version: 65.02
glider: 18
mission: 1
dive: 106
start: 10 4 105 23 12 49
data:
$ID,18
$MISSION,1
$DIVE,106
$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,-112250.22
$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
$GPS1,230732,6640.714,-5959.038,55,1.6,77
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-48.9
$GPS2,231235,6640.683,-5959.024,35,1.9,36,-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,311.8,35960,-16.4,-7.990
$D_GRID,615
$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,-122.2,0.0,0.0,0,70,0.00,0.00,-50.03,0.000,2,0.000,0.000,787,2087,2591
$GC,72,-1.23,-122.2,3.4,-6.9,10,125,12.05,2.83,-32.10,0.000,4,0.209,0.104,2703,3484,3649
$GC,312,-1.23,-122.2,42.9,-15.8,56,320,0.00,2.65,0.00,0.000,6,0.000,0.064,2703,2084,3649
$GC,630,-1.23,-122.2,82.9,-11.8,118,636,0.00,2.72,0.00,0.000,4,0.000,0.083,2703,681,3649
$GC,729,-1.23,-122.2,95.8,-13.0,137,734,0.00,2.65,0.00,0.000,6,0.000,0.065,2704,2069,3649
$GC,1052,-1.23,-122.2,134.1,-12.1,158,1060,0.00,2.80,0.00,0.000,4,0.000,0.091,2705,3494,3649
$GC,1096,-1.23,-122.2,140.0,-12.3,160,1102,0.00,2.70,0.00,0.000,6,0.000,0.064,2703,2087,3650
$GC,1420,-1.23,-122.2,178.1,-11.6,176,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2087,3649
$GC,1746,-1.23,-122.2,216.8,-11.9,192,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2087,3649
$GC,2070,-1.23,-122.2,254.9,-11.4,208,2078,0.00,2.80,0.00,0.000,4,0.000,0.091,2704,3494,3649
$GC,2126,-1.23,-122.2,261.6,-11.6,210,2133,0.00,2.70,0.00,0.000,6,0.000,0.065,2703,2087,3649
$GC,2438,-1.23,-122.2,294.0,-10.2,226,2446,0.00,2.78,0.00,0.000,4,0.000,0.091,2704,3492,3649
$GC,2461,-1.23,-122.2,296.9,-10.9,227,2467,0.00,2.67,0.00,0.000,6,0.000,0.064,2704,2093,3649
$GC,2786,-1.23,-122.2,329.3,-10.4,243,2794,0.00,2.78,0.00,0.000,4,0.000,0.090,2703,3494,3649
$GC,2815,-1.23,-122.2,332.9,-11.5,244,2820,0.00,2.67,0.00,0.000,6,0.000,0.064,2704,2094,3649
$GC,3133,-1.23,-122.2,365.9,-10.6,260,3141,0.00,2.75,0.00,0.000,4,0.000,0.089,2703,3492,3649
$GC,3155,-1.23,-122.2,368.2,-11.2,261,3163,0.00,2.65,0.00,0.000,6,0.000,0.064,2703,2085,3649
$GC,3481,-1.23,-122.2,402.1,-10.5,277,3489,0.00,2.78,0.00,0.000,4,0.000,0.087,2703,3493,3649
$GC,3510,-1.23,-122.2,405.4,-11.4,278,3515,0.00,2.67,0.00,0.000,6,0.000,0.062,2703,2091,3649
$GC,3828,-1.23,-122.2,436.8,-9.8,294,3837,0.00,2.75,0.00,0.000,4,0.000,0.087,2703,3492,3649
$GC,3841,-1.23,-122.2,438.5,-9.5,294,3849,0.00,2.67,0.00,0.000,6,0.000,0.062,2703,2086,3649
$GC,4154,-1.23,-122.2,468.8,-10.0,310,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2086,3649
$GC,4480,-1.23,-122.2,500.6,-10.0,326,4488,0.00,2.75,0.00,0.000,4,0.000,0.087,2703,3492,3649
$GC,4524,-1.23,-122.2,505.5,-10.5,327,4530,0.00,2.67,0.00,0.000,6,0.000,0.061,2703,2085,3649
$GC,4847,-1.23,-122.2,536.6,-9.6,335,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2085,3649
$GC,5209,-1.23,-122.2,572.5,-10.0,344,5217,0.00,2.70,0.00,0.000,4,0.000,0.083,2703,671,3649
$GC,5456,-1.23,-122.2,599.6,-11.4,349,5463,0.00,2.67,0.00,0.000,6,0.000,0.061,2703,2086,3649
$GC,5626,-0.31,0.0,616.9,10.3,354,5745,1.08,0.00,103.47,1.400,6,0.120,0.000,2906,2087,3144
$GC,5747,1.23,122.2,622.9,6.2,357,5858,1.70,3.17,98.35,1.347,4,0.102,0.083,3243,510,2646
$GC,6094,1.23,205.7,618.6,4.3,365,6171,0.00,2.67,67.57,1.338,6,0.000,0.058,3243,1929,2307
$GC,6488,1.37,225.4,594.0,7.1,375,6513,0.15,2.72,15.77,1.379,4,0.071,0.078,3274,3320,2228
$GC,6548,1.40,225.4,589.1,8.0,376,6553,0.00,2.70,0.00,0.000,6,0.000,0.062,3274,1920,2227
$GC,6895,1.40,225.4,559.6,8.9,385,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1920,2226
$GC,7258,1.40,225.4,527.0,8.4,394,7266,0.00,2.72,0.00,0.000,4,0.000,0.087,3274,510,2226
$GC,7308,1.40,225.4,522.3,9.1,395,7314,0.00,2.65,0.00,0.000,6,0.000,0.060,3274,1909,2226
$GC,7625,1.40,227.0,497.1,7.9,403,7633,0.00,2.72,0.00,0.000,4,0.000,0.081,3272,3327,2226
$GC,7654,1.40,227.0,494.5,8.4,404,7659,0.00,2.67,0.00,0.000,6,0.000,0.061,3274,1921,2226
$GC,7972,1.40,227.0,467.2,9.0,420,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1921,2226
$GC,8298,1.40,227.0,438.9,8.4,436,8306,0.00,2.72,0.00,0.000,4,0.000,0.080,3274,3326,2226
$GC,8327,1.40,227.0,436.1,8.7,437,8332,0.00,2.67,0.00,0.000,6,0.000,0.062,3274,1923,2226
$GC,8646,1.40,227.0,410.9,8.0,453,8662,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1923,2226
$GC,8970,1.40,238.0,385.4,7.5,469,8989,0.00,2.78,10.35,1.349,4,0.000,0.078,3274,3326,2174
$GC,9012,1.42,238.0,382.1,8.1,471,9020,0.00,2.67,0.00,0.000,6,0.000,0.062,3274,1920,2174
$GC,9339,1.42,247.3,356.8,7.6,487,9356,0.00,0.00,7.43,1.352,6,0.000,0.000,3274,1920,2137
$GC,9663,1.44,251.4,331.0,7.8,503,9672,0.00,2.80,2.85,1.408,4,0.000,0.081,3274,3326,2121
$GC,9698,1.45,251.4,327.8,8.4,504,9706,0.00,2.67,0.00,0.000,6,0.000,0.062,3274,1927,2120
$GC,10010,1.45,251.9,302.9,8.0,520,10019,0.00,2.72,0.00,0.000,4,0.000,0.081,3275,3327,2120
$GC,10061,1.45,251.9,298.4,9.0,522,10066,0.00,2.67,0.00,0.000,6,0.000,0.064,3274,1927,2120
$GC,10378,1.45,251.9,271.2,8.9,538,10387,0.00,2.72,0.00,0.000,4,0.000,0.081,3274,3329,2120
$GC,10442,1.45,251.9,265.2,9.6,541,10450,0.00,2.65,0.00,0.000,6,0.000,0.064,3274,1920,2120
$GC,10769,1.45,261.6,238.2,7.6,557,10782,0.00,0.00,8.43,1.282,6,0.000,0.000,3274,1919,2078
$GC,11096,1.46,293.4,215.5,6.6,573,11131,0.10,2.80,25.10,1.197,4,0.081,0.088,3294,510,1948
$GC,11172,1.52,293.4,208.9,9.1,576,11179,0.00,2.70,0.00,0.000,6,0.000,0.063,3294,1919,1948
$GC,11484,1.52,297.2,184.2,7.8,592,11493,0.00,2.80,2.45,1.332,4,0.000,0.084,3294,3325,1933
$GC,11529,1.52,297.2,180.4,8.4,594,11534,0.00,2.70,0.00,0.000,6,0.000,0.064,3294,1921,1933
$GC,11853,1.52,300.9,155.5,7.8,610,11861,0.00,2.80,2.80,1.309,4,0.000,0.082,3294,3323,1918
$GC,11887,1.53,300.9,152.3,8.5,611,11896,0.00,2.70,0.00,0.000,6,0.000,0.064,3294,1921,1918
$GC,12200,1.53,300.9,126.2,8.3,627,12208,0.00,2.72,0.00,0.000,4,0.000,0.091,3294,511,1918
$GC,12229,1.53,300.9,123.4,8.8,628,12234,0.00,2.67,0.00,0.000,6,0.000,0.064,3294,1914,1918
$GC,12540,1.53,300.9,95.3,9.2,649,12545,0.00,2.75,0.00,0.000,4,0.000,0.086,3294,3320,1918
$GC,12604,1.53,300.9,89.4,9.3,661,12613,0.00,2.65,0.00,0.000,6,0.000,0.067,3294,1918,1917
$GC,12926,1.53,301.7,63.2,8.0,723,12934,0.00,2.75,0.00,0.000,4,0.000,0.094,3295,510,1917
$GC,12973,1.53,301.7,59.2,8.6,732,12981,0.00,2.62,0.00,0.000,6,0.000,0.065,3294,1924,1917
$GC,13291,1.53,301.7,34.3,8.1,794,13297,0.00,2.75,0.00,0.000,4,0.000,0.087,3294,3321,1917
$GC,13380,1.53,331.3,28.3,6.7,811,13410,0.00,2.67,24.20,1.111,6,0.000,0.067,3294,1927,1795
$GC,13721,1.58,383.9,10.0,5.7,877,13768,0.12,2.83,40.58,1.065,4,0.074,0.084,3321,3323,1579
$GC,13854,1.67,481.6,2.1,3.7,902,13858,0.00,1.98,0.00,0.000,3,0.000,0.066,3321,2279,1578
$FINISH,0.5,1.025239,0
$SM_CCo,13955,0.00,0.000,0,0,1576,385.12
$RAFOS_CLK,748
$RAFOS,3,1128472456,0.583333,0.571111,48,47,44,1909,676,1933
$RAFOS,2,1128471845,0.416667,0.401389,48,43,42,480,226,922
$RAFOS,1,1128471255,0.250000,0.237500,58,43,43,638,626,1937
$RAFOS,0,1128470641,0.083333,0.066944,81,42,40,566,1825,170
$TT8_MAMPS,0.020709
$HUMID,2007
$TCM_TEMP,-5.50
$ALTIM_TOP_PING,10.0,10.5
$ALTIM_BOTTOM_PING,590.3,54.6
$24V_AH,23.4,23.006
$10V_AH,10.1,12.446
$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,27.625,152.250,409.350,0.000,0.000,32.337,32.267,124.800,0.500,115.667,875.055,9322.018,810.167,3050.716,322.463,0.000,1771.762,0.000,1038.527,1440.000,3.344
$DEVICE_MAMPS,209.391,104.312,1408.212,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,805.084,2648.804,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,33669,906
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051005,030640,6641.013,-6003.460,34,1.2,34,-38.0