version: 65.00
glider: 17
mission: 2
dive: 47
start: 7 2 105 4 52 33
data:
$ID,17
$MISSION,2
$DIVE,47
$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,-23478.336
$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,19
$R_STBD_OVSHOOT,23
$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,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
$GPS1,044609,7117.905,1509.574,47,1.2,47
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-54.0
$GPS2,045140,7117.920,1509.483,20,1.2,21,3.6
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7215.000,1330.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.142,0.172
$KALMAN_X,72777.5,-16.8,-285.9,-141448.1,-191.6
$KALMAN_Y,-24365.9,-305.6,-313.7,131925.8,2069.3
$MHEAD_RNG_PITCHd_Wd,316.9,119707,-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,-45.60,0.000,2,0.000,0.000,288,1694,2662
$GC,64,-1.17,-121.6,3.4,-6.7,9,94,12.00,2.65,-8.40,0.000,4,0.193,0.064,2265,3111,3001
$GC,323,-1.17,-121.6,33.9,-10.7,60,327,0.00,2.53,0.00,0.000,6,0.000,0.041,2265,1701,3004
$GC,632,-1.17,-121.6,63.3,-9.4,121,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1701,3005
$GC,941,-1.17,-121.6,93.5,-9.9,182,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1701,3006
$GC,1250,-1.17,-121.6,124.8,-10.3,243,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1701,3007
$GC,1560,-1.17,-121.6,155.6,-10.1,304,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1701,3007
$GC,1869,-1.17,-121.6,187.0,-10.5,365,1873,0.00,2.62,0.00,0.000,4,0.000,0.052,2265,3115,3007
$GC,1920,-1.17,-121.6,192.3,-10.8,375,1924,0.00,2.53,0.00,0.000,6,0.000,0.042,2265,1701,3007
$GC,2227,-1.17,-121.6,222.7,-9.6,413,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1701,3007
$GC,2539,-1.17,-121.6,251.2,-8.6,444,2549,0.00,2.58,0.00,0.000,4,0.000,0.060,2265,297,3007
$GC,2570,-1.17,-121.6,254.0,-9.8,447,2579,0.00,2.47,0.00,0.000,6,0.000,0.035,2265,1710,3007
$GC,2882,-1.17,-121.6,280.8,-8.3,478,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1711,3007
$GC,3194,-1.17,-121.6,307.2,-8.4,509,3203,0.00,2.55,0.00,0.000,4,0.000,0.055,2265,3107,3007
$GC,3229,-1.17,-121.6,310.3,-9.0,512,3234,0.00,2.55,0.00,0.000,6,0.000,0.043,2265,1708,3007
$GC,3537,-1.17,-121.6,335.7,-8.0,543,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1708,3007
$GC,3849,-1.17,-121.6,362.3,-8.5,574,3858,0.00,2.58,0.00,0.000,4,0.000,0.054,2265,3105,3007
$GC,3880,-1.17,-121.6,364.9,-9.4,577,3889,0.00,2.50,0.00,0.000,6,0.000,0.044,2265,1705,3007
$GC,4192,-1.17,-121.6,390.7,-8.3,608,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1705,3007
$GC,4513,-1.17,-121.6,417.1,-8.1,625,4521,0.00,2.58,0.00,0.000,4,0.000,0.054,2265,3106,3007
$GC,4548,-1.17,-121.6,420.0,-8.8,625,4553,0.00,2.55,0.00,0.000,6,0.000,0.044,2265,1705,3007
$GC,4874,-1.17,-121.6,445.4,-7.6,634,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1705,3007
$GC,5235,-1.17,-121.6,475.3,-8.6,643,5243,0.00,2.58,0.00,0.000,4,0.000,0.055,2265,3108,3007
$GC,5270,-1.17,-121.6,478.6,-9.6,643,5274,0.00,2.55,0.00,0.000,6,0.000,0.046,2265,1709,3007
$GC,5596,-1.17,-121.6,505.7,-8.1,652,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1708,3007
$GC,5957,-1.17,-121.6,535.6,-8.3,661,5965,0.00,2.58,0.00,0.000,4,0.000,0.056,2265,3105,3007
$GC,6027,-1.17,-121.6,541.5,-8.5,662,6031,0.00,2.53,0.00,0.000,6,0.000,0.046,2265,1700,3007
$GC,6358,-1.17,-121.6,565.9,-7.3,671,6367,0.00,2.58,0.00,0.000,4,0.000,0.057,2265,3105,3007
$GC,6403,-1.17,-121.6,569.3,-7.4,672,6407,0.00,2.50,0.00,0.000,6,0.000,0.047,2265,1705,3007
$GC,6720,-1.17,-121.6,593.1,-7.5,680,6728,0.00,2.55,0.00,0.000,4,0.000,0.058,2265,3105,3007
$GC,6750,-1.17,-121.6,595.5,-9.0,680,6754,0.00,2.53,0.00,0.000,6,0.000,0.048,2265,1700,3007
$GC,7081,-1.17,-121.6,620.3,-7.2,689,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1700,3007
$GC,7442,-1.17,-121.6,646.0,-7.1,698,7450,0.00,2.58,0.00,0.000,4,0.000,0.061,2265,3105,3007
$GC,7482,-1.17,-121.6,649.2,-8.3,699,7491,0.00,2.53,0.00,0.000,6,0.000,0.051,2265,1706,3007
$GC,7803,-1.17,-121.6,674.5,-8.0,707,7812,0.00,2.60,0.00,0.000,4,0.000,0.063,2265,3104,3007
$GC,7839,-1.17,-121.6,677.5,-8.4,707,7843,0.00,2.53,0.00,0.000,6,0.000,0.051,2265,1706,3007
$GC,8165,-1.17,-121.6,703.5,-8.0,716,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1706,3007
$GC,8525,-1.17,-121.6,732.8,-8.1,725,8534,0.00,2.65,0.00,0.000,4,0.000,0.075,2265,299,3007
$GC,8556,-1.17,-121.6,735.5,-9.9,725,8565,0.00,2.47,0.00,0.000,6,0.000,0.041,2265,1703,3007
$GC,8886,-1.17,-121.6,763.4,-8.4,734,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1703,3007
$GC,9247,-1.17,-121.6,793.2,-8.2,743,9256,0.00,2.62,0.00,0.000,4,0.000,0.067,2265,3110,3007
$GC,9338,-1.17,-121.6,801.1,-8.9,745,9342,0.00,2.55,0.00,0.000,6,0.000,0.054,2265,1702,3007
$GC,9649,-1.17,-121.6,825.0,-7.6,753,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1701,3006
$GC,10010,-1.17,-121.6,851.3,-7.2,762,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1701,3005
$GC,10371,-1.17,-121.6,877.0,-7.0,771,10409,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1701,3004
$GC,10731,-1.17,-121.6,902.6,-7.2,780,10740,0.00,2.65,0.00,0.000,4,0.000,0.067,2265,3109,3003
$GC,10772,-1.17,-121.6,905.7,-8.5,781,10780,0.00,2.55,0.00,0.000,6,0.000,0.055,2265,1704,3003
$GC,11093,-1.17,-121.6,929.4,-7.3,789,11131,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1703,3002
$GC,11454,-1.17,-121.6,955.2,-7.1,798,11462,0.00,2.62,0.00,0.000,4,0.000,0.069,2265,3112,3001
$GC,11504,-1.17,-121.6,959.1,-7.4,799,11508,0.00,2.55,0.00,0.000,6,0.000,0.056,2265,1703,3001
$GC,11817,-1.17,-121.6,981.3,-7.1,807,11854,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1703,3001
$GC,12017,-0.31,0.0,995.1,7.0,812,12139,1.00,0.00,108.40,1.441,6,0.128,0.000,2454,1703,2501
$GC,12141,1.17,121.6,997.2,2.8,815,12256,1.60,0.00,106.00,1.453,6,0.082,0.000,2779,1703,2005
$GC,12577,1.17,121.6,955.7,11.1,826,12615,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1703,2004
$GC,12937,1.17,121.6,916.6,10.7,835,12976,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1703,2002
$GC,13298,1.17,121.6,878.6,10.5,844,13340,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1703,2002
$GC,13659,1.17,121.6,840.0,10.9,853,13667,0.00,2.75,0.00,0.000,4,0.000,0.090,2779,298,2001
$GC,13699,1.17,121.6,835.2,11.5,854,13708,0.00,2.58,0.00,0.000,6,0.000,0.047,2779,1706,2000
$GC,14020,1.17,121.6,800.0,11.0,862,14029,0.00,2.72,0.00,0.000,4,0.000,0.084,2779,299,1999
$GC,14061,1.17,121.6,795.2,11.6,863,14069,0.00,2.53,0.00,0.000,6,0.000,0.047,2779,1706,1999
$GC,14382,1.17,121.6,760.3,10.7,871,14422,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1999
$GC,14743,1.17,121.6,723.9,9.7,880,14781,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1998
$GC,15103,1.17,121.6,689.6,9.6,889,15112,0.00,2.67,0.00,0.000,4,0.000,0.078,2779,297,1998
$GC,15144,1.17,121.6,685.2,11.1,890,15152,0.00,2.55,0.00,0.000,6,0.000,0.046,2779,1706,1998
$GC,15465,1.17,121.6,650.5,11.1,898,15504,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1708,1998
$GC,15826,1.17,121.6,609.4,11.3,907,15834,0.00,2.67,0.00,0.000,4,0.000,0.074,2779,296,1997
$GC,15896,1.17,121.6,600.7,12.2,908,15900,0.00,2.53,0.00,0.000,6,0.000,0.044,2779,1704,1997
$GC,16227,1.17,121.6,564.6,10.7,917,16266,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1996
$GC,16588,1.17,121.6,528.1,9.8,926,16597,0.00,2.65,0.00,0.000,4,0.000,0.071,2779,296,1997
$GC,16618,1.17,121.6,524.8,10.6,926,16622,0.00,2.53,0.00,0.000,6,0.000,0.044,2779,1709,1997
$GC,16949,1.17,121.6,491.6,10.1,935,16958,0.00,2.67,0.00,0.000,4,0.000,0.070,2779,293,1996
$GC,16999,1.17,121.6,486.1,10.6,936,17004,0.00,2.50,0.00,0.000,6,0.000,0.041,2779,1706,1996
$GC,17311,1.17,121.6,454.9,10.0,944,17349,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,1996
$GC,17671,1.17,121.6,419.0,10.0,953,17710,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,1996
$GC,18013,1.17,121.6,384.7,10.4,972,18021,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,1996
$GC,18325,1.17,121.6,353.7,9.4,1003,18334,0.00,2.65,0.00,0.000,4,0.000,0.067,2779,296,1996
$GC,18380,1.17,121.6,347.9,10.2,1008,18385,0.00,2.55,0.00,0.000,6,0.000,0.038,2779,1707,1996
$GC,18688,1.17,121.6,318.9,9.0,1039,18697,0.00,2.62,0.00,0.000,4,0.000,0.066,2780,296,1996
$GC,18718,1.17,121.6,315.8,10.4,1042,18728,0.00,2.47,0.00,0.000,6,0.000,0.038,2779,1707,1996
$GC,19031,1.17,121.6,285.4,10.0,1073,19040,0.00,2.60,0.00,0.000,4,0.000,0.058,2779,3106,1996
$GC,19051,1.17,121.6,283.4,8.6,1075,19060,0.00,2.53,0.00,0.000,6,0.000,0.044,2779,1698,1996
$GC,19363,1.17,121.6,250.5,10.6,1106,19372,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1698,1996
$GC,19675,1.17,121.6,216.1,11.5,1137,19685,0.00,2.60,0.00,0.000,4,0.000,0.064,2779,296,1996
$GC,19726,1.17,121.6,209.9,11.5,1142,19735,0.00,2.47,0.00,0.000,6,0.000,0.036,2779,1707,1996
$GC,20040,1.17,121.6,174.1,11.0,1195,20043,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,1996
$GC,20349,1.17,121.6,141.9,9.2,1256,20353,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,1996
$GC,20659,1.17,121.6,112.9,9.3,1317,20663,0.00,2.60,0.00,0.000,4,0.000,0.061,2779,294,1996
$GC,20720,1.17,121.6,106.7,9.5,1329,20724,0.00,2.47,0.00,0.000,6,0.000,0.036,2779,1704,1996
$GC,21029,1.17,121.6,76.6,9.0,1390,21033,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1996
$GC,21338,1.17,121.6,48.2,9.0,1451,21343,0.00,2.60,0.00,0.000,4,0.000,0.060,2779,293,1996
$GC,21369,1.17,121.6,45.2,10.4,1457,21373,0.00,2.47,0.00,0.000,6,0.000,0.035,2779,1706,1996
$GC,21678,1.17,172.4,21.0,5.7,1518,21723,0.00,0.00,39.33,0.765,6,0.000,0.000,2779,1707,1798
$FINISH,0.3,1.026681,0
$SM_CCo,21964,60.08,0.716,0,0,1441,260.02
$RAFOS_CLK,-844
$RAFOS,2,1120292969,8.500000,8.491389,46,42,41,140,1561,6
$RAFOS,1,1120292368,8.333333,8.324445,43,41,41,6,228,427
$TT8_MAMPS,0.022243
$HUMID,2015
$INTERNAL_PRESSURE,7.24104
$TCM_TEMP,2.50
$ALTIM_TOP_PING,9.9,10.1
$ALTIM_BOTTOM_PING,972.8,8.7
$24V_AH,23.3,9.843
$10V_AH,10.0,6.184
$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,25.950,143.950,253.725,60.075,0.000,32.322,32.382,165.141,0.500,71.424,1097.152,16494.922,1307.576,2378.486,1170.154,33.358,2689.439,0.000,1530.334,900.000,3.288
$DEVICE_MAMPS,192.517,89.739,1453.465,715.611,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1771.965,2193.279,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56552,1571
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020705,110057,7120.263,1505.566,43,1.4,43,3.6