version: 65.00
glider: 23
mission: 1
dive: 143
start: 8 29 105 13 10 40
data:
$ID,23
$MISSION,1
$DIVE,143
$D_SURF,2
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0.0001163584
$T_DIVE,417
$T_MISSION,500
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,1
$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,1.0275
$MASS,52362
$KALMAN_USE,2
$KALMAN_Q,1000
$KALMAN_R,100
$HD_A,0.0038360001
$HD_B,0.01008
$HD_C,9.8541004e-06
$SM_CC,365
$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,-256.64856
$T_RSLEEP,2
$PITCH_MIN,294
$PITCH_MAX,3611
$C_PITCH,2510
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$ROLL_MIN,208
$ROLL_MAX,3867
$C_ROLL_DIVE,2089
$C_ROLL_CLIMB,2108
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,580
$VBD_MIN,500
$VBD_MAX,3664
$C_VBD,2760
$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,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-29.113598
$PRESSURE_SLOPE,0.0001163668
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,15
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,0
$GPS_DEVICE,0
$RAFOS_DEVICE,-1
$XPDR_DEVICE,0
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004414265
$SEABIRD_T_H,0.00064973778
$SEABIRD_T_I,2.7798471e-05
$SEABIRD_T_J,3.1719046e-06
$SEABIRD_C_G,-10.522164
$SEABIRD_C_H,1.1897064
$SEABIRD_C_I,-0.0027912261
$SEABIRD_C_J,0.00032908627
$GPS1,130506,5749.124,-14107.453,40,0.9,40
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-52.3
$GPS2,131027,5749.148,-14107.353,12,1.2,12,23.6
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,UW
$TGT_LATLONG,4739.360,-12219.030
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,105.1,1804598,-16.5,-7.994
$D_GRID,1010
$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,18,-1.17,-121.7,0.0,0.0,0,62,0.00,0.00,-41.83,0.000,2,0.000,0.000,291,2108,2538
$GC,63,-1.17,-121.7,3.3,-8.4,4,95,11.40,0.00,-15.07,0.000,6,0.166,0.000,2248,2111,3258
$GC,396,-1.17,-121.7,59.1,-14.3,34,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2111,3268
$GC,717,-1.17,-121.7,104.5,-13.8,50,726,0.00,2.72,0.00,0.000,4,0.000,0.054,2248,679,3272
$GC,740,-1.17,-121.7,107.6,-14.7,51,748,0.00,2.58,0.00,0.000,6,0.000,0.035,2248,2091,3273
$GC,1063,-1.17,-121.7,150.5,-13.3,67,1071,0.00,2.47,0.00,0.000,4,0.000,0.058,2248,3490,3273
$GC,1189,-1.17,-121.7,168.5,-14.6,70,1193,0.00,2.42,0.00,0.000,6,0.000,0.041,2248,2085,3274
$GC,1506,-1.17,-121.7,204.6,-10.6,78,1514,0.00,2.53,0.00,0.000,4,0.000,0.059,2248,3492,3274
$GC,1556,-1.17,-121.7,210.0,-10.4,79,1560,0.00,2.42,0.00,0.000,6,0.000,0.042,2248,2089,3274
$GC,1867,-1.17,-121.7,243.3,-11.0,87,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2088,3274
$GC,2228,-1.17,-121.7,281.9,-10.6,96,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2088,3274
$GC,2589,-1.17,-121.7,318.0,-9.8,103,2597,0.00,2.67,0.00,0.000,4,0.000,0.058,2248,685,3274
$GC,2649,-1.17,-121.7,324.0,-9.6,103,2658,0.00,2.58,0.00,0.000,6,0.000,0.038,2248,2091,3274
$GC,2990,-1.17,-121.7,357.4,-9.8,108,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2090,3274
$GC,3391,-1.17,-121.7,399.0,-10.5,113,3399,0.00,2.67,0.00,0.000,4,0.000,0.058,2248,684,3274
$GC,3451,-1.17,-121.7,405.6,-10.5,113,3460,0.00,2.58,0.00,0.000,6,0.000,0.040,2248,2085,3273
$GC,3792,-1.17,-121.7,439.2,-9.8,118,3801,0.00,2.67,0.00,0.000,4,0.000,0.058,2248,682,3273
$GC,3848,-1.17,-121.7,444.9,-10.1,118,3856,0.00,2.60,0.00,0.000,6,0.000,0.041,2248,2092,3273
$GC,4194,-1.17,-121.7,477.5,-9.5,123,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2092,3272
$GC,4594,-1.17,-121.7,514.4,-9.2,128,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2092,3271
$GC,4995,-1.17,-121.7,548.8,-8.7,133,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2092,3270
$GC,5397,-1.17,-121.7,583.8,-8.9,138,5406,0.00,2.70,0.00,0.000,4,0.000,0.061,2248,684,3270
$GC,5442,-1.17,-121.7,588.4,-9.7,138,5451,0.00,2.60,0.00,0.000,6,0.000,0.043,2248,2087,3270
$GC,5800,-1.17,-121.7,621.5,-9.3,143,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2087,3269
$GC,6200,-1.17,-121.7,657.4,-9.0,148,6209,0.00,2.70,0.00,0.000,4,0.000,0.064,2248,686,3268
$GC,6251,-1.17,-121.7,662.0,-8.9,148,6260,0.00,2.60,0.00,0.000,6,0.000,0.044,2248,2086,3268
$GC,6603,-1.17,-121.7,692.8,-8.8,153,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2085,3267
$GC,7003,-1.17,-121.7,726.9,-8.5,158,7012,0.00,2.70,0.00,0.000,4,0.000,0.065,2248,688,3267
$GC,7057,-1.17,-121.7,731.3,-9.4,158,7065,0.00,2.60,0.00,0.000,6,0.000,0.046,2248,2090,3267
$GC,7407,-1.17,-121.7,761.1,-8.5,163,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2090,3266
$GC,7807,-1.17,-121.7,795.1,-8.6,168,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2090,3266
$GC,8208,-1.17,-121.7,828.8,-8.4,173,8217,0.00,2.70,0.00,0.000,4,0.000,0.065,2248,686,3266
$GC,8255,-1.17,-121.7,832.8,-8.1,173,8263,0.00,2.62,0.00,0.000,6,0.000,0.046,2248,2096,3266
$GC,8611,-1.17,-121.7,861.5,-8.1,178,8619,0.00,2.55,0.00,0.000,4,0.000,0.074,2247,3496,3265
$GC,8671,-1.17,-121.7,866.7,-8.9,178,8675,0.00,2.45,0.00,0.000,6,0.000,0.048,2248,2089,3265
$GC,9012,-1.17,-121.7,892.8,-7.6,183,9021,0.00,2.70,0.00,0.000,4,0.000,0.068,2248,681,3264
$GC,9059,-1.17,-121.7,896.6,-8.1,183,9068,0.00,2.60,0.00,0.000,6,0.000,0.046,2248,2090,3264
$GC,9416,-1.17,-121.7,921.9,-7.1,188,9495,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2090,3264
$GC,9817,-1.17,-121.7,949.4,-6.9,193,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2090,3263
$GC,10217,-1.17,-121.7,977.3,-7.0,198,10225,0.00,2.72,0.00,0.000,4,0.000,0.067,2248,682,3263
$GC,10257,-1.17,-121.7,980.4,-8.6,198,10266,0.00,2.60,0.00,0.000,6,0.000,0.047,2248,2089,3263
$GC,10543,-0.31,0.0,1001.1,7.4,202,10698,0.98,0.00,106.97,1.394,6,0.103,0.000,2440,2089,2759
$GC,10699,1.17,121.7,1004.5,4.8,204,10811,1.55,2.72,102.30,1.378,4,0.077,0.071,2768,3507,2264
$GC,10834,1.17,122.6,998.1,8.0,205,10838,0.00,2.50,0.00,0.000,6,0.000,0.045,2766,2106,2263
$GC,11186,1.17,122.6,968.2,8.5,210,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2106,2261
$GC,11587,1.17,122.6,934.9,8.3,215,11595,0.00,2.58,0.00,0.000,4,0.000,0.066,2768,3515,2258
$GC,11650,1.17,122.6,929.4,9.7,215,11658,0.00,2.45,0.00,0.000,6,0.000,0.046,2768,2107,2259
$GC,11991,1.17,122.6,900.7,8.4,220,11999,0.00,2.58,0.00,0.000,4,0.000,0.065,2768,3517,2258
$GC,12027,1.17,122.6,897.3,9.1,220,12031,0.00,2.47,0.00,0.000,6,0.000,0.046,2768,2107,2258
$GC,12394,1.17,122.6,867.0,8.2,225,12402,0.00,2.55,0.00,0.000,4,0.000,0.066,2768,3517,2258
$GC,12489,1.17,126.3,858.5,7.8,226,12499,0.00,2.45,2.65,1.386,6,0.000,0.046,2768,2106,2245
$GC,12881,1.17,126.3,826.1,8.3,231,12956,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2106,2245
$GC,13278,1.17,126.3,793.1,8.3,236,13287,0.00,2.53,0.00,0.000,4,0.000,0.066,2768,3517,2244
$GC,13360,1.17,126.3,785.6,9.2,237,13368,0.00,2.47,0.00,0.000,6,0.000,0.047,2768,2107,2244
$GC,13681,1.17,126.3,758.0,8.5,241,13690,0.00,2.55,0.00,0.000,4,0.000,0.067,2768,3516,2244
$GC,13728,1.17,126.3,753.7,8.4,241,13732,0.00,2.45,0.00,0.000,6,0.000,0.047,2768,2108,2244
$GC,14085,1.17,126.3,724.7,8.0,246,14164,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2108,2244
$GC,14489,1.17,130.1,693.2,7.8,251,14498,0.00,2.60,2.78,1.294,4,0.000,0.066,2768,3502,2228
$GC,14554,1.17,130.1,687.6,9.1,251,14558,0.00,2.45,0.00,0.000,6,0.000,0.047,2767,2104,2229
$GC,14890,1.17,133.7,661.3,7.8,256,14969,0.00,0.00,2.92,1.285,6,0.000,0.000,2768,2104,2214
$GC,15290,1.18,133.7,628.1,8.3,261,15299,0.00,2.58,0.00,0.000,4,0.000,0.066,2768,3516,2214
$GC,15367,1.18,133.7,621.1,9.0,261,15372,0.00,2.45,0.00,0.000,6,0.000,0.047,2768,2107,2214
$GC,15699,1.18,134.0,595.0,8.0,266,15707,0.00,2.67,0.00,0.000,4,0.000,0.064,2768,700,2214
$GC,15719,1.18,134.0,592.8,8.3,266,15728,0.00,2.60,0.00,0.000,6,0.000,0.041,2768,2112,2214
$GC,16100,1.18,136.9,562.9,7.9,271,16109,0.00,2.62,2.55,1.254,4,0.000,0.067,2768,3517,2201
$GC,16158,1.18,136.9,558.0,8.7,271,16162,0.00,2.47,0.00,0.000,6,0.000,0.046,2768,2105,2201
$GC,16504,1.18,154.1,532.7,7.2,276,16583,0.00,0.00,14.02,1.158,6,0.000,0.000,2768,2104,2130
$GC,16904,1.20,172.1,503.9,7.2,281,16983,0.00,0.00,14.15,1.142,6,0.000,0.000,2768,2104,2057
$GC,17304,1.22,172.8,472.3,8.0,286,17383,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2104,2057
$GC,17708,1.22,172.8,438.6,8.4,291,17716,0.00,2.53,0.00,0.000,4,0.000,0.062,2768,3515,2057
$GC,17781,1.22,172.8,431.8,9.9,291,17790,0.00,2.45,0.00,0.000,6,0.000,0.044,2768,2105,2057
$GC,18111,1.22,172.8,403.8,8.3,296,18190,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2105,2056
$GC,18512,1.22,172.8,369.6,8.5,301,18590,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2105,2055
$GC,18912,1.22,172.8,334.4,8.9,306,18921,0.00,2.53,0.00,0.000,4,0.000,0.061,2768,3516,2056
$GC,18952,1.22,172.8,330.8,8.8,306,18956,0.00,2.42,0.00,0.000,6,0.000,0.043,2768,2106,2056
$GC,19314,1.22,172.8,301.6,8.0,311,19392,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2106,2056
$GC,19714,1.22,184.5,271.4,7.5,320,19728,0.00,2.55,9.48,1.006,4,0.000,0.059,2768,3515,2007
$GC,19772,1.23,184.5,266.5,8.5,321,19776,0.00,2.45,0.00,0.000,6,0.000,0.041,2768,2108,2007
$GC,20079,1.23,184.5,242.2,8.0,329,20088,0.00,2.65,0.00,0.000,4,0.000,0.059,2768,701,2007
$GC,20126,1.23,184.5,238.2,8.8,330,20135,0.00,2.58,0.00,0.000,6,0.000,0.038,2768,2115,2006
$GC,20442,1.23,199.1,214.2,7.3,338,20462,0.00,2.53,11.12,0.952,4,0.000,0.059,2768,3507,1948
$GC,20485,1.25,199.1,210.9,8.4,339,20494,0.00,2.45,0.00,0.000,6,0.000,0.041,2768,2107,1947
$GC,20806,1.25,212.5,186.9,7.4,347,20825,0.00,2.72,10.12,0.937,4,0.000,0.058,2767,700,1893
$GC,20851,1.26,218.3,183.3,7.7,348,20861,0.00,2.58,4.35,0.966,6,0.000,0.037,2768,2107,1870
$GC,21170,1.27,225.9,158.6,7.7,356,21184,0.00,2.70,5.55,0.940,4,0.000,0.056,2768,700,1839
$GC,21235,1.28,234.5,153.5,7.6,357,21252,0.00,2.58,6.62,0.923,6,0.000,0.038,2768,2107,1803
$GC,21552,1.29,269.8,133.0,6.4,372,21587,0.12,2.80,26.70,0.858,4,0.060,0.055,2799,701,1659
$GC,21625,1.33,269.8,127.1,8.3,375,21634,0.00,2.60,0.00,0.000,6,0.000,0.037,2799,2109,1659
$GC,21941,1.33,270.8,101.5,7.9,391,21950,0.00,2.67,0.00,0.000,4,0.000,0.056,2799,700,1659
$GC,21984,1.33,278.4,97.8,7.7,393,21998,0.00,2.58,6.20,0.879,6,0.000,0.037,2799,2110,1625
$GC,22310,1.34,278.4,70.4,8.2,409,22318,0.00,2.67,0.00,0.000,4,0.000,0.055,2799,701,1625
$GC,22330,1.34,278.4,68.4,8.7,410,22338,0.00,2.58,0.00,0.000,6,0.000,0.037,2799,2109,1625
$GC,22646,1.34,286.0,43.3,7.7,429,22658,0.00,2.72,5.80,0.845,4,0.000,0.056,2799,709,1594
$GC,22691,1.34,289.5,39.5,7.8,433,22702,0.00,2.58,2.85,0.878,6,0.000,0.037,2799,2109,1578
$GC,23005,1.35,362.9,17.5,4.8,464,23070,0.00,2.58,54.25,0.753,4,0.000,0.058,2799,3508,1280
$GC,23086,1.43,416.1,13.5,5.6,471,23139,0.00,2.45,39.85,0.739,6,0.000,0.040,2799,2106,1062
$FINISH,-0.0,1.023577,0
$SM_CCo,23367,0.00,0.000,0,0,1058,417.50
$TT8_MAMPS,0.026078
$HUMID,2221
$TCM_TEMP,6.50
$ALTIM_TOP_PING,0.0,0.0
$ALTIM_BOTTOM_PING,0.0,0.0
$24V_AH,23.4,24.810
$10V_AH,10.0,20.323
$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,25.500,180.450,431.250,0.000,0.000,31.293,32.049,124.458,0.000,55.248,751.763,18195.750,2281.684,1531.736,1010.214,0.000,3286.050,300.456,901.155,0.000,0.000
$DEVICE_MAMPS,166.439,73.632,1394.406,0.000,0.000,103.000,160.000,223.000,0.000,165.000,18.650,1.040,18.650,38.650,44.650,0.000,12.000,3.000,26.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,585.436,426.960,583.791,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,26532,491
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290805,194137,5748.680,-14100.186,39,1.2,39,23.6