GC,11875,1.37,204.1,567.5,8.8,527,11883,0.00,2.67,0.00,0.000,6,0.000,0.063,3267,1903,2308
$GC,12205,1.37,207.6,540.6,7.8,536,12214,0.00,2.80,1.65,1.598,4,0.000,0.087,3267,489,2298
$GC,12248,1.37,211.9,537.1,7.8,537,12257,0.00,2.62,3.50,1.529,6,0.000,0.061,3267,1908,2282
$GC,12573,1.38,213.4,511.7,7.9,545,12581,0.00,2.67,0.00,0.000,4,0.000,0.081,3267,3305,2281
$GC,12602,1.38,217.9,509.0,7.8,545,12616,0.00,2.65,4.55,1.496,6,0.000,0.061,3267,1912,2257
$GC,12920,1.39,217.9,481.8,8.9,558,12938,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1912,2256
$GC,13244,1.39,217.9,452.6,8.7,574,13253,0.00,2.70,0.00,0.000,4,0.000,0.080,3267,3308,2256
$GC,13266,1.39,217.9,450.8,8.4,575,13274,0.00,2.65,0.00,0.000,6,0.000,0.062,3267,1897,2256
$GC,13592,1.39,236.3,426.6,7.2,591,13610,0.00,0.00,15.10,1.372,6,0.000,0.000,3267,1897,2181
$GC,13917,1.42,236.3,401.2,8.2,607,13926,0.00,2.72,0.00,0.000,4,0.000,0.078,3268,3305,2180
$GC,14004,1.42,241.2,394.2,7.8,611,14012,0.00,2.62,3.67,1.436,6,0.000,0.062,3267,1904,2161
$GC,14330,1.43,254.8,369.6,7.4,627,14347,0.00,0.00,10.68,1.336,6,0.000,0.000,3267,1904,2107
$GC,14655,1.45,284.7,346.9,6.7,643,14685,0.12,2.83,23.30,1.266,4,0.072,0.077,3294,3304,1985
$GC,14720,1.50,284.7,341.8,8.3,646,14726,0.00,2.67,0.00,0.000,6,0.000,0.061,3294,1912,1984
$GC,15043,1.50,284.7,314.3,9.2,662,15061,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1912,1984
$GC,15370,1.50,284.7,280.8,10.9,678,15378,0.00,2.70,0.00,0.000,4,0.000,0.079,3294,3305,1984
$GC,15391,1.50,284.7,278.2,10.8,679,15400,0.00,2.62,0.00,0.000,6,0.000,0.061,3294,1902,1984
$GC,15718,1.50,284.7,246.3,9.1,695,15726,0.00,2.70,0.00,0.000,4,0.000,0.084,3294,493,1984
$GC,15763,1.50,284.7,241.5,9.7,697,15768,0.00,2.65,0.00,0.000,6,0.000,0.059,3294,1900,1985
$GC,16086,1.50,284.7,209.4,10.5,713,16094,0.00,2.67,0.00,0.000,4,0.000,0.079,3294,3310,1984
$GC,16115,1.50,284.7,205.9,10.8,714,16120,0.00,2.65,0.00,0.000,6,0.000,0.061,3294,1908,1984
$GC,16435,1.50,284.7,169.9,11.8,730,16443,0.00,2.70,0.00,0.000,4,0.000,0.077,3294,3310,1984
$GC,16479,1.50,284.7,164.0,13.1,732,16485,0.00,2.65,0.00,0.000,6,0.000,0.061,3294,1908,1984
$GC,16804,1.50,284.7,131.7,8.7,748,16812,0.00,2.72,0.00,0.000,4,0.000,0.085,3294,489,1983
$GC,16838,1.50,284.7,128.3,8.4,749,16847,0.00,2.65,0.00,0.000,6,0.000,0.058,3294,1905,1984
$GC,17152,1.50,284.7,101.4,9.6,765,17160,0.00,2.67,0.00,0.000,4,0.000,0.080,3294,3303,1984
$GC,17194,1.50,284.7,97.1,10.1,770,17202,0.00,2.60,0.00,0.000,6,0.000,0.061,3294,1902,1984
$GC,17512,1.50,284.7,67.3,8.1,832,17517,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1902,1984
$GC,17828,1.50,353.5,44.1,5.0,893,17891,0.00,2.78,52.72,1.051,4,0.000,0.077,3294,3303,1704
$GC,17905,1.62,383.4,39.5,6.7,908,17937,0.12,2.67,23.27,1.021,6,0.059,0.061,3325,1913,1581
$GC,18249,1.67,383.4,8.3,9.2,974,18257,0.00,2.70,0.00,0.000,4,0.000,0.080,3326,3302,1581
$GC,18287,1.67,383.4,4.5,10.4,981,18295,0.00,2.62,0.00,0.000,6,0.000,0.064,3326,1903,1580
$FINISH,0.0,1.026195,0
$SM_CCo,18414,0.00,0.000,0,0,1576,385.12
$RAFOS_CLK,927
$RAFOS,3,1128083648,12.583333,12.568889,76,66,45,876,867,114
$RAFOS,2,1128083042,12.416667,12.400556,120,54,45,589,331,1386
$RAFOS,1,1128082470,12.250000,12.241667,82,48,42,575,1111,1668
$RAFOS,0,1128081842,12.083333,12.067223,63,45,45,898,575,1314
$RAFOS,4,1128072544,9.500000,9.484445,50,44,44,1012,227,1741
$RAFOS_FIX,6706.036133,-5752.594238
$TT8_MAMPS,0.020709
$HUMID,2026
$TCM_TEMP,-3.50
$ALTIM_TOP_PING,9.9,10.4
$ALTIM_BOTTOM_PING,795.9,6.5
$24V_AH,23.5,19.453
$10V_AH,10.1,10.371
$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,27.000,213.225,407.500,0.000,0.000,31.295,31.045,171.208,0.500,135.320,1025.536,13037.135,940.530,3537.952,387.370,0.000,2084.771,0.000,1213.188,1800.000,3.286
$DEVICE_MAMPS,197.119,89.739,1598.428,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,880.092,3001.728,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37309,991
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300905,140750,6705.062,-5757.696,40,2.8,78,-37.9