version: 65.00
glider: 17
mission: 2
dive: 26
start: 6 26 105 15 30 34
data:
$ID,17
$MISSION,2
$DIVE,26
$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,-22061.506
$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,17
$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,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
$GPS1,151802,7044.262,1601.614,41,1.7,41
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-53.8
$GPS2,152947,7044.207,1601.944,16,1.2,17,4.1
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7200.000,1200.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.208,0.079
$KALMAN_X,21520.9,-114.8,-75.2,-57598.2,6770.7
$KALMAN_Y,-23830.1,-28.1,525.0,67837.6,-3455.0
$MHEAD_RNG_PITCHd_Wd,286.8,197169,-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,-45.67,0.000,2,0.000,0.000,291,1710,2652
$GC,64,-1.17,-121.6,3.6,-8.7,9,88,11.85,0.00,-8.38,0.000,6,0.189,0.000,2261,1711,3000
$GC,393,-1.17,-121.6,43.4,-10.2,74,397,0.00,2.60,0.00,0.000,4,0.000,0.054,2261,3108,3003
$GC,495,-1.17,-121.6,53.6,-10.0,94,499,0.00,2.53,0.00,0.000,6,0.000,0.041,2261,1702,3004
$GC,804,-1.17,-121.6,82.3,-9.0,155,808,0.00,2.60,0.00,0.000,4,0.000,0.059,2261,297,3004
$GC,829,-1.17,-121.6,84.7,-9.2,160,834,0.00,2.47,0.00,0.000,6,0.000,0.034,2261,1706,3004
$GC,1138,-1.17,-121.6,112.4,-8.7,221,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1706,3005
$GC,1448,-1.17,-121.6,139.9,-9.3,282,1452,0.00,2.60,0.00,0.000,4,0.000,0.055,2261,3108,3005
$GC,1483,-1.17,-121.6,143.2,-9.2,289,1487,0.00,2.53,0.00,0.000,6,0.000,0.043,2261,1705,3005
$GC,1792,-1.17,-121.6,171.5,-9.2,350,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1705,3005
$GC,2102,-1.17,-121.6,200.2,-9.5,411,2111,0.00,2.60,0.00,0.000,4,0.000,0.052,2261,3111,3005
$GC,2132,-1.17,-121.6,203.2,-10.3,414,2141,0.00,2.53,0.00,0.000,6,0.000,0.042,2261,1704,3005
$GC,2444,-1.17,-121.6,234.1,-9.9,445,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1704,3005
$GC,2756,-1.17,-121.6,265.1,-10.1,476,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1704,3005
$GC,3069,-1.17,-121.6,296.8,-9.9,507,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1704,3005
$GC,3381,-1.17,-121.6,326.2,-9.2,538,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1704,3005
$GC,3693,-1.17,-121.6,353.9,-8.4,569,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1705,3005
$GC,4005,-1.17,-121.6,379.5,-8.2,600,4014,0.00,2.60,0.00,0.000,4,0.000,0.051,2261,3109,3005
$GC,4036,-1.17,-121.6,382.1,-9.0,603,4045,0.00,2.53,0.00,0.000,6,0.000,0.043,2261,1703,3004
$GC,4348,-1.17,-121.6,406.8,-7.8,628,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1703,3005
$GC,4708,-1.17,-121.6,433.7,-7.4,637,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1703,3005
$GC,5069,-1.17,-121.6,461.8,-7.9,646,5077,0.00,2.58,0.00,0.000,4,0.000,0.053,2261,3108,3005
$GC,5094,-1.17,-121.6,463.9,-9.1,646,5098,0.00,2.53,0.00,0.000,6,0.000,0.043,2261,1703,3005
$GC,5430,-1.17,-121.6,492.2,-8.6,655,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1703,3005
$GC,5791,-1.17,-121.6,524.9,-9.3,664,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1703,3005
$GC,6151,-1.17,-121.6,560.5,-10.0,673,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1703,3005
$GC,6512,-1.17,-121.6,597.0,-10.0,682,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1703,3005
$GC,6873,-1.17,-121.6,630.2,-8.8,691,6881,0.00,2.60,0.00,0.000,4,0.000,0.054,2261,3110,3005
$GC,6933,-1.17,-121.6,635.7,-9.4,692,6937,0.00,2.53,0.00,0.000,6,0.000,0.044,2261,1702,3004
$GC,7274,-1.17,-121.6,663.2,-7.9,701,7283,0.00,2.58,0.00,0.000,4,0.000,0.055,2261,3108,3005
$GC,7330,-1.17,-121.6,667.7,-8.2,702,7334,0.00,2.53,0.00,0.000,6,0.000,0.046,2260,1700,3005
$GC,7636,-1.17,-121.6,691.1,-7.7,710,7645,0.00,2.58,0.00,0.000,4,0.000,0.057,2261,3112,3005
$GC,7686,-1.17,-121.6,695.2,-8.6,711,7690,0.00,2.53,0.00,0.000,6,0.000,0.046,2261,1704,3005
$GC,7998,-1.17,-121.6,719.6,-7.9,719,8006,0.00,2.60,0.00,0.000,4,0.000,0.068,2262,297,3005
$GC,8028,-1.17,-121.6,722.1,-9.2,719,8032,0.00,2.45,0.00,0.000,6,0.000,0.037,2261,1706,3004
$GC,8359,-1.17,-121.6,748.0,-7.8,728,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1706,3005
$GC,8720,-1.17,-121.6,778.2,-8.3,737,8728,0.00,2.60,0.00,0.000,4,0.000,0.061,2261,3112,3005
$GC,8805,-1.17,-121.6,785.5,-8.9,739,8809,0.00,2.53,0.00,0.000,6,0.000,0.048,2261,1706,3005
$GC,9122,-1.17,-121.6,811.3,-8.3,747,9130,0.00,2.62,0.00,0.000,4,0.000,0.073,2261,302,3004
$GC,9167,-1.17,-121.6,815.6,-9.2,748,9171,0.00,2.45,0.00,0.000,6,0.000,0.037,2261,1704,3004
$GC,9483,-1.17,-121.6,842.6,-8.5,756,9492,0.00,2.55,0.00,0.000,4,0.000,0.062,2261,3109,3004
$GC,9534,-1.17,-121.6,847.3,-10.1,757,9538,0.00,2.50,0.00,0.000,6,0.000,0.049,2261,1706,3004
$GC,9845,-1.17,-121.6,874.1,-8.5,765,9854,0.00,2.60,0.00,0.000,4,0.000,0.062,2262,3108,3004
$GC,9911,-1.17,-121.6,880.2,-9.0,766,9915,0.00,2.53,0.00,0.000,6,0.000,0.051,2261,1702,3004
$GC,10247,-1.17,-121.6,909.7,-8.8,775,10255,0.00,2.67,0.00,0.000,4,0.000,0.084,2261,299,3004
$GC,10277,-1.17,-121.6,912.5,-10.1,775,10281,0.00,2.50,0.00,0.000,6,0.000,0.044,2261,1706,3004
$GC,10608,-1.17,-121.6,942.1,-8.9,784,10617,0.00,2.58,0.00,0.000,4,0.000,0.066,2261,3113,3004
$GC,10643,-1.17,-121.6,945.4,-9.7,784,10648,0.00,2.58,0.00,0.000,6,0.000,0.053,2261,1707,3003
$GC,10969,-1.17,-121.6,976.9,-9.9,793,11011,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1708,3003
$GC,11171,-0.31,0.0,995.7,9.5,798,11289,1.00,0.00,108.35,1.394,6,0.125,0.000,2452,1708,2501
$GC,11291,1.17,121.6,1000.3,5.0,801,11406,1.60,2.78,104.75,1.424,4,0.081,0.063,2776,3108,2005
$GC,11431,1.17,121.6,994.5,8.0,804,11435,0.00,2.60,0.00,0.000,6,0.000,0.054,2776,1707,2004
$GC,11773,1.17,121.6,963.9,8.9,813,11811,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,2002
$GC,12133,1.17,121.6,931.2,9.1,822,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,2000
$GC,12494,1.17,121.6,897.8,9.3,831,12532,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1999
$GC,12855,1.17,121.6,864.5,9.1,840,12863,0.00,2.62,0.00,0.000,4,0.000,0.066,2776,3109,1998
$GC,12925,1.17,121.6,857.9,9.4,841,12929,0.00,2.58,0.00,0.000,6,0.000,0.055,2776,1702,1998
$GC,13256,1.17,121.6,829.2,8.8,850,13295,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1702,1998
$GC,13617,1.17,121.6,794.1,10.0,859,13656,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1702,1996
$GC,13978,1.17,121.6,754.9,11.3,868,13986,0.00,2.67,0.00,0.000,4,0.000,0.063,2776,3112,1996
$GC,14074,1.17,121.6,743.4,12.0,870,14078,0.00,2.58,0.00,0.000,6,0.000,0.052,2776,1700,1994
$GC,14380,1.17,121.6,707.1,11.7,878,14388,0.00,2.67,0.00,0.000,4,0.000,0.077,2776,297,1994
$GC,14430,1.17,121.6,700.8,12.1,879,14434,0.00,2.53,0.00,0.000,6,0.000,0.041,2777,1710,1994
$GC,14742,1.17,121.6,665.7,11.0,887,14750,0.00,2.60,0.00,0.000,4,0.000,0.062,2776,3112,1994
$GC,14792,1.17,121.6,660.1,11.5,888,14796,0.00,2.55,0.00,0.000,6,0.000,0.049,2776,1703,1993
$GC,15103,1.17,121.6,626.9,10.5,896,15142,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1703,1993
$GC,15464,1.17,121.6,591.2,9.8,905,15502,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1703,1993
$GC,15825,1.17,121.6,556.4,9.6,914,15863,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1703,1993
$GC,16185,1.17,121.6,524.0,8.9,923,16224,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1703,1993
$GC,16546,1.17,121.6,494.0,8.2,932,16584,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1703,1993
$GC,16907,1.17,132.9,466.5,7.5,941,16946,0.00,0.00,7.45,1.195,6,0.000,0.000,2776,1703,1959
$GC,17267,1.18,133.6,438.2,8.0,950,17306,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1703,1959
$GC,17628,1.18,133.6,408.8,8.3,959,17636,0.00,2.62,0.00,0.000,4,0.000,0.054,2776,3110,1959
$GC,17663,1.18,138.2,405.6,7.8,959,17672,0.00,2.58,4.53,1.160,6,0.000,0.044,2777,1702,1936
$GC,17981,1.18,138.2,376.2,9.7,985,17989,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1702,1936
$GC,18293,1.18,138.2,345.2,10.6,1016,18301,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1702,1936
$GC,18605,1.18,138.2,313.1,10.0,1047,18614,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1702,1936
$GC,18917,1.18,138.2,280.5,10.3,1078,18926,0.00,2.62,0.00,0.000,4,0.000,0.064,2777,296,1936
$GC,18937,1.18,138.2,278.3,11.2,1080,18947,0.00,2.47,0.00,0.000,6,0.000,0.035,2776,1709,1936
$GC,19250,1.18,138.2,245.7,10.4,1111,19258,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1709,1936
$GC,19562,1.18,138.2,212.7,10.5,1142,19570,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1709,1936
$GC,19876,1.18,138.2,178.9,10.7,1192,19879,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1708,1936
$GC,20185,1.18,138.2,146.6,10.1,1253,20188,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1709,1936
$GC,20494,1.18,138.2,116.3,9.2,1314,20498,0.00,2.62,0.00,0.000,4,0.000,0.061,2776,294,1937
$GC,20530,1.18,138.2,112.5,11.5,1321,20534,0.00,2.50,0.00,0.000,6,0.000,0.035,2776,1706,1937
$GC,20839,1.18,138.2,82.7,10.2,1382,20842,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,1937
$GC,21148,1.18,138.2,50.8,10.2,1443,21152,0.00,2.58,0.00,0.000,4,0.000,0.055,2776,3115,1937
$GC,21173,1.18,138.2,48.1,11.4,1448,21178,0.00,2.53,0.00,0.000,6,0.000,0.042,2777,1701,1937
$GC,21483,1.18,138.2,16.8,9.2,1509,21486,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1701,1937
$FINISH,0.1,1.026816,0
$SM_CCo,21717,79.28,0.720,0,0,1440,260.02
$RAFOS_CLK,-1871
$RAFOS,2,1119817743,20.500000,20.484167,46,44,42,395,203,1600
$RAFOS,1,1119817180,20.333334,20.327778,46,43,42,1364,6,48
$RAFOS,0,1119816579,20.166666,20.160833,56,43,43,113,886,1571
$RAFOS,2,1119803345,16.500000,16.484722,46,45,42,198,981,6
$RAFOS,1,1119802751,16.333334,16.319723,53,45,45,1200,48,218
$RAFOS,0,1119802146,16.166666,16.151667,45,44,41,232,366,201
$TT8_MAMPS,0.021476
$HUMID,2025
$INTERNAL_PRESSURE,7.24104
$TCM_TEMP,2.00
$ALTIM_TOP_PING,9.7,0.0
$ALTIM_BOTTOM_PING,980.5,0.0
$24V_AH,23.3,7.279
$10V_AH,10.0,3.811
$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,25.650,128.450,225.075,79.275,0.000,97.011,159.575,204.687,0.500,61.693,1063.571,16492.686,1286.689,2349.166,1391.156,33.359,2643.454,0.000,1524.589,1800.000,3.563
$DEVICE_MAMPS,188.682,84.370,1423.552,720.213,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1760.380,2177.330,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,55406,1552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260605,213509,7044.111,1601.403,43,1.1,43,4.1