version: 65.00
glider: 17
mission: 2
dive: 68
start: 7 7 105 18 36 15
data:
$ID,17
$MISSION,2
$DIVE,68
$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,-24912.904
$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,15
$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,25
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,182939,7154.966,1421.628,40,1.4,40
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-53.9
$GPS2,183527,7154.953,1421.717,16,1.4,32,3.1
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7215.000,1330.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.202,0.093
$KALMAN_X,90483.8,-156.6,15.4,-189081.5,2910.6
$KALMAN_Y,-52352.1,-289.4,-213.1,228377.5,145.9
$MHEAD_RNG_PITCHd_Wd,291.5,47235,-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,15,-1.17,-121.6,0.0,0.0,0,62,0.00,0.00,-45.45,0.000,2,0.000,0.000,286,1708,2645
$GC,64,-1.17,-121.6,3.0,-6.0,9,94,11.95,2.65,-9.48,0.000,4,0.192,0.066,2265,3110,3000
$GC,323,-1.17,-121.6,31.9,-10.1,60,327,0.00,2.53,0.00,0.000,6,0.000,0.041,2265,1697,3002
$GC,632,-1.17,-121.6,61.3,-9.4,121,636,0.00,2.58,0.00,0.000,4,0.000,0.051,2265,3111,3004
$GC,708,-1.17,-121.6,68.1,-9.1,136,712,0.00,2.53,0.00,0.000,6,0.000,0.042,2265,1704,3004
$GC,1017,-1.17,-121.6,94.7,-8.6,197,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1704,3005
$GC,1326,-1.17,-121.6,121.5,-8.5,258,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1704,3005
$GC,1636,-1.17,-121.6,147.6,-8.7,319,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1704,3005
$GC,1945,-1.17,-121.6,173.6,-8.4,380,1949,0.00,2.60,0.00,0.000,4,0.000,0.052,2265,3110,3005
$GC,1970,-1.17,-121.6,175.8,-8.6,385,1974,0.00,2.53,0.00,0.000,6,0.000,0.044,2265,1702,3005
$GC,2284,-1.17,-121.6,202.7,-8.6,444,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1702,3005
$GC,2596,-1.17,-121.6,229.4,-8.5,475,2606,0.00,2.60,0.00,0.000,4,0.000,0.052,2265,3112,3005
$GC,2621,-1.17,-121.6,231.6,-9.4,477,2626,0.00,2.55,0.00,0.000,6,0.000,0.044,2265,1714,3006
$GC,2929,-1.17,-121.6,257.4,-8.2,508,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1713,3006
$GC,3241,-1.17,-121.6,284.0,-8.4,539,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1714,3006
$GC,3553,-1.17,-121.6,311.0,-8.8,570,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1714,3006
$GC,3865,-1.17,-121.6,338.2,-8.9,601,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1714,3006
$GC,4178,-1.17,-121.6,364.7,-8.2,632,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1714,3006
$GC,4490,-1.17,-121.6,389.9,-8.2,663,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1714,3006
$GC,4821,-1.17,-121.6,416.2,-7.9,681,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1714,3005
$GC,5182,-1.17,-121.6,445.0,-7.9,690,5190,0.00,2.58,0.00,0.000,4,0.000,0.054,2265,3108,3006
$GC,5222,-1.17,-121.6,448.4,-8.4,691,5231,0.00,2.53,0.00,0.000,6,0.000,0.045,2265,1700,3006
$GC,5543,-1.17,-121.6,474.2,-8.1,699,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1700,3005
$GC,5905,-1.17,-121.6,504.2,-8.5,708,5913,0.00,2.58,0.00,0.000,4,0.000,0.055,2265,3112,3006
$GC,5945,-1.17,-121.6,508.1,-9.9,709,5954,0.00,2.53,0.00,0.000,6,0.000,0.047,2265,1703,3006
$GC,6266,-1.17,-121.6,535.7,-8.5,717,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1703,3006
$GC,6627,-1.17,-121.6,565.5,-7.9,726,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1703,3005
$GC,6988,-1.17,-121.6,593.8,-7.9,735,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1703,3005
$GC,7350,-1.17,-121.6,623.9,-8.5,744,7358,0.00,2.60,0.00,0.000,4,0.000,0.057,2265,3108,3005
$GC,7390,-1.17,-121.6,627.6,-9.1,745,7398,0.00,2.53,0.00,0.000,6,0.000,0.048,2265,1705,3006
$GC,7711,-1.17,-121.6,655.1,-8.3,753,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1705,3005
$GC,8072,-1.17,-121.6,683.8,-7.9,762,8080,0.00,2.58,0.00,0.000,4,0.000,0.059,2265,3107,3005
$GC,8107,-1.17,-121.6,686.6,-8.7,762,8112,0.00,2.58,0.00,0.000,6,0.000,0.050,2265,1707,3005
$GC,8433,-1.17,-121.6,711.8,-7.8,771,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1706,3005
$GC,8794,-1.17,-121.6,741.3,-8.4,780,8802,0.00,2.58,0.00,0.000,4,0.000,0.061,2265,3108,3005
$GC,8824,-1.17,-121.6,744.0,-9.5,780,8828,0.00,2.53,0.00,0.000,6,0.000,0.051,2265,1705,3005
$GC,9155,-1.17,-121.6,771.7,-8.4,789,9163,0.00,2.60,0.00,0.000,4,0.000,0.062,2265,3107,3005
$GC,9185,-1.17,-121.6,774.3,-9.5,789,9189,0.00,2.53,0.00,0.000,6,0.000,0.053,2265,1706,3004
$GC,9516,-1.17,-121.6,801.1,-8.0,798,9524,0.00,2.58,0.00,0.000,4,0.000,0.064,2265,3107,3005
$GC,9541,-1.17,-121.6,803.2,-8.8,798,9545,0.00,2.53,0.00,0.000,6,0.000,0.054,2265,1705,3005
$GC,9877,-1.17,-121.6,830.0,-8.0,807,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1705,3005
$GC,10238,-1.17,-121.6,858.1,-7.7,816,10246,0.00,2.58,0.00,0.000,4,0.000,0.066,2265,3107,3004
$GC,10263,-1.17,-121.6,860.1,-9.4,816,10267,0.00,2.53,0.00,0.000,6,0.000,0.054,2265,1706,3004
$GC,10599,-1.17,-121.6,884.8,-7.1,825,10638,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1706,3004
$GC,10960,-1.17,-121.6,910.2,-6.9,834,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1706,3003
$GC,11321,-1.17,-121.6,934.5,-6.7,843,11359,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1706,3002
$GC,11681,-1.17,-121.6,957.7,-6.3,852,11719,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1706,3000
$GC,12042,-1.17,-121.6,980.3,-6.3,861,12080,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1706,3000
$GC,12284,-0.31,0.0,995.2,6.1,867,12402,1.00,0.00,109.65,1.505,6,0.128,0.000,2454,1706,2501
$GC,12403,1.17,121.6,996.5,2.1,870,12518,1.60,2.78,105.53,1.449,4,0.084,0.065,2776,3099,2005
$GC,12533,1.17,121.6,987.3,11.1,873,12537,0.00,2.60,0.00,0.000,6,0.000,0.057,2777,1706,2004
$GC,12845,1.17,121.6,950.8,11.7,881,12883,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1706,2003
$GC,13205,1.17,121.6,909.8,11.2,890,13244,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1706,2001
$GC,13567,1.17,121.6,870.5,10.6,899,13605,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,2000
$GC,13927,1.17,121.6,832.6,10.5,908,13935,0.00,2.65,0.00,0.000,4,0.000,0.067,2777,3108,1999
$GC,13967,1.17,121.6,828.3,11.0,909,13976,0.00,2.58,0.00,0.000,6,0.000,0.058,2777,1704,1999
$GC,14288,1.17,121.6,795.9,10.1,917,14327,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1999
$GC,14649,1.17,121.6,758.6,10.4,926,14657,0.00,2.65,0.00,0.000,4,0.000,0.067,2777,3106,1998
$GC,14690,1.17,121.6,754.2,10.9,927,14698,0.00,2.58,0.00,0.000,6,0.000,0.057,2777,1701,1996
$GC,15011,1.17,121.6,719.8,10.7,935,15049,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1701,1996
$GC,15371,1.17,121.6,683.0,10.1,944,15380,0.00,2.62,0.00,0.000,4,0.000,0.066,2777,3108,1997
$GC,15406,1.17,121.6,679.3,10.4,944,15411,0.00,2.60,0.00,0.000,6,0.000,0.056,2777,1708,1995
$GC,15733,1.17,121.6,646.4,10.0,953,15741,0.00,2.60,0.00,0.000,4,0.000,0.064,2777,3107,1995
$GC,15757,1.17,121.6,643.8,10.2,953,15761,0.00,2.55,0.00,0.000,6,0.000,0.054,2776,1704,1995
$GC,16094,1.17,121.6,609.9,10.1,962,16132,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1995
$GC,16454,1.17,121.6,573.8,10.0,971,16493,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1994
$GC,16815,1.17,121.6,536.0,10.7,980,16853,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1995
$GC,17176,1.17,121.6,498.4,10.3,989,17214,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1995
$GC,17536,1.17,121.6,461.4,10.3,998,17575,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1995
$GC,17897,1.17,121.6,424.2,10.3,1007,17935,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1995
$GC,18238,1.17,121.6,389.8,10.0,1020,18246,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1995
$GC,18550,1.17,121.6,356.9,10.3,1051,18559,0.00,2.62,0.00,0.000,4,0.000,0.068,2777,296,1995
$GC,18591,1.17,121.6,352.4,11.5,1055,18600,0.00,2.47,0.00,0.000,6,0.000,0.038,2776,1705,1995
$GC,18903,1.17,121.6,321.3,9.9,1086,18911,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1705,1995
$GC,19215,1.17,121.6,291.7,9.4,1117,19223,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1995
$GC,19527,1.17,121.6,262.3,9.4,1148,19536,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,1994
$GC,19839,1.17,121.6,231.3,9.9,1179,19849,0.00,2.62,0.00,0.000,4,0.000,0.063,2777,292,1995
$GC,19874,1.17,121.6,227.5,10.2,1182,19879,0.00,2.53,0.00,0.000,6,0.000,0.036,2776,1703,1995
$GC,20182,1.17,121.6,196.9,9.7,1216,20186,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1705,1995
$GC,20491,1.17,121.6,166.9,9.4,1277,20495,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1995
$GC,20801,1.17,121.6,138.0,9.7,1338,20804,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1996
$GC,21110,1.17,121.6,110.5,8.7,1399,21114,0.00,2.60,0.00,0.000,4,0.000,0.061,2777,296,1995
$GC,21146,1.17,121.6,107.1,9.7,1406,21150,0.00,2.47,0.00,0.000,6,0.000,0.037,2777,1704,1995
$GC,21455,1.17,121.6,79.3,8.5,1467,21458,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,1995
$GC,21764,1.17,121.6,52.0,8.7,1528,21768,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1995
$GC,22073,1.17,134.5,27.2,7.4,1589,22088,0.00,0.00,9.93,0.829,6,0.000,0.000,2777,1705,1951
$GC,22393,1.18,152.1,4.0,7.2,1652,22412,0.00,0.00,13.30,0.776,6,0.000,0.000,2777,1705,1880
$FINISH,0.1,1.014011,0
$SM_CCo,22465,71.95,0.719,0,0,1440,260.02
$RAFOS_CLK,-2818
$RAFOS,2,1120782545,0.500000,0.484722,48,47,44,212,1302,1151
$RAFOS,1,1120781942,0.333333,0.317222,44,41,40,216,1110,140
$RAFOS,0,1120781345,0.166667,0.151389,47,42,42,246,212,1273
$RAFOS,2,1120768161,20.500000,20.489166,45,41,40,214,1076,223
$RAFOS,1,1120767560,20.333334,20.322222,50,47,44,198,210,560
$RAFOS,0,1120766960,20.166666,20.155556,46,45,44,219,346,1609
$TT8_MAMPS,0.021476
$HUMID,2016
$INTERNAL_PRESSURE,7.24104
$TCM_TEMP,2.50
$ALTIM_TOP_PING,9.9,9.7
$ALTIM_BOTTOM_PING,970.2,0.0
$24V_AH,23.3,12.466
$10V_AH,10.0,8.554
$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,26.025,102.975,238.400,71.950,0.000,32.323,47.729,152.266,0.500,75.161,1070.492,16842.439,1427.239,2425.299,1201.080,33.363,2799.335,0.000,1539.575,1800.000,3.463
$DEVICE_MAMPS,191.750,68.263,1504.854,719.446,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1881.968,2328.532,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,58717,1663
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080705,005308,7155.821,1416.479,38,1.1,38,3.1