version: 65.02
glider: 18
mission: 1
dive: 151
start: 10 12 105 1 45 39
data:
$ID,18
$MISSION,1
$DIVE,151
$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,-116818.82
$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,22
$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
$GPS1,014039,6643.591,-5833.024,43,1.6,43
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-50.7
$GPS2,014522,6643.552,-5832.982,15,1.6,16,-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,101.2,89351,-16.4,-7.990
$D_GRID,749
$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,-122.2,0.0,0.0,0,65,0.00,0.00,-45.30,0.000,2,0.000,0.000,789,2090,2629
$GC,67,-1.23,-122.2,3.4,-6.9,9,120,12.10,2.80,-31.45,0.000,4,0.211,0.104,2703,3477,3647
$GC,154,-1.23,-122.2,15.8,-15.3,26,159,0.00,2.67,0.00,0.000,6,0.000,0.065,2703,2090,3647
$GC,469,-1.23,-122.2,57.9,-12.2,87,475,0.00,2.75,0.00,0.000,4,0.000,0.084,2702,678,3647
$GC,586,-1.23,-122.2,72.5,-13.0,109,594,0.00,2.65,0.00,0.000,6,0.000,0.067,2702,2084,3647
$GC,912,-1.23,-122.2,112.7,-12.2,157,920,0.00,2.75,0.00,0.000,4,0.000,0.092,2702,3492,3647
$GC,957,-1.23,-122.2,118.8,-12.4,159,962,0.00,2.67,0.00,0.000,6,0.000,0.064,2702,2091,3647
$GC,1280,-1.23,-122.2,156.9,-11.8,175,1289,0.00,2.72,0.00,0.000,4,0.000,0.085,2702,674,3647
$GC,1336,-1.23,-122.2,163.8,-12.2,177,1344,0.00,2.70,0.00,0.000,6,0.000,0.067,2702,2083,3648
$GC,1648,-1.23,-122.2,200.2,-12.1,193,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2083,3647
$GC,1974,-1.23,-122.2,238.1,-11.5,209,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2083,3647
$GC,2300,-1.23,-122.2,274.0,-10.6,225,2309,0.00,2.72,0.00,0.000,4,0.000,0.081,2702,672,3647
$GC,2371,-1.23,-122.2,282.5,-11.3,228,2377,0.00,2.67,0.00,0.000,6,0.000,0.065,2702,2076,3647
$GC,2689,-1.23,-122.2,314.9,-9.9,244,2698,0.00,2.70,0.00,0.000,4,0.000,0.078,2702,672,3648
$GC,2735,-1.23,-122.2,319.8,-10.4,246,2740,0.00,2.67,0.00,0.000,6,0.000,0.063,2702,2081,3647
$GC,3058,-1.23,-122.2,351.3,-9.8,262,3066,0.00,2.70,0.00,0.000,4,0.000,0.076,2702,672,3647
$GC,3087,-1.23,-122.2,354.5,-10.8,263,3092,0.00,2.67,0.00,0.000,6,0.000,0.061,2702,2088,3647
$GC,3406,-1.23,-122.2,385.2,-9.7,279,3415,0.00,2.70,0.00,0.000,4,0.000,0.075,2702,674,3647
$GC,3462,-1.23,-122.2,391.0,-10.1,281,3470,0.00,2.65,0.00,0.000,6,0.000,0.061,2702,2078,3647
$GC,3774,-1.23,-122.2,419.1,-9.0,297,3783,0.00,2.67,0.00,0.000,4,0.000,0.074,2702,675,3647
$GC,3809,-1.23,-122.2,422.5,-9.4,298,3817,0.00,2.65,0.00,0.000,6,0.000,0.059,2702,2086,3647
$GC,4122,-1.23,-122.2,450.1,-9.1,314,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2086,3647
$GC,4448,-1.23,-122.2,480.3,-9.4,330,4456,0.00,2.70,0.00,0.000,4,0.000,0.075,2702,670,3647
$GC,4533,-1.23,-122.2,489.0,-10.0,334,4541,0.00,2.62,0.00,0.000,6,0.000,0.061,2702,2086,3647
$GC,4857,-1.23,-122.2,520.4,-9.8,345,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2086,3647
$GC,5220,-1.23,-122.2,556.8,-10.0,354,5228,0.00,2.70,0.00,0.000,4,0.000,0.076,2702,672,3647
$GC,5281,-1.23,-122.2,563.5,-10.5,355,5286,0.00,2.65,0.00,0.000,6,0.000,0.061,2702,2080,3647
$GC,5628,-1.23,-122.2,596.8,-9.7,364,5636,0.00,2.67,0.00,0.000,4,0.000,0.076,2702,675,3647
$GC,5689,-1.23,-122.2,603.4,-10.1,365,5694,0.00,2.65,0.00,0.000,6,0.000,0.061,2702,2080,3647
$GC,6035,-1.23,-122.2,636.9,-9.7,374,6043,0.00,2.67,0.00,0.000,4,0.000,0.077,2702,675,3647
$GC,6123,-1.23,-122.2,645.8,-10.2,376,6128,0.00,2.65,0.00,0.000,6,0.000,0.062,2702,2077,3647
$GC,6444,-1.23,-122.2,676.8,-9.8,384,6453,0.00,2.70,0.00,0.000,4,0.000,0.079,2702,671,3647
$GC,6500,-1.23,-122.2,682.5,-9.7,385,6505,0.00,2.67,0.00,0.000,6,0.000,0.062,2702,2086,3647
$GC,6812,-1.23,-122.2,710.6,-8.9,393,6820,0.00,2.70,0.00,0.000,4,0.000,0.079,2702,676,3647
$GC,6868,-1.23,-122.2,716.8,-10.7,394,6873,0.00,2.65,0.00,0.000,6,0.000,0.062,2702,2080,3647
$GC,7179,-1.23,-122.2,744.2,-8.6,402,7187,0.00,2.70,0.00,0.000,4,0.000,0.081,2702,675,3647
$GC,7324,-0.31,0.0,744.2,-0.1,405,7471,1.02,0.00,104.90,1.474,6,0.102,0.000,2905,2089,3144
$GC,7473,1.23,122.2,744.1,0.1,409,7595,1.67,0.00,100.03,1.414,6,0.100,0.000,3242,2088,2645
$GC,7918,1.23,186.9,726.8,5.2,420,7977,0.00,3.20,52.70,1.417,4,0.000,0.082,3242,521,2383
$GC,8045,1.34,201.5,718.5,7.4,423,8067,0.10,2.67,12.18,1.452,6,0.063,0.061,3267,1916,2323
$GC,8407,1.36,201.5,686.9,9.0,432,8415,0.00,2.75,0.00,0.000,4,0.000,0.084,3267,510,2322
$GC,8457,1.36,201.5,681.4,9.9,433,8462,0.00,2.67,0.00,0.000,6,0.000,0.061,3267,1912,2322
$GC,8774,1.36,201.5,653.9,8.7,441,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1913,2322
$GC,9137,1.36,201.5,623.6,8.4,450,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1913,2321
$GC,9499,1.36,201.5,591.7,8.7,459,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1913,2321
$GC,9862,1.36,201.5,559.5,8.9,468,9870,0.00,2.72,0.00,0.000,4,0.000,0.084,3267,508,2321
$GC,9924,1.36,201.5,553.6,9.9,469,9928,0.00,2.67,0.00,0.000,6,0.000,0.062,3267,1920,2321
$GC,10269,1.36,201.5,525.1,8.1,478,10309,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1926,2321
$GC,10612,1.36,205.3,498.0,7.8,487,10630,0.00,0.00,2.60,1.524,6,0.000,0.000,3267,1926,2308
$GC,10937,1.37,214.8,473.2,7.6,503,10955,0.00,0.00,7.93,1.421,6,0.000,0.000,3267,1926,2269
$GC,11262,1.38,214.8,447.1,8.2,519,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1926,2268
$GC,11588,1.38,214.8,420.3,8.4,535,11604,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1926,2268
$GC,11912,1.38,214.8,393.7,8.1,551,11929,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1926,2268
$GC,12238,1.38,218.5,368.0,7.8,567,12247,0.00,2.78,2.50,1.433,4,0.000,0.082,3267,3327,2254
$GC,12272,1.39,218.5,364.8,8.3,568,12280,0.00,2.67,0.00,0.000,6,0.000,0.061,3267,1921,2254
$GC,12585,1.39,218.5,339.6,8.3,584,12602,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1921,2254
$GC,12911,1.39,218.5,311.7,8.7,600,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1921,2254
$GC,13235,1.39,225.0,285.1,7.7,616,13252,0.00,0.00,5.55,1.310,6,0.000,0.000,3267,1921,2227
$GC,13559,1.40,245.1,260.9,7.1,632,13583,0.00,2.78,16.15,1.213,4,0.000,0.077,3267,3327,2145
$GC,13615,1.43,248.7,256.7,7.8,634,13624,0.08,2.67,2.95,1.286,6,0.062,0.061,3288,1924,2131
$GC,13927,1.44,264.0,233.2,7.3,650,13946,0.00,2.85,12.02,1.195,4,0.000,0.082,3287,508,2069
$GC,14012,1.47,264.0,226.1,9.0,654,14020,0.00,2.65,0.00,0.000,6,0.000,0.060,3288,1931,2068
$GC,14338,1.47,264.0,197.5,9.2,670,14355,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1931,2068
$GC,14663,1.47,264.0,167.7,9.1,686,14671,0.00,2.65,0.00,0.000,4,0.000,0.081,3288,3320,2068
$GC,14761,1.47,264.0,158.4,9.5,690,14768,0.00,2.65,0.00,0.000,6,0.000,0.061,3287,1921,2068
$GC,15073,1.47,264.2,132.0,8.0,706,15081,0.00,2.70,0.00,0.000,4,0.000,0.087,3287,510,2069
$GC,15128,1.47,264.2,127.1,8.5,708,15136,0.00,2.65,0.00,0.000,6,0.000,0.061,3288,1917,2068
$GC,15441,1.47,287.1,104.2,7.0,724,15465,0.00,2.83,18.92,1.111,4,0.000,0.084,3287,510,1974
$GC,15546,1.51,287.1,96.1,8.4,735,15554,0.00,2.67,0.00,0.000,6,0.000,0.064,3287,1926,1973
$GC,15864,1.51,304.4,72.6,7.2,797,15880,0.00,0.00,13.43,1.117,6,0.000,0.000,3287,1926,1904
$GC,16190,1.53,322.2,49.0,7.2,860,16206,0.12,0.00,13.75,1.102,6,0.072,0.000,3314,1926,1832
$GC,16516,1.56,322.2,19.0,8.2,923,16521,0.00,2.72,0.00,0.000,4,0.000,0.089,3314,3323,1830
$GC,16562,1.56,322.2,15.0,8.3,932,16567,0.00,2.67,0.00,0.000,6,0.000,0.067,3314,1929,1830
$FINISH,0.1,1.025872,0
$SM_CCo,16850,0.00,0.000,0,0,1827,323.55
$RAFOS_CLK,916
$RAFOS,3,1129091647,4.583333,4.568611,56,48,45,698,707,1200
$RAFOS,2,1129091079,4.416667,4.410833,91,45,42,499,511,1417
$RAFOS,1,1129090474,4.250000,4.242778,83,49,41,461,1432,477
$RAFOS,0,1129089865,4.083333,4.073611,66,46,45,665,1421,190
$RAFOS,4,1129087742,3.500000,3.483889,43,41,39,229,1825,372
$RAFOS_FIX,6642.652344,-5831.120605
$TT8_MAMPS,0.020709
$HUMID,2000
$TCM_TEMP,-5.50
$ALTIM_TOP_PING,9.8,9.9
$ALTIM_BOTTOM_PING,726.5,10.2
$24V_AH,23.4,30.377
$10V_AH,10.1,16.244
$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,27.225,140.950,365.600,0.000,0.000,31.295,32.062,119.544,0.500,61.973,953.120,11703.781,982.728,3269.157,327.410,0.000,2011.949,0.000,1115.599,1800.000,3.290
$DEVICE_MAMPS,210.925,103.545,1524.029,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,871.375,2905.866,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35477,972
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121005,062810,6643.162,-5828.859,40,2.0,46,-37.6