version: 65.00
glider: 17
mission: 2
dive: 102
start: 7 16 105 17 19 44
data:
$ID,17
$MISSION,2
$DIVE,102
$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,240
$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,-27104.682
$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,1740
$C_ROLL_CLIMB,1705
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,23
$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
$GPS1,171311,7158.086,1321.095,32,1.4,32
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-54.0
$GPS2,171853,7158.086,1321.076,17,1.4,18,2.5
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.089,-0.204
$KALMAN_X,169931.9,-255.4,-509.5,-305681.4,695.5
$KALMAN_Y,-55330.0,-218.1,150.3,236718.8,2490.3
$MHEAD_RNG_PITCHd_Wd,201.2,134811,-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,-121.6,0.0,0.0,0,63,0.00,0.00,-46.10,0.000,2,0.000,0.000,289,1708,2714
$GC,65,-1.17,-121.6,3.4,-7.5,9,90,11.90,2.70,-7.28,0.000,4,0.189,0.065,2265,3135,2999
$GC,232,-1.17,-121.6,24.1,-11.7,42,237,0.00,2.53,0.00,0.000,6,0.000,0.040,2265,1732,3003
$GC,541,-1.17,-121.6,69.2,-10.9,103,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1731,3005
$GC,851,-1.17,-121.6,88.1,-5.7,164,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1731,3006
$GC,1160,-1.17,-121.6,111.0,-8.2,225,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1731,3008
$GC,1469,-1.17,-121.6,138.7,-9.0,286,1473,0.00,2.58,0.00,0.000,4,0.000,0.059,2265,337,3008
$GC,1515,-1.17,-121.6,143.1,-9.7,295,1519,0.00,2.47,0.00,0.000,6,0.000,0.035,2265,1739,3008
$GC,1824,-1.17,-121.6,173.1,-9.7,356,1828,0.00,2.60,0.00,0.000,4,0.000,0.058,2265,336,3008
$GC,1850,-1.17,-121.6,175.8,-10.7,361,1854,0.00,2.47,0.00,0.000,6,0.000,0.037,2265,1739,3008
$GC,2163,-1.17,-121.6,208.8,-10.4,415,2172,0.00,2.60,0.00,0.000,4,0.000,0.056,2265,3148,3008
$GC,2198,-1.17,-121.6,212.5,-11.0,418,2203,0.00,2.55,0.00,0.000,6,0.000,0.044,2265,1744,3008
$GC,2506,-1.17,-121.6,244.3,-10.0,449,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1745,3008
$GC,2818,-1.17,-121.6,275.1,-9.3,480,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1745,3008
$GC,3130,-1.17,-121.6,302.7,-8.2,511,3139,0.00,2.58,0.00,0.000,4,0.000,0.060,2265,336,3008
$GC,3156,-1.17,-121.6,304.9,-9.0,513,3160,0.00,2.53,0.00,0.000,6,0.000,0.035,2265,1739,3008
$GC,3463,-1.17,-121.6,330.8,-8.4,544,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3008
$GC,3776,-1.17,-121.6,357.3,-8.5,575,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3008
$GC,4088,-1.17,-121.6,384.0,-8.7,606,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1739,3008
$GC,4399,-1.17,-121.6,411.3,-8.7,628,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3008
$GC,4760,-1.17,-121.6,440.8,-7.9,637,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3008
$GC,5121,-1.17,-121.6,468.0,-7.5,646,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3008
$GC,5481,-1.17,-121.6,495.1,-7.6,655,5490,0.00,2.60,0.00,0.000,4,0.000,0.062,2265,337,3008
$GC,5506,-1.17,-121.6,497.2,-9.3,655,5510,0.00,2.50,0.00,0.000,6,0.000,0.038,2265,1742,3008
$GC,5842,-1.17,-121.6,524.4,-7.8,664,5851,0.00,2.60,0.00,0.000,4,0.000,0.060,2265,3149,3008
$GC,5867,-1.17,-121.6,526.4,-8.9,664,5871,0.00,2.53,0.00,0.000,6,0.000,0.047,2265,1743,3008
$GC,6204,-1.17,-121.6,552.1,-7.5,673,6212,0.00,2.60,0.00,0.000,4,0.000,0.064,2265,335,3008
$GC,6254,-1.17,-121.6,556.1,-8.4,674,6258,0.00,2.47,0.00,0.000,6,0.000,0.037,2265,1742,3008
$GC,6565,-1.17,-121.6,580.5,-8.0,682,6574,0.00,2.60,0.00,0.000,4,0.000,0.061,2265,3142,3008
$GC,6590,-1.17,-121.6,582.6,-8.9,682,6594,0.00,2.53,0.00,0.000,6,0.000,0.048,2265,1739,3008
$GC,6926,-1.17,-121.6,609.2,-8.1,691,6935,0.00,2.60,0.00,0.000,4,0.000,0.067,2265,335,3008
$GC,6946,-1.17,-121.6,610.9,-8.5,691,6950,0.00,2.50,0.00,0.000,6,0.000,0.038,2265,1739,3008
$GC,7288,-1.17,-121.6,639.1,-8.2,700,7326,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1740,3008
$GC,7648,-1.17,-121.6,670.9,-8.6,709,7657,0.00,2.62,0.00,0.000,4,0.000,0.066,2265,3143,3008
$GC,7704,-1.17,-121.6,675.5,-8.0,710,7708,0.00,2.53,0.00,0.000,6,0.000,0.051,2265,1741,3008
$GC,8010,-1.17,-121.6,699.7,-8.0,718,8018,0.00,2.62,0.00,0.000,4,0.000,0.072,2266,335,3009
$GC,8051,-1.17,-121.6,703.1,-9.0,719,8059,0.00,2.50,0.00,0.000,6,0.000,0.041,2265,1741,3008
$GC,8372,-1.17,-121.6,725.9,-7.0,727,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3008
$GC,8734,-1.17,-121.6,753.7,-8.1,736,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1742,3008
$GC,9093,-1.17,-121.6,784.6,-8.5,745,9101,0.00,2.62,0.00,0.000,4,0.000,0.067,2265,3146,3008
$GC,9128,-1.17,-121.6,787.7,-9.4,745,9133,0.00,2.58,0.00,0.000,6,0.000,0.054,2265,1745,3008
$GC,9454,-1.17,-121.6,816.2,-8.7,754,9493,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1745,3007
$GC,9815,-1.17,-121.6,843.9,-7.5,763,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1745,3007
$GC,10177,-1.17,-121.6,868.2,-6.5,772,10214,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1745,3005
$GC,10536,-1.17,-121.6,891.8,-6.7,781,10575,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1745,3005
$GC,10897,-1.17,-121.6,917.9,-7.3,790,10935,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1745,3004
$GC,11257,-1.17,-121.6,945.0,-7.6,799,11296,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1745,3004
$GC,11620,-1.17,-121.6,973.1,-7.7,808,11656,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1745,3002
$GC,11941,-0.31,0.0,997.9,7.7,816,12058,1.00,0.00,109.55,1.470,6,0.126,0.000,2455,1745,2501
$GC,12060,1.17,121.6,1000.9,3.6,819,12176,1.55,2.70,104.78,1.427,4,0.086,0.067,2779,3108,2004
$GC,12207,1.17,121.6,991.2,10.9,822,12216,0.00,2.62,0.00,0.000,6,0.000,0.058,2779,1709,2002
$GC,12543,1.17,121.6,953.5,11.3,831,12581,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1708,2000
$GC,12904,1.17,121.6,911.4,11.7,840,12942,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1708,2000
$GC,13264,1.17,121.6,869.8,11.4,849,13303,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1708,2000
$GC,13625,1.17,121.6,828.4,11.6,858,13663,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,2000
$GC,13985,1.17,121.6,785.1,12.1,867,13994,0.00,2.67,0.00,0.000,4,0.000,0.068,2779,3110,1998
$GC,14026,1.17,121.6,780.2,11.5,868,14035,0.00,2.60,0.00,0.000,6,0.000,0.058,2779,1701,1998
$GC,14347,1.17,121.6,744.4,11.0,876,14386,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1701,1998
$GC,14708,1.17,121.6,705.7,10.7,885,14716,0.00,2.70,0.00,0.000,4,0.000,0.083,2779,294,1997
$GC,14753,1.17,121.6,700.4,11.4,886,14757,0.00,2.55,0.00,0.000,6,0.000,0.045,2779,1704,1997
$GC,15069,1.17,121.6,666.8,10.6,894,15078,0.00,2.62,0.00,0.000,4,0.000,0.070,2779,3109,1996
$GC,15115,1.17,121.6,661.8,11.1,895,15119,0.00,2.58,0.00,0.000,6,0.000,0.057,2779,1702,1996
$GC,15431,1.17,121.6,629.0,10.3,903,15440,0.00,2.67,0.00,0.000,4,0.000,0.067,2779,3113,1996
$GC,15486,1.17,121.6,622.9,10.6,904,15490,0.00,2.58,0.00,0.000,6,0.000,0.056,2779,1706,1996
$GC,15793,1.17,121.6,592.3,9.8,912,15801,0.00,2.67,0.00,0.000,4,0.000,0.080,2779,297,1996
$GC,15843,1.17,121.6,586.6,11.4,913,15847,0.00,2.53,0.00,0.000,6,0.000,0.044,2779,1703,1996
$GC,16154,1.17,121.6,552.9,10.9,921,16163,0.00,2.67,0.00,0.000,4,0.000,0.074,2779,294,1995
$GC,16230,1.17,121.6,544.1,11.9,922,16235,0.00,2.55,0.00,0.000,6,0.000,0.044,2779,1699,1995
$GC,16556,1.17,121.6,510.8,10.1,931,16595,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1701,1995
$GC,16918,1.17,121.6,475.5,9.7,940,16927,0.00,2.67,0.00,0.000,4,0.000,0.066,2779,3110,1995
$GC,16968,1.17,121.6,470.3,10.9,941,16972,0.00,2.55,0.00,0.000,6,0.000,0.050,2779,1704,1995
$GC,17280,1.17,121.6,439.1,10.1,949,17288,0.00,2.65,0.00,0.000,4,0.000,0.071,2779,294,1995
$GC,17320,1.17,121.6,434.5,12.4,950,17329,0.00,2.53,0.00,0.000,6,0.000,0.041,2779,1707,1995
$GC,17641,1.17,121.6,400.8,10.5,958,17650,0.00,2.62,0.00,0.000,4,0.000,0.063,2779,3109,1995
$GC,17686,1.17,121.6,395.8,12.0,959,17691,0.00,2.58,0.00,0.000,6,0.000,0.048,2779,1705,1995
$GC,17994,1.17,121.6,361.4,11.0,990,18003,0.00,2.65,0.00,0.000,4,0.000,0.069,2779,292,1995
$GC,18065,1.17,121.6,352.9,12.6,997,18074,0.00,2.53,0.00,0.000,6,0.000,0.038,2779,1710,1995
$GC,18377,1.17,121.6,321.9,9.3,1028,18387,0.00,2.60,0.00,0.000,4,0.000,0.061,2779,3106,1995
$GC,18412,1.17,121.6,318.6,10.3,1031,18417,0.00,2.58,0.00,0.000,6,0.000,0.046,2779,1704,1995
$GC,18720,1.17,121.6,291.3,8.7,1062,18729,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1704,1995
$GC,19032,1.17,121.6,262.4,9.4,1093,19041,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1704,1995
$GC,19344,1.17,121.6,233.1,9.7,1124,19353,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1704,1995
$GC,19658,1.17,121.6,200.5,10.5,1155,19667,0.00,2.62,0.00,0.000,4,0.000,0.066,2779,296,1995
$GC,19698,1.17,121.6,195.6,11.2,1162,19703,0.00,2.50,0.00,0.000,6,0.000,0.038,2779,1704,1995
$GC,20008,1.17,121.6,162.0,10.6,1223,20011,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1995
$GC,20317,1.17,121.6,130.6,9.9,1284,20320,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1995
$GC,20626,1.17,121.6,101.9,9.1,1345,20630,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1995
$GC,20935,1.17,121.6,71.6,10.2,1406,20939,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1995
$GC,21245,1.17,121.6,42.2,10.4,1467,21249,0.00,2.60,0.00,0.000,4,0.000,0.058,2779,3110,1995
$GC,21300,1.17,121.6,36.7,10.2,1478,21305,0.00,2.53,0.00,0.000,6,0.000,0.044,2779,1701,1995
$GC,21610,1.17,152.6,12.0,6.6,1539,21644,0.00,2.72,23.50,0.782,4,0.000,0.064,2779,306,1877
$FINISH,0.2,1.026905,0
$SM_CCo,21761,61.95,0.731,0,0,1522,240.15
$RAFOS_CLK,-5832
$RAFOS,2,1121545761,20.500000,20.489166,50,43,40,200,73,143
$RAFOS,1,1121545159,20.333334,20.321945,46,45,42,203,642,73
$RAFOS,0,1121544558,20.166666,20.155001,44,44,41,208,1438,48
$TT8_MAMPS,0.021476
$HUMID,2055
$INTERNAL_PRESSURE,7.23127
$TCM_TEMP,2.50
$ALTIM_TOP_PING,9.9,0.0
$ALTIM_BOTTOM_PING,973.1,0.0
$24V_AH,23.3,16.581
$10V_AH,10.0,12.364
$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,25.900,144.875,237.825,61.950,0.000,32.322,41.053,161.409,0.500,53.178,1065.430,16326.600,1245.369,2374.783,1231.225,33.366,2627.145,0.000,1531.653,900.000,3.329
$DEVICE_MAMPS,189.449,82.836,1470.339,730.951,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1770.290,2193.777,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56028,1564
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160705,232439,7156.568,1315.825,34,1.3,34,2.4