version: 65.00
glider: 17
mission: 2
dive: 192
start: 8 9 105 10 39 30
data:
$ID,17
$MISSION,2
$DIVE,192
$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,-33339.016
$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,18
$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
$GPS1,103238,7055.858,1314.159,34,1.1,34
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-53.7
$GPS2,103833,7055.812,1314.188,19,1.1,20,2.4
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.196,-0.106
$KALMAN_X,209847.2,-290.9,-658.1,-349715.3,7293.4
$KALMAN_Y,-103234.3,-26.3,-1055.6,170312.4,2701.2
$MHEAD_RNG_PITCHd_Wd,239.1,63103,-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,-121.6,0.0,0.0,0,59,0.00,0.00,-41.15,0.000,2,0.000,0.000,285,1709,2704
$GC,61,-1.17,-121.6,3.6,-8.0,8,86,11.88,2.75,-7.22,0.000,4,0.188,0.064,2263,3140,2999
$GC,315,-1.17,-121.6,36.8,-11.6,58,319,0.00,2.50,0.00,0.000,6,0.000,0.039,2263,1731,3002
$GC,624,-1.17,-121.6,68.7,-9.6,119,628,0.00,2.62,0.00,0.000,4,0.000,0.050,2263,3146,3004
$GC,806,-1.17,-121.6,87.2,-9.8,155,810,0.00,2.47,0.00,0.000,6,0.000,0.040,2263,1740,3006
$GC,1129,-1.17,-121.6,116.2,-9.1,192,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1739,3007
$GC,1450,-1.17,-121.6,146.8,-9.5,208,1458,0.00,2.60,0.00,0.000,4,0.000,0.052,2263,3147,3007
$GC,1491,-1.17,-121.6,150.8,-9.9,210,1499,0.00,2.50,0.00,0.000,6,0.000,0.041,2263,1736,3007
$GC,1812,-1.17,-121.6,178.8,-8.6,226,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1736,3007
$GC,2133,-1.17,-121.6,206.9,-9.1,242,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1736,3007
$GC,2454,-1.17,-121.6,236.5,-8.7,258,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1736,3007
$GC,2775,-1.17,-121.6,262.5,-8.0,274,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1737,3007
$GC,3096,-1.17,-121.6,287.0,-7.5,290,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1736,3007
$GC,3418,-1.17,-121.6,312.5,-8.1,306,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1737,3007
$GC,3739,-1.17,-121.6,339.5,-8.3,322,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1737,3007
$GC,4060,-1.17,-121.6,366.9,-8.8,338,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1736,3007
$GC,4381,-1.17,-121.6,394.3,-8.5,354,4389,0.00,2.62,0.00,0.000,4,0.000,0.054,2263,3143,3007
$GC,4422,-1.17,-121.6,398.0,-9.5,356,4430,0.00,2.47,0.00,0.000,6,0.000,0.044,2263,1740,3007
$GC,4743,-1.17,-121.6,425.6,-8.4,372,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1740,3007
$GC,5064,-1.17,-121.6,451.9,-8.2,389,5073,0.00,2.60,0.00,0.000,4,0.000,0.054,2263,3149,3007
$GC,5099,-1.17,-121.6,455.1,-9.4,392,5104,0.00,2.53,0.00,0.000,6,0.000,0.045,2263,1748,3007
$GC,5407,-1.17,-121.6,483.4,-9.3,423,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1747,3007
$GC,5719,-1.17,-121.6,512.4,-8.9,454,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1747,3007
$GC,6031,-1.17,-121.6,539.8,-8.3,485,6040,0.00,2.60,0.00,0.000,4,0.000,0.056,2263,3144,3007
$GC,6062,-1.17,-121.6,542.5,-9.8,488,6071,0.00,2.50,0.00,0.000,6,0.000,0.046,2263,1738,3007
$GC,6374,-1.17,-121.6,567.0,-7.3,519,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1738,3007
$GC,6688,-1.17,-121.6,589.2,-7.0,550,6697,0.00,2.62,0.00,0.000,4,0.000,0.057,2262,3147,3007
$GC,6764,-1.17,-121.6,595.3,-7.7,557,6768,0.00,2.53,0.00,0.000,6,0.000,0.046,2263,1747,3007
$GC,7071,-1.17,-121.6,617.4,-7.0,588,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1747,3007
$GC,7384,-1.17,-121.6,639.9,-7.2,619,7393,0.00,2.62,0.00,0.000,4,0.000,0.059,2263,3145,3007
$GC,7420,-1.17,-121.6,642.6,-7.8,622,7425,0.00,2.55,0.00,0.000,6,0.000,0.049,2263,1743,3007
$GC,7737,-1.17,-121.6,665.1,-7.2,639,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1742,3007
$GC,8097,-1.17,-121.6,691.7,-7.3,648,8106,0.00,2.58,0.00,0.000,4,0.000,0.062,2263,3143,3006
$GC,8158,-1.17,-121.6,696.5,-8.2,649,8162,0.00,2.53,0.00,0.000,6,0.000,0.050,2263,1735,3007
$GC,8499,-1.17,-121.6,723.0,-7.7,658,8538,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1735,3006
$GC,8860,-1.17,-121.6,752.2,-8.5,667,8868,0.00,2.65,0.00,0.000,4,0.000,0.063,2263,3147,3006
$GC,8895,-1.17,-121.6,755.4,-10.0,667,8899,0.00,2.58,0.00,0.000,6,0.000,0.053,2263,1741,3007
$GC,9221,-1.17,-121.6,785.4,-9.4,676,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1741,3006
$GC,9582,-1.17,-121.6,818.1,-8.8,685,9590,0.00,2.58,0.00,0.000,4,0.000,0.064,2263,3144,3006
$GC,9606,-1.17,-121.6,820.3,-9.7,685,9610,0.00,2.53,0.00,0.000,6,0.000,0.054,2263,1740,3005
$GC,9943,-1.17,-121.6,848.0,-8.1,694,9951,0.00,2.62,0.00,0.000,4,0.000,0.065,2263,3148,3005
$GC,9978,-1.17,-121.6,850.9,-8.4,694,9982,0.00,2.58,0.00,0.000,6,0.000,0.054,2263,1743,3005
$GC,10304,-1.17,-121.6,877.5,-8.1,703,10342,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1743,3004
$GC,10665,-1.17,-121.6,905.7,-7.6,712,10703,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1743,3003
$GC,11025,-1.17,-121.6,933.7,-7.9,721,11034,0.00,2.60,0.00,0.000,4,0.000,0.067,2263,3144,3003
$GC,11066,-1.17,-121.6,937.1,-9.1,722,11074,0.00,2.53,0.00,0.000,6,0.000,0.055,2263,1740,3003
$GC,11388,-1.17,-121.6,961.4,-7.5,730,11426,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1740,3002
$GC,11748,-1.17,-121.6,986.9,-6.8,739,11787,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1740,3001
$GC,11872,-0.31,0.0,995.2,6.9,742,11988,1.00,0.00,110.12,1.471,6,0.129,0.000,2452,1740,2501
$GC,11990,1.17,121.6,997.3,2.8,745,12109,1.62,0.00,105.97,1.421,6,0.090,0.000,2775,1740,2005
$GC,12430,1.17,121.6,956.0,10.7,756,12468,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1740,2002
$GC,12790,1.17,121.6,918.8,10.3,765,12829,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1740,2000
$GC,13151,1.17,121.6,881.5,10.5,774,13159,0.00,2.78,0.00,0.000,4,0.000,0.087,2775,303,2000
$GC,13191,1.17,121.6,877.0,11.2,775,13200,0.00,2.53,0.00,0.000,6,0.000,0.044,2775,1704,1999
$GC,13512,1.17,121.6,843.2,10.6,783,13551,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1704,1999
$GC,13873,1.17,121.6,805.8,10.3,792,13881,0.00,2.67,0.00,0.000,4,0.000,0.067,2775,3112,1998
$GC,13914,1.17,121.6,801.4,10.3,793,13922,0.00,2.55,0.00,0.000,6,0.000,0.057,2775,1708,1997
$GC,14235,1.17,121.6,768.4,10.1,801,14273,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1708,1997
$GC,14595,1.17,121.6,733.1,9.7,810,14604,0.00,2.67,0.00,0.000,4,0.000,0.081,2774,297,1997
$GC,14626,1.17,121.6,729.8,10.8,810,14630,0.00,2.53,0.00,0.000,6,0.000,0.045,2775,1702,1996
$GC,14957,1.17,121.6,696.1,10.3,819,14996,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1704,1996
$GC,15318,1.17,121.6,659.9,9.8,828,15326,0.00,2.60,0.00,0.000,4,0.000,0.067,2775,3110,1996
$GC,15409,1.17,121.6,650.8,9.5,830,15413,0.00,2.55,0.00,0.000,6,0.000,0.054,2775,1705,1995
$GC,15722,1.17,121.6,620.4,10.2,859,15731,0.00,2.65,0.00,0.000,4,0.000,0.077,2775,296,1995
$GC,15772,1.17,121.6,614.6,11.7,864,15782,0.00,2.53,0.00,0.000,6,0.000,0.044,2775,1706,1995
$GC,16085,1.17,121.6,582.9,10.0,895,16094,0.00,2.65,0.00,0.000,4,0.000,0.065,2775,3112,1995
$GC,16146,1.17,121.6,576.5,10.9,901,16155,0.00,2.55,0.00,0.000,6,0.000,0.052,2775,1701,1994
$GC,16458,1.17,121.6,545.3,10.0,932,16466,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1701,1994
$GC,16770,1.17,121.6,513.8,9.9,963,16778,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1701,1994
$GC,17082,1.17,121.6,482.8,10.0,994,17091,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1700,1994
$GC,17394,1.17,121.6,451.4,10.6,1025,17403,0.00,2.60,0.00,0.000,4,0.000,0.071,2775,296,1994
$GC,17435,1.17,121.6,446.9,12.2,1028,17443,0.00,2.50,0.00,0.000,6,0.000,0.039,2775,1707,1994
$GC,17757,1.17,121.6,413.8,9.9,1044,17776,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1708,1994
$GC,18078,1.17,121.6,382.7,9.5,1060,18087,0.00,2.62,0.00,0.000,4,0.000,0.067,2775,295,1994
$GC,18113,1.17,121.6,379.1,10.4,1061,18118,0.00,2.53,0.00,0.000,6,0.000,0.039,2775,1697,1994
$GC,18420,1.17,121.6,350.7,9.1,1077,18438,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1698,1994
$GC,18741,1.17,121.6,319.9,9.7,1093,18750,0.00,2.65,0.00,0.000,4,0.000,0.059,2775,3109,1994
$GC,18784,1.17,121.6,315.8,10.3,1095,18793,0.00,2.53,0.00,0.000,6,0.000,0.045,2775,1699,1994
$GC,19105,1.17,121.6,284.8,9.4,1111,19114,0.00,2.60,0.00,0.000,4,0.000,0.067,2775,294,1994
$GC,19148,1.17,121.6,280.7,10.1,1113,19157,0.00,2.50,0.00,0.000,6,0.000,0.038,2775,1707,1994
$GC,19470,1.17,121.6,251.5,8.9,1129,19488,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1709,1994
$GC,19792,1.17,121.6,223.2,8.9,1145,19809,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1709,1994
$GC,20115,1.17,121.6,194.0,9.1,1161,20123,0.00,2.60,0.00,0.000,4,0.000,0.061,2775,298,1995
$GC,20185,1.17,121.6,186.8,10.0,1164,20189,0.00,2.47,0.00,0.000,6,0.000,0.035,2775,1705,1995
$GC,20497,1.17,121.6,158.8,8.8,1180,20516,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1707,1995
$GC,20820,1.17,121.6,128.8,9.5,1196,20837,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1706,1995
$GC,21139,1.17,121.6,98.2,9.8,1212,21143,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1707,1994
$GC,21448,1.17,121.6,67.6,10.5,1273,21452,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1706,1994
$GC,21758,1.17,146.8,37.4,6.9,1334,21783,0.00,0.00,19.17,0.811,6,0.000,0.000,2775,1706,1902
$GC,22088,1.19,167.0,12.0,7.1,1399,22108,0.00,2.67,15.02,0.772,4,0.000,0.052,2776,3113,1820
$GC,22129,1.21,167.0,8.7,9.1,1407,22133,0.00,2.53,0.00,0.000,6,0.000,0.041,2775,1703,1819
$FINISH,0.2,1.027039,0
$SM_CCo,22254,39.88,0.729,0,0,1604,220.03
$RAFOS_CLK,-4794
$RAFOS,2,1123604948,16.500000,16.485556,46,43,41,869,48,1337
$RAFOS,1,1123604346,16.333334,16.318333,43,43,41,135,212,196
$RAFOS,0,1123603760,16.166666,16.155556,59,45,44,150,73,113
$RAFOS,2,1123590544,12.500000,12.484445,44,43,41,1469,198,48
$RAFOS,1,1123589950,12.333333,12.319445,85,47,46,669,651,146
$RAFOS,0,1123589346,12.166667,12.151667,50,45,41,262,135,73
$TT8_MAMPS,0.020709
$HUMID,2051
$INTERNAL_PRESSURE,7.27036
$TCM_TEMP,3.00
$ALTIM_TOP_PING,9.6,8.9
$ALTIM_BOTTOM_PING,970.2,0.0
$24V_AH,23.3,27.560
$10V_AH,10.0,22.005
$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,25.875,128.950,250.300,39.875,0.000,32.323,33.993,175.002,0.500,58.463,1018.866,17102.461,1256.095,2162.850,1198.556,33.369,2526.177,0.000,1385.475,1800.000,3.461
$DEVICE_MAMPS,187.915,97.409,1471.106,729.417,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1615.952,2004.216,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,52762,1428
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090805,165233,7052.745,1308.448,46,1.7,46,2.3