version: 65.00
glider: 17
mission: 2
dive: 70
start: 7 8 105 7 23 44
data:
$ID,17
$MISSION,2
$DIVE,70
$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,-25050.688
$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,2
$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
$GPS1,071702,7157.547,1412.065,42,1.1,42
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-54.0
$GPS2,072257,7157.527,1412.071,17,1.3,33,3.0
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7210.000,1430.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.140,0.173
$KALMAN_X,93775.2,-40.9,-624.5,-197851.5,4123.9
$KALMAN_Y,-55067.5,371.6,254.8,234730.0,-2996.1
$MHEAD_RNG_PITCHd_Wd,317.9,25239,-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,15,-1.17,-121.6,0.0,0.0,0,62,0.00,0.00,-45.53,0.000,2,0.000,0.000,290,1700,2655
$GC,64,-1.17,-121.6,3.3,-6.9,9,94,11.90,2.58,-8.73,0.000,4,0.191,0.065,2263,3109,3000
$GC,282,-1.17,-121.6,28.3,-8.2,52,286,0.00,2.55,0.00,0.000,6,0.000,0.042,2262,1701,3002
$GC,591,-1.17,-121.6,56.7,-9.6,113,595,0.00,2.58,0.00,0.000,4,0.000,0.059,2263,296,3004
$GC,632,-1.17,-121.6,60.8,-10.4,121,636,0.00,2.47,0.00,0.000,6,0.000,0.034,2262,1710,3004
$GC,941,-1.17,-121.6,90.6,-9.3,182,945,0.00,2.58,0.00,0.000,4,0.000,0.054,2262,3106,3005
$GC,972,-1.17,-121.6,93.6,-10.1,188,976,0.00,2.53,0.00,0.000,6,0.000,0.044,2262,1704,3005
$GC,1281,-1.17,-121.6,123.5,-9.5,249,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1704,3005
$GC,1590,-1.17,-121.6,150.7,-8.4,310,1594,0.00,2.60,0.00,0.000,4,0.000,0.052,2263,3106,3005
$GC,1621,-1.17,-121.6,153.4,-8.8,316,1625,0.00,2.53,0.00,0.000,6,0.000,0.044,2263,1704,3006
$GC,1930,-1.17,-121.6,178.7,-8.2,377,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1704,3006
$GC,2239,-1.17,-121.6,204.7,-8.7,433,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3006
$GC,2551,-1.17,-121.6,232.1,-8.7,464,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3006
$GC,2863,-1.17,-121.6,258.9,-8.5,495,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3006
$GC,3175,-1.17,-121.6,286.4,-9.0,526,3184,0.00,2.58,0.00,0.000,4,0.000,0.052,2263,3105,3006
$GC,3210,-1.17,-121.6,289.8,-9.8,529,3215,0.00,2.55,0.00,0.000,6,0.000,0.044,2263,1709,3006
$GC,3518,-1.17,-121.6,318.1,-9.3,560,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1709,3006
$GC,3830,-1.17,-121.6,346.6,-9.0,591,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1709,3006
$GC,4142,-1.17,-121.6,374.8,-8.9,622,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1709,3006
$GC,4474,-1.17,-121.6,404.3,-8.7,652,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1709,3006
$GC,4835,-1.17,-121.6,434.9,-8.2,661,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1709,3006
$GC,5196,-1.17,-121.6,463.1,-7.7,670,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1709,3006
$GC,5556,-1.17,-121.6,490.4,-7.5,679,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1709,3006
$GC,5917,-1.17,-121.6,518.2,-7.9,688,5925,0.00,2.58,0.00,0.000,4,0.000,0.054,2263,3106,3006
$GC,5952,-1.17,-121.6,521.2,-8.8,688,5957,0.00,2.55,0.00,0.000,6,0.000,0.047,2262,1712,3006
$GC,6278,-1.17,-121.6,549.2,-8.7,697,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1712,3006
$GC,6639,-1.17,-121.6,582.1,-9.0,706,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1712,3006
$GC,6999,-1.17,-121.6,612.8,-8.5,715,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1712,3006
$GC,7360,-1.17,-121.6,642.0,-8.1,724,7368,0.00,2.58,0.00,0.000,4,0.000,0.057,2263,3105,3006
$GC,7401,-1.17,-121.6,645.5,-8.9,725,7409,0.00,2.53,0.00,0.000,6,0.000,0.049,2263,1706,3006
$GC,7722,-1.17,-121.6,671.2,-7.9,733,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1706,3006
$GC,8082,-1.17,-121.6,699.8,-7.9,742,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1706,3006
$GC,8443,-1.17,-121.6,727.7,-7.7,751,8451,0.00,2.60,0.00,0.000,4,0.000,0.061,2263,3109,3006
$GC,8484,-1.17,-121.6,730.9,-8.2,752,8492,0.00,2.53,0.00,0.000,6,0.000,0.051,2263,1706,3006
$GC,8805,-1.17,-121.6,754.6,-7.2,760,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1706,3006
$GC,9165,-1.17,-121.6,780.7,-7.3,769,9174,0.00,2.58,0.00,0.000,4,0.000,0.061,2263,3110,3006
$GC,9220,-1.17,-121.6,785.0,-7.8,770,9225,0.00,2.53,0.00,0.000,6,0.000,0.050,2263,1706,3006
$GC,9527,-1.17,-121.6,806.3,-6.9,778,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1706,3006
$GC,9887,-1.17,-121.6,828.9,-6.1,787,9896,0.00,2.58,0.00,0.000,4,0.000,0.064,2263,3108,3005
$GC,9933,-1.17,-121.6,831.9,-6.6,788,9937,0.00,2.53,0.00,0.000,6,0.000,0.053,2263,1706,3005
$GC,10249,-1.17,-121.6,850.9,-6.1,796,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1705,3005
$GC,10610,-1.17,-121.6,874.7,-6.7,805,10618,0.00,2.58,0.00,0.000,4,0.000,0.064,2263,3104,3004
$GC,10640,-1.17,-121.6,876.9,-8.1,805,10644,0.00,2.53,0.00,0.000,6,0.000,0.055,2263,1705,3004
$GC,10971,-1.17,-121.6,899.8,-6.9,814,11010,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1705,3004
$GC,11332,-1.17,-121.6,926.3,-7.5,823,11370,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1705,3003
$GC,11692,-1.17,-121.6,953.4,-7.5,832,11701,0.00,2.60,0.00,0.000,4,0.000,0.066,2262,3108,3001
$GC,11738,-1.17,-121.6,957.0,-7.9,833,11747,0.00,2.55,0.00,0.000,6,0.000,0.055,2263,1702,3001
$GC,12054,-1.17,-121.6,981.4,-7.8,841,12093,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1702,3001
$GC,12256,-0.31,0.0,997.4,8.1,846,12374,1.00,0.00,109.82,1.498,6,0.128,0.000,2452,1702,2501
$GC,12377,1.17,121.6,1000.5,3.6,849,12495,1.62,0.00,106.32,1.450,6,0.087,0.000,2777,1702,2005
$GC,12816,1.17,121.6,961.3,10.2,860,12824,0.00,2.62,0.00,0.000,4,0.000,0.067,2777,3104,2002
$GC,12846,1.17,121.6,958.1,9.6,860,12850,0.00,2.60,0.00,0.000,6,0.000,0.057,2777,1702,2001
$GC,13177,1.17,121.6,922.1,11.1,869,13215,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1702,2001
$GC,13537,1.17,121.6,881.1,11.4,878,13576,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1702,2000
$GC,13898,1.17,121.6,839.5,11.4,887,13938,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1702,1999
$GC,14259,1.17,121.6,797.7,11.6,896,14297,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1701,1998
$GC,14619,1.17,121.6,758.5,10.5,905,14628,0.00,2.65,0.00,0.000,4,0.000,0.067,2777,3105,1997
$GC,14649,1.17,121.6,755.4,9.9,905,14653,0.00,2.58,0.00,0.000,6,0.000,0.057,2777,1704,1996
$GC,14980,1.17,121.6,722.4,10.0,914,14989,0.00,2.60,0.00,0.000,4,0.000,0.065,2777,3103,1996
$GC,15026,1.17,121.6,717.7,10.5,915,15030,0.00,2.55,0.00,0.000,6,0.000,0.056,2777,1706,1996
$GC,15342,1.17,121.6,683.7,11.0,923,15351,0.00,2.60,0.00,0.000,4,0.000,0.065,2777,3104,1995
$GC,15377,1.17,121.6,679.7,10.9,923,15382,0.00,2.58,0.00,0.000,6,0.000,0.055,2777,1713,1995
$GC,15704,1.17,121.6,644.7,10.5,932,15713,0.00,2.58,0.00,0.000,4,0.000,0.063,2777,3104,1995
$GC,15719,1.17,121.6,642.9,10.6,932,15723,0.00,2.55,0.00,0.000,6,0.000,0.054,2777,1703,1995
$GC,16025,1.17,121.6,611.5,10.2,940,16064,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1703,1994
$GC,16386,1.17,121.6,574.6,10.2,949,16424,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1703,1994
$GC,16746,1.17,121.6,539.9,9.5,958,16785,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1703,1995
$GC,17107,1.17,121.6,504.2,10.0,967,17116,0.00,2.62,0.00,0.000,4,0.000,0.071,2777,296,1995
$GC,17142,1.17,121.6,500.3,12.5,967,17147,0.00,2.53,0.00,0.000,6,0.000,0.039,2777,1701,1995
$GC,17468,1.17,121.6,465.4,10.8,976,17507,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1701,1995
$GC,17829,1.17,121.6,428.3,10.2,985,17837,0.00,2.62,0.00,0.000,4,0.000,0.067,2777,294,1994
$GC,17884,1.17,121.6,422.4,10.3,986,17888,0.00,2.50,0.00,0.000,6,0.000,0.038,2777,1710,1995
$GC,18191,1.17,121.6,392.1,10.1,997,18199,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1710,1995
$GC,18503,1.17,121.6,361.4,10.3,1028,18512,0.00,2.62,0.00,0.000,4,0.000,0.064,2777,296,1995
$GC,18528,1.17,121.6,358.7,11.9,1030,18532,0.00,2.53,0.00,0.000,6,0.000,0.038,2777,1701,1995
$GC,18835,1.17,121.6,326.7,10.6,1061,18845,0.00,2.62,0.00,0.000,4,0.000,0.064,2777,292,1996
$GC,18881,1.17,121.6,321.3,13.0,1065,18885,0.00,2.53,0.00,0.000,6,0.000,0.038,2777,1699,1995
$GC,19188,1.17,121.6,287.4,11.2,1096,19198,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1701,1995
$GC,19500,1.17,121.6,254.6,10.3,1127,19509,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1701,1995
$GC,19813,1.17,121.6,224.7,9.5,1158,19821,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1701,1995
$GC,20125,1.17,121.6,196.2,8.5,1193,20129,0.00,2.62,0.00,0.000,4,0.000,0.063,2777,290,1995
$GC,20156,1.17,121.6,193.2,10.0,1199,20160,0.00,2.50,0.00,0.000,6,0.000,0.037,2777,1712,1995
$GC,20465,1.17,121.6,163.6,9.9,1260,20469,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1713,1995
$GC,20774,1.17,121.6,130.9,11.4,1321,20778,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1713,1994
$GC,21084,1.17,121.6,98.2,10.2,1382,21087,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1713,1995
$GC,21393,1.17,121.6,69.1,9.1,1443,21397,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1713,1995
$GC,21702,1.17,121.6,41.9,8.8,1504,21706,0.00,2.62,0.00,0.000,4,0.000,0.061,2777,292,1995
$GC,21769,1.17,121.6,35.6,10.2,1517,21773,0.00,2.50,0.00,0.000,6,0.000,0.036,2777,1710,1995
$GC,22078,1.17,172.4,10.7,5.7,1578,22119,0.00,0.00,38.95,0.752,6,0.000,0.000,2777,1710,1797
$FINISH,0.1,1.026787,0
$SM_CCo,22233,59.95,0.716,0,0,1441,260.02
$RAFOS_CLK,-1830
$RAFOS,2,1120825745,12.500000,12.484722,45,45,43,106,1026,205
$RAFOS,1,1120825172,12.333333,12.325556,46,46,45,48,117,220
$RAFOS,0,1120824545,12.166667,12.151389,45,43,43,1443,1035,1420
$RAFOS,2,1120811344,8.500000,8.484445,51,44,44,117,212,1567
$RAFOS,1,1120810749,8.333333,8.319167,56,51,45,978,1588,574
$RAFOS,0,1120810145,8.166667,8.151389,47,43,41,212,193,871
$TT8_MAMPS,0.021476
$HUMID,2031
$INTERNAL_PRESSURE,7.24104
$TCM_TEMP,2.00
$ALTIM_TOP_PING,9.9,0.0
$ALTIM_BOTTOM_PING,972.0,0.0
$24V_AH,23.3,12.709
$10V_AH,10.0,8.776
$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,25.975,118.050,255.100,59.950,0.000,32.356,35.734,161.273,0.500,78.751,1075.880,16706.844,1402.692,2359.918,1186.655,33.369,2749.971,0.000,1496.533,1800.000,4.079
$DEVICE_MAMPS,190.983,71.331,1497.951,716.378,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1812.525,2245.806,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57252,1605
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080705,133639,7159.462,1408.096,44,1.1,44,3.0