version: 65.02
glider: 18
mission: 1
dive: 150
start: 10 11 105 20 57 41
data:
$ID,18
$MISSION,1
$DIVE,150
$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,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,-116756.85
$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,15
$R_STBD_OVSHOOT,21
$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
$GPS1,205239,6643.502,-5838.406,45,1.7,45
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-50.7
$GPS2,205728,6643.490,-5838.513,20,1.7,37,-37.6
$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,102.2,92989,-16.4,-7.990
$D_GRID,740
$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,-122.2,0.0,0.0,0,71,0.00,0.00,-49.97,0.000,2,0.000,0.000,789,2083,2688
$GC,72,-1.23,-122.2,3.4,-6.7,10,125,12.10,2.75,-30.17,0.000,4,0.210,0.094,2704,672,3647
$GC,291,-1.23,-122.2,32.9,-13.6,52,300,0.00,2.65,0.00,0.000,6,0.000,0.066,2704,2080,3647
$GC,610,-1.23,-122.2,75.1,-12.5,114,615,0.00,2.75,0.00,0.000,4,0.000,0.081,2704,678,3647
$GC,635,-1.23,-122.2,77.6,-12.1,118,643,0.00,2.62,0.00,0.000,6,0.000,0.064,2704,2088,3647
$GC,970,-1.23,-122.2,116.0,-11.1,162,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2088,3647
$GC,1294,-1.23,-122.2,155.6,-12.5,178,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2088,3646
$GC,1620,-1.23,-122.2,193.6,-11.3,194,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2088,3647
$GC,1944,-1.23,-122.2,230.0,-10.7,210,1952,0.00,2.72,0.00,0.000,4,0.000,0.081,2704,675,3647
$GC,2007,-1.23,-122.2,237.2,-11.1,213,2015,0.00,2.65,0.00,0.000,6,0.000,0.067,2704,2086,3647
$GC,2333,-1.23,-122.2,271.8,-10.6,229,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2086,3646
$GC,2660,-1.23,-122.2,306.3,-10.4,245,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2087,3644
$GC,2983,-1.23,-122.2,338.1,-9.8,261,2991,0.00,2.72,0.00,0.000,4,0.000,0.087,2704,3493,3644
$GC,3007,-1.23,-122.2,340.8,-11.1,262,3012,0.00,2.65,0.00,0.000,6,0.000,0.059,2704,2092,3644
$GC,3331,-1.23,-122.2,372.1,-9.7,278,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2093,3644
$GC,3655,-1.23,-122.2,404.3,-10.2,294,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2093,3644
$GC,3980,-1.23,-122.2,436.5,-10.1,310,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2092,3644
$GC,4305,-1.23,-122.2,469.0,-9.9,326,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2093,3644
$GC,4631,-1.23,-122.2,500.7,-9.6,342,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2092,3644
$GC,4992,-1.23,-122.2,534.6,-9.2,351,5001,0.00,2.72,0.00,0.000,4,0.000,0.084,2704,3492,3644
$GC,5043,-1.23,-122.2,539.6,-9.5,352,5048,0.00,2.65,0.00,0.000,6,0.000,0.058,2704,2087,3644
$GC,5359,-1.23,-122.2,566.6,-8.5,360,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2086,3644
$GC,5722,-1.23,-122.2,598.0,-8.9,369,5730,0.00,2.75,0.00,0.000,4,0.000,0.086,2704,3494,3644
$GC,5751,-1.23,-122.2,600.9,-9.6,369,5756,0.00,2.65,0.00,0.000,6,0.000,0.059,2704,2088,3644
$GC,6088,-1.23,-122.2,631.0,-9.3,378,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2088,3643
$GC,6450,-1.23,-122.2,664.7,-9.4,387,6458,0.00,2.75,0.00,0.000,4,0.000,0.087,2704,3492,3644
$GC,6501,-1.23,-122.2,670.2,-10.5,388,6506,0.00,2.65,0.00,0.000,6,0.000,0.060,2704,2087,3645
$GC,6818,-1.23,-122.2,697.5,-8.8,396,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2087,3644
$GC,7180,-1.23,-122.2,730.3,-9.1,405,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2087,3645
$GC,7302,-0.31,0.0,742.1,9.8,408,7422,1.08,0.00,104.25,1.478,6,0.119,0.000,2907,2087,3145
$GC,7423,1.23,122.2,745.9,4.4,411,7536,1.70,3.15,99.90,1.417,4,0.090,0.084,3241,511,2645
$GC,7651,1.23,200.8,742.1,4.5,416,7723,0.00,2.67,64.38,1.406,6,0.000,0.059,3242,1919,2326
$GC,8033,1.36,214.1,715.2,7.4,426,8074,0.15,0.00,10.93,1.473,6,0.069,0.000,3273,1924,2272
$GC,8397,1.38,214.1,682.3,9.3,435,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1924,2271
$GC,8759,1.38,214.1,650.4,8.5,444,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1924,2271
$GC,9121,1.38,214.1,618.4,8.9,453,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1924,2270
$GC,9484,1.38,214.1,585.8,8.8,462,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1924,2270
$GC,9847,1.38,214.1,553.0,9.0,471,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1923,2270
$GC,10210,1.38,214.1,520.4,9.0,480,10218,0.00,2.70,0.00,0.000,4,0.000,0.083,3273,3327,2270
$GC,10266,1.38,214.1,515.0,10.0,481,10271,0.00,2.65,0.00,0.000,6,0.000,0.062,3273,1931,2270
$GC,10578,1.38,214.1,488.9,8.1,492,10586,0.00,2.70,0.00,0.000,4,0.000,0.082,3273,3324,2270
$GC,10613,1.38,214.1,485.8,8.4,493,10620,0.00,2.67,0.00,0.000,6,0.000,0.063,3273,1922,2270
$GC,10925,1.38,219.3,462.4,7.8,509,10943,0.00,0.00,4.00,1.469,6,0.000,0.000,3273,1922,2250
$GC,11250,1.39,219.3,436.9,8.1,525,11258,0.00,2.72,0.00,0.000,4,0.000,0.081,3273,3325,2250
$GC,11314,1.39,219.3,431.5,8.9,528,11322,0.00,2.62,0.00,0.000,6,0.000,0.064,3273,1919,2250
$GC,11640,1.39,222.9,405.3,7.8,544,11658,0.00,0.00,2.58,1.457,6,0.000,0.000,3273,1920,2236
$GC,11965,1.40,234.9,380.5,7.5,560,11984,0.00,2.80,10.35,1.354,4,0.000,0.079,3273,3327,2187
$GC,12029,1.42,234.9,375.3,8.4,563,12037,0.00,2.67,0.00,0.000,6,0.000,0.063,3273,1919,2186
$GC,12355,1.42,235.9,348.7,7.9,579,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1920,2186
$GC,12680,1.42,250.8,324.5,7.3,595,12698,0.00,0.00,12.45,1.292,6,0.000,0.000,3273,1919,2123
$GC,13005,1.44,250.8,299.0,8.0,611,13013,0.00,2.72,0.00,0.000,4,0.000,0.080,3273,3327,2122
$GC,13071,1.44,250.8,293.1,8.4,614,13076,0.00,2.67,0.00,0.000,6,0.000,0.061,3273,1919,2122
$GC,13394,1.44,251.2,267.4,8.0,630,13411,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1919,2122
$GC,13720,1.45,251.2,240.2,8.6,646,13729,0.00,2.70,0.00,0.000,4,0.000,0.079,3273,3324,2121
$GC,13784,1.45,251.2,234.4,8.8,649,13792,0.00,2.62,0.00,0.000,6,0.000,0.061,3273,1918,2122
$GC,14111,1.45,251.2,207.0,8.1,665,14119,0.00,2.70,0.00,0.000,4,0.000,0.079,3273,3324,2122
$GC,14166,1.45,251.2,202.2,8.7,667,14174,0.00,2.65,0.00,0.000,6,0.000,0.061,3273,1924,2122
$GC,14479,1.45,255.2,178.0,7.8,683,14496,0.00,0.00,3.70,1.276,6,0.000,0.000,3273,1924,2103
$GC,14804,1.45,272.5,153.5,7.2,699,14821,0.00,0.00,14.05,1.171,6,0.000,0.000,3273,1924,2033
$GC,15128,1.48,293.9,130.0,7.1,715,15153,0.12,2.85,17.05,1.136,4,0.071,0.080,3300,3324,1946
$GC,15204,1.52,293.9,123.4,9.1,718,15212,0.00,2.70,0.00,0.000,6,0.000,0.063,3300,1921,1945
$GC,15519,1.52,293.9,97.4,8.1,737,15527,0.00,2.72,0.00,0.000,4,0.000,0.082,3299,3325,1945
$GC,15577,1.52,293.9,92.5,8.3,748,15585,0.00,2.65,0.00,0.000,6,0.000,0.065,3300,1919,1945
$GC,15895,1.52,300.4,68.2,7.7,810,15906,0.00,2.80,4.90,1.203,4,0.000,0.082,3300,3316,1919
$GC,15999,1.53,300.4,59.3,9.0,830,16004,0.00,2.67,0.00,0.000,6,0.000,0.066,3300,1922,1919
$GC,16314,1.53,310.3,34.1,7.6,891,16330,0.00,2.80,7.43,1.165,4,0.000,0.091,3300,511,1879
$GC,16390,1.54,310.3,28.0,8.3,905,16398,0.00,2.65,0.00,0.000,6,0.000,0.066,3300,1923,1879
$GC,16709,1.54,343.5,4.5,6.5,967,16739,0.00,0.00,25.60,1.062,6,0.000,0.000,3300,1923,1744
$FINISH,0.1,1.014091,0
$SM_CCo,16866,0.00,0.000,0,0,1740,344.89
$RAFOS_CLK,1912
$RAFOS,3,1129077245,0.583333,0.568056,98,47,46,699,712,970
$RAFOS,2,1129076656,0.416667,0.404444,101,48,45,620,189,205
$RAFOS,1,1129076043,0.250000,0.234167,124,45,43,614,1580,1737
$RAFOS,0,1129075450,0.083333,0.069444,125,47,44,731,1700,1628
$RAFOS,4,1129066144,21.500000,21.484444,43,42,42,888,189,294
$RAFOS_FIX,6643.561035,-5835.822754
$TT8_MAMPS,0.020709
$HUMID,1975
$TCM_TEMP,-5.00
$ALTIM_TOP_PING,9.8,9.6
$ALTIM_BOTTOM_PING,715.6,10.1
$24V_AH,23.4,30.224
$10V_AH,10.1,16.148
$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,27.425,103.325,381.550,0.000,0.000,35.996,29.049,107.415,0.500,84.414,872.031,11728.436,1163.244,3193.050,311.869,0.000,2116.142,0.000,1019.759,1800.000,3.289
$DEVICE_MAMPS,210.158,93.574,1478.009,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,885.851,2915.732,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35949,982
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121005,014039,6643.591,-5833.024,43,1.6,43,-37.6