version: 65.00
glider: 17
mission: 2
dive: 80
start: 7 10 105 22 27 54
data:
$ID,17
$MISSION,2
$DIVE,80
$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,-25691.721
$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,17
$R_STBD_OVSHOOT,24
$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,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
$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
$GPS1,222109,7210.081,1441.680,38,1.1,38
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-53.8
$GPS2,222705,7210.005,1441.902,17,1.0,18,3.4
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7210.000,1430.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.196,0.105
$KALMAN_X,122380.2,-57.9,-1363.5,-207101.9,9369.7
$KALMAN_Y,-76866.3,139.9,-135.1,280262.4,-2605.2
$MHEAD_RNG_PITCHd_Wd,294.7,6751,-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,15,-1.17,-121.6,0.0,0.0,0,62,0.00,0.00,-45.38,0.000,2,0.000,0.000,287,1700,2636
$GC,64,-1.17,-121.6,3.2,-7.0,9,94,12.00,2.62,-9.50,0.000,4,0.193,0.070,2264,296,2999
$GC,170,-1.17,-121.6,15.9,-10.5,30,175,0.00,2.50,0.00,0.000,6,0.000,0.034,2264,1708,3000
$GC,480,-1.17,-121.6,47.8,-9.9,91,484,0.00,2.60,0.00,0.000,4,0.000,0.055,2264,3112,3004
$GC,525,-1.17,-121.6,52.3,-9.5,100,530,0.00,2.55,0.00,0.000,6,0.000,0.041,2264,1700,3004
$GC,835,-1.17,-121.6,78.8,-8.5,161,839,0.00,2.62,0.00,0.000,4,0.000,0.053,2264,3109,3004
$GC,865,-1.17,-121.6,81.5,-8.8,167,870,0.00,2.53,0.00,0.000,6,0.000,0.043,2264,1705,3005
$GC,1175,-1.17,-121.6,107.3,-8.3,228,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1705,3005
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$GC,1524,-1.17,-121.6,138.1,-9.7,297,1529,0.00,2.53,0.00,0.000,6,0.000,0.044,2264,1705,3006
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$GC,2496,-1.17,-121.6,226.0,-9.0,460,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3006
$GC,2808,-1.17,-121.6,253.2,-8.6,491,2817,0.00,2.58,0.00,0.000,4,0.000,0.054,2264,3108,3006
$GC,2848,-1.17,-121.6,256.8,-9.0,495,2857,0.00,2.53,0.00,0.000,6,0.000,0.044,2264,1702,3006
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$GC,3474,-1.17,-121.6,308.1,-8.4,557,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3006
$GC,3785,-1.17,-121.6,333.4,-7.6,588,3794,0.00,2.60,0.00,0.000,4,0.000,0.054,2264,3108,3006
$GC,3836,-1.17,-121.6,337.6,-8.3,593,3845,0.00,2.53,0.00,0.000,6,0.000,0.044,2264,1705,3006
$GC,4148,-1.17,-121.6,361.8,-7.7,624,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1705,3006
$GC,4460,-1.17,-121.6,385.6,-7.7,655,4469,0.00,2.58,0.00,0.000,4,0.000,0.055,2264,3108,3006
$GC,4521,-1.17,-121.6,390.5,-8.2,661,4532,0.00,2.53,0.00,0.000,6,0.000,0.046,2264,1702,3006
$GC,4853,-1.17,-121.6,416.3,-7.8,679,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3006
$GC,5213,-1.17,-121.6,445.0,-8.0,688,5222,0.00,2.60,0.00,0.000,4,0.000,0.056,2264,3110,3006
$GC,5274,-1.17,-121.6,450.1,-8.2,689,5278,0.00,2.53,0.00,0.000,6,0.000,0.046,2264,1705,3006
$GC,5615,-1.17,-121.6,477.8,-8.1,698,5623,0.00,2.55,0.00,0.000,4,0.000,0.056,2264,3107,3006
$GC,5645,-1.17,-121.6,480.5,-9.6,698,5649,0.00,2.53,0.00,0.000,6,0.000,0.046,2264,1700,3006
$GC,5976,-1.17,-121.6,508.2,-8.2,707,5985,0.00,2.58,0.00,0.000,4,0.000,0.056,2264,3111,3006
$GC,6006,-1.17,-121.6,510.8,-9.3,707,6010,0.00,2.53,0.00,0.000,6,0.000,0.046,2264,1707,3006
$GC,6337,-1.17,-121.6,536.8,-7.7,716,6346,0.00,2.55,0.00,0.000,4,0.000,0.057,2264,3108,3006
$GC,6413,-1.17,-121.6,542.9,-8.5,717,6418,0.00,2.58,0.00,0.000,6,0.000,0.048,2264,1705,3006
$GC,6739,-1.17,-121.6,568.9,-7.9,726,6747,0.00,2.60,0.00,0.000,4,0.000,0.058,2264,3112,3006
$GC,6805,-1.17,-121.6,574.2,-8.0,727,6814,0.00,2.55,0.00,0.000,6,0.000,0.048,2264,1700,3006
$GC,7141,-1.17,-121.6,598.4,-6.9,736,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1701,3006
$GC,7502,-1.17,-121.6,621.3,-6.2,745,7510,0.00,2.58,0.00,0.000,4,0.000,0.059,2264,3106,3006
$GC,7583,-1.17,-121.6,626.5,-6.8,747,7591,0.00,2.53,0.00,0.000,6,0.000,0.049,2264,1706,3006
$GC,7904,-1.17,-121.6,646.1,-6.1,755,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1707,3006
$GC,8265,-1.17,-121.6,670.2,-6.9,764,8273,0.00,2.62,0.00,0.000,4,0.000,0.061,2264,3108,3006
$GC,8315,-1.17,-121.6,674.1,-8.1,765,8319,0.00,2.55,0.00,0.000,6,0.000,0.052,2264,1702,3006
$GC,8626,-1.17,-121.6,698.9,-8.1,773,8635,0.00,2.58,0.00,0.000,4,0.000,0.062,2264,3107,3006
$GC,8661,-1.17,-121.6,702.0,-9.2,773,8666,0.00,2.58,0.00,0.000,6,0.000,0.052,2264,1706,3006
$GC,8987,-1.17,-121.6,729.2,-8.5,782,8996,0.00,2.60,0.00,0.000,4,0.000,0.064,2264,3110,3006
$GC,9038,-1.17,-121.6,733.7,-9.2,783,9042,0.00,2.55,0.00,0.000,6,0.000,0.051,2264,1703,3006
$GC,9349,-1.17,-121.6,758.8,-8.0,791,9358,0.00,2.60,0.00,0.000,4,0.000,0.064,2264,3112,3006
$GC,9384,-1.17,-121.6,761.8,-9.0,791,9389,0.00,2.58,0.00,0.000,6,0.000,0.054,2264,1714,3006
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$GC,10072,-1.17,-121.6,818.0,-8.0,809,10111,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1705,3004
$GC,10433,-1.17,-121.6,847.7,-8.1,818,10441,0.00,2.62,0.00,0.000,4,0.000,0.066,2264,3106,3004
$GC,10463,-1.17,-121.6,850.3,-9.6,818,10467,0.00,2.55,0.00,0.000,6,0.000,0.055,2264,1705,3004
$GC,10794,-1.17,-121.6,876.5,-7.9,827,10802,0.00,2.67,0.00,0.000,4,0.000,0.084,2264,300,3003
$GC,10839,-1.17,-121.6,880.4,-8.8,828,10843,0.00,2.47,0.00,0.000,6,0.000,0.041,2264,1703,3003
$GC,11155,-1.17,-121.6,903.4,-7.1,836,11194,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1704,3002
$GC,11516,-1.17,-121.6,928.9,-6.9,845,11555,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1704,3001
$GC,11877,-1.17,-121.6,953.7,-6.9,854,11885,0.00,2.60,0.00,0.000,4,0.000,0.070,2264,3110,3001
$GC,11907,-1.17,-121.6,955.9,-8.2,854,11911,0.00,2.55,0.00,0.000,6,0.000,0.057,2263,1705,3000
$GC,12238,-1.17,-121.6,979.1,-7.0,863,12276,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1705,3001
$GC,12480,-0.31,0.0,995.9,6.9,869,12598,1.00,0.00,109.00,1.462,6,0.132,0.000,2452,1705,2501
$GC,12600,1.17,121.6,997.7,2.7,872,12718,1.65,0.00,106.03,1.420,6,0.091,0.000,2779,1705,2004
$GC,13039,1.17,121.6,952.0,11.9,883,13078,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1704,2002
$GC,13400,1.17,121.6,910.0,11.6,892,13439,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1704,2001
$GC,13761,1.17,121.6,869.7,11.0,901,13769,0.00,2.75,0.00,0.000,4,0.000,0.093,2779,300,2000
$GC,13826,1.17,121.6,862.0,12.6,902,13830,0.00,2.53,0.00,0.000,6,0.000,0.048,2779,1705,2000
$GC,14162,1.17,121.6,825.1,11.1,911,14171,0.00,2.72,0.00,0.000,4,0.000,0.087,2779,300,1999
$GC,14192,1.17,121.6,821.6,11.8,911,14196,0.00,2.53,0.00,0.000,6,0.000,0.046,2779,1707,1999
$GC,14524,1.17,121.6,782.8,12.3,920,14562,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1708,1998
$GC,14884,1.17,121.6,739.7,11.9,929,14893,0.00,2.62,0.00,0.000,4,0.000,0.070,2779,3113,1998
$GC,14940,1.17,121.6,733.0,10.8,930,14944,0.00,2.58,0.00,0.000,6,0.000,0.056,2779,1704,1997
$GC,15246,1.17,121.6,699.4,10.6,938,15284,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1705,1997
$GC,15607,1.17,121.6,659.1,11.7,947,15615,0.00,2.65,0.00,0.000,4,0.000,0.067,2779,3113,1996
$GC,15677,1.17,121.6,650.1,13.2,948,15681,0.00,2.58,0.00,0.000,6,0.000,0.056,2779,1706,1996
$GC,16008,1.17,121.6,610.2,11.9,957,16047,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1996
$GC,16369,1.17,121.6,567.9,11.6,966,16407,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1995
$GC,16730,1.17,121.6,530.3,10.2,975,16738,0.00,2.65,0.00,0.000,4,0.000,0.063,2779,3110,1994
$GC,16775,1.17,121.6,525.6,9.2,976,16779,0.00,2.55,0.00,0.000,6,0.000,0.052,2779,1704,1994
$GC,17091,1.17,121.6,494.4,9.7,984,17130,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1704,1994
$GC,17452,1.17,121.6,459.6,9.7,993,17490,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1705,1994
$GC,17812,1.17,121.6,425.0,9.5,1002,17851,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1704,1994
$GC,18153,1.17,121.6,393.2,9.3,1015,18163,0.00,2.65,0.00,0.000,4,0.000,0.070,2779,291,1994
$GC,18219,1.17,121.6,386.3,10.8,1021,18224,0.00,2.53,0.00,0.000,6,0.000,0.039,2779,1703,1994
$GC,18527,1.17,121.6,356.1,10.1,1052,18535,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1705,1994
$GC,18839,1.17,121.6,324.7,10.0,1083,18848,0.00,2.62,0.00,0.000,4,0.000,0.060,2779,3110,1994
$GC,18874,1.17,121.6,321.1,10.8,1086,18879,0.00,2.58,0.00,0.000,6,0.000,0.046,2779,1705,1994
$GC,19182,1.17,121.6,291.7,8.9,1117,19190,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1704,1994
$GC,19494,1.17,121.6,263.2,8.9,1148,19502,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1705,1995
$GC,19806,1.17,121.6,234.2,9.5,1179,19815,0.00,2.58,0.00,0.000,4,0.000,0.058,2779,3110,1994
$GC,19902,1.17,121.6,224.1,10.5,1188,19907,0.00,2.58,0.00,0.000,6,0.000,0.045,2779,1703,1995
$GC,20210,1.17,121.6,193.9,9.5,1225,20214,0.00,2.60,0.00,0.000,4,0.000,0.066,2779,297,1995
$GC,20281,1.17,121.6,186.6,10.7,1239,20285,0.00,2.47,0.00,0.000,6,0.000,0.036,2779,1711,1995
$GC,20590,1.17,121.6,157.8,8.7,1300,20594,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1712,1995
$GC,20899,1.17,121.6,129.2,9.1,1361,20904,0.00,2.62,0.00,0.000,4,0.000,0.062,2779,296,1995
$GC,20936,1.17,121.6,125.6,10.4,1368,20940,0.00,2.47,0.00,0.000,6,0.000,0.037,2779,1704,1995
$GC,21245,1.17,121.6,96.6,8.7,1429,21248,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1705,1995
$GC,21554,1.17,121.6,68.4,9.5,1490,21558,0.00,2.60,0.00,0.000,4,0.000,0.062,2779,294,1995
$GC,21585,1.17,121.6,65.4,10.2,1496,21589,0.00,2.47,0.00,0.000,6,0.000,0.038,2779,1708,1995
$GC,21894,1.17,121.6,32.0,12.5,1557,21898,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1708,1995
$FINISH,0.2,1.026909,0
$SM_CCo,22204,92.05,0.723,0,0,1441,260.02
$RAFOS_CLK,-3811
$RAFOS,2,1121056144,4.500000,4.484445,44,43,42,658,226,1072
$RAFOS,1,1121055546,4.333333,4.318333,52,43,43,222,6,374
$RAFOS,0,1121054941,4.166667,4.150278,50,47,44,853,195,914
$RAFOS,2,1121041774,0.500000,0.492778,48,45,43,1134,73,1078
$RAFOS,1,1121041172,0.333333,0.325556,57,45,43,197,209,107
$RAFOS,0,1121040570,0.166667,0.158333,43,43,42,246,1013,1576
$TT8_MAMPS,0.021476
$HUMID,2019
$INTERNAL_PRESSURE,7.23127
$TCM_TEMP,1.50
$ALTIM_TOP_PING,9.6,9.9
$ALTIM_BOTTOM_PING,970.6,0.0
$24V_AH,23.3,13.901
$10V_AH,10.0,9.896
$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,26.000,169.825,215.025,92.050,0.000,32.321,27.615,185.876,0.500,59.886,1144.479,16661.262,1200.534,2461.352,1261.212,33.366,2627.963,0.000,1596.418,1800.000,3.461
$DEVICE_MAMPS,193.284,92.807,1461.902,722.514,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1828.097,2264.247,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57889,1615
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110705,044039,7210.773,1439.944,34,1.1,34,3.4