version: 65.00
glider: 17
mission: 2
dive: 60
start: 7 5 105 15 34 3
data:
$ID,17
$MISSION,2
$DIVE,60
$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,-24377.746
$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,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
$GPS1,152808,7139.359,1433.835,45,1.2,45
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-54.0
$GPS2,153317,7139.351,1433.899,16,1.4,17,3.3
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7215.000,1330.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.155,0.160
$KALMAN_X,83438.0,-366.2,-255.0,-173950.9,3108.6
$KALMAN_Y,-42024.1,-259.2,213.0,188698.8,-2747.0
$MHEAD_RNG_PITCHd_Wd,312.6,75236,-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,-45.62,0.000,2,0.000,0.000,288,1697,2635
$GC,64,-1.17,-121.6,3.3,-7.2,9,94,12.00,2.65,-9.50,0.000,4,0.193,0.065,2265,3115,2998
$GC,323,-1.17,-121.6,31.8,-10.5,60,327,0.00,2.50,0.00,0.000,6,0.000,0.042,2265,1704,3001
$GC,632,-1.17,-121.6,60.6,-9.2,121,636,0.00,2.58,0.00,0.000,4,0.000,0.060,2265,293,3003
$GC,673,-1.17,-121.6,64.6,-10.2,129,677,0.00,2.47,0.00,0.000,6,0.000,0.035,2265,1708,3003
$GC,982,-1.17,-121.6,92.9,-9.2,190,986,0.00,2.58,0.00,0.000,4,0.000,0.058,2265,297,3003
$GC,1017,-1.17,-121.6,96.3,-9.6,197,1022,0.00,2.47,0.00,0.000,6,0.000,0.037,2265,1706,3003
$GC,1326,-1.17,-121.6,123.6,-8.8,258,1331,0.00,2.60,0.00,0.000,4,0.000,0.059,2265,296,3004
$GC,1357,-1.17,-121.6,126.4,-9.6,264,1361,0.00,2.47,0.00,0.000,6,0.000,0.037,2265,1705,3004
$GC,1666,-1.17,-121.6,153.9,-8.5,325,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1706,3004
$GC,1975,-1.17,-121.6,180.7,-8.9,386,1979,0.00,2.58,0.00,0.000,4,0.000,0.060,2265,297,3003
$GC,2036,-1.17,-121.6,186.5,-9.5,398,2040,0.00,2.47,0.00,0.000,6,0.000,0.036,2265,1708,3004
$GC,2344,-1.17,-121.6,214.1,-9.2,444,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1708,3004
$GC,2656,-1.17,-121.6,243.3,-9.5,475,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1709,3003
$GC,2969,-1.17,-121.6,272.7,-9.4,506,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1709,3004
$GC,3281,-1.17,-121.6,299.6,-8.6,537,3290,0.00,2.60,0.00,0.000,4,0.000,0.060,2265,296,3004
$GC,3326,-1.17,-121.6,303.7,-9.2,541,3331,0.00,2.50,0.00,0.000,6,0.000,0.037,2265,1699,3004
$GC,3634,-1.17,-121.6,330.1,-8.5,572,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1701,3004
$GC,3946,-1.17,-121.6,356.3,-8.3,603,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1701,3004
$GC,4258,-1.17,-121.6,382.2,-8.3,634,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1701,3004
$GC,4591,-1.17,-121.6,410.1,-8.3,658,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1701,3004
$GC,4950,-1.17,-121.6,439.5,-8.1,667,4959,0.00,2.58,0.00,0.000,4,0.000,0.061,2265,297,3004
$GC,5006,-1.17,-121.6,444.3,-8.7,668,5010,0.00,2.45,0.00,0.000,6,0.000,0.037,2265,1706,3004
$GC,5312,-1.17,-121.6,469.8,-8.4,676,5321,0.00,2.58,0.00,0.000,4,0.000,0.061,2265,297,3004
$GC,5337,-1.17,-121.6,472.0,-9.7,676,5341,0.00,2.47,0.00,0.000,6,0.000,0.039,2265,1708,3004
$GC,5673,-1.17,-121.6,501.5,-8.7,685,5682,0.00,2.58,0.00,0.000,4,0.000,0.058,2265,3113,3004
$GC,5718,-1.17,-121.6,505.7,-9.1,686,5723,0.00,2.50,0.00,0.000,6,0.000,0.046,2265,1705,3004
$GC,6035,-1.17,-121.6,533.4,-8.8,694,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1705,3004
$GC,6396,-1.17,-121.6,563.7,-8.2,703,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1705,3004
$GC,6756,-1.17,-121.6,592.4,-7.9,712,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1705,3004
$GC,7117,-1.17,-121.6,620.3,-7.7,721,7125,0.00,2.60,0.00,0.000,4,0.000,0.067,2265,299,3004
$GC,7142,-1.17,-121.6,622.3,-9.1,721,7146,0.00,2.47,0.00,0.000,6,0.000,0.037,2265,1710,3003
$GC,7478,-1.17,-121.6,648.5,-7.7,730,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1710,3004
$GC,7839,-1.17,-121.6,676.8,-8.0,739,7847,0.00,2.58,0.00,0.000,4,0.000,0.063,2265,3109,3004
$GC,7874,-1.17,-121.6,679.8,-8.7,739,7879,0.00,2.55,0.00,0.000,6,0.000,0.049,2265,1709,3004
$GC,8200,-1.17,-121.6,705.2,-7.8,748,8208,0.00,2.62,0.00,0.000,4,0.000,0.071,2265,296,3004
$GC,8230,-1.17,-121.6,707.9,-10.0,748,8234,0.00,2.47,0.00,0.000,6,0.000,0.040,2265,1707,3004
$GC,8561,-1.17,-121.6,734.2,-7.9,757,8570,0.00,2.60,0.00,0.000,4,0.000,0.064,2265,3112,3004
$GC,8606,-1.17,-121.6,738.2,-9.3,758,8610,0.00,2.53,0.00,0.000,6,0.000,0.050,2265,1705,3004
$GC,8923,-1.17,-121.6,763.9,-8.1,766,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1705,3004
$GC,9283,-1.17,-121.6,792.2,-7.7,775,9292,0.00,2.62,0.00,0.000,4,0.000,0.076,2266,299,3004
$GC,9329,-1.17,-121.6,795.8,-7.8,776,9333,0.00,2.47,0.00,0.000,6,0.000,0.040,2265,1708,3003
$GC,9645,-1.17,-121.6,821.1,-8.1,784,9684,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1709,3004
$GC,10006,-1.17,-121.6,850.1,-7.9,793,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1709,3004
$GC,10366,-1.17,-121.6,877.6,-7.6,802,10405,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1709,3004
$GC,10727,-1.17,-121.6,904.4,-7.1,811,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1709,3003
$GC,11088,-1.17,-121.6,930.1,-7.2,820,11096,0.00,2.72,0.00,0.000,4,0.000,0.086,2265,297,3002
$GC,11128,-1.17,-121.6,933.1,-7.7,821,11137,0.00,2.50,0.00,0.000,6,0.000,0.047,2265,1706,3002
$GC,11449,-1.17,-121.6,956.5,-7.3,829,11488,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1707,3000
$GC,11810,-1.17,-121.6,981.4,-6.8,838,11849,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1706,3000
$GC,12052,-0.31,0.0,997.3,6.5,844,12170,1.00,0.00,109.82,1.537,6,0.130,0.000,2453,1706,2501
$GC,12172,1.17,121.6,999.1,2.5,847,12289,1.55,2.70,105.32,1.483,4,0.086,0.067,2776,3109,2003
$GC,12319,1.17,121.6,988.9,11.6,850,12323,0.00,2.60,0.00,0.000,6,0.000,0.056,2776,1707,2004
$GC,12655,1.17,121.6,952.1,10.7,859,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,2002
$GC,13016,1.17,121.6,912.6,10.9,868,13025,0.00,2.65,0.00,0.000,4,0.000,0.067,2777,3108,2001
$GC,13061,1.17,121.6,907.4,11.5,869,13065,0.00,2.58,0.00,0.000,6,0.000,0.057,2776,1704,2001
$GC,13378,1.17,121.6,872.2,11.1,877,13416,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1705,2001
$GC,13738,1.17,121.6,832.0,11.4,886,13747,0.00,2.65,0.00,0.000,4,0.000,0.068,2776,3108,2000
$GC,13789,1.17,121.6,826.0,10.9,887,13793,0.00,2.58,0.00,0.000,6,0.000,0.058,2776,1704,1999
$GC,14100,1.17,121.6,791.9,10.6,895,14108,0.00,2.62,0.00,0.000,4,0.000,0.068,2776,3109,1999
$GC,14131,1.17,121.6,788.6,11.3,895,14140,0.00,2.58,0.00,0.000,6,0.000,0.058,2776,1704,1998
$GC,14461,1.17,121.6,755.3,9.9,904,14500,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1998
$GC,14822,1.17,121.6,720.6,9.7,913,14830,0.00,2.62,0.00,0.000,4,0.000,0.067,2776,3109,1997
$GC,14857,1.17,121.6,717.2,9.7,913,14862,0.00,2.60,0.00,0.000,6,0.000,0.057,2776,1708,1997
$GC,15183,1.17,121.6,686.2,9.6,922,15192,0.00,2.62,0.00,0.000,4,0.000,0.067,2776,3108,1995
$GC,15208,1.17,121.6,683.8,9.8,922,15212,0.00,2.58,0.00,0.000,6,0.000,0.056,2776,1702,1996
$GC,15544,1.17,121.6,651.4,9.7,931,15583,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1701,1996
$GC,15905,1.17,121.6,614.2,10.5,940,15913,0.00,2.62,0.00,0.000,4,0.000,0.064,2776,3110,1995
$GC,15980,1.17,121.6,605.8,11.1,941,15985,0.00,2.58,0.00,0.000,6,0.000,0.053,2776,1713,1996
$GC,16307,1.17,121.6,568.3,11.7,950,16315,0.00,2.60,0.00,0.000,4,0.000,0.061,2776,3113,1995
$GC,16347,1.17,121.6,563.5,11.9,951,16356,0.00,2.55,0.00,0.000,6,0.000,0.051,2776,1703,1995
$GC,16668,1.17,121.6,527.8,10.8,959,16707,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1703,1995
$GC,17029,1.17,121.6,490.8,10.1,968,17037,0.00,2.60,0.00,0.000,4,0.000,0.058,2776,3109,1995
$GC,17074,1.17,121.6,486.1,9.7,969,17078,0.00,2.53,0.00,0.000,6,0.000,0.048,2776,1705,1995
$GC,17391,1.17,121.6,455.3,9.7,977,17433,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1995
$GC,17751,1.17,121.6,420.3,9.8,986,17790,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1995
$GC,18092,1.17,121.6,386.0,10.4,1002,18101,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1995
$GC,18405,1.17,121.6,354.3,10.5,1033,18413,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1995
$GC,18717,1.17,121.6,322.8,10.5,1064,18726,0.00,2.60,0.00,0.000,4,0.000,0.055,2776,3109,1995
$GC,18778,1.17,121.6,316.4,10.4,1070,18787,0.00,2.53,0.00,0.000,6,0.000,0.046,2776,1702,1995
$GC,19090,1.17,121.6,284.7,10.0,1101,19098,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1702,1995
$GC,19402,1.17,121.6,253.9,9.4,1132,19411,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1703,1995
$GC,19714,1.17,121.6,222.9,10.2,1163,19723,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1702,1995
$GC,20027,1.17,121.6,190.4,9.9,1203,20031,0.00,2.60,0.00,0.000,4,0.000,0.054,2776,3113,1995
$GC,20052,1.17,121.6,187.7,10.3,1208,20057,0.00,2.53,0.00,0.000,6,0.000,0.044,2776,1702,1995
$GC,20362,1.17,121.6,155.9,9.3,1269,20365,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1702,1995
$GC,20671,1.17,121.6,126.3,9.1,1330,20675,0.00,2.58,0.00,0.000,4,0.000,0.054,2776,3116,1995
$GC,20701,1.17,121.6,123.5,9.3,1336,20705,0.00,2.50,0.00,0.000,6,0.000,0.043,2776,1705,1995
$GC,21010,1.17,121.6,95.5,8.5,1397,21014,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1995
$GC,21320,1.17,121.6,68.8,9.3,1458,21324,0.00,2.58,0.00,0.000,4,0.000,0.053,2776,3110,1995
$GC,21346,1.17,121.6,66.3,9.8,1463,21350,0.00,2.50,0.00,0.000,6,0.000,0.043,2776,1702,1995
$GC,21655,1.17,121.6,38.7,8.1,1524,21658,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1702,1995
$GC,21964,1.17,121.6,13.5,8.1,1585,21968,0.00,2.58,0.00,0.000,4,0.000,0.052,2776,3110,1995
$GC,21985,1.17,121.6,11.7,8.7,1589,21989,0.00,2.50,0.00,0.000,6,0.000,0.044,2776,1706,1995
$FINISH,0.2,1.007825,0
$SM_CCo,22169,93.05,0.758,0,0,1441,260.02
$RAFOS_CLK,-828
$RAFOS,2,1120595353,20.500000,20.486944,43,43,41,353,1134,1486
$RAFOS,0,1120594150,20.166666,20.152779,44,43,42,1401,1427,390
$RAFOS,2,1120580943,16.500000,16.484167,54,45,43,226,212,1114
$RAFOS,1,1120580349,16.333334,16.319166,45,44,42,236,584,200
$RAFOS,0,1120579744,16.166666,16.151112,56,42,41,207,1065,1572
$TT8_MAMPS,0.022243
$HUMID,2013
$INTERNAL_PRESSURE,7.24104
$TCM_TEMP,2.00
$ALTIM_TOP_PING,9.6,9.2
$ALTIM_BOTTOM_PING,970.5,8.6
$24V_AH,23.3,11.464
$10V_AH,10.0,7.649
$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,25.825,148.700,215.150,93.050,0.000,32.323,28.046,142.420,0.500,64.729,1112.034,16658.918,1271.368,2440.048,1172.733,33.357,2681.293,0.000,1571.207,1800.000,3.281
$DEVICE_MAMPS,193.284,85.904,1537.068,757.796,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1834.452,2270.906,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,58187,1622
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050705,214627,7140.272,1427.635,44,1.2,44,3.2