version: 65.00
glider: 17
mission: 2
dive: 173
start: 8 4 105 10 4 17
data:
$ID,17
$MISSION,2
$DIVE,173
$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,220
$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,-31986.277
$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,20
$R_STBD_OVSHOOT,33
$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
$GPS1,095733,7100.054,1529.105,44,0.9,44
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-53.9
$GPS2,100330,7100.060,1528.932,17,1.0,18,3.8
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.194,-0.110
$KALMAN_X,205179.2,85.6,-925.2,-261176.4,2170.1
$KALMAN_Y,-65927.9,-225.8,-1079.4,141102.5,2562.9
$MHEAD_RNG_PITCHd_Wd,236.7,144976,-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,16,-1.17,-121.6,0.0,0.0,0,58,0.00,0.00,-40.28,0.000,2,0.000,0.000,291,1750,2654
$GC,59,-1.17,-121.6,3.4,-8.1,8,90,11.90,2.62,-8.75,0.000,4,0.190,0.068,2265,334,2998
$GC,293,-1.17,-121.6,29.7,-9.2,54,298,0.00,2.50,0.00,0.000,6,0.000,0.033,2265,1729,3000
$GC,602,-1.17,-121.6,57.8,-9.4,115,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1730,3002
$GC,912,-1.17,-121.6,83.6,-9.0,176,916,0.00,2.58,0.00,0.000,4,0.000,0.056,2265,332,3004
$GC,973,-1.17,-121.6,89.5,-10.1,188,977,0.00,2.50,0.00,0.000,6,0.000,0.035,2265,1740,3004
$GC,1280,-1.17,-121.6,120.3,-9.9,219,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1740,3006
$GC,1601,-1.17,-121.6,150.4,-8.9,235,1609,0.00,2.60,0.00,0.000,4,0.000,0.057,2265,331,3006
$GC,1626,-1.17,-121.6,152.8,-10.0,236,1630,0.00,2.53,0.00,0.000,6,0.000,0.036,2265,1741,3005
$GC,1943,-1.17,-121.6,181.0,-8.9,252,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3005
$GC,2264,-1.17,-121.6,208.7,-8.4,268,2272,0.00,2.60,0.00,0.000,4,0.000,0.057,2265,332,3005
$GC,2314,-1.17,-121.6,213.4,-9.2,270,2318,0.00,2.50,0.00,0.000,6,0.000,0.035,2265,1741,3005
$GC,2626,-1.17,-121.6,240.9,-8.7,286,2634,0.00,2.60,0.00,0.000,4,0.000,0.058,2265,331,3006
$GC,2681,-1.17,-121.6,246.1,-9.5,288,2686,0.00,2.55,0.00,0.000,6,0.000,0.037,2265,1732,3005
$GC,2988,-1.17,-121.6,271.9,-8.5,304,2996,0.00,2.62,0.00,0.000,4,0.000,0.056,2265,3151,3005
$GC,3018,-1.17,-121.6,274.6,-8.8,305,3022,0.00,2.50,0.00,0.000,6,0.000,0.042,2265,1738,3006
$GC,3329,-1.17,-121.6,301.6,-8.9,321,3338,0.00,2.55,0.00,0.000,4,0.000,0.059,2265,336,3006
$GC,3364,-1.17,-121.6,304.9,-10.0,322,3369,0.00,2.53,0.00,0.000,6,0.000,0.035,2265,1734,3005
$GC,3671,-1.17,-121.6,332.4,-8.9,338,3679,0.00,2.62,0.00,0.000,4,0.000,0.055,2265,3144,3005
$GC,3686,-1.17,-121.6,333.8,-8.6,338,3690,0.00,2.53,0.00,0.000,6,0.000,0.043,2265,1745,3006
$GC,3992,-1.17,-121.6,362.2,-9.4,354,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1745,3004
$GC,4313,-1.17,-121.6,390.4,-8.5,370,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1745,3005
$GC,4635,-1.17,-121.6,415.5,-7.4,386,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1745,3005
$GC,4956,-1.17,-121.6,438.9,-7.6,402,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1745,3005
$GC,5277,-1.17,-121.6,465.4,-8.5,427,5287,0.00,2.62,0.00,0.000,4,0.000,0.055,2265,3144,3005
$GC,5303,-1.17,-121.6,467.7,-8.8,429,5308,0.00,2.53,0.00,0.000,6,0.000,0.045,2265,1745,3005
$GC,5611,-1.17,-121.6,494.0,-8.7,460,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1744,3005
$GC,5923,-1.17,-121.6,519.7,-8.1,491,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1744,3005
$GC,6238,-1.17,-121.6,543.8,-7.9,522,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1744,3005
$GC,6548,-1.17,-121.6,569.5,-8.7,553,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1744,3005
$GC,6860,-1.17,-121.6,594.6,-7.8,584,6869,0.00,2.60,0.00,0.000,4,0.000,0.058,2265,3144,3005
$GC,6896,-1.17,-121.6,597.6,-8.8,587,6901,0.00,2.55,0.00,0.000,6,0.000,0.048,2265,1742,3005
$GC,7204,-1.17,-121.6,621.5,-7.6,618,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3005
$GC,7516,-1.17,-121.6,644.8,-7.5,649,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3005
$GC,7828,-1.17,-121.6,668.0,-7.2,662,7836,0.00,2.65,0.00,0.000,4,0.000,0.060,2265,3147,3005
$GC,7858,-1.17,-121.6,670.3,-8.0,662,7862,0.00,2.53,0.00,0.000,6,0.000,0.051,2265,1740,3005
$GC,8189,-1.17,-121.6,692.8,-6.8,671,8198,0.00,2.60,0.00,0.000,4,0.000,0.062,2265,3144,3005
$GC,8232,-1.17,-121.6,695.8,-7.1,672,8240,0.00,2.53,0.00,0.000,6,0.000,0.051,2265,1736,3005
$GC,8553,-1.17,-121.6,719.3,-7.5,680,8562,0.00,2.60,0.00,0.000,4,0.000,0.071,2265,332,3005
$GC,8580,-1.17,-121.6,721.4,-9.3,680,8588,0.00,2.50,0.00,0.000,6,0.000,0.041,2265,1743,3005
$GC,8916,-1.17,-121.6,747.8,-7.5,689,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1743,3005
$GC,9276,-1.17,-121.6,778.4,-8.8,698,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1743,3005
$GC,9637,-1.17,-121.6,811.7,-9.2,707,9645,0.00,2.65,0.00,0.000,4,0.000,0.073,2265,334,3005
$GC,9672,-1.17,-121.6,815.2,-10.9,707,9677,0.00,2.55,0.00,0.000,6,0.000,0.044,2265,1737,3005
$GC,9998,-1.17,-121.6,845.0,-9.0,716,10037,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3004
$GC,10359,-1.17,-121.6,873.6,-7.5,725,10397,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3003
$GC,10719,-1.17,-121.6,898.5,-6.7,734,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3002
$GC,11082,-1.17,-121.6,923.6,-7.0,743,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3002
$GC,11441,-1.17,-121.6,948.0,-6.6,752,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,3001
$GC,11803,-1.17,-121.6,972.7,-6.9,761,11840,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1739,2999
$GC,12164,-0.31,0.0,996.4,6.4,770,12282,1.00,0.00,110.65,1.503,6,0.132,0.000,2453,1739,2501
$GC,12283,1.17,121.6,997.3,2.0,773,12398,1.62,2.78,105.65,1.445,4,0.087,0.066,2777,3106,2005
$GC,12428,1.17,121.6,985.8,12.2,776,12433,0.00,2.60,0.00,0.000,6,0.000,0.056,2777,1710,2004
$GC,12766,1.17,121.6,945.3,11.9,785,12804,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1710,2002
$GC,13126,1.17,121.6,904.3,11.3,794,13165,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1710,2001
$GC,13487,1.17,121.6,866.8,10.2,803,13495,0.00,2.67,0.00,0.000,4,0.000,0.066,2778,3107,2000
$GC,13522,1.17,121.6,862.9,11.2,803,13526,0.00,2.62,0.00,0.000,6,0.000,0.058,2778,1705,1999
$GC,13848,1.17,121.6,831.2,9.6,812,13856,0.00,2.70,0.00,0.000,4,0.000,0.085,2778,297,2000
$GC,13899,1.17,121.6,826.0,9.7,813,13903,0.00,2.55,0.00,0.000,6,0.000,0.044,2777,1703,1999
$GC,14210,1.17,121.6,796.8,9.4,821,14219,0.00,2.67,0.00,0.000,4,0.000,0.068,2777,3114,1999
$GC,14281,1.17,121.6,789.9,9.0,822,14285,0.00,2.58,0.00,0.000,6,0.000,0.056,2778,1705,1998
$GC,14613,1.17,121.6,758.9,9.3,831,14621,0.00,2.67,0.00,0.000,4,0.000,0.081,2778,298,1998
$GC,14658,1.17,121.6,754.2,11.4,832,14662,0.00,2.55,0.00,0.000,6,0.000,0.044,2777,1705,1998
$GC,14974,1.17,121.6,722.2,10.3,840,14983,0.00,2.65,0.00,0.000,4,0.000,0.067,2778,3110,1998
$GC,15040,1.17,121.6,715.0,10.4,841,15044,0.00,2.55,0.00,0.000,6,0.000,0.055,2777,1704,1997
$GC,15376,1.17,121.6,679.1,10.9,850,15415,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1705,1997
$GC,15717,1.17,121.6,641.7,11.2,863,15725,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1997
$GC,16031,1.17,121.6,607.2,10.2,894,16038,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1705,1997
$GC,16344,1.17,121.6,575.5,9.4,925,16353,0.00,2.65,0.00,0.000,4,0.000,0.064,2778,3111,1996
$GC,16396,1.17,121.6,570.3,8.9,930,16405,0.00,2.55,0.00,0.000,6,0.000,0.053,2777,1705,1996
$GC,16708,1.17,121.6,541.8,8.8,961,16716,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1705,1996
$GC,17020,1.17,121.6,513.0,8.8,992,17029,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1996
$GC,17332,1.17,121.6,482.0,10.5,1023,17341,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1996
$GC,17644,1.17,121.6,450.4,10.5,1054,17654,0.00,2.65,0.00,0.000,4,0.000,0.059,2777,3111,1996
$GC,17685,1.17,121.6,446.1,9.4,1057,17693,0.00,2.53,0.00,0.000,6,0.000,0.048,2778,1704,1996
$GC,18006,1.17,121.6,414.3,10.0,1073,18015,0.00,2.62,0.00,0.000,4,0.000,0.071,2778,295,1996
$GC,18057,1.17,121.6,408.9,10.4,1075,18061,0.00,2.53,0.00,0.000,6,0.000,0.038,2777,1708,1996
$GC,18368,1.17,121.6,377.7,10.0,1091,18387,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1710,1996
$GC,18689,1.17,121.6,345.4,10.0,1107,18698,0.00,2.62,0.00,0.000,4,0.000,0.066,2778,292,1996
$GC,18725,1.17,121.6,341.4,10.7,1108,18730,0.00,2.55,0.00,0.000,6,0.000,0.038,2777,1694,1996
$GC,19032,1.17,121.6,310.7,10.1,1124,19040,0.00,2.62,0.00,0.000,4,0.000,0.061,2777,3108,1996
$GC,19083,1.17,121.6,305.4,9.9,1126,19087,0.00,2.50,0.00,0.000,6,0.000,0.045,2778,1702,1995
$GC,19394,1.17,121.6,275.3,9.8,1142,19413,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1702,1996
$GC,19715,1.17,121.6,243.4,10.1,1158,19724,0.00,2.60,0.00,0.000,4,0.000,0.067,2778,298,1996
$GC,19756,1.17,121.6,238.8,11.7,1160,19765,0.00,2.50,0.00,0.000,6,0.000,0.037,2778,1708,1996
$GC,20077,1.17,121.6,206.1,10.0,1176,20096,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1708,1996
$GC,20401,1.17,121.6,176.1,9.0,1192,20417,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1708,1996
$GC,20720,1.17,121.6,147.6,8.9,1208,20738,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1996
$GC,21041,1.17,121.6,117.5,9.7,1224,21059,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1996
$GC,21363,1.17,121.6,82.0,12.1,1261,21368,0.00,2.62,0.00,0.000,4,0.000,0.055,2778,3108,1996
$GC,21414,1.17,121.6,75.9,12.3,1271,21418,0.00,2.50,0.00,0.000,6,0.000,0.043,2777,1704,1996
$GC,21723,1.17,180.7,50.4,5.4,1332,21773,0.00,0.00,45.80,0.781,6,0.000,0.000,2777,1704,1763
$GC,22080,1.23,180.7,23.4,9.6,1402,22084,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1760
$FINISH,0.1,1.026822,0
$SM_CCo,22309,29.15,0.744,0,0,1604,220.03
$RAFOS_CLK,-1790
$RAFOS,0,1123171742,16.166666,16.150555,42,41,41,1186,75,242
$RAFOS,2,1123158571,12.500000,12.491944,55,44,43,453,747,259
$RAFOS,1,1123157965,12.333333,12.323611,50,45,42,140,187,1487
$RAFOS,0,1123157342,12.166667,12.150556,70,51,44,851,227,1114
$TT8_MAMPS,0.020709
$HUMID,2057
$INTERNAL_PRESSURE,7.27036
$TCM_TEMP,3.00
$ALTIM_TOP_PING,9.7,9.7
$ALTIM_BOTTOM_PING,972.7,0.0
$24V_AH,23.3,25.275
$10V_AH,10.0,19.993
$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,25.900,139.475,262.100,29.150,0.000,32.323,30.800,165.593,0.500,66.082,1030.788,17205.844,1143.540,2201.322,1202.801,33.365,2442.221,0.000,1410.851,1200.000,3.462
$DEVICE_MAMPS,190.216,85.137,1503.320,743.990,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1633.001,2024.789,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53096,1444
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040805,161802,7057.312,1521.395,42,1.3,42,3.7