version: 65.00
glider: 17
mission: 2
dive: 185
start: 8 7 105 14 27 20
data:
$ID,17
$MISSION,2
$DIVE,185
$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,-32874.914
$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,23
$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
$GPS1,141456,7049.605,1334.900,45,1.4,45
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-54.0
$GPS2,142628,7049.615,1334.836,18,1.7,19,2.6
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.188,0.119
$KALMAN_X,196563.1,203.7,644.2,-325364.0,-3650.3
$KALMAN_Y,-87804.7,-20.4,-392.9,142743.8,-1895.2
$MHEAD_RNG_PITCHd_Wd,299.7,76243,-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,-121.6,0.0,0.0,0,53,0.00,0.00,-35.35,0.000,2,0.000,0.000,289,1712,2573
$GC,54,-1.17,-121.6,3.3,-7.5,7,85,11.90,2.72,-10.85,0.000,4,0.189,0.063,2264,3143,3000
$GC,126,-1.17,-121.6,12.8,-12.0,21,130,0.00,2.53,0.00,0.000,6,0.000,0.041,2265,1728,3001
$GC,435,-1.17,-121.6,49.3,-10.6,82,439,0.00,2.55,0.00,0.000,4,0.000,0.058,2264,334,3003
$GC,537,-1.17,-121.6,60.4,-10.7,102,541,0.00,2.47,0.00,0.000,6,0.000,0.031,2264,1740,3002
$GC,846,-1.17,-121.6,87.2,-7.9,163,850,0.00,2.60,0.00,0.000,4,0.000,0.056,2264,332,3005
$GC,876,-1.17,-121.6,89.8,-8.3,169,880,0.00,2.50,0.00,0.000,6,0.000,0.034,2264,1740,3005
$GC,1189,-1.17,-121.6,114.8,-7.9,204,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3006
$GC,1510,-1.17,-121.6,141.1,-8.4,220,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3006
$GC,1831,-1.17,-121.6,169.0,-8.9,236,1839,0.00,2.62,0.00,0.000,4,0.000,0.054,2264,3144,3006
$GC,1866,-1.17,-121.6,172.3,-9.6,237,1870,0.00,2.53,0.00,0.000,6,0.000,0.042,2264,1742,3006
$GC,2173,-1.17,-121.6,200.1,-9.2,253,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1742,3006
$GC,2494,-1.17,-121.6,229.5,-9.5,269,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1742,3006
$GC,2815,-1.17,-121.6,259.5,-9.1,285,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1742,3006
$GC,3136,-1.17,-121.6,288.1,-8.8,301,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1742,3006
$GC,3457,-1.17,-121.6,316.5,-8.6,317,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1742,3006
$GC,3778,-1.17,-121.6,343.6,-8.4,333,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1742,3006
$GC,4099,-1.17,-121.6,370.8,-8.5,349,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1742,3006
$GC,4420,-1.17,-121.6,398.0,-8.6,365,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1742,3006
$GC,4742,-1.17,-121.6,425.6,-8.7,381,4750,0.00,2.62,0.00,0.000,4,0.000,0.055,2264,3146,3006
$GC,4782,-1.17,-121.6,429.3,-9.2,383,4791,0.00,2.50,0.00,0.000,6,0.000,0.044,2264,1737,3006
$GC,5094,-1.17,-121.6,455.7,-8.6,401,5103,0.00,2.55,0.00,0.000,4,0.000,0.062,2264,335,3006
$GC,5139,-1.17,-121.6,459.8,-9.5,405,5143,0.00,2.50,0.00,0.000,6,0.000,0.036,2264,1734,3006
$GC,5447,-1.17,-121.6,485.7,-8.1,436,5456,0.00,2.60,0.00,0.000,4,0.000,0.058,2264,3148,3006
$GC,5487,-1.17,-121.6,489.1,-8.2,440,5496,0.00,2.50,0.00,0.000,6,0.000,0.045,2264,1739,3006
$GC,5799,-1.17,-121.6,513.9,-7.7,471,5809,0.00,2.58,0.00,0.000,4,0.000,0.063,2264,334,3006
$GC,5840,-1.17,-121.6,517.1,-8.1,475,5849,0.00,2.50,0.00,0.000,6,0.000,0.037,2264,1743,3006
$GC,6152,-1.17,-121.6,540.6,-7.3,506,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1743,3006
$GC,6464,-1.17,-121.6,562.6,-7.3,537,6474,0.00,2.60,0.00,0.000,4,0.000,0.063,2264,337,3006
$GC,6499,-1.17,-121.6,565.4,-8.4,540,6504,0.00,2.53,0.00,0.000,6,0.000,0.038,2264,1740,3006
$GC,6807,-1.17,-121.6,589.2,-7.9,571,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3006
$GC,7119,-1.17,-121.6,613.3,-7.6,602,7128,0.00,2.60,0.00,0.000,4,0.000,0.065,2264,335,3006
$GC,7150,-1.17,-121.6,615.7,-9.1,605,7159,0.00,2.50,0.00,0.000,6,0.000,0.040,2264,1741,3006
$GC,7464,-1.17,-121.6,640.1,-7.8,636,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1741,3006
$GC,7793,-1.17,-121.6,666.3,-8.0,654,7802,0.00,2.62,0.00,0.000,4,0.000,0.064,2264,3148,3006
$GC,7854,-1.17,-121.6,671.5,-7.9,655,7858,0.00,2.53,0.00,0.000,6,0.000,0.051,2264,1739,3006
$GC,8195,-1.17,-121.6,699.4,-8.2,664,8203,0.00,2.60,0.00,0.000,4,0.000,0.071,2264,334,3006
$GC,8227,-1.17,-121.6,702.0,-10.0,664,8236,0.00,2.47,0.00,0.000,6,0.000,0.041,2264,1741,3006
$GC,8558,-1.17,-121.6,728.2,-7.6,673,8566,0.00,2.58,0.00,0.000,4,0.000,0.064,2264,3144,3005
$GC,8598,-1.17,-121.6,731.5,-8.9,674,8607,0.00,2.53,0.00,0.000,6,0.000,0.053,2264,1740,3005
$GC,8919,-1.17,-121.6,755.9,-7.5,682,8958,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3005
$GC,9280,-1.17,-121.6,782.7,-7.3,691,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3005
$GC,9641,-1.17,-121.6,809.2,-7.4,700,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3004
$GC,10004,-1.17,-121.6,836.8,-7.7,709,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3002
$GC,10362,-1.17,-121.6,865.4,-8.1,718,10370,0.00,2.65,0.00,0.000,4,0.000,0.067,2264,3144,3002
$GC,10392,-1.17,-121.6,868.0,-10.1,718,10396,0.00,2.53,0.00,0.000,6,0.000,0.055,2264,1742,3002
$GC,10724,-1.17,-121.6,895.1,-7.9,727,10763,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1742,3001
$GC,11085,-1.17,-121.6,922.8,-7.5,736,11093,0.00,2.65,0.00,0.000,4,0.000,0.083,2264,335,3000
$GC,11120,-1.17,-121.6,925.6,-8.5,736,11124,0.00,2.53,0.00,0.000,6,0.000,0.043,2264,1732,3000
$GC,11446,-1.17,-121.6,949.5,-7.2,745,11484,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1734,2999
$GC,11807,-1.17,-121.6,974.4,-6.8,754,11845,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1734,2999
$GC,12129,-0.31,0.0,995.9,6.6,762,12247,1.00,0.00,109.50,1.457,6,0.127,0.000,2453,1733,2501
$GC,12248,1.17,121.6,997.5,2.4,765,12367,1.62,0.00,106.22,1.434,6,0.088,0.000,2777,1733,2005
$GC,12688,1.17,121.6,953.2,11.5,776,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1734,2002
$GC,13049,1.17,121.6,912.2,11.2,785,13057,0.00,2.80,0.00,0.000,4,0.000,0.090,2777,301,2001
$GC,13079,1.17,121.6,908.6,11.8,785,13089,0.00,2.58,0.00,0.000,6,0.000,0.048,2778,1710,2001
$GC,13412,1.17,121.6,871.6,11.1,794,13449,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1711,2000
$GC,13771,1.17,121.6,832.6,10.7,803,13779,0.00,2.72,0.00,0.000,4,0.000,0.084,2778,299,1999
$GC,13806,1.17,121.6,828.5,11.7,803,13811,0.00,2.58,0.00,0.000,6,0.000,0.046,2778,1703,1999
$GC,14132,1.17,121.6,794.0,10.5,812,14171,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1705,1999
$GC,14493,1.17,121.6,755.8,10.6,821,14501,0.00,2.62,0.00,0.000,4,0.000,0.070,2778,3114,1998
$GC,14523,1.17,121.6,752.5,10.3,821,14528,0.00,2.58,0.00,0.000,6,0.000,0.057,2777,1704,1997
$GC,14855,1.17,121.6,718.4,10.2,830,14893,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1997
$GC,15215,1.17,121.6,684.5,9.2,839,15254,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1703,1997
$GC,15576,1.17,121.6,652.5,8.8,848,15614,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1997
$GC,15918,1.17,121.6,619.8,10.1,879,15927,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1703,1996
$GC,16230,1.17,121.6,587.3,10.7,910,16239,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1703,1996
$GC,16542,1.17,121.6,553.4,11.0,941,16551,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1703,1996
$GC,16855,1.17,121.6,519.2,11.5,972,16863,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1995
$GC,17167,1.17,121.6,485.9,10.7,1003,17175,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1995
$GC,17479,1.17,121.6,453.8,10.4,1034,17487,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1995
$GC,17800,1.17,121.6,423.5,9.3,1052,17809,0.00,2.65,0.00,0.000,4,0.000,0.070,2778,289,1995
$GC,17841,1.17,121.6,419.4,11.1,1054,17849,0.00,2.53,0.00,0.000,6,0.000,0.039,2777,1708,1995
$GC,18165,1.17,121.6,389.3,9.5,1070,18181,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1710,1995
$GC,18483,1.17,121.6,359.1,9.1,1086,18492,0.00,2.62,0.00,0.000,4,0.000,0.066,2778,294,1995
$GC,18529,1.17,121.6,354.5,10.2,1088,18533,0.00,2.50,0.00,0.000,6,0.000,0.038,2778,1705,1995
$GC,18846,1.17,121.6,325.5,9.0,1104,18854,0.00,2.62,0.00,0.000,4,0.000,0.065,2778,293,1995
$GC,18877,1.17,121.6,322.5,9.0,1105,18881,0.00,2.50,0.00,0.000,6,0.000,0.038,2777,1706,1995
$GC,19188,1.17,121.6,294.5,8.9,1121,19207,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,1995
$GC,19509,1.17,121.6,265.9,9.0,1137,19518,0.00,2.62,0.00,0.000,4,0.000,0.064,2778,293,1995
$GC,19534,1.17,121.6,263.5,9.8,1138,19538,0.00,2.50,0.00,0.000,6,0.000,0.038,2778,1706,1995
$GC,19851,1.17,121.6,234.8,9.0,1154,19870,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1995
$GC,20172,1.17,121.6,205.6,9.1,1170,20181,0.00,2.62,0.00,0.000,4,0.000,0.062,2778,292,1995
$GC,20213,1.17,121.6,201.6,10.9,1172,20221,0.00,2.53,0.00,0.000,6,0.000,0.036,2778,1711,1995
$GC,20534,1.17,121.6,171.9,9.4,1188,20553,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1711,1995
$GC,20855,1.17,121.6,142.0,9.4,1204,20874,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1711,1995
$GC,21177,1.17,121.6,111.5,9.5,1220,21185,0.00,2.62,0.00,0.000,4,0.000,0.061,2778,293,1995
$GC,21212,1.17,121.6,107.7,11.1,1221,21216,0.00,2.55,0.00,0.000,6,0.000,0.035,2777,1703,1995
$GC,21520,1.17,121.6,76.9,10.4,1270,21524,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1995
$GC,21830,1.17,121.6,49.3,8.2,1331,21833,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1995
$GC,22139,1.17,131.7,23.1,7.5,1392,22148,0.00,0.00,7.40,0.831,6,0.000,0.000,2778,1704,1964
$FINISH,0.2,1.026488,0
$SM_CCo,22490,65.68,0.710,0,0,1604,220.03
$RAFOS_CLK,-768
$RAFOS,2,1123446542,20.500000,20.483889,52,46,44,211,1226,229
$RAFOS,1,1123445955,20.333334,20.320833,42,42,40,48,72,505
$RAFOS,0,1123445353,20.166666,20.153610,48,47,47,222,127,213
$RAFOS,2,1123432150,16.500000,16.486111,46,42,42,100,432,723
$RAFOS,1,1123431545,16.333334,16.318056,43,42,42,1167,48,176
$RAFOS,0,1123430951,16.166666,16.153055,47,42,41,117,1477,606
$TT8_MAMPS,0.021476
$HUMID,2020
$INTERNAL_PRESSURE,7.26059
$TCM_TEMP,3.00
$ALTIM_TOP_PING,9.8,9.3
$ALTIM_BOTTOM_PING,971.6,0.0
$24V_AH,23.3,26.721
$10V_AH,10.0,21.273
$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,25.825,123.575,223.125,65.675,0.000,97.010,116.755,191.531,0.500,67.356,1012.042,17458.377,1277.981,2165.667,1428.908,33.366,2531.162,0.000,1375.498,1800.000,3.462
$DEVICE_MAMPS,188.682,105.079,1457.300,710.242,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1651.949,2047.927,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53470,1458
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070805,204440,7050.085,1327.317,32,1.0,32,2.5