version: 65.02
glider: 18
mission: 1
dive: 105
start: 10 4 105 18 55 5
data:
$ID,18
$MISSION,1
$DIVE,105
$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,-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,0.0037974301
$HD_B,0.0100514
$HD_C,8.7181998e-06
$HEADING,-1
$SM_CC,315
$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,-112134.55
$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,2086
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,23
$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
$GPS1,184008,6643.158,-5954.545,43,1.5,53
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-49.4
$GPS2,185451,6642.941,-5954.778,17,1.5,34,-38.0
$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,305.4,39027,-16.4,-7.990
$D_GRID,666
$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,-122.2,0.0,0.0,0,76,0.00,0.00,-56.00,0.000,2,0.000,0.000,787,2090,2617
$GC,78,-1.23,-122.2,3.3,-6.1,11,130,12.07,2.75,-30.23,0.000,4,0.209,0.100,2703,3487,3648
$GC,268,-1.23,-122.2,35.3,-16.5,48,273,0.00,2.67,0.00,0.000,6,0.000,0.063,2703,2089,3648
$GC,584,-1.23,-122.2,77.0,-12.7,109,589,0.00,2.78,0.00,0.000,4,0.000,0.087,2703,3479,3648
$GC,620,-1.23,-122.2,81.6,-13.0,116,625,0.00,2.65,0.00,0.000,6,0.000,0.062,2702,2093,3648
$GC,945,-1.23,-122.2,118.6,-11.6,155,953,0.00,2.75,0.00,0.000,4,0.000,0.088,2702,3487,3648
$GC,969,-1.23,-122.2,121.8,-12.4,156,974,0.00,2.67,0.00,0.000,6,0.000,0.064,2702,2090,3649
$GC,1292,-1.23,-122.2,159.3,-11.5,172,1301,0.00,2.75,0.00,0.000,4,0.000,0.089,2702,3487,3649
$GC,1316,-1.23,-122.2,162.4,-12.0,173,1321,0.00,2.67,0.00,0.000,6,0.000,0.064,2703,2091,3649
$GC,1639,-1.23,-122.2,197.9,-11.1,189,1647,0.00,2.75,0.00,0.000,4,0.000,0.090,2703,3487,3649
$GC,1682,-1.23,-122.2,202.7,-11.6,191,1690,0.00,2.65,0.00,0.000,6,0.000,0.065,2702,2086,3649
$GC,2008,-1.23,-122.2,238.6,-10.9,207,2017,0.00,2.75,0.00,0.000,4,0.000,0.090,2703,3487,3649
$GC,2030,-1.23,-122.2,241.0,-11.0,208,2038,0.00,2.65,0.00,0.000,6,0.000,0.066,2702,2087,3649
$GC,2356,-1.23,-122.2,276.3,-10.8,224,2365,0.00,2.78,0.00,0.000,4,0.000,0.090,2703,3487,3649
$GC,2378,-1.23,-122.2,278.7,-11.4,225,2386,0.00,2.65,0.00,0.000,6,0.000,0.065,2703,2086,3649
$GC,2704,-1.23,-122.2,315.0,-11.1,241,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2086,3649
$GC,3029,-1.23,-122.2,349.9,-10.5,257,3037,0.00,2.75,0.00,0.000,4,0.000,0.087,2702,3485,3649
$GC,3084,-1.23,-122.2,356.1,-10.8,259,3092,0.00,2.67,0.00,0.000,6,0.000,0.064,2702,2087,3649
$GC,3397,-1.23,-122.2,389.1,-10.4,275,3406,0.00,2.75,0.00,0.000,4,0.000,0.087,2702,3487,3649
$GC,3440,-1.23,-122.2,393.7,-10.8,277,3448,0.00,2.65,0.00,0.000,6,0.000,0.063,2702,2084,3649
$GC,3766,-1.23,-122.2,427.1,-10.0,293,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2084,3649
$GC,4093,-1.23,-122.2,457.6,-9.2,309,4101,0.00,2.75,0.00,0.000,4,0.000,0.085,2702,3487,3649
$GC,4159,-1.23,-122.2,464.2,-9.4,312,4164,0.00,2.65,0.00,0.000,6,0.000,0.062,2702,2090,3649
$GC,4482,-1.23,-122.2,493.6,-9.1,328,4490,0.00,2.72,0.00,0.000,4,0.000,0.085,2702,3487,3649
$GC,4532,-1.23,-122.2,498.8,-9.7,330,4537,0.00,2.65,0.00,0.000,6,0.000,0.061,2702,2090,3649
$GC,4848,-1.23,-122.2,528.6,-9.7,339,4856,0.00,2.72,0.00,0.000,4,0.000,0.085,2702,3487,3649
$GC,4872,-1.23,-122.2,531.3,-11.2,339,4877,0.00,2.65,0.00,0.000,6,0.000,0.061,2702,2088,3649
$GC,5214,-1.23,-122.2,566.5,-10.2,348,5222,0.00,2.72,0.00,0.000,4,0.000,0.085,2702,3488,3649
$GC,5238,-1.23,-122.2,569.3,-11.1,348,5243,0.00,2.65,0.00,0.000,6,0.000,0.061,2702,2090,3649
$GC,5579,-1.23,-122.2,603.2,-10.1,357,5587,0.00,2.72,0.00,0.000,4,0.000,0.084,2702,3487,3649
$GC,5624,-1.23,-122.2,608.1,-10.3,358,5629,0.00,2.65,0.00,0.000,6,0.000,0.061,2702,2091,3649
$GC,5948,-1.23,-122.2,639.2,-9.6,366,5957,0.00,2.72,0.00,0.000,4,0.000,0.084,2702,3487,3649
$GC,5994,-1.23,-122.2,644.2,-9.7,367,5998,0.00,2.65,0.00,0.000,6,0.000,0.061,2702,2089,3649
$GC,6238,-0.31,0.0,666.8,9.5,373,6356,1.08,0.00,103.78,1.428,6,0.117,0.000,2907,2089,3145
$GC,6357,1.23,122.2,671.9,5.3,376,6468,1.65,3.15,99.03,1.368,4,0.093,0.085,3241,510,2646
$GC,6636,1.23,212.6,669.1,4.0,382,6719,0.00,2.65,73.45,1.351,6,0.000,0.059,3241,1912,2279
$GC,7054,1.38,222.0,639.9,7.6,393,7069,0.17,2.80,7.82,1.436,4,0.066,0.079,3278,3311,2239
$GC,7162,1.40,222.0,629.6,9.7,395,7168,0.00,2.67,0.00,0.000,6,0.000,0.063,3278,1921,2239
$GC,7503,1.40,222.0,599.7,8.8,404,7512,0.00,2.72,0.00,0.000,4,0.000,0.080,3278,3321,2239
$GC,7549,1.40,222.0,595.5,9.0,405,7554,0.00,2.65,0.00,0.000,6,0.000,0.063,3278,1920,2238
$GC,7870,1.40,222.0,568.3,8.5,413,7879,0.00,2.70,0.00,0.000,4,0.000,0.079,3278,3320,2238
$GC,7942,1.40,222.0,561.7,9.1,414,7948,0.00,2.67,0.00,0.000,6,0.000,0.064,3278,1921,2238
$GC,8278,1.40,222.0,532.8,8.6,423,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1921,2238
$GC,8640,1.40,225.3,503.9,7.8,432,8649,0.00,2.78,2.53,1.486,4,0.000,0.078,3276,3318,2226
$GC,8685,1.40,225.3,499.8,8.4,433,8690,0.00,2.67,0.00,0.000,6,0.000,0.063,3278,1923,2226
$GC,9010,1.40,225.3,472.7,8.3,448,9018,0.00,2.70,0.00,0.000,4,0.000,0.079,3278,3319,2226
$GC,9076,1.40,225.3,466.7,9.2,451,9081,0.00,2.65,0.00,0.000,6,0.000,0.064,3278,1927,2225
$GC,9400,1.40,225.3,440.2,8.2,467,9408,0.00,2.70,0.00,0.000,4,0.000,0.080,3278,3321,2225
$GC,9435,1.40,225.3,436.9,8.9,468,9443,0.00,2.67,0.00,0.000,6,0.000,0.064,3278,1921,2226
$GC,9747,1.40,225.3,410.9,8.2,484,9765,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1921,2226
$GC,10074,1.40,225.3,383.7,8.5,500,10082,0.00,2.70,0.00,0.000,4,0.000,0.080,3278,3320,2226
$GC,10138,1.40,225.3,377.9,9.0,503,10146,0.00,2.62,0.00,0.000,6,0.000,0.064,3278,1921,2226
$GC,10464,1.40,225.3,350.1,8.3,519,10481,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1921,2225
$GC,10790,1.40,236.3,325.1,7.5,535,10804,0.00,2.78,8.70,1.311,4,0.000,0.079,3278,3321,2181
$GC,10867,1.42,236.3,318.7,8.5,538,10874,0.00,2.67,0.00,0.000,6,0.000,0.064,3278,1927,2181
$GC,11179,1.42,239.4,294.2,7.9,554,11197,0.00,0.00,2.60,1.387,6,0.000,0.000,3278,1927,2168
$GC,11504,1.43,257.1,270.2,7.2,570,11523,0.00,2.78,13.75,1.247,4,0.000,0.078,3278,3322,2097
$GC,11596,1.46,257.1,262.8,8.2,574,11601,0.00,2.67,0.00,0.000,6,0.000,0.064,3278,1929,2096
$GC,11915,1.46,260.0,237.9,7.9,590,11924,0.00,2.78,2.40,1.338,4,0.000,0.081,3278,3320,2084
$GC,11958,1.46,262.6,234.5,7.9,592,11967,0.00,2.65,1.70,1.358,6,0.000,0.065,3278,1921,2075
$GC,12284,1.46,274.5,209.8,7.5,608,12303,0.00,2.78,9.52,1.231,4,0.000,0.081,3278,3320,2025
$GC,12348,1.48,274.5,205.2,8.0,611,12356,0.10,2.67,0.00,0.000,6,0.072,0.065,3298,1917,2025
$GC,12674,1.48,293.7,181.0,7.1,627,12698,0.00,2.80,15.40,1.181,4,0.000,0.080,3299,3321,1947
$GC,12719,1.52,293.7,177.5,8.2,629,12724,0.00,2.70,0.00,0.000,6,0.000,0.065,3299,1928,1946
$GC,13043,1.52,296.3,152.8,7.9,645,13051,0.00,2.78,0.00,0.000,4,0.000,0.092,3298,510,1946
$GC,13067,1.52,296.3,150.8,8.5,646,13075,0.00,2.62,0.00,0.000,6,0.000,0.064,3298,1919,1946
$GC,13393,1.52,296.3,122.9,9.0,662,13401,0.00,2.72,0.00,0.000,4,0.000,0.085,3298,3322,1944
$GC,13436,1.52,296.3,118.9,9.6,664,13444,0.00,2.65,0.00,0.000,6,0.000,0.066,3298,1921,1944
$GC,13753,1.52,301.3,91.3,7.8,693,13767,0.00,2.78,5.60,1.215,4,0.000,0.084,3299,3324,1915
$GC,13797,1.53,301.3,87.9,8.3,701,13805,0.00,2.67,0.00,0.000,6,0.000,0.067,3299,1917,1915
$GC,14115,1.53,343.7,67.1,6.1,763,14157,0.00,2.88,33.65,1.086,4,0.000,0.084,3298,3320,1743
$GC,14187,1.60,352.0,62.3,7.6,777,14204,0.10,2.72,6.20,1.148,6,0.063,0.068,3324,1921,1709
$GC,14515,1.61,352.0,30.0,8.5,840,14524,0.00,2.78,0.00,0.000,4,0.000,0.094,3324,510,1708
$GC,14617,1.61,372.4,22.8,7.1,860,14638,0.00,2.67,15.57,1.092,6,0.000,0.066,3324,1914,1625
$FINISH,0.2,1.025323,0
$SM_CCo,15031,0.00,0.000,0,0,1620,374.33
$RAFOS_CLK,836
$RAFOS,4,1128461342,21.500000,21.483889,44,43,41,1721,155,113
$RAFOS,3,1128458051,20.583334,20.569723,59,55,41,682,692,1758
$RAFOS,2,1128457442,20.416666,20.400555,45,43,43,1425,165,925
$RAFOS,1,1128456873,20.250000,20.242500,108,49,48,529,65,265
$RAFOS,0,1128456243,20.083334,20.067499,103,47,40,562,998,343
$TT8_MAMPS,0.020709
$HUMID,2002
$TCM_TEMP,-5.00
$ALTIM_TOP_PING,9.8,9.6
$ALTIM_BOTTOM_PING,641.1,52.6
$24V_AH,23.4,22.842
$10V_AH,10.1,12.358
$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,27.475,179.425,401.700,0.000,0.000,129.333,182.080,248.671,0.500,90.349,899.753,10420.681,803.072,3154.858,731.337,0.000,1811.311,0.000,1096.663,1800.000,3.346
$DEVICE_MAMPS,209.391,99.710,1486.446,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,819.552,2732.254,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34243,925
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041005,230732,6640.714,-5959.038,55,1.6,77,-37.9