version: 65.02
glider: 18
mission: 1
dive: 137
start: 10 9 105 1 37 53
data:
$ID,18
$MISSION,1
$DIVE,137
$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,-115596.34
$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,16
$R_STBD_OVSHOOT,22
$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
$GPS1,013240,6639.891,-5949.921,37,1.9,37
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-50.7
$GPS2,013739,6639.833,-5949.870,17,1.1,34,-37.9
$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,108.9,143276,-16.4,-7.990
$D_GRID,710
$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,-122.2,0.0,0.0,0,71,0.00,0.00,-49.95,0.000,2,0.000,0.000,787,2088,2515
$GC,72,-1.23,-122.2,3.3,-7.1,10,130,12.12,2.78,-35.28,0.000,4,0.212,0.107,2704,3487,3646
$GC,206,-1.23,-122.2,24.5,-17.4,36,211,0.00,2.67,0.00,0.000,6,0.000,0.064,2704,2092,3646
$GC,521,-1.23,-122.2,67.0,-12.6,97,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2092,3647
$GC,838,-1.23,-122.2,108.2,-13.0,149,847,0.00,2.72,0.00,0.000,4,0.000,0.084,2704,674,3647
$GC,909,-1.23,-122.2,117.9,-12.7,152,915,0.00,2.70,0.00,0.000,6,0.000,0.067,2704,2080,3646
$GC,1229,-1.23,-122.2,154.9,-11.4,168,1237,0.00,2.72,0.00,0.000,4,0.000,0.081,2704,672,3647
$GC,1300,-1.23,-122.2,164.1,-12.4,171,1305,0.00,2.70,0.00,0.000,6,0.000,0.067,2704,2077,3647
$GC,1618,-1.23,-122.2,200.7,-11.6,187,1626,0.00,2.70,0.00,0.000,4,0.000,0.081,2704,674,3647
$GC,1689,-1.23,-122.2,209.6,-12.0,190,1694,0.00,2.70,0.00,0.000,6,0.000,0.067,2704,2083,3647
$GC,2009,-1.23,-122.2,245.1,-11.1,206,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2083,3647
$GC,2332,-1.23,-122.2,279.9,-10.6,222,2340,0.00,2.72,0.00,0.000,4,0.000,0.081,2704,675,3647
$GC,2377,-1.23,-122.2,285.2,-11.2,224,2382,0.00,2.70,0.00,0.000,6,0.000,0.067,2704,2084,3647
$GC,2700,-1.23,-122.2,317.9,-10.0,240,2709,0.00,2.72,0.00,0.000,4,0.000,0.080,2704,674,3647
$GC,2766,-1.23,-122.2,325.1,-10.5,243,2771,0.00,2.67,0.00,0.000,6,0.000,0.066,2704,2076,3647
$GC,3091,-1.23,-122.2,356.7,-9.9,259,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2076,3647
$GC,3415,-1.23,-122.2,388.5,-9.8,275,3423,0.00,2.70,0.00,0.000,4,0.000,0.078,2704,670,3647
$GC,3466,-1.23,-122.2,394.0,-10.3,277,3478,0.00,2.65,0.00,0.000,6,0.000,0.064,2704,2087,3647
$GC,3783,-1.23,-122.2,425.1,-9.8,293,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2087,3647
$GC,4108,-1.23,-122.2,457.5,-10.1,309,4116,0.00,2.70,0.00,0.000,4,0.000,0.077,2704,675,3647
$GC,4172,-1.23,-122.2,464.3,-10.7,312,4180,0.00,2.62,0.00,0.000,6,0.000,0.064,2704,2087,3647
$GC,4498,-1.23,-122.2,497.0,-10.0,328,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2087,3647
$GC,4821,-1.23,-122.2,529.6,-10.0,337,4829,0.00,2.70,0.00,0.000,4,0.000,0.077,2704,674,3647
$GC,4898,-1.23,-122.2,537.7,-10.5,338,4906,0.00,2.67,0.00,0.000,6,0.000,0.063,2704,2086,3647
$GC,5228,-1.23,-122.2,569.2,-9.5,347,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2086,3647
$GC,5591,-1.23,-122.2,603.5,-9.5,356,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2086,3648
$GC,5953,-1.23,-122.2,638.5,-9.7,365,5962,0.00,2.70,0.00,0.000,4,0.000,0.077,2704,674,3647
$GC,6015,-1.23,-122.2,644.9,-9.9,366,6019,0.00,2.67,0.00,0.000,6,0.000,0.063,2704,2086,3647
$GC,6361,-1.23,-122.2,674.2,-8.2,375,6369,0.00,2.70,0.00,0.000,4,0.000,0.078,2704,675,3647
$GC,6411,-1.23,-122.2,678.2,-7.2,376,6416,0.00,2.67,0.00,0.000,6,0.000,0.064,2704,2084,3647
$GC,6728,-1.23,-122.2,706.8,-9.6,384,6736,0.00,2.70,0.00,0.000,4,0.000,0.079,2704,674,3647
$GC,6762,-0.31,0.0,710.3,11.8,384,6893,1.02,0.00,104.97,1.459,6,0.119,0.000,2901,2086,3144
$GC,6895,1.23,122.2,714.7,3.0,388,7006,1.70,2.47,99.70,1.403,4,0.099,0.083,3243,3326,2646
$GC,7060,1.23,179.6,712.5,5.5,392,7115,0.00,2.67,46.78,1.384,6,0.000,0.060,3243,1915,2411
$GC,7425,1.33,223.5,687.6,6.1,401,7466,0.10,0.00,37.00,1.394,6,0.076,0.000,3263,1915,2233
$GC,7789,1.40,223.5,655.1,9.4,410,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1915,2232
$GC,8151,1.40,223.5,622.5,8.8,419,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1915,2231
$GC,8513,1.40,223.5,591.1,8.5,428,8522,0.00,2.70,0.00,0.000,4,0.000,0.086,3263,510,2231
$GC,8558,1.40,223.5,586.9,9.3,429,8564,0.00,2.67,0.00,0.000,6,0.000,0.061,3263,1919,2231
$GC,8881,1.40,223.5,561.0,8.1,437,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1924,2230
$GC,9243,1.40,223.5,531.5,8.2,446,9251,0.00,2.72,0.00,0.000,4,0.000,0.084,3263,512,2230
$GC,9277,1.40,223.5,528.2,9.0,446,9286,0.00,2.67,0.00,0.000,6,0.000,0.061,3263,1924,2230
$GC,9608,1.40,223.5,500.7,8.4,455,9648,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1924,2230
$GC,9953,1.40,223.5,471.0,8.5,471,9961,0.00,2.72,0.00,0.000,4,0.000,0.084,3263,511,2230
$GC,9996,1.40,223.5,467.2,9.4,473,10004,0.00,2.62,0.00,0.000,6,0.000,0.062,3261,1922,2230
$GC,10322,1.40,223.9,440.7,8.0,489,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1923,2230
$GC,10647,1.40,231.2,415.3,7.7,505,10664,0.00,0.00,5.72,1.397,6,0.000,0.000,3263,1923,2203
$GC,10971,1.41,242.6,390.3,7.5,521,10991,0.10,2.80,9.50,1.344,4,0.081,0.082,3284,511,2155
$GC,11037,1.43,242.6,384.4,9.2,524,11042,0.00,2.67,0.00,0.000,6,0.000,0.062,3284,1911,2155
$GC,11361,1.43,242.6,357.9,8.3,540,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1915,2155
$GC,11686,1.43,242.6,331.7,8.3,556,11694,0.00,2.72,0.00,0.000,4,0.000,0.085,3284,511,2155
$GC,11750,1.43,242.6,325.9,9.4,559,11758,0.00,2.62,0.00,0.000,6,0.000,0.064,3284,1924,2155
$GC,12076,1.43,242.6,296.7,9.0,575,12093,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1924,2155
$GC,12402,1.43,242.6,268.2,8.6,591,12418,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1924,2155
$GC,12726,1.43,242.6,241.2,8.5,607,12743,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1924,2155
$GC,13053,1.43,266.5,216.2,6.9,623,13078,0.00,2.83,18.98,1.200,4,0.000,0.084,3284,510,2059
$GC,13120,1.47,268.3,211.0,7.9,626,13129,0.00,2.65,0.00,0.000,6,0.000,0.064,3284,1921,2058
$GC,13442,1.47,277.8,187.9,7.6,642,13460,0.00,0.00,9.18,1.226,6,0.000,0.000,3284,1921,2011
$GC,13767,1.49,277.8,160.2,8.6,658,13776,0.00,2.72,0.00,0.000,4,0.000,0.087,3284,511,2011
$GC,13810,1.49,277.8,156.2,9.5,660,13818,0.00,2.62,0.00,0.000,6,0.000,0.065,3284,1920,2011
$GC,14136,1.49,277.8,128.5,8.1,676,14153,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1920,2011
$GC,14463,1.49,324.7,106.8,5.9,692,14521,0.00,0.00,37.97,1.119,6,0.000,0.000,3284,1920,1821
$GC,14830,1.57,324.7,79.2,8.3,746,14834,0.17,0.00,0.00,0.000,6,0.072,0.000,3320,1920,1819
$GC,15144,1.57,324.7,50.1,8.7,807,15149,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1920,1819
$GC,15459,1.57,358.9,24.3,6.5,868,15491,0.00,2.83,26.48,1.081,4,0.000,0.087,3320,511,1680
$GC,15552,1.63,402.1,18.2,6.1,886,15594,0.00,2.70,32.80,1.033,6,0.000,0.067,3320,1912,1504
$FINISH,0.0,1.013151,0
$SM_CCo,15906,0.00,0.000,0,0,1499,403.76
$RAFOS_CLK,867
$RAFOS,3,1128832459,4.583333,4.571944,95,47,44,616,170,111
$RAFOS,2,1128831847,4.416667,4.401945,84,50,45,860,1125,596
$RAFOS,1,1128831280,4.250000,4.244444,110,47,42,460,152,1166
$RAFOS,0,1128830673,4.083333,4.075833,72,47,44,427,155,560
$RAFOS,4,1128828560,3.500000,3.488889,43,41,40,271,76,1398
$RAFOS_FIX,6639.900391,-5948.294922
$TT8_MAMPS,0.020709
$HUMID,2010
$TCM_TEMP,-5.50
$ALTIM_TOP_PING,9.8,9.7
$ALTIM_BOTTOM_PING,687.6,10.1
$24V_AH,23.4,28.022
$10V_AH,10.1,14.824
$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,27.525,113.500,429.075,0.000,0.000,31.295,36.406,117.822,0.500,74.173,885.962,10948.114,1044.770,3107.391,321.260,0.000,2002.606,0.000,1034.114,1800.000,3.290
$DEVICE_MAMPS,211.692,106.613,1458.834,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,844.418,2788.630,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34238,939
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091005,060502,6639.954,-5944.846,38,1.2,60,-37.8