version: 65.02
glider: 18
mission: 1
dive: 51
start: 9 24 105 23 58 50
data:
$ID,18
$MISSION,1
$DIVE,51
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$T_DIVE,250
$T_MISSION,300
$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,0.0038360001
$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,-105589.15
$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,2042
$C_ROLL_CLIMB,1905
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,500
$VBD_MIN,532
$VBD_MAX,3910
$C_VBD,3153
$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
$GPS1,235334,6650.442,-5741.335,43,1.9,43
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-50.4
$GPS2,235834,6650.438,-5741.380,17,1.9,34,-37.5
$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,95.3,50606,-16.5,-8.000
$D_GRID,698
$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,-1.24,-122.2,0.0,0.0,0,71,0.00,0.00,-50.90,0.000,2,0.000,0.000,785,2038,2891
$GC,72,-1.24,-122.2,3.3,-6.6,10,114,11.85,2.70,-21.05,0.000,4,0.201,0.082,2691,635,3656
$GC,239,-1.24,-122.2,29.1,-16.6,42,248,0.00,2.60,0.00,0.000,6,0.000,0.058,2691,2040,3656
$GC,558,-1.24,-122.2,70.1,-12.7,104,563,0.00,2.72,0.00,0.000,4,0.000,0.078,2692,3449,3656
$GC,636,-1.24,-122.2,80.3,-13.2,119,641,0.00,2.62,0.00,0.000,6,0.000,0.054,2691,2046,3656
$GC,961,-1.24,-122.2,118.1,-10.7,158,969,0.00,2.65,0.00,0.000,4,0.000,0.074,2691,631,3656
$GC,1016,-1.24,-122.2,124.9,-11.6,160,1024,0.00,2.62,0.00,0.000,6,0.000,0.057,2691,2034,3657
$GC,1329,-1.24,-122.2,159.4,-11.6,176,1338,0.00,2.65,0.00,0.000,4,0.000,0.072,2690,632,3657
$GC,1374,-1.24,-122.2,164.6,-11.5,178,1379,0.00,2.62,0.00,0.000,6,0.000,0.057,2691,2035,3657
$GC,1697,-1.24,-122.2,200.5,-10.9,194,1705,0.00,2.65,0.00,0.000,4,0.000,0.073,2691,631,3657
$GC,1732,-1.24,-122.2,204.7,-11.8,195,1740,0.00,2.62,0.00,0.000,6,0.000,0.057,2691,2035,3657
$GC,2044,-1.24,-122.2,238.9,-10.7,211,2053,0.00,2.67,0.00,0.000,4,0.000,0.078,2691,3450,3656
$GC,2074,-1.24,-122.2,242.5,-11.8,212,2079,0.00,2.62,0.00,0.000,6,0.000,0.053,2691,2040,3656
$GC,2392,-1.24,-122.2,275.4,-10.1,228,2400,0.00,2.70,0.00,0.000,4,0.000,0.077,2691,3450,3657
$GC,2426,-1.24,-122.2,279.5,-11.0,229,2434,0.00,2.62,0.00,0.000,6,0.000,0.054,2691,2043,3657
$GC,2740,-1.24,-122.2,312.0,-10.6,245,2748,0.00,2.67,0.00,0.000,4,0.000,0.076,2691,3449,3657
$GC,2769,-1.24,-122.2,315.6,-11.2,246,2774,0.00,2.62,0.00,0.000,6,0.000,0.054,2691,2043,3657
$GC,3087,-1.24,-122.2,347.4,-10.0,262,3095,0.00,2.70,0.00,0.000,4,0.000,0.076,2691,3454,3656
$GC,3111,-1.24,-122.2,350.1,-10.4,263,3116,0.00,2.62,0.00,0.000,6,0.000,0.054,2691,2045,3657
$GC,3434,-1.24,-122.2,381.5,-9.6,279,3443,0.00,2.67,0.00,0.000,4,0.000,0.076,2691,3449,3657
$GC,3458,-1.24,-122.2,384.1,-10.2,280,3463,0.00,2.62,0.00,0.000,6,0.000,0.053,2691,2042,3657
$GC,3782,-1.24,-122.2,414.9,-9.7,296,3790,0.00,2.67,0.00,0.000,4,0.000,0.075,2691,3449,3657
$GC,3810,-1.24,-122.2,418.1,-10.6,297,3816,0.00,2.60,0.00,0.000,6,0.000,0.052,2691,2049,3657
$GC,4129,-1.24,-122.2,448.9,-9.9,313,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2049,3656
$GC,4455,-1.24,-122.2,480.2,-9.5,329,4463,0.00,2.67,0.00,0.000,4,0.000,0.076,2691,3452,3657
$GC,4500,-1.24,-122.2,485.1,-10.0,331,4505,0.00,2.62,0.00,0.000,6,0.000,0.053,2691,2041,3657
$GC,4821,-1.24,-122.2,515.9,-9.5,343,4830,0.00,2.67,0.00,0.000,4,0.000,0.076,2691,3451,3657
$GC,4847,-1.24,-122.2,518.5,-10.2,343,4851,0.00,2.58,0.00,0.000,6,0.000,0.053,2691,2041,3657
$GC,5187,-1.24,-122.2,550.0,-9.2,352,5195,0.00,2.70,0.00,0.000,4,0.000,0.077,2691,3454,3657
$GC,5221,-1.24,-122.2,553.6,-9.9,352,5229,0.00,2.62,0.00,0.000,6,0.000,0.054,2691,2046,3657
$GC,5552,-1.24,-122.2,583.2,-9.0,361,5560,0.00,2.70,0.00,0.000,4,0.000,0.079,2691,3453,3658
$GC,5576,-1.24,-122.2,585.7,-10.3,361,5581,0.00,2.62,0.00,0.000,6,0.000,0.055,2691,2047,3658
$GC,5757,-0.31,0.0,601.9,9.1,366,5877,1.10,0.00,102.03,1.332,6,0.117,0.000,2899,2047,3152
$GC,5878,1.24,122.2,606.3,4.8,369,5984,1.67,3.08,96.72,1.302,4,0.096,0.079,3236,506,2654
$GC,6221,1.24,192.5,599.1,4.9,377,6282,0.00,2.62,56.10,1.286,6,0.000,0.056,3236,1908,2368
$GC,6618,1.35,208.0,571.8,7.3,387,6658,0.12,0.00,12.25,1.342,6,0.075,0.000,3262,1908,2305
$GC,6980,1.38,208.0,541.1,8.5,396,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1908,2304
$GC,7343,1.38,208.0,511.2,8.2,405,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1908,2302
$GC,7687,1.38,208.0,481.3,8.6,418,7704,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1908,2302
$GC,8013,1.38,208.0,451.5,9.7,434,8029,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1908,2301
$GC,8337,1.38,208.0,419.3,10.1,450,8345,0.00,2.67,0.00,0.000,4,0.000,0.077,3262,498,2300
$GC,8371,1.38,208.0,415.3,11.2,451,8379,0.00,2.60,0.00,0.000,6,0.000,0.055,3262,1897,2300
$GC,8684,1.38,208.0,384.6,9.7,467,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1898,2300
$GC,9010,1.38,208.0,353.4,9.3,483,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1897,2300
$GC,9334,1.38,208.0,324.3,8.5,499,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1897,2299
$GC,9660,1.38,214.7,298.0,7.7,515,9676,0.00,0.00,4.50,1.284,6,0.000,0.000,3262,1897,2277
$GC,9983,1.39,228.3,272.4,7.4,531,10001,0.00,0.00,10.93,1.219,6,0.000,0.000,3262,1898,2222
$GC,10309,1.41,250.1,247.8,7.0,547,10347,0.00,0.00,16.77,1.167,6,0.000,0.000,3262,1897,2132
$GC,10653,1.45,278.6,223.6,6.7,564,10693,0.10,0.00,22.00,1.121,6,0.080,0.000,3284,1897,2017
$GC,10998,1.50,278.6,195.0,8.6,581,11016,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1897,2017
$GC,11325,1.50,278.6,163.3,10.0,597,11333,0.00,2.65,0.00,0.000,4,0.000,0.076,3283,498,2017
$GC,11417,1.50,278.6,152.7,11.8,601,11422,0.00,2.60,0.00,0.000,6,0.000,0.056,3284,1891,2017
$GC,11736,1.50,278.6,117.9,10.5,617,11744,0.00,2.65,0.00,0.000,4,0.000,0.075,3283,497,2017
$GC,11771,1.50,278.6,113.5,11.2,618,11779,0.00,2.62,0.00,0.000,6,0.000,0.056,3283,1905,2017
$GC,12088,1.50,278.6,80.5,10.4,661,12096,0.00,2.65,0.00,0.000,4,0.000,0.077,3283,3309,2017
$GC,12117,1.50,278.6,77.1,10.5,667,12122,0.00,2.62,0.00,0.000,6,0.000,0.056,3283,1906,2017
$GC,12432,1.50,334.2,51.5,5.6,728,12479,0.00,0.00,42.85,0.989,6,0.000,0.000,3283,1906,1790
$GC,12789,1.59,407.3,33.3,4.8,797,12846,0.15,0.00,54.65,0.948,6,0.067,0.000,3316,1906,1491
$FINISH,0.1,1.026255,0
$SM_CCo,13238,0.00,0.000,0,0,1490,407.93
$RAFOS_CLK,640
$RAFOS,4,1127618943,3.500000,3.484167,47,46,45,837,176,1851
$RAFOS,3,1127608457,0.583333,0.571389,63,50,47,779,789,458
$RAFOS,2,1127607845,0.416667,0.401389,77,41,40,569,794,1511
$RAFOS,1,1127607251,0.250000,0.236389,72,44,41,717,846,753
$RAFOS,0,1127606648,0.083333,0.068889,47,44,44,900,1156,1567
$TT8_MAMPS,0.021476
$HUMID,1997
$TCM_TEMP,0.00
$ALTIM_TOP_PING,9.7,9.1
$ALTIM_BOTTOM_PING,575.9,161.3
$24V_AH,23.5,14.656
$10V_AH,10.1,7.424
$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,27.100,106.550,418.800,0.000,0.000,35.997,30.972,127.328,0.500,79.761,792.658,8893.641,820.108,2818.047,303.124,0.000,1701.974,0.000,926.003,1800.000,3.490
$DEVICE_MAMPS,200.954,82.069,1342.250,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,779.909,2549.886,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31836,869
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250905,034038,6651.396,-5737.359,32,1.5,32,-37.5