version: 65.02
glider: 18
mission: 1
dive: 135
start: 10 8 105 17 5 54
data:
$ID,18
$MISSION,1
$DIVE,135
$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,-115448.27
$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,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
$GPS1,170056,6642.961,-6000.521,88,1.7,104
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-50.8
$GPS2,170540,6642.930,-6000.551,17,1.7,34,-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,112.1,148905,-16.4,-7.990
$D_GRID,639
$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,-49.95,0.000,2,0.000,0.000,785,2091,2552
$GC,72,-1.23,-122.2,3.3,-6.3,10,125,12.20,2.83,-32.83,0.000,4,0.214,0.107,2704,3482,3647
$GC,167,-1.23,-122.2,18.4,-17.5,28,175,0.00,2.65,0.00,0.000,6,0.000,0.064,2704,2085,3648
$GC,485,-1.23,-122.2,64.0,-14.1,90,491,0.00,2.72,0.00,0.000,4,0.000,0.083,2703,686,3650
$GC,540,-1.23,-122.2,71.6,-14.7,100,548,0.00,2.62,0.00,0.000,6,0.000,0.068,2704,2081,3649
$GC,875,-1.23,-122.2,112.2,-11.8,150,883,0.00,2.72,0.00,0.000,4,0.000,0.081,2703,671,3649
$GC,941,-1.23,-122.2,120.6,-12.0,153,946,0.00,2.70,0.00,0.000,6,0.000,0.067,2704,2077,3649
$GC,1265,-1.23,-122.2,157.9,-11.5,169,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2077,3650
$GC,1589,-1.23,-122.2,194.4,-11.1,185,1597,0.00,2.70,0.00,0.000,4,0.000,0.081,2704,674,3650
$GC,1623,-1.23,-122.2,198.6,-11.4,186,1631,0.00,2.70,0.00,0.000,6,0.000,0.068,2704,2081,3650
$GC,1936,-1.23,-122.2,229.6,-9.5,202,1944,0.00,2.72,0.00,0.000,4,0.000,0.083,2703,674,3650
$GC,1979,-1.23,-122.2,233.9,-10.1,204,1987,0.00,2.65,0.00,0.000,6,0.000,0.068,2704,2086,3650
$GC,2305,-1.23,-122.2,266.6,-10.3,220,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2086,3650
$GC,2630,-1.23,-122.2,301.3,-10.8,236,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2086,3650
$GC,2956,-1.23,-122.2,335.8,-10.6,252,2964,0.00,2.70,0.00,0.000,4,0.000,0.079,2704,675,3650
$GC,3032,-1.23,-122.2,344.5,-11.2,255,3040,0.00,2.70,0.00,0.000,6,0.000,0.067,2704,2086,3650
$GC,3345,-1.23,-122.2,376.4,-10.2,271,3353,0.00,2.70,0.00,0.000,4,0.000,0.080,2703,675,3650
$GC,3411,-1.23,-122.2,383.9,-11.0,274,3416,0.00,2.65,0.00,0.000,6,0.000,0.066,2704,2086,3650
$GC,3734,-1.23,-122.2,416.4,-10.0,290,3742,0.00,2.70,0.00,0.000,4,0.000,0.079,2704,674,3650
$GC,3778,-1.23,-122.2,421.4,-10.8,292,3784,0.00,2.67,0.00,0.000,6,0.000,0.065,2704,2079,3650
$GC,4102,-1.23,-122.2,453.4,-9.9,308,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2080,3650
$GC,4428,-1.23,-122.2,485.4,-9.8,324,4437,0.00,2.70,0.00,0.000,4,0.000,0.077,2703,673,3650
$GC,4500,-1.23,-122.2,493.3,-10.5,327,4505,0.00,2.67,0.00,0.000,6,0.000,0.064,2704,2081,3650
$GC,4816,-1.23,-122.2,525.2,-10.2,337,4824,0.00,2.75,0.00,0.000,4,0.000,0.089,2704,3494,3649
$GC,4851,-1.23,-122.2,529.3,-10.8,337,4858,0.00,2.65,0.00,0.000,6,0.000,0.060,2704,2092,3650
$GC,5181,-1.23,-122.2,562.9,-10.2,346,5189,0.00,2.75,0.00,0.000,4,0.000,0.088,2704,3493,3650
$GC,5223,-1.23,-122.2,567.4,-10.7,347,5231,0.00,2.62,0.00,0.000,6,0.000,0.060,2704,2082,3650
$GC,5548,-1.23,-122.2,599.7,-9.8,355,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2082,3650
$GC,5911,-1.23,-122.2,634.9,-9.8,364,5920,0.00,2.78,0.00,0.000,4,0.000,0.088,2704,3496,3650
$GC,5959,-0.31,0.0,639.3,10.4,365,6075,1.08,0.00,104.82,1.413,6,0.123,0.000,2905,2083,3146
$GC,6076,1.23,122.2,644.3,4.3,368,6187,1.65,3.12,99.05,1.360,4,0.089,0.082,3241,510,2645
$GC,6313,1.23,201.1,642.5,4.5,373,6385,0.00,2.67,63.85,1.344,6,0.000,0.059,3241,1923,2325
$GC,6691,1.36,217.8,617.1,7.3,383,6731,0.15,0.00,13.57,1.389,6,0.067,0.000,3273,1923,2258
$GC,7053,1.39,217.8,586.1,8.4,392,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1923,2257
$GC,7415,1.39,217.8,556.1,8.1,401,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1923,2257
$GC,7778,1.39,220.8,527.5,7.9,410,7787,0.00,2.78,2.30,1.503,4,0.000,0.081,3273,3320,2245
$GC,7821,1.39,220.8,524.0,8.6,411,7829,0.00,2.65,0.00,0.000,6,0.000,0.061,3273,1920,2245
$GC,8146,1.39,223.5,498.1,7.9,419,8164,0.00,0.00,2.35,1.493,6,0.000,0.000,3273,1919,2235
$GC,8471,1.40,223.5,471.9,8.1,435,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1920,2235
$GC,8797,1.40,223.5,446.1,8.1,451,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1920,2235
$GC,9121,1.40,226.7,420.5,7.8,467,9130,0.00,2.78,2.80,1.445,4,0.000,0.086,3272,517,2220
$GC,9166,1.40,226.7,416.3,8.7,469,9172,0.00,2.65,0.00,0.000,6,0.000,0.061,3273,1908,2220
$GC,9489,1.40,226.7,390.1,8.4,485,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1914,2220
$GC,9816,1.40,226.7,363.6,8.2,501,9824,0.00,2.72,0.00,0.000,4,0.000,0.084,3273,510,2221
$GC,9908,1.40,226.7,355.2,8.5,505,9913,0.00,2.67,0.00,0.000,6,0.000,0.062,3273,1919,2220
$GC,10227,1.40,248.4,331.6,7.0,521,10251,0.00,2.88,17.38,1.272,4,0.000,0.083,3273,511,2132
$GC,10295,1.44,248.4,326.3,8.3,524,10303,0.00,2.65,0.00,0.000,6,0.000,0.063,3273,1924,2132
$GC,10616,1.44,271.5,303.4,7.0,540,10654,0.00,0.00,18.85,1.238,6,0.000,0.000,3273,1924,2038
$GC,10961,1.48,271.5,275.1,8.3,557,10970,0.12,2.78,0.00,0.000,4,0.071,0.084,3299,508,2037
$GC,11017,1.48,271.5,269.3,10.2,559,11025,0.00,2.67,0.00,0.000,6,0.000,0.064,3300,1915,2037
$GC,11330,1.48,271.5,241.2,8.9,575,11347,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1920,2037
$GC,11656,1.48,271.5,213.6,8.4,591,11671,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1920,2037
$GC,11981,1.48,271.5,186.9,8.3,607,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1919,2037
$GC,12304,1.48,271.5,159.3,8.9,623,12321,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1920,2037
$GC,12629,1.48,271.5,132.4,8.0,639,12646,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1920,2036
$GC,12954,1.48,284.2,107.9,7.4,655,12971,0.00,0.00,9.95,1.200,6,0.000,0.000,3300,1920,1986
$GC,13283,1.50,313.3,84.0,6.7,701,13312,0.00,2.88,23.23,1.122,4,0.000,0.088,3299,517,1868
$GC,13342,1.55,313.3,79.5,8.4,712,13350,0.00,2.70,0.00,0.000,6,0.000,0.067,3299,1925,1870
$GC,13661,1.55,335.7,54.7,7.0,774,13686,0.00,2.88,19.75,1.096,4,0.000,0.088,3300,523,1777
$GC,13737,1.59,335.9,48.8,8.0,789,13743,0.08,2.70,0.00,0.000,6,0.069,0.067,3320,1917,1775
$GC,14055,1.59,363.4,22.9,6.8,850,14085,0.00,2.88,21.35,1.067,4,0.000,0.087,3320,3324,1662
$GC,14160,1.63,398.7,16.0,6.4,870,14194,0.00,2.67,27.02,1.040,6,0.000,0.067,3320,1921,1519
$FINISH,-0.1,1.016856,0
$SM_CCo,14468,0.00,0.000,0,0,1513,400.57
$RAFOS_CLK,796
$RAFOS,3,1128803641,20.583334,20.566944,125,41,41,739,76,1633
$RAFOS,2,1128803052,20.416666,20.403334,124,48,45,859,1177,1636
$RAFOS,1,1128802443,20.250000,20.234167,166,47,44,677,158,205
$RAFOS,0,1128801851,20.083334,20.069723,107,45,44,520,1769,225
$RAFOS_FIX,6642.330566,-6000.195312
$TT8_MAMPS,0.020709
$HUMID,2023
$TCM_TEMP,-5.50
$ALTIM_TOP_PING,10.0,10.1
$ALTIM_BOTTOM_PING,615.3,80.0
$24V_AH,23.4,27.674
$10V_AH,10.1,14.639
$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,27.550,114.850,426.275,0.000,0.000,31.295,32.647,107.997,0.500,140.525,841.914,9797.521,955.416,3026.902,302.382,0.000,1864.309,0.000,988.194,1440.000,3.384
$DEVICE_MAMPS,213.993,107.380,1503.320,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,820.758,2667.986,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,33450,915
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081005,210839,6642.268,-5955.430,32,1.8,32,-38.0