version: 65.00
glider: 17
mission: 2
dive: 22
start: 6 25 105 13 39 3
data:
$ID,17
$MISSION,2
$DIVE,22
$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,-21796.098
$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,1720
$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,6
$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
$GPS1,133308,7047.720,1559.916,42,1.2,42
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-53.8
$GPS2,133810,7047.716,1600.182,18,1.2,19,4.1
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7200.000,1200.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.204,-0.088
$KALMAN_X,502.8,90.8,-1046.1,-36916.1,11337.8
$KALMAN_Y,-16767.1,79.6,96.5,67599.6,-3390.4
$MHEAD_RNG_PITCHd_Wd,242.5,191873,-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,-40.80,0.000,2,0.000,0.000,290,1721,2516
$GC,58,-1.17,-121.6,3.2,-7.6,8,89,11.85,2.65,-12.07,0.000,4,0.189,0.066,2262,3109,2999
$GC,115,-1.17,-121.6,11.7,-13.4,19,119,0.00,2.55,0.00,0.000,6,0.000,0.043,2262,1705,3001
$GC,424,-1.17,-121.6,49.9,-11.0,80,428,0.00,2.60,0.00,0.000,4,0.000,0.059,2262,297,3002
$GC,470,-1.17,-121.6,54.8,-10.8,89,474,0.00,2.50,0.00,0.000,6,0.000,0.034,2262,1707,3002
$GC,779,-1.17,-121.6,76.6,-6.1,150,783,0.00,2.60,0.00,0.000,4,0.000,0.057,2262,297,3003
$GC,835,-1.17,-121.6,80.4,-7.1,161,839,0.00,2.50,0.00,0.000,6,0.000,0.035,2262,1709,3003
$GC,1144,-1.17,-121.6,103.1,-8.2,222,1148,0.00,2.58,0.00,0.000,4,0.000,0.055,2262,3107,3004
$GC,1189,-1.17,-121.6,107.0,-8.7,231,1194,0.00,2.53,0.00,0.000,6,0.000,0.043,2262,1705,3005
$GC,1499,-1.17,-121.6,135.6,-9.5,292,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1704,3005
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$GC,2143,-1.17,-121.6,189.8,-8.6,419,2147,0.00,2.47,0.00,0.000,6,0.000,0.035,2263,1708,3005
$GC,2450,-1.17,-121.6,215.4,-8.4,462,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1709,3005
$GC,2763,-1.17,-121.6,241.6,-8.3,493,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1708,3005
$GC,3075,-1.17,-121.6,265.6,-7.6,524,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1708,3005
$GC,3387,-1.17,-121.6,290.0,-7.7,555,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1708,3005
$GC,3699,-1.17,-121.6,315.5,-8.4,586,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1709,3005
$GC,4011,-1.17,-121.6,341.3,-8.4,617,4021,0.00,2.60,0.00,0.000,4,0.000,0.054,2262,3107,3005
$GC,4036,-1.17,-121.6,343.5,-9.5,619,4041,0.00,2.55,0.00,0.000,6,0.000,0.043,2262,1706,3005
$GC,4344,-1.17,-121.6,369.3,-8.4,650,4353,0.00,2.60,0.00,0.000,4,0.000,0.060,2262,297,3005
$GC,4374,-1.17,-121.6,372.0,-9.8,653,4384,0.00,2.47,0.00,0.000,6,0.000,0.034,2262,1708,3005
$GC,4687,-1.17,-121.6,398.1,-8.4,684,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1708,3005
$GC,4997,-1.17,-121.6,425.5,-9.1,694,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1709,3005
$GC,5358,-1.17,-121.6,459.6,-9.3,703,5366,0.00,2.55,0.00,0.000,4,0.000,0.054,2262,3105,3005
$GC,5399,-1.17,-121.6,463.5,-10.1,704,5407,0.00,2.53,0.00,0.000,6,0.000,0.043,2262,1702,3005
$GC,5720,-1.17,-121.6,493.6,-9.3,712,5728,0.00,2.55,0.00,0.000,4,0.000,0.052,2262,3106,3005
$GC,5745,-1.17,-121.6,496.0,-9.5,712,5749,0.00,2.53,0.00,0.000,6,0.000,0.043,2262,1702,3005
$GC,6081,-1.17,-121.6,525.8,-8.7,721,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1702,3005
$GC,6441,-1.17,-121.6,556.3,-8.3,730,6450,0.00,2.58,0.00,0.000,4,0.000,0.052,2262,3105,3005
$GC,6471,-1.17,-121.6,558.8,-8.9,730,6475,0.00,2.50,0.00,0.000,6,0.000,0.044,2262,1705,3005
$GC,6803,-1.17,-121.6,583.7,-7.5,739,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1705,3005
$GC,7163,-1.17,-121.6,609.7,-7.1,748,7172,0.00,2.58,0.00,0.000,4,0.000,0.054,2262,3105,3005
$GC,7219,-1.17,-121.6,614.1,-7.8,749,7223,0.00,2.53,0.00,0.000,6,0.000,0.044,2262,1701,3005
$GC,7525,-1.17,-121.6,638.5,-8.2,757,7564,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1700,3005
$GC,7886,-1.17,-121.6,672.4,-9.8,766,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1700,3005
$GC,8246,-1.17,-121.6,708.6,-10.0,775,8255,0.00,2.60,0.00,0.000,4,0.000,0.056,2262,3109,3005
$GC,8287,-1.17,-121.6,712.6,-9.6,776,8295,0.00,2.53,0.00,0.000,6,0.000,0.046,2262,1704,3005
$GC,8608,-1.17,-121.6,741.6,-8.7,784,8617,0.00,2.58,0.00,0.000,4,0.000,0.058,2262,3104,3005
$GC,8638,-1.17,-121.6,744.2,-9.7,784,8642,0.00,2.50,0.00,0.000,6,0.000,0.048,2262,1706,3005
$GC,8969,-1.17,-121.6,768.5,-6.9,793,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1706,3005
$GC,9331,-1.17,-121.6,792.4,-6.7,802,9339,0.00,2.58,0.00,0.000,4,0.000,0.060,2262,3104,3005
$GC,9360,-1.17,-121.6,794.6,-7.8,802,9365,0.00,2.53,0.00,0.000,6,0.000,0.049,2262,1702,3005
$GC,9692,-1.17,-121.6,817.9,-7.1,811,9700,0.00,2.58,0.00,0.000,4,0.000,0.061,2262,3108,3005
$GC,9727,-1.17,-121.6,820.6,-8.2,811,9731,0.00,2.55,0.00,0.000,6,0.000,0.050,2262,1713,3005
$GC,10053,-1.17,-121.6,844.1,-7.1,820,10061,0.00,2.58,0.00,0.000,4,0.000,0.061,2262,3104,3005
$GC,10083,-1.17,-121.6,846.4,-9.1,820,10087,0.00,2.53,0.00,0.000,6,0.000,0.051,2262,1706,3005
$GC,10414,-1.17,-121.6,871.9,-7.9,829,10453,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1706,3005
$GC,10775,-1.17,-121.6,902.5,-8.7,838,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1707,3005
$GC,11135,-1.17,-121.6,932.8,-8.4,847,11144,0.00,2.58,0.00,0.000,4,0.000,0.064,2262,3102,3004
$GC,11186,-1.17,-121.6,937.3,-9.7,848,11190,0.00,2.53,0.00,0.000,6,0.000,0.054,2262,1706,3004
$GC,11497,-1.17,-121.6,961.5,-7.5,856,11536,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1706,3003
$GC,11858,-1.17,-121.6,987.2,-7.0,865,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1706,3002
$GC,11980,-0.31,0.0,995.7,7.0,868,12098,1.02,0.00,108.50,1.454,6,0.127,0.000,2457,1706,2501
$GC,12099,1.17,121.6,998.0,2.9,871,12216,1.52,2.75,104.88,1.453,4,0.081,0.063,2779,3117,2004
$GC,12231,1.17,121.6,990.4,9.8,874,12235,0.00,2.60,0.00,0.000,6,0.000,0.054,2779,1720,2005
$GC,12542,1.17,121.6,955.1,11.4,882,12581,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1720,2002
$GC,12903,1.17,121.6,914.1,11.2,891,12942,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1720,2001
$GC,13264,1.17,121.6,875.3,10.6,900,13272,0.00,2.62,0.00,0.000,4,0.000,0.066,2779,3119,2001
$GC,13294,1.17,121.6,872.0,10.2,900,13303,0.00,2.58,0.00,0.000,6,0.000,0.055,2779,1716,1999
$GC,13625,1.17,121.6,836.8,10.6,909,13663,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1716,1999
$GC,13986,1.17,121.6,800.7,9.6,918,13994,0.00,2.65,0.00,0.000,4,0.000,0.066,2779,3120,1998
$GC,14067,1.17,121.6,792.6,11.0,920,14075,0.00,2.55,0.00,0.000,6,0.000,0.054,2779,1720,1998
$GC,14388,1.17,121.6,761.6,9.7,928,14396,0.00,2.70,0.00,0.000,4,0.000,0.082,2779,318,1997
$GC,14438,1.17,121.6,756.5,10.5,929,14442,0.00,2.50,0.00,0.000,6,0.000,0.041,2779,1714,1996
$GC,14750,1.17,121.6,727.5,9.4,937,14758,0.00,2.60,0.00,0.000,4,0.000,0.065,2779,3125,1995
$GC,14815,1.17,121.6,720.8,10.0,938,14819,0.00,2.55,0.00,0.000,6,0.000,0.051,2779,1715,1995
$GC,15152,1.17,121.6,688.3,9.7,947,15190,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1715,1995
$GC,15512,1.17,121.6,652.3,9.9,956,15551,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1715,1995
$GC,15873,1.17,121.6,615.8,10.1,965,15911,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1715,1995
$GC,16233,1.17,121.6,580.6,9.4,974,16242,0.00,2.62,0.00,0.000,4,0.000,0.069,2779,312,1995
$GC,16274,1.17,121.6,576.5,9.5,975,16282,0.00,2.50,0.00,0.000,6,0.000,0.039,2779,1722,1995
$GC,16595,1.17,121.6,546.9,9.0,983,16603,0.00,2.58,0.00,0.000,4,0.000,0.060,2779,3124,1995
$GC,16676,1.17,121.6,539.0,9.3,985,16685,0.00,2.53,0.00,0.000,6,0.000,0.045,2779,1717,1995
$GC,16997,1.17,121.6,508.8,9.4,993,17006,0.00,2.60,0.00,0.000,4,0.000,0.067,2779,315,1995
$GC,17058,1.17,121.6,502.9,9.4,994,17062,0.00,2.47,0.00,0.000,6,0.000,0.037,2779,1720,1995
$GC,17399,1.17,121.6,470.3,9.7,1003,17408,0.00,2.60,0.00,0.000,4,0.000,0.058,2779,3123,1995
$GC,17449,1.17,121.6,465.4,9.7,1004,17453,0.00,2.53,0.00,0.000,6,0.000,0.044,2779,1716,1995
$GC,17761,1.17,121.6,436.2,9.3,1012,17799,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1716,1995
$GC,18121,1.17,121.6,403.4,9.1,1021,18160,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1716,1995
$GC,18463,1.17,121.6,372.0,9.3,1052,18472,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1716,1995
$GC,18776,1.17,121.6,342.8,9.7,1083,18785,0.00,2.60,0.00,0.000,4,0.000,0.054,2779,3128,1995
$GC,18826,1.17,121.6,337.7,9.6,1088,18836,0.00,2.53,0.00,0.000,6,0.000,0.044,2779,1717,1995
$GC,19139,1.17,121.6,307.6,9.9,1119,19147,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1717,1995
$GC,19451,1.17,121.6,277.2,10.2,1150,19460,0.00,2.60,0.00,0.000,4,0.000,0.064,2779,314,1995
$GC,19486,1.17,121.6,273.4,11.1,1153,19491,0.00,2.50,0.00,0.000,6,0.000,0.035,2779,1713,1995
$GC,19794,1.17,121.6,243.6,9.4,1184,19802,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1714,1995
$GC,20106,1.17,121.6,214.3,9.3,1215,20115,0.00,2.58,0.00,0.000,4,0.000,0.060,2779,313,1995
$GC,20146,1.17,121.6,210.3,9.2,1219,20155,0.00,2.47,0.00,0.000,6,0.000,0.035,2779,1720,1995
$GC,20460,1.17,121.6,181.6,9.3,1269,20463,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1720,1995
$GC,20769,1.17,121.6,153.7,8.9,1330,20773,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1720,1996
$GC,21078,1.17,121.6,125.7,9.7,1391,21083,0.00,2.60,0.00,0.000,4,0.000,0.059,2779,308,1996
$GC,21114,1.17,121.6,122.1,10.3,1398,21118,0.00,2.50,0.00,0.000,6,0.000,0.035,2779,1717,1996
$GC,21423,1.17,121.6,91.4,9.4,1459,21427,0.00,2.60,0.00,0.000,4,0.000,0.059,2779,314,1995
$GC,21469,1.17,121.6,86.7,11.0,1468,21473,0.00,2.47,0.00,0.000,6,0.000,0.035,2779,1725,1995
$GC,21778,1.17,121.6,57.4,9.8,1529,21782,0.00,2.58,0.00,0.000,4,0.000,0.059,2779,314,1996
$GC,21844,1.17,121.6,50.5,10.7,1542,21848,0.00,2.45,0.00,0.000,6,0.000,0.035,2780,1718,1996
$GC,22153,1.17,153.4,23.2,6.6,1603,22183,0.00,2.65,24.73,0.783,4,0.000,0.055,2779,3123,1875
$GC,22391,1.20,174.0,3.2,7.1,1650,22412,0.00,2.53,15.25,0.759,2,0.000,0.039,2779,1710,1793
$FINISH,1.1,1.026707,0
$SM_CCo,22435,55.75,0.724,2,0,1440,260.02
$RAFOS_CLK,-1848
$RAFOS,2,1119716956,16.500000,16.487778,46,43,40,389,206,1575
$RAFOS,1,1119716354,16.333334,16.320555,49,46,41,1015,219,48
$RAFOS,0,1119715753,16.166666,16.153610,66,46,45,679,1410,106
$TT8_MAMPS,0.023777
$HUMID,2001
$INTERNAL_PRESSURE,7.24104
$TCM_TEMP,2.00
$ALTIM_TOP_PING,9.9,0.0
$ALTIM_BOTTOM_PING,981.6,0.0
$24V_AH,23.3,6.776
$10V_AH,10.0,3.352
$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,26.325,168.925,253.350,55.750,0.000,32.321,28.101,145.304,0.500,65.328,1142.780,16816.145,1267.227,2504.587,1161.035,33.360,2741.793,0.000,1625.744,900.000,3.635
$DEVICE_MAMPS,188.682,82.069,1454.232,724.048,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1868.230,2309.515,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59043,1655
$ERRORS,0,0,0,0,0,2,0,0,0,0,0,0,0,2,0
$GPS,250605,195526,7045.670,1600.395,30,1.0,47,4.1