version: 65.00
glider: 17
mission: 2
dive: 24
start: 6 26 105 2 31 45
data:
$ID,17
$MISSION,2
$DIVE,24
$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,260
$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,-21929.715
$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,1705
$C_ROLL_CLIMB,1705
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$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,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
$GPS1,022108,7045.704,1600.475,40,1.0,40
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-54.0
$GPS2,023051,7045.688,1600.823,17,1.8,23,4.1
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7200.000,1200.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.204,0.090
$KALMAN_X,10467.7,-29.8,-192.5,-47214.8,6803.7
$KALMAN_Y,-20179.0,-37.3,454.0,67006.3,-3826.9
$MHEAD_RNG_PITCHd_Wd,289.7,194772,-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,14,-1.17,-121.6,0.0,0.0,0,57,0.00,0.00,-40.85,0.000,2,0.000,0.000,287,1713,2515
$GC,59,-1.17,-121.6,3.1,-6.8,8,89,11.82,2.65,-12.68,0.000,4,0.187,0.066,2262,3109,2999
$GC,211,-1.17,-121.6,21.1,-11.9,38,215,0.00,2.55,0.00,0.000,6,0.000,0.042,2262,1702,3001
$GC,520,-1.17,-121.6,51.9,-9.4,99,524,0.00,2.60,0.00,0.000,4,0.000,0.058,2262,295,3002
$GC,612,-1.17,-121.6,61.3,-10.3,117,616,0.00,2.53,0.00,0.000,6,0.000,0.034,2262,1710,3002
$GC,921,-1.17,-121.6,89.0,-8.6,178,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1710,3003
$GC,1230,-1.17,-121.6,114.8,-7.9,239,1234,0.00,2.60,0.00,0.000,4,0.000,0.054,2263,3108,3003
$GC,1256,-1.17,-121.6,117.0,-8.8,244,1260,0.00,2.53,0.00,0.000,6,0.000,0.043,2263,1704,3004
$GC,1565,-1.17,-121.6,142.3,-8.0,305,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1704,3004
$GC,1874,-1.17,-121.6,169.0,-9.2,366,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1704,3004
$GC,2184,-1.17,-121.6,197.0,-8.9,427,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1704,3004
$GC,2491,-1.17,-121.6,224.1,-8.8,461,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1704,3004
$GC,2803,-1.17,-121.6,252.2,-9.3,492,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1704,3004
$GC,3115,-1.17,-121.6,280.8,-9.1,523,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1704,3004
$GC,3428,-1.17,-121.6,307.6,-8.4,554,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3004
$GC,3740,-1.17,-121.6,332.5,-7.8,585,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3004
$GC,4052,-1.17,-121.6,356.1,-7.8,616,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3004
$GC,4364,-1.17,-121.6,380.8,-8.0,647,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1704,3004
$GC,4676,-1.17,-121.6,407.5,-8.7,672,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3004
$GC,5036,-1.17,-121.6,439.6,-9.0,681,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3004
$GC,5397,-1.17,-121.6,473.1,-9.3,690,5406,0.00,2.58,0.00,0.000,4,0.000,0.061,2263,297,3004
$GC,5417,-1.17,-121.6,475.1,-9.7,690,5421,0.00,2.53,0.00,0.000,6,0.000,0.034,2263,1708,3004
$GC,5758,-1.17,-121.6,505.3,-8.6,699,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1710,3004
$GC,6119,-1.17,-121.6,533.0,-7.3,708,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1710,3004
$GC,6479,-1.17,-121.6,558.0,-6.9,717,6488,0.00,2.60,0.00,0.000,4,0.000,0.057,2262,3113,3004
$GC,6509,-1.17,-121.6,560.2,-7.6,717,6513,0.00,2.53,0.00,0.000,6,0.000,0.043,2262,1701,3004
$GC,6841,-1.17,-121.6,583.9,-7.2,726,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1701,3004
$GC,7202,-1.17,-121.6,611.9,-8.1,735,7210,0.00,2.58,0.00,0.000,4,0.000,0.054,2263,3108,3004
$GC,7257,-1.17,-121.6,616.8,-9.1,736,7261,0.00,2.50,0.00,0.000,6,0.000,0.044,2262,1705,3004
$GC,7563,-1.17,-121.6,643.8,-9.1,744,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1705,3004
$GC,7924,-1.17,-121.6,677.2,-9.3,753,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1705,3004
$GC,8284,-1.17,-121.6,709.1,-8.5,762,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1705,3004
$GC,8645,-1.17,-121.6,736.7,-7.4,771,8654,0.00,2.58,0.00,0.000,4,0.000,0.058,2262,3108,3004
$GC,8680,-1.17,-121.6,739.4,-7.8,771,8685,0.00,2.55,0.00,0.000,6,0.000,0.048,2262,1713,3004
$GC,9006,-1.17,-121.6,763.9,-7.7,780,9015,0.00,2.55,0.00,0.000,4,0.000,0.058,2262,3108,3003
$GC,9092,-1.17,-121.6,771.2,-9.0,782,9096,0.00,2.53,0.00,0.000,6,0.000,0.048,2263,1706,3004
$GC,9409,-1.17,-121.6,795.3,-7.6,790,9417,0.00,2.60,0.00,0.000,4,0.000,0.072,2262,300,3004
$GC,9454,-1.17,-121.6,799.1,-8.6,791,9458,0.00,2.45,0.00,0.000,6,0.000,0.037,2262,1704,3004
$GC,9770,-1.17,-121.6,823.6,-7.8,799,9779,0.00,2.58,0.00,0.000,4,0.000,0.061,2263,3108,3004
$GC,9831,-1.17,-121.6,828.8,-8.6,800,9835,0.00,2.53,0.00,0.000,6,0.000,0.050,2263,1706,3004
$GC,10172,-1.17,-121.6,856.5,-8.0,809,10211,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1706,3004
$GC,10533,-1.17,-121.6,884.1,-7.6,818,10571,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1706,3004
$GC,10893,-1.17,-121.6,910.5,-7.1,827,10902,0.00,2.62,0.00,0.000,4,0.000,0.064,2262,3106,3003
$GC,10934,-1.17,-121.6,913.6,-7.7,828,10942,0.00,2.53,0.00,0.000,6,0.000,0.053,2263,1705,3003
$GC,11255,-1.17,-121.6,934.9,-6.5,836,11293,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1706,3003
$GC,11616,-1.17,-121.6,956.4,-5.9,845,11624,0.00,2.60,0.00,0.000,4,0.000,0.066,2263,3106,3001
$GC,11646,-1.17,-121.6,958.3,-6.4,845,11650,0.00,2.55,0.00,0.000,6,0.000,0.054,2263,1706,3001
$GC,11977,-1.17,-121.6,979.3,-6.4,854,12019,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1707,3001
$GC,12259,-0.31,0.0,996.4,6.1,861,12377,1.02,0.00,108.25,1.459,6,0.133,0.000,2455,1706,2502
$GC,12379,1.17,121.6,997.8,2.1,864,12500,1.55,0.00,105.22,1.447,6,0.094,0.000,2775,1706,2004
$GC,12821,1.17,121.6,954.5,11.3,875,12829,0.00,2.65,0.00,0.000,4,0.000,0.067,2776,3109,2003
$GC,12876,1.17,121.6,948.1,10.9,876,12880,0.00,2.58,0.00,0.000,6,0.000,0.055,2775,1706,2002
$GC,13182,1.17,121.6,915.5,10.6,884,13221,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1706,2002
$GC,13543,1.17,121.6,879.7,9.7,893,13582,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1706,2000
$GC,13904,1.17,121.6,842.8,9.9,902,13912,0.00,2.65,0.00,0.000,4,0.000,0.065,2775,3106,1999
$GC,13934,1.17,121.6,839.5,9.5,902,13938,0.00,2.58,0.00,0.000,6,0.000,0.055,2775,1703,1999
$GC,14265,1.17,121.6,808.2,9.5,911,14273,0.00,2.62,0.00,0.000,4,0.000,0.066,2776,3106,1999
$GC,14325,1.17,121.6,802.3,9.9,912,14329,0.00,2.58,0.00,0.000,6,0.000,0.055,2775,1705,1997
$GC,14667,1.17,121.6,770.3,9.2,921,14675,0.00,2.70,0.00,0.000,4,0.000,0.084,2775,300,1997
$GC,14717,1.17,121.6,765.3,10.4,922,14721,0.00,2.50,0.00,0.000,6,0.000,0.041,2776,1703,1997
$GC,15028,1.17,121.6,736.4,9.4,930,15067,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1996
$GC,15389,1.17,121.6,702.2,9.5,939,15397,0.00,2.62,0.00,0.000,4,0.000,0.064,2776,3109,1995
$GC,15576,1.17,121.6,682.7,10.6,943,15580,0.00,2.55,0.00,0.000,6,0.000,0.050,2775,1704,1995
$GC,15912,1.17,121.6,646.9,10.9,952,15921,0.00,2.65,0.00,0.000,4,0.000,0.074,2776,296,1995
$GC,15932,1.17,121.6,644.5,11.3,952,15936,0.00,2.50,0.00,0.000,6,0.000,0.041,2775,1705,1995
$GC,16274,1.17,121.6,605.7,11.5,961,16312,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1706,1995
$GC,16634,1.17,121.6,564.2,11.4,970,16673,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1706,1995
$GC,16995,1.17,121.6,523.2,11.3,979,17033,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,1995
$GC,17355,1.17,121.6,485.6,10.1,988,17394,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1706,1995
$GC,17716,1.17,121.6,449.4,10.0,997,17755,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1706,1995
$GC,18077,1.17,121.6,416.0,9.0,1006,18115,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,1995
$GC,18418,1.17,121.6,387.0,8.2,1025,18427,0.00,2.62,0.00,0.000,4,0.000,0.063,2775,295,1995
$GC,18483,1.17,121.6,381.0,8.3,1031,18488,0.00,2.55,0.00,0.000,6,0.000,0.036,2775,1697,1995
$GC,18791,1.17,121.6,355.6,8.2,1062,18800,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1698,1995
$GC,19103,1.17,121.6,329.0,8.7,1093,19112,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1698,1995
$GC,19415,1.17,121.6,301.8,8.6,1124,19425,0.00,2.62,0.00,0.000,4,0.000,0.057,2775,3114,1995
$GC,19446,1.17,121.6,299.1,9.7,1127,19455,0.00,2.53,0.00,0.000,6,0.000,0.042,2776,1702,1995
$GC,19758,1.17,121.6,271.2,9.0,1158,19767,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1702,1995
$GC,20070,1.17,121.6,243.7,9.0,1189,20079,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1702,1995
$GC,20383,1.17,121.6,216.6,8.9,1220,20392,0.00,2.60,0.00,0.000,4,0.000,0.052,2776,3110,1995
$GC,20418,1.17,133.8,213.5,7.5,1223,20433,0.00,2.55,9.32,0.968,6,0.000,0.041,2776,1706,1954
$GC,20737,1.18,133.8,185.6,8.5,1271,20740,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1706,1954
$GC,21046,1.18,133.8,158.5,9.1,1332,21049,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1706,1954
$GC,21355,1.18,133.8,130.6,8.8,1393,21359,0.00,2.60,0.00,0.000,4,0.000,0.062,2775,298,1954
$GC,21391,1.18,133.8,127.1,9.7,1400,21395,0.00,2.47,0.00,0.000,6,0.000,0.035,2776,1707,1954
$GC,21700,1.18,133.8,100.1,8.6,1461,21703,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1708,1954
$GC,22009,1.18,133.8,73.3,8.2,1522,22013,0.00,2.60,0.00,0.000,4,0.000,0.060,2776,297,1954
$GC,22075,1.18,133.8,67.0,9.0,1535,22079,0.00,2.47,0.00,0.000,6,0.000,0.035,2776,1707,1954
$GC,22384,1.18,133.8,41.5,8.3,1596,22388,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1708,1954
$GC,22693,1.18,145.4,16.0,7.5,1657,22708,0.00,2.65,8.98,0.821,4,0.000,0.055,2776,3100,1908
$GC,22871,1.19,176.8,3.3,6.6,1692,22897,0.00,2.50,20.33,0.761,2,0.000,0.041,2776,1701,1799
$FINISH,1.2,1.026661,0
$SM_CCo,22919,58.67,0.718,0,0,1441,260.02
$RAFOS_CLK,-2808
$RAFOS,2,1119774545,8.500000,8.484722,47,44,42,1002,1556,888
$RAFOS,1,1119773942,8.333333,8.317223,49,47,45,871,1424,205
$RAFOS,0,1119773346,8.166667,8.151667,48,47,43,208,221,1093
$RAFOS,2,1119760145,4.500000,4.484722,53,43,42,529,207,1505
$RAFOS,1,1119759543,4.333333,4.317500,45,43,41,210,48,1105
$RAFOS,0,1119758942,4.166667,4.150556,44,43,39,48,6,281
$TT8_MAMPS,0.021476
$HUMID,2015
$INTERNAL_PRESSURE,7.24104
$TCM_TEMP,2.50
$ALTIM_TOP_PING,9.7,0.0
$ALTIM_BOTTOM_PING,981.5,0.0
$24V_AH,23.3,7.028
$10V_AH,10.0,3.586
$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,26.325,123.350,252.100,58.675,0.000,64.654,66.564,287.594,0.500,66.215,1137.612,17250.121,1334.846,2529.177,1396.347,33.357,2784.041,0.000,1633.211,1800.000,3.482
$DEVICE_MAMPS,187.148,83.603,1458.834,717.912,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1927.992,2385.607,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60255,1698
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0
$GPS,260605,085603,7045.716,1600.798,46,1.3,46,4.1