version: 65.02
glider: 18
mission: 1
dive: 112
start: 10 5 105 20 35 1
data:
$ID,18
$MISSION,1
$DIVE,112
$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,-113029.95
$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,15
$R_STBD_OVSHOOT,21
$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
$GPS1,202840,6634.699,-6026.068,82,1.6,82
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-44.7
$GPS2,203446,6634.620,-6026.190,21,1.6,39,-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,348.4,21025,-16.4,-7.990
$D_GRID,467
$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,-122.2,0.0,0.0,0,69,0.00,0.00,-49.75,0.000,2,0.000,0.000,786,2089,2575
$GC,71,-1.23,-122.2,3.6,-8.8,10,124,12.18,2.80,-30.40,0.000,4,0.212,0.104,2704,3490,3647
$GC,158,-1.23,-122.2,19.1,-18.7,27,163,0.00,2.70,0.00,0.000,6,0.000,0.064,2704,2087,3647
$GC,473,-1.23,-122.2,63.8,-11.7,88,479,0.00,2.75,0.00,0.000,4,0.000,0.084,2704,678,3649
$GC,621,-1.23,-122.2,82.5,-13.1,116,630,0.00,2.62,0.00,0.000,6,0.000,0.067,2704,2081,3649
$GC,949,-1.23,-122.2,122.9,-12.1,153,957,0.00,2.72,0.00,0.000,4,0.000,0.082,2704,673,3649
$GC,971,-1.23,-122.2,125.4,-11.5,154,979,0.00,2.65,0.00,0.000,6,0.000,0.067,2704,2086,3650
$GC,1297,-1.23,-122.2,160.6,-11.0,170,1305,0.00,2.75,0.00,0.000,4,0.000,0.083,2704,672,3649
$GC,1368,-1.23,-122.2,169.6,-12.7,173,1373,0.00,2.70,0.00,0.000,6,0.000,0.067,2704,2084,3649
$GC,1688,-1.23,-122.2,209.0,-11.9,189,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2083,3650
$GC,2011,-1.23,-122.2,242.8,-10.3,205,2019,0.00,2.78,0.00,0.000,4,0.000,0.094,2704,3493,3649
$GC,2056,-1.23,-122.2,248.0,-11.1,207,2061,0.00,2.70,0.00,0.000,6,0.000,0.064,2704,2086,3649
$GC,2379,-1.23,-122.2,281.1,-9.7,223,2387,0.00,2.80,0.00,0.000,4,0.000,0.093,2704,3493,3649
$GC,2464,-1.23,-122.2,290.6,-12.7,227,2472,0.00,2.67,0.00,0.000,6,0.000,0.065,2704,2085,3649
$GC,2790,-1.23,-122.2,320.8,-8.5,243,2798,0.00,2.72,0.00,0.000,4,0.000,0.086,2704,672,3649
$GC,2814,-1.23,-122.2,323.3,-10.4,244,2819,0.00,2.70,0.00,0.000,6,0.000,0.067,2704,2085,3649
$GC,3138,-1.23,-122.2,354.7,-10.4,260,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2086,3650
$GC,3462,-1.23,-122.2,386.6,-9.9,276,3470,0.00,2.75,0.00,0.000,4,0.000,0.091,2704,3493,3649
$GC,3528,-1.23,-122.2,393.7,-10.6,279,3533,0.00,2.67,0.00,0.000,6,0.000,0.063,2704,2086,3649
$GC,3851,-1.23,-122.2,426.9,-10.5,295,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2087,3649
$GC,4176,-1.23,-122.2,463.6,-11.2,311,4184,0.00,2.78,0.00,0.000,4,0.000,0.088,2704,3493,3649
$GC,4198,-1.23,-122.2,466.0,-10.8,312,4206,0.00,2.65,0.00,0.000,6,0.000,0.062,2704,2083,3649
$GC,4213,-0.31,0.0,467.6,10.1,312,4320,1.05,0.00,101.53,1.338,6,0.126,0.000,2902,2083,3146
$GC,4322,1.23,122.2,470.8,2.4,318,4428,1.75,2.47,96.97,1.272,4,0.107,0.077,3244,3327,2645
$GC,4663,1.23,122.2,455.0,8.2,334,4668,0.00,2.70,0.00,0.000,6,0.000,0.064,3244,1921,2644
$GC,4983,1.23,288.8,445.5,0.7,350,5127,0.00,2.88,132.55,1.261,4,0.000,0.078,3243,3327,1968
$GC,5287,1.51,288.8,424.8,8.1,364,5296,0.25,2.67,0.00,0.000,6,0.058,0.063,3302,1930,1968
$GC,5601,1.51,288.8,393.0,10.8,380,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1930,1967
$GC,5926,1.51,288.8,354.4,11.6,396,5934,0.00,2.72,0.00,0.000,4,0.000,0.081,3302,3330,1967
$GC,5997,1.51,288.8,346.0,10.9,399,6002,0.00,2.70,0.00,0.000,6,0.000,0.063,3302,1920,1968
$GC,6316,1.51,288.8,314.4,10.5,415,6324,0.00,2.75,0.00,0.000,4,0.000,0.081,3302,3333,1967
$GC,6365,1.51,288.8,308.4,11.7,417,6371,0.00,2.67,0.00,0.000,6,0.000,0.063,3302,1928,1967
$GC,6683,1.51,288.8,274.3,10.3,433,6692,0.00,2.72,0.00,0.000,4,0.000,0.089,3302,512,1967
$GC,6713,1.51,288.8,270.8,11.4,434,6718,0.00,2.67,0.00,0.000,6,0.000,0.062,3302,1921,1968
$GC,7030,1.51,288.8,240.4,8.9,450,7039,0.00,2.70,0.00,0.000,4,0.000,0.084,3302,3328,1968
$GC,7080,1.51,288.8,235.8,8.8,452,7086,0.00,2.67,0.00,0.000,6,0.000,0.064,3302,1926,1967
$GC,7399,1.51,288.8,210.4,8.5,468,7407,0.00,2.72,0.00,0.000,4,0.000,0.083,3302,3327,1968
$GC,7442,1.51,288.8,206.4,9.5,470,7450,0.00,2.67,0.00,0.000,6,0.000,0.065,3302,1915,1968
$GC,7768,1.51,288.8,178.1,8.2,486,7776,0.00,2.75,0.00,0.000,4,0.000,0.083,3302,3327,1967
$GC,7844,1.51,288.8,171.4,8.7,489,7852,0.00,2.67,0.00,0.000,6,0.000,0.066,3302,1928,1968
$GC,8157,1.51,288.8,145.5,8.8,505,8165,0.00,2.72,0.00,0.000,4,0.000,0.086,3302,3327,1968
$GC,8201,1.51,288.8,141.4,8.7,507,8206,0.00,2.70,0.00,0.000,6,0.000,0.067,3302,1921,1968
$GC,8525,1.51,305.5,117.3,7.3,523,8544,0.00,2.85,13.65,1.217,4,0.000,0.092,3302,508,1900
$GC,8569,1.54,305.5,113.3,8.7,525,8575,0.00,2.72,0.00,0.000,6,0.000,0.065,3302,1920,1900
$GC,8885,1.54,313.1,88.7,7.7,560,8899,0.00,2.78,5.93,1.256,4,0.000,0.087,3302,3327,1868
$GC,8929,1.55,313.1,85.3,8.6,568,8937,0.00,2.70,0.00,0.000,6,0.000,0.068,3302,1915,1868
$GC,9248,1.55,315.2,60.9,7.9,630,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1915,1868
$GC,9562,1.55,315.2,37.0,8.1,691,9568,0.00,2.78,0.00,0.000,4,0.000,0.094,3302,519,1868
$GC,9628,1.55,325.8,32.1,7.5,703,9647,0.00,2.62,10.18,1.186,6,0.000,0.067,3302,1926,1816
$GC,9957,1.57,368.2,9.1,6.1,767,9999,0.00,2.90,32.15,1.080,4,0.000,0.091,3302,508,1644
$GC,10062,1.64,433.3,2.4,5.1,787,10072,0.15,2.67,3.92,1.187,2,0.080,0.064,3333,1925,1622
$FINISH,-0.1,1.025214,0
$SM_CCo,10174,0.00,0.000,0,0,1618,374.82
$RAFOS_CLK,563
$RAFOS,4,1128547760,21.500000,21.488890,41,38,38,1096,699,1845
$RAFOS,2,1128543845,20.416666,20.401388,44,43,41,1766,811,123
$TT8_MAMPS,0.020709
$HUMID,2009
$TCM_TEMP,-5.50
$ALTIM_TOP_PING,9.9,9.6
$ALTIM_BOTTOM_PING,442.7,53.2
$24V_AH,23.4,24.000
$10V_AH,10.1,12.938
$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,27.850,119.875,396.875,0.000,0.000,32.330,42.394,176.090,0.500,123.918,758.487,6306.955,626.108,2613.108,362.676,0.000,1463.828,0.000,897.638,360.000,3.343
$DEVICE_MAMPS,212.459,104.312,1337.648,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,698.119,2250.317,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,29569,794
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051005,232617,6633.414,-6030.210,55,1.9,61,-37.8