version: 65.00
glider: 17
mission: 2
dive: 29
start: 6 27 105 10 18 42
data:
$ID,17
$MISSION,2
$DIVE,29
$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,-22243.051
$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,1705
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,25
$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,5
$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
$GPS1,101240,7041.752,1600.662,30,1.1,30
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-52.9
$GPS2,101746,7041.713,1600.707,16,1.5,17,4.1
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7200.000,1200.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.165,0.149
$KALMAN_X,37689.3,-313.3,-1116.0,-73295.4,12297.3
$KALMAN_Y,-29573.6,6.4,-391.4,69841.0,-1159.4
$MHEAD_RNG_PITCHd_Wd,307.9,199995,-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,-121.6,0.0,0.0,0,67,0.00,0.00,-50.72,0.000,2,0.000,0.000,284,1697,2778
$GC,69,-1.17,-121.6,3.8,-7.8,10,94,11.95,2.58,-4.93,0.000,4,0.191,0.064,2263,3108,2999
$GC,241,-1.17,-121.6,26.8,-9.9,44,246,0.00,2.50,0.00,0.000,6,0.000,0.042,2263,1701,3002
$GC,551,-1.17,-121.6,55.0,-8.6,105,555,0.00,2.58,0.00,0.000,4,0.000,0.058,2263,296,3003
$GC,576,-1.17,-121.6,57.3,-8.8,110,580,0.00,2.47,0.00,0.000,6,0.000,0.034,2263,1710,3003
$GC,885,-1.17,-121.6,85.8,-9.2,171,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1711,3004
$GC,1194,-1.17,-121.6,115.1,-9.3,232,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1711,3004
$GC,1504,-1.17,-121.6,143.6,-9.4,293,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1711,3004
$GC,1813,-1.17,-121.6,171.2,-8.7,354,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1711,3004
$GC,2122,-1.17,-121.6,198.6,-8.8,415,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1711,3004
$GC,2435,-1.17,-121.6,226.0,-8.7,448,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1710,3004
$GC,2747,-1.17,-121.6,252.5,-8.3,479,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1711,3004
$GC,3059,-1.17,-121.6,278.7,-8.5,510,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1711,3004
$GC,3371,-1.17,-121.6,305.2,-8.4,541,3380,0.00,2.58,0.00,0.000,4,0.000,0.059,2263,296,3004
$GC,3402,-1.17,-121.6,307.9,-9.5,544,3411,0.00,2.45,0.00,0.000,6,0.000,0.036,2263,1707,3003
$GC,3714,-1.17,-121.6,334.1,-8.2,575,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1707,3004
$GC,4026,-1.17,-121.6,359.7,-7.9,606,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1707,3004
$GC,4338,-1.17,-121.6,384.3,-7.8,637,4347,0.00,2.55,0.00,0.000,4,0.000,0.059,2263,296,3004
$GC,4373,-1.17,-121.6,387.3,-9.0,640,4378,0.00,2.47,0.00,0.000,6,0.000,0.035,2263,1698,3004
$GC,4710,-1.17,-121.6,412.5,-7.4,662,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1699,3004
$GC,5071,-1.17,-121.6,439.5,-7.6,671,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1699,3004
$GC,5431,-1.17,-121.6,467.6,-7.9,680,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1699,3004
$GC,5792,-1.17,-121.6,496.7,-8.2,689,5801,0.00,2.55,0.00,0.000,4,0.000,0.056,2263,3105,3004
$GC,5837,-1.17,-121.6,500.7,-9.0,690,5841,0.00,2.47,0.00,0.000,6,0.000,0.044,2263,1704,3004
$GC,6154,-1.17,-121.6,527.7,-8.6,698,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3004
$GC,6514,-1.17,-121.6,559.9,-9.1,707,6523,0.00,2.55,0.00,0.000,4,0.000,0.054,2263,3105,3004
$GC,6555,-1.17,-121.6,563.8,-9.5,708,6564,0.00,2.47,0.00,0.000,6,0.000,0.044,2263,1703,3004
$GC,6876,-1.17,-121.6,594.1,-9.5,716,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3004
$GC,7238,-1.17,-121.6,628.0,-9.5,725,7247,0.00,2.58,0.00,0.000,4,0.000,0.064,2263,296,3004
$GC,7288,-1.17,-121.6,633.3,-10.0,726,7292,0.00,2.42,0.00,0.000,6,0.000,0.034,2263,1704,3004
$GC,7600,-1.17,-121.6,662.2,-9.3,734,7608,0.00,2.53,0.00,0.000,4,0.000,0.059,2263,3104,3004
$GC,7660,-1.17,-121.6,668.2,-10.0,735,7664,0.00,2.47,0.00,0.000,6,0.000,0.045,2263,1704,3004
$GC,8001,-1.17,-121.6,698.4,-8.6,744,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3004
$GC,8362,-1.17,-121.6,727.8,-8.0,753,8371,0.00,2.58,0.00,0.000,4,0.000,0.067,2263,297,3004
$GC,8403,-1.17,-121.6,731.3,-8.9,754,8411,0.00,2.45,0.00,0.000,6,0.000,0.036,2263,1706,3004
$GC,8724,-1.17,-121.6,757.6,-8.3,762,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1706,3004
$GC,9085,-1.17,-121.6,785.3,-7.3,771,9123,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1706,3004
$GC,9445,-1.17,-121.6,809.3,-6.6,780,9454,0.00,2.55,0.00,0.000,4,0.000,0.060,2263,3107,3004
$GC,9486,-1.17,-121.6,812.1,-7.2,781,9494,0.00,2.50,0.00,0.000,6,0.000,0.048,2263,1704,3004
$GC,9807,-1.17,-121.6,833.7,-6.6,789,9815,0.00,2.55,0.00,0.000,4,0.000,0.061,2263,3104,3004
$GC,9837,-1.17,-121.6,835.8,-7.8,789,9841,0.00,2.50,0.00,0.000,6,0.000,0.049,2263,1704,3004
$GC,10168,-1.17,-121.6,857.5,-6.5,798,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3004
$GC,10529,-1.17,-121.6,881.1,-6.6,807,10567,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1704,3004
$GC,10889,-1.17,-121.6,905.4,-6.9,816,10928,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3004
$GC,11250,-1.17,-121.6,932.1,-7.5,825,11289,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3004
$GC,11611,-1.17,-121.6,961.0,-8.2,834,11649,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3004
$GC,11971,-1.17,-121.6,992.3,-8.9,843,12010,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1704,3003
$GC,12053,-0.31,0.0,999.4,8.7,845,12171,1.00,0.00,108.47,1.420,6,0.130,0.000,2452,1704,2501
$GC,12173,1.17,121.6,1003.6,4.7,848,12291,1.65,0.00,105.88,1.447,6,0.095,0.000,2778,1704,2005
$GC,12612,1.17,121.6,969.0,9.3,859,12621,0.00,2.65,0.00,0.000,4,0.000,0.066,2778,3102,2003
$GC,12627,1.17,121.6,967.5,9.2,859,12631,0.00,2.58,0.00,0.000,6,0.000,0.055,2778,1705,2003
$GC,12933,1.17,121.6,939.3,9.4,867,12972,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1705,2001
$GC,13294,1.17,121.6,904.7,9.8,876,13303,0.00,2.75,0.00,0.000,4,0.000,0.093,2778,301,2001
$GC,13330,1.17,121.6,900.9,11.0,876,13334,0.00,2.55,0.00,0.000,6,0.000,0.050,2778,1703,1999
$GC,13655,1.17,121.6,864.2,11.7,885,13694,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1705,1998
$GC,14016,1.17,121.6,819.6,12.4,894,14055,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1705,1997
$GC,14377,1.17,121.6,772.2,13.4,903,14415,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1705,1996
$GC,14737,1.17,121.6,726.2,12.3,912,14746,0.00,2.67,0.00,0.000,4,0.000,0.075,2778,297,1996
$GC,14819,1.17,121.6,715.6,13.7,914,14827,0.00,2.50,0.00,0.000,6,0.000,0.042,2778,1711,1995
$GC,15139,1.17,121.6,677.4,12.0,922,15148,0.00,2.67,0.00,0.000,4,0.000,0.071,2778,296,1995
$GC,15225,1.17,121.6,666.5,12.3,924,15229,0.00,2.50,0.00,0.000,6,0.000,0.041,2778,1707,1995
$GC,15542,1.17,121.6,632.3,10.3,932,15580,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1994
$GC,15902,1.17,121.6,596.6,9.8,941,15941,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1995
$GC,16263,1.17,121.6,562.4,9.3,950,16271,0.00,2.62,0.00,0.000,4,0.000,0.065,2778,296,1995
$GC,16318,1.17,121.6,556.8,9.9,951,16322,0.00,2.47,0.00,0.000,6,0.000,0.038,2778,1706,1995
$GC,16625,1.17,121.6,528.2,9.4,959,16663,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,1995
$GC,16985,1.17,121.6,494.1,9.4,968,16994,0.00,2.62,0.00,0.000,4,0.000,0.064,2778,295,1995
$GC,17021,1.17,121.6,490.5,9.6,968,17025,0.00,2.47,0.00,0.000,6,0.000,0.038,2778,1707,1995
$GC,17346,1.17,121.6,460.5,9.1,977,17385,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,1995
$GC,17707,1.17,121.6,428.5,8.7,986,17746,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,1995
$GC,18068,1.17,121.6,397.6,8.5,995,18076,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,1995
$GC,18380,1.17,121.6,370.4,8.9,1026,18388,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,1995
$GC,18692,1.17,121.6,342.3,8.8,1057,18701,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1994
$GC,19005,1.17,121.6,312.3,9.7,1088,19014,0.00,2.60,0.00,0.000,4,0.000,0.062,2778,296,1995
$GC,19035,1.17,121.6,309.1,10.2,1091,19044,0.00,2.45,0.00,0.000,6,0.000,0.035,2778,1707,1995
$GC,19347,1.17,121.6,278.4,9.7,1122,19356,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1995
$GC,19659,1.17,121.6,246.8,10.5,1153,19668,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1995
$GC,19972,1.17,121.6,213.7,10.6,1184,19980,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1994
$GC,20285,1.17,121.6,180.4,9.8,1233,20288,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1995
$GC,20594,1.17,121.6,150.2,9.2,1294,20598,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1995
$GC,20904,1.17,121.6,120.9,9.1,1355,20908,0.00,2.58,0.00,0.000,4,0.000,0.060,2778,294,1995
$GC,20929,1.17,121.6,118.5,10.2,1360,20933,0.00,2.47,0.00,0.000,6,0.000,0.035,2778,1706,1995
$GC,21239,1.17,121.6,89.0,9.9,1421,21242,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,1995
$GC,21548,1.17,121.6,60.2,8.8,1482,21552,0.00,2.53,0.00,0.000,4,0.000,0.056,2778,3107,1995
$GC,21594,1.17,121.6,56.1,9.1,1491,21598,0.00,2.47,0.00,0.000,6,0.000,0.041,2778,1700,1996
$GC,21903,1.17,157.4,33.4,6.4,1552,21936,0.00,2.70,27.48,0.784,4,0.000,0.061,2778,300,1858
$GC,21962,1.20,167.6,29.3,7.5,1563,21977,0.00,2.50,8.12,0.795,6,0.000,0.035,2778,1706,1816
$GC,22282,1.22,167.6,4.2,8.6,1626,22286,0.00,2.58,0.00,0.000,4,0.000,0.055,2778,3108,1816
$FINISH,0.1,1.026816,0
$SM_CCo,22356,59.20,0.715,0,0,1441,260.02
$RAFOS_CLK,-5854
$RAFOS,0,1119888541,16.166666,16.150278,51,48,46,219,1128,203
$RAFOS,2,1119875362,12.500000,12.489445,49,44,42,147,73,755
$RAFOS,1,1119874758,12.333333,12.321667,49,44,43,140,48,1298
$RAFOS,0,1119874157,12.166667,12.154722,49,45,43,198,73,210
$TT8_MAMPS,0.02301
$HUMID,2005
$INTERNAL_PRESSURE,7.25081
$TCM_TEMP,2.00
$ALTIM_TOP_PING,9.8,0.0
$ALTIM_BOTTOM_PING,981.6,0.0
$24V_AH,23.3,7.656
$10V_AH,10.0,4.153
$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,25.850,111.850,249.950,59.200,0.000,32.322,32.446,145.984,0.500,51.468,1086.417,16763.027,1415.637,2388.642,1147.235,33.357,2792.090,0.000,1544.567,1800.000,3.638
$DEVICE_MAMPS,190.983,92.807,1447.329,714.844,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1855.421,2296.683,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57873,1637
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270605,163333,7042.701,1601.913,44,1.6,44,4.1