version: 65.00
glider: 17
mission: 2
dive: 15
start: 6 23 105 17 47 20
data:
$ID,17
$MISSION,2
$DIVE,15
$D_SURF,2
$D_FLARE,3
$D_TGT,995
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$T_DIVE,415
$T_MISSION,435
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$D_OFFGRID,1010
$CAPTURING,1
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0281
$MASS,51832
$KALMAN_USE,1
$KALMAN_Q,1000
$KALMAN_R,100
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$SM_CC,260
$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,-21343.242
$T_RSLEEP,2
$PITCH_MIN,290
$PITCH_MAX,3624
$C_PITCH,2526
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$ROLL_MIN,256
$ROLL_MAX,3794
$C_ROLL_DIVE,1705
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,500
$VBD_MIN,380
$VBD_MAX,3730
$C_VBD,2501
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-5.2359304
$PRESSURE_SLOPE,9.1642258e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,15
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,9
$ALTIM_SENSITIVITY,3
$MOTHERBOARD,3
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,0
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.00434596
$SEABIRD_T_H,0.00063968456
$SEABIRD_T_I,2.5385863e-05
$SEABIRD_T_J,2.9690152e-06
$SEABIRD_C_G,-8.9971209
$SEABIRD_C_H,1.0112646
$SEABIRD_C_I,-0.001930029
$SEABIRD_C_J,0.00022101181
$GPS1,173503,7033.139,1550.454,49,0.8,49
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-53.9
$GPS2,174635,7033.190,1550.125,15,1.5,16,4.0
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7200.000,1200.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.020,0.222
$KALMAN_X,-24722.3,882.5,625.1,-20482.3,-3856.6
$KALMAN_Y,-12045.8,-81.0,-87.6,36312.1,-1762.2
$MHEAD_RNG_PITCHd_Wd,1.3,207828,-16.5,-7.992
$D_GRID,995
$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,14,-1.17,-121.6,0.0,0.0,0,62,0.00,0.00,-46.00,0.000,2,0.000,0.000,288,1689,2657
$GC,64,-1.17,-121.6,3.4,-7.4,9,89,11.95,2.58,-8.38,0.000,4,0.192,0.070,2264,310,2998
$GC,318,-1.17,-121.6,36.7,-13.0,59,322,0.00,2.47,0.00,0.000,6,0.000,0.034,2264,1704,3001
$GC,627,-1.17,-121.6,69.4,-9.7,120,631,0.00,2.55,0.00,0.000,4,0.000,0.057,2264,313,3002
$GC,678,-1.17,-121.6,74.6,-10.5,130,682,0.00,2.47,0.00,0.000,6,0.000,0.035,2264,1709,3002
$GC,987,-1.17,-121.6,103.1,-9.1,191,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1709,3003
$GC,1296,-1.17,-121.6,130.9,-8.7,252,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1709,3002
$GC,1605,-1.17,-121.6,157.9,-8.8,313,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1709,3002
$GC,1915,-1.17,-121.6,185.1,-8.9,374,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1709,3003
$GC,2223,-1.17,-121.6,211.5,-8.2,422,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1709,3003
$GC,2535,-1.17,-121.6,238.1,-8.5,453,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1709,3003
$GC,2847,-1.17,-121.6,265.4,-8.8,484,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1709,3003
$GC,3159,-1.17,-121.6,292.1,-8.4,515,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1709,3002
$GC,3472,-1.17,-121.6,318.6,-8.5,546,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1710,3002
$GC,3784,-1.17,-121.6,345.7,-8.7,577,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1709,3003
$GC,4096,-1.17,-121.6,373.4,-8.7,608,4105,0.00,2.60,0.00,0.000,4,0.000,0.056,2264,3109,3003
$GC,4137,-1.17,-121.6,377.1,-9.2,612,4146,0.00,2.50,0.00,0.000,6,0.000,0.044,2264,1715,3003
$GC,4479,-1.17,-121.6,408.0,-9.1,640,4487,0.00,2.60,0.00,0.000,4,0.000,0.060,2264,297,3002
$GC,4509,-1.17,-121.6,410.9,-10.1,640,4513,0.00,2.47,0.00,0.000,6,0.000,0.035,2264,1707,3003
$GC,4840,-1.17,-121.6,440.5,-8.8,649,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1707,3003
$GC,5200,-1.17,-121.6,472.6,-8.9,658,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1707,3003
$GC,5561,-1.17,-121.6,503.7,-8.5,667,5570,0.00,2.55,0.00,0.000,4,0.000,0.055,2264,3106,3003
$GC,5591,-1.17,-121.6,506.3,-9.1,667,5595,0.00,2.50,0.00,0.000,6,0.000,0.044,2264,1705,3002
$GC,5922,-1.17,-121.6,532.6,-7.8,676,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1705,3003
$GC,6283,-1.17,-121.6,559.7,-7.4,685,6291,0.00,2.55,0.00,0.000,4,0.000,0.054,2264,3105,3003
$GC,6324,-1.17,-121.6,562.9,-8.2,686,6332,0.00,2.50,0.00,0.000,6,0.000,0.044,2264,1703,3003
$GC,6645,-1.17,-121.6,588.0,-8.0,694,6653,0.00,2.55,0.00,0.000,4,0.000,0.054,2264,3105,3003
$GC,6675,-1.17,-121.6,590.4,-8.5,694,6679,0.00,2.50,0.00,0.000,6,0.000,0.044,2264,1706,3003
$GC,7006,-1.17,-121.6,614.6,-7.2,703,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1706,3003
$GC,7366,-1.17,-121.6,641.6,-7.6,712,7375,0.00,2.55,0.00,0.000,4,0.000,0.055,2264,3105,3003
$GC,7432,-1.17,-121.6,646.9,-8.2,713,7436,0.00,2.50,0.00,0.000,6,0.000,0.045,2264,1706,3002
$GC,7768,-1.17,-121.6,673.9,-8.2,722,7777,0.00,2.53,0.00,0.000,4,0.000,0.056,2264,3105,3003
$GC,7839,-1.17,-121.6,680.0,-8.9,723,7843,0.00,2.50,0.00,0.000,6,0.000,0.045,2264,1703,3002
$GC,8170,-1.17,-121.6,707.5,-8.4,732,8178,0.00,2.58,0.00,0.000,4,0.000,0.058,2264,3107,3003
$GC,8220,-1.17,-121.6,712.0,-9.3,733,8224,0.00,2.53,0.00,0.000,6,0.000,0.046,2264,1701,3002
$GC,8533,-1.17,-121.6,739.1,-8.7,741,8541,0.00,2.58,0.00,0.000,4,0.000,0.057,2264,3108,3003
$GC,8644,-1.17,-121.6,749.4,-8.4,743,8648,0.00,2.50,0.00,0.000,6,0.000,0.045,2264,1705,3003
$GC,8975,-1.17,-121.6,775.3,-7.7,752,8984,0.00,2.60,0.00,0.000,4,0.000,0.069,2264,301,3003
$GC,9010,-1.17,-121.6,778.3,-8.8,752,9015,0.00,2.47,0.00,0.000,6,0.000,0.036,2264,1696,3002
$GC,9336,-1.17,-121.6,803.5,-7.5,761,9345,0.00,2.58,0.00,0.000,4,0.000,0.060,2264,3105,3003
$GC,9377,-1.17,-121.6,806.5,-7.5,762,9386,0.00,2.50,0.00,0.000,6,0.000,0.048,2264,1706,3002
$GC,9698,-1.17,-121.6,828.2,-6.6,770,9705,0.00,2.62,0.00,0.000,4,0.000,0.074,2264,301,3003
$GC,9766,-1.17,-121.6,833.0,-7.2,771,9770,0.00,2.45,0.00,0.000,6,0.000,0.036,2264,1702,3002
$GC,10102,-1.17,-121.6,854.2,-6.4,780,10141,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3002
$GC,10463,-1.17,-121.6,878.7,-7.1,789,10501,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3003
$GC,10823,-1.17,-121.6,906.6,-8.0,798,10832,0.00,2.60,0.00,0.000,4,0.000,0.064,2264,3113,3003
$GC,10884,-1.17,-121.6,911.9,-9.0,799,10888,0.00,2.53,0.00,0.000,6,0.000,0.051,2264,1706,3002
$GC,11225,-1.17,-121.6,942.7,-9.3,808,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1706,3002
$GC,11586,-1.17,-121.6,978.7,-10.2,817,11594,0.00,2.60,0.00,0.000,4,0.000,0.064,2264,3108,3002
$GC,11677,-1.17,-121.6,988.4,-9.9,819,11686,0.00,2.53,0.00,0.000,6,0.000,0.051,2264,1705,3002
$GC,11749,-0.31,0.0,995.5,10.1,821,11867,1.00,0.00,107.62,1.407,6,0.126,0.000,2454,1704,2501
$GC,11869,1.17,121.6,1001.1,5.7,824,11980,1.55,0.00,103.82,1.407,6,0.081,0.000,2780,1704,2005
$GC,12311,1.17,121.6,968.6,9.5,835,12320,0.00,2.75,0.00,0.000,4,0.000,0.065,2780,3154,2004
$GC,12341,1.17,121.6,965.4,10.0,835,12346,0.00,2.58,0.00,0.000,6,0.000,0.054,2780,1748,2004
$GC,12673,1.17,121.6,930.5,10.7,844,12711,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1748,2003
$GC,13033,1.17,121.6,888.6,11.9,853,13072,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1748,2002
$GC,13394,1.17,121.6,846.7,11.5,862,13402,0.00,2.72,0.00,0.000,4,0.000,0.086,2780,343,2001
$GC,13480,1.17,121.6,836.2,12.1,864,13484,0.00,2.53,0.00,0.000,6,0.000,0.044,2780,1750,2001
$GC,13796,1.17,121.6,801.2,11.1,872,13805,0.00,2.70,0.00,0.000,4,0.000,0.080,2780,347,1998
$GC,13897,1.17,121.6,789.3,11.5,874,13901,0.00,2.53,0.00,0.000,6,0.000,0.042,2780,1750,1999
$GC,14238,1.17,121.6,750.9,11.0,883,14277,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1751,1997
$GC,14599,1.17,121.6,714.1,10.1,892,14638,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1751,1997
$GC,14960,1.17,121.6,681.4,8.8,901,14968,0.00,2.58,0.00,0.000,4,0.000,0.064,2780,3153,1995
$GC,15020,1.17,121.6,675.8,9.4,902,15024,0.00,2.53,0.00,0.000,6,0.000,0.048,2780,1748,1996
$GC,15361,1.17,121.6,647.0,8.2,911,15370,0.00,2.60,0.00,0.000,4,0.000,0.061,2780,3153,1995
$GC,15427,1.17,121.6,641.4,8.8,912,15431,0.00,2.53,0.00,0.000,6,0.000,0.047,2780,1751,1996
$GC,15763,1.17,121.6,611.0,9.4,921,15802,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1752,1995
$GC,16124,1.17,121.6,576.3,9.9,930,16162,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1752,1996
$GC,16484,1.17,121.6,540.7,9.8,939,16493,0.00,2.62,0.00,0.000,4,0.000,0.066,2780,342,1996
$GC,16509,1.17,121.6,538.0,10.2,939,16513,0.00,2.47,0.00,0.000,6,0.000,0.036,2780,1751,1996
$GC,16846,1.17,121.6,504.8,9.8,948,16884,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1752,1996
$GC,17206,1.17,121.6,470.3,9.6,957,17215,0.00,2.62,0.00,0.000,4,0.000,0.062,2780,345,1996
$GC,17297,1.17,121.6,460.9,11.2,959,17301,0.00,2.50,0.00,0.000,6,0.000,0.037,2780,1755,1996
$GC,17609,1.17,121.6,431.3,9.4,967,17647,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1757,1996
$GC,17969,1.17,121.6,397.6,9.4,976,17978,0.00,2.62,0.00,0.000,4,0.000,0.061,2780,343,1996
$GC,18071,1.17,121.6,387.3,11.8,986,18080,0.00,2.50,0.00,0.000,6,0.000,0.035,2780,1758,1996
$GC,18383,1.17,121.6,357.6,9.5,1017,18391,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1758,1996
$GC,18695,1.17,121.6,326.6,9.9,1048,18704,0.00,2.60,0.00,0.000,4,0.000,0.060,2780,345,1996
$GC,18750,1.17,121.6,320.6,10.7,1053,18755,0.00,2.50,0.00,0.000,6,0.000,0.035,2780,1743,1996
$GC,19058,1.17,121.6,289.0,9.8,1084,19067,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1744,1996
$GC,19370,1.17,121.6,257.4,10.4,1115,19379,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1744,1996
$GC,19682,1.17,121.6,226.8,10.0,1146,19692,0.00,2.58,0.00,0.000,4,0.000,0.059,2780,340,1996
$GC,19713,1.17,121.6,223.7,9.6,1149,19722,0.00,2.45,0.00,0.000,6,0.000,0.035,2780,1751,1996
$GC,20026,1.17,121.6,193.9,9.2,1186,20030,0.00,2.58,0.00,0.000,4,0.000,0.058,2780,344,1996
$GC,20056,1.17,121.6,190.8,10.1,1192,20060,0.00,2.47,0.00,0.000,6,0.000,0.035,2780,1750,1996
$GC,20365,1.17,121.6,161.5,8.8,1253,20369,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1751,1996
$GC,20674,1.17,121.6,132.2,9.3,1314,20679,0.00,2.60,0.00,0.000,4,0.000,0.058,2780,339,1996
$GC,20735,1.17,121.6,125.8,9.8,1326,20740,0.00,2.50,0.00,0.000,6,0.000,0.035,2780,1751,1997
$GC,21044,1.17,121.6,96.8,8.8,1387,21049,0.00,2.60,0.00,0.000,4,0.000,0.058,2780,343,1997
$GC,21085,1.17,121.6,92.9,9.6,1395,21089,0.00,2.47,0.00,0.000,6,0.000,0.035,2780,1751,1998
$GC,21394,1.17,121.6,65.1,8.9,1456,21398,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1751,1998
$GC,21704,1.17,121.6,37.5,8.7,1517,21708,0.00,2.60,0.00,0.000,4,0.000,0.058,2780,342,1997
$GC,21937,1.17,121.6,16.1,9.7,1563,21941,0.00,2.45,0.00,0.000,6,0.000,0.035,2780,1749,1998
$FINISH,0.1,1.026897,0
$SM_CCo,22177,89.22,0.740,4,0,1441,260.02
$RAFOS_CLK,155
$RAFOS,2,1119558544,20.500000,20.484444,43,42,42,48,76,198
$RAFOS,1,1119557975,20.333334,20.326389,51,45,42,508,212,140
$RAFOS,0,1119557371,20.166666,20.158611,50,45,43,536,48,955
$TT8_MAMPS,0.021476
$HUMID,1995
$INTERNAL_PRESSURE,7.24104
$TCM_TEMP,1.50
$ALTIM_TOP_PING,9.7,0.0
$ALTIM_BOTTOM_PING,980.2,0.0
$24V_AH,23.3,5.916
$10V_AH,9.9,2.563
$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,25.825,152.975,211.450,89.225,0.000,96.988,88.764,278.433,0.500,68.893,1102.799,16898.094,1157.491,2491.725,1414.023,33.354,2603.518,0.000,1625.079,900.000,3.639
$DEVICE_MAMPS,191.750,85.904,1407.445,740.155,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1811.333,2239.646,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56995,1607
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,4,0
$GPS,240605,000008,7036.849,1546.321,47,0.9,47,4.0