version: 65.00
glider: 17
mission: 2
dive: 55
start: 7 4 105 7 41 41
data:
$ID,17
$MISSION,2
$DIVE,55
$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,-24051.83
$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,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,1
$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
$GPS1,073533,7133.147,1447.858,51,1.5,51
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-54.0
$GPS2,074052,7133.105,1447.847,15,1.4,16,3.4
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7215.000,1330.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.140,0.173
$KALMAN_X,77131.7,-115.6,-261.8,-159209.1,1178.5
$KALMAN_Y,-30729.3,-50.3,-345.5,166185.9,-632.0
$MHEAD_RNG_PITCHd_Wd,317.7,89174,-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,-121.6,0.0,0.0,0,62,0.00,0.00,-45.67,0.000,2,0.000,0.000,290,1706,2637
$GC,64,-1.17,-121.6,3.0,-6.1,9,94,11.98,2.62,-9.70,0.000,4,0.193,0.068,2265,3109,2998
$GC,323,-1.17,-121.6,31.7,-10.9,60,327,0.00,2.53,0.00,0.000,6,0.000,0.042,2265,1700,3000
$GC,632,-1.17,-121.6,61.2,-8.6,121,636,0.00,2.62,0.00,0.000,4,0.000,0.052,2265,3110,3002
$GC,667,-1.17,-121.6,64.2,-8.8,128,672,0.00,2.53,0.00,0.000,6,0.000,0.044,2265,1703,3002
$GC,977,-1.17,-121.6,94.2,-10.2,189,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1703,3003
$GC,1286,-1.17,-121.6,124.3,-8.8,250,1290,0.00,2.62,0.00,0.000,4,0.000,0.061,2265,295,3003
$GC,1342,-1.17,-121.6,129.8,-10.2,261,1346,0.00,2.50,0.00,0.000,6,0.000,0.035,2265,1710,3003
$GC,1651,-1.17,-121.6,156.5,-8.3,322,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1711,3003
$GC,1960,-1.17,-121.6,184.3,-8.7,383,1964,0.00,2.60,0.00,0.000,4,0.000,0.059,2265,296,3003
$GC,2001,-1.17,-121.6,188.1,-9.7,391,2005,0.00,2.47,0.00,0.000,6,0.000,0.036,2265,1706,3003
$GC,2309,-1.17,-121.6,214.3,-8.0,435,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1707,3003
$GC,2621,-1.17,-121.6,239.9,-8.0,466,2630,0.00,2.60,0.00,0.000,4,0.000,0.058,2265,296,3003
$GC,2652,-1.17,-121.6,242.5,-9.0,469,2662,0.00,2.47,0.00,0.000,6,0.000,0.037,2264,1707,3003
$GC,2964,-1.17,-121.6,267.2,-8.1,500,2974,0.00,2.60,0.00,0.000,4,0.000,0.058,2265,294,3004
$GC,3020,-1.17,-121.6,272.1,-9.2,505,3024,0.00,2.53,0.00,0.000,6,0.000,0.035,2265,1704,3003
$GC,3327,-1.17,-121.6,296.7,-8.1,536,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1705,3003
$GC,3640,-1.17,-121.6,321.4,-7.8,567,3649,0.00,2.58,0.00,0.000,4,0.000,0.060,2265,297,3003
$GC,3705,-1.17,-121.6,327.1,-8.8,573,3710,0.00,2.50,0.00,0.000,6,0.000,0.036,2265,1701,3003
$GC,4013,-1.17,-121.6,351.0,-7.9,604,4022,0.00,2.58,0.00,0.000,4,0.000,0.057,2265,3105,3003
$GC,4043,-1.17,-121.6,353.4,-8.5,607,4052,0.00,2.50,0.00,0.000,6,0.000,0.044,2265,1704,3003
$GC,4355,-1.17,-121.6,377.3,-7.8,638,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1704,3004
$GC,4698,-1.17,-121.6,404.0,-8.0,669,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1704,3003
$GC,5058,-1.17,-121.6,433.2,-8.3,678,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1704,3003
$GC,5419,-1.17,-121.6,462.6,-8.2,687,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1704,3003
$GC,5780,-1.17,-121.6,492.8,-8.6,696,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1704,3003
$GC,6140,-1.17,-121.6,523.9,-8.6,705,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1704,3003
$GC,6501,-1.17,-121.6,553.8,-8.1,714,6539,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1704,3003
$GC,6862,-1.17,-121.6,580.4,-7.2,723,6870,0.00,2.62,0.00,0.000,4,0.000,0.058,2264,3108,3003
$GC,6943,-1.17,-121.6,586.7,-8.1,725,6951,0.00,2.53,0.00,0.000,6,0.000,0.047,2265,1704,3003
$GC,7265,-1.17,-121.6,612.2,-8.3,733,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1705,3002
$GC,7624,-1.17,-121.6,642.8,-8.4,742,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1705,3003
$GC,7985,-1.17,-121.6,672.0,-7.9,751,7993,0.00,2.60,0.00,0.000,4,0.000,0.060,2265,3104,3003
$GC,8020,-1.17,-121.6,674.9,-8.2,751,8025,0.00,2.55,0.00,0.000,6,0.000,0.051,2265,1713,3003
$GC,8346,-1.17,-121.6,699.2,-7.4,760,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1713,3003
$GC,8707,-1.17,-121.6,727.5,-8.2,769,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1713,3003
$GC,9067,-1.17,-121.6,756.7,-8.0,778,9076,0.00,2.60,0.00,0.000,4,0.000,0.063,2265,3104,3004
$GC,9108,-1.17,-121.6,760.1,-8.1,779,9117,0.00,2.53,0.00,0.000,6,0.000,0.053,2265,1704,3002
$GC,9429,-1.17,-121.6,783.0,-6.8,787,9468,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1705,3003
$GC,9790,-1.17,-121.6,805.7,-6.2,796,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1704,3003
$GC,10150,-1.17,-121.6,828.7,-6.6,805,10159,0.00,2.60,0.00,0.000,4,0.000,0.066,2265,3103,3003
$GC,10180,-1.17,-121.6,830.8,-7.4,805,10185,0.00,2.53,0.00,0.000,6,0.000,0.054,2265,1706,3003
$GC,10512,-1.17,-121.6,855.3,-7.7,814,10520,0.00,2.67,0.00,0.000,4,0.000,0.081,2265,299,3003
$GC,10542,-1.17,-121.6,857.8,-9.5,814,10546,0.00,2.47,0.00,0.000,6,0.000,0.042,2265,1700,3003
$GC,10873,-1.17,-121.6,883.5,-7.8,823,10911,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1702,3002
$GC,11234,-1.17,-121.6,911.7,-7.7,832,11272,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1702,3001
$GC,11594,-1.17,-121.6,937.3,-6.9,841,11633,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1702,3000
$GC,11955,-1.17,-121.6,961.5,-6.5,850,11993,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1702,2999
$GC,12315,-1.17,-121.6,984.5,-6.3,859,12324,0.00,2.60,0.00,0.000,4,0.000,0.071,2265,3110,2998
$GC,12345,-1.17,-121.6,986.5,-7.8,859,12349,0.00,2.55,0.00,0.000,6,0.000,0.057,2265,1701,2999
$GC,12518,-0.31,0.0,997.4,6.4,864,12636,1.00,0.00,108.10,1.456,6,0.130,0.000,2453,1701,2501
$GC,12638,1.17,121.6,998.9,2.3,867,12754,1.55,2.75,105.07,1.446,4,0.087,0.067,2775,3113,2003
$GC,12780,1.17,121.6,988.8,11.4,870,12784,0.00,2.62,0.00,0.000,6,0.000,0.055,2775,1703,2004
$GC,13121,1.17,121.6,948.6,11.7,879,13160,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1703,2002
$GC,13482,1.17,121.6,908.2,11.0,888,13520,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1703,2002
$GC,13843,1.17,121.6,870.5,10.4,897,13881,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1703,2000
$GC,14203,1.17,121.6,835.3,9.7,906,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1703,2000
$GC,14564,1.17,121.6,799.9,10.2,915,14602,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1703,1999
$GC,14924,1.17,121.6,763.0,10.1,924,14963,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1703,1998
$GC,15285,1.17,121.6,725.8,10.3,933,15294,0.00,2.67,0.00,0.000,4,0.000,0.067,2775,3110,1998
$GC,15326,1.17,121.6,721.4,10.4,934,15334,0.00,2.58,0.00,0.000,6,0.000,0.057,2775,1706,1997
$GC,15647,1.17,121.6,685.8,11.3,942,15685,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1706,1997
$GC,16007,1.17,121.6,646.2,10.9,951,16050,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1706,1996
$GC,16369,1.17,121.6,608.2,10.1,960,16377,0.00,2.62,0.00,0.000,4,0.000,0.065,2775,3113,1995
$GC,16394,1.17,121.6,605.6,9.8,960,16398,0.00,2.58,0.00,0.000,6,0.000,0.054,2775,1702,1995
$GC,16731,1.17,121.6,573.7,9.4,969,16739,0.00,2.65,0.00,0.000,4,0.000,0.075,2776,294,1995
$GC,16750,1.17,121.6,571.7,9.5,969,16754,0.00,2.50,0.00,0.000,6,0.000,0.044,2775,1706,1995
$GC,17092,1.17,121.6,543.2,8.2,978,17100,0.00,2.60,0.00,0.000,4,0.000,0.064,2775,3110,1995
$GC,17122,1.17,136.0,540.6,7.4,978,17136,0.00,2.55,9.88,1.263,6,0.000,0.050,2775,1704,1946
$GC,17453,1.18,136.0,510.1,9.4,987,17492,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1705,1946
$GC,17814,1.18,136.0,473.1,10.5,996,17852,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1704,1946
$GC,18175,1.18,136.0,432.4,11.5,1005,18183,0.00,2.60,0.00,0.000,4,0.000,0.058,2775,3115,1945
$GC,18204,1.18,136.0,428.9,9.4,1005,18209,0.00,2.55,0.00,0.000,6,0.000,0.047,2775,1702,1946
$GC,18516,1.18,136.0,393.7,11.2,1015,18525,0.00,2.62,0.00,0.000,4,0.000,0.058,2775,3116,1946
$GC,18541,1.18,136.0,390.7,11.4,1017,18545,0.00,2.58,0.00,0.000,6,0.000,0.048,2775,1710,1946
$GC,18848,1.18,136.0,356.7,10.5,1048,18858,0.00,2.58,0.00,0.000,4,0.000,0.058,2775,3112,1946
$GC,18889,1.18,136.0,352.3,10.4,1052,18898,0.00,2.53,0.00,0.000,6,0.000,0.046,2775,1706,1946
$GC,19201,1.18,136.0,320.1,10.2,1083,19210,0.00,2.60,0.00,0.000,4,0.000,0.056,2775,3114,1946
$GC,19226,1.18,136.0,317.4,11.8,1085,19231,0.00,2.58,0.00,0.000,6,0.000,0.046,2775,1706,1946
$GC,19534,1.18,136.0,284.2,11.2,1116,19543,0.00,2.58,0.00,0.000,4,0.000,0.057,2775,3112,1946
$GC,19564,1.18,136.0,280.6,12.3,1119,19573,0.00,2.53,0.00,0.000,6,0.000,0.045,2775,1702,1946
$GC,19876,1.18,136.0,244.6,11.8,1150,19886,0.00,2.60,0.00,0.000,4,0.000,0.056,2775,3112,1946
$GC,19932,1.18,136.0,238.0,11.7,1155,19936,0.00,2.55,0.00,0.000,6,0.000,0.044,2774,1710,1946
$GC,20239,1.18,136.0,202.2,11.4,1186,20249,0.00,2.58,0.00,0.000,4,0.000,0.055,2775,3113,1946
$GC,20260,1.18,136.0,199.8,11.5,1188,20264,0.00,2.53,0.00,0.000,6,0.000,0.044,2775,1704,1946
$GC,20569,1.18,136.0,166.2,10.6,1249,20573,0.00,2.60,0.00,0.000,4,0.000,0.054,2775,3113,1946
$GC,20604,1.18,136.0,162.3,11.4,1256,20609,0.00,2.53,0.00,0.000,6,0.000,0.044,2775,1704,1945
$GC,20914,1.18,136.0,130.0,10.3,1317,20918,0.00,2.58,0.00,0.000,4,0.000,0.054,2775,3112,1947
$GC,20944,1.18,136.0,126.8,10.6,1323,20948,0.00,2.55,0.00,0.000,6,0.000,0.043,2776,1700,1946
$GC,21253,1.18,136.0,96.8,9.4,1384,21257,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1700,1947
$GC,21563,1.18,136.0,67.8,10.1,1445,21566,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1699,1946
$GC,21872,1.18,136.0,36.3,10.0,1506,21876,0.00,2.58,0.00,0.000,4,0.000,0.052,2775,3112,1946
$GC,21902,1.18,136.0,33.2,10.0,1512,21906,0.00,2.53,0.00,0.000,6,0.000,0.043,2774,1698,1946
$GC,22211,1.18,136.0,6.0,8.1,1573,22216,0.00,2.58,0.00,0.000,4,0.000,0.062,2775,297,1947
$FINISH,0.2,1.027045,0
$SM_CCo,22301,83.62,0.725,0,0,1441,260.02
$RAFOS_CLK,1177
$RAFOS,2,1120480153,12.500000,12.486944,44,44,42,146,804,189
$RAFOS,1,1120479550,12.333333,12.319445,48,41,41,229,6,1100
$RAFOS,0,1120478951,12.166667,12.153055,48,47,43,914,940,1020
$RAFOS,2,1120465744,8.500000,8.484445,55,41,41,225,76,1603
$RAFOS,1,1120465149,8.333333,8.319167,48,46,42,205,100,48
$RAFOS,0,1120464541,8.166667,8.150278,46,43,42,1532,6,94
$TT8_MAMPS,0.02301
$HUMID,2042
$INTERNAL_PRESSURE,7.24104
$TCM_TEMP,2.00
$ALTIM_TOP_PING,9.9,9.4
$ALTIM_BOTTOM_PING,971.8,8.7
$24V_AH,23.3,10.827
$10V_AH,9.9,7.086
$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,25.850,154.250,223.050,83.625,0.000,32.331,33.671,147.561,0.500,70.515,1103.916,16699.957,1495.047,2354.962,1144.608,33.362,2870.972,0.000,1508.073,1800.000,3.285
$DEVICE_MAMPS,192.517,81.302,1455.766,724.815,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1795.059,2222.572,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56925,1587
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040705,135609,7134.409,1445.011,41,0.9,41,3.4