version: 65.00
glider: 17
mission: 2
dive: 51
start: 7 3 105 6 15 49
data:
$ID,17
$MISSION,2
$DIVE,51
$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,-23786.479
$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,16
$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
$GPS1,060903,7128.402,1505.744,43,1.9,43
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-54.0
$GPS2,061457,7128.392,1505.686,15,0.9,21,3.6
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7215.000,1330.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.222,0.018
$KALMAN_X,76566.1,-426.8,-911.8,-146561.3,4628.9
$KALMAN_Y,-25925.5,-131.5,-445.1,152836.1,853.5
$MHEAD_RNG_PITCHd_Wd,271.0,101832,-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,-45.65,0.000,2,0.000,0.000,286,1712,2644
$GC,64,-1.17,-121.6,3.2,-6.7,9,94,11.98,2.62,-9.20,0.000,4,0.193,0.067,2264,3109,2999
$GC,323,-1.17,-121.6,34.4,-11.0,60,327,0.00,2.53,0.00,0.000,6,0.000,0.041,2264,1698,3001
$GC,632,-1.17,-121.6,66.1,-9.6,121,636,0.00,2.60,0.00,0.000,4,0.000,0.051,2264,3110,3003
$GC,754,-1.17,-121.6,77.6,-9.4,145,758,0.00,2.50,0.00,0.000,6,0.000,0.041,2264,1704,3003
$GC,1063,-1.17,-121.6,105.6,-9.4,206,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1704,3004
$GC,1372,-1.17,-121.6,134.1,-9.1,267,1376,0.00,2.60,0.00,0.000,4,0.000,0.053,2264,3114,3004
$GC,1423,-1.17,-121.6,138.9,-9.8,277,1427,0.00,2.53,0.00,0.000,6,0.000,0.043,2264,1700,3004
$GC,1732,-1.17,-121.6,167.1,-9.3,338,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1700,3004
$GC,2041,-1.17,-121.6,196.4,-9.4,399,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1700,3004
$GC,2354,-1.17,-121.6,224.8,-8.7,434,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1700,3003
$GC,2666,-1.17,-121.6,249.7,-7.4,465,2675,0.00,2.62,0.00,0.000,4,0.000,0.054,2264,3111,3004
$GC,2691,-1.17,-121.6,251.6,-7.6,467,2696,0.00,2.55,0.00,0.000,6,0.000,0.043,2264,1710,3004
$GC,2998,-1.17,-121.6,274.3,-7.8,498,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1710,3004
$GC,3311,-1.17,-121.6,300.1,-8.5,529,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1710,3004
$GC,3623,-1.17,-121.6,326.8,-8.8,560,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1710,3004
$GC,3935,-1.17,-121.6,355.3,-8.9,591,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1710,3004
$GC,4247,-1.17,-121.6,383.9,-9.0,622,4256,0.00,2.60,0.00,0.000,4,0.000,0.061,2264,295,3004
$GC,4278,-1.17,-121.6,386.9,-10.8,625,4287,0.00,2.50,0.00,0.000,6,0.000,0.036,2264,1710,3004
$GC,4619,-1.17,-121.6,419.5,-9.8,644,4627,0.00,2.58,0.00,0.000,4,0.000,0.057,2264,3106,3004
$GC,4654,-1.17,-121.6,423.1,-10.2,644,4659,0.00,2.55,0.00,0.000,6,0.000,0.044,2264,1706,3004
$GC,4980,-1.17,-121.6,453.7,-9.1,653,4989,0.00,2.58,0.00,0.000,4,0.000,0.062,2264,297,3004
$GC,5015,-1.17,-121.6,457.1,-10.0,653,5020,0.00,2.50,0.00,0.000,6,0.000,0.036,2264,1702,3004
$GC,5341,-1.17,-121.6,483.9,-7.8,662,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3004
$GC,5702,-1.17,-121.6,510.8,-7.3,671,5710,0.00,2.60,0.00,0.000,4,0.000,0.058,2264,3108,3004
$GC,5727,-1.17,-121.6,512.7,-7.9,671,5731,0.00,2.53,0.00,0.000,6,0.000,0.046,2264,1704,3004
$GC,6063,-1.17,-121.6,536.4,-7.0,680,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3004
$GC,6424,-1.17,-121.6,561.3,-7.0,689,6432,0.00,2.60,0.00,0.000,4,0.000,0.056,2263,3105,3004
$GC,6484,-1.17,-121.6,565.7,-7.6,690,6488,0.00,2.53,0.00,0.000,6,0.000,0.046,2264,1703,3004
$GC,6828,-1.17,-121.6,588.9,-6.9,699,6836,0.00,2.60,0.00,0.000,4,0.000,0.065,2264,299,3004
$GC,6898,-1.17,-121.6,594.8,-8.1,700,6902,0.00,2.47,0.00,0.000,6,0.000,0.037,2264,1704,3004
$GC,7229,-1.17,-121.6,620.2,-7.9,709,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1706,3004
$GC,7590,-1.17,-121.6,652.0,-9.0,718,7598,0.00,2.60,0.00,0.000,4,0.000,0.063,2264,3105,3004
$GC,7701,-1.17,-121.6,662.7,-9.9,720,7705,0.00,2.53,0.00,0.000,6,0.000,0.050,2264,1707,3004
$GC,8034,-1.17,-121.6,692.1,-8.8,729,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1707,3004
$GC,8394,-1.17,-121.6,719.2,-7.1,738,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1706,3004
$GC,8753,-1.17,-121.6,744.2,-7.2,747,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1707,3004
$GC,9114,-1.17,-121.6,770.4,-7.2,756,9153,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1707,3003
$GC,9475,-1.17,-121.6,796.5,-7.2,765,9513,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1707,3003
$GC,9835,-1.17,-121.6,822.4,-7.1,774,9874,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1707,3003
$GC,10196,-1.17,-121.6,848.3,-7.2,783,10235,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1707,3002
$GC,10557,-1.17,-121.6,875.4,-7.6,792,10565,0.00,2.62,0.00,0.000,4,0.000,0.067,2264,3105,3002
$GC,10598,-1.17,-121.6,878.6,-8.3,793,10607,0.00,2.53,0.00,0.000,6,0.000,0.055,2264,1706,3001
$GC,10919,-1.17,-121.6,901.9,-7.1,801,10957,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1706,3001
$GC,11280,-1.17,-121.6,927.0,-7.0,810,11318,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1706,2999
$GC,11640,-1.17,-121.6,952.3,-7.1,819,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1706,2999
$GC,12001,-1.17,-121.6,977.8,-7.2,828,12039,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1706,2998
$GC,12243,-0.31,0.0,995.5,7.3,834,12361,1.00,0.00,107.82,1.449,6,0.131,0.000,2453,1706,2501
$GC,12363,1.17,121.6,998.4,3.5,837,12477,1.62,2.78,105.55,1.458,4,0.086,0.066,2778,3100,2004
$GC,12498,1.17,121.6,990.9,10.2,840,12507,0.00,2.62,0.00,0.000,6,0.000,0.057,2779,1703,2004
$GC,12844,1.17,121.6,954.1,10.7,849,12883,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1703,2002
$GC,13205,1.17,121.6,915.4,10.7,858,13243,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1703,2002
$GC,13566,1.17,121.6,876.6,10.8,867,13574,0.00,2.65,0.00,0.000,4,0.000,0.067,2779,3105,2000
$GC,13601,1.17,121.6,872.6,10.0,867,13605,0.00,2.60,0.00,0.000,6,0.000,0.058,2779,1713,2000
$GC,13927,1.17,121.6,837.3,11.0,876,13965,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1713,2000
$GC,14287,1.17,121.6,797.3,11.2,885,14296,0.00,2.65,0.00,0.000,4,0.000,0.067,2779,3108,1999
$GC,14343,1.17,121.6,790.7,12.3,886,14347,0.00,2.58,0.00,0.000,6,0.000,0.056,2779,1706,1999
$GC,14649,1.17,121.6,755.1,11.5,894,14688,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1999
$GC,15010,1.17,121.6,715.3,10.7,903,15048,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1999
$GC,15370,1.17,121.6,679.2,9.7,912,15409,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1998
$GC,15732,1.17,121.6,647.6,8.6,921,15770,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1998
$GC,16092,1.17,121.6,615.5,9.2,930,16130,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1997
$GC,16452,1.17,121.6,578.4,10.8,939,16461,0.00,2.65,0.00,0.000,4,0.000,0.064,2779,3105,1997
$GC,16497,1.17,121.6,573.3,11.1,940,16502,0.00,2.55,0.00,0.000,6,0.000,0.054,2779,1706,1996
$GC,16814,1.17,121.6,539.7,10.5,948,16852,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1996
$GC,17175,1.17,121.6,503.7,9.9,957,17183,0.00,2.60,0.00,0.000,4,0.000,0.060,2779,3105,1996
$GC,17210,1.17,121.6,500.1,10.3,957,17214,0.00,2.58,0.00,0.000,6,0.000,0.050,2779,1706,1996
$GC,17536,1.17,121.6,468.8,9.7,966,17544,0.00,2.65,0.00,0.000,4,0.000,0.071,2779,294,1996
$GC,17561,1.17,121.6,466.1,10.2,966,17565,0.00,2.50,0.00,0.000,6,0.000,0.040,2779,1706,1996
$GC,17897,1.17,121.6,432.9,10.0,975,17935,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1996
$GC,18258,1.17,121.6,398.3,9.4,984,18267,0.00,2.65,0.00,0.000,4,0.000,0.066,2779,293,1996
$GC,18298,1.17,121.6,394.1,9.5,988,18307,0.00,2.50,0.00,0.000,6,0.000,0.039,2779,1706,1996
$GC,18610,1.17,121.6,364.6,9.8,1019,18620,0.00,2.60,0.00,0.000,4,0.000,0.060,2779,3112,1996
$GC,18645,1.17,121.6,361.2,9.6,1022,18650,0.00,2.55,0.00,0.000,6,0.000,0.044,2779,1708,1996
$GC,18953,1.17,121.6,331.8,9.7,1053,18962,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,1996
$GC,19265,1.17,121.6,299.7,10.7,1084,19274,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,1995
$GC,19578,1.17,121.6,266.6,10.3,1115,19586,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,1996
$GC,19890,1.17,121.6,234.9,10.1,1146,19898,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,1996
$GC,20202,1.17,121.6,204.3,9.4,1177,20211,0.00,2.60,0.00,0.000,4,0.000,0.054,2779,3109,1996
$GC,20232,1.17,121.6,201.4,9.3,1180,20241,0.00,2.53,0.00,0.000,6,0.000,0.044,2779,1704,1996
$GC,20547,1.17,121.6,170.8,9.9,1240,20551,0.00,2.60,0.00,0.000,4,0.000,0.064,2779,298,1995
$GC,20582,1.17,121.6,167.1,10.7,1247,20586,0.00,2.50,0.00,0.000,6,0.000,0.036,2779,1706,1996
$GC,20891,1.17,121.6,136.2,10.1,1308,20896,0.00,2.58,0.00,0.000,4,0.000,0.056,2779,3112,1996
$GC,20917,1.17,121.6,133.7,9.8,1313,20921,0.00,2.50,0.00,0.000,6,0.000,0.042,2779,1703,1996
$GC,21227,1.17,121.6,105.3,8.1,1374,21230,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1703,1996
$GC,21536,1.17,121.6,76.8,10.0,1435,21539,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1703,1996
$GC,21845,1.17,141.4,50.8,7.1,1496,21864,0.00,0.00,15.15,0.830,6,0.000,0.000,2779,1703,1924
$GC,22169,1.19,141.4,20.6,11.3,1560,22174,0.00,2.62,0.00,0.000,4,0.000,0.063,2779,296,1924
$GC,22261,1.19,141.4,10.5,10.7,1578,22265,0.00,2.50,0.00,0.000,6,0.000,0.034,2779,1707,1924
$FINISH,0.2,1.026892,0
$SM_CCo,22393,81.25,0.718,0,0,1440,260.26
$RAFOS_CLK,-1810
$RAFOS,1,1120393142,12.333333,12.317223,48,41,41,200,48,1564
$RAFOS,0,1120392544,12.166667,12.151111,45,44,43,211,147,187
$RAFOS,2,1120379380,8.500000,8.494445,41,41,41,48,150,208
$RAFOS,1,1120378778,8.333333,8.327222,46,44,42,231,208,1362
$RAFOS,0,1120378173,8.166667,8.159166,48,46,45,395,726,218
$TT8_MAMPS,0.021476
$HUMID,2016
$INTERNAL_PRESSURE,7.23127
$TCM_TEMP,1.50
$ALTIM_TOP_PING,9.5,8.5
$ALTIM_BOTTOM_PING,972.1,8.7
$24V_AH,23.3,10.340
$10V_AH,10.0,6.636
$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,25.975,123.575,228.525,81.250,0.000,32.322,31.338,180.974,0.500,67.408,1081.141,16859.615,1425.537,2358.407,1192.656,33.363,2782.100,0.000,1511.870,1500.000,3.274
$DEVICE_MAMPS,192.517,71.331,1458.067,717.912,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1780.891,2210.689,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56791,1601
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030705,123138,7127.983,1457.361,35,0.9,35,3.5