version: 65.00
glider: 17
mission: 2
dive: 170
start: 8 3 105 15 1 33
data:
$ID,17
$MISSION,2
$DIVE,170
$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,220
$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,-31780.281
$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,32
$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
$GPS1,145433,7106.855,1555.173,46,1.1,46
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-53.6
$GPS2,150040,7106.843,1555.296,20,1.1,21,4.1
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.131,-0.180
$KALMAN_X,207239.9,81.0,8.6,-247743.8,2472.9
$KALMAN_Y,-61513.4,235.1,-692.1,148405.0,4368.6
$MHEAD_RNG_PITCHd_Wd,212.1,162127,-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,16,-1.17,-121.6,0.0,0.0,0,58,0.00,0.00,-40.40,0.000,2,0.000,0.000,289,1748,2668
$GC,60,-1.17,-121.6,3.4,-7.6,8,85,11.93,2.60,-8.32,0.000,4,0.191,0.065,2264,3135,2999
$GC,172,-1.17,-121.6,18.8,-11.8,30,176,0.00,2.47,0.00,0.000,6,0.000,0.041,2264,1737,3001
$GC,481,-1.17,-121.6,53.1,-10.0,91,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1737,3003
$GC,790,-1.17,-121.6,79.6,-8.2,152,794,0.00,2.62,0.00,0.000,4,0.000,0.051,2264,3139,3005
$GC,826,-1.17,-121.6,82.7,-9.0,159,831,0.00,2.47,0.00,0.000,6,0.000,0.041,2264,1738,3006
$GC,1139,-1.17,-121.6,108.1,-7.9,206,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1738,3007
$GC,1461,-1.17,-121.6,133.9,-8.2,222,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1738,3007
$GC,1782,-1.17,-121.6,159.5,-7.9,238,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1738,3007
$GC,2103,-1.17,-121.6,185.6,-8.2,254,2111,0.00,2.60,0.00,0.000,4,0.000,0.061,2264,335,3007
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$GC,3087,-1.17,-121.6,271.7,-8.8,303,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1731,3007
$GC,3408,-1.17,-121.6,300.1,-8.6,319,3417,0.00,2.65,0.00,0.000,4,0.000,0.056,2263,3147,3008
$GC,3438,-1.17,-121.6,302.7,-9.2,320,3448,0.00,2.50,0.00,0.000,6,0.000,0.043,2264,1737,3007
$GC,3750,-1.17,-121.6,328.9,-8.4,336,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1737,3007
$GC,4071,-1.17,-121.6,356.3,-8.7,352,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1737,3007
$GC,4392,-1.17,-121.6,383.9,-8.6,368,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1737,3007
$GC,4713,-1.17,-121.6,410.2,-8.0,384,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1737,3006
$GC,5034,-1.17,-121.6,435.9,-7.9,400,5043,0.00,2.58,0.00,0.000,4,0.000,0.062,2264,335,3007
$GC,5064,-1.17,-121.6,438.5,-9.3,401,5068,0.00,2.50,0.00,0.000,6,0.000,0.035,2263,1741,3007
$GC,5377,-1.17,-121.6,462.9,-7.7,425,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1741,3007
$GC,5689,-1.17,-121.6,487.4,-7.7,456,5698,0.00,2.58,0.00,0.000,4,0.000,0.061,2264,335,3006
$GC,5734,-1.17,-121.6,491.2,-8.4,460,5738,0.00,2.53,0.00,0.000,6,0.000,0.038,2264,1734,3007
$GC,6042,-1.17,-121.6,514.7,-7.9,491,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1735,3007
$GC,6354,-1.17,-121.6,540.5,-8.6,522,6363,0.00,2.62,0.00,0.000,4,0.000,0.058,2264,3144,3007
$GC,6374,-1.17,-121.6,542.2,-8.5,524,6383,0.00,2.50,0.00,0.000,6,0.000,0.047,2264,1738,3007
$GC,6687,-1.17,-121.6,569.4,-8.5,555,6696,0.00,2.58,0.00,0.000,4,0.000,0.064,2264,337,3007
$GC,6758,-1.17,-121.6,575.9,-9.4,562,6767,0.00,2.47,0.00,0.000,6,0.000,0.038,2264,1742,3006
$GC,7070,-1.17,-121.6,601.9,-8.2,593,7079,0.00,2.60,0.00,0.000,4,0.000,0.064,2264,335,3007
$GC,7105,-1.17,-121.6,605.0,-9.3,596,7109,0.00,2.53,0.00,0.000,6,0.000,0.039,2264,1735,3007
$GC,7412,-1.17,-121.6,629.0,-7.8,627,7422,0.00,2.62,0.00,0.000,4,0.000,0.061,2264,3151,3007
$GC,7463,-1.17,-121.6,633.0,-7.9,632,7475,0.00,2.53,0.00,0.000,6,0.000,0.049,2264,1742,3007
$GC,7775,-1.17,-121.6,656.9,-7.6,657,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1742,3006
$GC,8136,-1.17,-121.6,686.0,-8.1,666,8144,0.00,2.60,0.00,0.000,4,0.000,0.062,2264,3144,3007
$GC,8247,-1.17,-121.6,695.7,-9.5,668,8251,0.00,2.53,0.00,0.000,6,0.000,0.051,2264,1736,3007
$GC,8578,-1.17,-121.6,722.6,-7.9,677,8586,0.00,2.62,0.00,0.000,4,0.000,0.062,2264,3146,3006
$GC,8613,-1.17,-121.6,725.6,-8.4,677,8618,0.00,2.55,0.00,0.000,6,0.000,0.053,2264,1749,3006
$GC,8940,-1.17,-121.6,750.5,-7.7,686,8948,0.00,2.60,0.00,0.000,4,0.000,0.064,2264,3150,3006
$GC,9025,-1.17,-121.6,757.3,-7.9,688,9029,0.00,2.53,0.00,0.000,6,0.000,0.053,2264,1740,3006
$GC,9342,-1.17,-121.6,779.5,-7.0,696,9350,0.00,2.62,0.00,0.000,4,0.000,0.064,2264,3147,3006
$GC,9438,-1.17,-121.6,786.9,-8.0,698,9442,0.00,2.53,0.00,0.000,6,0.000,0.053,2264,1739,3006
$GC,9744,-1.17,-121.6,808.3,-6.9,706,9752,0.00,2.60,0.00,0.000,4,0.000,0.065,2264,3145,3005
$GC,9820,-1.17,-121.6,814.2,-7.6,707,9827,0.00,2.58,0.00,0.000,6,0.000,0.054,2264,1739,3005
$GC,10146,-1.17,-121.6,837.8,-7.3,716,10154,0.00,2.60,0.00,0.000,4,0.000,0.066,2264,3145,3004
$GC,10232,-1.17,-121.6,844.7,-7.6,718,10236,0.00,2.53,0.00,0.000,6,0.000,0.054,2264,1739,3004
$GC,10548,-1.17,-121.6,869.4,-7.8,726,10556,0.00,2.60,0.00,0.000,4,0.000,0.066,2263,3147,3003
$GC,10599,-1.17,-121.6,873.7,-8.4,727,10603,0.00,2.55,0.00,0.000,6,0.000,0.055,2264,1734,3003
$GC,10910,-1.17,-121.6,899.0,-8.2,735,10919,0.00,2.62,0.00,0.000,4,0.000,0.067,2264,3146,3003
$GC,10955,-1.17,-121.6,903.0,-9.4,736,10964,0.00,2.55,0.00,0.000,6,0.000,0.056,2264,1737,3002
$GC,11272,-1.17,-121.6,928.7,-8.1,744,11280,0.00,2.62,0.00,0.000,4,0.000,0.067,2264,3144,3001
$GC,11307,-1.17,-121.6,931.7,-8.9,744,11312,0.00,2.58,0.00,0.000,6,0.000,0.057,2264,1742,3001
$GC,11633,-1.17,-121.6,957.9,-7.9,753,11642,0.00,2.60,0.00,0.000,4,0.000,0.068,2264,3145,3000
$GC,11688,-1.17,-121.6,962.7,-8.7,754,11693,0.00,2.55,0.00,0.000,6,0.000,0.057,2264,1733,3000
$GC,11996,-1.17,-121.6,986.5,-7.7,762,12034,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1733,3000
$GC,12117,-0.31,0.0,995.9,7.8,765,12236,1.00,0.00,109.90,1.463,6,0.127,0.000,2453,1733,2501
$GC,12237,1.17,121.6,998.7,3.5,768,12356,1.62,0.00,106.50,1.434,6,0.086,0.000,2778,1733,2005
$GC,12677,1.17,121.6,958.8,10.5,779,12715,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1733,2002
$GC,13038,1.17,121.6,921.3,10.2,788,13046,0.00,2.60,0.00,0.000,4,0.000,0.068,2778,3108,2001
$GC,13078,1.17,121.6,916.9,10.6,789,13087,0.00,2.58,0.00,0.000,6,0.000,0.059,2778,1708,2001
$GC,13400,1.17,121.6,882.6,10.7,797,13408,0.00,2.72,0.00,0.000,4,0.000,0.090,2779,299,2001
$GC,13441,1.17,121.6,878.0,11.7,798,13449,0.00,2.53,0.00,0.000,6,0.000,0.044,2778,1706,2000
$GC,13762,1.17,121.6,843.3,10.6,806,13771,0.00,2.62,0.00,0.000,4,0.000,0.068,2779,3108,2000
$GC,13812,1.17,121.6,837.7,11.8,807,13821,0.00,2.58,0.00,0.000,6,0.000,0.058,2779,1703,1999
$GC,14124,1.17,121.6,803.8,10.9,815,14133,0.00,2.67,0.00,0.000,4,0.000,0.083,2779,298,1999
$GC,14159,1.17,121.6,799.6,12.0,815,14164,0.00,2.55,0.00,0.000,6,0.000,0.044,2778,1698,1999
$GC,14486,1.17,121.6,763.9,10.9,824,14524,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1700,1999
$GC,14846,1.17,121.6,727.0,10.0,833,14855,0.00,2.62,0.00,0.000,4,0.000,0.070,2779,3110,1998
$GC,14896,1.17,121.6,721.8,9.6,834,14900,0.00,2.55,0.00,0.000,6,0.000,0.058,2779,1706,1998
$GC,15208,1.17,121.6,691.6,9.6,842,15216,0.00,2.67,0.00,0.000,4,0.000,0.081,2779,296,1998
$GC,15243,1.17,121.6,687.9,10.1,842,15248,0.00,2.55,0.00,0.000,6,0.000,0.044,2778,1698,1998
$GC,15571,1.17,121.6,655.1,10.0,851,15608,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1699,1997
$GC,15911,1.17,121.6,619.7,9.9,879,15920,0.00,2.65,0.00,0.000,4,0.000,0.077,2778,296,1996
$GC,15963,1.17,121.6,613.9,11.1,884,15972,0.00,2.53,0.00,0.000,6,0.000,0.045,2778,1705,1996
$GC,16275,1.17,121.6,581.2,10.5,915,16284,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1996
$GC,16588,1.17,121.6,548.8,10.1,946,16597,0.00,2.60,0.00,0.000,4,0.000,0.067,2779,3110,1996
$GC,16679,1.17,121.6,538.8,12.2,955,16688,0.00,2.55,0.00,0.000,6,0.000,0.053,2779,1700,1995
$GC,16991,1.17,121.6,504.2,10.8,986,17000,0.00,2.65,0.00,0.000,4,0.000,0.074,2779,290,1995
$GC,17043,1.17,121.6,497.7,13.2,991,17053,0.00,2.53,0.00,0.000,6,0.000,0.041,2778,1707,1995
$GC,17356,1.17,121.6,462.7,10.7,1022,17365,0.00,2.65,0.00,0.000,4,0.000,0.063,2778,3111,1995
$GC,17401,1.17,121.6,457.6,10.7,1026,17406,0.00,2.58,0.00,0.000,6,0.000,0.049,2778,1702,1995
$GC,17718,1.17,121.6,425.6,9.6,1046,17726,0.00,2.62,0.00,0.000,4,0.000,0.071,2778,296,1995
$GC,17758,1.17,121.6,421.3,10.5,1048,17767,0.00,2.53,0.00,0.000,6,0.000,0.040,2778,1704,1995
$GC,18080,1.17,121.6,390.8,9.4,1064,18089,0.00,2.60,0.00,0.000,4,0.000,0.061,2779,3109,1995
$GC,18143,1.17,121.6,384.9,9.4,1067,18152,0.00,2.50,0.00,0.000,6,0.000,0.048,2779,1704,1995
$GC,18466,1.17,121.6,355.2,9.5,1083,18483,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1705,1995
$GC,18786,1.17,121.6,323.5,10.2,1099,18804,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1705,1995
$GC,19107,1.17,121.6,291.1,10.2,1115,19115,0.00,2.62,0.00,0.000,4,0.000,0.068,2778,295,1995
$GC,19152,1.17,121.6,286.0,10.5,1117,19156,0.00,2.53,0.00,0.000,6,0.000,0.037,2779,1706,1995
$GC,19469,1.17,121.6,253.9,10.1,1133,19477,0.00,2.60,0.00,0.000,4,0.000,0.065,2779,297,1996
$GC,19519,1.17,121.6,248.4,11.3,1135,19523,0.00,2.50,0.00,0.000,6,0.000,0.037,2778,1706,1995
$GC,19831,1.17,121.6,217.2,9.9,1151,19850,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,1995
$GC,20153,1.17,121.6,185.4,10.0,1167,20161,0.00,2.62,0.00,0.000,4,0.000,0.065,2779,296,1995
$GC,20188,1.17,121.6,181.7,11.3,1168,20192,0.00,2.55,0.00,0.000,6,0.000,0.037,2778,1700,1995
$GC,20494,1.17,121.6,151.8,9.6,1184,20513,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1701,1995
$GC,20815,1.17,121.6,120.7,9.6,1200,20824,0.00,2.60,0.00,0.000,4,0.000,0.062,2779,296,1995
$GC,20871,1.17,121.6,114.9,10.3,1202,20875,0.00,2.55,0.00,0.000,6,0.000,0.037,2778,1706,1995
$GC,21179,1.17,121.6,84.5,10.5,1239,21183,0.00,2.62,0.00,0.000,4,0.000,0.055,2779,3107,1995
$GC,21224,1.17,121.6,79.8,9.9,1248,21229,0.00,2.50,0.00,0.000,6,0.000,0.043,2778,1698,1995
$GC,21533,1.17,121.6,48.1,10.0,1309,21537,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1698,1995
$GC,21843,1.17,154.9,25.8,6.5,1370,21878,0.00,2.67,25.60,0.776,4,0.000,0.064,2779,300,1868
$GC,22010,1.20,154.9,10.9,9.0,1403,22014,0.00,2.50,0.00,0.000,6,0.000,0.033,2779,1706,1867
$FINISH,0.2,1.026742,0
$SM_CCo,22148,46.65,0.722,0,0,1605,220.03
$RAFOS_CLK,-796
$RAFOS,2,1123100943,20.500000,20.484167,47,44,43,942,1391,211
$RAFOS,1,1123100359,20.333334,20.321945,49,47,47,205,132,927
$RAFOS,0,1123099757,20.166666,20.154722,47,45,41,761,1532,6
$RAFOS,2,1123086548,16.500000,16.485556,43,43,41,48,1484,6
$RAFOS,1,1123085945,16.333334,16.318056,46,42,42,205,139,1089
$RAFOS,0,1123085343,16.166666,16.150833,52,43,41,214,757,1477
$TT8_MAMPS,0.021476
$HUMID,2072
$INTERNAL_PRESSURE,7.26059
$TCM_TEMP,3.00
$ALTIM_TOP_PING,9.6,0.0
$ALTIM_BOTTOM_PING,971.1,0.0
$24V_AH,23.3,24.903
$10V_AH,10.0,19.675
$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,25.875,195.675,242.000,46.650,0.000,32.333,34.024,177.834,0.500,70.157,1114.718,16905.592,1036.471,2327.483,1271.996,33.367,2432.969,0.000,1510.724,1800.000,3.638
$DEVICE_MAMPS,190.983,89.739,1462.669,721.747,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1614.154,2003.040,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,52825,1427
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030805,211257,7103.960,1548.500,46,1.0,46,4.0