version: 65.00
glider: 17
mission: 2
dive: 121
start: 7 21 105 18 20 0
data:
$ID,17
$MISSION,2
$DIVE,121
$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,-28384.695
$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,19
$R_STBD_OVSHOOT,34
$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
$GPS1,181303,7113.922,1220.861,49,1.0,49
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-53.8
$GPS2,181910,7113.889,1220.897,16,1.8,17,1.8
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.199,-0.100
$KALMAN_X,182362.1,238.7,-10.5,-356626.8,145.3
$KALMAN_Y,-56720.6,-62.0,220.3,156038.0,-2822.3
$MHEAD_RNG_PITCHd_Wd,241.6,46621,-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,-121.6,0.0,0.0,0,58,0.00,0.00,-40.88,0.000,2,0.000,0.000,288,1753,2601
$GC,59,-1.17,-121.6,3.3,-7.2,8,90,11.95,2.58,-10.07,0.000,4,0.192,0.068,2265,3134,2998
$GC,283,-1.17,-121.6,31.1,-11.7,52,287,0.00,2.53,0.00,0.000,6,0.000,0.041,2265,1735,3001
$GC,592,-1.17,-121.6,63.7,-9.5,113,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1735,3002
$GC,901,-1.17,-121.6,92.6,-9.0,174,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1735,3003
$GC,1211,-1.17,-121.6,120.0,-8.7,235,1215,0.00,2.58,0.00,0.000,4,0.000,0.060,2265,337,3004
$GC,1236,-1.17,-121.6,122.3,-8.8,240,1240,0.00,2.45,0.00,0.000,6,0.000,0.035,2265,1728,3004
$GC,1545,-1.17,-121.6,149.6,-8.5,301,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1728,3004
$GC,1855,-1.17,-121.6,178.4,-9.6,362,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1728,3005
$GC,2168,-1.17,-121.6,208.9,-9.7,415,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1728,3005
$GC,2480,-1.17,-121.6,238.3,-9.5,446,2490,0.00,2.58,0.00,0.000,4,0.000,0.059,2265,335,3005
$GC,2515,-1.17,-121.6,241.9,-10.3,449,2520,0.00,2.50,0.00,0.000,6,0.000,0.037,2265,1732,3004
$GC,2823,-1.17,-121.6,270.3,-8.7,480,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1733,3005
$GC,3135,-1.17,-121.6,298.2,-8.8,511,3144,0.00,2.60,0.00,0.000,4,0.000,0.059,2265,335,3005
$GC,3166,-1.17,-121.6,301.0,-9.9,514,3175,0.00,2.47,0.00,0.000,6,0.000,0.038,2265,1742,3005
$GC,3478,-1.17,-121.6,327.2,-8.1,545,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1742,3005
$GC,3790,-1.17,-121.6,353.7,-8.5,576,3799,0.00,2.60,0.00,0.000,4,0.000,0.060,2265,336,3005
$GC,3825,-1.17,-121.6,357.0,-10.0,579,3830,0.00,2.50,0.00,0.000,6,0.000,0.038,2265,1730,3005
$GC,4133,-1.17,-121.6,386.1,-9.6,610,4142,0.00,2.58,0.00,0.000,4,0.000,0.059,2265,3145,3005
$GC,4158,-1.17,-121.6,388.7,-10.8,612,4162,0.00,2.55,0.00,0.000,6,0.000,0.045,2265,1743,3005
$GC,4484,-1.17,-121.6,419.9,-9.6,630,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1742,3005
$GC,4845,-1.17,-121.6,453.1,-9.1,639,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1742,3005
$GC,5206,-1.17,-121.6,485.2,-9.0,648,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1742,3005
$GC,5566,-1.17,-121.6,515.6,-8.2,657,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1742,3005
$GC,5927,-1.17,-121.6,544.1,-7.7,666,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1742,3005
$GC,6288,-1.17,-121.6,573.4,-8.3,675,6296,0.00,2.62,0.00,0.000,4,0.000,0.060,2265,3145,3005
$GC,6343,-1.17,-121.6,578.4,-9.4,676,6347,0.00,2.55,0.00,0.000,6,0.000,0.048,2265,1735,3005
$GC,6649,-1.17,-121.6,604.6,-8.4,684,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1735,3005
$GC,7010,-1.17,-121.6,636.2,-8.8,693,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1735,3005
$GC,7371,-1.17,-121.6,666.7,-8.2,702,7379,0.00,2.65,0.00,0.000,4,0.000,0.065,2265,3146,3005
$GC,7411,-1.17,-121.6,670.2,-8.5,703,7420,0.00,2.55,0.00,0.000,6,0.000,0.053,2265,1742,3005
$GC,7732,-1.17,-121.6,696.1,-8.1,711,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1742,3005
$GC,8094,-1.17,-121.6,725.5,-8.1,720,8102,0.00,2.62,0.00,0.000,4,0.000,0.066,2265,3143,3005
$GC,8159,-1.17,-121.6,731.2,-8.7,721,8163,0.00,2.53,0.00,0.000,6,0.000,0.053,2265,1739,3005
$GC,8495,-1.17,-121.6,758.5,-8.2,730,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3005
$GC,8857,-1.17,-121.6,787.3,-7.9,739,8866,0.00,2.60,0.00,0.000,4,0.000,0.067,2265,3143,3004
$GC,8903,-1.17,-121.6,791.2,-8.0,740,8907,0.00,2.53,0.00,0.000,6,0.000,0.054,2265,1739,3004
$GC,9219,-1.17,-121.6,816.3,-7.8,748,9258,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3003
$GC,9580,-1.17,-121.6,844.0,-7.7,757,9588,0.00,2.60,0.00,0.000,4,0.000,0.068,2265,3144,3003
$GC,9620,-1.17,-121.6,847.3,-8.9,758,9629,0.00,2.53,0.00,0.000,6,0.000,0.055,2265,1740,3003
$GC,9941,-1.17,-121.6,873.0,-8.1,766,9980,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3002
$GC,10302,-1.17,-121.6,903.1,-8.4,775,10311,0.00,2.62,0.00,0.000,4,0.000,0.069,2265,3143,3001
$GC,10332,-1.17,-121.6,905.8,-10.0,775,10336,0.00,2.55,0.00,0.000,6,0.000,0.056,2265,1741,3001
$GC,10663,-1.17,-121.6,933.5,-8.4,784,10702,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3000
$GC,11024,-1.17,-121.6,964.3,-8.5,793,11032,0.00,2.62,0.00,0.000,4,0.000,0.068,2265,3145,3000
$GC,11065,-1.17,-121.6,967.9,-9.5,794,11073,0.00,2.55,0.00,0.000,6,0.000,0.056,2265,1739,2999
$GC,11386,-1.17,-121.6,994.2,-8.1,802,11424,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,2999
$GC,11467,-0.31,0.0,1000.5,8.0,804,11585,1.00,0.00,108.97,1.506,6,0.130,0.000,2453,1739,2501
$GC,11587,1.17,121.6,1003.9,3.9,807,11703,1.55,2.65,105.03,1.450,4,0.086,0.067,2776,3109,2005
$GC,11735,1.17,121.6,997.4,9.8,810,11744,0.00,2.60,0.00,0.000,6,0.000,0.058,2776,1709,2004
$GC,12071,1.17,121.6,964.1,9.9,819,12110,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1709,2003
$GC,12432,1.17,121.6,928.6,9.7,828,12471,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1709,2002
$GC,12793,1.17,121.6,893.5,9.7,837,12831,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1709,2001
$GC,13153,1.17,121.6,859.2,9.4,846,13192,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1708,2001
$GC,13514,1.17,121.6,825.4,9.5,855,13552,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1708,2001
$GC,13875,1.17,121.6,792.2,9.1,864,13913,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,1999
$GC,14235,1.17,121.6,759.9,8.9,873,14274,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,2000
$GC,14598,1.17,121.6,728.3,8.7,882,14606,0.00,2.65,0.00,0.000,4,0.000,0.068,2776,3109,1999
$GC,14643,1.17,121.6,723.9,8.6,883,14647,0.00,2.58,0.00,0.000,6,0.000,0.058,2776,1705,1999
$GC,14959,1.17,121.6,694.9,9.2,891,14998,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1703,1999
$GC,15320,1.17,121.6,659.8,9.9,900,15358,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1999
$GC,15681,1.17,121.6,623.4,10.0,909,15689,0.00,2.65,0.00,0.000,4,0.000,0.067,2776,3109,1999
$GC,15741,1.17,121.6,617.1,10.5,910,15745,0.00,2.58,0.00,0.000,6,0.000,0.057,2776,1702,1998
$GC,16082,1.17,121.6,584.0,9.6,919,16121,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1703,1998
$GC,16443,1.17,121.6,551.0,8.8,928,16481,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1703,1997
$GC,16804,1.17,121.6,520.7,8.2,937,16842,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1703,1998
$GC,17164,1.17,124.7,492.5,7.9,946,17203,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1703,1998
$GC,17525,1.17,124.7,461.6,8.8,955,17533,0.00,2.62,0.00,0.000,4,0.000,0.061,2776,3110,1998
$GC,17566,1.17,124.7,457.7,8.6,956,17574,0.00,2.55,0.00,0.000,6,0.000,0.051,2776,1703,1998
$GC,17887,1.17,124.7,427.0,9.7,964,17925,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1703,1998
$GC,18228,1.17,124.7,394.0,9.3,977,18236,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1703,1997
$GC,18540,1.17,124.7,365.1,9.1,1008,18548,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1703,1997
$GC,18852,1.17,124.7,337.5,8.5,1039,18860,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1703,1997
$GC,19164,1.17,124.7,310.7,8.4,1070,19173,0.00,2.60,0.00,0.000,4,0.000,0.057,2776,3110,1998
$GC,19209,1.17,124.7,306.7,8.8,1074,19214,0.00,2.58,0.00,0.000,6,0.000,0.046,2776,1705,1998
$GC,19517,1.17,124.7,280.0,9.1,1105,19525,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1998
$GC,19829,1.17,124.7,251.8,8.5,1136,19838,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1998
$GC,20143,1.17,124.7,223.4,8.9,1167,20150,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1998
$GC,20454,1.17,124.7,195.2,9.5,1203,20457,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1998
$GC,20763,1.17,124.7,167.4,8.5,1264,20767,0.00,2.62,0.00,0.000,4,0.000,0.067,2776,297,1998
$GC,20815,1.17,124.7,162.5,9.5,1274,20819,0.00,2.50,0.00,0.000,6,0.000,0.038,2776,1708,1998
$GC,21126,1.17,124.7,136.5,8.0,1335,21130,0.00,2.60,0.00,0.000,4,0.000,0.059,2776,3109,1998
$GC,21181,1.17,124.7,131.8,8.2,1346,21186,0.00,2.53,0.00,0.000,6,0.000,0.044,2775,1703,1998
$GC,21491,1.17,128.5,108.2,7.8,1407,21500,0.00,2.65,5.00,0.960,4,0.000,0.066,2776,297,1977
$GC,21552,1.17,128.5,102.9,9.4,1419,21556,0.00,2.47,0.00,0.000,6,0.000,0.036,2776,1707,1977
$GC,21862,1.17,128.5,76.0,9.0,1480,21866,0.00,2.58,0.00,0.000,4,0.000,0.059,2776,3110,1977
$GC,21899,1.17,128.5,72.6,9.8,1487,21903,0.00,2.53,0.00,0.000,6,0.000,0.044,2776,1700,1977
$GC,22208,1.17,128.5,43.6,8.9,1548,22212,0.00,2.62,0.00,0.000,4,0.000,0.066,2776,297,1977
$GC,22274,1.17,128.5,37.2,9.3,1561,22278,0.00,2.47,0.00,0.000,6,0.000,0.036,2776,1705,1977
$GC,22583,1.17,139.1,14.0,7.5,1622,22598,0.00,2.67,8.35,0.840,4,0.000,0.056,2776,3105,1934
$GC,22696,1.18,139.1,4.9,9.2,1644,22701,0.00,2.53,0.00,0.000,6,0.000,0.042,2776,1702,1934
$FINISH,0.2,1.027109,0
$SM_CCo,22770,71.65,0.755,0,0,1522,240.15
$RAFOS_CLK,232
$RAFOS,2,1121992141,0.500000,0.483611,48,48,47,209,1038,418
$RAFOS,1,1121991545,0.333333,0.318056,47,46,45,208,6,168
$RAFOS,0,1121990945,0.166667,0.151389,51,51,44,218,1557,923
$RAFOS,2,1121977774,20.500000,20.492777,45,45,43,205,1246,114
$RAFOS,1,1121977169,20.333334,20.324722,46,41,41,216,861,1140
$RAFOS,0,1121976568,20.166666,20.157778,45,43,42,874,208,217
$TT8_MAMPS,0.020709
$HUMID,2047
$INTERNAL_PRESSURE,7.24104
$TCM_TEMP,2.50
$ALTIM_TOP_PING,9.7,9.4
$ALTIM_BOTTOM_PING,970.1,0.0
$24V_AH,23.3,19.077
$10V_AH,10.0,14.542
$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,25.875,123.500,227.350,71.650,0.000,32.322,28.131,190.236,0.500,69.704,1090.500,16945.781,1509.874,2446.709,1304.344,33.368,2912.820,0.000,1559.740,1800.000,3.461
$DEVICE_MAMPS,191.750,92.807,1506.388,755.495,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1875.311,2323.350,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,58935,1655
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220705,004202,7112.020,1214.193,42,1.2,42,1.7