version: 65.02
glider: 18
mission: 1
dive: 33
start: 9 21 105 16 58 50
data:
$ID,18
$MISSION,1
$DIVE,33
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$T_DIVE,333
$T_MISSION,400
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$SM_CC,333
$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,-103629.23
$T_RSLEEP,2
$PITCH_MIN,785
$PITCH_MAX,4062
$C_PITCH,2970
$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,2047
$C_ROLL_CLIMB,1916
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,500
$VBD_MIN,532
$VBD_MAX,3910
$C_VBD,3127
$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
$GPS1,113503,6633.798,-5920.992,903,99.0,903
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-50.0
$GPS2,165838,6636.708,-5916.359,37,1.3,66,-37.6
$SPEED_LIMITS,0.139,0.223
$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,102.4,123031,-16.5,-8.008
$D_GRID,851
$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,-122.2,0.0,0.0,0,75,0.00,0.00,-55.97,0.000,2,0.000,0.000,786,2048,2484
$GC,77,-1.23,-122.2,3.1,-5.7,11,133,12.02,2.70,-34.28,0.000,4,0.207,0.091,2693,635,3628
$GC,239,-1.23,-122.2,28.3,-13.9,43,245,0.00,2.67,0.00,0.000,6,0.000,0.064,2693,2040,3629
$GC,555,-1.23,-122.2,68.8,-12.5,104,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2040,3631
$GC,877,-1.23,-122.2,110.6,-12.8,154,885,0.00,2.70,0.00,0.000,4,0.000,0.081,2693,636,3632
$GC,911,-1.23,-122.2,115.4,-12.8,155,919,0.00,2.67,0.00,0.000,6,0.000,0.067,2694,2037,3631
$GC,1224,-1.23,-122.2,154.9,-12.3,171,1232,0.00,2.78,0.00,0.000,4,0.000,0.095,2694,3455,3632
$GC,1248,-1.23,-122.2,158.1,-13.5,172,1253,0.00,2.67,0.00,0.000,6,0.000,0.064,2694,2053,3632
$GC,1571,-1.23,-122.2,195.8,-11.5,188,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2053,3632
$GC,1896,-1.23,-122.2,231.6,-10.9,204,1905,0.00,2.78,0.00,0.000,4,0.000,0.093,2693,3455,3632
$GC,1930,-1.23,-122.2,235.9,-11.3,205,1938,0.00,2.70,0.00,0.000,6,0.000,0.066,2694,2047,3631
$GC,2243,-1.23,-122.2,269.3,-10.9,221,2251,0.00,2.78,0.00,0.000,4,0.000,0.091,2694,3455,3631
$GC,2277,-1.23,-122.2,273.4,-11.0,222,2285,0.00,2.67,0.00,0.000,6,0.000,0.064,2694,2056,3631
$GC,2590,-1.23,-122.2,304.1,-9.5,238,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2056,3630
$GC,2916,-1.23,-122.2,334.9,-10.0,254,2924,0.00,2.75,0.00,0.000,4,0.000,0.089,2694,3456,3629
$GC,2959,-1.23,-122.2,339.4,-10.4,256,2967,0.00,2.62,0.00,0.000,6,0.000,0.063,2693,2047,3629
$GC,3285,-1.23,-122.2,372.7,-10.4,272,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2047,3628
$GC,3610,-1.23,-122.2,406.3,-10.2,288,3618,0.00,2.75,0.00,0.000,4,0.000,0.087,2694,3455,3628
$GC,3676,-1.23,-122.2,413.4,-10.4,291,3681,0.00,2.67,0.00,0.000,6,0.000,0.062,2694,2049,3628
$GC,3999,-1.23,-122.2,444.9,-9.7,307,4007,0.00,2.75,0.00,0.000,4,0.000,0.086,2694,3457,3627
$GC,4028,-1.23,-122.2,448.1,-10.7,308,4033,0.00,2.65,0.00,0.000,6,0.000,0.061,2694,2055,3627
$GC,4346,-1.23,-122.2,479.3,-10.1,324,4354,0.00,2.72,0.00,0.000,4,0.000,0.084,2694,3457,3627
$GC,4375,-1.23,-122.2,482.7,-11.4,325,4380,0.00,2.65,0.00,0.000,6,0.000,0.059,2694,2050,3628
$GC,4712,-1.23,-122.2,516.9,-10.3,338,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2050,3627
$GC,5075,-1.23,-122.2,553.8,-10.0,347,5083,0.00,2.72,0.00,0.000,4,0.000,0.084,2692,3457,3627
$GC,5130,-1.23,-122.2,559.9,-10.5,348,5135,0.00,2.65,0.00,0.000,6,0.000,0.059,2693,2050,3627
$GC,5442,-1.23,-122.2,589.2,-9.3,356,5450,0.00,2.72,0.00,0.000,4,0.000,0.085,2692,3457,3628
$GC,5466,-1.23,-122.2,591.8,-10.4,356,5471,0.00,2.65,0.00,0.000,6,0.000,0.059,2694,2052,3628
$GC,5807,-1.23,-122.2,622.1,-8.8,365,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2052,3627
$GC,6169,-1.23,-122.2,654.3,-8.9,374,6178,0.00,2.72,0.00,0.000,4,0.000,0.086,2693,3455,3628
$GC,6225,-1.23,-122.2,659.7,-9.6,375,6230,0.00,2.65,0.00,0.000,6,0.000,0.060,2694,2052,3628
$GC,6536,-1.23,-122.2,686.3,-8.6,383,6545,0.00,2.75,0.00,0.000,4,0.000,0.086,2694,3460,3628
$GC,6566,-1.23,-122.2,689.1,-9.8,383,6571,0.00,2.65,0.00,0.000,6,0.000,0.060,2694,2054,3628
$GC,6901,-1.23,-122.2,719.0,-8.9,392,6910,0.00,2.72,0.00,0.000,4,0.000,0.086,2694,3455,3628
$GC,6952,-1.23,-122.2,723.9,-9.5,393,6957,0.00,2.65,0.00,0.000,6,0.000,0.060,2693,2054,3628
$GC,7268,-1.23,-122.2,752.4,-9.1,401,7277,0.00,2.72,0.00,0.000,4,0.000,0.086,2694,3455,3627
$GC,7298,-1.23,-122.2,755.4,-10.5,401,7303,0.00,2.65,0.00,0.000,6,0.000,0.060,2694,2052,3628
$GC,7635,-1.23,-122.2,785.6,-8.9,410,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2052,3628
$GC,7796,-0.31,0.0,800.2,9.1,414,7916,1.08,0.00,103.70,1.506,6,0.121,0.000,2896,2052,3127
$GC,7917,1.23,122.2,804.7,4.7,417,8028,1.70,3.08,100.03,1.452,4,0.092,0.084,3238,509,2627
$GC,8175,1.23,235.4,805.7,3.0,423,8277,0.00,2.67,92.32,1.442,6,0.000,0.059,3238,1922,2167
$GC,8612,1.42,235.4,773.4,8.4,434,8652,0.20,0.00,0.00,0.000,6,0.070,0.000,3279,1923,2166
$GC,8975,1.42,235.4,739.8,9.1,443,8983,0.00,2.75,0.00,0.000,4,0.000,0.085,3279,508,2166
$GC,9036,1.42,235.4,733.3,10.3,444,9041,0.00,2.65,0.00,0.000,6,0.000,0.061,3279,1907,2166
$GC,9382,1.42,235.4,700.6,9.7,453,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1908,2166
$GC,9745,1.42,235.4,666.2,9.4,462,9784,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1911,2166
$GC,10107,1.42,235.4,632.4,9.3,471,10115,0.00,2.72,0.00,0.000,4,0.000,0.085,3279,508,2165
$GC,10151,1.42,235.4,628.2,10.0,472,10159,0.00,2.62,0.00,0.000,6,0.000,0.063,3279,1917,2165
$GC,10475,1.42,235.4,600.4,8.4,480,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1922,2165
$GC,10838,1.42,235.4,570.1,8.5,489,10846,0.00,2.72,0.00,0.000,4,0.000,0.084,3279,509,2165
$GC,10889,1.42,235.4,565.2,9.0,490,10894,0.00,2.65,0.00,0.000,6,0.000,0.061,3279,1913,2165
$GC,11205,1.42,235.4,537.3,8.9,498,11245,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1919,2165
$GC,11568,1.42,235.4,504.5,9.1,507,11607,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1919,2165
$GC,11913,1.42,235.4,473.9,8.7,522,11921,0.00,2.72,0.00,0.000,4,0.000,0.084,3279,504,2165
$GC,11955,1.42,235.4,469.8,9.6,524,11963,0.00,2.62,0.00,0.000,6,0.000,0.062,3279,1923,2165
$GC,12282,1.42,235.4,441.2,8.5,540,12298,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1925,2165
$GC,12606,1.42,236.9,414.4,7.9,556,12623,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1925,2164
$GC,12931,1.43,236.9,387.4,8.6,572,12948,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1925,2164
$GC,13256,1.43,236.9,359.5,8.8,588,13264,0.00,2.67,0.00,0.000,4,0.000,0.081,3279,3324,2164
$GC,13299,1.43,236.9,355.7,8.4,590,13307,0.00,2.60,0.00,0.000,6,0.000,0.060,3279,1917,2164
$GC,13625,1.43,236.9,327.3,8.7,606,13634,0.00,2.67,0.00,0.000,4,0.000,0.084,3278,508,2164
$GC,13681,1.43,236.9,322.0,9.5,608,13689,0.00,2.62,0.00,0.000,6,0.000,0.060,3279,1913,2164
$GC,13993,1.43,244.7,297.2,7.7,624,14011,0.00,0.00,7.15,1.298,6,0.000,0.000,3279,1913,2129
$GC,14320,1.44,253.6,272.0,7.6,640,14336,0.00,0.00,6.75,1.292,6,0.000,0.000,3279,1913,2093
$GC,14643,1.45,260.2,247.6,7.7,656,14661,0.00,0.00,5.47,1.290,6,0.000,0.000,3279,1913,2066
$GC,14968,1.46,269.9,222.4,7.6,672,14986,0.00,0.00,7.62,1.253,6,0.000,0.000,3279,1913,2026
$GC,15293,1.48,290.3,199.0,7.1,688,15317,0.00,2.78,15.85,1.185,4,0.000,0.083,3280,3314,1943
$GC,15343,1.51,294.2,195.0,7.8,690,15356,0.00,2.67,2.75,1.270,6,0.000,0.063,3279,1923,1927
$GC,15660,1.52,296.5,170.5,7.9,706,15678,0.00,0.00,1.70,1.316,6,0.000,0.000,3279,1923,1918
$GC,15986,1.52,296.5,142.0,9.1,722,16003,0.10,0.00,0.00,0.000,6,0.085,0.000,3299,1923,1918
$GC,16312,1.52,296.5,110.7,9.3,738,16320,0.00,2.72,0.00,0.000,4,0.000,0.087,3299,3320,1917
$GC,16378,1.52,296.5,104.1,9.3,741,16383,0.00,2.67,0.00,0.000,6,0.000,0.068,3299,1922,1918
$GC,16695,1.52,296.5,76.9,8.9,794,16698,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1922,1918
$GC,17009,1.52,329.0,53.7,6.6,855,17040,0.00,0.00,25.27,1.104,6,0.000,0.000,3299,1922,1785
$GC,17350,1.58,364.4,29.9,6.5,921,17386,0.00,2.83,26.73,1.093,4,0.000,0.087,3299,3317,1641
$GC,17437,1.64,377.0,23.7,7.5,938,17453,0.10,2.70,9.27,1.108,6,0.069,0.070,3324,1926,1590
$GC,17765,1.66,430.5,4.8,5.7,1001,17805,0.00,0.00,36.90,1.024,2,0.000,0.000,3323,1925,1394
$FINISH,0.1,1.018227,0
$SM_CCo,17912,0.00,0.000,0,0,1390,426.09
$RAFOS_CLK,1908
$RAFOS,4,1127338159,21.500000,21.488611,48,44,43,189,111,1189
$RAFOS,3,1127334841,20.583334,20.566944,101,44,44,646,198,783
$RAFOS,2,1127334252,20.416666,20.403334,50,41,40,752,1372,985
$RAFOS,1,1127333660,20.250000,20.238890,54,46,43,538,934,301
$RAFOS,0,1127333055,20.083334,20.070833,72,45,44,621,1047,1182
$RAFOS,2,1127319848,16.416666,16.402222,43,43,42,247,567,796
$RAFOS_FIX,6634.980469,-5913.934570
$TT8_MAMPS,0.020709
$HUMID,2029
$TCM_TEMP,-4.50
$ALTIM_TOP_PING,10.0,10.4
$ALTIM_BOTTOM_PING,778.3,6.9
$24V_AH,23.4,11.733
$10V_AH,10.1,5.791
$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,27.725,135.400,441.525,0.000,0.000,95.948,222.872,113.060,0.500,971.594,900.230,12682.388,1153.366,4252.267,598.357,0.000,2202.438,0.000,1116.599,1800.000,3.278
$DEVICE_MAMPS,207.090,95.108,1506.388,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,910.870,3009.463,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,36858,1014
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210905,215920,6635.918,-5908.681,32,3.1,70,-37.6