version: 65.02
glider: 18
mission: 1
dive: 90
start: 10 1 105 1 14 52
data:
$ID,18
$MISSION,1
$DIVE,90
$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,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,-110499.12
$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,2014
$C_ROLL_CLIMB,1903
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,24
$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
$GPS1,010620,6700.296,-5812.242,31,4.8,70
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-47.9
$GPS2,011438,6700.241,-5812.601,36,1.5,65,-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,291.4,118745,-16.4,-7.990
$D_GRID,988
$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,-122.2,0.0,0.0,0,86,0.00,0.00,-65.85,0.000,2,0.000,0.000,788,2021,2780
$GC,87,-1.23,-122.2,3.1,-5.3,13,135,12.07,2.75,-25.38,0.000,4,0.210,0.100,2700,3413,3647
$GC,301,-1.23,-122.2,36.1,-13.5,54,310,0.00,2.65,0.00,0.000,6,0.000,0.062,2700,2004,3648
$GC,620,-1.23,-122.2,74.0,-12.3,116,625,0.00,2.80,0.00,0.000,4,0.000,0.086,2700,3412,3648
$GC,666,-1.23,-122.2,79.8,-12.4,125,672,0.00,2.65,0.00,0.000,6,0.000,0.062,2699,2020,3648
$GC,982,-1.23,-122.2,117.1,-11.3,165,990,0.00,2.75,0.00,0.000,4,0.000,0.088,2699,3415,3648
$GC,1074,-1.23,-122.2,128.2,-11.9,169,1079,0.00,2.67,0.00,0.000,6,0.000,0.063,2699,2013,3648
$GC,1393,-1.23,-122.2,163.7,-10.8,185,1401,0.00,2.78,0.00,0.000,4,0.000,0.089,2699,3416,3648
$GC,1443,-1.23,-122.2,169.5,-10.4,187,1449,0.00,2.67,0.00,0.000,6,0.000,0.064,2700,2018,3648
$GC,1763,-1.23,-122.2,202.4,-10.7,203,1771,0.00,2.75,0.00,0.000,4,0.000,0.089,2699,3412,3648
$GC,1827,-1.23,-122.2,209.4,-11.0,206,1835,0.00,2.62,0.00,0.000,6,0.000,0.064,2700,2015,3648
$GC,2153,-1.23,-122.2,244.8,-11.1,222,2161,0.00,2.75,0.00,0.000,4,0.000,0.087,2699,3412,3648
$GC,2209,-1.23,-122.2,251.4,-11.2,224,2216,0.00,2.65,0.00,0.000,6,0.000,0.063,2699,2023,3648
$GC,2521,-1.23,-122.2,285.3,-11.1,240,2529,0.00,2.72,0.00,0.000,4,0.000,0.084,2699,3416,3647
$GC,2571,-1.23,-122.2,291.4,-11.7,242,2577,0.00,2.65,0.00,0.000,6,0.000,0.061,2700,2017,3647
$GC,2889,-1.23,-122.2,326.7,-10.8,258,2898,0.00,2.72,0.00,0.000,4,0.000,0.082,2700,3418,3645
$GC,2955,-1.23,-122.2,334.4,-11.3,261,2960,0.00,2.65,0.00,0.000,6,0.000,0.059,2699,2014,3646
$GC,3279,-1.23,-122.2,368.8,-11.0,277,3287,0.00,2.67,0.00,0.000,4,0.000,0.079,2699,3412,3646
$GC,3350,-1.23,-122.2,377.0,-11.2,280,3355,0.00,2.62,0.00,0.000,6,0.000,0.057,2699,2019,3646
$GC,3668,-1.23,-122.2,408.7,-9.6,296,3676,0.00,2.67,0.00,0.000,4,0.000,0.077,2699,3413,3646
$GC,3723,-1.23,-122.2,414.3,-9.6,298,3731,0.00,2.62,0.00,0.000,6,0.000,0.056,2699,2014,3645
$GC,4036,-1.23,-122.2,442.9,-9.4,314,4044,0.00,2.70,0.00,0.000,4,0.000,0.077,2699,3418,3646
$GC,4081,-1.23,-122.2,447.7,-10.3,316,4086,0.00,2.62,0.00,0.000,6,0.000,0.055,2699,2015,3645
$GC,4404,-1.23,-122.2,480.1,-10.3,332,4413,0.00,2.67,0.00,0.000,4,0.000,0.076,2699,3413,3645
$GC,4468,-1.23,-122.2,487.0,-10.7,335,4476,0.00,2.60,0.00,0.000,6,0.000,0.055,2699,2006,3645
$GC,4813,-1.23,-122.2,522.6,-10.2,347,4821,0.00,2.67,0.00,0.000,4,0.000,0.075,2700,3414,3645
$GC,4858,-1.23,-122.2,527.6,-10.4,348,4863,0.00,2.60,0.00,0.000,6,0.000,0.054,2700,2023,3646
$GC,5180,-1.23,-122.2,557.9,-9.4,356,5189,0.00,2.65,0.00,0.000,4,0.000,0.075,2699,3413,3646
$GC,5247,-1.23,-122.2,564.6,-9.7,357,5252,0.00,2.60,0.00,0.000,6,0.000,0.054,2699,2019,3647
$GC,5588,-1.23,-122.2,594.6,-8.8,366,5596,0.00,2.65,0.00,0.000,4,0.000,0.075,2699,3413,3647
$GC,5673,-1.23,-122.2,602.6,-9.5,368,5681,0.00,2.60,0.00,0.000,6,0.000,0.054,2700,2006,3647
$GC,5998,-1.23,-122.2,632.7,-9.2,376,6006,0.00,2.70,0.00,0.000,4,0.000,0.076,2699,3417,3648
$GC,6033,-1.23,-122.2,636.3,-9.7,376,6041,0.00,2.62,0.00,0.000,6,0.000,0.054,2700,2011,3648
$GC,6363,-1.23,-122.2,665.5,-9.0,385,6371,0.00,2.67,0.00,0.000,4,0.000,0.077,2700,3413,3648
$GC,6435,-1.23,-122.2,672.4,-9.3,386,6440,0.00,2.62,0.00,0.000,6,0.000,0.055,2699,2010,3649
$GC,6771,-1.23,-122.2,702.5,-9.2,395,6779,0.00,2.70,0.00,0.000,4,0.000,0.077,2700,3413,3649
$GC,6848,-1.23,-122.2,710.2,-9.5,396,6856,0.00,2.62,0.00,0.000,6,0.000,0.056,2699,2014,3649
$GC,7178,-1.23,-122.2,740.9,-9.4,405,7187,0.00,2.70,0.00,0.000,4,0.000,0.078,2699,3413,3649
$GC,7234,-1.23,-122.2,746.7,-10.1,406,7239,0.00,2.62,0.00,0.000,6,0.000,0.057,2699,2012,3649
$GC,7545,-1.23,-122.2,775.7,-9.2,414,7554,0.00,2.70,0.00,0.000,4,0.000,0.079,2699,3413,3649
$GC,7607,-1.23,-122.2,781.5,-9.0,415,7612,0.00,2.62,0.00,0.000,6,0.000,0.057,2699,2014,3649
$GC,7953,-1.23,-122.2,812.2,-8.9,424,7961,0.00,2.70,0.00,0.000,4,0.000,0.079,2699,3413,3650
$GC,8032,-1.23,-122.2,819.7,-9.4,425,8038,0.00,2.62,0.00,0.000,6,0.000,0.058,2700,2015,3649
$GC,8361,-1.23,-122.2,848.6,-8.6,434,8369,0.00,2.70,0.00,0.000,4,0.000,0.081,2699,3413,3650
$GC,8411,-1.23,-122.2,853.3,-9.1,435,8416,0.00,2.62,0.00,0.000,6,0.000,0.058,2699,2016,3650
$GC,8728,-1.23,-122.2,878.5,-7.6,443,8736,0.00,2.70,0.00,0.000,4,0.000,0.081,2699,3414,3649
$GC,8783,-1.23,-122.2,883.1,-8.3,444,8789,0.00,2.62,0.00,0.000,6,0.000,0.058,2699,2022,3650
$GC,9095,-1.23,-122.2,906.4,-7.5,452,9103,0.00,2.70,0.00,0.000,4,0.000,0.081,2701,3415,3650
$GC,9162,-1.23,-122.2,911.8,-7.7,453,9167,0.00,2.62,0.00,0.000,6,0.000,0.059,2700,2022,3650
$GC,9503,-1.23,-122.2,938.8,-8.1,462,9511,0.00,2.70,0.00,0.000,4,0.000,0.082,2700,3412,3650
$GC,9606,-1.23,-122.2,947.9,-9.1,464,9611,0.00,2.62,0.00,0.000,6,0.000,0.060,2700,2019,3650
$GC,9952,-1.23,-122.2,978.7,-9.2,473,9960,0.00,2.70,0.00,0.000,4,0.000,0.083,2700,3413,3650
$GC,10013,-1.23,-122.2,985.0,-9.9,474,10018,0.00,2.62,0.00,0.000,6,0.000,0.060,2699,2022,3650
$GC,10080,-0.31,0.0,991.1,10.1,476,10198,1.10,0.00,105.80,1.654,6,0.118,0.000,2908,2021,3145
$GC,10200,1.23,122.2,996.5,5.5,479,10311,1.65,3.10,101.12,1.592,4,0.091,0.084,3241,497,2646
$GC,10468,1.23,194.8,993.3,4.8,485,10535,0.00,2.65,60.45,1.585,6,0.000,0.058,3241,1904,2351
$GC,10856,1.35,216.4,967.1,7.0,495,10880,0.15,2.80,17.58,1.629,4,0.067,0.080,3273,3296,2263
$GC,10911,1.39,216.4,962.5,8.8,496,10916,0.00,2.67,0.00,0.000,6,0.000,0.062,3273,1915,2262
$GC,11222,1.39,216.4,936.4,8.5,504,11262,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1915,2262
$GC,11585,1.39,216.4,905.7,8.5,513,11593,0.00,2.72,0.00,0.000,4,0.000,0.081,3273,3308,2261
$GC,11651,1.39,216.4,899.3,8.9,514,11656,0.00,2.67,0.00,0.000,6,0.000,0.064,3273,1914,2260
$GC,11992,1.39,216.4,865.7,10.2,523,12032,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1913,2260
$GC,12355,1.39,216.4,831.6,9.0,532,12364,0.00,2.70,0.00,0.000,4,0.000,0.081,3273,3302,2260
$GC,12422,1.39,216.4,825.2,9.6,533,12427,0.00,2.67,0.00,0.000,6,0.000,0.064,3273,1905,2260
$GC,12763,1.39,216.4,793.9,9.3,542,12802,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1905,2260
$GC,13125,1.39,216.4,761.7,8.6,551,13133,0.00,2.72,0.00,0.000,4,0.000,0.081,3273,3302,2260
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$GC,14951,1.39,225.9,606.0,7.6,596,14964,0.00,2.83,6.85,1.527,4,0.000,0.077,3273,3307,2225
$GC,15006,1.40,225.9,601.3,8.8,597,15011,0.00,2.67,0.00,0.000,6,0.000,0.061,3273,1910,2225
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$GC,16043,1.44,253.7,522.7,7.6,623,16057,0.00,2.80,6.35,1.452,4,0.000,0.075,3273,3308,2111
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$GC,17840,1.45,256.1,362.7,9.1,704,17848,0.00,2.67,0.00,0.000,4,0.000,0.072,3273,3304,2102
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$GC,18600,1.45,257.0,294.3,7.9,741,18608,0.00,2.67,0.00,0.000,4,0.000,0.073,3273,3305,2102
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$GC,19315,1.45,284.9,236.3,6.8,776,19354,0.00,0.00,23.67,1.171,6,0.000,0.000,3273,1908,1983
$GC,19660,1.50,306.8,210.7,7.0,793,19684,0.15,2.80,16.73,1.163,4,0.069,0.073,3306,3302,1894
$GC,19757,1.54,306.8,201.3,9.8,797,19764,0.00,2.65,0.00,0.000,6,0.000,0.059,3306,1912,1893
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$GC,20114,1.54,306.8,166.2,10.3,815,20119,0.00,2.65,0.00,0.000,6,0.000,0.061,3305,1907,1893
$GC,20437,1.54,306.8,136.6,9.6,831,20446,0.00,2.70,0.00,0.000,4,0.000,0.078,3306,3302,1893
$GC,20535,1.54,306.8,127.1,9.1,835,20543,0.00,2.65,0.00,0.000,6,0.000,0.062,3306,1912,1893
$GC,20848,1.54,306.8,100.2,8.6,851,20856,0.00,2.70,0.00,0.000,4,0.000,0.081,3306,3304,1893
$GC,20890,1.54,306.8,96.1,9.6,856,20898,0.00,2.62,0.00,0.000,6,0.000,0.064,3306,1903,1893
$GC,21209,1.54,315.9,68.1,7.6,918,21225,0.00,2.78,7.18,1.181,4,0.000,0.088,3306,494,1857
$GC,21263,1.55,315.9,63.9,8.3,928,21271,0.00,2.65,0.00,0.000,6,0.000,0.063,3306,1903,1857
$GC,21581,1.55,350.8,40.0,6.5,990,21618,0.00,2.80,26.60,1.089,4,0.000,0.085,3305,3307,1715
$GC,21638,1.61,355.3,36.0,7.8,1001,21650,0.08,2.72,3.17,1.164,6,0.059,0.065,3327,1905,1697
$GC,21961,1.62,392.6,11.7,6.4,1063,21996,0.00,2.85,28.48,1.048,4,0.000,0.083,3327,3302,1544
$FINISH,0.6,1.026002,0
$SM_CCo,22128,0.00,0.000,0,0,1538,394.20
$RAFOS_CLK,1138
$RAFOS,3,1128141244,4.583333,4.567778,45,44,41,204,506,1791
$RAFOS,2,1128140675,4.416667,4.409722,73,49,46,451,577,162
$RAFOS,1,1128140068,4.250000,4.241111,50,48,47,1512,1575,298
$RAFOS,0,1128139450,4.083333,4.069445,47,44,43,1467,1177,1591
$RAFOS,4,1128137371,3.500000,3.491945,44,41,40,1508,147,1722
$TT8_MAMPS,0.020709
$HUMID,1998
$TCM_TEMP,-5.50
$ALTIM_TOP_PING,9.6,0.0
$ALTIM_BOTTOM_PING,963.8,7.1
$24V_AH,23.4,20.011
$10V_AH,10.1,10.698
$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,28.050,268.150,421.650,0.000,0.000,62.588,59.079,173.458,0.500,138.818,1159.541,16033.255,1075.406,4009.245,470.982,0.000,2414.001,0.000,1422.038,1800.000,3.634
$DEVICE_MAMPS,210.158,100.477,1653.652,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,964.636,3321.249,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40016,1080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011005,072541,6658.180,-5821.157,73,1.7,73,-37.9