version: 65.02
glider: 18
mission: 1
dive: 110
start: 10 5 105 13 54 52
data:
$ID,18
$MISSION,1
$DIVE,110
$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,-2
$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,-112587.1
$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,13
$R_STBD_OVSHOOT,15
$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
$GPS1,134940,6636.793,-6016.215,28,1.3,28
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-50.1
$GPS2,135438,6636.768,-6016.189,15,2.1,53,-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,330.5,25238,-16.4,-7.990
$D_GRID,501
$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,-122.2,0.0,0.0,0,91,0.00,0.00,-70.82,0.000,2,0.000,0.000,788,2089,2752
$GC,93,-1.23,-122.2,3.7,-5.4,14,135,12.10,2.83,-23.83,0.000,4,0.210,0.104,2705,3490,3647
$GC,189,-1.23,-122.2,22.3,-18.8,32,198,0.00,2.67,0.00,0.000,6,0.000,0.064,2705,2081,3647
$GC,508,-1.23,-122.2,68.4,-13.9,94,513,0.00,2.83,0.00,0.000,4,0.000,0.091,2705,3487,3647
$GC,534,-1.23,-122.2,72.0,-13.8,99,539,0.00,2.67,0.00,0.000,6,0.000,0.064,2705,2090,3647
$GC,860,-1.23,-122.2,111.7,-11.0,147,868,0.00,2.78,0.00,0.000,4,0.000,0.090,2705,3494,3647
$GC,889,-1.23,-122.2,115.4,-12.0,148,894,0.00,2.67,0.00,0.000,6,0.000,0.064,2705,2096,3647
$GC,1207,-1.23,-122.2,152.6,-11.7,164,1215,0.00,2.78,0.00,0.000,4,0.000,0.091,2706,3496,3647
$GC,1272,-1.23,-122.2,160.2,-11.9,167,1280,0.00,2.67,0.00,0.000,6,0.000,0.065,2705,2088,3648
$GC,1598,-1.23,-122.2,198.4,-12.2,183,1607,0.00,2.80,0.00,0.000,4,0.000,0.091,2705,3498,3647
$GC,1643,-1.23,-122.2,204.3,-12.1,185,1648,0.00,2.70,0.00,0.000,6,0.000,0.065,2705,2092,3647
$GC,1967,-1.23,-122.2,240.1,-10.5,201,1975,0.00,2.78,0.00,0.000,4,0.000,0.091,2705,3493,3647
$GC,1996,-1.23,-122.2,243.7,-11.5,202,2001,0.00,2.70,0.00,0.000,6,0.000,0.065,2705,2087,3647
$GC,2315,-1.23,-122.2,276.2,-10.5,218,2323,0.00,2.80,0.00,0.000,4,0.000,0.091,2705,3497,3647
$GC,2339,-1.23,-122.2,279.2,-11.0,219,2344,0.00,2.70,0.00,0.000,6,0.000,0.065,2705,2088,3647
$GC,2663,-1.23,-122.2,312.9,-10.3,235,2671,0.00,2.78,0.00,0.000,4,0.000,0.090,2705,3493,3647
$GC,2713,-1.23,-122.2,318.7,-11.3,237,2718,0.00,2.70,0.00,0.000,6,0.000,0.064,2705,2087,3647
$GC,3031,-1.23,-122.2,352.4,-10.8,253,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2087,3647
$GC,3357,-1.23,-122.2,386.3,-10.2,269,3366,0.00,2.78,0.00,0.000,4,0.000,0.088,2705,3494,3647
$GC,3380,-1.23,-122.2,388.7,-10.7,270,3388,0.00,2.65,0.00,0.000,6,0.000,0.063,2705,2086,3647
$GC,3707,-1.23,-122.2,422.9,-10.8,286,3715,0.00,2.78,0.00,0.000,4,0.000,0.088,2705,3494,3647
$GC,3728,-1.23,-122.2,425.2,-10.5,287,3736,0.00,2.65,0.00,0.000,6,0.000,0.062,2705,2086,3647
$GC,4055,-1.23,-122.2,457.7,-9.9,303,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2086,3647
$GC,4381,-1.23,-122.2,491.6,-10.2,319,4389,0.00,2.78,0.00,0.000,4,0.000,0.087,2705,3499,3647
$GC,4444,-1.23,-122.2,498.6,-10.7,322,4452,0.00,2.65,0.00,0.000,6,0.000,0.061,2705,2083,3647
$GC,4510,-0.31,0.0,504.7,9.7,324,4627,1.08,0.00,101.72,1.357,6,0.122,0.000,2906,2082,3146
$GC,4628,1.23,122.2,510.1,5.5,327,4735,1.70,3.15,97.32,1.287,4,0.102,0.083,3242,508,2646
$GC,4971,1.23,218.0,505.1,3.8,335,5053,0.00,2.67,76.70,1.268,6,0.000,0.059,3242,1926,2257
$GC,5372,1.39,235.9,477.8,7.2,352,5396,0.17,2.83,14.50,1.301,4,0.067,0.084,3278,510,2184
$GC,5485,1.42,235.9,467.1,9.8,357,5490,0.00,2.67,0.00,0.000,6,0.000,0.060,3278,1911,2183
$GC,5803,1.42,235.9,438.3,9.2,373,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1917,2182
$GC,6127,1.42,241.0,410.7,7.8,389,6145,0.00,0.00,4.15,1.384,6,0.000,0.000,3278,1916,2164
$GC,6452,1.43,243.6,385.1,7.9,405,6461,0.00,2.80,2.08,1.433,4,0.000,0.083,3278,510,2152
$GC,6481,1.43,243.6,382.4,9.2,406,6486,0.00,2.67,0.00,0.000,6,0.000,0.061,3278,1917,2151
$GC,6800,1.43,243.6,356.0,8.5,422,6808,0.00,2.70,0.00,0.000,4,0.000,0.081,3278,3327,2151
$GC,6845,1.43,243.6,351.7,9.1,424,6850,0.00,2.67,0.00,0.000,6,0.000,0.061,3278,1923,2151
$GC,7170,1.43,253.2,325.9,7.6,440,7184,0.00,2.83,7.68,1.318,4,0.000,0.085,3278,512,2112
$GC,7235,1.45,253.2,319.9,8.9,443,7241,0.00,2.67,0.00,0.000,6,0.000,0.061,3278,1913,2112
$GC,7559,1.45,253.2,292.6,8.9,459,7567,0.00,2.72,0.00,0.000,4,0.000,0.082,3278,3327,2112
$GC,7609,1.45,253.2,287.7,9.6,461,7614,0.00,2.67,0.00,0.000,6,0.000,0.062,3278,1924,2112
$GC,7928,1.45,253.6,261.0,8.0,477,7936,0.00,2.72,0.00,0.000,4,0.000,0.081,3278,3327,2112
$GC,7952,1.45,253.6,258.8,8.2,478,7957,0.00,2.67,0.00,0.000,6,0.000,0.063,3278,1924,2113
$GC,8276,1.45,260.9,234.7,7.7,494,8290,0.00,2.78,6.20,1.297,4,0.000,0.087,3278,510,2081
$GC,8310,1.46,260.9,231.5,8.8,495,8318,0.00,2.70,0.00,0.000,6,0.000,0.062,3278,1927,2081
$GC,8623,1.46,260.9,205.7,8.0,511,8631,0.00,2.70,0.00,0.000,4,0.000,0.084,3278,3322,2080
$GC,8657,1.46,260.9,202.6,8.4,512,8666,0.00,2.67,0.00,0.000,6,0.000,0.064,3278,1922,2080
$GC,8970,1.46,284.8,180.4,6.9,528,8994,0.00,2.80,18.85,1.197,4,0.000,0.082,3278,3320,1985
$GC,9033,1.50,284.8,175.5,8.7,531,9042,0.12,2.67,0.00,0.000,6,0.074,0.065,3303,1918,1984
$GC,9359,1.50,284.8,146.6,8.7,547,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1918,1982
$GC,9685,1.50,284.8,118.4,8.8,563,9693,0.00,2.75,0.00,0.000,4,0.000,0.086,3303,3321,1982
$GC,9740,1.50,284.8,113.3,8.9,565,9748,0.00,2.67,0.00,0.000,6,0.000,0.067,3303,1927,1982
$GC,10055,1.50,323.1,90.6,6.3,599,10095,0.00,2.83,29.90,1.125,4,0.000,0.085,3303,3323,1827
$GC,10117,1.57,336.6,86.3,7.4,611,10136,0.00,2.70,10.68,1.134,6,0.000,0.067,3303,1918,1772
$GC,10446,1.59,336.6,60.7,8.3,675,10451,0.00,2.78,0.00,0.000,4,0.000,0.087,3303,3314,1771
$GC,10492,1.59,336.6,56.9,8.1,684,10498,0.00,2.67,0.00,0.000,6,0.000,0.068,3303,1927,1770
$GC,10808,1.59,336.6,32.1,8.4,745,10813,0.00,2.75,0.00,0.000,4,0.000,0.087,3303,3314,1771
$GC,10874,1.59,339.8,27.1,7.8,757,10882,0.00,2.65,2.00,1.272,6,0.000,0.069,3303,1919,1759
$GC,11193,1.59,408.8,11.7,5.0,819,11257,0.00,2.85,52.95,1.052,4,0.000,0.093,3303,510,1477
$GC,11307,1.71,433.4,4.5,6.9,841,11333,0.17,2.70,18.88,1.049,6,0.062,0.066,3345,1914,1378
$FINISH,0.2,1.025227,0
$SM_CCo,11444,0.00,0.000,0,0,1374,434.67
$RAFOS_CLK,621
$RAFOS,3,1128530055,16.583334,16.570833,65,44,43,704,144,1858
$RAFOS,2,1128529442,16.416666,16.400555,41,41,38,1018,1650,1932
$RAFOS,1,1128528851,16.250000,16.236389,80,45,45,716,1574,1602
$RAFOS,0,1128528256,16.083334,16.071112,125,40,39,523,923,152
$RAFOS,4,1128526152,15.500000,15.486667,43,41,41,775,65,178
$TT8_MAMPS,0.021476
$HUMID,1993
$TCM_TEMP,-5.50
$ALTIM_TOP_PING,9.7,0.0
$ALTIM_BOTTOM_PING,476.8,58.3
$24V_AH,23.4,23.683
$10V_AH,10.1,12.777
$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,27.875,142.625,443.600,0.000,0.000,32.338,31.861,103.305,0.250,86.037,817.650,7207.654,740.193,2758.405,291.027,0.000,1622.065,0.000,950.073,1800.000,3.466
$DEVICE_MAMPS,210.158,104.312,1432.756,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,753.784,2430.341,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31551,852
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051005,170709,6637.115,-6021.144,46,1.3,52,-37.9