version: 65.02
glider: 18
mission: 1
dive: 140
start: 10 9 105 16 26 23
data:
$ID,18
$MISSION,1
$DIVE,140
$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,-115888.66
$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,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
$GPS1,161738,6639.008,-5932.955,65,1.0,69
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-50.7
$GPS2,162609,6638.954,-5932.916,14,1.1,32,-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,106.4,132359,-16.4,-7.990
$D_GRID,826
$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,19,-1.23,-122.2,0.0,0.0,0,82,0.00,0.00,-60.95,0.000,2,0.000,0.000,788,2087,2601
$GC,83,-1.23,-122.2,3.3,-6.0,12,136,12.12,2.83,-31.85,0.000,4,0.211,0.106,2705,3480,3648
$GC,222,-1.23,-122.2,24.9,-15.8,39,227,0.00,2.65,0.00,0.000,6,0.000,0.063,2705,2097,3648
$GC,538,-1.23,-122.2,65.1,-12.1,100,544,0.00,2.75,0.00,0.000,4,0.000,0.083,2705,687,3649
$GC,668,-1.23,-122.2,80.7,-12.3,125,673,0.00,2.67,0.00,0.000,6,0.000,0.067,2705,2082,3648
$GC,993,-1.23,-122.2,120.0,-12.4,164,1001,0.00,2.72,0.00,0.000,4,0.000,0.081,2705,673,3648
$GC,1085,-1.23,-122.2,131.7,-12.1,168,1091,0.00,2.70,0.00,0.000,6,0.000,0.067,2705,2083,3648
$GC,1405,-1.23,-122.2,167.1,-11.6,184,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2083,3648
$GC,1728,-1.23,-122.2,203.8,-11.2,200,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2083,3649
$GC,2055,-1.23,-122.2,238.8,-11.0,216,2063,0.00,2.72,0.00,0.000,4,0.000,0.081,2705,675,3648
$GC,2142,-1.23,-122.2,249.4,-11.8,220,2146,0.00,2.70,0.00,0.000,6,0.000,0.069,2705,2083,3648
$GC,2465,-1.23,-122.2,285.1,-10.9,236,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2083,3649
$GC,2789,-1.23,-122.2,320.0,-10.6,252,2798,0.00,2.70,0.00,0.000,4,0.000,0.081,2705,677,3648
$GC,2833,-1.23,-122.2,324.7,-10.8,254,2841,0.00,2.65,0.00,0.000,6,0.000,0.067,2705,2088,3649
$GC,3159,-1.23,-122.2,357.5,-10.0,270,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2087,3648
$GC,3485,-1.23,-122.2,388.9,-9.9,286,3493,0.00,2.70,0.00,0.000,4,0.000,0.079,2705,675,3648
$GC,3541,-1.23,-122.2,395.1,-10.6,288,3549,0.00,2.67,0.00,0.000,6,0.000,0.064,2705,2080,3648
$GC,3854,-1.23,-122.2,425.0,-9.3,304,3862,0.00,2.70,0.00,0.000,4,0.000,0.078,2705,674,3648
$GC,3909,-1.23,-122.2,430.7,-9.8,306,3917,0.00,2.67,0.00,0.000,6,0.000,0.064,2706,2084,3648
$GC,4222,-1.23,-122.2,459.0,-9.2,322,4230,0.00,2.70,0.00,0.000,4,0.000,0.077,2705,675,3648
$GC,4272,-1.23,-122.2,464.2,-10.0,324,4277,0.00,2.67,0.00,0.000,6,0.000,0.064,2705,2087,3648
$GC,4590,-1.23,-122.2,495.3,-10.0,340,4598,0.00,2.70,0.00,0.000,4,0.000,0.077,2705,675,3648
$GC,4632,-1.23,-122.2,499.8,-10.7,342,4641,0.00,2.62,0.00,0.000,6,0.000,0.064,2705,2088,3649
$GC,4977,-1.23,-122.2,534.6,-10.0,351,4985,0.00,2.70,0.00,0.000,4,0.000,0.077,2705,676,3648
$GC,4995,-1.23,-122.2,536.7,-9.5,351,5001,0.00,2.65,0.00,0.000,6,0.000,0.061,2705,2076,3648
$GC,5342,-1.23,-122.2,571.4,-10.2,360,5350,0.00,2.75,0.00,0.000,4,0.000,0.089,2706,3492,3648
$GC,5371,-1.23,-122.2,574.8,-11.3,360,5376,0.00,2.65,0.00,0.000,6,0.000,0.059,2706,2086,3648
$GC,5707,-1.23,-122.2,607.6,-9.6,369,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2086,3648
$GC,6070,-1.23,-122.2,641.5,-9.3,378,6078,0.00,2.75,0.00,0.000,4,0.000,0.088,2705,3490,3648
$GC,6130,-1.23,-122.2,647.8,-10.1,379,6136,0.00,2.65,0.00,0.000,6,0.000,0.060,2706,2089,3648
$GC,6477,-1.23,-122.2,680.1,-9.4,388,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2090,3648
$GC,6840,-1.23,-122.2,715.1,-9.8,397,6848,0.00,2.75,0.00,0.000,4,0.000,0.088,2705,3490,3648
$GC,6896,-1.23,-122.2,721.0,-10.2,398,6901,0.00,2.65,0.00,0.000,6,0.000,0.060,2706,2087,3648
$GC,7207,-1.23,-122.2,750.2,-9.3,406,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2087,3648
$GC,7570,-1.23,-122.2,782.7,-9.0,415,7578,0.00,2.75,0.00,0.000,4,0.000,0.088,2705,3490,3648
$GC,7626,-1.23,-122.2,788.2,-9.7,416,7630,0.00,2.65,0.00,0.000,6,0.000,0.061,2705,2087,3648
$GC,7937,-1.23,-122.2,815.9,-8.9,424,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2087,3648
$GC,8059,-0.31,0.0,826.7,9.0,427,8178,1.08,0.00,106.70,1.532,6,0.123,0.000,2906,2087,3145
$GC,8180,1.23,122.2,831.9,5.1,430,8291,1.70,3.20,100.62,1.485,4,0.100,0.084,3244,511,2646
$GC,8442,1.23,184.1,828.1,5.3,436,8499,0.00,2.67,50.90,1.480,6,0.000,0.060,3244,1915,2394
$GC,8835,1.33,212.1,802.7,6.8,446,8875,0.12,0.00,23.85,1.503,6,0.073,0.000,3269,1919,2280
$GC,9197,1.38,212.1,772.6,8.3,455,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1920,2278
$GC,9560,1.38,212.1,740.8,8.4,464,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1920,2278
$GC,9922,1.38,212.1,709.6,8.9,473,9930,0.00,2.72,0.00,0.000,4,0.000,0.084,3269,511,2278
$GC,9958,1.38,212.1,706.1,9.3,473,9965,0.00,2.67,0.00,0.000,6,0.000,0.062,3269,1916,2278
$GC,10287,1.38,212.1,677.7,8.5,482,10327,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1916,2277
$GC,10650,1.38,212.1,646.4,8.8,491,10690,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1922,2277
$GC,11013,1.38,212.1,614.5,8.9,500,11052,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1921,2277
$GC,11376,1.38,212.1,580.8,9.4,509,11415,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1921,2277
$GC,11738,1.38,212.1,546.0,9.6,518,11746,0.00,2.72,0.00,0.000,4,0.000,0.084,3269,510,2277
$GC,11781,1.38,212.1,541.7,10.0,519,11789,0.00,2.62,0.00,0.000,6,0.000,0.063,3267,1926,2277
$GC,12106,1.38,215.2,514.5,7.9,527,12146,0.00,0.00,2.00,1.551,6,0.000,0.000,3269,1929,2267
$GC,12451,1.39,231.9,489.2,7.3,539,12467,0.00,0.00,13.93,1.401,6,0.000,0.000,3269,1929,2200
$GC,12774,1.41,240.1,464.5,7.6,555,12792,0.00,0.00,6.60,1.424,6,0.000,0.000,3269,1929,2166
$GC,13099,1.43,245.3,439.0,7.8,571,13113,0.00,2.78,4.00,1.439,4,0.000,0.083,3269,511,2145
$GC,13149,1.44,245.3,434.6,8.3,573,13154,0.00,2.67,0.00,0.000,6,0.000,0.063,3269,1908,2144
$GC,13467,1.44,245.3,409.7,8.0,589,13475,0.00,2.72,0.00,0.000,4,0.000,0.084,3269,3326,2144
$GC,13510,1.44,245.3,406.1,8.2,591,13518,0.00,2.62,0.00,0.000,6,0.000,0.063,3269,1920,2144
$GC,13837,1.44,245.3,379.2,8.2,607,13853,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1920,2144
$GC,14161,1.44,245.4,353.6,8.0,623,14170,0.00,2.70,0.00,0.000,4,0.000,0.087,3269,510,2144
$GC,14204,1.44,245.4,349.9,9.1,625,14212,0.00,2.62,0.00,0.000,6,0.000,0.063,3269,1922,2144
$GC,14530,1.44,245.4,323.9,8.1,641,14538,0.00,2.70,0.00,0.000,4,0.000,0.084,3269,3325,2144
$GC,14565,1.44,245.4,320.7,8.9,642,14572,0.00,2.67,0.00,0.000,6,0.000,0.063,3269,1921,2144
$GC,14879,1.44,245.4,294.7,8.3,658,14888,0.00,2.72,0.00,0.000,4,0.000,0.082,3269,3326,2144
$GC,14956,1.44,245.4,287.5,9.2,661,14964,0.00,2.67,0.00,0.000,6,0.000,0.064,3269,1923,2144
$GC,15268,1.44,245.4,261.1,8.3,677,15286,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1922,2144
$GC,15595,1.44,247.7,234.5,7.9,693,15610,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1922,2144
$GC,15918,1.44,247.7,208.0,8.3,709,15927,0.10,2.75,0.00,0.000,4,0.074,0.083,3289,3329,2144
$GC,15984,1.44,247.7,201.7,9.5,712,15995,0.00,2.67,2.00,1.361,6,0.000,0.064,3289,1921,2134
$GC,16309,1.44,247.7,171.8,9.4,728,16324,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1920,2134
$GC,16632,1.44,249.4,143.9,7.9,744,16640,0.00,2.72,0.00,0.000,4,0.000,0.084,3290,3327,2134
$GC,16666,1.44,249.4,141.0,8.8,745,16674,0.00,2.67,0.00,0.000,6,0.000,0.066,3289,1923,2134
$GC,16979,1.44,280.3,119.0,6.6,761,17017,0.00,0.00,26.20,1.151,6,0.000,0.000,3290,1922,2002
$GC,17325,1.49,295.0,95.0,7.3,787,17344,0.00,2.88,11.48,1.174,4,0.000,0.085,3289,3326,1942
$GC,17379,1.52,298.5,90.6,7.8,798,17390,0.00,2.72,2.95,1.236,6,0.000,0.067,3290,1918,1928
$GC,17700,1.52,335.2,67.6,6.4,860,17736,0.00,2.90,28.58,1.098,4,0.000,0.085,3289,3327,1778
$GC,17767,1.59,347.4,62.9,7.5,873,17783,0.15,2.70,9.48,1.124,6,0.072,0.068,3320,1920,1728
$GC,18095,1.61,347.4,35.4,8.0,936,18104,0.00,2.75,0.00,0.000,4,0.000,0.087,3320,3324,1726
$GC,18124,1.61,347.4,32.6,9.0,942,18130,0.00,2.70,0.00,0.000,6,0.000,0.069,3320,1925,1726
$GC,18440,1.61,365.7,7.9,7.2,1003,18461,0.00,2.83,13.32,1.104,4,0.000,0.092,3320,510,1654
$GC,18476,1.64,365.7,5.0,8.4,1010,18481,0.00,2.72,0.00,0.000,6,0.000,0.067,3320,1915,1654
$FINISH,0.4,1.025505,0
$SM_CCo,18611,0.00,0.000,0,0,1651,366.72
$RAFOS_CLK,1021
$RAFOS,4,1128893341,21.500000,21.483612,46,43,42,1770,265,518
$RAFOS,3,1128890060,20.583334,20.572222,93,47,44,586,1692,1614
$RAFOS,2,1128889449,20.416666,20.402500,58,51,47,802,990,272
$RAFOS,1,1128888856,20.250000,20.237778,87,47,46,545,940,1458
$RAFOS,0,1128888242,20.083334,20.067223,96,47,41,644,782,1788
$RAFOS,3,1128875646,16.583334,16.568333,73,44,41,670,158,1691
$RAFOS,1,1128874442,16.250000,16.233889,57,48,48,645,636,657
$RAFOS_FIX,6641.088867,-5926.390625
$TT8_MAMPS,0.020709
$HUMID,1999
$TCM_TEMP,-5.00
$ALTIM_TOP_PING,9.7,9.5
$ALTIM_BOTTOM_PING,801.5,6.5
$24V_AH,23.3,28.572
$10V_AH,10.1,15.134
$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,27.575,152.375,402.600,0.000,0.000,64.674,141.270,110.414,0.500,103.328,936.472,13195.398,1204.963,3430.084,487.833,0.000,2271.757,0.000,1128.201,2160.000,3.284
$DEVICE_MAMPS,210.925,105.846,1550.874,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,920.709,3057.820,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37140,1021
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091005,213902,6640.225,-5926.693,51,1.1,86,-37.8