version: 65.02
glider: 18
mission: 1
dive: 196
start: 10 15 105 2 54 37
data:
$ID,18
$MISSION,1
$DIVE,196
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$T_DIVE,250
$T_MISSION,300
$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,-120667.59
$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,360
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$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
$GPS1,024903,6643.317,-5840.633,40,1.9,40
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-50.6
$GPS2,025422,6643.335,-5840.681,14,1.2,32,-37.6
$SPEED_LIMITS,0.139,0.223
$TGT_NAME,TARGET_W
$TGT_LATLONG,6642.000,-6048.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,306.1,93300,-16.4,-8.000
$D_GRID,749
$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,-122.2,0.0,0.0,0,65,0.00,0.00,-44.83,0.000,2,0.000,0.000,788,2089,2537
$GC,67,-1.23,-122.2,3.2,-6.4,9,125,12.10,2.75,-35.12,0.000,4,0.210,0.094,2704,675,3646
$GC,356,-1.23,-122.2,44.1,-13.9,65,361,0.00,2.70,0.00,0.000,6,0.000,0.068,2704,2078,3647
$GC,671,-1.23,-122.2,85.5,-12.9,126,677,0.00,2.75,0.00,0.000,4,0.000,0.081,2704,679,3648
$GC,707,-1.23,-122.2,90.3,-13.5,133,713,0.00,2.70,0.00,0.000,6,0.000,0.067,2704,2086,3648
$GC,1034,-1.23,-122.2,131.9,-12.2,160,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2086,3648
$GC,1356,-1.23,-122.2,172.1,-12.4,176,1365,0.00,2.75,0.00,0.000,4,0.000,0.084,2704,675,3646
$GC,1399,-1.23,-122.2,177.1,-12.1,178,1407,0.00,2.67,0.00,0.000,6,0.000,0.070,2704,2087,3648
$GC,1726,-1.23,-122.2,214.3,-10.8,194,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2086,3648
$GC,2051,-1.23,-122.2,247.9,-10.3,210,2060,0.00,2.75,0.00,0.000,4,0.000,0.082,2704,670,3648
$GC,2073,-1.23,-122.2,250.2,-10.1,211,2081,0.00,2.67,0.00,0.000,6,0.000,0.067,2704,2087,3648
$GC,2399,-1.23,-122.2,282.8,-10.0,227,2407,0.00,2.72,0.00,0.000,4,0.000,0.079,2704,672,3647
$GC,2422,-1.23,-122.2,285.4,-10.4,228,2428,0.00,2.67,0.00,0.000,6,0.000,0.064,2704,2078,3647
$GC,2746,-1.23,-122.2,317.8,-10.3,244,2755,0.00,2.67,0.00,0.000,4,0.000,0.076,2704,674,3647
$GC,2812,-1.23,-122.2,325.4,-10.9,247,2817,0.00,2.67,0.00,0.000,6,0.000,0.062,2704,2087,3647
$GC,3137,-1.23,-122.2,358.0,-9.8,263,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2087,3647
$GC,3461,-1.23,-122.2,388.5,-9.4,279,3469,0.00,2.70,0.00,0.000,4,0.000,0.074,2704,674,3647
$GC,3490,-1.23,-122.2,391.7,-10.5,280,3495,0.00,2.65,0.00,0.000,6,0.000,0.060,2704,2077,3647
$GC,3809,-1.23,-122.2,421.8,-9.7,296,3818,0.00,2.72,0.00,0.000,4,0.000,0.085,2704,3493,3647
$GC,3852,-1.23,-122.2,426.2,-10.3,298,3860,0.00,2.62,0.00,0.000,6,0.000,0.058,2704,2083,3647
$GC,4180,-1.23,-122.2,457.1,-9.2,314,4188,0.00,2.78,0.00,0.000,4,0.000,0.085,2704,3496,3647
$GC,4209,-1.23,-122.2,460.1,-9.7,315,4214,0.00,2.65,0.00,0.000,6,0.000,0.058,2704,2091,3647
$GC,4527,-1.23,-122.2,488.0,-9.0,331,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2091,3648
$GC,4870,-1.23,-122.2,518.9,-9.0,343,4879,0.00,2.75,0.00,0.000,4,0.000,0.086,2704,3493,3647
$GC,4915,-1.23,-122.2,523.5,-9.8,344,4921,0.00,2.65,0.00,0.000,6,0.000,0.059,2704,2093,3647
$GC,5238,-1.23,-122.2,553.9,-9.3,352,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2093,3648
$GC,5600,-1.23,-122.2,587.6,-9.1,361,5608,0.00,2.75,0.00,0.000,4,0.000,0.087,2704,3493,3649
$GC,5635,-1.23,-122.2,591.0,-9.1,361,5643,0.00,2.65,0.00,0.000,6,0.000,0.059,2704,2092,3649
$GC,5766,-0.31,0.0,602.0,8.8,365,5885,1.05,0.00,102.95,1.399,6,0.115,0.000,2903,2092,3146
$GC,5886,1.23,122.2,606.7,4.8,368,5993,1.67,3.17,97.43,1.351,4,0.090,0.081,3245,522,2647
$GC,6229,1.23,222.3,603.1,3.6,376,6316,0.00,2.65,80.50,1.347,6,0.000,0.058,3246,1924,2239
$GC,6627,1.40,222.3,574.5,8.0,386,6636,0.17,2.72,0.00,0.000,4,0.067,0.083,3283,511,2239
$GC,6726,1.40,222.3,564.7,10.3,388,6735,0.00,2.62,0.00,0.000,6,0.000,0.060,3283,1916,2239
$GC,7077,1.40,222.3,534.1,8.7,397,7085,0.00,2.72,0.00,0.000,4,0.000,0.082,3283,3327,2239
$GC,7120,1.40,222.3,530.2,9.4,398,7128,0.00,2.65,0.00,0.000,6,0.000,0.062,3283,1921,2239
$GC,7445,1.40,222.3,501.0,8.9,406,7453,0.00,2.72,0.00,0.000,4,0.000,0.085,3283,510,2239
$GC,7475,1.40,222.3,498.0,9.2,406,7479,0.00,2.67,0.00,0.000,6,0.000,0.060,3283,1942,2239
$GC,7793,1.40,222.3,472.0,8.2,422,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1946,2239
$GC,8117,1.40,222.3,444.2,8.6,438,8125,0.00,2.78,0.00,0.000,4,0.000,0.082,3283,510,2239
$GC,8159,1.40,222.3,440.2,9.7,440,8168,0.00,2.62,0.00,0.000,6,0.000,0.061,3283,1926,2239
$GC,8486,1.40,223.1,413.5,8.0,456,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1926,2238
$GC,8812,1.40,224.5,387.4,7.9,472,8820,0.00,2.75,1.62,1.493,4,0.000,0.081,3283,3321,2230
$GC,8854,1.40,224.5,383.8,8.2,474,8862,0.00,2.65,0.00,0.000,6,0.000,0.061,3283,1915,2230
$GC,9181,1.40,227.1,357.7,7.9,490,9190,0.00,2.80,2.15,1.449,4,0.000,0.078,3283,3321,2220
$GC,9226,1.41,227.1,353.7,8.9,492,9231,0.00,2.65,0.00,0.000,6,0.000,0.061,3283,1928,2220
$GC,9549,1.41,227.1,326.8,8.7,508,9557,0.00,2.72,0.00,0.000,4,0.000,0.083,3283,510,2220
$GC,9594,1.41,227.1,322.4,9.4,510,9599,0.00,2.65,0.00,0.000,6,0.000,0.059,3283,1916,2220
$GC,9917,1.41,227.1,296.0,8.1,526,9925,0.00,2.70,0.00,0.000,4,0.000,0.080,3283,3325,2220
$GC,9938,1.41,227.1,294.2,8.3,527,9946,0.00,2.62,0.00,0.000,6,0.000,0.061,3283,1919,2220
$GC,10265,1.41,257.6,271.3,6.7,543,10299,0.00,2.80,24.58,1.224,4,0.000,0.082,3283,510,2095
$GC,10372,1.46,257.6,262.1,9.4,548,10377,0.00,2.67,0.00,0.000,6,0.000,0.059,3283,1917,2095
$GC,10696,1.46,257.6,235.0,8.5,564,10712,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1922,2095
$GC,11020,1.46,257.6,206.8,9.0,580,11029,0.00,2.70,0.00,0.000,4,0.000,0.082,3283,3326,2095
$GC,11054,1.46,257.6,203.4,9.5,581,11063,0.00,2.67,0.00,0.000,6,0.000,0.061,3283,1921,2095
$GC,11367,1.46,257.7,177.2,8.0,597,11384,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1920,2095
$GC,11693,1.46,288.5,154.7,6.6,613,11727,0.00,2.83,24.90,1.143,4,0.000,0.084,3283,3324,1969
$GC,11758,1.51,303.1,150.0,7.4,616,11774,0.08,2.70,11.25,1.146,6,0.062,0.065,3304,1931,1910
$GC,12081,1.53,303.1,123.0,8.8,632,12090,0.00,2.75,0.00,0.000,4,0.000,0.091,3304,511,1910
$GC,12124,1.53,303.1,118.9,10.1,634,12132,0.00,2.65,0.00,0.000,6,0.000,0.067,3304,1924,1910
$GC,12442,1.53,307.9,92.4,7.8,663,12451,0.00,2.80,3.47,1.225,4,0.000,0.089,3304,3319,1889
$GC,12495,1.54,307.9,88.1,8.1,673,12503,0.00,2.65,0.00,0.000,6,0.000,0.067,3304,1922,1889
$GC,12814,1.54,329.7,64.8,7.0,735,12839,0.00,2.83,17.40,1.121,4,0.000,0.087,3304,3322,1800
$GC,12914,1.58,329.7,57.0,8.4,754,12922,0.00,2.67,0.00,0.000,6,0.000,0.070,3304,1921,1799
$GC,13232,1.58,339.9,30.7,7.6,816,13249,0.00,2.83,7.43,1.168,4,0.000,0.088,3304,3326,1759
$GC,13287,1.59,354.2,26.8,7.4,826,13306,0.00,2.70,10.80,1.117,6,0.000,0.069,3304,1919,1702
$GC,13618,1.62,389.8,4.5,6.4,890,13653,0.12,2.90,26.77,1.060,4,0.075,0.092,3331,510,1557
$FINISH,0.1,1.025571,0
$SM_CCo,13759,0.00,0.000,0,0,1554,390.52
$RAFOS_CLK,1766
$RAFOS,3,1129350846,4.583333,4.568333,113,50,43,676,796,1432
$RAFOS,2,1129350276,4.416667,4.410000,55,42,38,554,79,1836
$RAFOS,1,1129349667,4.250000,4.240833,121,58,47,471,1374,1437
$RAFOS,0,1129349055,4.083333,4.070833,86,43,43,675,147,165
$RAFOS,4,1129346942,3.500000,3.483889,44,41,41,1222,1360,1489
$RAFOS_FIX,6642.403809,-5844.753418
$TT8_MAMPS,0.020709
$HUMID,1991
$TCM_TEMP,-4.50
$ALTIM_TOP_PING,9.9,10.0
$ALTIM_BOTTOM_PING,576.7,0.0
$24V_AH,23.4,35.896
$10V_AH,10.1,18.161
$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,27.600,152.550,411.250,0.000,0.000,31.296,50.552,120.133,0.500,75.290,867.374,9152.106,818.398,2984.087,347.951,0.000,1761.185,0.000,1025.226,1800.000,3.543
$DEVICE_MAMPS,210.158,94.341,1493.349,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,798.920,2626.972,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,33537,902
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151005,064526,6641.094,-5843.736,41,1.9,41,-37.6