version: 65.00
glider: 17
mission: 2
dive: 181
start: 8 6 105 12 50 52
data:
$ID,17
$MISSION,2
$DIVE,181
$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,-32607.18
$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,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
$GPS1,124409,7055.923,1416.632,46,1.7,46
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-54.1
$GPS2,125000,7055.931,1416.460,17,2.3,37,3.0
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.221,-0.023
$KALMAN_X,202122.8,-60.9,-456.6,-303607.8,446.7
$KALMAN_Y,-77957.7,-147.9,-255.7,144575.0,500.0
$MHEAD_RNG_PITCHd_Wd,261.0,100806,-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,-40.25,0.000,2,0.000,0.000,287,1701,2675
$GC,59,-1.17,-121.6,3.4,-7.6,8,90,11.93,2.72,-8.35,0.000,4,0.192,0.064,2262,3143,3000
$GC,318,-1.17,-121.6,36.4,-12.6,59,323,0.00,2.50,0.00,0.000,6,0.000,0.041,2262,1735,3002
$GC,628,-1.17,-121.6,65.4,-9.1,120,632,0.00,2.60,0.00,0.000,4,0.000,0.049,2262,3148,3004
$GC,694,-1.17,-121.6,71.8,-10.0,133,698,0.00,2.50,0.00,0.000,6,0.000,0.040,2262,1737,3004
$GC,1003,-1.17,-121.6,102.3,-10.1,191,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1736,3005
$GC,1324,-1.17,-121.6,134.4,-10.2,207,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1736,3006
$GC,1645,-1.17,-121.6,165.6,-9.6,223,1653,0.00,2.58,0.00,0.000,4,0.000,0.059,2262,335,3006
$GC,1680,-1.17,-121.6,169.1,-10.2,224,1684,0.00,2.50,0.00,0.000,6,0.000,0.033,2262,1728,3006
$GC,1987,-1.17,-121.6,197.5,-9.3,240,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1729,3006
$GC,2308,-1.17,-121.6,227.6,-9.3,256,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1729,3006
$GC,2629,-1.17,-121.6,256.2,-8.8,272,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1729,3006
$GC,2950,-1.17,-121.6,284.5,-8.7,288,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1729,3006
$GC,3271,-1.17,-121.6,311.8,-8.2,304,3280,0.00,2.62,0.00,0.000,4,0.000,0.054,2262,3143,3006
$GC,3291,-1.17,-121.6,313.5,-8.6,305,3300,0.00,2.47,0.00,0.000,6,0.000,0.043,2262,1742,3006
$GC,3613,-1.17,-121.6,339.5,-8.0,321,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1741,3006
$GC,3934,-1.17,-121.6,364.9,-7.9,337,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1742,3006
$GC,4255,-1.17,-121.6,390.2,-8.0,353,4263,0.00,2.58,0.00,0.000,4,0.000,0.060,2262,335,3006
$GC,4290,-1.17,-121.6,393.4,-9.3,354,4295,0.00,2.53,0.00,0.000,6,0.000,0.035,2262,1729,3006
$GC,4597,-1.17,-121.6,420.1,-8.8,370,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1730,3006
$GC,4918,-1.17,-121.6,447.2,-8.4,386,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1730,3006
$GC,5240,-1.17,-121.6,474.3,-8.2,416,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1730,3006
$GC,5552,-1.17,-121.6,499.4,-8.0,447,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1730,3006
$GC,5864,-1.17,-121.6,525.7,-8.6,478,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1730,3006
$GC,6176,-1.17,-121.6,552.3,-8.4,509,6186,0.00,2.58,0.00,0.000,4,0.000,0.061,2262,336,3006
$GC,6227,-1.17,-121.6,556.8,-8.7,514,6236,0.00,2.50,0.00,0.000,6,0.000,0.038,2262,1739,3006
$GC,6539,-1.17,-121.6,581.0,-7.8,545,6549,0.00,2.60,0.00,0.000,4,0.000,0.059,2262,3143,3006
$GC,6605,-1.17,-121.6,586.2,-7.9,551,6610,0.00,2.53,0.00,0.000,6,0.000,0.046,2262,1752,3006
$GC,6912,-1.17,-121.6,609.8,-8.2,582,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1751,3005
$GC,7225,-1.17,-121.6,636.9,-8.9,613,7234,0.00,2.62,0.00,0.000,4,0.000,0.067,2262,334,3006
$GC,7255,-1.17,-121.6,639.7,-9.5,616,7264,0.00,2.50,0.00,0.000,6,0.000,0.039,2262,1739,3006
$GC,7589,-1.17,-121.6,665.5,-7.4,634,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3006
$GC,7947,-1.17,-121.6,689.7,-6.5,643,7956,0.00,2.62,0.00,0.000,4,0.000,0.068,2262,334,3006
$GC,7977,-1.17,-121.6,692.0,-8.4,643,7981,0.00,2.53,0.00,0.000,6,0.000,0.041,2262,1738,3005
$GC,8308,-1.17,-121.6,716.9,-7.8,652,8347,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1739,3005
$GC,8669,-1.17,-121.6,747.4,-8.4,661,8677,0.00,2.62,0.00,0.000,4,0.000,0.071,2262,334,3005
$GC,8694,-1.17,-121.6,749.6,-10.1,661,8698,0.00,2.55,0.00,0.000,6,0.000,0.043,2262,1740,3005
$GC,9030,-1.17,-121.6,777.8,-8.2,670,9039,0.00,2.62,0.00,0.000,4,0.000,0.066,2262,3145,3005
$GC,9055,-1.17,-121.6,779.9,-9.3,670,9059,0.00,2.53,0.00,0.000,6,0.000,0.053,2261,1740,3005
$GC,9391,-1.17,-121.6,805.1,-7.3,679,9430,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3005
$GC,9752,-1.17,-121.6,832.7,-7.8,688,9790,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3004
$GC,10113,-1.17,-121.6,862.0,-8.3,697,10121,0.00,2.65,0.00,0.000,4,0.000,0.066,2262,3144,3004
$GC,10137,-1.17,-121.6,864.2,-9.1,697,10142,0.00,2.53,0.00,0.000,6,0.000,0.055,2262,1740,3003
$GC,10474,-1.17,-121.6,890.2,-7.5,706,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3003
$GC,10834,-1.17,-121.6,916.3,-7.2,715,10873,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3002
$GC,11195,-1.17,-121.6,942.0,-7.1,724,11234,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3001
$GC,11556,-1.17,-121.6,968.5,-7.5,733,11598,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1741,3000
$GC,11919,-0.31,0.0,995.6,7.6,742,12036,1.02,0.00,109.80,1.460,6,0.128,0.000,2456,1741,2501
$GC,12040,1.17,121.6,998.4,3.4,745,12156,1.55,2.70,105.30,1.418,4,0.086,0.065,2780,3108,2003
$GC,12186,1.17,121.6,989.4,11.6,748,12195,0.00,2.60,0.00,0.000,6,0.000,0.058,2780,1709,2003
$GC,12524,1.17,121.6,953.6,10.7,757,12561,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1709,2001
$GC,12883,1.17,121.6,914.6,10.8,766,12922,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1709,2000
$GC,13244,1.17,121.6,876.1,10.5,775,13282,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1708,2000
$GC,13605,1.17,121.6,838.3,10.4,784,13643,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1709,1998
$GC,13965,1.17,121.6,801.8,10.1,793,13974,0.00,2.65,0.00,0.000,4,0.000,0.067,2780,3107,1998
$GC,13996,1.17,121.6,798.6,9.9,793,14000,0.00,2.58,0.00,0.000,6,0.000,0.059,2780,1705,1998
$GC,14327,1.17,121.6,765.4,9.9,802,14366,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1706,1998
$GC,14688,1.17,121.6,728.5,10.3,811,14726,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1997
$GC,15048,1.17,121.6,691.7,10.3,820,15087,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1706,1996
$GC,15409,1.17,121.6,654.9,10.0,829,15417,0.00,2.70,0.00,0.000,4,0.000,0.081,2780,296,1996
$GC,15459,1.17,121.6,649.5,10.9,830,15463,0.00,2.53,0.00,0.000,6,0.000,0.044,2780,1703,1996
$GC,15773,1.17,121.6,620.1,8.9,859,15782,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1706,1996
$GC,16085,1.17,121.6,591.1,9.4,890,16094,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1706,1995
$GC,16397,1.17,121.6,560.7,9.6,921,16406,0.00,2.62,0.00,0.000,4,0.000,0.066,2780,3110,1995
$GC,16458,1.17,121.6,554.3,10.4,927,16467,0.00,2.55,0.00,0.000,6,0.000,0.053,2780,1699,1994
$GC,16770,1.17,121.6,520.3,11.2,958,16780,0.00,2.65,0.00,0.000,4,0.000,0.074,2780,293,1994
$GC,16808,1.17,121.6,515.9,11.6,961,16812,0.00,2.55,0.00,0.000,6,0.000,0.042,2780,1706,1994
$GC,17117,1.17,121.6,481.2,10.6,992,17123,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1707,1994
$GC,17427,1.17,121.6,449.5,10.1,1023,17445,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1706,1994
$GC,17748,1.17,121.6,417.5,10.1,1039,17766,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1707,1994
$GC,18069,1.17,121.6,383.9,10.4,1055,18088,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1707,1994
$GC,18390,1.17,121.6,350.5,10.4,1071,18409,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1707,1994
$GC,18711,1.17,121.6,319.4,9.4,1087,18730,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1707,1994
$GC,19032,1.17,121.6,291.1,8.5,1103,19041,0.00,2.60,0.00,0.000,4,0.000,0.058,2778,3109,1994
$GC,19070,1.17,121.6,287.9,9.6,1104,19074,0.00,2.50,0.00,0.000,6,0.000,0.044,2780,1703,1994
$GC,19376,1.17,121.6,261.8,8.6,1120,19384,0.00,2.62,0.00,0.000,4,0.000,0.066,2780,294,1994
$GC,19406,1.17,121.6,259.0,8.8,1121,19410,0.00,2.50,0.00,0.000,6,0.000,0.037,2779,1708,1994
$GC,19718,1.17,121.6,230.3,9.5,1137,19737,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1709,1994
$GC,20039,1.17,121.6,199.4,9.9,1153,20058,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1709,1994
$GC,20360,1.17,121.6,167.9,9.7,1169,20369,0.00,2.62,0.00,0.000,4,0.000,0.062,2780,296,1995
$GC,20403,1.17,121.6,163.7,11.0,1171,20412,0.00,2.50,0.00,0.000,6,0.000,0.037,2780,1705,1994
$GC,20725,1.17,121.6,133.6,9.1,1187,20733,0.00,2.60,0.00,0.000,4,0.000,0.056,2780,3108,1994
$GC,20762,1.17,121.6,130.2,10.0,1188,20766,0.00,2.50,0.00,0.000,6,0.000,0.042,2780,1699,1994
$GC,21068,1.17,121.6,102.6,8.8,1204,21086,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1699,1995
$GC,21392,1.17,121.6,71.0,10.6,1262,21395,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1699,1995
$GC,21701,1.17,121.6,40.0,9.5,1323,21705,0.00,2.62,0.00,0.000,4,0.000,0.052,2780,3109,1995
$GC,21777,1.17,121.6,32.9,8.7,1338,21781,0.00,2.50,0.00,0.000,6,0.000,0.041,2780,1702,1995
$GC,22086,1.17,141.0,11.7,7.1,1399,22106,0.00,2.67,14.27,0.788,4,0.000,0.051,2780,3105,1925
$GC,22172,1.19,141.0,4.6,8.6,1416,22176,0.00,2.50,0.00,0.000,6,0.000,0.042,2780,1703,1926
$FINISH,0.3,1.026822,0
$SM_CCo,22240,57.97,0.712,0,0,1604,220.03
$RAFOS_CLK,-798
$RAFOS,2,1123345775,16.500000,16.493055,46,44,44,114,208,813
$RAFOS,1,1123345174,16.333334,16.326111,44,44,44,48,125,205
$RAFOS,0,1123344567,16.166666,16.157499,51,49,47,1070,147,214
$TT8_MAMPS,0.021476
$HUMID,2037
$INTERNAL_PRESSURE,7.26059
$TCM_TEMP,3.00
$ALTIM_TOP_PING,9.8,9.5
$ALTIM_BOTTOM_PING,971.2,0.0
$24V_AH,23.3,26.226
$10V_AH,10.0,20.840
$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,25.900,118.500,229.375,57.975,0.000,32.343,29.372,146.668,0.500,87.733,984.892,17144.516,1338.832,2139.663,1137.922,33.372,2584.637,0.000,1347.985,900.000,3.735
$DEVICE_MAMPS,191.750,95.875,1459.601,711.776,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1616.781,2003.789,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,52646,1426
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060805,190403,7055.127,1405.529,49,1.2,49,2.9