version: 65.00
glider: 17
mission: 2
dive: 36
start: 6 29 105 7 1 44
data:
$ID,17
$MISSION,2
$DIVE,36
$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,-22717.154
$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,1
$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
$GPS1,065539,7045.882,1552.302,34,0.8,34
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-53.9
$GPS2,070054,7045.863,1552.390,17,1.2,18,4.0
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7215.000,1330.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.190,0.116
$KALMAN_X,62281.0,-146.5,-297.5,-104058.7,5461.0
$KALMAN_Y,-42850.5,-78.8,889.8,89603.3,-4265.3
$MHEAD_RNG_PITCHd_Wd,297.5,183617,-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,-45.65,0.000,2,0.000,0.000,289,1697,2662
$GC,64,-1.17,-121.6,3.4,-6.9,9,89,11.90,2.65,-8.30,0.000,4,0.190,0.064,2264,3112,3000
$GC,303,-1.17,-121.6,33.3,-11.3,56,307,0.00,2.53,0.00,0.000,6,0.000,0.041,2264,1705,3003
$GC,612,-1.17,-121.6,65.7,-9.8,117,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1705,3004
$GC,921,-1.17,-121.6,93.5,-9.1,178,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1705,3005
$GC,1230,-1.17,-121.6,123.1,-9.7,239,1234,0.00,2.60,0.00,0.000,4,0.000,0.051,2263,3107,3005
$GC,1286,-1.17,-121.6,128.9,-10.3,250,1290,0.00,2.53,0.00,0.000,6,0.000,0.042,2264,1705,3005
$GC,1595,-1.17,-121.6,158.8,-9.3,311,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1706,3005
$GC,1904,-1.17,-121.6,187.7,-9.4,372,1909,0.00,2.55,0.00,0.000,4,0.000,0.051,2264,3108,3005
$GC,1930,-1.17,-121.6,190.2,-9.9,377,1934,0.00,2.53,0.00,0.000,6,0.000,0.042,2264,1703,3005
$GC,2238,-1.17,-121.6,219.2,-9.3,418,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1704,3005
$GC,2550,-1.17,-121.6,248.4,-9.0,449,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1703,3005
$GC,2862,-1.17,-121.6,275.6,-8.4,480,2871,0.00,2.60,0.00,0.000,4,0.000,0.051,2264,3107,3005
$GC,2892,-1.17,-121.6,278.4,-9.6,483,2902,0.00,2.53,0.00,0.000,6,0.000,0.043,2264,1700,3005
$GC,3205,-1.17,-121.6,305.1,-8.5,514,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1700,3005
$GC,3517,-1.17,-121.6,331.1,-8.4,545,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1700,3005
$GC,3829,-1.17,-121.6,357.5,-8.4,576,3838,0.00,2.58,0.00,0.000,4,0.000,0.051,2264,3108,3005
$GC,3864,-1.17,-121.6,360.6,-9.2,579,3869,0.00,2.55,0.00,0.000,6,0.000,0.042,2264,1705,3005
$GC,4172,-1.17,-121.6,387.0,-8.9,610,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1705,3005
$GC,4483,-1.17,-121.6,414.7,-8.9,629,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1705,3005
$GC,4844,-1.17,-121.6,448.1,-9.4,638,4852,0.00,2.58,0.00,0.000,4,0.000,0.051,2264,3108,3005
$GC,4894,-1.17,-121.6,453.2,-10.4,639,4898,0.00,2.50,0.00,0.000,6,0.000,0.042,2264,1705,3004
$GC,5205,-1.17,-121.6,483.4,-9.8,647,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1705,3005
$GC,5567,-1.17,-121.6,518.3,-9.6,656,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1705,3005
$GC,5927,-1.17,-121.6,552.9,-9.4,665,5935,0.00,2.60,0.00,0.000,4,0.000,0.053,2264,3112,3005
$GC,5992,-1.17,-121.6,559.1,-9.6,666,5996,0.00,2.50,0.00,0.000,6,0.000,0.043,2264,1705,3005
$GC,6328,-1.17,-121.6,586.9,-7.8,675,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1706,3005
$GC,6689,-1.17,-121.6,612.6,-6.9,684,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1705,3005
$GC,7050,-1.17,-121.6,636.4,-6.5,693,7058,0.00,2.55,0.00,0.000,4,0.000,0.054,2264,3107,3005
$GC,7105,-1.17,-121.6,640.1,-6.7,694,7109,0.00,2.50,0.00,0.000,6,0.000,0.045,2264,1706,3005
$GC,7411,-1.17,-121.6,659.4,-6.3,702,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1706,3005
$GC,7772,-1.17,-121.6,681.7,-6.1,711,7780,0.00,2.55,0.00,0.000,4,0.000,0.056,2264,3107,3005
$GC,7807,-1.17,-121.6,684.1,-7.1,711,7812,0.00,2.53,0.00,0.000,6,0.000,0.047,2264,1716,3005
$GC,8133,-1.17,-121.6,705.9,-6.8,720,8172,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1715,3005
$GC,8494,-1.17,-121.6,732.0,-7.5,729,8502,0.00,2.58,0.00,0.000,4,0.000,0.057,2264,3109,3005
$GC,8565,-1.17,-121.6,737.9,-8.7,730,8574,0.00,2.53,0.00,0.000,6,0.000,0.047,2264,1705,3005
$GC,8896,-1.17,-121.6,764.3,-8.1,739,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1705,3005
$GC,9256,-1.17,-121.6,793.6,-8.2,748,9265,0.00,2.58,0.00,0.000,4,0.000,0.058,2264,3106,3005
$GC,9297,-1.17,-121.6,797.2,-9.2,749,9305,0.00,2.53,0.00,0.000,6,0.000,0.049,2264,1700,3005
$GC,9618,-1.17,-121.6,822.0,-7.6,757,9656,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1700,3005
$GC,9979,-1.17,-121.6,847.4,-6.8,766,9987,0.00,2.58,0.00,0.000,4,0.000,0.061,2264,3106,3005
$GC,10009,-1.17,-121.6,849.5,-7.1,766,10013,0.00,2.53,0.00,0.000,6,0.000,0.051,2264,1700,3005
$GC,10340,-1.17,-121.6,871.9,-6.8,775,10378,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1700,3005
$GC,10701,-1.17,-121.6,896.0,-6.7,784,10709,0.00,2.58,0.00,0.000,4,0.000,0.062,2263,3107,3005
$GC,10746,-1.17,-121.6,899.1,-7.4,785,10750,0.00,2.53,0.00,0.000,6,0.000,0.052,2264,1700,3005
$GC,11062,-1.17,-121.6,918.4,-6.0,793,11101,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1700,3005
$GC,11423,-1.17,-121.6,940.7,-6.3,802,11462,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1700,3004
$GC,11784,-1.17,-121.6,963.9,-6.4,811,11792,0.00,2.58,0.00,0.000,4,0.000,0.066,2264,3106,3003
$GC,11859,-1.17,-121.6,969.1,-6.8,812,11864,0.00,2.55,0.00,0.000,6,0.000,0.054,2264,1714,3003
$GC,12185,-1.17,-121.6,989.7,-6.3,821,12194,0.00,2.55,0.00,0.000,4,0.000,0.066,2264,3105,3003
$GC,12210,-1.17,-121.6,991.4,-8.4,821,12214,0.00,2.53,0.00,0.000,6,0.000,0.054,2264,1705,3002
$GC,12268,-0.31,0.0,995.1,6.8,823,12386,1.00,0.00,108.28,1.430,6,0.130,0.000,2453,1705,2501
$GC,12387,1.17,121.6,996.4,2.2,826,12502,1.62,2.78,104.82,1.424,4,0.087,0.064,2780,3105,2005
$GC,12512,1.17,121.6,987.6,11.6,829,12516,0.00,2.60,0.00,0.000,6,0.000,0.054,2780,1706,2004
$GC,12829,1.17,121.6,950.7,11.4,837,12867,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1706,2003
$GC,13189,1.17,121.6,912.0,10.6,846,13198,0.00,2.62,0.00,0.000,4,0.000,0.066,2780,3105,2001
$GC,13245,1.17,121.6,906.0,10.7,847,13254,0.00,2.58,0.00,0.000,6,0.000,0.056,2780,1703,2001
$GC,13591,1.17,121.6,870.9,10.1,856,13630,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1703,1999
$GC,13952,1.17,121.6,836.4,9.5,865,13990,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1703,1999
$GC,14312,1.17,121.6,801.7,9.7,874,14321,0.00,2.65,0.00,0.000,4,0.000,0.066,2780,3110,1998
$GC,14348,1.17,121.6,798.1,9.0,874,14352,0.00,2.60,0.00,0.000,6,0.000,0.054,2780,1706,1997
$GC,14674,1.17,121.6,767.2,9.3,883,14682,0.00,2.70,0.00,0.000,4,0.000,0.083,2780,299,1997
$GC,14704,1.17,121.6,764.1,9.8,883,14708,0.00,2.50,0.00,0.000,6,0.000,0.042,2780,1704,1997
$GC,15035,1.17,121.6,731.5,9.8,892,15043,0.00,2.60,0.00,0.000,4,0.000,0.065,2780,3110,1996
$GC,15060,1.17,121.6,728.8,10.8,892,15064,0.00,2.55,0.00,0.000,6,0.000,0.053,2780,1706,1995
$GC,15396,1.17,121.6,694.7,10.3,901,15435,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1705,1995
$GC,15757,1.17,121.6,655.6,11.1,910,15765,0.00,2.65,0.00,0.000,4,0.000,0.073,2780,297,1995
$GC,15787,1.17,121.6,652.1,11.4,910,15791,0.00,2.50,0.00,0.000,6,0.000,0.040,2780,1707,1993
$GC,16118,1.17,121.6,615.4,11.2,919,16156,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1709,1993
$GC,16478,1.17,121.6,575.6,11.1,928,16517,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1709,1993
$GC,16839,1.17,121.6,536.6,10.8,937,16848,0.00,2.62,0.00,0.000,4,0.000,0.066,2780,296,1993
$GC,16859,1.17,121.6,534.3,11.6,937,16863,0.00,2.47,0.00,0.000,6,0.000,0.038,2780,1706,1993
$GC,17200,1.17,121.6,498.1,10.6,946,17239,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,1993
$GC,17561,1.17,121.6,461.6,10.0,955,17569,0.00,2.62,0.00,0.000,4,0.000,0.064,2780,296,1994
$GC,17602,1.17,121.6,457.3,11.4,956,17610,0.00,2.50,0.00,0.000,6,0.000,0.038,2780,1707,1994
$GC,17923,1.17,121.6,424.5,10.2,964,17931,0.00,2.62,0.00,0.000,4,0.000,0.064,2780,296,1994
$GC,17958,1.17,121.6,420.7,12.4,964,17962,0.00,2.53,0.00,0.000,6,0.000,0.038,2780,1701,1993
$GC,18264,1.17,121.6,389.8,10.0,980,18273,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1701,1994
$GC,18576,1.17,121.6,359.5,10.1,1011,18585,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1702,1994
$GC,18889,1.17,121.6,329.4,9.8,1042,18898,0.00,2.60,0.00,0.000,4,0.000,0.062,2780,294,1994
$GC,18914,1.17,121.6,326.7,9.5,1044,18918,0.00,2.53,0.00,0.000,6,0.000,0.036,2780,1700,1994
$GC,19221,1.17,121.6,296.9,9.8,1075,19230,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1702,1994
$GC,19533,1.17,121.6,266.1,10.0,1106,19542,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1702,1994
$GC,19846,1.17,121.6,233.9,10.4,1137,19854,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1702,1994
$GC,20158,1.17,121.6,201.4,10.2,1168,20167,0.00,2.60,0.00,0.000,4,0.000,0.061,2780,296,1995
$GC,20209,1.17,121.6,195.7,12.1,1176,20214,0.00,2.47,0.00,0.000,6,0.000,0.035,2779,1706,1995
$GC,20518,1.17,121.6,164.4,10.4,1237,20522,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1707,1994
$GC,20828,1.17,121.6,133.9,10.0,1298,20832,0.00,2.60,0.00,0.000,4,0.000,0.060,2780,294,1994
$GC,20863,1.17,121.6,130.1,10.6,1305,20867,0.00,2.50,0.00,0.000,6,0.000,0.035,2779,1707,1994
$GC,21172,1.17,121.6,99.6,10.0,1366,21177,0.00,2.60,0.00,0.000,4,0.000,0.059,2780,294,1994
$GC,21208,1.17,121.6,95.8,11.3,1373,21212,0.00,2.50,0.00,0.000,6,0.000,0.036,2780,1708,1994
$GC,21517,1.17,121.6,66.0,9.4,1434,21521,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1710,1995
$GC,21826,1.17,121.6,37.7,9.0,1495,21830,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1710,1995
$GC,22136,1.17,131.7,11.7,7.5,1556,22150,0.00,2.70,7.55,0.815,4,0.000,0.059,2780,294,1963
$GC,22258,1.18,150.6,2.7,7.2,1580,22268,0.00,2.53,5.25,0.811,2,0.000,0.035,2780,1711,1936
$FINISH,0.2,1.026550,0
$SM_CCo,22310,82.05,0.707,0,0,1440,260.02
$RAFOS_CLK,-4848
$RAFOS,2,1120048147,12.500000,12.485278,42,41,41,6,140,870
$RAFOS,1,1120047543,12.333333,12.317500,46,46,43,207,384,129
$RAFOS,0,1120046949,12.166667,12.152500,44,44,44,205,1008,1562
$RAFOS,2,1120033749,8.500000,8.485833,47,46,46,73,143,828
$RAFOS,1,1120033146,8.333333,8.318334,51,43,42,214,132,1327
$RAFOS,0,1120032544,8.166667,8.151111,48,42,41,1385,183,48
$TT8_MAMPS,0.022243
$HUMID,2017
$INTERNAL_PRESSURE,7.24104
$TCM_TEMP,2.00
$ALTIM_TOP_PING,9.8,0.0
$ALTIM_BOTTOM_PING,982.1,14.1
$24V_AH,23.3,8.513
$10V_AH,10.0,4.946
$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,25.925,148.850,225.900,82.050,0.000,32.320,29.117,156.260,0.500,55.499,1104.997,16861.322,1285.988,2379.880,1152.626,33.358,2671.930,0.000,1536.981,1800.000,3.479
$DEVICE_MAMPS,190.216,82.836,1429.688,707.174,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1801.968,2231.145,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56185,1587
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290605,131608,7047.148,1550.223,36,1.0,36,4.0