version: 65.02
glider: 18
mission: 1
dive: 131
start: 10 8 105 2 41 24
data:
$ID,18
$MISSION,1
$DIVE,131
$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,-115066.45
$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,14
$R_STBD_OVSHOOT,18
$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
$GPS1,023614,6643.391,-6018.023,43,1.6,47
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-50.8
$GPS2,024110,6643.369,-6017.954,34,1.2,35,-38.0
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_E
$TGT_LATLONG,6705.000,-5642.000
$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,113.6,160806,-16.4,-7.990
$D_GRID,520
$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,-45.08,0.000,2,0.000,0.000,789,2087,2462
$GC,67,-1.23,-122.2,3.1,-6.5,9,125,12.07,2.80,-39.70,0.000,4,0.210,0.106,2703,3492,3646
$GC,255,-1.23,-122.2,31.1,-16.4,45,263,0.00,2.67,0.00,0.000,6,0.000,0.064,2702,2085,3647
$GC,573,-1.23,-122.2,73.4,-13.1,107,579,0.00,2.75,0.00,0.000,4,0.000,0.084,2703,677,3648
$GC,659,-1.23,-122.2,84.5,-13.7,123,668,0.00,2.65,0.00,0.000,6,0.000,0.067,2703,2084,3648
$GC,982,-1.23,-122.2,127.8,-13.4,156,990,0.00,2.72,0.00,0.000,4,0.000,0.081,2703,674,3648
$GC,1011,-1.23,-122.2,132.1,-13.8,157,1016,0.00,2.70,0.00,0.000,6,0.000,0.067,2703,2083,3648
$GC,1329,-1.23,-122.2,171.3,-12.6,173,1337,0.00,2.78,0.00,0.000,4,0.000,0.094,2703,3491,3648
$GC,1358,-1.23,-122.2,175.7,-14.2,174,1364,0.00,2.70,0.00,0.000,6,0.000,0.064,2703,2084,3648
$GC,1676,-1.23,-122.2,215.8,-11.9,190,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2084,3648
$GC,2001,-1.23,-122.2,251.7,-10.9,206,2009,0.00,2.70,0.00,0.000,4,0.000,0.085,2703,677,3648
$GC,2036,-1.23,-122.2,255.8,-11.0,207,2043,0.00,2.70,0.00,0.000,6,0.000,0.068,2703,2085,3648
$GC,2348,-1.23,-122.2,286.7,-10.2,223,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2085,3648
$GC,2673,-1.23,-122.2,321.7,-11.0,239,2681,0.00,2.72,0.00,0.000,4,0.000,0.083,2703,675,3648
$GC,2718,-1.23,-122.2,327.1,-11.7,241,2723,0.00,2.70,0.00,0.000,6,0.000,0.068,2703,2082,3648
$GC,3041,-1.23,-122.2,362.1,-10.5,257,3049,0.00,2.72,0.00,0.000,4,0.000,0.083,2703,676,3648
$GC,3091,-1.23,-122.2,368.1,-11.2,259,3097,0.00,2.70,0.00,0.000,6,0.000,0.067,2703,2083,3648
$GC,3410,-1.23,-122.2,400.7,-10.2,275,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2084,3648
$GC,3734,-1.23,-122.2,433.1,-10.1,291,3743,0.00,2.72,0.00,0.000,4,0.000,0.081,2703,675,3648
$GC,3840,-1.23,-122.2,444.2,-10.5,296,3848,0.00,2.65,0.00,0.000,6,0.000,0.067,2703,2086,3648
$GC,4167,-1.23,-122.2,477.2,-10.4,312,4175,0.00,2.72,0.00,0.000,4,0.000,0.081,2703,674,3648
$GC,4264,-1.23,-122.2,488.1,-10.9,316,4272,0.00,2.67,0.00,0.000,6,0.000,0.065,2703,2078,3648
$GC,4598,-0.31,0.0,521.6,10.2,328,4716,1.08,0.00,102.80,1.358,6,0.124,0.000,2904,2078,3146
$GC,4718,1.23,122.2,527.2,5.7,331,4840,1.67,0.00,98.78,1.292,6,0.097,0.000,3243,2081,2646
$GC,5162,1.23,235.4,521.6,3.0,342,5282,0.00,0.00,91.68,1.286,6,0.000,0.000,3243,2081,2186
$GC,5585,1.42,248.0,492.9,7.4,354,5605,0.20,2.47,10.60,1.340,4,0.067,0.082,3285,3327,2134
$GC,5619,1.44,248.0,489.6,9.0,355,5627,0.00,2.72,0.00,0.000,6,0.000,0.061,3285,1921,2134
$GC,5933,1.44,248.0,461.6,8.9,371,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1921,2134
$GC,6258,1.44,248.0,433.7,8.8,387,6266,0.00,2.72,0.00,0.000,4,0.000,0.087,3285,510,2134
$GC,6287,1.44,248.0,430.6,9.8,388,6292,0.00,2.67,0.00,0.000,6,0.000,0.061,3285,1915,2134
$GC,6604,1.44,248.0,402.4,8.8,404,6613,0.00,2.75,0.00,0.000,4,0.000,0.084,3285,509,2134
$GC,6639,1.44,248.0,399.0,9.7,405,6647,0.00,2.67,0.00,0.000,6,0.000,0.061,3285,1921,2134
$GC,6951,1.44,251.7,373.5,7.8,421,6960,0.00,2.75,3.05,1.404,4,0.000,0.082,3285,3310,2119
$GC,6986,1.45,251.7,370.5,8.3,422,6994,0.00,2.65,0.00,0.000,6,0.000,0.063,3285,1925,2119
$GC,7300,1.45,257.5,347.8,7.7,438,7316,0.00,0.00,4.72,1.368,6,0.000,0.000,3285,1925,2096
$GC,7624,1.46,260.8,322.1,7.8,454,7641,0.00,0.00,2.85,1.392,6,0.000,0.000,3285,1926,2082
$GC,7948,1.46,260.8,294.8,8.6,470,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1927,2082
$GC,8274,1.46,272.6,268.4,7.5,486,8291,0.00,0.00,9.82,1.281,6,0.000,0.000,3285,1925,2033
$GC,8598,1.48,278.8,243.3,7.7,502,8612,0.00,2.75,4.60,1.321,4,0.000,0.084,3285,3320,2008
$GC,8641,1.49,280.7,240.0,7.9,504,8649,0.00,2.67,0.00,0.000,6,0.000,0.066,3285,1919,2008
$GC,8967,1.49,280.7,213.6,8.1,520,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1920,2008
$GC,9293,1.49,286.9,188.3,7.7,536,9310,0.00,0.00,6.50,1.276,6,0.000,0.000,3285,1919,1975
$GC,9619,1.50,316.1,164.3,6.7,552,9650,0.00,2.83,23.05,1.169,4,0.000,0.085,3285,3320,1856
$GC,9670,1.55,329.9,160.3,7.4,554,9687,0.10,2.72,11.20,1.167,6,0.064,0.067,3312,1921,1800
$GC,10004,1.58,329.9,130.5,9.1,571,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1921,1797
$GC,10328,1.58,329.9,101.6,9.1,587,10337,0.00,2.75,0.00,0.000,4,0.000,0.087,3312,3320,1796
$GC,10373,1.58,329.9,97.2,9.3,593,10378,0.00,2.70,0.00,0.000,6,0.000,0.068,3312,1921,1796
$GC,10688,1.58,329.9,68.5,8.8,654,10693,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1921,1796
$GC,11004,1.58,339.1,43.1,7.6,715,11020,0.00,2.80,6.40,1.193,4,0.000,0.094,3312,510,1762
$GC,11136,1.59,339.1,32.5,8.6,740,11145,0.00,2.65,0.00,0.000,6,0.000,0.067,3312,1917,1762
$GC,11455,1.59,382.0,14.1,6.1,802,11496,0.00,2.83,33.15,1.067,4,0.000,0.088,3312,3323,1586
$GC,11535,1.66,382.0,8.6,8.3,817,11544,0.12,2.70,0.00,0.000,6,0.076,0.068,3338,1919,1586
$FINISH,-0.0,1.025314,0
$SM_CCo,11745,0.00,0.000,0,0,1581,383.89
$RAFOS_CLK,658
$RAFOS,3,1128746053,4.583333,4.570278,50,50,47,726,1824,199
$RAFOS,2,1128745460,4.416667,4.405556,82,49,44,859,850,1306
$RAFOS,1,1128744849,4.250000,4.235833,107,46,38,689,1415,1901
$RAFOS,0,1128744244,4.083333,4.067778,121,44,40,549,863,1243
$RAFOS,4,1128742142,3.500000,3.483889,42,41,41,1689,1108,1611
$RAFOS_FIX,6640.323242,-6019.227051
$TT8_MAMPS,0.020709
$HUMID,2012
$TCM_TEMP,-5.00
$ALTIM_TOP_PING,9.8,9.9
$ALTIM_BOTTOM_PING,496.9,66.8
$24V_AH,23.4,27.013
$10V_AH,10.1,14.298
$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,27.700,97.975,409.200,0.000,0.000,31.296,45.141,105.805,0.500,85.553,772.830,7638.227,792.401,2644.826,299.100,0.000,1574.716,0.000,848.461,1800.000,3.364
$DEVICE_MAMPS,210.158,105.846,1403.610,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,756.322,2428.023,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,30976,843
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081005,055857,6643.558,-6013.334,53,1.8,53,-38.0