version: 65.00
glider: 17
mission: 2
dive: 76
start: 7 9 105 21 1 27
data:
$ID,17
$MISSION,2
$DIVE,76
$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,-25427.805
$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,20
$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
$GPS1,205427,7207.029,1435.953,46,1.1,46
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-53.8
$GPS2,210034,7206.994,1436.170,20,1.1,21,3.3
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7210.000,1430.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.111,0.193
$KALMAN_X,104017.7,431.3,920.2,-195103.0,1224.4
$KALMAN_Y,-64444.2,-77.4,-242.6,262599.6,-2557.7
$MHEAD_RNG_PITCHd_Wd,326.7,6575,-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,-45.28,0.000,2,0.000,0.000,287,1696,2651
$GC,64,-1.17,-121.6,3.4,-7.3,9,94,12.02,2.60,-8.60,0.000,4,0.195,0.070,2264,297,2999
$GC,323,-1.17,-121.6,38.1,-10.8,60,327,0.00,2.47,0.00,0.000,6,0.000,0.032,2264,1708,3002
$GC,632,-1.17,-121.6,67.3,-8.3,121,636,0.00,2.60,0.00,0.000,4,0.000,0.056,2264,297,3005
$GC,657,-1.17,-121.6,69.5,-8.3,126,661,0.00,2.47,0.00,0.000,6,0.000,0.034,2264,1704,3005
$GC,966,-1.17,-121.6,93.1,-7.7,187,971,0.00,2.58,0.00,0.000,4,0.000,0.054,2264,3104,3006
$GC,1022,-1.17,-121.6,97.5,-7.7,198,1026,0.00,2.55,0.00,0.000,6,0.000,0.042,2264,1700,3006
$GC,1331,-1.17,-121.6,119.7,-7.0,259,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1700,3006
$GC,1641,-1.17,-121.6,141.1,-7.2,320,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1700,3006
$GC,1950,-1.17,-121.6,166.2,-8.7,381,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1700,3006
$GC,2259,-1.17,-121.6,191.9,-8.1,442,2263,0.00,2.58,0.00,0.000,4,0.000,0.053,2264,3105,3005
$GC,2285,-1.17,-121.6,194.1,-8.8,447,2289,0.00,2.55,0.00,0.000,6,0.000,0.044,2264,1703,3006
$GC,2597,-1.17,-121.6,221.9,-9.0,485,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3006
$GC,2909,-1.17,-121.6,251.0,-9.6,516,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3006
$GC,3221,-1.17,-121.6,280.7,-9.6,547,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3006
$GC,3534,-1.17,-121.6,309.8,-9.0,578,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3006
$GC,3846,-1.17,-121.6,338.0,-9.2,609,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3005
$GC,4158,-1.17,-121.6,366.9,-8.7,640,4167,0.00,2.60,0.00,0.000,4,0.000,0.061,2264,299,3006
$GC,4188,-1.17,-121.6,369.8,-10.5,643,4198,0.00,2.47,0.00,0.000,6,0.000,0.035,2264,1707,3006
$GC,4501,-1.17,-121.6,397.3,-8.7,674,4510,0.00,2.58,0.00,0.000,4,0.000,0.056,2264,3104,3006
$GC,4566,-1.17,-121.6,403.4,-9.6,678,4570,0.00,2.53,0.00,0.000,6,0.000,0.044,2264,1703,3006
$GC,4902,-1.17,-121.6,431.9,-8.4,687,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3006
$GC,5263,-1.17,-121.6,462.0,-8.3,696,5271,0.00,2.60,0.00,0.000,4,0.000,0.054,2264,3105,3005
$GC,5323,-1.17,-121.6,467.3,-8.6,697,5327,0.00,2.53,0.00,0.000,6,0.000,0.044,2263,1704,3006
$GC,5665,-1.17,-121.6,494.9,-8.0,706,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1704,3006
$GC,6025,-1.17,-121.6,523.4,-7.9,715,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1704,3006
$GC,6386,-1.17,-121.6,551.2,-7.4,724,6394,0.00,2.58,0.00,0.000,4,0.000,0.056,2264,3105,3006
$GC,6436,-1.17,-121.6,555.0,-7.9,725,6440,0.00,2.53,0.00,0.000,6,0.000,0.048,2264,1706,3005
$GC,6748,-1.17,-121.6,578.7,-7.7,733,6756,0.00,2.60,0.00,0.000,4,0.000,0.066,2264,297,3006
$GC,6823,-1.17,-121.6,585.1,-8.6,734,6828,0.00,2.50,0.00,0.000,6,0.000,0.038,2264,1695,3005
$GC,7149,-1.17,-121.6,610.8,-8.0,743,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1697,3006
$GC,7510,-1.17,-121.6,640.8,-8.4,752,7519,0.00,2.62,0.00,0.000,4,0.000,0.061,2264,3109,3005
$GC,7565,-1.17,-121.6,645.8,-9.6,753,7570,0.00,2.55,0.00,0.000,6,0.000,0.050,2264,1703,3006
$GC,7872,-1.17,-121.6,672.4,-8.6,761,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3006
$GC,8232,-1.17,-121.6,703.6,-8.5,770,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1702,3005
$GC,8594,-1.17,-121.6,733.6,-8.1,779,8602,0.00,2.62,0.00,0.000,4,0.000,0.063,2264,3106,3005
$GC,8629,-1.17,-121.6,736.7,-9.1,779,8633,0.00,2.58,0.00,0.000,6,0.000,0.052,2264,1710,3005
$GC,8955,-1.17,-121.6,763.1,-8.2,788,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1710,3004
$GC,9316,-1.17,-121.6,792.5,-7.9,797,9324,0.00,2.60,0.00,0.000,4,0.000,0.066,2264,3106,3005
$GC,9351,-1.17,-121.6,795.4,-8.5,797,9355,0.00,2.58,0.00,0.000,6,0.000,0.055,2264,1713,3005
$GC,9677,-1.17,-121.6,822.3,-8.4,806,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1713,3004
$GC,10037,-1.17,-121.6,851.1,-7.8,815,10076,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1713,3003
$GC,10398,-1.17,-121.6,878.4,-7.5,824,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1713,3003
$GC,10759,-1.17,-121.6,904.2,-7.0,833,10767,0.00,2.60,0.00,0.000,4,0.000,0.067,2264,3106,3001
$GC,10799,-1.17,-121.6,907.2,-7.8,834,10808,0.00,2.55,0.00,0.000,6,0.000,0.057,2264,1706,3001
$GC,11120,-1.17,-121.6,929.7,-7.1,842,11159,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1706,3000
$GC,11481,-1.17,-121.6,957.3,-7.8,851,11520,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1706,3000
$GC,11842,-1.17,-121.6,983.8,-7.1,860,11883,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1706,2999
$GC,12004,-0.31,0.0,996.0,7.6,864,12122,1.00,0.00,109.53,1.516,6,0.130,0.000,2453,1706,2501
$GC,12124,1.17,121.6,998.6,3.3,867,12242,1.62,0.00,106.22,1.457,6,0.087,0.000,2778,1706,2004
$GC,12563,1.17,121.6,957.6,10.8,878,12602,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1706,2003
$GC,12924,1.17,121.6,919.2,10.7,887,12932,0.00,2.78,0.00,0.000,4,0.000,0.095,2778,301,2002
$GC,12944,1.17,121.6,916.9,11.4,887,12948,0.00,2.58,0.00,0.000,6,0.000,0.051,2778,1705,2002
$GC,13285,1.17,121.6,879.1,11.3,896,13324,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,2001
$GC,13646,1.17,121.6,836.9,11.7,905,13684,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,2000
$GC,14006,1.17,121.6,795.2,11.7,914,14015,0.00,2.65,0.00,0.000,4,0.000,0.069,2778,3110,1999
$GC,14021,1.17,121.6,793.4,11.5,914,14030,0.00,2.60,0.00,0.000,6,0.000,0.058,2778,1702,1999
$GC,14367,1.17,121.6,755.7,10.6,923,14376,0.00,2.65,0.00,0.000,4,0.000,0.069,2778,3112,1999
$GC,14402,1.17,121.6,752.0,10.7,923,14407,0.00,2.62,0.00,0.000,6,0.000,0.058,2778,1707,1999
$GC,14729,1.17,121.6,719.1,10.2,932,14737,0.00,2.62,0.00,0.000,4,0.000,0.068,2778,3110,1997
$GC,14759,1.17,121.6,715.9,10.1,932,14763,0.00,2.58,0.00,0.000,6,0.000,0.057,2778,1702,1998
$GC,15090,1.17,121.6,682.3,10.2,941,15128,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1702,1998
$GC,15450,1.17,121.6,639.4,12.4,950,15459,0.00,2.67,0.00,0.000,4,0.000,0.081,2778,295,1998
$GC,15491,1.17,121.6,633.9,13.1,951,15499,0.00,2.53,0.00,0.000,6,0.000,0.046,2779,1706,1998
$GC,15812,1.17,121.6,594.7,12.2,959,15821,0.00,2.67,0.00,0.000,4,0.000,0.074,2778,295,1997
$GC,15832,1.17,121.6,592.0,13.5,959,15836,0.00,2.53,0.00,0.000,6,0.000,0.045,2778,1706,1996
$GC,16173,1.17,121.6,551.7,11.4,968,16182,0.00,2.67,0.00,0.000,4,0.000,0.073,2778,294,1996
$GC,16214,1.17,121.6,546.8,12.8,969,16222,0.00,2.53,0.00,0.000,6,0.000,0.044,2778,1708,1996
$GC,16535,1.17,121.6,512.2,10.5,977,16543,0.00,2.62,0.00,0.000,4,0.000,0.066,2778,3115,1996
$GC,16605,1.17,121.6,504.6,11.1,978,16610,0.00,2.55,0.00,0.000,6,0.000,0.051,2778,1704,1996
$GC,16937,1.17,121.6,472.2,9.6,987,16975,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1996
$GC,17298,1.17,121.6,440.3,8.8,996,17336,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1996
$GC,17658,1.17,121.6,407.5,9.1,1005,17666,0.00,2.65,0.00,0.000,4,0.000,0.071,2778,296,1996
$GC,17693,1.17,121.6,404.0,10.1,1005,17698,0.00,2.53,0.00,0.000,6,0.000,0.040,2778,1697,1996
$GC,18000,1.17,121.6,376.0,9.4,1033,18009,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1698,1996
$GC,18313,1.17,121.6,346.4,9.9,1064,18321,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1698,1997
$GC,18625,1.17,121.6,314.6,10.3,1095,18633,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1698,1996
$GC,18937,1.17,121.6,282.6,9.9,1126,18946,0.00,2.60,0.00,0.000,4,0.000,0.066,2779,296,1996
$GC,18988,1.17,121.6,276.9,11.7,1131,18997,0.00,2.50,0.00,0.000,6,0.000,0.038,2778,1707,1996
$GC,19301,1.17,121.6,244.6,9.8,1162,19310,0.00,2.65,0.00,0.000,4,0.000,0.064,2779,296,1996
$GC,19356,1.17,121.6,238.5,10.4,1167,19361,0.00,2.50,0.00,0.000,6,0.000,0.038,2778,1696,1996
$GC,19664,1.17,121.6,209.0,9.4,1198,19672,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1698,1996
$GC,19978,1.17,121.6,180.2,8.7,1250,19982,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1698,1996
$GC,20288,1.17,121.6,151.3,9.9,1311,20291,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1698,1996
$GC,20597,1.17,121.6,121.9,9.9,1372,20600,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1698,1996
$GC,20906,1.17,121.6,91.2,9.5,1433,20910,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1698,1996
$GC,21215,1.17,121.6,59.5,10.3,1494,21220,0.00,2.60,0.00,0.000,4,0.000,0.061,2778,292,1996
$GC,21241,1.17,121.6,56.8,10.7,1499,21245,0.00,2.47,0.00,0.000,6,0.000,0.035,2778,1705,1996
$GC,21550,1.17,121.6,29.3,8.2,1560,21554,0.00,2.58,0.00,0.000,4,0.000,0.056,2778,3108,1996
$GC,21577,1.17,121.6,27.2,8.4,1565,21581,0.00,2.50,0.00,0.000,6,0.000,0.041,2778,1702,1996
$GC,21886,1.17,163.9,2.6,6.1,1626,21895,0.00,0.00,7.88,0.831,2,0.000,0.000,2778,1702,1961
$FINISH,0.2,1.026784,0
$SM_CCo,21937,86.05,0.725,0,0,1441,260.02
$RAFOS_CLK,-832
$RAFOS,2,1120955369,0.500000,0.491389,49,44,41,198,140,6
$RAFOS,0,1120954167,0.166667,0.157500,47,40,39,206,550,6
$TT8_MAMPS,0.021476
$HUMID,2034
$INTERNAL_PRESSURE,7.23127
$TCM_TEMP,2.00
$ALTIM_TOP_PING,9.9,9.7
$ALTIM_BOTTOM_PING,972.4,0.0
$24V_AH,23.3,13.416
$10V_AH,10.0,9.445
$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,26.150,134.025,223.625,86.050,0.000,32.322,28.334,199.768,0.500,70.161,1099.032,16420.072,1289.480,2425.651,1249.669,33.362,2672.218,0.000,1552.795,900.000,3.462
$DEVICE_MAMPS,194.818,95.108,1515.592,724.815,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1847.193,2286.191,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,58396,1633
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100705,030939,7208.408,1440.092,32,1.9,32,3.4