version: 65.00
glider: 17
mission: 2
dive: 179
start: 8 6 105 0 1 20
data:
$ID,17
$MISSION,2
$DIVE,179
$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,-32450.658
$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,18
$R_STBD_OVSHOOT,24
$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
$GPS1,234826,7054.408,1437.163,43,1.3,43
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-53.8
$GPS2,000027,7054.439,1436.819,17,2.0,18,3.2
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.221,0.022
$KALMAN_X,204610.1,-204.0,-211.0,-293515.2,555.9
$KALMAN_Y,-79288.3,120.5,1456.9,141152.5,-10389.6
$MHEAD_RNG_PITCHd_Wd,272.4,113124,-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,-121.6,0.0,0.0,0,59,0.00,0.00,-40.97,0.000,2,0.000,0.000,287,1709,2687
$GC,60,-1.17,-121.6,3.3,-7.5,8,86,11.95,2.67,-7.88,0.000,4,0.190,0.059,2265,3143,3000
$GC,314,-1.17,-121.6,34.9,-10.6,58,319,0.00,2.50,0.00,0.000,6,0.000,0.041,2265,1735,3002
$GC,624,-1.17,-121.6,65.1,-5.4,119,628,0.00,2.55,0.00,0.000,4,0.000,0.056,2265,336,3004
$GC,746,-1.17,-121.6,73.5,-7.8,143,750,0.00,2.47,0.00,0.000,6,0.000,0.032,2265,1741,3004
$GC,1071,-1.17,-121.6,101.8,-9.1,204,1080,0.00,2.58,0.00,0.000,4,0.000,0.055,2265,336,3006
$GC,1101,-1.17,-121.6,104.8,-9.7,205,1105,0.00,2.47,0.00,0.000,6,0.000,0.034,2265,1738,3006
$GC,1413,-1.17,-121.6,129.9,-8.1,221,1421,0.00,2.62,0.00,0.000,4,0.000,0.054,2265,3148,3007
$GC,1448,-1.17,-121.6,133.0,-8.9,222,1453,0.00,2.53,0.00,0.000,6,0.000,0.041,2265,1750,3006
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$GC,2780,-1.17,-121.6,245.3,-7.6,289,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3007
$GC,3101,-1.17,-121.6,269.9,-7.6,305,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3006
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$GC,3784,-1.17,-121.6,327.5,-9.5,339,3792,0.00,2.50,0.00,0.000,6,0.000,0.043,2265,1738,3007
$GC,4105,-1.17,-121.6,355.6,-8.6,355,4113,0.00,2.55,0.00,0.000,4,0.000,0.059,2265,337,3007
$GC,4135,-1.17,-121.6,358.5,-10.4,356,4139,0.00,2.50,0.00,0.000,6,0.000,0.036,2265,1745,3006
$GC,4447,-1.17,-121.6,387.4,-9.4,372,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1746,3007
$GC,4768,-1.17,-121.6,416.1,-8.8,388,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1746,3007
$GC,5089,-1.17,-121.6,444.1,-8.8,404,5097,0.00,2.58,0.00,0.000,4,0.000,0.059,2265,336,3006
$GC,5139,-1.17,-121.6,448.9,-9.9,406,5143,0.00,2.50,0.00,0.000,6,0.000,0.036,2265,1740,3006
$GC,5452,-1.17,-121.6,476.2,-8.5,436,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3007
$GC,5764,-1.17,-121.6,500.2,-7.1,467,5773,0.00,2.58,0.00,0.000,4,0.000,0.060,2265,336,3006
$GC,5789,-1.17,-121.6,502.1,-8.4,469,5796,0.00,2.55,0.00,0.000,6,0.000,0.038,2265,1735,3006
$GC,6097,-1.17,-121.6,523.6,-6.9,500,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1735,3006
$GC,6409,-1.17,-121.6,548.0,-8.4,531,6418,0.00,2.62,0.00,0.000,4,0.000,0.058,2265,3152,3006
$GC,6430,-1.17,-121.6,549.8,-8.4,533,6440,0.00,2.50,0.00,0.000,6,0.000,0.046,2265,1741,3006
$GC,6743,-1.17,-121.6,576.4,-8.6,564,6752,0.00,2.58,0.00,0.000,4,0.000,0.063,2265,336,3006
$GC,6808,-1.17,-121.6,582.5,-9.4,570,6813,0.00,2.53,0.00,0.000,6,0.000,0.037,2265,1736,3006
$GC,7116,-1.17,-121.6,608.6,-8.5,601,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1736,3006
$GC,7428,-1.17,-121.6,632.8,-7.6,632,7437,0.00,2.62,0.00,0.000,4,0.000,0.060,2265,3146,3006
$GC,7506,-1.17,-121.6,639.1,-8.3,639,7510,0.00,2.50,0.00,0.000,6,0.000,0.048,2265,1743,3006
$GC,7812,-1.17,-121.6,662.8,-7.6,658,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1743,3006
$GC,8172,-1.17,-121.6,689.2,-7.2,667,8181,0.00,2.62,0.00,0.000,4,0.000,0.070,2265,332,3006
$GC,8233,-1.17,-121.6,694.2,-8.6,668,8237,0.00,2.55,0.00,0.000,6,0.000,0.041,2265,1743,3006
$GC,8574,-1.17,-121.6,721.1,-8.0,677,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1744,3006
$GC,8935,-1.17,-121.6,750.5,-8.1,686,8943,0.00,2.62,0.00,0.000,4,0.000,0.069,2265,335,3006
$GC,8970,-1.17,-121.6,753.7,-9.0,686,8974,0.00,2.55,0.00,0.000,6,0.000,0.043,2265,1731,3006
$GC,9298,-1.17,-121.6,779.9,-7.9,695,9335,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1732,3005
$GC,9659,-1.17,-121.6,807.1,-7.6,704,9668,0.00,2.67,0.00,0.000,4,0.000,0.065,2265,3146,3005
$GC,9694,-1.17,-121.6,810.1,-8.4,704,9699,0.00,2.58,0.00,0.000,6,0.000,0.053,2265,1742,3005
$GC,10020,-1.17,-121.6,834.5,-7.5,713,10029,0.00,2.62,0.00,0.000,4,0.000,0.076,2265,336,3004
$GC,10050,-1.17,-121.6,837.0,-9.6,713,10054,0.00,2.50,0.00,0.000,6,0.000,0.043,2265,1740,3004
$GC,10381,-1.17,-121.6,862.2,-7.7,722,10420,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1741,3003
$GC,10742,-1.17,-121.6,890.7,-7.9,731,10751,0.00,2.67,0.00,0.000,4,0.000,0.078,2265,337,3002
$GC,10772,-1.17,-121.6,893.4,-9.9,731,10776,0.00,2.53,0.00,0.000,6,0.000,0.043,2265,1740,3002
$GC,11103,-1.17,-121.6,919.6,-7.9,740,11142,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,3001
$GC,11464,-1.17,-121.6,947.8,-7.7,749,11472,0.00,2.67,0.00,0.000,4,0.000,0.083,2265,338,3000
$GC,11494,-1.17,-121.6,950.2,-8.8,749,11498,0.00,2.53,0.00,0.000,6,0.000,0.044,2265,1740,3000
$GC,11825,-1.17,-121.6,975.1,-7.4,758,11864,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1741,2999
$GC,12107,-0.31,0.0,995.2,7.2,765,12225,1.00,0.00,110.25,1.509,6,0.126,0.000,2455,1741,2501
$GC,12227,1.17,121.6,997.5,2.9,768,12343,1.55,2.72,105.50,1.448,4,0.084,0.065,2776,3108,2004
$GC,12360,1.17,121.6,989.5,9.3,771,12365,0.00,2.60,0.00,0.000,6,0.000,0.057,2776,1708,2004
$GC,12672,1.17,121.6,955.8,10.7,779,12710,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1708,2001
$GC,13035,1.17,121.6,918.9,10.0,788,13071,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1708,2000
$GC,13393,1.17,121.6,882.6,10.1,797,13432,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1708,2000
$GC,13754,1.17,121.6,846.9,9.8,806,13762,0.00,2.72,0.00,0.000,4,0.000,0.087,2776,300,1998
$GC,13792,1.17,121.6,843.0,9.8,806,13796,0.00,2.55,0.00,0.000,6,0.000,0.043,2776,1703,1998
$GC,14117,1.17,121.6,808.1,10.9,815,14156,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1998
$GC,14478,1.17,121.6,769.2,10.7,824,14516,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1997
$GC,14839,1.17,121.6,731.4,10.4,833,14847,0.00,2.67,0.00,0.000,4,0.000,0.078,2776,296,1997
$GC,14874,1.17,121.6,727.6,10.1,833,14878,0.00,2.60,0.00,0.000,6,0.000,0.046,2776,1701,1997
$GC,15203,1.17,121.6,698.0,8.6,842,15238,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1703,1998
$GC,15560,1.17,121.6,668.4,8.3,851,15569,0.00,2.67,0.00,0.000,4,0.000,0.067,2776,3118,1996
$GC,15595,1.17,121.6,665.2,8.8,851,15600,0.00,2.60,0.00,0.000,6,0.000,0.056,2775,1713,1996
$GC,15902,1.17,121.6,637.4,9.3,867,15911,0.00,2.62,0.00,0.000,4,0.000,0.065,2776,3113,1996
$GC,15947,1.17,121.6,632.8,9.8,871,15952,0.00,2.60,0.00,0.000,6,0.000,0.055,2776,1710,1995
$GC,16255,1.17,121.6,600.8,11.1,902,16263,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1709,1996
$GC,16567,1.17,121.6,566.3,10.3,933,16576,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1709,1995
$GC,16879,1.17,121.6,534.1,9.9,964,16888,0.00,2.65,0.00,0.000,4,0.000,0.075,2776,296,1994
$GC,16930,1.17,121.6,528.6,10.9,969,16939,0.00,2.53,0.00,0.000,6,0.000,0.041,2776,1710,1995
$GC,17242,1.17,121.6,499.0,9.2,1000,17251,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1711,1994
$GC,17554,1.17,121.6,469.5,10.3,1031,17563,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1711,1994
$GC,17876,1.17,121.6,437.2,10.3,1057,17895,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1711,1994
$GC,18197,1.17,121.6,403.7,10.5,1073,18206,0.00,2.65,0.00,0.000,4,0.000,0.066,2776,290,1994
$GC,18227,1.17,121.6,400.4,11.1,1074,18232,0.00,2.55,0.00,0.000,6,0.000,0.040,2776,1703,1994
$GC,18539,1.17,121.6,368.4,10.1,1090,18558,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1994
$GC,18860,1.17,121.6,336.8,9.3,1106,18879,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1994
$GC,19181,1.17,121.6,308.2,8.6,1122,19190,0.00,2.62,0.00,0.000,4,0.000,0.058,2776,3110,1994
$GC,19216,1.17,121.6,305.1,9.7,1123,19221,0.00,2.55,0.00,0.000,6,0.000,0.045,2776,1704,1994
$GC,19523,1.17,121.6,278.2,8.6,1139,19542,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1995
$GC,19844,1.17,121.6,251.2,8.4,1155,19863,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1704,1994
$GC,20165,1.17,121.6,222.1,9.4,1171,20174,0.00,2.62,0.00,0.000,4,0.000,0.065,2776,294,1994
$GC,20206,1.17,121.6,218.0,9.4,1173,20214,0.00,2.50,0.00,0.000,6,0.000,0.035,2776,1707,1994
$GC,20527,1.17,121.6,187.1,9.6,1189,20546,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1708,1994
$GC,20849,1.17,121.6,155.0,10.1,1205,20857,0.00,2.60,0.00,0.000,4,0.000,0.063,2776,296,1994
$GC,20876,1.17,121.6,152.3,10.8,1206,20884,0.00,2.53,0.00,0.000,6,0.000,0.036,2776,1707,1994
$GC,21192,1.17,121.6,121.3,10.0,1222,21200,0.00,2.62,0.00,0.000,4,0.000,0.056,2776,3113,1994
$GC,21229,1.17,121.6,117.8,10.7,1223,21233,0.00,2.50,0.00,0.000,6,0.000,0.042,2776,1701,1994
$GC,21538,1.17,121.6,90.0,9.1,1254,21542,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1701,1995
$GC,21847,1.17,121.6,61.4,8.3,1315,21851,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1701,1995
$GC,22156,1.17,121.6,33.8,9.3,1376,22160,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1701,1995
$GC,22466,1.17,126.1,11.8,7.8,1437,22470,0.00,2.60,0.00,0.000,4,0.000,0.064,2776,299,1995
$GC,22496,1.17,126.1,9.3,8.5,1443,22500,0.00,2.50,0.00,0.000,6,0.000,0.034,2776,1707,1995
$FINISH,0.4,1.027062,0
$SM_CCo,22624,74.22,0.727,0,0,1603,220.03
$RAFOS_CLK,-1761
$RAFOS,2,1123302543,4.500000,4.484167,48,47,46,336,210,656
$RAFOS,1,1123301959,4.333333,4.321944,48,44,43,1575,112,218
$RAFOS,0,1123301342,4.166667,4.150556,45,44,43,550,73,107
$RAFOS,2,1123288153,0.500000,0.486944,50,47,41,216,1557,1608
$RAFOS,1,1123287549,0.333333,0.319167,47,45,43,218,792,516
$RAFOS,0,1123286946,0.166667,0.151667,53,45,42,478,48,1506
$TT8_MAMPS,0.021476
$HUMID,2029
$INTERNAL_PRESSURE,7.26059
$TCM_TEMP,3.00
$ALTIM_TOP_PING,9.6,8.9
$ALTIM_BOTTOM_PING,972.1,0.0
$24V_AH,23.3,25.992
$10V_AH,10.0,20.629
$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,25.825,159.800,215.750,74.225,0.000,96.994,93.367,280.848,0.500,63.589,1077.465,17526.217,1192.306,2236.674,1481.141,33.367,2515.538,0.000,1434.624,1800.000,3.463
$DEVICE_MAMPS,190.216,86.671,1508.689,727.116,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1662.270,2061.204,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54034,1465
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060805,062109,7054.860,1426.208,45,1.1,45,3.1