version: 65.00
glider: 17
mission: 2
dive: 140
start: 7 26 105 17 43 15
data:
$ID,17
$MISSION,2
$DIVE,140
$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,-29683.314
$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,28
$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
$GPS1,173639,7055.850,1327.730,44,1.7,44
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-53.9
$GPS2,174227,7055.864,1327.886,19,1.6,36,2.5
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_03
$TGT_LATLONG,7110.000,1620.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.209,0.076
$KALMAN_X,211240.4,145.9,166.4,-343840.8,5910.3
$KALMAN_Y,-72938.9,-16.5,1364.8,137680.8,-10795.9
$MHEAD_RNG_PITCHd_Wd,67.5,106177,-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,-45.75,0.000,2,0.000,0.000,292,1745,2720
$GC,65,-1.17,-121.6,3.5,-7.5,9,90,11.98,2.65,-6.95,0.000,4,0.194,0.068,2261,337,3000
$GC,141,-1.17,-121.6,15.9,-14.0,24,145,0.00,2.47,0.00,0.000,6,0.000,0.033,2261,1736,3001
$GC,450,-1.17,-121.6,45.0,-7.8,85,454,0.00,2.62,0.00,0.000,4,0.000,0.052,2261,3143,3004
$GC,526,-1.17,-121.6,51.6,-8.8,100,531,0.00,2.53,0.00,0.000,6,0.000,0.039,2261,1731,3004
$GC,836,-1.17,-121.6,78.3,-9.2,161,840,0.00,2.58,0.00,0.000,4,0.000,0.057,2261,338,3006
$GC,881,-1.17,-121.6,82.5,-9.1,170,885,0.00,2.47,0.00,0.000,6,0.000,0.034,2261,1739,3006
$GC,1190,-1.17,-121.6,109.7,-9.4,221,1199,0.00,2.58,0.00,0.000,4,0.000,0.057,2261,338,3007
$GC,1225,-1.17,-121.6,113.1,-9.8,224,1229,0.00,2.50,0.00,0.000,6,0.000,0.035,2261,1730,3007
$GC,1532,-1.17,-121.6,141.0,-9.1,255,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1731,3008
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$GC,2198,-1.17,-121.6,201.2,-8.5,321,2207,0.00,2.60,0.00,0.000,4,0.000,0.058,2261,335,3008
$GC,2239,-1.17,-121.6,204.9,-9.0,325,2248,0.00,2.53,0.00,0.000,6,0.000,0.036,2263,1746,3008
$GC,2551,-1.17,-121.6,232.1,-9.3,356,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1746,3008
$GC,2863,-1.17,-121.6,260.6,-9.0,387,2872,0.00,2.60,0.00,0.000,4,0.000,0.058,2261,338,3008
$GC,2914,-1.17,-121.6,265.3,-9.6,392,2923,0.00,2.50,0.00,0.000,6,0.000,0.036,2261,1744,3008
$GC,3226,-1.17,-121.6,288.3,-6.4,423,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1744,3008
$GC,3538,-1.17,-121.6,310.1,-7.8,454,3547,0.00,2.60,0.00,0.000,4,0.000,0.059,2261,338,3008
$GC,3573,-1.17,-121.6,313.2,-9.2,457,3578,0.00,2.53,0.00,0.000,6,0.000,0.038,2261,1733,3008
$GC,3881,-1.17,-121.6,340.7,-9.8,488,3890,0.00,2.58,0.00,0.000,4,0.000,0.059,2261,338,3008
$GC,3901,-1.17,-121.6,342.8,-9.9,490,3910,0.00,2.47,0.00,0.000,6,0.000,0.038,2261,1742,3008
$GC,4213,-1.17,-121.6,373.5,-9.2,521,4222,0.00,2.60,0.00,0.000,4,0.000,0.058,2261,3142,3008
$GC,4244,-1.17,-121.6,376.4,-10.2,524,4253,0.00,2.50,0.00,0.000,6,0.000,0.045,2261,1743,3008
$GC,4557,-1.17,-121.6,403.4,-8.2,552,4566,0.00,2.58,0.00,0.000,4,0.000,0.062,2261,335,3009
$GC,4587,-1.17,-121.6,406.0,-9.2,552,4591,0.00,2.47,0.00,0.000,6,0.000,0.037,2261,1740,3008
$GC,4918,-1.17,-121.6,428.6,-6.4,561,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1741,3008
$GC,5279,-1.17,-121.6,455.3,-8.1,570,5288,0.00,2.62,0.00,0.000,4,0.000,0.058,2261,3142,3008
$GC,5304,-1.17,-121.6,457.7,-10.0,570,5308,0.00,2.53,0.00,0.000,6,0.000,0.046,2261,1741,3008
$GC,5640,-1.17,-121.6,487.8,-8.9,579,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1741,3008
$GC,6001,-1.17,-121.6,520.8,-9.4,588,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3008
$GC,6362,-1.17,-121.6,553.1,-8.6,597,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1740,3008
$GC,6722,-1.17,-121.6,585.3,-9.0,606,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1740,3008
$GC,7083,-1.17,-121.6,615.5,-8.2,615,7091,0.00,2.62,0.00,0.000,4,0.000,0.071,2261,335,3008
$GC,7128,-1.17,-121.6,619.5,-9.1,616,7132,0.00,2.47,0.00,0.000,6,0.000,0.040,2261,1737,3008
$GC,7446,-1.17,-121.6,644.0,-7.7,624,7455,0.00,2.62,0.00,0.000,4,0.000,0.065,2261,3144,3008
$GC,7501,-1.17,-121.6,648.5,-7.8,625,7506,0.00,2.53,0.00,0.000,6,0.000,0.053,2262,1742,3008
$GC,7808,-1.17,-121.6,668.9,-6.3,633,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1742,3008
$GC,8168,-1.17,-121.6,691.5,-7.1,642,8177,0.00,2.65,0.00,0.000,4,0.000,0.064,2261,3143,3008
$GC,8239,-1.17,-121.6,697.4,-8.3,643,8243,0.00,2.55,0.00,0.000,6,0.000,0.054,2261,1740,3008
$GC,8570,-1.17,-121.6,724.3,-8.3,652,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1741,3008
$GC,8931,-1.17,-121.6,752.2,-7.4,661,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1741,3007
$GC,9291,-1.17,-121.6,778.3,-7.2,670,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3006
$GC,9652,-1.17,-121.6,805.1,-7.5,679,9694,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,1741,3005
$GC,10013,-1.17,-121.6,834.2,-8.3,688,10021,0.00,2.67,0.00,0.000,4,0.000,0.067,2261,3143,3005
$GC,10043,-1.17,-121.6,836.8,-10.1,688,10047,0.00,2.55,0.00,0.000,6,0.000,0.056,2261,1741,3004
$GC,10374,-1.17,-121.6,861.9,-7.3,697,10413,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1741,3004
$GC,10735,-1.17,-121.6,888.4,-7.6,706,10775,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1741,3003
$GC,11095,-1.17,-121.6,915.8,-7.5,715,11134,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1740,3002
$GC,11456,-1.17,-121.6,943.2,-7.6,724,11495,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1741,3001
$GC,11819,-1.17,-121.6,970.8,-7.8,733,11827,0.00,2.65,0.00,0.000,4,0.000,0.069,2261,3141,3001
$GC,11844,-1.17,-121.6,973.1,-8.6,733,11848,0.00,2.55,0.00,0.000,6,0.000,0.057,2261,1738,3001
$GC,12143,-0.31,0.0,996.8,8.1,741,12260,1.02,0.00,109.65,1.473,6,0.130,0.000,2454,1738,2501
$GC,12261,1.17,121.6,1000.4,4.0,744,12377,1.58,2.70,105.25,1.440,4,0.089,0.066,2777,3112,2004
$GC,12393,1.17,121.6,994.1,8.6,747,12402,0.00,2.62,0.00,0.000,6,0.000,0.057,2777,1709,2003
$GC,12704,1.17,121.6,963.7,9.7,755,12713,0.00,2.78,0.00,0.000,4,0.000,0.096,2777,300,2001
$GC,12724,1.17,121.6,961.6,10.5,755,12728,0.00,2.58,0.00,0.000,6,0.000,0.051,2777,1702,2001
$GC,13066,1.17,121.6,928.4,9.8,764,13104,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1706,2001
$GC,13426,1.17,121.6,892.9,9.9,773,13465,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,2000
$GC,13787,1.17,121.6,854.5,10.8,782,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,2000
$GC,14147,1.17,121.6,815.9,10.7,791,14186,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1706,1999
$GC,14508,1.17,121.6,777.3,10.7,800,14516,0.00,2.67,0.00,0.000,4,0.000,0.070,2777,3114,1999
$GC,14543,1.17,121.6,773.2,11.4,800,14548,0.00,2.62,0.00,0.000,6,0.000,0.059,2778,1703,1999
$GC,14869,1.17,121.6,737.0,11.1,809,14878,0.00,2.67,0.00,0.000,4,0.000,0.083,2778,296,1999
$GC,14894,1.17,121.6,734.0,12.0,809,14898,0.00,2.53,0.00,0.000,6,0.000,0.046,2777,1706,1999
$GC,15230,1.17,121.6,698.9,10.2,818,15269,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1708,1997
$GC,15591,1.17,121.6,665.4,8.9,827,15599,0.00,2.67,0.00,0.000,4,0.000,0.078,2777,296,1997
$GC,15616,1.17,121.6,663.0,9.8,827,15620,0.00,2.53,0.00,0.000,6,0.000,0.047,2777,1710,1997
$GC,15952,1.17,121.6,632.1,9.3,836,15991,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1711,1997
$GC,16313,1.17,121.6,596.5,10.3,845,16321,0.00,2.62,0.00,0.000,4,0.000,0.071,2777,3114,1996
$GC,16368,1.17,121.6,590.4,11.6,846,16372,0.00,2.58,0.00,0.000,6,0.000,0.056,2778,1700,1997
$GC,16675,1.17,121.6,560.8,9.2,854,16683,0.00,2.65,0.00,0.000,4,0.000,0.079,2778,295,1996
$GC,16715,1.17,121.6,556.9,9.8,855,16724,0.00,2.55,0.00,0.000,6,0.000,0.045,2777,1710,1996
$GC,17036,1.17,121.6,529.9,8.3,863,17075,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1710,1996
$GC,17397,1.17,121.6,497.4,9.2,872,17435,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1711,1996
$GC,17757,1.17,124.1,467.2,7.9,881,17766,0.00,2.60,0.00,0.000,4,0.000,0.065,2777,3113,1996
$GC,17787,1.17,124.1,464.6,9.4,881,17792,0.00,2.55,0.00,0.000,6,0.000,0.051,2777,1703,1996
$GC,18119,1.17,124.1,435.2,9.3,890,18157,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1703,1995
$GC,18479,1.17,124.1,398.0,10.6,899,18488,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1703,1995
$GC,18791,1.17,124.1,363.2,10.5,930,18800,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1703,1996
$GC,19104,1.17,124.1,333.3,9.2,961,19112,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1703,1996
$GC,19416,1.17,124.1,306.0,8.4,992,19424,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1703,1996
$GC,19728,1.17,124.1,276.3,9.7,1023,19737,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1703,1996
$GC,20040,1.17,124.1,247.9,8.4,1054,20049,0.00,2.60,0.00,0.000,4,0.000,0.069,2777,296,1996
$GC,20077,1.17,124.1,244.6,10.2,1057,20081,0.00,2.50,0.00,0.000,6,0.000,0.038,2777,1711,1996
$GC,20386,1.17,140.2,220.0,7.3,1088,20403,0.00,0.00,13.88,0.989,6,0.000,0.000,2778,1713,1928
$GC,20708,1.19,140.2,188.6,10.7,1120,20717,0.00,2.65,0.00,0.000,4,0.000,0.064,2777,294,1928
$GC,20738,1.19,140.2,185.0,12.6,1123,20747,0.00,2.50,0.00,0.000,6,0.000,0.038,2777,1705,1928
$GC,21050,1.19,140.2,152.0,10.3,1154,21059,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,1928
$GC,21363,1.19,140.2,122.6,9.0,1185,21372,0.00,2.62,0.00,0.000,4,0.000,0.064,2778,295,1928
$GC,21387,1.19,140.2,120.1,11.3,1187,21392,0.00,2.55,0.00,0.000,6,0.000,0.038,2778,1704,1928
$GC,21696,1.19,140.2,92.0,9.3,1226,21699,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1928
$GC,22005,1.19,140.2,60.5,9.2,1287,22009,0.00,2.62,0.00,0.000,4,0.000,0.064,2778,291,1928
$GC,22052,1.19,140.2,56.0,9.7,1296,22057,0.00,2.50,0.00,0.000,6,0.000,0.036,2777,1706,1928
$GC,22361,1.19,140.2,34.0,8.6,1357,22366,0.00,2.60,0.00,0.000,4,0.000,0.056,2778,3115,1928
$GC,22448,1.19,140.2,25.9,9.4,1374,22452,0.00,2.53,0.00,0.000,6,0.000,0.042,2777,1697,1928
$FINISH,0.1,1.014100,0
$SM_CCo,22763,70.60,0.717,0,0,1521,240.15
$RAFOS_CLK,-1754
$RAFOS,2,1122409767,20.500000,20.490833,45,41,41,213,135,813
$RAFOS,0,1122408565,20.166666,20.156944,48,47,46,193,139,205
$TT8_MAMPS,0.021476
$HUMID,2064
$INTERNAL_PRESSURE,7.25081
$TCM_TEMP,3.00
$ALTIM_TOP_PING,9.7,9.9
$ALTIM_BOTTOM_PING,970.8,0.0
$24V_AH,23.3,21.316
$10V_AH,10.0,16.522
$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,25.925,154.700,228.775,70.600,0.000,32.333,28.355,153.266,0.500,84.076,1022.721,17496.490,1420.322,2196.242,1133.319,33.365,2715.505,0.000,1393.840,900.000,3.465
$DEVICE_MAMPS,194.051,95.875,1473.407,717.145,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1621.435,2009.873,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,52920,1433
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270705,000529,7057.956,1340.968,37,2.1,56,2.6