version: 65.02
glider: 18
mission: 1
dive: 138
start: 10 9 105 6 22 55
data:
$ID,18
$MISSION,1
$DIVE,138
$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,-115696.51
$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
$GPS1,060502,6639.954,-5944.846,38,1.2,60
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-50.8
$GPS2,062240,6639.881,-5944.942,36,1.4,37,-37.8
$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,108.4,139891,-16.4,-7.990
$D_GRID,759
$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,-122.2,0.0,0.0,0,76,0.00,0.00,-55.80,0.000,2,0.000,0.000,787,2089,2593
$GC,78,-1.23,-122.2,3.3,-5.9,11,131,12.10,2.83,-31.30,0.000,4,0.211,0.106,2704,3478,3648
$GC,186,-1.23,-122.2,21.2,-17.1,32,191,0.00,2.65,0.00,0.000,6,0.000,0.063,2704,2092,3648
$GC,501,-1.23,-122.2,62.4,-12.1,93,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2092,3648
$GC,816,-1.23,-122.2,100.2,-11.5,154,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2092,3649
$GC,1144,-1.23,-122.2,139.4,-12.1,170,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2092,3650
$GC,1471,-1.23,-122.2,178.9,-12.3,186,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2091,3650
$GC,1794,-1.23,-122.2,217.4,-11.8,202,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2091,3649
$GC,2120,-1.23,-122.2,253.3,-10.8,218,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2091,3649
$GC,2444,-1.23,-122.2,287.5,-10.6,234,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2091,3649
$GC,2771,-1.23,-122.2,320.8,-10.1,250,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2091,3649
$GC,3094,-1.23,-122.2,354.8,-10.7,266,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2091,3649
$GC,3420,-1.23,-122.2,388.3,-9.9,282,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2092,3649
$GC,3744,-1.23,-122.2,420.4,-9.7,298,3752,0.00,2.70,0.00,0.000,4,0.000,0.083,2703,673,3649
$GC,3800,-1.23,-122.2,426.4,-10.4,300,3807,0.00,2.67,0.00,0.000,6,0.000,0.064,2704,2081,3649
$GC,4112,-1.23,-122.2,456.8,-9.7,316,4120,0.00,2.70,0.00,0.000,4,0.000,0.079,2704,674,3649
$GC,4164,-1.23,-122.2,462.2,-10.5,318,4175,0.00,2.65,0.00,0.000,6,0.000,0.064,2704,2091,3649
$GC,4480,-1.23,-122.2,493.0,-9.4,334,4488,0.00,2.72,0.00,0.000,4,0.000,0.078,2703,670,3649
$GC,4543,-1.23,-122.2,499.1,-9.7,337,4551,0.00,2.65,0.00,0.000,6,0.000,0.064,2704,2091,3649
$GC,4887,-1.23,-122.2,531.3,-9.3,346,4895,0.00,2.72,0.00,0.000,4,0.000,0.078,2703,670,3649
$GC,4938,-1.23,-122.2,536.4,-10.1,347,4943,0.00,2.67,0.00,0.000,6,0.000,0.063,2704,2081,3649
$GC,5254,-1.23,-122.2,565.7,-9.3,355,5262,0.00,2.67,0.00,0.000,4,0.000,0.077,2703,674,3649
$GC,5326,-1.23,-122.2,573.2,-9.8,356,5331,0.00,2.67,0.00,0.000,6,0.000,0.063,2704,2086,3649
$GC,5662,-1.23,-122.2,605.2,-9.7,365,5670,0.00,2.70,0.00,0.000,4,0.000,0.078,2703,674,3649
$GC,5747,-1.23,-122.2,613.9,-10.0,367,5755,0.00,2.62,0.00,0.000,6,0.000,0.064,2703,2086,3649
$GC,6075,-1.23,-122.2,642.9,-8.8,375,6083,0.00,2.70,0.00,0.000,4,0.000,0.079,2703,675,3649
$GC,6131,-1.23,-122.2,648.5,-9.0,376,6136,0.00,2.65,0.00,0.000,6,0.000,0.064,2703,2075,3649
$GC,6442,-1.23,-122.2,675.1,-8.6,384,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2075,3649
$GC,6804,-1.23,-122.2,706.9,-8.6,393,6813,0.00,2.70,0.00,0.000,4,0.000,0.080,2703,670,3649
$GC,6923,-1.23,-122.2,718.2,-9.5,395,6931,0.00,2.67,0.00,0.000,6,0.000,0.063,2704,2083,3649
$GC,7254,-1.23,-122.2,747.7,-9.1,404,7262,0.00,2.70,0.00,0.000,4,0.000,0.080,2703,675,3650
$GC,7342,-1.23,-122.2,756.4,-9.9,406,7346,0.00,2.67,0.00,0.000,6,0.000,0.064,2703,2086,3649
$GC,7374,-0.31,0.0,759.3,9.0,406,7501,1.08,0.00,106.07,1.486,6,0.118,0.000,2907,2086,3145
$GC,7503,1.23,122.2,763.9,3.5,410,7614,1.67,2.53,100.35,1.428,4,0.097,0.083,3243,3327,2646
$GC,7692,1.23,211.8,763.0,4.1,414,7774,0.00,2.67,73.70,1.404,6,0.000,0.060,3242,1926,2282
$GC,8115,1.38,216.6,732.6,7.8,425,8155,0.17,0.00,4.15,1.526,6,0.067,0.000,3279,1926,2261
$GC,8477,1.39,216.6,700.4,8.9,434,8485,0.00,2.72,0.00,0.000,4,0.000,0.085,3279,511,2261
$GC,8549,1.39,216.6,693.3,9.7,435,8554,0.00,2.67,0.00,0.000,6,0.000,0.061,3279,1920,2261
$GC,8885,1.39,216.6,662.6,9.1,444,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1920,2261
$GC,9247,1.39,216.6,630.8,8.7,453,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1920,2261
$GC,9610,1.39,216.6,598.3,9.1,462,9618,0.00,2.72,0.00,0.000,4,0.000,0.084,3279,511,2261
$GC,9644,1.39,216.6,594.7,9.7,462,9652,0.00,2.67,0.00,0.000,6,0.000,0.062,3279,1918,2261
$GC,9975,1.39,216.6,565.8,8.7,471,9984,0.00,2.72,0.00,0.000,4,0.000,0.084,3279,510,2261
$GC,10005,1.39,216.6,562.8,9.0,471,10010,0.00,2.67,0.00,0.000,6,0.000,0.062,3279,1919,2261
$GC,10341,1.39,216.6,534.3,8.6,480,10380,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1923,2261
$GC,10703,1.39,216.6,503.8,8.3,489,10743,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1923,2261
$GC,11050,1.39,216.6,475.4,8.4,504,11058,0.00,2.72,0.00,0.000,4,0.000,0.084,3279,510,2261
$GC,11100,1.39,216.6,470.3,10.0,506,11105,0.00,2.67,0.00,0.000,6,0.000,0.062,3279,1919,2261
$GC,11420,1.39,216.6,442.0,8.9,522,11435,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1923,2261
$GC,11743,1.39,216.6,413.2,8.9,538,11760,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1923,2261
$GC,12068,1.39,216.6,384.3,8.9,554,12085,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1923,2261
$GC,12393,1.39,216.6,356.7,8.1,570,12401,0.00,2.72,0.00,0.000,4,0.000,0.084,3279,510,2261
$GC,12427,1.39,216.6,353.6,8.5,571,12436,0.00,2.67,0.00,0.000,6,0.000,0.063,3279,1924,2261
$GC,12740,1.39,229.1,330.0,7.4,587,12758,0.00,0.00,10.38,1.306,6,0.000,0.000,3279,1923,2211
$GC,13065,1.41,235.6,305.0,7.7,603,13083,0.00,0.00,5.50,1.331,6,0.000,0.000,3279,1923,2183
$GC,13390,1.42,250.4,279.9,7.3,619,13409,0.00,2.83,11.27,1.266,4,0.000,0.082,3279,3321,2124
$GC,13432,1.44,251.0,276.6,8.0,621,13440,0.00,2.65,0.00,0.000,6,0.000,0.063,3278,1921,2124
$GC,13759,1.44,251.0,250.1,8.4,637,13767,0.00,2.72,0.00,0.000,4,0.000,0.087,3279,510,2123
$GC,13801,1.44,251.0,246.1,9.5,639,13809,0.00,2.62,0.00,0.000,6,0.000,0.063,3279,1920,2123
$GC,14127,1.44,251.0,217.3,8.5,655,14144,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1920,2123
$GC,14453,1.44,255.7,191.0,7.8,671,14462,0.00,2.78,4.22,1.289,4,0.000,0.085,3278,508,2102
$GC,14502,1.45,255.7,186.6,8.6,673,14508,0.00,2.67,0.00,0.000,6,0.000,0.064,3279,1911,2102
$GC,14820,1.45,284.6,164.3,6.7,689,14859,0.00,0.00,23.40,1.154,6,0.000,0.000,3280,1912,1984
$GC,15166,1.50,284.6,137.3,8.4,706,15183,0.12,0.00,0.00,0.000,6,0.073,0.000,3305,1913,1984
$GC,15492,1.50,284.6,106.9,8.8,722,15507,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1913,1983
$GC,15820,1.50,302.2,82.7,7.2,771,15839,0.00,0.00,13.60,1.147,6,0.000,0.000,3305,1913,1912
$GC,16149,1.53,325.7,56.7,7.0,835,16175,0.00,2.88,18.73,1.108,4,0.000,0.087,3305,3323,1816
$GC,16205,1.57,325.7,52.7,8.2,845,16213,0.00,2.67,0.00,0.000,6,0.000,0.067,3305,1921,1815
$GC,16524,1.57,382.7,29.3,5.5,907,16577,0.00,2.88,43.65,1.052,4,0.000,0.086,3305,3323,1583
$GC,16611,1.66,408.3,23.6,6.9,924,16638,0.12,2.72,19.48,1.039,6,0.061,0.068,3335,1921,1478
$FINISH,0.2,1.025427,0
$SM_CCo,16989,0.00,0.000,0,0,1474,410.14
$RAFOS_CLK,960
$RAFOS,4,1128850149,9.500000,9.485833,46,44,44,1888,65,260
$RAFOS,3,1128846848,8.583333,8.568889,114,48,47,659,457,162
$RAFOS,2,1128846242,8.416667,8.400556,48,48,46,884,1280,1641
$RAFOS,1,1128845659,8.250000,8.238611,85,56,44,566,576,360
$RAFOS,0,1128845047,8.083333,8.068611,85,44,41,584,703,1246
$RAFOS_FIX,6638.907227,-5939.708496
$TT8_MAMPS,0.020709
$HUMID,2004
$TCM_TEMP,-5.50
$ALTIM_TOP_PING,9.7,9.7
$ALTIM_BOTTOM_PING,736.6,10.2
$24V_AH,23.4,28.214
$10V_AH,10.1,14.928
$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,27.625,113.725,434.500,0.000,0.000,161.652,359.630,103.595,0.500,100.166,890.016,12083.497,1098.803,3245.195,846.766,0.000,2100.154,0.000,1076.117,1800.000,3.291
$DEVICE_MAMPS,210.925,105.846,1526.330,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,883.747,2890.302,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35648,982
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091005,110741,6638.365,-5938.352,43,1.7,43,-37.8