version: 65.00
glider: 17
mission: 2
dive: 4
start: 6 21 105 8 39 30
data:
$ID,17
$MISSION,2
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$T_DIVE,200
$T_MISSION,240
$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,300
$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,-20620.941
$T_RSLEEP,2
$PITCH_MIN,290
$PITCH_MAX,3624
$C_PITCH,2585
$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,1750
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,33
$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,6
$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,15
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,9
$ALTIM_SENSITIVITY,3
$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
$GPS1,083152,7022.141,1700.099,34,1.4,35
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-54.0
$GPS2,083848,7022.223,1700.298,17,1.1,18,4.7
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,TARGET_01
$TGT_LATLONG,7200.000,1200.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.226,0.080
$KALMAN_X,1211.5,1094.9,-88.2,-2151.7,1482.2
$KALMAN_Y,1154.1,1279.6,527.1,819.7,224.1
$MHEAD_RNG_PITCHd_Wd,284.8,249654,-20.0,-10.000
$D_GRID,600
$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,15,-1.39,-121.6,0.0,0.0,0,63,0.00,0.00,-46.00,0.000,2,0.000,0.000,289,1763,2491
$GC,64,-1.39,-121.6,3.0,-7.3,9,95,11.80,2.62,-12.82,0.000,4,0.184,0.069,2276,350,2999
$GC,206,-1.39,-121.6,19.4,-10.1,37,211,0.00,2.42,0.00,0.000,6,0.000,0.033,2276,1739,3001
$GC,516,-1.39,-121.6,46.0,-9.0,98,520,0.00,2.60,0.00,0.000,4,0.000,0.057,2276,3156,3003
$GC,622,-1.39,-121.6,56.5,-10.5,119,627,0.00,2.47,0.00,0.000,6,0.000,0.041,2276,1754,3004
$GC,931,-1.39,-121.6,88.5,-10.1,180,936,0.00,2.55,0.00,0.000,4,0.000,0.058,2276,346,3004
$GC,1018,-1.39,-121.6,97.8,-10.8,197,1022,0.00,2.45,0.00,0.000,6,0.000,0.035,2276,1752,3004
$GC,1327,-1.39,-121.6,128.7,-10.2,258,1331,0.00,2.58,0.00,0.000,4,0.000,0.058,2276,348,3004
$GC,1367,-1.39,-121.6,133.1,-11.0,266,1372,0.00,2.45,0.00,0.000,6,0.000,0.035,2276,1750,3004
$GC,1677,-1.39,-121.6,164.3,-9.7,327,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,1751,3004
$GC,1986,-1.39,-121.6,190.7,-7.6,388,1990,0.00,2.58,0.00,0.000,4,0.000,0.058,2276,343,3004
$GC,2047,-1.39,-121.6,195.7,-8.6,400,2051,0.00,2.47,0.00,0.000,6,0.000,0.035,2276,1754,3004
$GC,2354,-1.39,-121.6,220.4,-8.4,436,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,1756,3004
$GC,2666,-1.39,-121.6,245.2,-7.6,467,2676,0.00,2.58,0.00,0.000,4,0.000,0.058,2276,346,3004
$GC,2722,-1.39,-121.6,249.8,-8.4,472,2726,0.00,2.47,0.00,0.000,6,0.000,0.035,2276,1742,3004
$GC,3029,-1.39,-121.6,271.9,-7.1,503,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,1742,3004
$GC,3342,-1.39,-121.6,293.4,-7.0,534,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,1740,3004
$GC,3654,-1.39,-121.6,315.3,-7.1,565,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,1742,3004
$GC,3966,-1.39,-121.6,337.8,-7.9,596,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,1742,3004
$GC,4278,-1.39,-121.6,363.3,-8.5,627,4287,0.00,2.55,0.00,0.000,4,0.000,0.058,2276,345,3004
$GC,4339,-1.39,-121.6,369.0,-9.1,633,4348,0.00,2.45,0.00,0.000,6,0.000,0.035,2276,1750,3004
$GC,4651,-1.39,-121.6,398.6,-9.5,664,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,1750,3004
$GC,4992,-1.39,-121.6,429.9,-9.1,674,5000,0.00,2.55,0.00,0.000,4,0.000,0.059,2276,347,3004
$GC,5027,-1.39,-121.6,433.3,-9.9,674,5032,0.00,2.47,0.00,0.000,6,0.000,0.035,2276,1743,3004
$GC,5353,-1.39,-121.6,461.8,-8.7,683,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,1743,3004
$GC,5714,-1.39,-121.6,491.2,-7.9,692,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,1743,3004
$GC,6074,-1.39,-121.6,516.9,-6.8,701,6083,0.00,2.55,0.00,0.000,4,0.000,0.061,2276,348,3004
$GC,6099,-1.39,-121.6,518.8,-8.3,701,6103,0.00,2.45,0.00,0.000,6,0.000,0.036,2276,1751,3004
$GC,6436,-1.39,-121.6,543.8,-7.6,710,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,1751,3004
$GC,6796,-1.39,-121.6,569.7,-7.2,719,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,1751,3004
$GC,7157,-1.39,-121.6,598.7,-8.5,728,7165,0.00,2.60,0.00,0.000,4,0.000,0.064,2276,345,3004
$GC,7181,-0.31,0.0,600.4,8.5,728,7321,1.15,0.00,103.22,1.184,6,0.107,0.000,2509,1750,2501
$GC,7322,1.39,121.6,603.9,2.2,732,7434,1.73,2.75,99.30,1.164,4,0.060,0.058,2888,3201,2005
$GC,7495,1.39,121.6,592.3,14.3,736,7499,0.00,2.53,0.00,0.000,6,0.000,0.043,2888,1798,2005
$GC,7806,1.39,121.6,551.2,12.6,744,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1798,2004
$GC,8167,1.39,121.6,504.7,13.3,753,8175,0.00,2.58,0.00,0.000,4,0.000,0.056,2888,3201,2004
$GC,8192,1.39,121.6,501.2,13.9,753,8196,0.00,2.50,0.00,0.000,6,0.000,0.043,2888,1797,2004
$GC,8528,1.39,121.6,457.2,12.8,762,8536,0.00,2.58,0.00,0.000,4,0.000,0.056,2888,3201,2003
$GC,8573,1.39,121.6,451.3,12.9,763,8577,0.00,2.50,0.00,0.000,6,0.000,0.042,2888,1798,2003
$GC,8889,1.39,121.6,413.3,11.8,771,8928,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1798,2003
$GC,9232,1.39,121.6,374.5,11.4,796,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1799,2003
$GC,9543,1.39,121.6,336.9,12.6,827,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1798,2003
$GC,9856,1.39,121.6,296.6,13.3,858,9865,0.00,2.58,0.00,0.000,4,0.000,0.054,2888,3202,2003
$GC,9886,1.39,121.6,292.4,13.9,861,9895,0.00,2.47,0.00,0.000,6,0.000,0.041,2888,1801,2003
$GC,10198,1.39,121.6,253.4,12.2,892,10208,0.00,2.58,0.00,0.000,4,0.000,0.054,2888,3205,2003
$GC,10249,1.39,121.6,247.0,12.7,897,10258,0.00,2.47,0.00,0.000,6,0.000,0.041,2888,1801,2003
$GC,10561,1.39,121.6,209.4,12.3,928,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1801,2003
$GC,10875,1.39,121.6,173.1,11.6,982,10879,0.00,2.55,0.00,0.000,4,0.000,0.054,2888,3204,2003
$GC,10921,1.39,121.6,167.9,11.8,991,10925,0.00,2.47,0.00,0.000,6,0.000,0.040,2887,1799,2003
$GC,11230,1.39,121.6,132.4,11.2,1052,11234,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1799,2003
$GC,11539,1.39,121.6,96.9,11.1,1113,11543,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1799,2003
$GC,11849,1.39,123.1,63.2,9.9,1174,11853,0.00,2.55,0.00,0.000,4,0.000,0.061,2888,391,2003
$GC,11955,1.39,125.1,51.9,9.9,1195,11965,0.00,2.45,2.47,0.979,6,0.000,0.033,2888,1807,1991
$GC,12269,1.39,140.6,22.6,9.1,1257,12290,0.00,2.65,12.23,0.858,4,0.000,0.056,2888,3199,1926
$GC,12406,1.41,140.6,9.3,10.3,1284,12411,0.00,2.47,0.00,0.000,6,0.000,0.039,2887,1798,1927
$FINISH,0.3,1.026053,0
$SM_CCo,12530,102.12,0.772,4,0,1278,300.00
$RAFOS_CLK,-355
$TT8_MAMPS,0.020709
$HUMID,2082
$INTERNAL_PRESSURE,7.23127
$TCM_TEMP,1.50
$ALTIM_TOP_PING,9.8,0.0
$ALTIM_BOTTOM_PING,585.1,0.0
$24V_AH,23.5,4.573
$10V_AH,9.9,1.457
$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,26.725,91.150,217.225,102.125,0.000,0.000,0.000,0.000,0.500,18.423,802.673,8671.650,776.270,1819.066,673.020,32.332,1831.008,0.000,1198.756,0.000,3.635
$DEVICE_MAMPS,184.080,80.535,1184.248,771.602,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1472.915,1816.340,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,46315,1305
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,4,0
$GPS,210605,121139,7022.272,1656.514,42,1.0,42,4.7