version: 65.02
glider: 18
mission: 1
dive: 84
start: 9 29 105 17 33 39
data:
$ID,18
$MISSION,1
$DIVE,84
$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,-109850.59
$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,17
$R_STBD_OVSHOOT,27
$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
$GPS1,172858,6709.986,-5729.667,43,1.2,43
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-50.7
$GPS2,173322,6709.985,-5729.739,12,1.5,13,-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,288.3,154207,-16.5,-7.990
$D_GRID,744
$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,-44.15,0.000,2,0.000,0.000,786,2037,2850
$GC,65,-1.23,-122.2,3.3,-7.3,9,107,11.82,2.72,-23.55,0.000,4,0.199,0.090,2698,3427,3654
$GC,253,-1.23,-122.2,26.6,-12.2,45,261,0.00,2.60,0.00,0.000,6,0.000,0.054,2698,2023,3656
$GC,571,-1.23,-122.2,67.0,-11.6,107,577,0.00,2.72,0.00,0.000,4,0.000,0.076,2698,3421,3656
$GC,605,-1.23,-122.2,70.6,-11.4,113,613,0.00,2.58,0.00,0.000,6,0.000,0.054,2698,2029,3656
$GC,932,-1.23,-122.2,107.7,-11.7,167,940,0.00,2.67,0.00,0.000,4,0.000,0.075,2698,3431,3656
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$GC,1279,-1.23,-122.2,147.3,-11.2,184,1287,0.00,2.67,0.00,0.000,4,0.000,0.076,2697,3432,3656
$GC,1308,-1.23,-122.2,151.0,-12.0,185,1313,0.00,2.62,0.00,0.000,6,0.000,0.053,2698,2027,3656
$GC,1626,-1.23,-122.2,184.0,-10.2,201,1635,0.00,2.67,0.00,0.000,4,0.000,0.076,2698,3428,3656
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$GC,2377,-1.23,-122.2,261.9,-10.9,237,2384,0.00,2.60,0.00,0.000,6,0.000,0.054,2698,2034,3656
$GC,2689,-1.23,-122.2,295.7,-10.9,253,2697,0.00,2.67,0.00,0.000,4,0.000,0.076,2698,3428,3656
$GC,2713,-1.23,-122.2,298.6,-12.0,254,2718,0.00,2.60,0.00,0.000,6,0.000,0.054,2698,2035,3656
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$GC,3081,-1.23,-122.2,334.7,-9.5,272,3086,0.00,2.60,0.00,0.000,6,0.000,0.054,2698,2039,3656
$GC,3405,-1.23,-122.2,362.1,-8.5,288,3413,0.00,2.65,0.00,0.000,4,0.000,0.075,2698,3430,3656
$GC,3460,-1.23,-122.2,367.1,-9.0,290,3468,0.00,2.60,0.00,0.000,6,0.000,0.053,2698,2034,3656
$GC,3773,-1.23,-122.2,394.7,-9.3,306,3781,0.00,2.67,0.00,0.000,4,0.000,0.074,2698,3433,3656
$GC,3816,-1.23,-122.2,398.9,-9.8,308,3824,0.00,2.58,0.00,0.000,6,0.000,0.053,2698,2032,3656
$GC,4142,-1.23,-122.2,432.5,-10.6,324,4151,0.00,2.67,0.00,0.000,4,0.000,0.075,2698,3433,3656
$GC,4171,-1.23,-122.2,436.0,-11.3,325,4177,0.00,2.60,0.00,0.000,6,0.000,0.052,2698,2033,3656
$GC,4491,-1.23,-122.2,468.5,-10.1,341,4499,0.00,2.67,0.00,0.000,4,0.000,0.074,2698,3434,3656
$GC,4525,-1.23,-122.2,472.4,-10.2,342,4533,0.00,2.60,0.00,0.000,6,0.000,0.052,2698,2039,3656
$GC,4838,-1.23,-122.2,501.4,-9.2,358,4846,0.00,2.65,0.00,0.000,4,0.000,0.074,2698,3430,3656
$GC,4867,-1.23,-122.2,504.5,-10.5,358,4873,0.00,2.60,0.00,0.000,6,0.000,0.052,2698,2032,3656
$GC,5203,-1.23,-122.2,535.8,-9.4,367,5211,0.00,2.67,0.00,0.000,4,0.000,0.075,2698,3433,3656
$GC,5232,-1.23,-122.2,538.9,-10.2,367,5238,0.00,2.60,0.00,0.000,6,0.000,0.052,2698,2035,3656
$GC,5569,-1.23,-122.2,570.1,-9.4,376,5577,0.00,2.67,0.00,0.000,4,0.000,0.075,2698,3433,3656
$GC,5614,-1.23,-122.2,574.7,-9.9,377,5619,0.00,2.60,0.00,0.000,6,0.000,0.053,2698,2034,3656
$GC,5936,-1.23,-122.2,605.9,-9.8,385,5944,0.00,2.67,0.00,0.000,4,0.000,0.075,2698,3430,3657
$GC,5965,-1.23,-122.2,609.2,-11.2,385,5970,0.00,2.60,0.00,0.000,6,0.000,0.053,2697,2033,3656
$GC,6301,-1.23,-122.2,641.8,-9.6,394,6309,0.00,2.67,0.00,0.000,4,0.000,0.076,2698,3430,3656
$GC,6347,-1.23,-122.2,646.5,-10.0,395,6356,0.00,2.58,0.00,0.000,6,0.000,0.054,2698,2026,3655
$GC,6668,-1.23,-122.2,677.8,-9.9,403,6676,0.00,2.67,0.00,0.000,4,0.000,0.077,2698,3428,3656
$GC,6713,-1.23,-122.2,682.7,-10.4,404,6718,0.00,2.60,0.00,0.000,6,0.000,0.054,2698,2034,3656
$GC,7035,-1.23,-122.2,713.5,-9.6,412,7043,0.00,2.67,0.00,0.000,4,0.000,0.078,2698,3428,3656
$GC,7080,-1.23,-122.2,718.1,-9.6,413,7085,0.00,2.60,0.00,0.000,6,0.000,0.054,2698,2034,3656
$GC,7404,-0.31,0.0,747.0,9.0,421,7522,1.08,0.00,102.72,1.438,6,0.116,0.000,2903,2033,3152
$GC,7524,1.23,122.2,751.4,4.7,424,7635,1.65,3.03,98.62,1.389,4,0.083,0.079,3243,501,2653
$GC,7697,1.23,187.2,749.2,5.1,428,7759,0.00,2.62,52.75,1.379,6,0.000,0.052,3245,1903,2389
$GC,8094,1.34,197.1,721.1,7.6,438,8109,0.10,2.78,8.05,1.466,4,0.071,0.074,3264,3307,2349
$GC,8150,1.36,197.1,716.2,9.1,439,8155,0.00,2.65,0.00,0.000,6,0.000,0.057,3264,1914,2348
$GC,8461,1.36,197.1,690.5,8.3,447,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1914,2347
$GC,8824,1.36,197.1,660.5,8.2,456,8832,0.00,2.70,0.00,0.000,4,0.000,0.074,3264,3316,2347
$GC,8868,1.36,197.1,657.0,8.7,457,8876,0.00,2.62,0.00,0.000,6,0.000,0.058,3264,1908,2347
$GC,9193,1.36,197.1,629.1,8.6,465,9201,0.00,2.70,0.00,0.000,4,0.000,0.081,3264,495,2346
$GC,9222,1.36,197.1,626.1,9.5,465,9227,0.00,2.62,0.00,0.000,6,0.000,0.054,3264,1899,2346
$GC,9558,1.36,197.1,598.2,8.1,474,9566,0.00,2.70,0.00,0.000,4,0.000,0.079,3264,498,2346
$GC,9601,1.36,197.1,594.4,9.0,475,9609,0.00,2.60,0.00,0.000,6,0.000,0.055,3264,1911,2346
$GC,9926,1.36,197.1,566.4,8.6,483,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1915,2346
$GC,10288,1.36,197.1,536.0,8.3,492,10328,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1916,2346
$GC,10652,1.36,207.1,507.7,7.6,501,10691,0.00,0.00,7.28,1.410,6,0.000,0.000,3264,1916,2307
$GC,10997,1.38,213.1,481.3,7.7,515,11011,0.00,2.78,4.72,1.423,4,0.000,0.077,3264,496,2283
$GC,11031,1.39,213.1,478.0,8.5,516,11039,0.00,2.65,0.00,0.000,6,0.000,0.054,3264,1913,2283
$GC,11344,1.39,213.1,452.7,8.5,532,11361,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1913,2283
$GC,11670,1.39,213.1,424.7,8.8,548,11686,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1913,2283
$GC,11994,1.39,215.3,397.3,7.9,564,12002,0.00,2.70,0.00,0.000,4,0.000,0.076,3264,496,2283
$GC,12018,1.39,215.3,395.1,8.3,565,12028,0.00,2.60,1.73,1.415,6,0.000,0.054,3264,1904,2274
$GC,12342,1.39,224.9,370.5,7.6,581,12356,0.00,2.78,7.43,1.311,4,0.000,0.073,3264,3314,2236
$GC,12384,1.41,224.9,367.0,8.1,583,12393,0.00,2.62,0.00,0.000,6,0.000,0.055,3264,1906,2236
$GC,12711,1.41,224.9,339.9,8.5,599,12728,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1906,2236
$GC,13036,1.41,224.9,312.6,8.4,615,13045,0.00,2.67,0.00,0.000,4,0.000,0.072,3264,3311,2235
$GC,13071,1.41,224.9,309.2,8.9,616,13079,0.00,2.62,0.00,0.000,6,0.000,0.055,3264,1912,2236
$GC,13384,1.41,224.9,283.3,8.1,632,13401,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1911,2236
$GC,13710,1.41,224.9,256.4,8.5,648,13725,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1911,2236
$GC,14033,1.41,224.9,228.6,8.7,664,14041,0.00,2.67,0.00,0.000,4,0.000,0.072,3264,3316,2236
$GC,14055,1.41,224.9,226.6,9.2,665,14063,0.00,2.60,0.00,0.000,6,0.000,0.056,3264,1906,2236
$GC,14381,1.41,224.9,198.8,8.3,681,14389,0.00,2.67,0.00,0.000,4,0.000,0.072,3264,3309,2236
$GC,14410,1.41,224.9,196.1,8.2,682,14415,0.00,2.60,0.00,0.000,6,0.000,0.056,3264,1916,2235
$GC,14729,1.41,231.2,172.1,7.7,698,14743,0.00,2.72,5.28,1.197,4,0.000,0.079,3264,498,2209
$GC,14763,1.42,231.2,169.2,8.4,699,14771,0.00,2.62,0.00,0.000,6,0.000,0.054,3264,1907,2209
$GC,15076,1.42,253.9,146.5,7.0,715,15100,0.00,2.78,17.48,1.112,4,0.000,0.074,3264,3308,2117
$GC,15131,1.45,257.1,142.2,7.9,717,15140,0.08,2.62,2.03,1.203,6,0.069,0.056,3286,1919,2104
$GC,15443,1.46,262.6,117.8,7.7,733,15457,0.00,2.75,4.35,1.157,4,0.000,0.080,3286,497,2082
$GC,15486,1.47,262.6,114.0,8.8,735,15494,0.00,2.60,0.00,0.000,6,0.000,0.054,3286,1913,2082
$GC,15805,1.47,262.6,85.1,8.8,773,15807,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1913,2081
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$GC,16170,1.49,278.9,58.0,7.9,844,16181,0.00,2.62,1.70,1.177,6,0.000,0.057,3285,1902,2016
$GC,16490,1.50,290.7,33.2,7.5,906,16506,0.00,2.80,9.20,1.063,4,0.000,0.072,3286,3312,1967
$GC,16578,1.52,290.7,26.2,8.3,923,16583,0.00,2.65,0.00,0.000,6,0.000,0.056,3286,1908,1966
$GC,16893,1.52,319.0,2.3,6.8,984,16904,0.00,0.00,9.15,1.037,2,0.000,0.000,3286,1908,1916
$FINISH,0.2,1.021345,0
$SM_CCo,17012,0.00,0.000,0,0,1913,304.17
$RAFOS_CLK,834
$RAFOS,4,1128029356,21.500000,21.487778,53,45,45,147,165,1126
$RAFOS,3,1128026052,20.583334,20.570000,77,48,45,903,1020,191
$RAFOS,2,1128025467,20.416666,20.407499,157,45,43,466,1429,111
$RAFOS,1,1128024844,20.250000,20.234444,129,43,40,783,1637,176
$RAFOS,0,1128024251,20.083334,20.069723,71,48,42,917,1282,1636
$RAFOS_FIX,6709.683105,-5731.120605
$TT8_MAMPS,0.020709
$HUMID,2012
$TCM_TEMP,-0.50
$ALTIM_TOP_PING,9.6,9.1
$ALTIM_BOTTOM_PING,719.1,44.3
$24V_AH,23.5,18.972
$10V_AH,10.1,10.060
$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,26.700,191.650,342.675,0.000,0.000,32.338,29.368,114.697,0.500,58.917,974.208,11885.429,876.324,3333.848,317.680,0.000,1931.061,0.000,1125.308,1800.000,3.332
$DEVICE_MAMPS,199.420,89.739,1465.737,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,880.913,2971.243,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,36380,991
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290905,221841,6709.598,-5737.812,28,1.7,28,-37.9