version: 65.02
glider: 18
mission: 1
dive: 231
start: 10 20 105 11 54 13
data:
$ID,18
$MISSION,1
$DIVE,231
$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,-123684.58
$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,15
$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,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
$GPS1,114838,6706.099,-5702.368,29,1.5,57
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-50.7
$GPS2,115357,6706.116,-5702.458,16,1.5,33,-37.7
$SPEED_LIMITS,0.139,0.223
$TGT_NAME,NUUK_01
$TGT_LATLONG,6645.000,-5745.000
$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,256.2,49966,-16.4,-8.000
$D_GRID,575
$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,-122.2,0.0,0.0,0,65,0.00,0.00,-44.45,0.000,2,0.000,0.000,785,2074,2734
$GC,67,-1.23,-122.2,3.3,-6.3,9,114,11.98,2.80,-28.33,0.000,4,0.204,0.094,2703,3490,3647
$GC,304,-1.23,-122.2,33.4,-12.5,55,309,0.00,2.65,0.00,0.000,6,0.000,0.058,2703,2086,3648
$GC,619,-1.23,-122.2,69.2,-11.0,116,625,0.00,2.75,0.00,0.000,4,0.000,0.081,2703,3489,3647
$GC,666,-1.23,-122.2,73.9,-11.5,124,674,0.00,2.60,0.00,0.000,6,0.000,0.057,2703,2083,3647
$GC,991,-1.23,-122.2,108.4,-10.3,175,999,0.00,2.65,0.00,0.000,4,0.000,0.074,2703,676,3648
$GC,1033,-1.23,-122.2,113.1,-11.4,177,1041,0.00,2.60,0.00,0.000,6,0.000,0.058,2703,2086,3647
$GC,1360,-1.23,-122.2,149.0,-11.0,193,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2086,3650
$GC,1684,-1.23,-122.2,179.9,-8.9,209,1692,0.00,2.70,0.00,0.000,4,0.000,0.077,2703,677,3650
$GC,1776,-1.23,-122.2,189.0,-9.8,213,1782,0.00,2.65,0.00,0.000,6,0.000,0.062,2703,2080,3650
$GC,2094,-1.23,-122.2,219.2,-9.7,229,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2080,3650
$GC,2419,-1.23,-122.2,249.8,-9.6,245,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2080,3650
$GC,2745,-1.23,-122.2,281.1,-10.0,261,2753,0.00,2.70,0.00,0.000,4,0.000,0.081,2703,3492,3650
$GC,2767,-1.23,-122.2,283.3,-10.1,262,2775,0.00,2.60,0.00,0.000,6,0.000,0.056,2703,2084,3650
$GC,3093,-1.23,-122.2,316.8,-10.3,278,3101,0.00,2.65,0.00,0.000,4,0.000,0.074,2703,670,3649
$GC,3128,-1.23,-122.2,320.8,-11.1,279,3135,0.00,2.62,0.00,0.000,6,0.000,0.057,2704,2076,3650
$GC,3440,-1.23,-122.2,351.7,-9.6,295,3448,0.00,2.70,0.00,0.000,4,0.000,0.081,2703,3492,3650
$GC,3464,-1.23,-122.2,354.3,-10.6,296,3469,0.00,2.62,0.00,0.000,6,0.000,0.054,2703,2087,3650
$GC,3788,-1.23,-122.2,385.8,-10.0,312,3796,0.00,2.65,0.00,0.000,4,0.000,0.074,2703,673,3650
$GC,3838,-1.23,-122.2,391.4,-10.7,314,3843,0.00,2.62,0.00,0.000,6,0.000,0.056,2704,2080,3650
$GC,4156,-1.23,-122.2,422.2,-9.1,330,4164,0.00,2.70,0.00,0.000,4,0.000,0.081,2703,3495,3650
$GC,4178,-1.23,-122.2,424.1,-9.1,331,4186,0.00,2.60,0.00,0.000,6,0.000,0.054,2704,2086,3650
$GC,4504,-1.23,-122.2,453.3,-9.2,347,4512,0.00,2.65,0.00,0.000,4,0.000,0.074,2703,674,3650
$GC,4568,-1.23,-122.2,459.4,-9.8,350,4576,0.00,2.60,0.00,0.000,6,0.000,0.057,2703,2088,3650
$GC,4895,-1.23,-122.2,489.9,-9.6,366,4903,0.00,2.67,0.00,0.000,4,0.000,0.072,2703,676,3650
$GC,4939,-1.23,-122.2,494.5,-9.3,368,4945,0.00,2.62,0.00,0.000,6,0.000,0.057,2703,2085,3650
$GC,5261,-1.23,-122.2,523.0,-8.7,378,5269,0.00,2.65,0.00,0.000,4,0.000,0.071,2703,678,3650
$GC,5303,-1.23,-122.2,527.0,-9.6,379,5312,0.00,2.58,0.00,0.000,6,0.000,0.056,2703,2085,3650
$GC,5631,-1.23,-122.2,556.0,-8.9,387,5639,0.00,2.65,0.00,0.000,4,0.000,0.071,2703,676,3650
$GC,5667,-1.23,-122.2,559.5,-9.1,387,5673,0.00,2.60,0.00,0.000,6,0.000,0.055,2704,2077,3650
$GC,5876,-0.31,0.0,577.7,8.9,393,5996,1.05,0.00,102.97,1.326,6,0.113,0.000,2904,2083,3145
$GC,5997,1.23,122.2,582.0,4.4,396,6103,1.62,2.45,97.47,1.269,4,0.078,0.071,3246,3320,2646
$GC,6261,1.23,192.6,577.5,4.9,402,6330,0.00,2.60,56.72,1.259,6,0.000,0.055,3246,1921,2359
$GC,6652,1.35,196.9,547.9,7.8,412,6662,0.12,2.72,3.50,1.363,4,0.070,0.071,3273,3325,2342
$GC,6713,1.36,196.9,542.0,9.6,413,6719,0.00,2.65,0.00,0.000,6,0.000,0.056,3273,1922,2342
$GC,7059,1.36,196.9,511.2,8.8,422,7068,0.00,2.70,0.00,0.000,4,0.000,0.079,3273,508,2342
$GC,7127,1.36,196.9,504.5,10.2,423,7131,0.00,2.62,0.00,0.000,6,0.000,0.054,3273,1911,2342
$GC,7449,1.36,196.9,477.2,8.3,438,7457,0.00,2.70,0.00,0.000,4,0.000,0.076,3273,507,2341
$GC,7478,1.36,196.9,474.4,9.3,439,7483,0.00,2.62,0.00,0.000,6,0.000,0.054,3273,1914,2341
$GC,7798,1.36,196.9,446.6,8.8,455,7806,0.00,2.67,0.00,0.000,4,0.000,0.076,3273,510,2341
$GC,7821,1.36,196.9,444.4,9.4,456,7829,0.00,2.58,0.00,0.000,6,0.000,0.055,3274,1923,2341
$GC,8147,1.36,196.9,416.7,8.4,472,8155,0.00,2.70,0.00,0.000,4,0.000,0.077,3273,510,2342
$GC,8191,1.36,196.9,412.3,9.6,474,8197,0.00,2.62,0.00,0.000,6,0.000,0.056,3273,1915,2342
$GC,8516,1.36,196.9,384.9,8.3,490,8524,0.00,2.70,0.00,0.000,4,0.000,0.077,3273,510,2341
$GC,8550,1.36,196.9,381.6,8.8,491,8558,0.00,2.62,0.00,0.000,6,0.000,0.057,3273,1916,2342
$GC,8863,1.36,214.0,358.1,7.2,507,8880,0.00,0.00,14.02,1.252,6,0.000,0.000,3273,1916,2272
$GC,9189,1.38,214.0,331.2,8.3,523,9197,0.00,2.70,0.00,0.000,4,0.000,0.077,3273,508,2271
$GC,9210,1.38,214.0,329.3,8.5,524,9218,0.00,2.60,0.00,0.000,6,0.000,0.057,3273,1922,2271
$GC,9536,1.38,214.0,302.1,8.6,540,9544,0.00,2.70,0.00,0.000,4,0.000,0.077,3273,510,2271
$GC,9566,1.38,214.0,299.2,9.3,541,9571,0.00,2.62,0.00,0.000,6,0.000,0.057,3273,1911,2271
$GC,9883,1.38,214.0,271.6,9.0,557,9900,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1915,2271
$GC,10209,1.38,214.0,242.0,8.7,573,10218,0.00,2.70,0.00,0.000,4,0.000,0.078,3273,510,2271
$GC,10233,1.38,214.0,239.4,9.5,574,10238,0.00,2.65,0.00,0.000,6,0.000,0.058,3273,1920,2271
$GC,10557,1.38,226.3,214.3,7.5,590,10574,0.00,0.00,9.55,1.194,6,0.000,0.000,3273,1924,2222
$GC,10881,1.41,239.7,190.2,7.4,606,10900,0.00,2.85,11.20,1.163,4,0.000,0.080,3274,510,2167
$GC,10927,1.43,239.7,186.4,8.6,608,10931,0.00,2.65,0.00,0.000,6,0.000,0.061,3273,1920,2167
$GC,11249,1.43,239.7,160.5,8.2,624,11257,0.00,2.72,0.00,0.000,4,0.000,0.082,3273,510,2167
$GC,11283,1.43,239.7,157.5,8.4,625,11292,0.00,2.65,0.00,0.000,6,0.000,0.061,3273,1914,2167
$GC,11597,1.43,243.9,133.4,7.8,641,11614,0.00,0.00,3.20,1.213,6,0.000,0.000,3273,1914,2150
$GC,11921,1.43,243.9,106.9,8.0,657,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1914,2149
$GC,12251,1.43,273.5,81.7,6.7,706,12280,0.00,2.80,22.73,1.075,4,0.000,0.077,3273,3316,2029
$GC,12318,1.48,274.8,76.5,7.9,719,12327,0.12,2.62,0.00,0.000,6,0.071,0.058,3300,1916,2029
$GC,12640,1.49,284.2,50.8,7.6,781,12654,0.00,2.78,7.80,1.091,4,0.000,0.074,3300,3320,1986
$GC,12723,1.50,284.2,43.9,8.4,797,12732,0.00,2.60,0.00,0.000,6,0.000,0.057,3300,1919,1986
$GC,13044,1.50,284.2,17.8,8.9,859,13049,0.00,2.70,0.00,0.000,4,0.000,0.079,3300,517,1985
$GC,13112,1.50,284.2,11.6,8.4,872,13117,0.00,2.60,0.00,0.000,6,0.000,0.055,3300,1910,1985
$FINISH,0.2,1.023485,0
$SM_CCo,13320,23.80,0.990,0,0,1861,315.21
$RAFOS_CLK,720
$RAFOS,4,1129822149,15.500000,15.485833,42,41,41,313,1417,1769
$RAFOS,3,1129811652,12.583333,12.570000,86,43,43,940,291,1071
$RAFOS,2,1129811043,12.416667,12.400833,44,42,42,1748,147,1788
$RAFOS,1,1129810450,12.250000,12.236111,79,48,43,816,1641,1366
$RAFOS,0,1129809842,12.083333,12.067223,64,55,50,1040,165,609
$TT8_MAMPS,0.022243
$HUMID,1987
$TCM_TEMP,-1.00
$ALTIM_TOP_PING,10.0,9.7
$ALTIM_BOTTOM_PING,552.3,38.1
$24V_AH,23.5,41.011
$10V_AH,10.1,21.067
$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,26.750,149.150,329.175,23.800,0.000,31.292,33.212,127.373,0.500,93.111,858.089,8858.031,712.315,2996.850,346.156,0.000,1627.919,0.000,1002.530,1800.000,3.674
$DEVICE_MAMPS,204.022,93.574,1362.959,990.197,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,804.755,2658.728,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34286,908
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201005,153809,6707.201,-5710.882,44,1.8,44,-37.7