version: 65.00
glider: 17
mission: 2
dive: 171
start: 8 3 105 21 19 56
data:
$ID,17
$MISSION,2
$DIVE,171
$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,-31848.451
$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,20
$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
$GPS1,211257,7103.960,1548.500,46,1.0,46
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-53.9
$GPS2,211904,7103.957,1548.377,18,1.2,19,4.0
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.222,-0.008
$KALMAN_X,207765.5,-378.4,-1130.8,-250981.6,5915.9
$KALMAN_Y,-62627.9,1.0,-265.4,143976.8,234.8
$MHEAD_RNG_PITCHd_Wd,264.0,157324,-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,-40.25,0.000,2,0.000,0.000,286,1709,2670
$GC,59,-1.17,-121.6,3.4,-7.8,8,90,11.95,2.72,-8.30,0.000,4,0.191,0.064,2262,3146,3001
$GC,111,-1.17,-121.6,11.4,-12.6,18,115,0.00,2.53,0.00,0.000,6,0.000,0.043,2262,1738,3002
$GC,420,-1.17,-121.6,45.1,-10.3,79,424,0.00,2.58,0.00,0.000,4,0.000,0.058,2262,332,3003
$GC,476,-1.17,-121.6,51.0,-10.6,90,480,0.00,2.47,0.00,0.000,6,0.000,0.032,2262,1740,3004
$GC,785,-1.17,-121.6,80.7,-9.8,151,789,0.00,2.60,0.00,0.000,4,0.000,0.053,2262,3145,3006
$GC,805,-1.17,-121.6,82.7,-9.5,155,809,0.00,2.50,0.00,0.000,6,0.000,0.041,2262,1739,3006
$GC,1123,-1.17,-121.6,113.6,-9.5,197,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1739,3007
$GC,1444,-1.17,-121.6,143.2,-9.2,213,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1739,3008
$GC,1765,-1.17,-121.6,172.3,-9.0,229,1774,0.00,2.60,0.00,0.000,4,0.000,0.059,2262,333,3008
$GC,1806,-1.17,-121.6,176.1,-9.8,231,1815,0.00,2.53,0.00,0.000,6,0.000,0.035,2262,1740,3008
$GC,2128,-1.17,-121.6,205.5,-9.2,247,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3008
$GC,2449,-1.17,-121.6,234.5,-8.8,263,2457,0.00,2.58,0.00,0.000,4,0.000,0.058,2262,334,3008
$GC,2489,-1.17,-121.6,238.4,-9.9,265,2498,0.00,2.50,0.00,0.000,6,0.000,0.035,2262,1742,3008
$GC,2811,-1.17,-121.6,266.8,-8.7,281,2819,0.00,2.60,0.00,0.000,4,0.000,0.058,2262,331,3008
$GC,2846,-1.17,-121.6,270.1,-9.1,282,2850,0.00,2.55,0.00,0.000,6,0.000,0.035,2262,1735,3008
$GC,3152,-1.17,-121.6,295.5,-8.4,298,3161,0.00,2.58,0.00,0.000,4,0.000,0.058,2262,336,3008
$GC,3187,-1.17,-121.6,298.6,-9.2,299,3192,0.00,2.55,0.00,0.000,6,0.000,0.036,2262,1741,3008
$GC,3494,-1.17,-121.6,324.4,-8.4,315,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1741,3008
$GC,3815,-1.17,-121.6,351.5,-8.6,331,3824,0.00,2.60,0.00,0.000,4,0.000,0.060,2262,333,3008
$GC,3845,-1.17,-121.6,354.3,-10.2,332,3849,0.00,2.50,0.00,0.000,6,0.000,0.037,2262,1739,3008
$GC,4157,-1.17,-121.6,381.5,-8.6,348,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1739,3008
$GC,4478,-1.17,-121.6,409.0,-8.7,364,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3008
$GC,4799,-1.17,-121.6,436.7,-8.6,380,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1741,3008
$GC,5121,-1.17,-121.6,463.8,-8.2,404,5130,0.00,2.60,0.00,0.000,4,0.000,0.058,2262,3146,3008
$GC,5161,-1.17,-121.6,467.3,-8.7,408,5171,0.00,2.50,0.00,0.000,6,0.000,0.046,2262,1738,3008
$GC,5474,-1.17,-121.6,490.9,-7.2,439,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1738,3008
$GC,5786,-1.17,-121.6,514.0,-7.8,470,5797,0.00,2.62,0.00,0.000,4,0.000,0.057,2262,3145,3008
$GC,5838,-1.17,-121.6,518.2,-7.8,475,5847,0.00,2.50,0.00,0.000,6,0.000,0.046,2262,1740,3008
$GC,6150,-1.17,-121.6,541.4,-7.4,506,6160,0.00,2.60,0.00,0.000,4,0.000,0.058,2262,3143,3008
$GC,6176,-1.17,-121.6,543.5,-8.0,508,6181,0.00,2.53,0.00,0.000,6,0.000,0.048,2262,1750,3008
$GC,6484,-1.17,-121.6,567.3,-7.9,539,6493,0.00,2.60,0.00,0.000,4,0.000,0.058,2262,3145,3008
$GC,6525,-1.17,-121.6,570.8,-8.7,543,6534,0.00,2.53,0.00,0.000,6,0.000,0.049,2262,1731,3008
$GC,6837,-1.17,-121.6,596.6,-7.9,574,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1731,3008
$GC,7149,-1.17,-121.6,621.3,-7.7,605,7158,0.00,2.65,0.00,0.000,4,0.000,0.061,2262,3143,3008
$GC,7180,-1.17,-121.6,623.8,-9.2,608,7189,0.00,2.53,0.00,0.000,6,0.000,0.051,2262,1735,3008
$GC,7492,-1.17,-121.6,648.2,-7.9,639,7501,0.00,2.60,0.00,0.000,4,0.000,0.070,2262,334,3008
$GC,7517,-1.17,-121.6,650.2,-9.1,641,7521,0.00,2.53,0.00,0.000,6,0.000,0.041,2262,1733,3008
$GC,7843,-1.17,-121.6,675.8,-7.9,650,7881,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1734,3008
$GC,8203,-1.17,-121.6,703.7,-7.6,659,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1733,3008
$GC,8564,-1.17,-121.6,730.2,-7.2,668,8573,0.00,2.62,0.00,0.000,4,0.000,0.071,2262,333,3008
$GC,8589,-1.17,-121.6,732.1,-8.2,668,8593,0.00,2.55,0.00,0.000,6,0.000,0.044,2262,1741,3007
$GC,8925,-1.17,-121.6,756.8,-7.4,677,8934,0.00,2.62,0.00,0.000,4,0.000,0.067,2262,3147,3007
$GC,8956,-1.17,-121.6,759.2,-8.4,677,8960,0.00,2.53,0.00,0.000,6,0.000,0.054,2262,1740,3007
$GC,9287,-1.17,-121.6,784.7,-7.9,686,9326,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3007
$GC,9648,-1.17,-121.6,815.4,-8.7,695,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3006
$GC,10008,-1.17,-121.6,843.7,-7.5,704,10017,0.00,2.62,0.00,0.000,4,0.000,0.067,2262,3148,3005
$GC,10038,-1.17,-121.6,846.0,-8.8,704,10042,0.00,2.53,0.00,0.000,6,0.000,0.056,2262,1740,3004
$GC,10370,-1.17,-121.6,869.5,-6.8,713,10378,0.00,2.65,0.00,0.000,4,0.000,0.079,2262,335,3004
$GC,10399,-1.17,-121.6,871.8,-8.1,713,10403,0.00,2.50,0.00,0.000,6,0.000,0.044,2262,1741,3004
$GC,10731,-1.17,-121.6,894.8,-6.8,722,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1742,3004
$GC,11092,-1.17,-121.6,919.9,-7.1,731,11130,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1742,3003
$GC,11452,-1.17,-121.6,947.7,-7.8,740,11460,0.00,2.65,0.00,0.000,4,0.000,0.070,2262,3147,3002
$GC,11483,-1.17,-121.6,950.3,-9.3,740,11487,0.00,2.55,0.00,0.000,6,0.000,0.058,2262,1737,3001
$GC,11814,-1.17,-121.6,975.9,-7.6,749,11852,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1737,3000
$GC,12096,-0.31,0.0,996.7,7.3,756,12214,1.02,0.00,110.20,1.463,6,0.133,0.000,2454,1737,2501
$GC,12216,1.17,121.6,999.1,3.1,759,12332,1.55,2.75,105.43,1.443,4,0.088,0.067,2777,3110,2004
$GC,12354,1.17,121.6,990.4,10.5,762,12363,0.00,2.60,0.00,0.000,6,0.000,0.058,2776,1709,2002
$GC,12700,1.17,121.6,952.6,10.6,771,12739,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1709,2001
$GC,13061,1.17,121.6,914.6,10.6,780,13100,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1709,2000
$GC,13421,1.17,121.6,876.7,10.7,789,13430,0.00,2.67,0.00,0.000,4,0.000,0.069,2777,3110,1999
$GC,13472,1.17,121.6,870.8,11.8,790,13476,0.00,2.58,0.00,0.000,6,0.000,0.059,2777,1707,1998
$GC,13784,1.17,121.6,837.1,10.8,798,13792,0.00,2.70,0.00,0.000,4,0.000,0.086,2776,296,1998
$GC,13819,1.17,121.6,833.2,10.7,798,13823,0.00,2.58,0.00,0.000,6,0.000,0.045,2776,1704,1998
$GC,14145,1.17,121.6,798.9,10.6,807,14183,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1998
$GC,14505,1.17,121.6,759.7,10.9,816,14514,0.00,2.70,0.00,0.000,4,0.000,0.080,2776,295,1998
$GC,14535,1.17,121.6,756.1,11.2,816,14540,0.00,2.55,0.00,0.000,6,0.000,0.046,2776,1707,1997
$GC,14867,1.17,121.6,721.1,10.5,825,14875,0.00,2.65,0.00,0.000,4,0.000,0.071,2777,3111,1998
$GC,14902,1.17,121.6,717.3,10.5,825,14907,0.00,2.60,0.00,0.000,6,0.000,0.058,2777,1713,1997
$GC,15228,1.17,121.6,685.1,9.7,834,15267,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1713,1997
$GC,15591,1.17,121.6,650.7,9.6,843,15628,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1713,1996
$GC,15931,1.17,121.6,617.3,9.9,874,15940,0.00,2.62,0.00,0.000,4,0.000,0.065,2777,3113,1995
$GC,15978,1.17,121.6,612.5,10.7,878,15982,0.00,2.60,0.00,0.000,6,0.000,0.056,2776,1706,1995
$GC,16286,1.17,121.6,581.6,10.3,909,16295,0.00,2.62,0.00,0.000,4,0.000,0.066,2777,3115,1995
$GC,16351,1.17,121.6,574.4,10.9,915,16356,0.00,2.60,0.00,0.000,6,0.000,0.054,2777,1709,1995
$GC,16659,1.17,121.6,543.0,10.7,946,16667,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1709,1995
$GC,16971,1.17,121.6,511.5,10.3,977,16979,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1708,1994
$GC,17283,1.17,121.6,480.5,10.0,1008,17291,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1709,1994
$GC,17595,1.17,121.6,450.8,9.3,1039,17604,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1709,1995
$GC,17906,1.17,121.6,421.9,9.2,1055,17915,0.00,2.65,0.00,0.000,4,0.000,0.071,2777,291,1994
$GC,17941,1.17,121.6,418.4,9.7,1056,17946,0.00,2.58,0.00,0.000,6,0.000,0.040,2777,1706,1995
$GC,18248,1.17,121.6,390.9,9.0,1072,18266,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1995
$GC,18569,1.17,121.6,361.1,9.2,1088,18588,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1995
$GC,18890,1.17,121.6,329.9,10.0,1104,18909,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1995
$GC,19211,1.17,121.6,297.9,9.9,1120,19220,0.00,2.62,0.00,0.000,4,0.000,0.067,2776,295,1995
$GC,19242,1.17,121.6,294.5,11.2,1121,19246,0.00,2.50,0.00,0.000,6,0.000,0.038,2776,1704,1995
$GC,19554,1.17,121.6,262.7,10.3,1137,19572,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1705,1995
$GC,19875,1.17,121.6,230.9,9.7,1153,19893,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1995
$GC,20196,1.17,121.6,201.2,9.1,1169,20214,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,1995
$GC,20517,1.17,121.6,171.7,9.5,1185,20525,0.00,2.62,0.00,0.000,4,0.000,0.058,2777,3109,1995
$GC,20558,1.17,121.6,167.8,8.6,1187,20566,0.00,2.50,0.00,0.000,6,0.000,0.044,2776,1702,1995
$GC,20879,1.17,121.6,137.0,9.8,1203,20897,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1702,1995
$GC,21202,1.17,121.6,104.7,10.2,1219,21211,0.00,2.60,0.00,0.000,4,0.000,0.066,2777,298,1995
$GC,21237,1.17,121.6,100.6,11.7,1220,21242,0.00,2.53,0.00,0.000,6,0.000,0.036,2777,1700,1995
$GC,21547,1.17,121.6,72.4,8.6,1278,21551,0.00,2.60,0.00,0.000,4,0.000,0.058,2777,3106,1995
$GC,21577,1.17,121.6,69.8,8.3,1284,21581,0.00,2.50,0.00,0.000,6,0.000,0.044,2777,1699,1995
$GC,21886,1.17,121.6,39.9,10.0,1345,21890,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1699,1995
$GC,22195,1.17,162.4,15.3,6.2,1406,22236,0.00,2.67,31.30,0.762,4,0.000,0.064,2777,299,1837
$GC,22302,1.21,162.4,6.3,9.4,1427,22306,0.00,2.53,0.00,0.000,6,0.000,0.035,2777,1706,1835
$FINISH,-0.0,1.026860,0
$SM_CCo,22389,42.10,0.722,0,0,1604,220.03
$RAFOS_CLK,-783
$RAFOS,2,1123115367,0.500000,0.490833,43,41,40,1079,6,235
$RAFOS,1,1123114768,0.333333,0.324444,48,46,43,707,213,146
$RAFOS,0,1123114164,0.166667,0.156667,51,43,42,216,1090,1474
$TT8_MAMPS,0.021476
$HUMID,2050
$INTERNAL_PRESSURE,7.25081
$TCM_TEMP,2.50
$ALTIM_TOP_PING,9.7,9.5
$ALTIM_BOTTOM_PING,972.8,0.0
$24V_AH,23.3,25.022
$10V_AH,10.0,19.780
$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,25.875,165.300,246.925,42.100,0.000,32.333,40.769,173.739,0.500,68.169,1047.343,17217.902,1223.558,2193.172,1210.606,33.367,2537.339,0.000,1401.848,900.000,3.464
$DEVICE_MAMPS,190.983,85.904,1462.669,721.747,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1634.106,2025.238,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53251,1441
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0
$GPS,040805,033509,7103.066,1538.883,33,1.9,33,3.9