version: 65.00
glider: 17
mission: 2
dive: 37
start: 6 29 105 13 22 13
data:
$ID,17
$MISSION,2
$DIVE,37
$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,-22774.811
$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,16
$R_STBD_OVSHOOT,26
$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
$GPS1,131608,7047.148,1550.223,36,1.0,36
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-53.9
$GPS2,132124,7047.152,1550.402,17,1.6,18,4.0
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7215.000,1330.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.197,0.103
$KALMAN_X,65476.9,60.7,-242.0,-108755.8,4781.6
$KALMAN_Y,-42957.1,245.0,213.9,92446.6,-2315.5
$MHEAD_RNG_PITCHd_Wd,293.5,180979,-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,-121.6,0.0,0.0,0,57,0.00,0.00,-40.62,0.000,2,0.000,0.000,292,1713,2528
$GC,59,-1.17,-121.6,3.2,-7.1,8,89,11.85,2.62,-12.45,0.000,4,0.190,0.067,2262,3094,3001
$GC,115,-1.17,-121.6,10.2,-11.5,19,119,0.00,2.53,0.00,0.000,6,0.000,0.042,2261,1698,3002
$GC,424,-1.17,-121.6,43.6,-9.7,80,428,0.00,2.58,0.00,0.000,4,0.000,0.059,2261,297,3003
$GC,475,-1.17,-121.6,49.0,-10.7,90,479,0.00,2.50,0.00,0.000,6,0.000,0.034,2261,1706,3004
$GC,784,-1.17,-121.6,80.8,-10.3,151,788,0.00,2.58,0.00,0.000,4,0.000,0.055,2261,3105,3005
$GC,845,-1.17,-121.6,87.3,-11.1,163,849,0.00,2.50,0.00,0.000,6,0.000,0.042,2261,1704,3005
$GC,1154,-1.17,-121.6,118.8,-10.0,224,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1704,3005
$GC,1463,-1.17,-121.6,151.0,-10.1,285,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1704,3005
$GC,1772,-1.17,-121.6,182.8,-10.3,346,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1704,3005
$GC,2086,-1.17,-121.6,214.1,-9.6,394,2095,0.00,2.58,0.00,0.000,4,0.000,0.052,2261,3106,3004
$GC,2121,-1.17,-121.6,217.6,-10.0,397,2126,0.00,2.55,0.00,0.000,6,0.000,0.042,2261,1709,3005
$GC,2429,-1.17,-121.6,246.0,-9.1,428,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1708,3005
$GC,2741,-1.17,-121.6,273.3,-8.6,459,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1708,3005
$GC,3053,-1.17,-121.6,298.7,-7.7,490,3062,0.00,2.58,0.00,0.000,4,0.000,0.053,2261,3105,3005
$GC,3104,-1.17,-121.6,302.8,-8.3,495,3113,0.00,2.50,0.00,0.000,6,0.000,0.043,2262,1703,3005
$GC,3416,-1.17,-121.6,326.9,-7.6,526,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1703,3005
$GC,3728,-1.17,-121.6,350.8,-7.4,557,3737,0.00,2.55,0.00,0.000,4,0.000,0.052,2262,3107,3005
$GC,3759,-1.17,-121.6,353.1,-8.2,560,3768,0.00,2.50,0.00,0.000,6,0.000,0.043,2261,1706,3005
$GC,4071,-1.17,-121.6,375.6,-6.9,591,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1705,3005
$GC,4383,-1.17,-121.6,396.7,-6.6,622,4392,0.00,2.55,0.00,0.000,4,0.000,0.052,2262,3106,3005
$GC,4428,-1.17,-121.6,399.9,-7.3,626,4433,0.00,2.53,0.00,0.000,6,0.000,0.042,2262,1713,3005
$GC,4754,-1.17,-121.6,420.9,-6.3,635,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1713,3005
$GC,5115,-1.17,-121.6,445.0,-6.9,644,5123,0.00,2.53,0.00,0.000,4,0.000,0.053,2261,3107,3005
$GC,5145,-1.17,-121.6,447.2,-8.1,644,5149,0.00,2.50,0.00,0.000,6,0.000,0.044,2261,1705,3005
$GC,5476,-1.17,-121.6,471.4,-7.4,653,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1705,3005
$GC,5837,-1.17,-121.6,498.2,-7.5,662,5846,0.00,2.55,0.00,0.000,4,0.000,0.054,2262,3106,3005
$GC,5867,-1.17,-121.6,500.7,-8.7,662,5871,0.00,2.50,0.00,0.000,6,0.000,0.044,2262,1706,3005
$GC,6198,-1.17,-121.6,526.4,-7.9,671,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1705,3005
$GC,6559,-1.17,-121.6,555.1,-7.9,680,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1706,3005
$GC,6920,-1.17,-121.6,584.6,-8.4,689,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1705,3005
$GC,7280,-1.17,-121.6,614.4,-8.2,698,7289,0.00,2.55,0.00,0.000,4,0.000,0.054,2261,3106,3005
$GC,7346,-1.17,-121.6,620.1,-8.9,699,7350,0.00,2.53,0.00,0.000,6,0.000,0.044,2261,1706,3005
$GC,7682,-1.17,-121.6,646.2,-7.4,708,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1706,3005
$GC,8043,-1.17,-121.6,670.6,-6.5,717,8051,0.00,2.58,0.00,0.000,4,0.000,0.056,2261,3105,3005
$GC,8073,-1.17,-121.6,672.7,-7.8,717,8077,0.00,2.50,0.00,0.000,6,0.000,0.047,2262,1706,3005
$GC,8404,-1.17,-121.6,694.1,-6.6,726,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1705,3005
$GC,8765,-1.17,-121.6,721.3,-8.0,735,8773,0.00,2.60,0.00,0.000,4,0.000,0.067,2261,299,3005
$GC,8805,-1.17,-121.6,724.9,-9.3,736,8814,0.00,2.47,0.00,0.000,6,0.000,0.038,2261,1706,3005
$GC,9126,-1.17,-121.6,752.0,-8.4,744,9135,0.00,2.55,0.00,0.000,4,0.000,0.061,2261,3108,3005
$GC,9156,-1.17,-121.6,754.6,-9.4,744,9160,0.00,2.53,0.00,0.000,6,0.000,0.048,2262,1705,3006
$GC,9487,-1.17,-121.6,779.5,-7.2,753,9496,0.00,2.58,0.00,0.000,4,0.000,0.060,2261,3108,3005
$GC,9553,-1.17,-121.6,784.4,-7.6,754,9557,0.00,2.53,0.00,0.000,6,0.000,0.048,2262,1705,3005
$GC,9889,-1.17,-121.6,807.2,-6.6,763,9928,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1705,3005
$GC,10250,-1.17,-121.6,833.4,-7.7,772,10258,0.00,2.62,0.00,0.000,4,0.000,0.061,2261,3112,3005
$GC,10305,-1.17,-121.6,838.3,-9.7,773,10309,0.00,2.55,0.00,0.000,6,0.000,0.050,2262,1705,3005
$GC,10613,-1.17,-121.6,862.5,-7.8,781,10650,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1705,3005
$GC,10972,-1.17,-121.6,889.3,-7.2,790,10981,0.00,2.58,0.00,0.000,4,0.000,0.063,2262,3107,3005
$GC,11002,-1.17,-121.6,891.6,-8.8,790,11006,0.00,2.53,0.00,0.000,6,0.000,0.051,2262,1706,3005
$GC,11333,-1.17,-121.6,916.0,-7.2,799,11372,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1706,3004
$GC,11694,-1.17,-121.6,942.1,-7.2,808,11733,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1706,3004
$GC,12055,-1.17,-121.6,968.6,-7.4,817,12093,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1706,3002
$GC,12415,-1.17,-121.6,994.2,-7.0,826,12454,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1706,3003
$GC,12497,-0.31,0.0,999.8,6.9,828,12615,1.00,0.00,109.43,1.492,6,0.127,0.000,2452,1706,2501
$GC,12617,1.17,121.6,1002.1,3.1,831,12735,1.62,0.00,105.45,1.445,6,0.085,0.000,2779,1706,2005
$GC,13056,1.17,121.6,959.3,11.4,842,13095,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,2003
$GC,13417,1.17,121.6,918.2,11.4,851,13426,0.00,2.65,0.00,0.000,4,0.000,0.067,2779,3106,2002
$GC,13442,1.17,121.6,915.2,12.1,851,13446,0.00,2.58,0.00,0.000,6,0.000,0.056,2779,1707,2002
$GC,13778,1.17,121.6,875.9,11.7,860,13817,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,2000
$GC,14139,1.17,121.6,835.2,11.1,869,14177,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,1999
$GC,14500,1.17,121.6,795.8,10.7,878,14538,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,1998
$GC,14860,1.17,121.6,759.4,10.2,887,14869,0.00,2.62,0.00,0.000,4,0.000,0.064,2779,3111,1997
$GC,14916,1.17,121.6,753.6,9.1,888,14920,0.00,2.58,0.00,0.000,6,0.000,0.054,2779,1703,1997
$GC,15222,1.17,121.6,722.8,10.0,896,15260,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1703,1997
$GC,15583,1.17,121.6,686.9,10.4,905,15591,0.00,2.67,0.00,0.000,4,0.000,0.077,2779,294,1995
$GC,15659,1.17,121.6,678.1,11.9,906,15663,0.00,2.53,0.00,0.000,6,0.000,0.041,2779,1696,1995
$GC,15985,1.17,121.6,641.4,11.5,915,15993,0.00,2.60,0.00,0.000,4,0.000,0.062,2779,3106,1995
$GC,16045,1.17,121.6,634.2,12.1,916,16049,0.00,2.53,0.00,0.000,6,0.000,0.048,2779,1705,1994
$GC,16386,1.17,121.6,594.6,11.6,925,16395,0.00,2.65,0.00,0.000,4,0.000,0.071,2779,297,1994
$GC,16437,1.17,121.6,588.3,13.1,926,16441,0.00,2.50,0.00,0.000,6,0.000,0.039,2779,1704,1994
$GC,16748,1.17,121.6,551.0,12.0,934,16787,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,1994
$GC,17109,1.17,121.6,507.6,12.0,943,17117,0.00,2.58,0.00,0.000,4,0.000,0.060,2779,3109,1994
$GC,17144,1.17,121.6,503.3,11.3,943,17148,0.00,2.58,0.00,0.000,6,0.000,0.045,2779,1701,1994
$GC,17470,1.17,121.6,465.8,11.2,952,17508,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1701,1994
$GC,17830,1.17,121.6,429.1,9.9,961,17839,0.00,2.62,0.00,0.000,4,0.000,0.056,2779,3112,1994
$GC,17860,1.17,121.6,426.2,10.6,961,17865,0.00,2.53,0.00,0.000,6,0.000,0.044,2779,1705,1994
$GC,18192,1.17,121.6,396.6,8.8,970,18200,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1705,1994
$GC,18504,1.17,121.6,369.4,8.7,1001,18512,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1705,1994
$GC,18816,1.17,121.6,340.6,9.1,1032,18825,0.00,2.58,0.00,0.000,4,0.000,0.054,2780,3110,1994
$GC,18851,1.17,121.6,337.2,9.2,1035,18856,0.00,2.55,0.00,0.000,6,0.000,0.043,2779,1706,1994
$GC,19159,1.17,121.6,308.2,10.0,1066,19167,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1994
$GC,19471,1.17,121.6,278.3,9.6,1097,19480,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1994
$GC,19783,1.17,121.6,248.8,9.2,1128,19792,0.00,2.58,0.00,0.000,4,0.000,0.054,2779,3113,1994
$GC,19814,1.17,121.6,245.8,9.3,1131,19823,0.00,2.53,0.00,0.000,6,0.000,0.042,2779,1701,1995
$GC,20126,1.17,121.6,217.4,8.6,1162,20134,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1701,1995
$GC,20439,1.17,121.6,190.3,8.6,1204,20443,0.00,2.58,0.00,0.000,4,0.000,0.053,2779,3114,1994
$GC,20469,1.17,121.6,187.6,8.8,1210,20473,0.00,2.53,0.00,0.000,6,0.000,0.041,2779,1704,1995
$GC,20778,1.17,121.6,161.2,8.4,1271,20782,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1704,1994
$GC,21088,1.17,121.6,132.9,9.7,1332,21091,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1704,1994
$GC,21397,1.17,121.6,104.9,9.0,1393,21401,0.00,2.55,0.00,0.000,4,0.000,0.052,2779,3112,1995
$GC,21437,1.17,121.6,101.1,9.1,1401,21442,0.00,2.53,0.00,0.000,6,0.000,0.042,2779,1704,1995
$GC,21747,1.17,121.6,71.9,9.6,1462,21750,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1704,1995
$GC,22056,1.17,121.6,42.4,8.9,1523,22059,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1704,1995
$GC,22365,1.17,141.0,15.1,7.1,1584,22385,0.00,2.65,14.93,0.787,4,0.000,0.051,2779,3110,1925
$FINISH,0.2,1.026586,0
$SM_CCo,22582,81.35,0.712,0,0,1440,260.02
$RAFOS_CLK,-3833
$RAFOS,2,1120062545,16.500000,16.484722,45,43,42,1046,1480,688
$RAFOS,1,1120061944,16.333334,16.317778,46,45,44,190,601,851
$RAFOS,0,1120061341,16.166666,16.150278,51,46,45,203,616,223
$TT8_MAMPS,0.021476
$HUMID,1990
$INTERNAL_PRESSURE,7.24104
$TCM_TEMP,2.00
$ALTIM_TOP_PING,9.7,0.0
$ALTIM_BOTTOM_PING,980.1,14.1
$24V_AH,23.3,8.634
$10V_AH,10.0,5.058
$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,25.725,143.225,229.800,81.350,0.000,32.354,27.271,153.392,0.500,57.658,1103.745,17073.070,1329.172,2396.260,1156.313,33.358,2714.496,0.000,1547.600,900.000,3.475
$DEVICE_MAMPS,190.216,76.700,1491.815,711.776,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1841.796,2279.557,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57504,1623
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290605,194109,7049.064,1549.403,35,0.9,35,4.0