version: 65.02
glider: 18
mission: 1
dive: 136
start: 10 8 105 21 17 53
data:
$ID,18
$MISSION,1
$DIVE,136
$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,-115522.16
$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,16
$R_STBD_OVSHOOT,20
$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
$GPS1,210839,6642.268,-5955.430,32,1.8,32
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-50.6
$GPS2,211740,6642.170,-5955.392,38,1.0,39,-38.0
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_E
$TGT_LATLONG,6705.000,-5642.000
$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,111.1,145733,-16.4,-7.990
$D_GRID,685
$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,-122.2,0.0,0.0,0,82,0.00,0.00,-61.05,0.000,2,0.000,0.000,789,2090,2708
$GC,83,-1.23,-122.2,3.6,-5.0,12,131,12.15,2.83,-25.73,0.000,4,0.212,0.105,2700,3482,3648
$GC,204,-1.23,-122.2,25.6,-17.7,35,213,0.00,2.65,0.00,0.000,6,0.000,0.063,2700,2085,3648
$GC,523,-1.23,-122.2,70.3,-13.5,97,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2085,3648
$GC,840,-1.23,-122.2,110.8,-12.6,146,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2085,3647
$GC,1165,-1.23,-122.2,151.4,-13.2,162,1173,0.00,2.80,0.00,0.000,4,0.000,0.092,2700,3493,3648
$GC,1228,-1.23,-122.2,159.9,-13.3,165,1237,0.00,2.65,0.00,0.000,6,0.000,0.064,2700,2086,3648
$GC,1555,-1.23,-122.2,198.9,-11.6,181,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2086,3647
$GC,1881,-1.23,-122.2,234.9,-10.6,197,1889,0.00,2.80,0.00,0.000,4,0.000,0.093,2700,3490,3648
$GC,1925,-1.23,-122.2,240.3,-11.1,199,1931,0.00,2.67,0.00,0.000,6,0.000,0.065,2700,2095,3648
$GC,2249,-1.23,-122.2,274.3,-10.6,215,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2095,3648
$GC,2574,-1.23,-122.2,309.9,-11.1,231,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2095,3648
$GC,2900,-1.23,-122.2,345.8,-10.9,247,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2095,3648
$GC,3223,-1.23,-122.2,381.2,-10.8,263,3232,0.00,2.72,0.00,0.000,4,0.000,0.084,2700,674,3648
$GC,3267,-1.23,-122.2,385.9,-11.3,265,3275,0.00,2.65,0.00,0.000,6,0.000,0.065,2700,2085,3647
$GC,3593,-1.23,-122.2,419.5,-9.9,281,3601,0.00,2.70,0.00,0.000,4,0.000,0.080,2700,676,3648
$GC,3637,-1.23,-122.2,424.4,-10.3,283,3643,0.00,2.67,0.00,0.000,6,0.000,0.064,2700,2084,3648
$GC,3961,-1.23,-122.2,455.3,-9.5,299,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2084,3648
$GC,4286,-1.23,-122.2,487.5,-10.0,315,4294,0.00,2.70,0.00,0.000,4,0.000,0.078,2700,676,3648
$GC,4336,-1.23,-122.2,493.1,-10.9,317,4341,0.00,2.65,0.00,0.000,6,0.000,0.063,2700,2075,3648
$GC,4652,-1.23,-122.2,524.0,-9.6,327,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2075,3648
$GC,5014,-1.23,-122.2,558.4,-9.7,336,5023,0.00,2.67,0.00,0.000,4,0.000,0.077,2700,676,3648
$GC,5043,-1.23,-122.2,561.7,-11.1,336,5049,0.00,2.67,0.00,0.000,6,0.000,0.063,2700,2087,3648
$GC,5379,-1.23,-122.2,594.1,-9.7,345,5387,0.00,2.70,0.00,0.000,4,0.000,0.078,2700,676,3648
$GC,5422,-1.23,-122.2,598.4,-10.3,346,5430,0.00,2.62,0.00,0.000,6,0.000,0.063,2700,2086,3648
$GC,5747,-1.23,-122.2,630.8,-10.0,354,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2086,3648
$GC,6111,-1.23,-122.2,667.2,-10.1,363,6119,0.00,2.70,0.00,0.000,4,0.000,0.079,2700,676,3648
$GC,6188,-1.23,-122.2,674.8,-10.7,364,6196,0.00,2.67,0.00,0.000,6,0.000,0.063,2700,2086,3648
$GC,6319,-0.31,0.0,687.2,9.9,368,6437,1.10,0.00,104.93,1.439,6,0.123,0.000,2905,2086,3145
$GC,6439,1.23,122.2,692.5,5.4,371,6552,1.75,3.17,100.00,1.390,4,0.104,0.081,3240,512,2646
$GC,6645,1.23,217.3,692.7,3.8,376,6733,0.00,2.67,77.38,1.369,6,0.000,0.060,3241,1911,2259
$GC,7048,1.39,229.1,665.0,7.5,386,7089,0.17,0.00,10.05,1.434,6,0.067,0.000,3277,1912,2211
$GC,7411,1.41,229.1,630.6,9.6,395,7419,0.00,2.72,0.00,0.000,4,0.000,0.084,3277,511,2211
$GC,7454,1.41,229.1,626.3,10.1,396,7462,0.00,2.62,0.00,0.000,6,0.000,0.061,3277,1919,2210
$GC,7779,1.41,229.1,596.8,8.9,404,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1920,2210
$GC,8142,1.41,229.1,565.7,8.6,413,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1921,2210
$GC,8504,1.41,229.1,534.5,8.6,422,8513,0.00,2.72,0.00,0.000,4,0.000,0.084,3277,510,2210
$GC,8555,1.41,229.1,529.4,9.8,423,8560,0.00,2.67,0.00,0.000,6,0.000,0.062,3277,1917,2210
$GC,8871,1.41,229.1,500.7,9.1,431,8911,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1923,2210
$GC,9216,1.41,229.1,470.0,8.9,447,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1923,2210
$GC,9542,1.41,229.1,441.1,8.9,463,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1923,2210
$GC,9867,1.41,229.1,413.6,8.4,479,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1923,2210
$GC,10191,1.41,229.1,386.6,8.3,495,10199,0.00,2.72,0.00,0.000,4,0.000,0.084,3277,511,2210
$GC,10284,1.41,229.1,378.0,9.5,499,10296,0.00,2.62,0.00,0.000,6,0.000,0.063,3277,1927,2210
$GC,10601,1.41,229.1,352.0,8.1,515,10618,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1927,2210
$GC,10926,1.41,229.1,325.6,8.4,531,10943,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1927,2210
$GC,11252,1.41,229.1,298.0,8.5,547,11260,0.00,2.75,0.00,0.000,4,0.000,0.084,3277,508,2210
$GC,11308,1.41,229.1,292.5,9.6,549,11315,0.00,2.65,0.00,0.000,6,0.000,0.064,3277,1911,2210
$GC,11620,1.41,237.4,267.8,7.6,565,11638,0.00,0.00,6.97,1.293,6,0.000,0.000,3277,1911,2177
$GC,11947,1.42,270.5,245.4,6.5,581,11983,0.00,0.00,26.83,1.191,6,0.000,0.000,3277,1911,2041
$GC,12290,1.48,277.8,219.5,7.7,598,12308,0.10,0.00,5.70,1.267,6,0.074,0.000,3297,1911,2012
$GC,12615,1.49,277.8,191.4,8.8,614,12623,0.00,2.72,0.00,0.000,4,0.000,0.085,3297,510,2011
$GC,12644,1.49,277.8,188.5,9.7,615,12649,0.00,2.67,0.00,0.000,6,0.000,0.064,3297,1913,2011
$GC,12961,1.49,277.8,161.2,8.7,631,12979,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1916,2011
$GC,13286,1.49,290.0,135.4,7.5,647,13305,0.00,2.80,9.40,1.197,4,0.000,0.085,3297,511,1962
$GC,13329,1.51,290.0,132.0,8.7,649,13338,0.00,2.67,0.00,0.000,6,0.000,0.065,3298,1925,1962
$GC,13655,1.51,305.2,108.0,7.3,665,13674,0.00,2.90,12.00,1.173,4,0.000,0.087,3297,509,1899
$GC,13719,1.54,305.2,102.7,8.8,668,13727,0.00,2.67,0.00,0.000,6,0.000,0.067,3297,1924,1899
$GC,14040,1.54,321.6,78.5,7.3,724,14059,0.00,0.00,13.32,1.147,6,0.000,0.000,3297,1924,1832
$GC,14369,1.56,321.6,54.5,8.3,788,14374,0.00,2.80,0.00,0.000,4,0.000,0.088,3297,516,1832
$GC,14413,1.56,321.6,51.0,8.6,796,14421,0.00,2.65,0.00,0.000,6,0.000,0.067,3297,1920,1832
$GC,14732,1.56,364.5,26.5,6.1,858,14773,0.00,2.85,33.05,1.074,4,0.000,0.087,3297,510,1658
$GC,14819,1.63,391.8,20.8,6.8,875,14851,0.10,2.72,20.83,1.060,6,0.069,0.067,3333,1919,1546
$FINISH,0.0,1.025296,0
$SM_CCo,15181,0.00,0.000,0,0,1540,393.95
$RAFOS_CLK,1840
$RAFOS,3,1128818055,0.583333,0.570833,148,47,40,637,147,775
$RAFOS,2,1128817442,0.416667,0.400556,82,45,44,900,1320,268
$RAFOS,1,1128816853,0.250000,0.236944,97,50,47,610,746,1324
$RAFOS,0,1128816261,0.083333,0.072500,92,49,40,477,486,149
$RAFOS,4,1128806944,21.500000,21.484444,43,42,41,1827,1843,57
$RAFOS_FIX,6640.612793,-5953.613281
$TT8_MAMPS,0.020709
$HUMID,2001
$TCM_TEMP,-5.50
$ALTIM_TOP_PING,9.8,9.8
$ALTIM_BOTTOM_PING,663.4,62.2
$24V_AH,23.4,27.851
$10V_AH,10.1,14.731
$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,27.800,103.700,420.450,0.000,0.000,63.634,66.046,224.750,0.500,73.898,847.308,10431.850,1037.644,3013.049,493.730,0.000,1961.914,0.000,1000.699,1800.000,3.357
$DEVICE_MAMPS,212.459,105.079,1438.892,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,837.693,2724.032,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,33821,930
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091005,013240,6639.891,-5949.921,37,1.9,37,-37.9