version: 65.00
glider: 17
mission: 2
dive: 177
start: 8 5 105 11 23 53
data:
$ID,17
$MISSION,2
$DIVE,177
$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,-32321.781
$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,17
$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
$GPS1,111640,7054.236,1455.263,47,1.3,54
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-53.7
$GPS2,112300,7054.246,1455.115,20,4.0,40,3.4
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.222,0.013
$KALMAN_X,204099.1,6.2,418.2,-282445.7,-1639.3
$KALMAN_Y,-78406.8,337.7,576.6,140581.0,-5741.8
$MHEAD_RNG_PITCHd_Wd,269.8,124205,-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,-40.22,0.000,2,0.000,0.000,288,1712,2665
$GC,60,-1.17,-121.6,3.1,-6.6,8,90,11.90,2.72,-8.60,0.000,4,0.189,0.068,2264,3147,2999
$GC,319,-1.17,-121.6,38.4,-13.7,59,323,0.00,2.53,0.00,0.000,6,0.000,0.041,2265,1730,3002
$GC,628,-1.17,-121.6,73.3,-8.9,120,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1730,3004
$GC,947,-1.17,-121.6,102.6,-10.7,180,955,0.00,2.65,0.00,0.000,4,0.000,0.052,2264,3142,3005
$GC,977,-1.17,-121.6,106.0,-11.8,181,981,0.00,2.50,0.00,0.000,6,0.000,0.042,2265,1737,3005
$GC,1289,-1.17,-121.6,135.0,-7.4,197,1297,0.00,2.58,0.00,0.000,4,0.000,0.060,2265,336,3006
$GC,1334,-1.17,-121.6,138.3,-7.6,199,1338,0.00,2.47,0.00,0.000,6,0.000,0.033,2265,1740,3006
$GC,1651,-1.17,-121.6,160.8,-7.7,215,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1740,3006
$GC,1972,-1.17,-121.6,187.5,-8.6,231,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3006
$GC,2293,-1.17,-121.6,215.6,-8.8,247,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3006
$GC,2614,-1.17,-121.6,244.4,-9.2,263,2622,0.00,2.62,0.00,0.000,4,0.000,0.054,2265,3144,3006
$GC,2639,-1.17,-121.6,246.9,-10.3,264,2643,0.00,2.50,0.00,0.000,6,0.000,0.043,2265,1739,3006
$GC,2956,-1.17,-121.6,278.9,-10.6,280,2964,0.00,2.58,0.00,0.000,4,0.000,0.059,2264,335,3006
$GC,2976,-1.17,-121.6,281.2,-10.7,281,2984,0.00,2.47,0.00,0.000,6,0.000,0.035,2265,1741,3006
$GC,3297,-1.17,-121.6,313.7,-9.8,297,3306,0.00,2.62,0.00,0.000,4,0.000,0.054,2265,3149,3006
$GC,3322,-1.17,-121.6,316.1,-10.1,298,3326,0.00,2.50,0.00,0.000,6,0.000,0.043,2265,1739,3006
$GC,3639,-1.17,-121.6,343.3,-8.1,314,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3006
$GC,3960,-1.17,-121.6,368.1,-7.3,330,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3006
$GC,4281,-1.17,-121.6,392.5,-7.7,346,4290,0.00,2.62,0.00,0.000,4,0.000,0.054,2265,3143,3006
$GC,4317,-1.17,-121.6,395.4,-7.9,347,4321,0.00,2.53,0.00,0.000,6,0.000,0.044,2265,1740,3006
$GC,4623,-1.17,-121.6,420.8,-8.9,363,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3006
$GC,4944,-1.17,-121.6,448.7,-8.6,379,4953,0.00,2.62,0.00,0.000,4,0.000,0.054,2265,3147,3006
$GC,4990,-1.17,-121.6,452.7,-8.7,382,4994,0.00,2.55,0.00,0.000,6,0.000,0.045,2265,1739,3006
$GC,5297,-1.17,-121.6,479.1,-8.5,413,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3006
$GC,5609,-1.17,-121.6,504.6,-7.9,444,5619,0.00,2.58,0.00,0.000,4,0.000,0.063,2265,334,3006
$GC,5650,-1.17,-121.6,508.0,-8.4,448,5659,0.00,2.47,0.00,0.000,6,0.000,0.036,2263,1741,3006
$GC,5962,-1.17,-121.6,531.5,-7.4,479,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3006
$GC,6274,-1.17,-121.6,555.4,-7.6,510,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3006
$GC,6587,-1.17,-121.6,579.6,-7.9,541,6596,0.00,2.60,0.00,0.000,4,0.000,0.062,2265,335,3006
$GC,6632,-1.17,-121.6,583.3,-8.7,545,6636,0.00,2.55,0.00,0.000,6,0.000,0.038,2264,1738,3006
$GC,6939,-1.17,-121.6,605.5,-7.2,576,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1740,3006
$GC,7252,-1.17,-121.6,629.6,-8.6,607,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1740,3006
$GC,7583,-1.17,-121.6,661.5,-9.6,631,7592,0.00,2.62,0.00,0.000,4,0.000,0.066,2265,334,3006
$GC,7670,-1.17,-121.6,669.9,-9.4,633,7674,0.00,2.53,0.00,0.000,6,0.000,0.039,2263,1740,3006
$GC,7986,-1.17,-121.6,697.4,-8.4,641,7994,0.00,2.62,0.00,0.000,4,0.000,0.063,2265,3148,3006
$GC,8012,-1.17,-121.6,699.6,-9.2,641,8016,0.00,2.50,0.00,0.000,6,0.000,0.050,2265,1743,3006
$GC,8348,-1.17,-121.6,728.6,-8.9,650,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1743,3006
$GC,8710,-1.17,-121.6,760.9,-9.1,659,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1744,3006
$GC,9069,-1.17,-121.6,792.3,-8.3,668,9078,0.00,2.62,0.00,0.000,4,0.000,0.073,2265,335,3006
$GC,9124,-1.17,-121.6,797.1,-8.7,669,9128,0.00,2.50,0.00,0.000,6,0.000,0.041,2265,1739,3006
$GC,9431,-1.17,-121.6,819.5,-7.2,677,9469,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1740,3006
$GC,9791,-1.17,-121.6,846.0,-7.5,686,9830,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3005
$GC,10152,-1.17,-121.6,874.8,-7.9,695,10160,0.00,2.65,0.00,0.000,4,0.000,0.077,2265,338,3004
$GC,10183,-1.17,-121.6,877.4,-9.9,695,10187,0.00,2.53,0.00,0.000,6,0.000,0.044,2265,1740,3004
$GC,10514,-1.17,-121.6,903.3,-7.8,704,10552,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3003
$GC,10877,-1.17,-121.6,931.1,-7.8,713,10885,0.00,2.67,0.00,0.000,4,0.000,0.082,2265,338,3003
$GC,10901,-1.17,-121.6,933.5,-10.1,713,10906,0.00,2.53,0.00,0.000,6,0.000,0.044,2264,1742,3002
$GC,11238,-1.17,-121.6,960.5,-8.2,722,11246,0.00,2.67,0.00,0.000,4,0.000,0.083,2265,339,3001
$GC,11260,-1.17,-121.6,962.2,-9.1,722,11268,0.00,2.50,0.00,0.000,6,0.000,0.046,2265,1742,3001
$GC,11600,-1.17,-121.6,990.7,-8.3,731,11639,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1742,3000
$GC,11682,-0.31,0.0,997.4,8.3,733,11800,1.00,0.00,109.00,1.457,6,0.131,0.000,2452,1742,2502
$GC,11802,1.17,121.6,1001.0,4.2,736,11921,1.62,0.00,105.53,1.400,6,0.090,0.000,2776,1743,2005
$GC,12242,1.17,121.6,963.1,10.3,747,12281,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1743,2002
$GC,12603,1.17,121.6,925.2,10.7,756,12641,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1743,2002
$GC,12964,1.17,121.6,885.5,11.1,765,12972,0.00,2.80,0.00,0.000,4,0.000,0.086,2776,303,2001
$GC,12993,1.17,121.6,881.9,11.6,765,12998,0.00,2.55,0.00,0.000,6,0.000,0.046,2776,1702,2000
$GC,13325,1.17,121.6,844.9,11.2,774,13363,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,2000
$GC,13685,1.17,121.6,807.1,10.3,783,13724,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,2000
$GC,14046,1.17,121.6,770.8,9.8,792,14084,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1999
$GC,14407,1.17,121.6,737.0,9.2,801,14445,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1705,1997
$GC,14767,1.17,121.6,705.2,9.0,810,14806,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1998
$GC,15128,1.17,121.6,667.8,11.1,819,15136,0.00,2.65,0.00,0.000,4,0.000,0.066,2776,3111,1997
$GC,15163,1.17,121.6,663.4,12.5,819,15168,0.00,2.58,0.00,0.000,6,0.000,0.056,2776,1715,1996
$GC,15470,1.17,121.6,624.9,12.3,841,15479,0.00,2.67,0.00,0.000,4,0.000,0.078,2776,296,1996
$GC,15602,1.17,121.6,607.0,13.5,854,15611,0.00,2.55,0.00,0.000,6,0.000,0.042,2776,1712,1996
$GC,15914,1.17,121.6,568.2,11.9,885,15923,0.00,2.62,0.00,0.000,4,0.000,0.064,2776,3110,1995
$GC,15957,1.17,121.6,563.5,12.3,889,15966,0.00,2.53,0.00,0.000,6,0.000,0.051,2776,1704,1995
$GC,16271,1.17,121.6,530.0,10.1,920,16280,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1995
$GC,16581,1.17,121.6,501.5,8.4,951,16590,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1995
$GC,16893,1.17,121.6,475.4,8.0,982,16902,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1995
$GC,17205,1.17,122.3,450.9,8.0,1013,17214,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1995
$GC,17527,1.17,122.3,424.9,8.4,1030,17545,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1995
$GC,17848,1.17,122.3,396.1,9.6,1046,17866,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1995
$GC,18169,1.17,122.3,363.2,10.7,1062,18187,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1995
$GC,18490,1.17,122.3,328.1,11.0,1078,18508,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1995
$GC,18811,1.17,122.3,292.9,10.8,1094,18820,0.00,2.62,0.00,0.000,4,0.000,0.054,2776,3109,1995
$GC,18841,1.17,122.3,289.5,11.1,1095,18845,0.00,2.50,0.00,0.000,6,0.000,0.045,2776,1703,1995
$GC,19153,1.17,122.3,256.6,10.4,1111,19161,0.00,2.60,0.00,0.000,4,0.000,0.067,2776,298,1995
$GC,19188,1.17,122.3,252.7,11.9,1112,19192,0.00,2.55,0.00,0.000,6,0.000,0.036,2776,1705,1995
$GC,19494,1.17,122.3,222.0,9.8,1128,19513,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,1995
$GC,19816,1.17,122.3,190.8,9.9,1144,19824,0.00,2.62,0.00,0.000,4,0.000,0.063,2776,296,1995
$GC,19851,1.17,122.3,187.0,11.1,1145,19856,0.00,2.55,0.00,0.000,6,0.000,0.036,2776,1703,1995
$GC,20158,1.17,122.3,158.6,8.9,1161,20176,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1995
$GC,20479,1.17,122.3,131.4,8.2,1177,20498,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1995
$GC,20800,1.17,122.3,102.7,9.5,1193,20809,0.00,2.60,0.00,0.000,4,0.000,0.062,2776,297,1995
$GC,20842,1.17,122.3,98.4,10.0,1195,20846,0.00,2.53,0.00,0.000,6,0.000,0.036,2776,1709,1995
$GC,21151,1.17,122.3,69.2,9.2,1256,21154,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1710,1995
$GC,21460,1.17,122.3,39.8,9.5,1317,21463,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1710,1995
$GC,21770,1.17,168.3,15.8,6.0,1378,21815,0.00,2.67,35.80,0.754,4,0.000,0.054,2776,3107,1813
$GC,21873,1.22,168.3,8.0,8.3,1398,21877,0.00,2.53,0.00,0.000,6,0.000,0.042,2776,1701,1813
$FINISH,0.1,1.026818,0
$SM_CCo,21986,39.17,0.722,0,0,1603,220.03
$RAFOS_CLK,-812
$RAFOS,2,1123259344,16.500000,16.484444,47,45,44,782,140,6
$RAFOS,1,1123258759,16.333334,16.321945,43,42,41,78,1400,218
$RAFOS,0,1123258147,16.166666,16.151945,46,44,43,296,226,1131
$RAFOS,2,1123244952,12.500000,12.486667,48,45,43,203,226,117
$RAFOS,1,1123244344,12.333333,12.317778,54,45,45,217,140,198
$RAFOS,0,1123243747,12.166667,12.151944,55,45,39,225,198,701
$TT8_MAMPS,0.020709
$HUMID,2052
$INTERNAL_PRESSURE,7.25081
$TCM_TEMP,2.50
$ALTIM_TOP_PING,9.8,8.7
$ALTIM_BOTTOM_PING,970.8,0.0
$24V_AH,23.3,25.743
$10V_AH,10.0,20.414
$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,25.900,129.025,250.325,39.175,0.000,32.320,32.175,180.787,0.500,98.465,1002.281,16903.180,1239.469,2170.621,1194.038,33.364,2493.876,0.000,1363.704,1800.000,3.463
$DEVICE_MAMPS,189.449,85.904,1457.300,721.747,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1606.430,1990.433,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,52097,1417
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050805,173227,7054.267,1447.276,43,1.2,43,3.4