version: 65.00
glider: 17
mission: 2
dive: 92
start: 7 14 105 2 16 52
data:
$ID,17
$MISSION,2
$DIVE,92
$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,-26459.494
$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,33
$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
$GPS1,021033,7208.174,1418.520,43,1.2,43
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-53.6
$GPS2,021605,7208.203,1418.735,17,1.1,18,3.1
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.219,-0.042
$KALMAN_X,162494.4,175.8,-883.6,-262367.9,6438.8
$KALMAN_Y,-66354.9,-39.9,-483.9,266951.2,2324.9
$MHEAD_RNG_PITCHd_Wd,256.1,169759,-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,-121.6,0.0,0.0,0,67,0.00,0.00,-50.35,0.000,2,0.000,0.000,286,1750,2716
$GC,69,-1.17,-121.6,3.1,-7.2,10,94,11.95,2.62,-7.38,0.000,4,0.191,0.065,2264,3128,2998
$GC,100,-1.17,-121.6,8.1,-15.8,16,104,0.00,2.53,0.00,0.000,6,0.000,0.044,2264,1734,3000
$GC,409,-1.17,-121.6,36.7,-8.8,77,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1734,3002
$GC,718,-1.17,-121.6,62.7,-7.9,138,722,0.00,2.58,0.00,0.000,4,0.000,0.052,2264,3134,3004
$GC,759,-1.17,-121.6,66.2,-8.8,146,763,0.00,2.50,0.00,0.000,6,0.000,0.042,2264,1736,3004
$GC,1068,-1.17,-121.6,93.2,-9.3,207,1072,0.00,2.58,0.00,0.000,4,0.000,0.060,2264,335,3004
$GC,1139,-1.17,-121.6,100.5,-10.4,221,1143,0.00,2.47,0.00,0.000,6,0.000,0.034,2264,1734,3004
$GC,1448,-1.17,-121.6,130.4,-9.5,282,1452,0.00,2.58,0.00,0.000,4,0.000,0.055,2264,3144,3005
$GC,1489,-1.17,-121.6,134.7,-10.8,290,1493,0.00,2.53,0.00,0.000,6,0.000,0.043,2264,1733,3005
$GC,1798,-1.17,-121.6,166.5,-10.0,351,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1733,3005
$GC,2107,-1.17,-121.6,196.9,-9.6,412,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1733,3005
$GC,2415,-1.17,-121.6,226.5,-9.7,446,2424,0.00,2.58,0.00,0.000,4,0.000,0.059,2264,334,3005
$GC,2450,-1.17,-121.6,230.2,-10.4,449,2454,0.00,2.53,0.00,0.000,6,0.000,0.035,2264,1739,3005
$GC,2757,-1.17,-121.6,259.8,-9.7,480,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3005
$GC,3069,-1.17,-121.6,288.3,-8.9,511,3079,0.00,2.60,0.00,0.000,4,0.000,0.058,2264,335,3005
$GC,3095,-1.17,-121.6,290.7,-9.6,513,3099,0.00,2.53,0.00,0.000,6,0.000,0.035,2264,1732,3005
$GC,3402,-1.17,-121.6,317.2,-8.2,544,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1734,3005
$GC,3714,-1.17,-121.6,343.3,-8.6,575,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1734,3005
$GC,4027,-1.17,-121.6,370.6,-9.0,606,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1734,3005
$GC,4339,-1.17,-121.6,398.4,-9.1,637,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1734,3005
$GC,4679,-1.17,-121.6,428.6,-8.7,647,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1734,3005
$GC,5040,-1.17,-121.6,457.6,-7.8,656,5049,0.00,2.60,0.00,0.000,4,0.000,0.061,2264,333,3005
$GC,5085,-1.17,-121.6,461.3,-8.1,657,5090,0.00,2.50,0.00,0.000,6,0.000,0.037,2264,1742,3005
$GC,5402,-1.17,-121.6,483.4,-6.8,665,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1743,3005
$GC,5762,-1.17,-121.6,506.4,-6.3,674,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1743,3005
$GC,6123,-1.17,-121.6,529.3,-6.3,683,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1743,3005
$GC,6484,-1.17,-121.6,552.8,-6.5,692,6492,0.00,2.62,0.00,0.000,4,0.000,0.062,2264,334,3005
$GC,6524,-1.17,-121.6,555.7,-7.5,693,6533,0.00,2.50,0.00,0.000,6,0.000,0.039,2264,1741,3005
$GC,6845,-1.17,-121.6,579.4,-7.5,701,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1742,3005
$GC,7206,-1.17,-121.6,608.4,-8.1,710,7214,0.00,2.60,0.00,0.000,4,0.000,0.061,2264,3144,3005
$GC,7236,-1.17,-121.6,611.1,-9.7,710,7240,0.00,2.53,0.00,0.000,6,0.000,0.048,2264,1738,3005
$GC,7568,-1.17,-121.6,639.1,-8.3,719,7577,0.00,2.60,0.00,0.000,4,0.000,0.059,2264,3148,3005
$GC,7593,-1.17,-121.6,641.3,-9.1,719,7597,0.00,2.53,0.00,0.000,6,0.000,0.048,2264,1738,3005
$GC,7929,-1.17,-121.6,667.3,-7.7,728,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1738,3005
$GC,8291,-1.17,-121.6,694.7,-7.3,737,8299,0.00,2.62,0.00,0.000,4,0.000,0.062,2264,3142,3005
$GC,8316,-1.17,-121.6,696.7,-7.6,737,8320,0.00,2.53,0.00,0.000,6,0.000,0.050,2264,1742,3005
$GC,8652,-1.17,-121.6,719.9,-6.8,746,8660,0.00,2.60,0.00,0.000,4,0.000,0.071,2264,335,3005
$GC,8677,-1.17,-121.6,721.8,-8.2,746,8681,0.00,2.47,0.00,0.000,6,0.000,0.041,2264,1740,3005
$GC,9013,-1.17,-121.6,744.7,-6.8,755,9022,0.00,2.60,0.00,0.000,4,0.000,0.065,2264,3142,3005
$GC,9038,-1.17,-121.6,746.6,-8.3,755,9047,0.00,2.55,0.00,0.000,6,0.000,0.051,2264,1734,3005
$GC,9374,-1.17,-121.6,771.5,-7.5,764,9383,0.00,2.60,0.00,0.000,4,0.000,0.073,2264,335,3005
$GC,9425,-1.17,-121.6,775.8,-8.5,765,9429,0.00,2.47,0.00,0.000,6,0.000,0.041,2264,1742,3005
$GC,9736,-1.17,-121.6,801.0,-8.2,773,9774,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1743,3005
$GC,10097,-1.17,-121.6,828.1,-7.3,782,10135,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1743,3005
$GC,10457,-1.17,-121.6,854.0,-7.4,791,10466,0.00,2.67,0.00,0.000,4,0.000,0.077,2264,337,3004
$GC,10507,-1.17,-121.6,858.0,-8.1,792,10512,0.00,2.50,0.00,0.000,6,0.000,0.043,2264,1742,3004
$GC,10819,-1.17,-121.6,880.8,-7.3,800,10857,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1742,3003
$GC,11180,-1.17,-121.6,905.7,-6.7,809,11188,0.00,2.67,0.00,0.000,4,0.000,0.081,2264,338,3002
$GC,11245,-1.17,-121.6,910.6,-8.0,810,11249,0.00,2.50,0.00,0.000,6,0.000,0.042,2264,1737,3003
$GC,11581,-1.17,-121.6,933.0,-6.8,819,11620,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1739,3002
$GC,11942,-1.17,-121.6,957.1,-6.5,828,11981,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1739,3000
$GC,12303,-1.17,-121.6,981.9,-7.1,837,12341,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1739,2999
$GC,12505,-0.31,0.0,995.4,6.8,842,12623,1.00,0.00,108.62,1.463,6,0.130,0.000,2452,1739,2501
$GC,12624,1.17,121.6,997.0,2.5,845,12741,1.58,2.65,104.60,1.420,4,0.091,0.068,2778,3110,2004
$GC,12767,1.17,121.6,986.8,11.7,848,12771,0.00,2.60,0.00,0.000,6,0.000,0.056,2778,1709,2003
$GC,13108,1.17,121.6,947.5,11.4,857,13147,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,2002
$GC,13470,1.17,121.6,906.6,11.2,866,13508,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1709,2001
$GC,13830,1.17,121.6,865.2,11.3,875,13868,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1709,2000
$GC,14190,1.17,121.6,825.4,11.1,884,14199,0.00,2.72,0.00,0.000,4,0.000,0.087,2778,299,1999
$GC,14231,1.17,121.6,820.6,12.1,885,14239,0.00,2.53,0.00,0.000,6,0.000,0.044,2778,1705,1999
$GC,14552,1.17,121.6,786.2,10.4,893,14560,0.00,2.72,0.00,0.000,4,0.000,0.083,2778,295,1998
$GC,14593,1.17,121.6,781.7,11.2,894,14601,0.00,2.53,0.00,0.000,6,0.000,0.046,2778,1705,1998
$GC,14914,1.17,121.6,748.1,10.5,902,14952,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,1998
$GC,15274,1.17,121.6,710.4,10.4,911,15313,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,1997
$GC,15635,1.17,121.6,676.2,9.0,920,15673,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1706,1997
$GC,15996,1.17,121.6,643.5,9.4,929,16004,0.00,2.62,0.00,0.000,4,0.000,0.068,2777,3110,1996
$GC,16041,1.17,121.6,639.0,9.9,930,16045,0.00,2.55,0.00,0.000,6,0.000,0.054,2778,1704,1995
$GC,16357,1.17,121.6,607.8,10.0,938,16366,0.00,2.67,0.00,0.000,4,0.000,0.077,2778,294,1996
$GC,16407,1.17,121.6,601.9,12.0,939,16411,0.00,2.53,0.00,0.000,6,0.000,0.043,2778,1705,1995
$GC,16719,1.17,121.6,568.5,10.7,947,16727,0.00,2.65,0.00,0.000,4,0.000,0.071,2778,296,1995
$GC,16754,1.17,121.6,564.4,12.0,947,16758,0.00,2.58,0.00,0.000,6,0.000,0.043,2778,1704,1995
$GC,17080,1.17,121.6,528.4,11.2,956,17119,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1995
$GC,17441,1.17,121.6,490.6,10.3,965,17479,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1705,1995
$GC,17801,1.17,121.6,454.7,10.0,974,17810,0.00,2.65,0.00,0.000,4,0.000,0.067,2778,296,1995
$GC,17842,1.17,121.6,450.2,11.7,975,17850,0.00,2.53,0.00,0.000,6,0.000,0.041,2778,1709,1995
$GC,18163,1.17,121.6,418.4,9.8,983,18202,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1710,1995
$GC,18504,1.17,121.6,385.8,9.6,1002,18513,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1710,1995
$GC,18816,1.17,121.6,357.2,9.3,1033,18825,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1710,1995
$GC,19129,1.17,121.6,329.5,9.0,1064,19138,0.00,2.65,0.00,0.000,4,0.000,0.066,2778,296,1995
$GC,19164,1.17,121.6,326.0,9.9,1067,19168,0.00,2.55,0.00,0.000,6,0.000,0.039,2778,1704,1995
$GC,19471,1.17,121.6,298.5,9.1,1098,19480,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1706,1995
$GC,19784,1.17,121.6,269.7,9.3,1129,19792,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1706,1995
$GC,20096,1.17,121.6,240.7,9.1,1160,20104,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1706,1995
$GC,20408,1.17,121.6,211.3,9.4,1191,20417,0.00,2.65,0.00,0.000,4,0.000,0.064,2778,293,1995
$GC,20459,1.17,121.6,206.0,11.1,1196,20468,0.00,2.53,0.00,0.000,6,0.000,0.037,2778,1709,1995
$GC,20773,1.17,121.6,174.4,9.7,1251,20776,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,1995
$GC,21082,1.17,121.6,142.8,9.8,1312,21085,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,1995
$GC,21391,1.17,121.6,111.4,9.6,1373,21395,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,1995
$GC,21700,1.17,121.6,79.8,9.8,1434,21704,0.00,2.62,0.00,0.000,4,0.000,0.061,2778,294,1995
$GC,21736,1.17,121.6,75.9,11.1,1441,21741,0.00,2.47,0.00,0.000,6,0.000,0.036,2778,1705,1995
$GC,22047,1.17,121.6,45.0,9.4,1502,22051,0.00,2.60,0.00,0.000,4,0.000,0.061,2778,290,1995
$GC,22082,1.17,121.6,41.2,9.7,1509,22086,0.00,2.47,0.00,0.000,6,0.000,0.036,2778,1704,1995
$GC,22391,1.17,148.0,15.6,6.8,1570,22416,0.00,2.67,20.20,0.790,4,0.000,0.056,2778,3110,1896
$GC,22498,1.19,148.0,7.0,8.9,1591,22502,0.00,2.55,0.00,0.000,6,0.000,0.041,2778,1701,1896
$FINISH,0.1,1.027167,0
$SM_CCo,22581,72.43,0.726,0,0,1441,260.02
$RAFOS_CLK,-1792
$RAFOS,1,1121329142,8.333333,8.317223,50,46,42,333,1584,1403
$RAFOS,0,1121328544,8.166667,8.151111,48,46,45,363,862,173
$RAFOS,2,1121315383,4.500000,4.495278,45,43,41,136,210,668
$RAFOS,1,1121314778,4.333333,4.327222,45,45,44,368,756,980
$RAFOS,0,1121314176,4.166667,4.160000,45,42,41,271,1275,213
$TT8_MAMPS,0.021476
$HUMID,2032
$INTERNAL_PRESSURE,7.2215
$TCM_TEMP,2.00
$ALTIM_TOP_PING,9.7,9.8
$ALTIM_BOTTOM_PING,970.6,0.0
$24V_AH,23.3,15.366
$10V_AH,10.0,11.253
$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,25.975,144.225,233.425,72.425,0.000,32.322,33.711,151.662,0.500,64.213,1122.983,16953.178,1338.682,2413.792,1241.612,33.360,2748.348,0.000,1555.958,1800.000,3.464
$DEVICE_MAMPS,190.983,91.273,1462.669,726.349,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1813.374,2245.115,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57507,1604
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140705,083541,7208.274,1413.562,32,1.4,32,3.1