version: 65.00
glider: 17
mission: 2
dive: 122
start: 7 22 105 0 54 40
data:
$ID,17
$MISSION,2
$DIVE,122
$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,-28448.641
$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
$GPS1,004202,7112.020,1214.193,42,1.2,42
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-54.0
$GPS2,005353,7112.009,1214.315,17,2.0,18,1.7
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.197,-0.104
$KALMAN_X,182941.7,178.4,337.0,-361590.0,-908.7
$KALMAN_Y,-58367.8,381.0,443.2,153531.6,-4040.0
$MHEAD_RNG_PITCHd_Wd,240.5,41380,-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,-41.03,0.000,2,0.000,0.000,288,1755,2605
$GC,60,-1.17,-121.6,3.2,-7.2,8,90,11.93,2.58,-10.12,0.000,4,0.191,0.066,2263,3133,2999
$GC,212,-1.17,-121.6,22.0,-11.2,38,217,0.00,2.53,0.00,0.000,6,0.000,0.041,2263,1731,3001
$GC,521,-1.17,-121.6,56.0,-10.1,99,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1731,3003
$GC,831,-1.17,-121.6,85.3,-9.7,160,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1731,3005
$GC,1140,-1.17,-121.6,115.1,-9.5,221,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1730,3005
$GC,1449,-1.17,-121.6,145.6,-9.8,282,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1731,3005
$GC,1759,-1.17,-121.6,175.7,-9.7,343,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1730,3005
$GC,2067,-1.17,-121.6,205.1,-9.6,399,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1730,3005
$GC,2380,-1.17,-121.6,234.0,-9.3,430,2389,0.00,2.60,0.00,0.000,4,0.000,0.061,2263,335,3005
$GC,2410,-1.17,-121.6,237.0,-9.7,433,2419,0.00,2.45,0.00,0.000,6,0.000,0.036,2263,1729,3005
$GC,2722,-1.17,-121.6,264.7,-8.9,464,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1729,3005
$GC,3034,-1.17,-121.6,292.0,-8.8,495,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1729,3005
$GC,3348,-1.17,-121.6,320.5,-9.6,526,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1729,3005
$GC,3659,-1.17,-121.6,350.6,-9.8,557,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1729,3005
$GC,3971,-1.17,-121.6,382.3,-10.2,588,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1729,3005
$GC,4302,-1.17,-121.6,417.4,-10.7,609,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1729,3005
$GC,4663,-1.17,-121.6,454.2,-9.8,618,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1729,3005
$GC,5024,-1.17,-121.6,488.3,-9.2,627,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1729,3005
$GC,5384,-1.17,-121.6,519.6,-8.4,636,5393,0.00,2.60,0.00,0.000,4,0.000,0.064,2263,335,3005
$GC,5414,-1.17,-121.6,522.3,-9.4,636,5419,0.00,2.47,0.00,0.000,6,0.000,0.038,2264,1742,3005
$GC,5746,-1.17,-121.6,548.3,-7.7,645,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1741,3005
$GC,6107,-1.17,-121.6,574.8,-7.1,654,6115,0.00,2.60,0.00,0.000,4,0.000,0.063,2263,3142,3005
$GC,6136,-1.17,-121.6,577.1,-8.1,654,6141,0.00,2.53,0.00,0.000,6,0.000,0.049,2263,1736,3005
$GC,6468,-1.17,-121.6,602.1,-7.7,663,6476,0.00,2.58,0.00,0.000,4,0.000,0.061,2263,3141,3005
$GC,6493,-1.17,-121.6,604.3,-9.0,663,6497,0.00,2.53,0.00,0.000,6,0.000,0.050,2263,1736,3005
$GC,6829,-1.17,-121.6,632.0,-8.3,672,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1736,3005
$GC,7190,-1.17,-121.6,664.4,-9.2,681,7198,0.00,2.62,0.00,0.000,4,0.000,0.064,2263,3141,3005
$GC,7240,-1.17,-121.6,669.2,-9.9,682,7244,0.00,2.53,0.00,0.000,6,0.000,0.051,2263,1739,3005
$GC,7551,-1.17,-121.6,697.4,-9.0,690,7560,0.00,2.60,0.00,0.000,4,0.000,0.065,2263,3144,3005
$GC,7571,-1.17,-121.6,699.3,-9.3,690,7575,0.00,2.53,0.00,0.000,6,0.000,0.054,2263,1741,3004
$GC,7914,-1.17,-121.6,729.6,-8.9,699,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1740,3005
$GC,8273,-1.17,-121.6,760.2,-8.4,708,8282,0.00,2.60,0.00,0.000,4,0.000,0.067,2263,3142,3004
$GC,8303,-1.17,-121.6,762.9,-10.2,708,8307,0.00,2.53,0.00,0.000,6,0.000,0.054,2263,1741,3004
$GC,8634,-1.17,-121.6,791.1,-8.6,717,8673,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1741,3004
$GC,8995,-1.17,-121.6,821.8,-8.4,726,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1741,3003
$GC,9356,-1.17,-121.6,851.7,-8.1,735,9364,0.00,2.62,0.00,0.000,4,0.000,0.068,2263,3144,3003
$GC,9382,-1.17,-121.6,853.8,-8.7,735,9390,0.00,2.55,0.00,0.000,6,0.000,0.057,2263,1740,3003
$GC,9718,-1.17,-121.6,880.7,-7.9,744,9726,0.00,2.62,0.00,0.000,4,0.000,0.068,2263,3141,3002
$GC,9743,-1.17,-121.6,882.7,-9.1,744,9747,0.00,2.55,0.00,0.000,6,0.000,0.056,2263,1736,3002
$GC,10079,-1.17,-121.6,909.6,-8.0,753,10087,0.00,2.62,0.00,0.000,4,0.000,0.069,2263,3141,3001
$GC,10109,-1.17,-121.6,912.1,-9.3,753,10113,0.00,2.53,0.00,0.000,6,0.000,0.056,2263,1741,3000
$GC,10440,-1.17,-121.6,939.1,-8.0,762,10479,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1741,3000
$GC,10801,-1.17,-121.6,967.6,-7.8,771,10809,0.00,2.62,0.00,0.000,4,0.000,0.069,2263,3141,3000
$GC,10841,-1.17,-121.6,970.9,-9.0,772,10850,0.00,2.55,0.00,0.000,6,0.000,0.056,2263,1734,2999
$GC,11162,-1.17,-121.6,994.8,-7.3,780,11166,0.00,2.10,0.00,0.000,3,0.000,0.065,2263,2880,2999
$GC,11172,-0.31,0.0,995.0,7.2,780,11287,0.98,0.00,109.03,1.529,6,0.131,0.000,2450,1740,2501
$GC,11288,1.17,121.6,997.9,2.1,783,11403,1.65,2.72,105.50,1.489,4,0.090,0.066,2778,3105,2005
$GC,11430,1.17,121.6,990.8,10.6,786,11434,0.00,2.60,0.00,0.000,6,0.000,0.057,2778,1709,2004
$GC,11771,1.17,121.6,953.1,11.0,795,11810,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1709,2003
$GC,12132,1.17,121.6,912.8,11.2,804,12170,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,2001
$GC,12492,1.17,121.6,873.3,10.8,813,12531,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,2002
$GC,12853,1.17,121.6,835.0,10.5,822,12895,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,2000
$GC,13215,1.17,121.6,798.3,10.1,831,13252,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,2000
$GC,13574,1.17,121.6,762.4,9.9,840,13613,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,2000
$GC,13935,1.17,121.6,728.5,9.0,849,13974,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,1999
$GC,14296,1.17,121.6,696.8,8.6,858,14334,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,1999
$GC,14656,1.17,121.6,667.1,8.1,867,14695,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,1999
$GC,15017,1.17,121.6,637.4,8.2,876,15055,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1999
$GC,15378,1.17,121.6,606.8,8.6,885,15386,0.00,2.70,0.00,0.000,4,0.000,0.080,2778,293,1998
$GC,15413,1.17,121.6,603.4,9.4,885,15417,0.00,2.58,0.00,0.000,6,0.000,0.045,2778,1700,1998
$GC,15739,1.17,121.6,575.4,8.7,894,15777,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1700,1998
$GC,16099,1.17,121.6,542.7,9.3,903,16138,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1701,1998
$GC,16460,1.17,121.6,505.9,10.5,912,16469,0.00,2.67,0.00,0.000,4,0.000,0.067,2778,3116,1998
$GC,16531,1.17,121.6,498.0,11.6,913,16535,0.00,2.55,0.00,0.000,6,0.000,0.051,2778,1705,1997
$GC,16862,1.17,121.6,463.6,10.1,922,16900,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1997
$GC,17222,1.17,121.6,429.4,9.4,931,17261,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1997
$GC,17583,1.17,121.6,397.2,8.7,940,17592,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1997
$GC,17895,1.17,121.6,371.0,8.3,971,17904,0.00,2.60,0.00,0.000,4,0.000,0.058,2778,3113,1997
$GC,17961,1.17,121.6,365.2,8.2,977,17965,0.00,2.58,0.00,0.000,6,0.000,0.048,2778,1704,1997
$GC,18268,1.17,121.6,339.9,8.6,1008,18277,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1997
$GC,18581,1.17,121.6,313.6,8.4,1039,18589,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1997
$GC,18893,1.17,121.6,287.7,8.3,1070,18901,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1997
$GC,19205,1.17,121.6,262.9,8.0,1101,19214,0.00,2.62,0.00,0.000,4,0.000,0.057,2778,3113,1997
$GC,19245,1.17,134.9,259.6,7.4,1105,19265,0.00,2.53,9.75,1.063,6,0.000,0.047,2778,1704,1951
$GC,19568,1.18,142.6,233.8,7.7,1137,19577,0.00,0.00,6.38,1.070,6,0.000,0.000,2778,1705,1918
$GC,19880,1.19,153.6,208.6,7.5,1168,19899,0.00,0.00,8.52,1.029,6,0.000,0.000,2778,1704,1873
$GC,20204,1.20,153.6,180.3,9.3,1221,20207,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1873
$GC,20513,1.20,153.6,151.7,9.4,1282,20517,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1873
$GC,20822,1.20,153.6,121.8,10.5,1343,20826,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1703,1873
$GC,21132,1.20,153.6,87.7,11.6,1404,21135,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1873
$GC,21441,1.20,153.6,51.3,11.5,1465,21444,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1873
$GC,21750,1.20,167.9,22.0,7.4,1526,21770,0.00,2.67,11.05,0.823,4,0.000,0.065,2778,296,1816
$GC,21848,1.22,167.9,13.4,9.4,1545,21852,0.00,2.53,0.00,0.000,6,0.000,0.035,2778,1711,1816
$FINISH,0.1,1.027150,0
$SM_CCo,22013,52.10,0.749,0,0,1521,240.15
$RAFOS_CLK,-1796
$RAFOS,2,1122006574,4.500000,4.492778,46,41,40,216,274,127
$RAFOS,1,1122005971,4.333333,4.325278,72,44,44,436,223,1223
$RAFOS,0,1122005370,4.166667,4.158333,44,44,42,113,226,48
$TT8_MAMPS,0.021476
$HUMID,2063
$INTERNAL_PRESSURE,7.23127
$TCM_TEMP,2.00
$ALTIM_TOP_PING,9.6,9.7
$ALTIM_BOTTOM_PING,970.1,0.0
$24V_AH,23.3,19.212
$10V_AH,10.0,14.654
$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,25.925,97.100,250.225,52.100,0.000,96.981,140.212,210.782,0.500,63.945,1039.474,16684.318,1363.351,2300.920,1472.470,33.368,2678.479,0.000,1466.644,900.000,3.461
$DEVICE_MAMPS,190.983,79.768,1529.398,748.592,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1783.690,2208.967,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,55921,1574
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220705,070339,7110.114,1205.856,30,0.9,30,1.6