version: 65.02
glider: 18
mission: 1
dive: 83
start: 9 29 105 13 7 51
data:
$ID,18
$MISSION,1
$DIVE,83
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$SM_CC,275
$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,-109791.68
$T_RSLEEP,2
$PITCH_MIN,785
$PITCH_MAX,4062
$C_PITCH,2974
$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,2031
$C_ROLL_CLIMB,1908
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,500
$VBD_MIN,532
$VBD_MAX,3910
$C_VBD,3153
$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
$GPS1,130302,6710.372,-5721.111,41,1.1,45
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-50.7
$GPS2,130734,6710.390,-5721.228,15,1.3,16,-37.9
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_W
$TGT_LATLONG,6642.000,-6048.000
$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,288.8,160337,-16.5,-7.990
$D_GRID,703
$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,17,-1.23,-122.2,0.0,0.0,0,63,0.00,0.00,-44.12,0.000,2,0.000,0.000,786,2037,2886
$GC,65,-1.23,-122.2,3.5,-7.5,9,107,11.75,2.72,-21.27,0.000,4,0.197,0.088,2696,3431,3655
$GC,286,-1.23,-122.2,33.4,-13.1,52,291,0.00,2.62,0.00,0.000,6,0.000,0.052,2697,2026,3656
$GC,601,-1.23,-122.2,69.7,-9.8,113,607,0.00,2.72,0.00,0.000,4,0.000,0.075,2697,3426,3656
$GC,627,-1.23,-122.2,72.2,-10.1,118,632,0.00,2.60,0.00,0.000,6,0.000,0.052,2696,2031,3656
$GC,960,-1.23,-122.2,106.7,-10.2,173,968,0.00,2.67,0.00,0.000,4,0.000,0.074,2696,3437,3655
$GC,1005,-1.23,-122.2,111.5,-10.5,175,1010,0.00,2.60,0.00,0.000,6,0.000,0.052,2696,2039,3656
$GC,1330,-1.23,-122.2,144.5,-11.0,191,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2039,3655
$GC,1653,-1.23,-122.2,177.7,-9.6,207,1661,0.00,2.67,0.00,0.000,4,0.000,0.075,2696,3435,3656
$GC,1716,-1.23,-122.2,183.9,-9.7,210,1724,0.00,2.58,0.00,0.000,6,0.000,0.053,2696,2032,3656
$GC,2043,-1.23,-122.2,213.9,-9.6,226,2051,0.00,2.67,0.00,0.000,4,0.000,0.075,2696,3434,3656
$GC,2093,-1.23,-122.2,219.5,-10.6,228,2098,0.00,2.60,0.00,0.000,6,0.000,0.053,2696,2036,3656
$GC,2412,-1.23,-122.2,250.9,-9.9,244,2420,0.00,2.67,0.00,0.000,4,0.000,0.076,2696,3434,3656
$GC,2447,-1.23,-122.2,254.7,-9.9,245,2455,0.00,2.60,0.00,0.000,6,0.000,0.053,2697,2038,3656
$GC,2759,-1.23,-122.2,283.9,-9.4,261,2767,0.00,2.67,0.00,0.000,4,0.000,0.075,2696,3436,3656
$GC,2794,-1.23,-122.2,287.5,-10.0,262,2802,0.00,2.60,0.00,0.000,6,0.000,0.053,2696,2040,3656
$GC,3107,-1.23,-122.2,318.9,-10.4,278,3115,0.00,2.65,0.00,0.000,4,0.000,0.075,2696,3434,3656
$GC,3141,-1.23,-122.2,322.9,-10.8,279,3149,0.00,2.62,0.00,0.000,6,0.000,0.053,2696,2027,3656
$GC,3454,-1.23,-122.2,355.8,-10.4,295,3462,0.00,2.67,0.00,0.000,4,0.000,0.075,2696,3434,3656
$GC,3504,-1.23,-122.2,361.4,-10.8,297,3509,0.00,2.60,0.00,0.000,6,0.000,0.053,2696,2034,3656
$GC,3824,-1.23,-122.2,392.7,-9.6,313,3832,0.00,2.67,0.00,0.000,4,0.000,0.075,2696,3436,3657
$GC,3858,-1.23,-122.2,396.3,-9.5,314,3866,0.00,2.62,0.00,0.000,6,0.000,0.053,2696,2024,3657
$GC,4170,-1.23,-122.2,424.6,-9.1,330,4179,0.00,2.70,0.00,0.000,4,0.000,0.075,2696,3436,3656
$GC,4213,-1.23,-122.2,428.6,-9.5,332,4222,0.00,2.58,0.00,0.000,6,0.000,0.053,2696,2031,3656
$GC,4540,-1.23,-122.2,459.0,-9.3,348,4548,0.00,2.67,0.00,0.000,4,0.000,0.074,2696,3434,3657
$GC,4569,-1.23,-122.2,462.0,-10.3,349,4574,0.00,2.60,0.00,0.000,6,0.000,0.052,2696,2036,3656
$GC,4887,-1.23,-122.2,491.8,-9.2,365,4895,0.00,2.67,0.00,0.000,4,0.000,0.075,2696,3437,3656
$GC,4932,-1.23,-122.2,496.2,-9.5,367,4937,0.00,2.60,0.00,0.000,6,0.000,0.053,2696,2037,3656
$GC,5273,-1.23,-122.2,526.4,-8.8,377,5281,0.00,2.67,0.00,0.000,4,0.000,0.075,2696,3434,3656
$GC,5323,-1.23,-122.2,531.3,-9.2,378,5329,0.00,2.60,0.00,0.000,6,0.000,0.053,2696,2035,3657
$GC,5641,-1.23,-122.2,560.1,-9.4,386,5649,0.00,2.65,0.00,0.000,4,0.000,0.075,2696,3434,3656
$GC,5685,-1.23,-122.2,564.4,-10.1,387,5693,0.00,2.58,0.00,0.000,6,0.000,0.053,2696,2031,3657
$GC,6010,-1.23,-122.2,595.1,-9.3,395,6018,0.00,2.67,0.00,0.000,4,0.000,0.076,2697,3434,3656
$GC,6060,-1.23,-122.2,600.3,-10.2,396,6065,0.00,2.60,0.00,0.000,6,0.000,0.053,2696,2037,3656
$GC,6377,-1.23,-122.2,630.0,-9.6,404,6385,0.00,2.67,0.00,0.000,4,0.000,0.077,2696,3436,3656
$GC,6401,-1.23,-122.2,632.7,-10.8,404,6406,0.00,2.60,0.00,0.000,6,0.000,0.054,2696,2038,3656
$GC,6742,-1.23,-122.2,664.3,-9.2,413,6750,0.00,2.67,0.00,0.000,4,0.000,0.078,2697,3434,3656
$GC,6777,-1.23,-122.2,667.9,-10.0,413,6784,0.00,2.60,0.00,0.000,6,0.000,0.054,2696,2035,3656
$GC,7107,-1.23,-122.2,698.3,-9.1,422,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2035,3656
$GC,7189,-0.31,0.0,706.2,9.4,424,7308,1.08,0.00,101.55,1.421,6,0.114,0.000,2902,2034,3153
$GC,7310,1.23,122.2,710.1,4.7,427,7420,1.65,2.53,98.65,1.368,4,0.085,0.072,3242,3310,2652
$GC,7461,1.23,222.1,710.4,3.6,430,7548,0.00,2.65,80.35,1.341,6,0.000,0.057,3242,1914,2247
$GC,7878,1.40,229.7,680.8,7.7,441,7919,0.17,0.00,6.75,1.437,6,0.063,0.000,3279,1914,2216
$GC,8241,1.41,229.7,646.3,9.4,450,8249,0.00,2.70,0.00,0.000,4,0.000,0.074,3279,3316,2214
$GC,8284,1.41,229.7,642.0,10.4,451,8292,0.00,2.62,0.00,0.000,6,0.000,0.057,3279,1908,2214
$GC,8610,1.41,229.7,611.7,9.3,459,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1910,2214
$GC,8972,1.41,229.7,579.4,8.7,468,8980,0.00,2.67,0.00,0.000,4,0.000,0.074,3279,3310,2214
$GC,9007,1.41,229.7,576.1,9.3,468,9015,0.00,2.62,0.00,0.000,6,0.000,0.058,3280,1917,2213
$GC,9337,1.41,229.7,545.8,9.4,477,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1917,2214
$GC,9700,1.41,229.7,510.5,9.9,486,9708,0.00,2.67,0.00,0.000,4,0.000,0.074,3279,3314,2213
$GC,9735,1.41,229.7,506.6,10.8,486,9742,0.00,2.62,0.00,0.000,6,0.000,0.058,3279,1917,2213
$GC,10046,1.41,229.7,474.9,10.1,500,10064,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1917,2213
$GC,10373,1.41,229.7,443.3,9.4,516,10381,0.00,2.65,0.00,0.000,4,0.000,0.074,3279,3310,2213
$GC,10397,1.41,229.7,440.6,9.6,517,10402,0.00,2.62,0.00,0.000,6,0.000,0.058,3279,1912,2213
$GC,10720,1.41,229.7,411.2,9.0,533,10737,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1911,2212
$GC,11045,1.41,229.7,382.1,8.7,549,11053,0.00,2.67,0.00,0.000,4,0.000,0.072,3279,3315,2213
$GC,11090,1.41,229.7,377.8,9.5,551,11095,0.00,2.62,0.00,0.000,6,0.000,0.057,3279,1914,2213
$GC,11413,1.41,229.7,350.4,8.5,567,11430,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1914,2212
$GC,11738,1.41,229.7,321.3,9.4,583,11755,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1914,2213
$GC,12063,1.41,229.7,288.3,10.5,599,12071,0.00,2.65,0.00,0.000,4,0.000,0.071,3279,3311,2212
$GC,12108,1.41,229.7,283.2,11.2,601,12113,0.00,2.62,0.00,0.000,6,0.000,0.057,3279,1908,2212
$GC,12431,1.41,229.7,250.9,9.7,617,12439,0.00,2.65,0.00,0.000,4,0.000,0.072,3279,3310,2212
$GC,12452,1.41,229.7,248.8,10.0,618,12461,0.00,2.60,0.00,0.000,6,0.000,0.057,3279,1904,2213
$GC,12778,1.41,229.7,219.8,8.4,634,12787,0.00,2.67,0.00,0.000,4,0.000,0.073,3279,3311,2213
$GC,12808,1.41,229.7,217.0,8.9,635,12813,0.00,2.60,0.00,0.000,6,0.000,0.056,3279,1918,2212
$GC,13126,1.41,229.7,190.3,8.7,651,13134,0.00,2.65,0.00,0.000,4,0.000,0.072,3279,3314,2212
$GC,13155,1.41,229.7,187.4,9.2,652,13160,0.00,2.62,0.00,0.000,6,0.000,0.057,3279,1913,2213
$GC,13474,1.41,229.7,158.7,9.2,668,13482,0.00,2.65,0.00,0.000,4,0.000,0.073,3280,3311,2213
$GC,13503,1.41,229.7,155.5,9.5,669,13508,0.00,2.62,0.00,0.000,6,0.000,0.057,3279,1908,2213
$GC,13821,1.41,253.7,130.5,6.9,685,13845,0.00,2.78,18.45,1.104,4,0.000,0.071,3279,3309,2117
$GC,13887,1.45,265.1,125.7,7.5,688,13902,0.00,2.65,8.48,1.127,6,0.000,0.058,3279,1909,2072
$GC,14210,1.47,265.1,100.8,8.2,704,14219,0.00,2.67,0.00,0.000,4,0.000,0.073,3279,3311,2070
$GC,14232,1.47,275.5,99.0,7.5,705,14246,0.00,2.60,8.02,1.124,6,0.000,0.058,3279,1906,2028
$GC,14555,1.49,275.5,71.0,8.9,768,14561,0.00,2.70,0.00,0.000,4,0.000,0.073,3279,3305,2027
$GC,14592,1.49,275.5,67.8,8.8,775,14597,0.00,2.60,0.00,0.000,6,0.000,0.058,3279,1918,2026
$GC,14907,1.49,275.5,42.3,8.5,836,14912,0.00,2.72,0.00,0.000,4,0.000,0.081,3279,508,2026
$GC,14964,1.49,275.5,37.5,8.6,847,14969,0.00,2.60,0.00,0.000,6,0.000,0.054,3279,1906,2026
$GC,15280,1.49,300.9,16.5,6.9,908,15306,0.00,2.78,18.77,1.020,4,0.000,0.072,3279,3313,1925
$GC,15351,1.53,306.4,11.0,7.7,922,15363,0.10,2.65,3.83,1.088,6,0.058,0.056,3305,1909,1903
$FINISH,0.1,1.026556,0
$SM_CCo,15558,0.00,0.000,0,0,1898,307.61
$RAFOS_CLK,756
$RAFOS,3,1128011641,16.583334,16.566944,105,43,41,974,1111,165
$RAFOS,2,1128011049,16.416666,16.402500,103,47,45,568,1000,122
$RAFOS,1,1128010460,16.250000,16.238890,103,44,41,713,1794,65
$RAFOS,0,1128009849,16.083334,16.069166,85,48,46,943,147,484
$RAFOS,4,1128007759,15.500000,15.488611,44,41,41,1607,756,1722
$RAFOS_FIX,6709.189941,-5721.034668
$TT8_MAMPS,0.021476
$HUMID,2015
$TCM_TEMP,0.00
$ALTIM_TOP_PING,9.7,9.5
$ALTIM_BOTTOM_PING,679.8,38.9
$24V_AH,23.5,18.829
$10V_AH,10.1,9.963
$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,26.725,180.050,344.850,0.000,0.000,31.294,30.115,118.757,0.500,63.504,940.954,10704.525,857.290,3131.666,313.479,0.000,1849.360,0.000,1055.297,1800.000,3.326
$DEVICE_MAMPS,197.119,88.205,1436.591,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,842.648,2803.519,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34967,947
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290905,172858,6709.986,-5729.667,43,1.2,43,-37.9