version: 65.00
glider: 17
mission: 2
dive: 117
start: 7 20 105 16 26 36
data:
$ID,17
$MISSION,2
$DIVE,117
$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,-28097.352
$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,36
$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
$GPS1,161956,7129.103,1234.814,48,1.3,48
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-53.5
$GPS2,162551,7129.066,1234.717,18,1.3,35,1.9
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.083,-0.206
$KALMAN_X,182075.2,-26.2,-29.0,-347432.7,-106.9
$KALMAN_Y,-47585.3,-231.9,-432.5,175837.1,1741.9
$MHEAD_RNG_PITCHd_Wd,200.0,74270,-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,-121.5,0.0,0.0,0,53,0.00,0.00,-35.88,0.000,2,0.000,0.000,289,1755,2486
$GC,54,-1.17,-121.6,3.2,-7.2,7,90,11.93,2.65,-13.40,0.000,4,0.191,0.070,2264,334,3000
$GC,263,-1.17,-121.6,30.0,-12.6,48,267,0.00,2.47,0.00,0.000,6,0.000,0.033,2264,1730,3002
$GC,572,-1.17,-121.6,62.9,-9.3,109,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1730,3004
$GC,881,-1.17,-121.6,91.2,-8.9,170,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1730,3005
$GC,1191,-1.17,-121.6,120.4,-9.3,231,1195,0.00,2.60,0.00,0.000,4,0.000,0.058,2264,333,3006
$GC,1216,-1.17,-121.6,122.9,-9.7,236,1220,0.00,2.50,0.00,0.000,6,0.000,0.035,2264,1739,3006
$GC,1525,-1.17,-121.6,151.3,-9.4,297,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3007
$GC,1834,-1.17,-121.6,182.8,-10.4,358,1839,0.00,2.60,0.00,0.000,4,0.000,0.058,2264,332,3007
$GC,1875,-1.17,-121.6,187.3,-11.0,366,1879,0.00,2.50,0.00,0.000,6,0.000,0.035,2264,1740,3007
$GC,2188,-1.17,-121.6,220.0,-10.1,409,2197,0.00,2.60,0.00,0.000,4,0.000,0.058,2264,335,3007
$GC,2218,-1.17,-121.6,223.2,-11.3,412,2228,0.00,2.47,0.00,0.000,6,0.000,0.035,2264,1740,3007
$GC,2531,-1.17,-121.6,253.4,-9.5,443,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3007
$GC,2843,-1.17,-121.6,282.6,-9.3,474,2852,0.00,2.60,0.00,0.000,4,0.000,0.058,2264,333,3007
$GC,2888,-1.17,-121.6,287.1,-10.1,478,2893,0.00,2.53,0.00,0.000,6,0.000,0.036,2264,1733,3007
$GC,3196,-1.17,-121.6,316.6,-9.7,509,3205,0.00,2.58,0.00,0.000,4,0.000,0.058,2264,334,3007
$GC,3237,-1.17,-121.6,320.8,-9.7,513,3246,0.00,2.50,0.00,0.000,6,0.000,0.037,2264,1742,3007
$GC,3549,-1.17,-121.6,350.4,-9.3,544,3558,0.00,2.60,0.00,0.000,4,0.000,0.058,2264,334,3007
$GC,3574,-1.17,-121.6,352.9,-10.4,546,3579,0.00,2.53,0.00,0.000,6,0.000,0.038,2264,1735,3007
$GC,3882,-1.17,-121.6,382.0,-9.4,577,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1736,3007
$GC,4203,-1.17,-121.6,411.0,-8.9,600,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1736,3007
$GC,4564,-1.17,-121.6,443.3,-8.8,609,4573,0.00,2.60,0.00,0.000,4,0.000,0.060,2263,334,3007
$GC,4611,-1.17,-121.6,447.5,-9.6,610,4619,0.00,2.50,0.00,0.000,6,0.000,0.038,2264,1743,3007
$GC,4926,-1.17,-121.6,474.9,-8.6,618,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1743,3007
$GC,5287,-1.17,-121.6,505.5,-8.6,627,5296,0.00,2.60,0.00,0.000,4,0.000,0.061,2264,334,3007
$GC,5328,-1.17,-121.6,509.3,-9.7,628,5336,0.00,2.47,0.00,0.000,6,0.000,0.039,2264,1740,3007
$GC,5649,-1.17,-121.6,539.1,-9.5,636,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3007
$GC,6009,-1.17,-121.6,571.6,-8.7,645,6018,0.00,2.62,0.00,0.000,4,0.000,0.064,2264,333,3007
$GC,6065,-1.17,-121.6,576.6,-9.2,646,6069,0.00,2.50,0.00,0.000,6,0.000,0.040,2264,1739,3007
$GC,6371,-1.17,-121.6,601.0,-7.8,654,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1739,3007
$GC,6732,-1.17,-121.6,630.7,-8.6,663,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1739,3007
$GC,7092,-1.17,-121.6,660.2,-8.1,672,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1739,3007
$GC,7453,-1.17,-121.6,689.8,-8.2,681,7462,0.00,2.60,0.00,0.000,4,0.000,0.067,2264,3142,3007
$GC,7483,-1.17,-121.6,692.6,-10.2,681,7487,0.00,2.53,0.00,0.000,6,0.000,0.051,2264,1740,3007
$GC,7814,-1.17,-121.6,722.6,-8.9,690,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1739,3007
$GC,8176,-1.17,-121.6,753.8,-8.6,699,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1739,3007
$GC,8535,-1.17,-121.6,782.9,-7.8,708,8574,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1739,3006
$GC,8896,-1.17,-121.6,810.9,-7.7,717,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1739,3006
$GC,9257,-1.17,-121.6,839.7,-8.1,726,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3005
$GC,9617,-1.17,-121.6,870.9,-9.0,735,9656,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1739,3005
$GC,9978,-1.17,-121.6,902.3,-8.3,744,10017,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3003
$GC,10339,-1.17,-121.6,931.0,-8.2,753,10347,0.00,2.65,0.00,0.000,4,0.000,0.067,2265,3141,3002
$GC,10374,-1.17,-121.6,934.1,-9.8,753,10378,0.00,2.58,0.00,0.000,6,0.000,0.055,2264,1750,3002
$GC,10700,-1.17,-121.6,961.3,-8.3,762,10708,0.00,2.60,0.00,0.000,4,0.000,0.067,2264,3141,3002
$GC,10725,-1.17,-121.6,963.5,-9.9,762,10729,0.00,2.55,0.00,0.000,6,0.000,0.056,2264,1734,3001
$GC,11061,-1.17,-121.6,990.4,-7.7,771,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1734,3001
$GC,11143,-0.31,0.0,996.7,7.7,773,11261,1.00,0.00,108.70,1.499,6,0.127,0.000,2453,1734,2501
$GC,11264,1.17,121.6,1000.0,3.9,776,11380,1.55,2.67,104.32,1.439,4,0.085,0.064,2777,3105,2005
$GC,11406,1.17,121.6,994.9,8.4,779,11410,0.00,2.60,0.00,0.000,6,0.000,0.055,2777,1707,2005
$GC,11747,1.17,121.6,961.7,9.7,788,11786,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,2003
$GC,12108,1.17,121.6,926.4,9.9,797,12146,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,2002
$GC,12468,1.17,121.6,890.5,9.9,806,12507,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,2001
$GC,12829,1.17,121.6,856.2,9.2,815,12867,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,2001
$GC,13190,1.17,121.6,824.7,8.7,824,13228,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,2001
$GC,13550,1.17,121.6,791.5,9.4,833,13589,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,2000
$GC,13911,1.17,121.6,757.1,9.4,842,13953,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,2000
$GC,14272,1.17,121.6,726.2,8.4,851,14310,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,2000
$GC,14632,1.17,121.6,694.4,9.0,860,14671,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1999
$GC,14993,1.17,121.6,660.6,9.3,869,15031,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1999
$GC,15353,1.17,124.0,631.0,7.9,878,15392,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1999
$GC,15714,1.17,124.7,602.7,8.0,887,15753,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1999
$GC,16075,1.17,124.7,573.2,8.2,896,16113,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1999
$GC,16435,1.17,124.7,543.3,8.4,905,16444,0.00,2.65,0.00,0.000,4,0.000,0.075,2777,296,1999
$GC,16491,1.17,124.7,538.0,8.5,906,16495,0.00,2.53,0.00,0.000,6,0.000,0.041,2777,1703,1998
$GC,16797,1.17,124.7,509.8,9.1,914,16835,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1998
$GC,17158,1.17,124.7,476.7,9.3,923,17196,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1998
$GC,17518,1.17,124.7,443.3,9.2,932,17557,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1998
$GC,17879,1.17,124.7,412.8,8.3,941,17887,0.00,2.65,0.00,0.000,4,0.000,0.067,2777,290,1998
$GC,17939,1.17,124.7,407.5,8.7,942,17943,0.00,2.53,0.00,0.000,6,0.000,0.040,2777,1706,1998
$GC,18252,1.17,125.4,383.2,8.0,966,18261,0.00,0.00,2.00,1.285,6,0.000,0.000,2777,1707,1987
$GC,18564,1.17,125.4,357.2,8.3,997,18572,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1988
$GC,18876,1.17,136.4,332.0,7.5,1028,18895,0.00,0.00,9.12,1.132,6,0.000,0.000,2777,1707,1944
$GC,19198,1.18,136.4,304.8,8.8,1060,19207,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1944
$GC,19510,1.18,136.4,276.8,9.4,1091,19519,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1944
$GC,19823,1.18,136.4,248.9,9.0,1122,19831,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1943
$GC,20135,1.18,136.4,221.0,8.7,1153,20144,0.00,2.62,0.00,0.000,4,0.000,0.063,2778,294,1943
$GC,20196,1.18,136.4,215.0,9.6,1159,20205,0.00,2.53,0.00,0.000,6,0.000,0.038,2777,1711,1944
$GC,20509,1.18,136.4,187.8,8.4,1204,20512,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1712,1944
$GC,20818,1.18,136.4,161.0,8.5,1265,20822,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1712,1944
$GC,21127,1.18,136.4,134.3,8.7,1326,21131,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1712,1944
$GC,21437,1.18,136.4,108.4,9.1,1387,21440,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1712,1944
$GC,21746,1.18,136.4,80.7,9.1,1448,21750,0.00,2.62,0.00,0.000,4,0.000,0.061,2777,296,1944
$GC,21808,1.18,136.4,75.0,9.5,1460,21812,0.00,2.47,0.00,0.000,6,0.000,0.037,2777,1707,1944
$GC,22117,1.18,136.4,48.4,9.1,1521,22121,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1944
$GC,22427,1.18,136.4,19.7,8.8,1582,22430,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,1944
$FINISH,0.3,1.027030,0
$SM_CCo,22742,79.78,0.762,0,0,1521,240.15
$RAFOS_CLK,229
$RAFOS,2,1121891347,20.500000,20.485277,46,44,43,1371,1211,1397
$RAFOS,1,1121890748,20.333334,20.318890,53,50,49,950,140,224
$RAFOS,0,1121890145,20.166666,20.151388,45,43,42,906,1043,227
$RAFOS,2,1121876941,16.500000,16.483612,47,45,42,198,401,224
$TT8_MAMPS,0.021476
$HUMID,2041
$INTERNAL_PRESSURE,7.24104
$TCM_TEMP,2.50
$ALTIM_TOP_PING,9.9,9.4
$ALTIM_BOTTOM_PING,971.4,0.0
$24V_AH,23.3,18.577
$10V_AH,10.0,14.080
$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,25.775,92.400,224.150,79.775,0.000,32.322,33.466,157.629,0.500,86.520,1041.565,16988.807,1598.000,2398.920,1238.327,33.366,2949.130,0.000,1510.619,1200.000,3.463
$DEVICE_MAMPS,190.983,75.166,1498.718,762.398,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1853.862,2296.314,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,58489,1641
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200705,224826,7125.368,1231.694,47,1.2,47,1.9