version: 65.00
glider: 17
mission: 2
dive: 108
start: 7 18 105 6 37 30
data:
$ID,17
$MISSION,2
$DIVE,108
$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,-27500.504
$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,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
$GPS1,062739,7145.338,1325.926,48,1.2,48
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-53.8
$GPS2,063638,7145.412,1326.024,20,1.3,38,2.5
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.152,-0.162
$KALMAN_X,182518.9,-104.4,-1285.3,-314574.5,10670.6
$KALMAN_Y,-51023.7,-153.2,1062.2,207971.7,-5050.5
$MHEAD_RNG_PITCHd_Wd,220.7,116842,-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,-50.12,0.000,2,0.000,0.000,290,1710,2835
$GC,69,-1.17,-121.6,3.6,-6.9,10,94,11.95,2.58,-3.90,0.000,4,0.193,0.069,2265,334,2998
$GC,302,-1.17,-121.6,32.5,-9.5,56,307,0.00,2.47,0.00,0.000,6,0.000,0.034,2265,1740,3001
$GC,611,-1.17,-121.6,59.7,-8.8,117,616,0.00,2.58,0.00,0.000,4,0.000,0.056,2265,332,3003
$GC,657,-1.17,-121.6,63.9,-9.3,126,661,0.00,2.47,0.00,0.000,6,0.000,0.035,2265,1742,3003
$GC,966,-1.17,-121.6,91.3,-9.1,187,971,0.00,2.60,0.00,0.000,4,0.000,0.057,2265,332,3005
$GC,1002,-1.17,-121.6,94.8,-10.4,194,1006,0.00,2.47,0.00,0.000,6,0.000,0.035,2265,1739,3005
$GC,1311,-1.17,-121.6,122.7,-8.8,255,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3006
$GC,1620,-1.17,-121.6,151.8,-9.5,316,1625,0.00,2.60,0.00,0.000,4,0.000,0.058,2265,333,3006
$GC,1651,-1.17,-121.6,154.8,-10.2,322,1655,0.00,2.50,0.00,0.000,6,0.000,0.036,2265,1738,3006
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$GC,2893,-1.17,-121.6,262.9,-8.5,494,2902,0.00,2.60,0.00,0.000,4,0.000,0.059,2265,334,3006
$GC,2923,-1.17,-121.6,265.6,-9.6,497,2933,0.00,2.50,0.00,0.000,6,0.000,0.037,2265,1746,3006
$GC,3235,-1.17,-121.6,291.9,-8.4,528,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1746,3006
$GC,3548,-1.17,-121.6,318.5,-8.5,559,3557,0.00,2.58,0.00,0.000,4,0.000,0.060,2265,3148,3006
$GC,3562,-1.17,-121.6,319.8,-8.5,560,3567,0.00,2.55,0.00,0.000,6,0.000,0.045,2265,1745,3006
$GC,3870,-1.17,-121.6,346.2,-8.4,591,3879,0.00,2.58,0.00,0.000,4,0.000,0.061,2265,336,3006
$GC,3901,-1.17,-121.6,349.0,-9.8,594,3910,0.00,2.45,0.00,0.000,6,0.000,0.037,2265,1741,3006
$GC,4213,-1.17,-121.6,375.0,-8.2,625,4222,0.00,2.58,0.00,0.000,4,0.000,0.059,2265,3145,3006
$GC,4248,-1.17,-121.6,378.1,-8.9,628,4253,0.00,2.55,0.00,0.000,6,0.000,0.045,2265,1740,3007
$GC,4556,-1.17,-121.6,403.7,-8.5,656,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3006
$GC,4916,-1.17,-121.6,433.4,-8.4,665,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3006
$GC,5277,-1.17,-121.6,463.3,-8.3,674,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1740,3006
$GC,5638,-1.17,-121.6,492.9,-8.3,683,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3006
$GC,5998,-1.17,-121.6,520.7,-7.7,692,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1740,3006
$GC,6359,-1.17,-121.6,548.4,-7.6,701,6367,0.00,2.62,0.00,0.000,4,0.000,0.058,2265,3145,3006
$GC,6394,-1.17,-121.6,551.4,-8.8,701,6399,0.00,2.55,0.00,0.000,6,0.000,0.048,2264,1747,3006
$GC,6722,-1.17,-121.6,576.7,-7.7,710,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1747,3006
$GC,7081,-1.17,-121.6,604.8,-7.8,719,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1746,3006
$GC,7442,-1.17,-121.6,633.4,-7.9,728,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1747,3006
$GC,7802,-1.17,-121.6,658.7,-6.7,737,7811,0.00,2.62,0.00,0.000,4,0.000,0.071,2265,335,3006
$GC,7843,-1.17,-121.6,661.7,-8.0,738,7851,0.00,2.50,0.00,0.000,6,0.000,0.040,2265,1739,3006
$GC,8164,-1.17,-121.6,684.8,-7.4,746,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3006
$GC,8524,-1.17,-121.6,712.4,-7.5,755,8563,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3006
$GC,8885,-1.17,-121.6,739.5,-7.5,764,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3006
$GC,9246,-1.17,-121.6,765.9,-7.3,773,9284,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3005
$GC,9606,-1.17,-121.6,793.1,-7.5,782,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3005
$GC,9967,-1.17,-121.6,820.4,-7.7,791,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3004
$GC,10329,-1.17,-121.6,847.4,-7.4,800,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3003
$GC,10689,-1.17,-121.6,874.2,-7.3,809,10727,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3002
$GC,11049,-1.17,-121.6,900.5,-7.4,818,11057,0.00,2.67,0.00,0.000,4,0.000,0.081,2265,338,3002
$GC,11085,-1.17,-121.6,903.7,-10.0,818,11090,0.00,2.50,0.00,0.000,6,0.000,0.044,2265,1738,3002
$GC,11411,-1.17,-121.6,931.8,-8.5,827,11419,0.00,2.67,0.00,0.000,4,0.000,0.083,2265,339,3001
$GC,11436,-1.17,-121.6,934.1,-9.6,827,11440,0.00,2.50,0.00,0.000,6,0.000,0.045,2265,1740,3001
$GC,11772,-1.17,-121.6,961.4,-8.0,836,11810,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1742,3000
$GC,12133,-1.17,-121.6,988.8,-7.5,845,12171,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,2999
$GC,12254,-0.31,0.0,997.6,7.3,848,12373,1.00,0.00,109.22,1.470,6,0.133,0.000,2453,1742,2501
$GC,12375,1.17,121.6,1000.0,3.1,851,12492,1.58,2.65,105.00,1.433,4,0.088,0.068,2778,3108,2005
$GC,12532,1.17,121.6,988.9,11.8,854,12537,0.00,2.65,0.00,0.000,6,0.000,0.056,2778,1714,2003
$GC,12858,1.17,121.6,952.6,11.1,863,12897,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1714,2002
$GC,13219,1.17,121.6,912.7,11.0,872,13228,0.00,2.78,0.00,0.000,4,0.000,0.092,2778,300,2000
$GC,13254,1.17,121.6,908.7,10.8,872,13259,0.00,2.58,0.00,0.000,6,0.000,0.049,2778,1697,2000
$GC,13580,1.17,121.6,873.0,10.9,881,13620,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1698,2000
$GC,13941,1.17,121.6,833.8,10.9,890,13979,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1698,2000
$GC,14302,1.17,121.6,794.6,10.9,899,14310,0.00,2.65,0.00,0.000,4,0.000,0.069,2778,3109,1999
$GC,14352,1.17,121.6,788.8,11.3,900,14356,0.00,2.58,0.00,0.000,6,0.000,0.058,2778,1706,1998
$GC,14663,1.17,121.6,753.9,11.5,908,14672,0.00,2.70,0.00,0.000,4,0.000,0.083,2778,296,1998
$GC,14704,1.17,121.6,748.9,12.6,909,14712,0.00,2.55,0.00,0.000,6,0.000,0.047,2778,1705,1998
$GC,15025,1.17,121.6,711.7,11.5,917,15033,0.00,2.65,0.00,0.000,4,0.000,0.070,2778,3108,1997
$GC,15100,1.17,121.6,702.7,11.7,918,15105,0.00,2.60,0.00,0.000,6,0.000,0.057,2778,1712,1997
$GC,15427,1.17,121.6,666.4,10.9,927,15465,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1712,1997
$GC,15787,1.17,121.6,630.1,9.9,936,15796,0.00,2.70,0.00,0.000,4,0.000,0.080,2778,296,1997
$GC,15828,1.17,121.6,625.8,10.4,937,15836,0.00,2.55,0.00,0.000,6,0.000,0.044,2778,1708,1996
$GC,16149,1.17,121.6,594.2,10.0,945,16187,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,1996
$GC,16509,1.17,121.6,558.9,9.8,954,16518,0.00,2.62,0.00,0.000,4,0.000,0.067,2778,3109,1996
$GC,16560,1.17,121.6,553.8,9.5,955,16564,0.00,2.55,0.00,0.000,6,0.000,0.052,2778,1701,1996
$GC,16871,1.17,121.6,522.6,9.9,963,16880,0.00,2.65,0.00,0.000,4,0.000,0.073,2778,295,1995
$GC,16942,1.17,121.6,514.7,10.2,964,16946,0.00,2.50,0.00,0.000,6,0.000,0.041,2778,1706,1996
$GC,17273,1.17,121.6,479.1,11.1,973,17311,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,1995
$GC,17634,1.17,121.6,437.7,11.5,982,17642,0.00,2.62,0.00,0.000,4,0.000,0.063,2778,3109,1996
$GC,17674,1.17,121.6,432.8,10.9,983,17683,0.00,2.55,0.00,0.000,6,0.000,0.048,2778,1704,1995
$GC,17995,1.17,121.6,397.6,10.7,991,18004,0.00,2.62,0.00,0.000,4,0.000,0.071,2778,296,1995
$GC,18066,1.17,121.6,389.6,9.3,998,18075,0.00,2.50,0.00,0.000,6,0.000,0.039,2778,1707,1996
$GC,18378,1.17,121.6,360.0,9.1,1029,18387,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1709,1996
$GC,18691,1.17,121.6,331.0,9.6,1060,18700,0.00,2.65,0.00,0.000,4,0.000,0.067,2778,295,1996
$GC,18732,1.17,121.6,326.9,10.8,1064,18741,0.00,2.53,0.00,0.000,6,0.000,0.040,2778,1707,1996
$GC,19044,1.17,121.6,297.9,9.4,1095,19053,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1996
$GC,19356,1.17,121.6,267.1,9.9,1126,19365,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1996
$GC,19668,1.17,121.6,235.7,10.5,1157,19678,0.00,2.65,0.00,0.000,4,0.000,0.064,2778,296,1996
$GC,19703,1.17,121.6,231.8,12.0,1160,19708,0.00,2.53,0.00,0.000,6,0.000,0.038,2778,1694,1996
$GC,20011,1.17,121.6,200.0,10.2,1191,20020,0.00,2.62,0.00,0.000,4,0.000,0.059,2778,3108,1996
$GC,20077,1.17,121.6,192.8,10.6,1203,20081,0.00,2.53,0.00,0.000,6,0.000,0.044,2778,1705,1996
$GC,20386,1.17,121.6,158.5,10.6,1264,20390,0.00,2.65,0.00,0.000,4,0.000,0.066,2778,293,1996
$GC,20422,1.17,121.6,154.5,11.8,1271,20426,0.00,2.50,0.00,0.000,6,0.000,0.037,2778,1706,1996
$GC,20731,1.17,121.6,121.8,10.0,1332,20734,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,1996
$GC,21040,1.17,121.6,90.5,9.7,1393,21044,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,1996
$GC,21350,1.17,121.6,58.3,11.1,1454,21354,0.00,2.65,0.00,0.000,4,0.000,0.062,2778,294,1996
$GC,21411,1.17,121.6,51.6,11.1,1466,21415,0.00,2.50,0.00,0.000,6,0.000,0.037,2778,1707,1996
$GC,21720,1.17,121.6,22.7,8.6,1527,21724,0.00,2.58,0.00,0.000,4,0.000,0.058,2778,3109,1996
$GC,21838,1.17,130.1,13.3,7.6,1550,21853,0.00,2.50,6.15,0.856,6,0.000,0.042,2778,1702,1969
$FINISH,0.1,1.027015,0
$SM_CCo,22022,75.60,0.729,0,0,1522,240.15
$RAFOS_CLK,198
$RAFOS,2,1121689745,12.500000,12.484722,45,44,43,139,1436,100
$RAFOS,1,1121689142,12.333333,12.317223,54,44,43,205,48,915
$RAFOS,0,1121688549,12.166667,12.152500,49,48,46,914,850,896
$RAFOS,2,1121675369,8.500000,8.491389,48,46,44,106,1197,886
$RAFOS,1,1121674768,8.333333,8.324445,47,46,45,1511,728,888
$RAFOS,0,1121674167,8.166667,8.157500,43,39,37,227,749,1441
$TT8_MAMPS,0.021476
$HUMID,2043
$INTERNAL_PRESSURE,7.23127
$TCM_TEMP,2.50
$ALTIM_TOP_PING,9.8,9.8
$ALTIM_BOTTOM_PING,970.8,0.0
$24V_AH,23.3,17.308
$10V_AH,10.0,13.034
$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,25.900,144.475,220.375,75.600,0.000,64.643,72.974,206.131,0.500,88.880,1094.225,16477.164,1416.618,2389.192,1353.240,33.380,2794.846,0.000,1513.745,1800.000,3.462
$DEVICE_MAMPS,192.517,93.574,1469.572,729.417,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1791.549,2219.796,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56941,1583
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180705,124709,7143.918,1322.921,38,1.4,38,2.5