version: 65.00
glider: 17
mission: 2
dive: 98
start: 7 15 105 16 5 14
data:
$ID,17
$MISSION,2
$DIVE,98
$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,-26859.531
$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,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,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
$GPS1,155539,7201.973,1351.938,49,0.8,49
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-53.4
$GPS2,160422,7201.995,1352.153,20,1.4,21,2.8
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.136,-0.176
$KALMAN_X,176648.5,-647.5,-887.4,-292260.0,6884.3
$KALMAN_Y,-65512.4,-54.3,-83.2,254221.2,98.8
$MHEAD_RNG_PITCHd_Wd,214.8,151007,-16.5,-7.992
$D_GRID,995
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
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$GC,65,-1.17,-121.6,3.1,-6.8,9,95,11.93,2.70,-9.07,0.000,4,0.191,0.065,2264,3144,2999
$GC,234,-1.17,-121.6,22.3,-10.7,42,238,0.00,2.55,0.00,0.000,6,0.000,0.041,2264,1730,3002
$GC,543,-1.17,-121.6,49.9,-8.1,103,547,0.00,2.58,0.00,0.000,4,0.000,0.058,2264,335,3003
$GC,573,-1.17,-121.6,52.6,-9.1,109,578,0.00,2.47,0.00,0.000,6,0.000,0.035,2265,1739,3003
$GC,883,-1.17,-121.6,80.2,-9.2,170,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3004
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$GC,3102,-1.17,-121.6,275.6,-9.4,521,3111,0.00,2.53,0.00,0.000,6,0.000,0.043,2265,1738,3005
$GC,3415,-1.17,-121.6,303.5,-8.9,552,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1738,3005
$GC,3727,-1.17,-121.6,332.0,-9.3,583,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1738,3005
$GC,4039,-1.17,-121.6,359.8,-8.6,614,4048,0.00,2.58,0.00,0.000,4,0.000,0.060,2264,334,3005
$GC,4069,-1.17,-121.6,362.7,-10.3,617,4079,0.00,2.50,0.00,0.000,6,0.000,0.035,2264,1742,3005
$GC,4382,-1.17,-121.6,389.7,-8.4,648,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1742,3005
$GC,4713,-1.17,-121.6,415.9,-7.7,666,4721,0.00,2.58,0.00,0.000,4,0.000,0.055,2265,3141,3005
$GC,4733,-1.17,-121.6,417.4,-7.9,666,4737,0.00,2.53,0.00,0.000,6,0.000,0.044,2265,1737,3005
$GC,5074,-1.17,-121.6,443.3,-7.7,675,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1737,3005
$GC,5435,-1.17,-121.6,472.0,-8.1,684,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1737,3005
$GC,5795,-1.17,-121.6,500.1,-7.7,693,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1737,3005
$GC,6157,-1.17,-121.6,525.7,-6.8,702,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1737,3005
$GC,6517,-1.17,-121.6,551.2,-7.3,711,6525,0.00,2.60,0.00,0.000,4,0.000,0.055,2265,3141,3004
$GC,6562,-1.17,-121.6,554.8,-8.1,712,6566,0.00,2.53,0.00,0.000,6,0.000,0.045,2264,1738,3005
$GC,6878,-1.17,-121.6,579.0,-7.9,720,6887,0.00,2.58,0.00,0.000,4,0.000,0.064,2264,335,3005
$GC,6913,-1.17,-121.6,582.2,-9.8,720,6918,0.00,2.50,0.00,0.000,6,0.000,0.036,2264,1733,3005
$GC,7240,-1.17,-121.6,611.8,-9.2,729,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1733,3005
$GC,7600,-1.17,-121.6,643.3,-8.5,738,7609,0.00,2.62,0.00,0.000,4,0.000,0.062,2265,3145,3005
$GC,7630,-1.17,-121.6,646.0,-9.7,738,7634,0.00,2.53,0.00,0.000,6,0.000,0.048,2264,1740,3005
$GC,7963,-1.17,-121.6,672.8,-8.1,747,8000,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1741,3005
$GC,8322,-1.17,-121.6,700.8,-7.6,756,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1741,3005
$GC,8683,-1.17,-121.6,726.9,-7.0,765,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3005
$GC,9044,-1.17,-121.6,752.4,-7.2,774,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1741,3005
$GC,9404,-1.17,-121.6,781.2,-8.2,783,9412,0.00,2.65,0.00,0.000,4,0.000,0.064,2265,3142,3005
$GC,9429,-1.17,-121.6,783.3,-10.0,783,9433,0.00,2.55,0.00,0.000,6,0.000,0.052,2264,1739,3004
$GC,9765,-1.17,-121.6,811.1,-8.1,792,9804,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3004
$GC,10126,-1.17,-121.6,840.4,-8.1,801,10134,0.00,2.65,0.00,0.000,4,0.000,0.078,2264,336,3004
$GC,10156,-1.17,-121.6,842.9,-9.5,801,10160,0.00,2.50,0.00,0.000,6,0.000,0.042,2264,1743,3004
$GC,10487,-1.17,-121.6,869.6,-8.2,810,10525,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1744,3003
$GC,10848,-1.17,-121.6,899.7,-8.3,819,10856,0.00,2.67,0.00,0.000,4,0.000,0.081,2265,338,3002
$GC,10878,-1.17,-121.6,902.3,-9.5,819,10882,0.00,2.50,0.00,0.000,6,0.000,0.043,2264,1740,3002
$GC,11209,-1.17,-121.6,927.4,-7.4,828,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1742,3001
$GC,11569,-1.17,-121.6,954.2,-7.4,837,11578,0.00,2.70,0.00,0.000,4,0.000,0.084,2264,341,2999
$GC,11594,-1.17,-121.6,956.1,-8.7,837,11598,0.00,2.50,0.00,0.000,6,0.000,0.046,2265,1740,2999
$GC,11931,-1.17,-121.6,979.9,-7.2,846,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1742,2999
$GC,12173,-0.31,0.0,997.5,7.3,852,12291,1.02,0.00,108.75,1.472,6,0.134,0.000,2457,1742,2501
$GC,12292,1.17,121.6,1000.0,3.2,855,12409,1.58,2.65,104.40,1.407,4,0.094,0.067,2777,3109,2004
$GC,12440,1.17,121.6,990.2,11.4,858,12449,0.00,2.60,0.00,0.000,6,0.000,0.057,2777,1710,2003
$GC,12778,1.17,121.6,952.9,11.1,867,12786,0.00,2.78,0.00,0.000,4,0.000,0.096,2777,301,2002
$GC,12818,1.17,121.6,947.9,12.6,868,12827,0.00,2.58,0.00,0.000,6,0.000,0.051,2777,1704,2001
$GC,13139,1.17,121.6,911.8,11.3,876,13178,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,2000
$GC,13500,1.17,121.6,870.1,11.7,885,13539,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,2000
$GC,13861,1.17,121.6,830.7,10.7,894,13899,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,2000
$GC,14221,1.17,121.6,793.3,10.3,903,14260,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,1998
$GC,14582,1.17,121.6,755.9,10.4,912,14620,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,1996
$GC,14943,1.17,121.6,716.3,11.2,921,14984,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,1997
$GC,15303,1.17,121.6,676.2,11.0,930,15342,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,1996
$GC,15664,1.17,121.6,634.6,11.9,939,15672,0.00,2.70,0.00,0.000,4,0.000,0.076,2777,297,1996
$GC,15734,1.17,121.6,625.4,11.8,940,15739,0.00,2.53,0.00,0.000,6,0.000,0.043,2777,1707,1995
$GC,16066,1.17,121.6,589.3,10.5,949,16104,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1995
$GC,16428,1.17,121.6,553.8,9.9,958,16436,0.00,2.58,0.00,0.000,4,0.000,0.064,2777,3109,1995
$GC,16468,1.17,121.6,549.4,11.7,959,16477,0.00,2.55,0.00,0.000,6,0.000,0.051,2777,1704,1994
$GC,16789,1.17,121.6,514.7,11.2,967,16798,0.00,2.65,0.00,0.000,4,0.000,0.072,2777,296,1994
$GC,16824,1.17,121.6,510.4,11.6,967,16829,0.00,2.55,0.00,0.000,6,0.000,0.040,2777,1696,1993
$GC,17151,1.17,121.6,474.2,10.9,976,17189,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1697,1994
$GC,17511,1.17,121.6,436.8,10.1,985,17550,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1697,1994
$GC,17872,1.17,121.6,401.8,9.8,994,17910,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1697,1994
$GC,18214,1.17,121.6,367.1,10.1,1025,18223,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1697,1994
$GC,18526,1.17,121.6,335.4,10.1,1056,18535,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1698,1994
$GC,18838,1.17,121.6,304.6,10.2,1087,18847,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1698,1994
$GC,19151,1.17,121.6,272.6,10.1,1118,19159,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1698,1994
$GC,19463,1.17,121.6,243.1,9.6,1149,19471,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1697,1995
$GC,19775,1.17,121.6,215.2,8.8,1180,19783,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1697,1994
$GC,20088,1.17,121.6,186.5,8.7,1225,20092,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1698,1994
$GC,20397,1.17,121.6,157.3,10.0,1286,20401,0.00,2.60,0.00,0.000,4,0.000,0.062,2777,296,1994
$GC,20443,1.17,121.6,152.3,11.0,1295,20447,0.00,2.53,0.00,0.000,6,0.000,0.036,2777,1710,1994
$GC,20753,1.17,121.6,121.2,10.1,1356,20756,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1710,1994
$GC,21062,1.17,121.6,91.2,10.1,1417,21067,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1710,1994
$GC,21372,1.17,121.6,61.0,10.1,1478,21375,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1710,1993
$GC,21681,1.17,121.6,30.9,9.8,1539,21684,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1710,1994
$GC,21990,1.17,155.4,6.5,6.5,1600,22025,0.00,2.65,25.83,0.751,4,0.000,0.053,2777,3112,1866
$FINISH,0.5,1.026901,0
$SM_CCo,22076,67.07,0.709,0,0,1441,260.02
$RAFOS_CLK,179
$RAFOS,2,1121459378,20.500000,20.493889,52,45,43,209,862,765
$RAFOS,1,1121458776,20.333334,20.326666,44,43,42,1562,645,843
$RAFOS,2,1121444943,16.500000,16.484167,45,45,42,203,813,146
$RAFOS,1,1121444346,16.333334,16.318333,44,39,38,135,6,1430
$RAFOS,0,1121443745,16.166666,16.151388,47,43,40,219,107,1200
$TT8_MAMPS,0.021476
$HUMID,2013
$INTERNAL_PRESSURE,7.23127
$TCM_TEMP,2.00
$ALTIM_TOP_PING,9.8,9.8
$ALTIM_BOTTOM_PING,971.3,0.0
$24V_AH,23.4,16.100
$10V_AH,10.0,11.919
$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,26.000,103.250,238.975,67.075,0.000,64.646,68.735,214.995,0.500,73.463,1037.224,16640.881,1411.711,2351.204,1320.422,33.363,2756.848,0.000,1493.089,1800.000,3.463
$DEVICE_MAMPS,190.983,95.875,1471.873,708.708,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1782.124,2215.562,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57092,1613
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150705,221538,7200.491,1347.906,39,1.0,39,2.8