version: 65.02
glider: 18
mission: 1
dive: 153
start: 10 12 105 11 12 29
data:
$ID,18
$MISSION,1
$DIVE,153
$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,-3
$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,-117067.77
$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,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
$GPS1,110411,6644.531,-5826.328,122,1.5,122
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-50.2
$GPS2,111216,6644.614,-5826.379,30,1.5,37,-37.6
$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,101.0,84211,-16.4,-7.990
$D_GRID,718
$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,-122.2,0.0,0.0,0,92,0.00,0.00,-71.15,0.000,2,0.000,0.000,788,2090,2865
$GC,94,-1.23,-122.2,3.4,-4.0,14,136,12.18,2.80,-22.38,0.000,4,0.213,0.103,2703,3477,3648
$GC,323,-1.23,-122.2,36.6,-13.5,58,332,0.00,2.65,0.00,0.000,6,0.000,0.065,2703,2084,3648
$GC,642,-1.23,-122.2,78.0,-13.4,120,647,0.00,2.83,0.00,0.000,4,0.000,0.090,2703,3486,3648
$GC,677,-1.23,-122.2,82.2,-13.5,126,685,0.00,2.65,0.00,0.000,6,0.000,0.064,2703,2086,3648
$GC,1005,-1.23,-122.2,121.3,-11.5,163,1014,0.00,2.78,0.00,0.000,4,0.000,0.090,2701,3490,3648
$GC,1039,-1.23,-122.2,125.7,-12.1,164,1047,0.00,2.67,0.00,0.000,6,0.000,0.064,2703,2093,3648
$GC,1352,-1.23,-122.2,160.4,-10.5,180,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2093,3648
$GC,1677,-1.23,-122.2,193.1,-10.1,196,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2093,3648
$GC,2003,-1.23,-122.2,227.5,-10.8,212,2011,0.00,2.75,0.00,0.000,4,0.000,0.091,2703,3487,3648
$GC,2048,-1.23,-122.2,232.9,-11.3,214,2053,0.00,2.67,0.00,0.000,6,0.000,0.066,2703,2094,3648
$GC,2372,-1.23,-122.2,267.6,-10.7,230,2380,0.00,2.75,0.00,0.000,4,0.000,0.090,2703,3487,3648
$GC,2401,-1.23,-122.2,271.1,-11.6,231,2406,0.00,2.67,0.00,0.000,6,0.000,0.064,2703,2092,3648
$GC,2720,-1.23,-122.2,304.2,-10.0,247,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2093,3648
$GC,3044,-1.23,-122.2,336.8,-10.3,263,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2092,3648
$GC,3369,-1.23,-122.2,369.1,-10.0,279,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2091,3648
$GC,3697,-1.23,-122.2,403.1,-10.6,295,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2091,3648
$GC,4019,-1.23,-122.2,435.8,-10.1,311,4027,0.00,2.72,0.00,0.000,4,0.000,0.084,2703,3490,3648
$GC,4047,-1.23,-122.2,439.1,-11.0,312,4053,0.00,2.65,0.00,0.000,6,0.000,0.060,2704,2089,3648
$GC,4366,-1.23,-122.2,469.5,-9.6,328,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2089,3648
$GC,4691,-1.23,-122.2,499.5,-9.3,344,4699,0.00,2.72,0.00,0.000,4,0.000,0.083,2703,3491,3647
$GC,4726,-1.23,-122.2,503.1,-9.9,345,4733,0.00,2.65,0.00,0.000,6,0.000,0.060,2703,2090,3648
$GC,5055,-1.23,-122.2,534.3,-9.5,354,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2089,3648
$GC,5418,-1.23,-122.2,567.9,-9.3,363,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2090,3648
$GC,5781,-1.23,-122.2,600.7,-9.0,372,5789,0.00,2.72,0.00,0.000,4,0.000,0.085,2703,3489,3648
$GC,5842,-1.23,-122.2,606.7,-9.4,373,5847,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2087,3648
$GC,6188,-1.23,-122.2,638.3,-9.3,382,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2087,3648
$GC,6551,-1.23,-122.2,672.2,-9.4,391,6559,0.00,2.72,0.00,0.000,4,0.000,0.086,2703,3488,3648
$GC,6575,-1.23,-122.2,674.8,-10.5,391,6580,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2089,3648
$GC,6918,-1.23,-122.2,707.6,-9.7,400,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2089,3647
$GC,7038,-0.31,0.0,718.7,9.3,403,7157,1.08,0.00,105.18,1.471,6,0.120,0.000,2905,2089,3145
$GC,7159,1.23,122.2,723.4,4.9,406,7270,1.65,3.15,99.32,1.415,4,0.092,0.084,3242,511,2646
$GC,7305,1.23,223.8,724.8,3.5,409,7398,0.00,2.67,83.62,1.393,6,0.000,0.058,3242,1918,2233
$GC,7727,1.40,223.8,691.6,8.7,420,7736,0.20,2.72,0.00,0.000,4,0.064,0.082,3284,3320,2232
$GC,7783,1.40,223.8,685.8,10.6,421,7788,0.00,2.67,0.00,0.000,6,0.000,0.062,3284,1921,2232
$GC,8094,1.40,223.8,655.1,9.9,429,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1921,2232
$GC,8457,1.40,223.8,619.2,9.7,438,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1921,2232
$GC,8819,1.40,223.8,583.9,9.7,447,8828,0.00,2.72,0.00,0.000,4,0.000,0.082,3284,3321,2231
$GC,8870,1.40,223.8,578.5,10.6,448,8875,0.00,2.67,0.00,0.000,6,0.000,0.063,3284,1920,2231
$GC,9186,1.40,223.8,549.0,9.3,456,9194,0.00,2.72,0.00,0.000,4,0.000,0.081,3284,3320,2231
$GC,9229,1.40,223.8,545.0,9.7,457,9237,0.00,2.62,0.00,0.000,6,0.000,0.064,3284,1920,2231
$GC,9554,1.40,223.8,516.0,8.9,465,9593,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1920,2231
$GC,9898,1.40,223.8,485.9,8.8,477,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1920,2231
$GC,10224,1.40,223.8,457.4,8.7,493,10232,0.00,2.70,0.00,0.000,4,0.000,0.081,3284,3320,2231
$GC,10274,1.40,223.8,452.6,9.6,495,10279,0.00,2.65,0.00,0.000,6,0.000,0.063,3284,1927,2231
$GC,10594,1.40,223.8,424.4,8.8,511,10602,0.00,2.70,0.00,0.000,4,0.000,0.080,3284,3320,2231
$GC,10644,1.40,223.8,419.4,9.1,513,10649,0.00,2.65,0.00,0.000,6,0.000,0.063,3284,1928,2231
$GC,10963,1.40,223.8,391.5,8.9,529,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1928,2231
$GC,11286,1.40,223.8,362.5,8.9,545,11304,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1928,2231
$GC,11613,1.40,223.8,333.5,8.8,561,11622,0.00,2.70,0.00,0.000,4,0.000,0.080,3284,3325,2231
$GC,11698,1.40,223.8,325.9,8.8,565,11706,0.00,2.62,0.00,0.000,6,0.000,0.063,3284,1920,2231
$GC,12024,1.40,223.8,298.9,8.1,581,12041,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1919,2231
$GC,12349,1.40,223.8,272.9,8.1,597,12358,0.00,2.70,0.00,0.000,4,0.000,0.079,3284,3322,2231
$GC,12415,1.40,223.8,266.7,8.9,600,12420,0.00,2.65,0.00,0.000,6,0.000,0.062,3284,1922,2231
$GC,12738,1.40,223.8,238.5,8.9,616,12756,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1923,2231
$GC,13064,1.40,229.4,211.7,7.7,632,13078,0.00,2.72,4.55,1.306,4,0.000,0.078,3284,3320,2209
$GC,13150,1.41,231.0,204.6,7.9,636,13155,0.00,2.65,0.00,0.000,6,0.000,0.061,3285,1927,2209
$GC,13474,1.41,236.5,179.4,7.7,652,13491,0.00,0.00,5.90,1.256,6,0.000,0.000,3284,1927,2181
$GC,13798,1.42,265.9,156.7,6.7,668,13837,0.00,0.00,23.65,1.149,6,0.000,0.000,3284,1927,2061
$GC,14143,1.47,275.7,130.1,7.6,685,14157,0.00,2.80,7.78,1.187,4,0.000,0.081,3284,3319,2020
$GC,14230,1.49,279.3,123.3,7.8,689,14241,0.00,2.67,2.50,1.243,6,0.000,0.064,3284,1923,2006
$GC,14553,1.49,328.4,103.6,5.8,705,14597,0.00,2.80,39.08,1.088,4,0.000,0.081,3283,3320,1806
$GC,14636,1.57,328.4,97.7,8.1,712,14645,0.17,2.67,0.00,0.000,6,0.065,0.065,3321,1917,1805
$GC,14954,1.57,328.4,67.1,9.4,774,14960,0.00,2.78,0.00,0.000,4,0.000,0.084,3321,3320,1805
$GC,15030,1.57,328.4,59.8,10.0,788,15039,0.00,2.65,0.00,0.000,6,0.000,0.066,3321,1920,1805
$GC,15349,1.57,347.0,27.7,7.2,850,15370,0.00,2.85,14.10,1.109,4,0.000,0.084,3321,3320,1730
$GC,15430,1.61,355.5,22.1,7.6,865,15444,0.00,2.67,6.90,1.135,6,0.000,0.066,3321,1919,1695
$FINISH,0.5,1.026253,0
$SM_CCo,15777,0.00,0.000,0,0,1689,357.40
$RAFOS_CLK,1873
$RAFOS,3,1129120443,12.583333,12.567500,59,45,43,734,1235,1764
$RAFOS,2,1129119854,12.416667,12.403889,59,44,44,609,600,1927
$RAFOS,1,1129119243,12.250000,12.234167,66,47,42,639,411,1846
$RAFOS,0,1129118654,12.083333,12.070556,49,41,40,737,283,1863
$TT8_MAMPS,0.021476
$HUMID,1971
$TCM_TEMP,-5.50
$ALTIM_TOP_PING,9.9,10.0
$ALTIM_BOTTOM_PING,695.8,10.2
$24V_AH,23.4,30.716
$10V_AH,10.1,16.434
$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,27.525,119.700,392.575,0.000,0.000,63.626,108.863,115.001,0.500,161.723,817.154,10987.484,1044.978,3131.951,446.495,0.000,1974.737,0.000,989.766,1800.000,3.291
$DEVICE_MAMPS,213.226,102.778,1471.106,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,822.507,2747.769,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,33643,917
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121005,153732,6645.029,-5822.603,83,1.3,83,-37.6