version: 65.00
glider: 17
mission: 2
dive: 150
start: 7 29 105 8 56 40
data:
$ID,17
$MISSION,2
$DIVE,150
$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,240
$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,-30391.943
$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,1740
$C_ROLL_CLIMB,1705
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,30
$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
$GPS1,085032,7109.807,1433.046,40,0.9,45
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-54.1
$GPS2,085546,7109.794,1433.147,18,1.1,19,3.2
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_03
$TGT_LATLONG,7110.000,1620.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.218,-0.046
$KALMAN_X,195464.5,-122.3,2835.1,-289791.2,-18247.6
$KALMAN_Y,-45900.8,-107.7,-2689.8,140593.4,18349.4
$MHEAD_RNG_PITCHd_Wd,98.8,63884,-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,-121.6,0.0,0.0,0,58,0.00,0.00,-40.70,0.000,2,0.000,0.000,289,1748,2600
$GC,60,-1.17,-121.6,3.1,-6.8,8,90,11.98,2.67,-10.60,0.000,4,0.193,0.066,2263,3136,2999
$GC,278,-1.17,-121.6,26.8,-9.4,51,282,0.00,2.50,0.00,0.000,6,0.000,0.042,2262,1737,3001
$GC,587,-1.17,-121.6,54.6,-9.1,112,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1737,3003
$GC,897,-1.17,-121.6,81.4,-9.6,173,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1737,3004
$GC,1205,-1.17,-121.6,110.2,-8.6,223,1214,0.00,2.55,0.00,0.000,4,0.000,0.060,2263,335,3005
$GC,1230,-1.17,-121.6,112.6,-9.6,225,1235,0.00,2.50,0.00,0.000,6,0.000,0.035,2263,1731,3005
$GC,1537,-1.17,-121.6,137.9,-8.2,256,1547,0.00,2.62,0.00,0.000,4,0.000,0.054,2263,3148,3005
$GC,1562,-1.17,-121.6,140.0,-8.8,258,1567,0.00,2.55,0.00,0.000,6,0.000,0.043,2263,1740,3005
$GC,1870,-1.17,-121.6,165.7,-8.5,289,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1741,3005
$GC,2182,-1.17,-121.6,195.0,-9.7,320,2191,0.00,2.60,0.00,0.000,4,0.000,0.060,2263,334,3005
$GC,2223,-1.17,-121.6,199.1,-10.4,324,2232,0.00,2.50,0.00,0.000,6,0.000,0.035,2263,1743,3005
$GC,2535,-1.17,-121.6,227.7,-8.4,355,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1743,3005
$GC,2847,-1.17,-121.6,253.6,-8.5,386,2856,0.00,2.58,0.00,0.000,4,0.000,0.058,2263,335,3005
$GC,2878,-1.17,-121.6,256.4,-9.9,389,2887,0.00,2.47,0.00,0.000,6,0.000,0.035,2263,1741,3005
$GC,3190,-1.17,-121.6,283.4,-8.8,420,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1741,3005
$GC,3502,-1.17,-121.6,310.8,-8.4,451,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1741,3005
$GC,3814,-1.17,-121.6,337.0,-8.5,482,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1741,3005
$GC,4126,-1.17,-121.6,363.3,-8.2,513,4136,0.00,2.58,0.00,0.000,4,0.000,0.058,2263,336,3005
$GC,4161,-1.17,-121.6,366.6,-9.2,516,4166,0.00,2.53,0.00,0.000,6,0.000,0.036,2264,1735,3005
$GC,4469,-1.17,-121.6,391.1,-8.3,547,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1736,3005
$GC,4780,-1.17,-121.6,417.8,-8.6,563,4789,0.00,2.58,0.00,0.000,4,0.000,0.058,2263,335,3005
$GC,4815,-1.17,-121.6,420.9,-9.3,563,4820,0.00,2.53,0.00,0.000,6,0.000,0.038,2263,1737,3005
$GC,5143,-1.17,-121.6,448.0,-8.3,572,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1739,3005
$GC,5502,-1.17,-121.6,480.0,-9.1,581,5511,0.00,2.62,0.00,0.000,4,0.000,0.057,2263,3146,3005
$GC,5532,-1.17,-121.6,483.0,-10.7,581,5536,0.00,2.50,0.00,0.000,6,0.000,0.044,2263,1740,3005
$GC,5863,-1.17,-121.6,514.8,-9.7,590,5872,0.00,2.58,0.00,0.000,4,0.000,0.061,2263,334,3005
$GC,5888,-1.17,-121.6,517.4,-11.2,590,5892,0.00,2.47,0.00,0.000,6,0.000,0.036,2263,1744,3005
$GC,6224,-1.17,-121.6,549.3,-9.2,599,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1744,3005
$GC,6585,-1.17,-121.6,578.7,-7.7,608,6594,0.00,2.60,0.00,0.000,4,0.000,0.061,2263,335,3005
$GC,6610,-1.17,-121.6,580.8,-8.9,608,6614,0.00,2.50,0.00,0.000,6,0.000,0.038,2263,1740,3005
$GC,6946,-1.17,-121.6,605.2,-7.1,617,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1742,3005
$GC,7307,-1.17,-121.6,629.6,-6.8,626,7315,0.00,2.60,0.00,0.000,4,0.000,0.064,2263,338,3005
$GC,7327,-1.17,-121.6,631.0,-6.9,626,7331,0.00,2.47,0.00,0.000,6,0.000,0.039,2262,1740,3005
$GC,7668,-1.17,-121.6,654.6,-7.1,635,7707,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1742,3005
$GC,8031,-1.17,-121.6,681.7,-7.7,644,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1741,3005
$GC,8389,-1.17,-121.6,708.9,-7.4,653,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1742,3005
$GC,8750,-1.17,-121.6,735.4,-7.2,662,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1742,3005
$GC,9111,-1.17,-121.6,762.2,-7.6,671,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1742,3005
$GC,9471,-1.17,-121.6,791.2,-8.3,680,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1741,3005
$GC,9832,-1.17,-121.6,820.5,-8.2,689,9870,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1742,3005
$GC,10193,-1.17,-121.6,851.4,-8.7,698,10201,0.00,2.65,0.00,0.000,4,0.000,0.075,2263,341,3004
$GC,10217,-1.17,-121.6,853.7,-9.9,698,10222,0.00,2.53,0.00,0.000,6,0.000,0.044,2263,1739,3004
$GC,10554,-1.17,-121.6,883.0,-8.6,707,10562,0.00,2.62,0.00,0.000,4,0.000,0.067,2261,3143,3003
$GC,10595,-1.17,-121.6,886.7,-9.4,708,10603,0.00,2.53,0.00,0.000,6,0.000,0.054,2263,1743,3003
$GC,10916,-1.17,-121.6,913.1,-8.1,716,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1743,3002
$GC,11276,-1.17,-121.6,941.3,-7.9,725,11285,0.00,2.65,0.00,0.000,4,0.000,0.083,2263,337,3002
$GC,11301,-1.17,-121.6,943.4,-9.9,725,11305,0.00,2.50,0.00,0.000,6,0.000,0.042,2263,1740,3002
$GC,11639,-1.17,-121.6,969.4,-7.7,734,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1742,3001
$GC,12000,-0.31,0.0,997.3,7.8,743,12118,1.02,0.00,109.22,1.463,6,0.130,0.000,2456,1742,2501
$GC,12119,1.17,121.6,1000.2,3.5,746,12231,1.55,0.00,105.00,1.438,6,0.087,0.000,2776,1741,2005
$GC,12564,1.17,121.6,960.4,10.5,757,12572,0.00,2.83,0.00,0.000,4,0.000,0.091,2777,304,2003
$GC,12588,1.17,121.6,957.6,10.6,757,12593,0.00,2.55,0.00,0.000,6,0.000,0.050,2777,1703,2001
$GC,12925,1.17,121.6,922.2,10.5,766,12964,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,2001
$GC,13286,1.17,121.6,882.3,11.3,775,13324,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1705,1999
$GC,13647,1.17,121.6,842.0,11.1,784,13655,0.00,2.67,0.00,0.000,4,0.000,0.067,2776,3110,1999
$GC,13692,1.17,121.6,836.6,11.2,785,13696,0.00,2.58,0.00,0.000,6,0.000,0.057,2777,1707,1998
$GC,14008,1.17,121.6,801.0,11.2,793,14017,0.00,2.70,0.00,0.000,4,0.000,0.083,2777,297,1998
$GC,14053,1.17,121.6,795.5,12.4,794,14057,0.00,2.55,0.00,0.000,6,0.000,0.044,2777,1706,1998
$GC,14370,1.17,121.6,760.4,11.0,802,14408,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1708,1997
$GC,14730,1.17,121.6,723.6,10.1,811,14769,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1708,1996
$GC,15091,1.17,121.6,689.9,9.3,820,15100,0.00,2.67,0.00,0.000,4,0.000,0.077,2777,296,1996
$GC,15121,1.17,121.6,686.8,9.7,820,15125,0.00,2.53,0.00,0.000,6,0.000,0.045,2777,1706,1996
$GC,15452,1.17,121.6,655.0,9.7,829,15461,0.00,2.67,0.00,0.000,4,0.000,0.076,2777,293,1996
$GC,15482,1.17,121.6,651.7,11.2,829,15486,0.00,2.55,0.00,0.000,6,0.000,0.044,2777,1711,1995
$GC,15814,1.17,121.6,619.2,9.7,838,15823,0.00,2.67,0.00,0.000,4,0.000,0.074,2777,294,1995
$GC,15844,1.17,121.6,615.9,11.0,838,15848,0.00,2.53,0.00,0.000,6,0.000,0.044,2777,1704,1995
$GC,16175,1.17,121.6,583.1,9.7,847,16184,0.00,2.65,0.00,0.000,4,0.000,0.073,2776,296,1995
$GC,16226,1.17,121.6,577.9,11.0,848,16230,0.00,2.53,0.00,0.000,6,0.000,0.042,2777,1704,1995
$GC,16537,1.17,121.6,550.3,8.7,856,16576,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,1995
$GC,16898,1.17,121.6,517.5,9.2,865,16937,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,1995
$GC,17259,1.17,121.6,481.4,10.4,874,17267,0.00,2.62,0.00,0.000,4,0.000,0.069,2777,296,1995
$GC,17289,1.17,121.6,477.9,10.8,874,17293,0.00,2.53,0.00,0.000,6,0.000,0.040,2776,1704,1995
$GC,17620,1.17,121.6,442.0,10.8,883,17629,0.00,2.65,0.00,0.000,4,0.000,0.061,2777,3112,1995
$GC,17655,1.17,121.6,438.1,11.9,883,17660,0.00,2.58,0.00,0.000,6,0.000,0.047,2777,1706,1995
$GC,17982,1.17,121.6,404.6,10.1,892,17990,0.00,2.62,0.00,0.000,4,0.000,0.070,2777,297,1995
$GC,18012,1.17,121.6,401.4,11.1,892,18016,0.00,2.53,0.00,0.000,6,0.000,0.038,2777,1705,1995
$GC,18324,1.17,121.6,372.0,8.8,920,18333,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1995
$GC,18636,1.17,121.6,344.6,8.5,951,18645,0.00,2.65,0.00,0.000,4,0.000,0.067,2777,296,1995
$GC,18712,1.17,121.6,337.1,10.9,958,18716,0.00,2.55,0.00,0.000,6,0.000,0.037,2777,1696,1995
$GC,19019,1.17,121.6,307.3,10.1,989,19028,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1696,1995
$GC,19332,1.17,121.6,275.7,9.6,1020,19340,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1696,1995
$GC,19644,1.17,121.6,244.7,9.9,1051,19652,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1696,1995
$GC,19956,1.17,121.6,215.3,9.0,1082,19965,0.00,2.62,0.00,0.000,4,0.000,0.063,2777,296,1995
$GC,19988,1.17,121.6,212.2,9.6,1085,19998,0.00,2.53,0.00,0.000,6,0.000,0.037,2777,1708,1995
$GC,20300,1.17,121.6,183.6,9.3,1116,20309,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1709,1996
$GC,20614,1.17,121.6,155.1,9.7,1147,20621,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1709,1996
$GC,20925,1.17,121.6,125.2,9.7,1178,20933,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1709,1995
$GC,21239,1.17,121.6,96.2,9.3,1212,21242,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1709,1995
$GC,21548,1.17,121.6,66.1,10.3,1273,21552,0.00,2.60,0.00,0.000,4,0.000,0.062,2777,297,1996
$GC,21594,1.17,121.6,61.0,11.5,1282,21598,0.00,2.50,0.00,0.000,6,0.000,0.036,2777,1705,1995
$GC,21903,1.17,155.0,31.5,6.5,1343,21933,0.00,2.67,25.25,0.779,4,0.000,0.054,2777,3107,1869
$GC,22004,1.20,155.0,22.8,9.0,1363,22009,0.00,2.53,0.00,0.000,6,0.000,0.041,2777,1704,1868
$FINISH,0.2,1.026835,0
$SM_CCo,22259,61.65,0.713,0,0,1522,240.15
$RAFOS_CLK,-2804
$RAFOS,2,1122640164,12.500000,12.490000,47,45,43,197,139,274
$RAFOS,1,1122639546,12.333333,12.318334,45,44,42,622,208,1484
$RAFOS,0,1122638956,12.166667,12.154445,47,47,42,533,1041,1519
$TT8_MAMPS,0.020709
$HUMID,2042
$INTERNAL_PRESSURE,7.26059
$TCM_TEMP,3.00
$ALTIM_TOP_PING,9.5,9.9
$ALTIM_BOTTOM_PING,972.3,0.0
$24V_AH,23.3,22.522
$10V_AH,10.0,17.566
$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,25.975,144.450,239.475,61.650,0.000,32.323,28.323,139.606,0.500,67.942,1010.465,17193.109,1239.114,2155.856,1129.636,33.373,2512.146,0.000,1382.921,900.000,3.188
$DEVICE_MAMPS,192.517,144.963,1463.436,713.310,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1601.620,1983.601,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51141,1410
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290705,151009,7108.200,1441.155,50,1.1,50,3.3