version: 66.00
glider: 23
mission: 1
dive: 17
start: 8 20 106 10 20 1
data:
$ID,23
$MISSION,1
$DIVE,17
$D_SURF,2
$D_FLARE,3
$D_TGT,900
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$T_DIVE,250
$T_MISSION,300
$T_TURN,150
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-6
$USE_ICE,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,210
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52064
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-06
$HEADING,-1
$TGT_DEFAULT_LAT,36.824699
$TGT_DEFAULT_LON,-122.268
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56251.836
$T_RSLEEP,5
$PITCH_MIN,405
$PITCH_MAX,3489
$C_PITCH,2510
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$ROLL_MIN,208
$ROLL_MAX,3567
$C_ROLL_DIVE,2080
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,500
$VBD_MIN,500
$VBD_MAX,3664
$C_VBD,2673
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-29.626078
$PRESSURE_SLOPE,0.0001163668
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$ALTIM_BOTTOM_PING_RANGE,15
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,3
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,5
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,0
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043036696
$SEABIRD_T_H,0.00062677584
$SEABIRD_T_I,2.2664151e-05
$SEABIRD_T_J,2.2667414e-06
$SEABIRD_C_G,-10.310682
$SEABIRD_C_H,1.1615626
$SEABIRD_C_I,-0.0017275931
$SEABIRD_C_J,0.00021877716
$GPS1,100637,3650.445,-12215.747,49,1.8,49
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-57.6
$GPS2,101908,3650.401,-12215.737,36,1.4,47,14.8
$SPEED_LIMITS,0.208,0.319
$TGT_NAME,APL2a
$TGT_LATLONG,3652.800,-12218.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.162,0.274
$KALMAN_X,19734.2,-96.9,172.8,-19482.8,1188.3
$KALMAN_Y,-23490.7,238.2,108.2,25139.5,-2460.4
$MHEAD_RNG_PITCHd_Wd,314.6,5566,-18.1,-12.000
$D_GRID,1000
$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,18,-1.43,-204.4,0.0,0.0,0,85,0.00,0.00,-64.82,0.000,2,0.000,0.000,398,2061,3082
$GC,86,-1.43,-204.4,3.8,-9.2,10,114,9.90,2.45,-8.10,0.000,4,0.156,0.065,2190,3469,3511
$GC,218,-1.43,-204.4,31.8,-16.7,25,226,0.00,2.40,0.00,0.000,6,0.000,0.051,2190,2091,3514
$GC,411,-1.43,-204.4,62.1,-14.9,41,419,0.00,2.42,0.00,0.000,4,0.000,0.055,2190,3473,3517
$GC,493,-1.43,-204.4,73.6,-14.8,47,500,0.00,2.42,0.00,0.000,6,0.000,0.052,2190,2080,3518
$GC,686,-1.43,-204.4,101.4,-14.3,63,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2080,3520
$GC,884,-1.43,-204.4,129.1,-14.2,75,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2080,3520
$GC,1246,-1.43,-204.4,178.3,-13.4,81,1253,0.00,2.47,0.00,0.000,4,0.000,0.061,2189,3477,3521
$GC,1370,-1.43,-204.4,194.2,-12.4,83,1378,0.00,2.42,0.00,0.000,6,0.000,0.055,2190,2088,3521
$GC,1735,-1.43,-204.4,237.0,-11.6,89,1743,0.00,2.78,0.00,0.000,4,0.000,0.074,2190,673,3521
$GC,1756,-1.43,-204.4,239.4,-11.6,89,1763,0.00,2.62,0.00,0.000,6,0.000,0.047,2190,2068,3521
$GC,2103,-1.43,-204.4,279.4,-11.6,95,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2069,3520
$GC,2466,-1.43,-204.4,323.1,-12.1,101,2474,0.00,2.72,0.00,0.000,4,0.000,0.071,2190,681,3519
$GC,2549,-1.43,-204.4,333.7,-12.3,102,2557,0.00,2.62,0.00,0.000,6,0.000,0.048,2189,2079,3520
$GC,2897,-1.43,-204.4,376.8,-12.4,108,2904,0.00,2.75,0.00,0.000,4,0.000,0.070,2189,674,3518
$GC,2930,-1.43,-204.4,380.9,-12.9,108,2937,0.00,2.62,0.00,0.000,6,0.000,0.048,2190,2068,3519
$GC,3265,-1.43,-204.4,418.9,-11.2,114,3272,0.00,2.75,0.00,0.000,4,0.000,0.071,2189,672,3518
$GC,3322,-1.43,-204.4,425.8,-12.2,114,3329,0.00,2.65,0.00,0.000,6,0.000,0.048,2190,2078,3517
$GC,3631,-1.43,-204.4,463.1,-12.1,120,3638,0.00,2.75,0.00,0.000,4,0.000,0.071,2190,674,3517
$GC,3676,-1.43,-204.4,468.5,-12.3,120,3683,0.00,2.65,0.00,0.000,6,0.000,0.050,2190,2075,3517
$GC,3999,-1.43,-204.4,506.8,-11.8,126,4006,0.00,2.75,0.00,0.000,4,0.000,0.073,2189,679,3517
$GC,4026,-1.43,-204.4,509.9,-12.1,126,4033,0.00,2.65,0.00,0.000,6,0.000,0.050,2189,2078,3517
$GC,4367,-1.43,-204.4,549.9,-11.7,132,4374,0.00,2.75,0.00,0.000,4,0.000,0.074,2189,679,3517
$GC,4412,-1.43,-204.4,555.1,-12.0,132,4419,0.00,2.62,0.00,0.000,6,0.000,0.051,2192,2069,3516
$GC,4736,-1.43,-204.4,590.0,-10.8,138,4743,0.00,2.75,0.00,0.000,4,0.000,0.074,2189,679,3515
$GC,4799,-1.43,-204.4,597.0,-10.0,139,4807,0.00,2.67,0.00,0.000,6,0.000,0.053,2191,2077,3515
$GC,5164,-1.43,-204.4,635.0,-10.4,145,5171,0.00,2.75,0.00,0.000,4,0.000,0.077,2189,683,3514
$GC,5227,-1.43,-204.4,641.4,-9.9,146,5235,0.00,2.67,0.00,0.000,6,0.000,0.055,2190,2076,3514
$GC,5594,-1.43,-204.4,676.9,-9.7,152,5602,0.00,2.78,0.00,0.000,4,0.000,0.079,2189,679,3513
$GC,5664,-1.43,-204.4,684.2,-10.7,153,5672,0.00,2.67,0.00,0.000,6,0.000,0.058,2189,2074,3513
$GC,6023,-1.43,-204.4,718.1,-9.6,159,6031,0.00,2.80,0.00,0.000,4,0.000,0.082,2189,676,3512
$GC,6087,-1.43,-204.4,725.1,-11.3,160,6095,0.00,2.70,0.00,0.000,6,0.000,0.060,2190,2067,3512
$GC,6452,-1.43,-204.4,762.4,-10.3,166,6459,0.00,2.78,0.00,0.000,4,0.000,0.083,2190,681,3511
$GC,6515,-1.43,-204.4,768.8,-9.9,167,6523,0.00,2.70,0.00,0.000,6,0.000,0.061,2189,2078,3511
$GC,6882,-1.43,-204.4,803.6,-9.5,173,6889,0.00,2.80,0.00,0.000,4,0.000,0.083,2190,682,3510
$GC,6945,-1.43,-204.4,810.6,-10.9,174,6952,0.00,2.70,0.00,0.000,6,0.000,0.061,2189,2071,3510
$GC,7310,-1.43,-204.4,847.5,-10.1,180,7317,0.00,2.80,0.00,0.000,4,0.000,0.084,2189,676,3509
$GC,7385,-1.43,-204.4,855.2,-10.0,181,7393,0.00,2.70,0.00,0.000,6,0.000,0.061,2189,2076,3508
$GC,7738,-1.43,-204.4,887.6,-9.0,187,7745,0.00,2.80,0.00,0.000,4,0.000,0.083,2189,676,3508
$GC,7808,-1.43,-204.4,893.7,-8.4,188,7816,0.00,2.67,0.00,0.000,6,0.000,0.061,2190,2072,3508
$GC,7929,-0.33,0.0,904.4,8.8,190,8108,1.20,0.00,170.10,1.432,6,0.103,0.000,2433,2193,2672
$GC,8119,1.43,204.4,909.3,4.0,193,8306,1.83,2.50,172.18,1.418,4,0.076,0.075,2820,3556,1839
$GC,8394,1.43,204.4,870.9,19.7,197,8401,0.00,2.47,0.00,0.000,6,0.000,0.065,2820,2188,1839
$GC,8735,1.43,204.4,804.3,19.7,203,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2188,1839
$GC,9098,1.43,204.4,736.4,18.2,209,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2187,1838
$GC,9460,1.43,204.4,674.0,17.0,215,9468,0.00,2.45,0.00,0.000,4,0.000,0.066,2820,3549,1838
$GC,9499,1.43,204.4,667.6,14.9,215,9507,0.00,2.45,0.00,0.000,6,0.000,0.061,2820,2179,1837
$GC,9828,1.43,204.4,610.6,17.7,221,9835,0.00,2.78,0.00,0.000,4,0.000,0.078,2820,777,1836
$GC,9861,1.43,204.4,604.3,20.3,221,9868,0.00,2.62,0.00,0.000,6,0.000,0.048,2820,2169,1837
$GC,10196,1.43,204.4,546.8,16.8,227,10203,0.00,2.78,0.00,0.000,4,0.000,0.074,2820,767,1836
$GC,10223,1.43,204.4,542.3,17.3,227,10230,0.00,2.62,0.00,0.000,6,0.000,0.048,2820,2172,1836
$GC,10564,1.43,204.4,485.0,16.8,233,10571,0.00,2.78,0.00,0.000,4,0.000,0.076,2820,766,1836
$GC,10604,1.43,204.4,477.5,20.0,233,10612,0.00,2.65,0.00,0.000,6,0.000,0.047,2820,2180,1835
$GC,10935,1.43,204.4,418.9,17.5,239,10942,0.00,2.78,0.00,0.000,4,0.000,0.072,2820,770,1835
$GC,10974,1.43,204.4,411.6,18.9,239,10981,0.00,2.65,0.00,0.000,6,0.000,0.047,2820,2182,1835
$GC,11303,1.43,204.4,357.3,16.2,245,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2185,1835
$GC,11666,1.43,204.4,298.9,16.2,251,11673,0.00,2.75,0.00,0.000,4,0.000,0.071,2822,776,1835
$GC,11735,1.43,204.4,286.3,18.6,252,11742,0.00,2.62,0.00,0.000,6,0.000,0.046,2820,2184,1835
$GC,12095,1.43,204.4,226.6,16.4,258,12102,0.00,2.78,0.00,0.000,4,0.000,0.070,2820,767,1835
$GC,12176,1.43,204.4,211.8,17.6,259,12184,0.00,2.62,0.00,0.000,6,0.000,0.045,2820,2177,1835
$GC,12523,1.43,204.4,156.6,15.8,265,12530,0.00,2.75,0.00,0.000,4,0.000,0.069,2820,773,1835
$GC,12574,1.43,204.4,148.8,15.0,265,12581,0.00,2.62,0.00,0.000,6,0.000,0.046,2820,2179,1835
$GC,12892,1.43,204.4,103.7,13.5,275,12900,0.00,2.75,0.00,0.000,4,0.000,0.068,2820,774,1835
$GC,12913,1.43,204.4,100.9,13.9,276,12921,0.00,2.62,0.00,0.000,6,0.000,0.045,2820,2182,1835
$GC,13106,1.43,204.4,75.8,12.4,292,13114,0.00,2.75,0.00,0.000,4,0.000,0.068,2820,770,1835
$GC,13127,1.43,204.4,73.2,12.5,293,13135,0.00,2.62,0.00,0.000,6,0.000,0.045,2820,2178,1835
$GC,13320,1.43,204.4,47.2,13.6,309,13328,0.00,2.75,0.00,0.000,4,0.000,0.067,2820,772,1835
$GC,13360,1.43,204.4,42.1,13.0,312,13367,0.00,2.62,0.00,0.000,6,0.000,0.045,2820,2183,1835
$GC,13561,1.43,228.8,19.2,11.0,328,13587,0.00,2.80,18.33,0.831,4,0.000,0.066,2820,776,1740
$GC,13619,1.46,251.2,12.6,11.1,337,13651,0.00,2.62,17.38,0.822,6,0.000,0.044,2820,2173,1646
$FINISH,0.1,1.024777
$SM_CCo,13757,68.22,0.804,4,0,1245,350.04
$TT8_MAMPS,0.184847
$HUMID,1935
$TCM_TEMP,14.60
$XPDR_PINGS,183
$ALTIM_TOP_PING,9.9,0.0
$ALTIM_BOTTOM_PING,50.7,6.4
$24V_AH,23.3,7.629
$10V_AH,9.9,5.153
$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,23.850,165.675,377.975,68.225,0.000,31.365,24.946,457.605,46.500,99.869,527.004,8748.408,638.321,4079.152,698.775,33.343,1791.846,0.000,3928.480,0.000,9.238
$DEVICE_MAMPS,155.701,83.603,1431.989,803.816,0.000,103.000,160.000,223.000,420.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,1849.552,0.000,0.000,0.000,0.000,0.000,244.553,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,124.612,0.000
$DATA_FILE_SIZE,12600,353
$CFSIZE,260034560,255451136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,62,4,0
$GPS,200806,141337,3651.916,-12216.720,128,1.3,128,14.8