version: 65.02
glider: 18
mission: 1
dive: 88
start: 9 30 105 14 13 24
data:
$ID,18
$MISSION,1
$DIVE,88
$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,-110247.43
$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,14
$R_STBD_OVSHOOT,24
$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
$GPS1,140750,6705.062,-5757.696,40,2.8,78
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-50.8
$GPS2,141309,6705.038,-5757.765,32,2.0,55,-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,289.0,131803,-16.4,-7.990
$D_GRID,855
$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,-61.42,0.000,2,0.000,0.000,785,2016,2821
$GC,82,-1.23,-122.2,3.5,-6.7,12,125,11.95,2.75,-23.23,0.000,4,0.205,0.093,2704,3411,3648
$GC,353,-1.23,-122.2,42.4,-14.2,64,362,0.00,2.62,0.00,0.000,6,0.000,0.058,2704,2004,3649
$GC,672,-1.23,-122.2,84.4,-12.2,126,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2004,3650
$GC,997,-1.23,-122.2,120.9,-11.0,162,1005,0.00,2.72,0.00,0.000,4,0.000,0.081,2704,3413,3650
$GC,1047,-1.23,-122.2,126.8,-11.5,164,1053,0.00,2.62,0.00,0.000,6,0.000,0.058,2704,2022,3650
$GC,1365,-1.23,-122.2,159.9,-10.1,180,1373,0.00,2.72,0.00,0.000,4,0.000,0.084,2704,3415,3649
$GC,1415,-1.23,-122.2,165.8,-11.4,182,1420,0.00,2.65,0.00,0.000,6,0.000,0.059,2704,2015,3650
$GC,1735,-1.23,-122.2,200.6,-11.5,198,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2014,3650
$GC,2058,-1.23,-122.2,238.8,-12.1,214,2067,0.00,2.72,0.00,0.000,4,0.000,0.084,2704,3413,3650
$GC,2122,-1.23,-122.2,246.6,-12.1,217,2130,0.00,2.62,0.00,0.000,6,0.000,0.061,2704,2009,3650
$GC,2450,-1.23,-122.2,282.8,-10.5,233,2458,0.00,2.72,0.00,0.000,4,0.000,0.083,2704,3412,3650
$GC,2471,-1.23,-122.2,285.4,-11.3,234,2479,0.00,2.60,0.00,0.000,6,0.000,0.059,2704,2012,3650
$GC,2798,-1.23,-122.2,320.1,-10.9,250,2806,0.00,2.72,0.00,0.000,4,0.000,0.082,2703,3415,3650
$GC,2848,-1.23,-122.2,326.3,-11.5,252,2853,0.00,2.62,0.00,0.000,6,0.000,0.058,2704,2017,3650
$GC,3166,-1.23,-122.2,360.0,-10.3,268,3174,0.00,2.70,0.00,0.000,4,0.000,0.081,2704,3413,3649
$GC,3195,-1.23,-122.2,363.3,-11.3,269,3200,0.00,2.62,0.00,0.000,6,0.000,0.057,2704,2015,3650
$GC,3513,-1.23,-122.2,394.8,-9.7,285,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2015,3649
$GC,3838,-1.23,-122.2,423.8,-9.0,301,3846,0.00,2.70,0.00,0.000,4,0.000,0.079,2704,3413,3650
$GC,3903,-1.23,-122.2,429.8,-9.6,304,3911,0.00,2.60,0.00,0.000,6,0.000,0.056,2704,2011,3649
$GC,4229,-1.23,-122.2,461.2,-9.9,320,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2010,3649
$GC,4557,-1.23,-122.2,494.3,-10.4,336,4565,0.00,2.70,0.00,0.000,4,0.000,0.080,2703,3413,3649
$GC,4621,-1.23,-122.2,501.2,-10.3,339,4629,0.00,2.58,0.00,0.000,6,0.000,0.057,2704,2016,3650
$GC,4965,-1.23,-122.2,536.1,-10.1,348,4973,0.00,2.70,0.00,0.000,4,0.000,0.081,2705,3413,3650
$GC,4994,-1.23,-122.2,539.5,-11.2,348,4999,0.00,2.62,0.00,0.000,6,0.000,0.057,2704,2015,3650
$GC,5330,-1.23,-122.2,573.6,-10.0,357,5338,0.00,2.70,0.00,0.000,4,0.000,0.081,2704,3412,3650
$GC,5380,-1.23,-122.2,579.2,-10.2,358,5386,0.00,2.62,0.00,0.000,6,0.000,0.058,2703,2014,3650
$GC,5697,-1.23,-122.2,608.0,-9.1,366,5705,0.00,2.70,0.00,0.000,4,0.000,0.082,2704,3412,3649
$GC,5753,-1.23,-122.2,613.8,-9.9,367,5758,0.00,2.62,0.00,0.000,6,0.000,0.058,2704,2015,3650
$GC,6064,-1.23,-122.2,644.7,-10.1,375,6072,0.00,2.72,0.00,0.000,4,0.000,0.084,2704,3416,3650
$GC,6130,-1.23,-122.2,652.0,-10.8,376,6136,0.00,2.62,0.00,0.000,6,0.000,0.058,2704,2023,3650
$GC,6471,-1.23,-122.2,686.7,-10.5,385,6480,0.00,2.70,0.00,0.000,4,0.000,0.084,2704,3412,3650
$GC,6515,-1.23,-122.2,691.4,-11.5,386,6523,0.00,2.60,0.00,0.000,6,0.000,0.059,2704,2011,3650
$GC,6840,-1.23,-122.2,726.6,-10.9,394,6848,0.00,2.72,0.00,0.000,4,0.000,0.084,2704,3412,3650
$GC,6895,-1.23,-122.2,733.2,-11.4,395,6901,0.00,2.62,0.00,0.000,6,0.000,0.059,2704,2018,3649
$GC,7207,-1.23,-122.2,765.4,-10.2,403,7215,0.00,2.72,0.00,0.000,4,0.000,0.084,2704,3416,3649
$GC,7257,-1.23,-122.2,771.0,-10.8,404,7263,0.00,2.62,0.00,0.000,6,0.000,0.060,2704,2023,3650
$GC,7575,-1.23,-122.2,801.0,-9.2,412,7583,0.00,2.70,0.00,0.000,4,0.000,0.085,2704,3413,3649
$GC,7610,-1.23,-122.2,804.4,-9.3,412,7617,0.00,2.62,0.00,0.000,6,0.000,0.060,2704,2020,3649
$GC,7940,-1.23,-122.2,834.9,-9.6,421,7948,0.00,2.70,0.00,0.000,4,0.000,0.084,2704,3412,3649
$GC,7953,-1.23,-122.2,836.4,-9.6,421,7958,0.00,2.62,0.00,0.000,6,0.000,0.060,2704,2021,3649
$GC,8185,-0.31,0.0,858.6,9.8,427,8305,1.08,0.00,104.20,1.566,6,0.120,0.000,2907,2019,3145
$GC,8306,1.23,122.2,861.1,4.0,430,8417,1.65,3.03,99.75,1.503,4,0.087,0.085,3243,497,2646
$GC,8655,1.23,219.3,851.5,3.7,438,8741,0.00,2.62,79.72,1.493,6,0.000,0.059,3243,1908,2251
$GC,9046,1.39,230.6,825.1,7.5,448,9066,0.17,2.85,9.40,1.565,4,0.067,0.085,3279,493,2205
$GC,9089,1.41,230.6,820.9,10.2,449,9097,0.00,2.65,0.00,0.000,6,0.000,0.060,3279,1897,2205
$GC,9414,1.41,230.6,791.1,9.0,457,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1897,2204
$GC,9776,1.41,230.6,758.2,8.9,466,9785,0.00,2.75,0.00,0.000,4,0.000,0.085,3279,495,2204
$GC,9800,1.41,230.6,755.6,9.9,466,9806,0.00,2.65,0.00,0.000,6,0.000,0.061,3279,1894,2203
$GC,10142,1.41,230.6,725.9,8.5,475,10150,0.00,2.75,0.00,0.000,4,0.000,0.084,3279,3315,2203
$GC,10185,1.41,230.6,722.1,9.4,476,10193,0.00,2.65,0.00,0.000,6,0.000,0.063,3279,1907,2203
$GC,10510,1.41,230.6,695.7,8.2,484,10518,0.00,2.75,0.00,0.000,4,0.000,0.082,3279,3314,2203
$GC,10534,1.41,230.6,693.3,9.0,484,10539,0.00,2.70,0.00,0.000,6,0.000,0.063,3279,1903,2203
$GC,10875,1.41,233.4,665.9,7.9,493,10884,0.00,2.80,1.77,1.657,4,0.000,0.088,3279,495,2194
$GC,10899,1.42,233.4,663.7,8.6,493,10904,0.00,2.67,0.00,0.000,6,0.000,0.060,3279,1904,2194
$GC,11240,1.42,243.8,638.2,7.5,502,11254,0.00,2.80,8.35,1.543,4,0.000,0.083,3279,3304,2152
$GC,11270,1.43,246.8,635.8,7.9,502,11283,0.00,2.70,2.35,1.603,6,0.000,0.062,3279,1905,2139
$GC,11605,1.44,270.6,611.6,6.9,511,11645,0.00,0.00,19.77,1.463,6,0.000,0.000,3279,1905,2041
$GC,11967,1.48,276.7,584.6,7.7,520,11981,0.00,2.78,4.47,1.532,4,0.000,0.087,3279,494,2016
$GC,12002,1.49,276.7,581.2,9.3,520,12010,0.08,2.67,0.00,0.000,6,0.064,0.061,3299,1896,2018
$GC,12332,1.49,276.7,550.6,9.3,529,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1901,2017
$GC,12695,1.49,276.7,515.7,9.8,538,12703,0.00,2.72,0.00,0.000,4,0.000,0.084,3299,495,2017
$GC,12724,1.49,276.7,512.4,10.9,538,12729,0.00,2.65,0.00,0.000,6,0.000,0.061,3299,1896,2017
$GC,13041,1.49,276.7,481.1,10.1,551,13050,0.00,2.72,0.00,0.000,4,0.000,0.081,3299,3314,2017
$GC,13065,1.49,276.7,478.3,10.6,552,13070,0.00,2.67,0.00,0.000,6,0.000,0.061,3299,1908,2017
$GC,13390,1.49,276.7,446.5,9.4,568,13398,0.00,2.72,0.00,0.000,4,0.000,0.085,3299,493,2017
$GC,13425,1.49,276.7,442.6,10.4,569,13432,0.00,2.65,0.00,0.000,6,0.000,0.059,3299,1903,2017
$GC,13737,1.49,276.7,413.3,9.3,585,13745,0.00,2.72,0.00,0.000,4,0.000,0.082,3299,493,2017
$GC,13779,1.49,276.7,409.2,10.2,587,13788,0.00,2.60,0.00,0.000,6,0.000,0.059,3299,1909,2016
$GC,14106,1.49,276.7,377.7,9.7,603,14114,0.00,2.67,0.00,0.000,4,0.000,0.081,3299,3304,2016
$GC,14130,1.49,276.7,375.0,10.0,604,14135,0.00,2.65,0.00,0.000,6,0.000,0.059,3299,1902,2016
$GC,14453,1.49,276.7,344.1,9.7,620,14461,0.00,2.70,0.00,0.000,4,0.000,0.077,3299,3302,2016
$GC,14482,1.49,276.7,340.8,10.0,621,14488,0.00,2.65,0.00,0.000,6,0.000,0.059,3299,1904,2016
$GC,14801,1.49,276.7,311.5,9.0,637,14818,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1905,2017
$GC,15127,1.49,276.7,283.1,9.0,653,15135,0.00,2.70,0.00,0.000,4,0.000,0.077,3299,3308,2016
$GC,15151,1.49,276.7,280.5,10.0,654,15156,0.00,2.65,0.00,0.000,6,0.000,0.060,3299,1907,2016
$GC,15474,1.49,276.7,251.0,9.5,670,15491,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1907,2016
$GC,15799,1.49,276.7,218.2,10.2,686,15807,0.00,2.70,0.00,0.000,4,0.000,0.077,3299,3310,2016
$GC,15841,1.49,276.7,213.8,10.6,688,15849,0.00,2.62,0.00,0.000,6,0.000,0.061,3299,1903,2016
$GC,16168,1.49,276.7,182.8,9.0,704,16176,0.00,2.70,0.00,0.000,4,0.000,0.085,3299,495,2017
$GC,16210,1.49,276.7,178.6,9.3,706,16218,0.00,2.60,0.00,0.000,6,0.000,0.059,3299,1909,2016
$GC,16536,1.49,276.7,149.2,8.7,722,16545,0.00,2.67,0.00,0.000,4,0.000,0.081,3297,3305,2017
$GC,16586,1.49,276.7,144.3,10.4,724,16592,0.00,2.65,0.00,0.000,6,0.000,0.061,3299,1907,2017
$GC,16906,1.49,290.5,117.0,7.4,740,16922,0.00,0.00,11.38,1.179,6,0.000,0.000,3299,1906,1961
$GC,17230,1.51,334.1,96.4,6.1,762,17270,0.00,2.80,33.70,1.107,4,0.000,0.081,3299,3305,1783
$GC,17331,1.58,341.8,89.1,7.7,782,17347,0.08,2.67,5.95,1.161,6,0.065,0.064,3320,1913,1752
$GC,17660,1.60,341.8,59.9,9.7,845,17668,0.00,2.70,0.00,0.000,4,0.000,0.083,3320,3302,1752
$GC,17686,1.60,341.8,57.1,10.0,850,17694,0.00,2.65,0.00,0.000,6,0.000,0.065,3320,1901,1751
$GC,18005,1.60,341.8,25.8,10.6,912,18010,0.00,2.75,0.00,0.000,4,0.000,0.084,3319,3293,1751
$GC,18038,1.60,341.8,22.6,10.4,918,18047,0.00,2.62,0.00,0.000,6,0.000,0.066,3320,1902,1751
$FINISH,0.0,1.025874,0
$SM_CCo,18403,0.00,0.000,0,0,1747,343.17
$RAFOS_CLK,947
$RAFOS,3,1128098041,16.583334,16.566944,88,54,43,889,1587,1657
$RAFOS,2,1128097463,16.416666,16.406389,92,47,46,480,489,596
$RAFOS,1,1128096846,16.250000,16.235001,108,46,45,690,79,363
$RAFOS,0,1128096242,16.083334,16.067223,113,42,41,882,307,1171
$RAFOS,4,1128094158,15.500000,15.488334,47,41,41,111,65,186
$RAFOS_FIX,6704.273926,-5800.908203
$TT8_MAMPS,0.020709
$HUMID,2002
$TCM_TEMP,-5.50
$ALTIM_TOP_PING,9.9,9.9
$ALTIM_BOTTOM_PING,830.9,6.6
$24V_AH,23.4,19.624
$10V_AH,10.1,10.472
$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,27.225,209.700,380.825,0.000,0.000,32.338,31.253,122.449,0.500,138.242,975.627,13167.501,910.504,3474.540,336.841,0.000,2011.918,0.000,1180.057,1800.000,3.284
$DEVICE_MAMPS,204.789,92.807,1657.487,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,867.185,2957.256,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,36020,974
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300905,192208,6701.859,-5803.343,35,1.3,63,-37.9