version: 65.00
glider: 17
mission: 2
dive: 33
start: 6 28 105 11 47 27
data:
$ID,17
$MISSION,2
$DIVE,33
$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,260
$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,-22522.395
$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,1705
$C_ROLL_CLIMB,1705
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,25
$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,15
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,9
$ALTIM_SENSITIVITY,3
$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
$GPS1,113727,7045.440,1602.251,47,1.3,47
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-53.7
$GPS2,114634,7045.414,1602.349,21,1.4,22,4.1
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7215.000,1330.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.220,0.031
$KALMAN_X,53131.9,-173.1,-751.4,-88219.3,7854.8
$KALMAN_Y,-39365.4,-64.7,516.7,85651.3,-4921.1
$MHEAD_RNG_PITCHd_Wd,274.0,186885,-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,14,-1.17,-121.6,0.0,0.0,0,62,0.00,0.00,-45.67,0.000,2,0.000,0.000,290,1706,2648
$GC,64,-1.17,-121.6,3.2,-7.2,9,94,11.85,2.62,-8.85,0.000,4,0.189,0.067,2263,3112,2998
$GC,221,-1.17,-121.6,22.8,-10.6,40,225,0.00,2.53,0.00,0.000,6,0.000,0.041,2263,1705,3001
$GC,530,-1.17,-121.6,52.9,-9.6,101,535,0.00,2.58,0.00,0.000,4,0.000,0.058,2263,297,3001
$GC,581,-1.17,-121.6,57.7,-9.4,111,585,0.00,2.47,0.00,0.000,6,0.000,0.033,2263,1706,3001
$GC,890,-1.17,-121.6,85.7,-9.3,172,894,0.00,2.58,0.00,0.000,4,0.000,0.054,2263,3107,3004
$GC,931,-1.17,-121.6,89.5,-9.7,180,935,0.00,2.50,0.00,0.000,6,0.000,0.042,2263,1705,3003
$GC,1241,-1.17,-121.6,117.6,-8.5,241,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3003
$GC,1550,-1.17,-121.6,144.8,-8.5,302,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1705,3003
$GC,1859,-1.17,-121.6,170.0,-8.0,363,1863,0.00,2.60,0.00,0.000,4,0.000,0.052,2264,3108,3003
$GC,1905,-1.17,-121.6,174.0,-8.9,372,1909,0.00,2.50,0.00,0.000,6,0.000,0.042,2264,1704,3003
$GC,2219,-1.17,-121.6,201.2,-8.9,433,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3003
$GC,2531,-1.17,-121.6,229.2,-8.9,464,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3003
$GC,2843,-1.17,-121.6,257.9,-9.4,495,2853,0.00,2.58,0.00,0.000,4,0.000,0.052,2263,3107,3003
$GC,2889,-1.17,-121.6,262.5,-9.8,499,2893,0.00,2.55,0.00,0.000,6,0.000,0.042,2265,1705,3003
$GC,3196,-1.17,-121.6,292.6,-10.0,530,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1705,3003
$GC,3508,-1.17,-121.6,323.1,-9.7,561,3518,0.00,2.60,0.00,0.000,4,0.000,0.052,2263,3108,3003
$GC,3533,-1.17,-121.6,325.6,-10.7,563,3538,0.00,2.55,0.00,0.000,6,0.000,0.042,2263,1704,3003
$GC,3841,-1.17,-121.6,354.1,-8.6,594,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3003
$GC,4153,-1.17,-121.6,379.8,-7.9,625,4162,0.00,2.58,0.00,0.000,4,0.000,0.053,2263,3111,3003
$GC,4178,-1.17,-121.6,381.9,-8.8,627,4183,0.00,2.55,0.00,0.000,6,0.000,0.042,2263,1705,3003
$GC,4515,-1.17,-121.6,406.1,-6.9,655,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1704,3003
$GC,4876,-1.17,-121.6,430.1,-6.6,664,4885,0.00,2.58,0.00,0.000,4,0.000,0.053,2263,3106,3003
$GC,4901,-1.17,-121.6,431.9,-7.7,664,4905,0.00,2.50,0.00,0.000,6,0.000,0.043,2263,1703,3003
$GC,5237,-1.17,-121.6,453.8,-6.5,673,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1703,3003
$GC,5598,-1.17,-121.6,477.3,-6.6,682,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3003
$GC,5959,-1.17,-121.6,503.7,-7.6,691,5967,0.00,2.58,0.00,0.000,4,0.000,0.053,2263,3107,3003
$GC,5984,-1.17,-121.6,505.8,-9.0,691,5988,0.00,2.53,0.00,0.000,6,0.000,0.044,2264,1701,3003
$GC,6320,-1.17,-121.6,534.9,-8.9,700,6328,0.00,2.55,0.00,0.000,4,0.000,0.053,2263,3108,3003
$GC,6365,-1.17,-121.6,539.2,-9.9,701,6369,0.00,2.50,0.00,0.000,6,0.000,0.044,2264,1701,3003
$GC,6682,-1.17,-121.6,568.9,-9.4,709,6690,0.00,2.58,0.00,0.000,4,0.000,0.053,2264,3112,3003
$GC,6717,-1.17,-121.6,572.3,-10.1,709,6721,0.00,2.55,0.00,0.000,6,0.000,0.044,2263,1710,3003
$GC,7043,-1.17,-121.6,602.3,-9.2,718,7051,0.00,2.58,0.00,0.000,4,0.000,0.063,2264,299,3003
$GC,7068,-1.17,-121.6,604.8,-10.6,718,7072,0.00,2.45,0.00,0.000,6,0.000,0.035,2264,1711,3003
$GC,7404,-1.17,-121.6,636.8,-9.4,727,7413,0.00,2.55,0.00,0.000,4,0.000,0.058,2263,3106,3003
$GC,7434,-1.17,-121.6,639.8,-10.7,727,7438,0.00,2.50,0.00,0.000,6,0.000,0.046,2263,1706,3003
$GC,7765,-1.17,-121.6,669.8,-8.8,736,7774,0.00,2.55,0.00,0.000,4,0.000,0.058,2263,3106,3003
$GC,7806,-1.17,-121.6,673.3,-8.9,737,7814,0.00,2.50,0.00,0.000,6,0.000,0.046,2263,1705,3003
$GC,8127,-1.17,-121.6,697.3,-6.9,745,8135,0.00,2.55,0.00,0.000,4,0.000,0.058,2264,3105,3003
$GC,8162,-1.17,-121.6,699.7,-7.1,745,8167,0.00,2.55,0.00,0.000,6,0.000,0.048,2264,1707,3003
$GC,8488,-1.17,-121.6,717.4,-4.9,754,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1707,3003
$GC,8849,-1.17,-121.6,733.1,-4.2,763,8857,0.00,2.55,0.00,0.000,4,0.000,0.058,2264,3107,3003
$GC,8879,-1.17,-121.6,734.4,-5.7,763,8888,0.00,2.53,0.00,0.000,6,0.000,0.048,2264,1705,3003
$GC,9210,-1.17,-121.6,750.7,-5.1,772,9218,0.00,2.58,0.00,0.000,4,0.000,0.059,2263,3109,3003
$GC,9286,-1.17,-121.6,755.3,-6.1,773,9290,0.00,2.55,0.00,0.000,6,0.000,0.048,2264,1712,3003
$GC,9612,-1.17,-121.6,776.2,-6.7,782,9620,0.00,2.58,0.00,0.000,4,0.000,0.059,2263,3106,3003
$GC,9662,-1.17,-121.6,779.9,-7.5,783,9666,0.00,2.53,0.00,0.000,6,0.000,0.049,2263,1700,3003
$GC,9973,-1.17,-121.6,802.1,-7.3,791,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1700,3003
$GC,10334,-1.17,-121.6,829.5,-7.4,800,10373,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1700,3003
$GC,10695,-1.17,-121.6,852.2,-6.1,809,10733,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1700,3003
$GC,11055,-1.17,-121.6,872.6,-5.5,818,11064,0.00,2.62,0.00,0.000,4,0.000,0.063,2263,3109,3003
$GC,11085,-1.17,-121.6,874.5,-7.2,818,11089,0.00,2.53,0.00,0.000,6,0.000,0.052,2263,1705,3002
$GC,11417,-1.17,-121.6,894.5,-6.0,827,11455,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1705,3002
$GC,11777,-1.17,-121.6,916.4,-6.0,836,11786,0.00,2.60,0.00,0.000,4,0.000,0.064,2264,3105,3002
$GC,11818,-1.17,-121.6,919.1,-6.8,837,11826,0.00,2.53,0.00,0.000,6,0.000,0.054,2264,1703,3001
$GC,12139,-1.17,-121.6,939.7,-6.3,845,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3001
$GC,12499,-1.17,-121.6,959.7,-5.4,854,12538,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3000
$GC,12862,-1.17,-121.6,980.6,-6.0,863,12899,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,2999
$GC,13062,-0.31,0.0,993.1,6.4,868,13180,1.00,0.00,108.35,1.515,6,0.128,0.000,2453,1703,2501
$GC,13182,1.17,121.6,994.5,2.2,871,13301,1.60,0.00,106.07,1.465,6,0.084,0.000,2777,1703,2005
$GC,13622,1.17,121.6,949.5,12.0,882,13630,0.00,2.78,0.00,0.000,4,0.000,0.096,2777,301,2003
$GC,13657,1.17,121.6,945.0,11.7,882,13662,0.00,2.60,0.00,0.000,6,0.000,0.053,2777,1694,2002
$GC,13983,1.17,121.6,905.6,12.1,891,14021,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1696,2002
$GC,14343,1.17,121.6,860.3,12.8,900,14352,0.00,2.67,0.00,0.000,4,0.000,0.067,2777,3111,2001
$GC,14373,1.17,121.6,856.2,13.1,900,14377,0.00,2.58,0.00,0.000,6,0.000,0.055,2777,1706,1999
$GC,14705,1.17,121.6,815.8,12.2,909,14743,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,1999
$GC,15065,1.17,121.6,777.5,10.0,918,15074,0.00,2.62,0.00,0.000,4,0.000,0.065,2777,3109,1998
$GC,15090,1.17,121.6,774.8,10.9,918,15094,0.00,2.58,0.00,0.000,6,0.000,0.054,2777,1704,1998
$GC,15426,1.17,121.6,740.6,10.0,927,15465,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1703,1997
$GC,15787,1.17,121.6,703.8,10.4,936,15795,0.00,2.62,0.00,0.000,4,0.000,0.064,2777,3113,1996
$GC,15842,1.17,121.6,697.8,11.6,937,15846,0.00,2.55,0.00,0.000,6,0.000,0.052,2777,1704,1996
$GC,16149,1.17,121.6,667.0,9.8,945,16187,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1703,1996
$GC,16509,1.17,121.6,632.5,9.7,954,16548,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1703,1996
$GC,16870,1.17,121.6,596.1,10.0,963,16879,0.00,2.60,0.00,0.000,4,0.000,0.059,2777,3113,1996
$GC,16911,1.17,121.6,591.9,10.1,964,16919,0.00,2.55,0.00,0.000,6,0.000,0.048,2777,1699,1996
$GC,17233,1.17,121.6,560.9,9.6,972,17270,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1699,1996
$GC,17592,1.17,121.6,525.1,10.2,981,17631,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1699,1996
$GC,17953,1.17,121.6,486.2,10.8,990,17992,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1699,1996
$GC,18314,1.17,121.6,444.7,11.7,999,18352,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1698,1996
$GC,18674,1.17,121.6,403.3,11.4,1008,18683,0.00,2.62,0.00,0.000,4,0.000,0.054,2777,3111,1996
$GC,18704,1.17,121.6,399.8,10.8,1008,18708,0.00,2.53,0.00,0.000,6,0.000,0.044,2777,1704,1996
$GC,19017,1.17,121.6,366.2,10.2,1039,19025,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1996
$GC,19329,1.17,121.6,334.5,9.7,1070,19338,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1996
$GC,19641,1.17,121.6,303.4,9.9,1101,19650,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1996
$GC,19953,1.17,121.6,271.7,10.2,1132,19962,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1996
$GC,20266,1.17,121.6,239.9,9.9,1163,20274,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1996
$GC,20578,1.17,121.6,208.6,9.9,1194,20586,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1996
$GC,20892,1.17,121.6,177.2,10.0,1247,20895,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1703,1996
$GC,21201,1.17,121.6,146.1,10.3,1308,21204,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1996
$GC,21510,1.17,121.6,114.9,10.1,1369,21514,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,1996
$GC,21819,1.17,121.6,85.8,9.1,1430,21824,0.00,2.60,0.00,0.000,4,0.000,0.063,2777,297,1996
$GC,21870,1.17,121.6,80.9,9.4,1440,21874,0.00,2.47,0.00,0.000,6,0.000,0.035,2777,1707,1996
$GC,22179,1.17,121.6,54.6,8.5,1501,22183,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1708,1996
$GC,22488,1.17,121.6,29.3,8.1,1562,22493,0.00,2.58,0.00,0.000,4,0.000,0.058,2777,3110,1996
$GC,22651,1.17,143.1,18.3,7.0,1594,22676,0.00,2.50,16.52,0.820,6,0.000,0.041,2777,1701,1917
$FINISH,0.1,1.026748,0
$SM_CCo,22900,77.40,0.759,0,0,1441,260.02
$RAFOS_CLK,-806
$RAFOS,2,1119976146,16.500000,16.485001,45,43,42,223,270,191
$RAFOS,1,1119975555,16.333334,16.320833,42,40,39,48,235,1101
$RAFOS,0,1119974953,16.166666,16.153610,53,47,46,255,1273,203
$RAFOS,2,1119961747,12.500000,12.485278,58,44,42,212,133,173
$RAFOS,1,1119961146,12.333333,12.318334,48,44,43,937,1198,48
$RAFOS,0,1119960543,12.166667,12.150833,48,48,48,146,200,214
$TT8_MAMPS,0.021476
$HUMID,2024
$INTERNAL_PRESSURE,7.24104
$TCM_TEMP,2.00
$ALTIM_TOP_PING,10.0,0.0
$ALTIM_BOTTOM_PING,980.6,0.0
$24V_AH,23.3,8.156
$10V_AH,10.0,4.608
$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,25.800,143.375,230.950,77.400,0.000,64.655,62.502,257.167,0.500,73.053,1111.538,17400.691,1333.674,2431.263,1341.406,33.358,2727.345,0.000,1556.278,1800.000,3.638
$DEVICE_MAMPS,189.449,95.875,1514.825,759.330,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1860.787,2301.876,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,58242,1640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280605,181140,7045.512,1558.768,34,1.4,34,4.1