version: 65.00
glider: 17
mission: 2
dive: 104
start: 7 17 105 5 40 40
data:
$ID,17
$MISSION,2
$DIVE,104
$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,240
$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,-27236.559
$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
$GPS1,053409,7154.285,1312.426,38,0.9,38
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-54.0
$GPS2,053946,7154.255,1312.429,15,1.3,16,2.4
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.110,-0.193
$KALMAN_X,166005.2,323.8,2196.0,-310442.5,-3222.9
$KALMAN_Y,-50534.5,-120.6,-1888.1,226783.0,3986.2
$MHEAD_RNG_PITCHd_Wd,148.0,126054,-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,-121.6,0.0,0.0,0,63,0.00,0.00,-46.03,0.000,2,0.000,0.000,287,1713,2722
$GC,65,-1.17,-121.6,3.4,-7.4,9,90,11.95,2.62,-7.10,0.000,4,0.191,0.070,2264,335,2999
$GC,303,-1.17,-121.6,31.2,-10.2,56,308,0.00,2.50,0.00,0.000,6,0.000,0.034,2264,1741,3002
$GC,612,-1.17,-121.6,58.3,-9.8,117,617,0.00,2.62,0.00,0.000,4,0.000,0.055,2264,331,3005
$GC,633,-1.17,-121.6,60.5,-10.7,121,637,0.00,2.50,0.00,0.000,6,0.000,0.035,2264,1740,3005
$GC,942,-1.17,-121.6,93.5,-9.6,182,946,0.00,2.62,0.00,0.000,4,0.000,0.057,2264,327,3006
$GC,973,-1.17,-121.6,96.6,-10.7,188,977,0.00,2.50,0.00,0.000,6,0.000,0.035,2264,1739,3006
$GC,1282,-1.17,-121.6,126.2,-10.0,249,1286,0.00,2.60,0.00,0.000,4,0.000,0.058,2264,3145,3007
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$GC,2591,-1.17,-121.6,241.5,-10.8,464,2596,0.00,2.53,0.00,0.000,6,0.000,0.036,2264,1734,3008
$GC,2899,-1.17,-121.6,270.3,-8.8,495,2908,0.00,2.60,0.00,0.000,4,0.000,0.058,2264,3144,3008
$GC,2924,-1.17,-121.6,272.7,-9.9,497,2928,0.00,2.55,0.00,0.000,6,0.000,0.043,2264,1740,3008
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$GC,3544,-1.17,-121.6,325.5,-8.6,559,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3008
$GC,3856,-1.17,-121.6,351.6,-7.7,590,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3008
$GC,4168,-1.17,-121.6,376.9,-8.1,621,4177,0.00,2.60,0.00,0.000,4,0.000,0.061,2264,332,3008
$GC,4189,-1.17,-121.6,378.7,-9.0,623,4198,0.00,2.47,0.00,0.000,6,0.000,0.038,2264,1741,3008
$GC,4530,-1.17,-121.6,407.0,-8.2,651,4539,0.00,2.60,0.00,0.000,4,0.000,0.061,2264,338,3007
$GC,4550,-1.17,-121.6,408.8,-8.6,651,4554,0.00,2.47,0.00,0.000,6,0.000,0.038,2264,1740,3008
$GC,4892,-1.17,-121.6,435.1,-7.4,660,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1741,3008
$GC,5252,-1.17,-121.6,461.4,-7.3,669,5261,0.00,2.58,0.00,0.000,4,0.000,0.059,2264,3143,3008
$GC,5282,-1.17,-121.6,463.7,-8.1,669,5286,0.00,2.53,0.00,0.000,6,0.000,0.046,2263,1739,3008
$GC,5613,-1.17,-121.6,489.5,-8.4,678,5622,0.00,2.60,0.00,0.000,4,0.000,0.058,2264,3147,3008
$GC,5638,-1.17,-121.6,491.9,-9.8,678,5643,0.00,2.53,0.00,0.000,6,0.000,0.047,2264,1742,3008
$GC,5975,-1.17,-121.6,523.0,-9.1,687,5983,0.00,2.60,0.00,0.000,4,0.000,0.064,2264,335,3008
$GC,6040,-1.17,-121.6,529.1,-9.4,688,6044,0.00,2.50,0.00,0.000,6,0.000,0.038,2264,1741,3008
$GC,6377,-1.17,-121.6,555.3,-7.6,697,6385,0.00,2.60,0.00,0.000,4,0.000,0.061,2264,3143,3008
$GC,6406,-1.17,-121.6,557.8,-8.4,697,6411,0.00,2.55,0.00,0.000,6,0.000,0.048,2264,1733,3008
$GC,6738,-1.17,-121.6,585.2,-8.5,706,6746,0.00,2.62,0.00,0.000,4,0.000,0.058,2264,3142,3008
$GC,6798,-1.17,-121.6,590.3,-8.8,707,6802,0.00,2.53,0.00,0.000,6,0.000,0.049,2264,1740,3008
$GC,7139,-1.17,-121.6,617.4,-7.9,716,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3008
$GC,7500,-1.17,-121.6,644.6,-7.2,725,7508,0.00,2.62,0.00,0.000,4,0.000,0.061,2264,3143,3008
$GC,7525,-1.17,-121.6,646.5,-8.3,725,7529,0.00,2.53,0.00,0.000,6,0.000,0.051,2264,1741,3008
$GC,7861,-1.17,-121.6,671.0,-7.3,734,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1741,3008
$GC,8222,-1.17,-121.6,698.0,-7.7,743,8230,0.00,2.62,0.00,0.000,4,0.000,0.072,2264,335,3008
$GC,8247,-1.17,-121.6,700.1,-9.4,743,8251,0.00,2.47,0.00,0.000,6,0.000,0.041,2264,1740,3007
$GC,8583,-1.17,-121.6,727.4,-8.2,752,8592,0.00,2.62,0.00,0.000,4,0.000,0.071,2264,335,3008
$GC,8603,-1.17,-121.6,729.1,-8.5,752,8607,0.00,2.50,0.00,0.000,6,0.000,0.042,2264,1739,3008
$GC,8944,-1.17,-121.6,757.9,-8.4,761,8953,0.00,2.62,0.00,0.000,4,0.000,0.067,2264,3146,3007
$GC,8964,-1.17,-121.6,759.6,-8.6,761,8968,0.00,2.55,0.00,0.000,6,0.000,0.054,2264,1742,3007
$GC,9305,-1.17,-121.6,788.1,-8.3,770,9314,0.00,2.65,0.00,0.000,4,0.000,0.075,2264,335,3007
$GC,9325,-1.17,-121.6,789.9,-9.1,770,9329,0.00,2.50,0.00,0.000,6,0.000,0.043,2264,1739,3007
$GC,9667,-1.17,-121.6,817.4,-7.8,779,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3007
$GC,10027,-1.17,-121.6,844.9,-7.3,788,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3006
$GC,10388,-1.17,-121.6,871.6,-7.5,797,10396,0.00,2.67,0.00,0.000,4,0.000,0.080,2264,337,3005
$GC,10408,-1.17,-121.6,873.2,-8.5,797,10415,0.00,2.50,0.00,0.000,6,0.000,0.044,2264,1741,3005
$GC,10751,-1.17,-121.6,900.9,-8.3,806,10790,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1742,3005
$GC,11112,-1.17,-121.6,930.8,-8.4,815,11121,0.00,2.70,0.00,0.000,4,0.000,0.084,2264,337,3004
$GC,11132,-1.17,-121.6,932.5,-8.8,815,11136,0.00,2.50,0.00,0.000,6,0.000,0.045,2264,1739,3004
$GC,11473,-1.17,-121.6,960.7,-8.2,824,11512,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3003
$GC,11834,-1.17,-121.6,989.3,-7.7,833,11873,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3002
$GC,11916,-0.31,0.0,995.2,7.4,835,12034,1.00,0.00,109.62,1.469,6,0.130,0.000,2453,1740,2501
$GC,12037,1.17,121.6,997.4,3.1,838,12154,1.62,0.00,105.65,1.427,6,0.087,0.000,2778,1740,2005
$GC,12475,1.17,121.6,954.1,11.3,849,12514,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1740,2002
$GC,12836,1.17,121.6,915.8,10.5,858,12844,0.00,2.83,0.00,0.000,4,0.000,0.091,2778,303,2001
$GC,12881,1.17,121.6,910.8,11.2,859,12885,0.00,2.60,0.00,0.000,6,0.000,0.050,2778,1706,2001
$GC,13197,1.17,121.6,879.0,9.9,867,13206,0.00,2.65,0.00,0.000,4,0.000,0.071,2778,3112,2000
$GC,13263,1.17,121.6,872.5,10.0,868,13267,0.00,2.60,0.00,0.000,6,0.000,0.058,2778,1704,1999
$GC,13599,1.17,121.6,839.7,10.0,877,13638,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1999
$GC,13960,1.17,121.6,801.3,11.1,886,13968,0.00,2.70,0.00,0.000,4,0.000,0.087,2778,298,1999
$GC,14001,1.17,121.6,796.3,12.6,887,14009,0.00,2.55,0.00,0.000,6,0.000,0.047,2778,1707,1998
$GC,14322,1.17,121.6,757.6,12.3,895,14360,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1998
$GC,14682,1.17,121.6,712.0,12.7,904,14691,0.00,2.65,0.00,0.000,4,0.000,0.070,2778,3110,1998
$GC,14732,1.17,121.6,705.3,13.0,905,14736,0.00,2.58,0.00,0.000,6,0.000,0.057,2778,1705,1997
$GC,15044,1.17,121.6,667.2,11.8,913,15052,0.00,2.70,0.00,0.000,4,0.000,0.081,2778,292,1997
$GC,15085,1.17,121.6,662.3,12.3,914,15093,0.00,2.55,0.00,0.000,6,0.000,0.046,2777,1706,1997
$GC,15406,1.17,121.6,629.8,9.4,922,15414,0.00,2.65,0.00,0.000,4,0.000,0.069,2778,3114,1997
$GC,15456,1.17,121.6,625.1,9.6,923,15460,0.00,2.58,0.00,0.000,6,0.000,0.055,2778,1704,1996
$GC,15767,1.17,121.6,596.6,9.2,931,15776,0.00,2.67,0.00,0.000,4,0.000,0.079,2778,296,1996
$GC,15802,1.17,121.6,593.0,11.2,931,15807,0.00,2.58,0.00,0.000,6,0.000,0.044,2778,1705,1996
$GC,16128,1.17,121.6,559.8,10.7,940,16167,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,1996
$GC,16489,1.17,121.6,520.6,10.4,949,16528,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,1996
$GC,16850,1.17,121.6,485.1,9.2,958,16858,0.00,2.65,0.00,0.000,4,0.000,0.065,2778,3112,1996
$GC,16900,1.17,121.6,480.3,9.4,959,16904,0.00,2.55,0.00,0.000,6,0.000,0.050,2778,1703,1995
$GC,17212,1.17,121.6,449.2,10.3,967,17220,0.00,2.65,0.00,0.000,4,0.000,0.072,2778,296,1995
$GC,17293,1.17,121.6,439.5,13.5,969,17301,0.00,2.53,0.00,0.000,6,0.000,0.041,2778,1708,1995
$GC,17614,1.17,121.6,403.4,11.2,977,17652,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,1995
$GC,17956,1.17,121.6,366.2,10.8,1008,17965,0.00,2.62,0.00,0.000,4,0.000,0.061,2778,3110,1995
$GC,18007,1.17,121.6,360.5,12.9,1013,18016,0.00,2.55,0.00,0.000,6,0.000,0.048,2778,1700,1995
$GC,18319,1.17,121.6,328.0,10.6,1044,18328,0.00,2.62,0.00,0.000,4,0.000,0.068,2779,293,1995
$GC,18375,1.17,121.6,321.5,10.8,1049,18379,0.00,2.53,0.00,0.000,6,0.000,0.038,2778,1696,1995
$GC,18682,1.17,121.6,287.4,11.1,1080,18692,0.00,2.62,0.00,0.000,4,0.000,0.061,2778,3109,1995
$GC,18748,1.17,121.6,279.8,12.5,1086,18752,0.00,2.58,0.00,0.000,6,0.000,0.046,2778,1705,1995
$GC,19055,1.17,121.6,247.4,10.3,1117,19065,0.00,2.62,0.00,0.000,4,0.000,0.067,2778,296,1995
$GC,19127,1.17,121.6,239.7,12.1,1124,19136,0.00,2.53,0.00,0.000,6,0.000,0.038,2778,1711,1995
$GC,19439,1.17,121.6,209.2,10.3,1155,19448,0.00,2.58,0.00,0.000,4,0.000,0.058,2778,3106,1995
$GC,19484,1.17,121.6,204.2,11.9,1159,19489,0.00,2.55,0.00,0.000,6,0.000,0.044,2778,1707,1995
$GC,19794,1.17,121.6,171.3,10.3,1216,19798,0.00,2.62,0.00,0.000,4,0.000,0.066,2778,299,1996
$GC,19836,1.17,121.6,166.9,11.5,1224,19840,0.00,2.50,0.00,0.000,6,0.000,0.038,2778,1706,1995
$GC,20145,1.17,121.6,135.1,10.6,1285,20148,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,1996
$GC,20454,1.17,121.6,102.7,10.4,1346,20458,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,1996
$GC,20765,1.17,121.6,72.3,9.3,1407,20769,0.00,2.62,0.00,0.000,4,0.000,0.063,2778,297,1996
$GC,20821,1.17,121.6,66.5,10.6,1418,20825,0.00,2.50,0.00,0.000,6,0.000,0.037,2778,1705,1996
$GC,21131,1.17,121.6,35.1,12.0,1479,21134,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1706,1996
$GC,21440,1.17,154.7,7.6,6.5,1540,21470,0.00,2.67,25.02,0.782,4,0.000,0.061,2778,297,1870
$FINISH,0.2,1.026905,0
$SM_CCo,21550,59.78,0.732,0,0,1522,240.15
$RAFOS_CLK,-3836
$RAFOS,1,1121588345,8.333333,8.318055,51,42,42,229,243,1487
$RAFOS,0,1121587743,8.166667,8.150833,43,43,40,198,656,1099
$TT8_MAMPS,0.021476
$HUMID,2043
$INTERNAL_PRESSURE,7.23127
$TCM_TEMP,2.00
$ALTIM_TOP_PING,10.0,9.7
$ALTIM_BOTTOM_PING,970.5,0.0
$24V_AH,23.3,16.820
$10V_AH,10.0,12.586
$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,26.000,191.225,240.300,59.775,0.000,32.322,36.805,158.735,0.500,57.560,1140.499,16145.722,1129.781,2402.823,1214.562,33.362,2536.768,0.000,1561.990,900.000,3.464
$DEVICE_MAMPS,190.983,90.506,1468.805,732.485,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1768.190,2188.729,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,55880,1558
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170705,114209,7151.906,1321.511,41,0.9,41,2.5