version: 65.00
glider: 17
mission: 2
dive: 72
start: 7 8 105 20 0 0
data:
$ID,17
$MISSION,2
$DIVE,72
$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,-25174.557
$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,27
$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
$GPS1,195339,7202.226,1408.750,31,1.2,31
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-53.8
$GPS2,195909,7202.245,1408.862,15,1.6,21,3.0
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7210.000,1430.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.040,0.219
$KALMAN_X,95993.9,111.7,-484.5,-202364.5,3622.1
$KALMAN_Y,-55434.0,25.6,35.2,244394.4,-424.2
$MHEAD_RNG_PITCHd_Wd,7.3,18709,-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,-45.50,0.000,2,0.000,0.000,291,1710,2652
$GC,64,-1.17,-121.6,3.5,-7.8,9,94,12.00,2.62,-8.68,0.000,4,0.195,0.070,2263,297,2999
$GC,323,-1.17,-121.6,33.2,-8.7,60,327,0.00,2.47,0.00,0.000,6,0.000,0.034,2263,1704,3002
$GC,632,-1.17,-121.6,61.7,-9.7,121,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1705,3004
$GC,941,-1.17,-121.6,88.9,-9.2,182,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1705,3005
$GC,1250,-1.17,-121.6,118.7,-9.0,243,1254,0.00,2.58,0.00,0.000,4,0.000,0.054,2263,3105,3005
$GC,1291,-1.17,-121.6,122.6,-9.9,251,1295,0.00,2.50,0.00,0.000,6,0.000,0.043,2263,1704,3006
$GC,1600,-1.17,-121.6,151.9,-9.2,312,1604,0.00,2.60,0.00,0.000,4,0.000,0.059,2263,293,3006
$GC,1636,-1.17,-121.6,155.6,-10.5,319,1640,0.00,2.47,0.00,0.000,6,0.000,0.035,2263,1703,3006
$GC,1945,-1.17,-121.6,183.4,-8.8,380,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3006
$GC,2253,-1.17,-121.6,209.5,-8.5,430,2262,0.00,2.58,0.00,0.000,4,0.000,0.055,2263,3107,3006
$GC,2288,-1.17,-121.6,212.5,-9.0,433,2293,0.00,2.55,0.00,0.000,6,0.000,0.043,2264,1705,3006
$GC,2596,-1.17,-121.6,237.6,-8.1,464,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1704,3006
$GC,2909,-1.17,-121.6,263.6,-8.3,495,2918,0.00,2.60,0.00,0.000,4,0.000,0.060,2263,293,3006
$GC,2930,-1.17,-121.6,265.6,-9.5,497,2939,0.00,2.47,0.00,0.000,6,0.000,0.035,2263,1707,3006
$GC,3242,-1.17,-121.6,292.4,-8.6,528,3251,0.00,2.55,0.00,0.000,4,0.000,0.054,2263,3105,3006
$GC,3297,-1.17,-121.6,297.4,-9.2,533,3302,0.00,2.53,0.00,0.000,6,0.000,0.042,2263,1710,3006
$GC,3605,-1.17,-121.6,323.7,-8.3,564,3614,0.00,2.60,0.00,0.000,4,0.000,0.061,2263,299,3006
$GC,3635,-1.17,-121.6,326.5,-9.6,567,3644,0.00,2.47,0.00,0.000,6,0.000,0.035,2263,1710,3006
$GC,3947,-1.17,-121.6,353.5,-8.7,598,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1710,3006
$GC,4260,-1.17,-121.6,380.3,-8.4,629,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1710,3007
$GC,4583,-1.17,-121.6,406.5,-7.9,655,4591,0.00,2.60,0.00,0.000,4,0.000,0.060,2263,297,3006
$GC,4618,-1.17,-121.6,409.7,-9.2,655,4622,0.00,2.53,0.00,0.000,6,0.000,0.037,2263,1704,3006
$GC,4944,-1.17,-121.6,437.7,-8.7,664,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1705,3006
$GC,5304,-1.17,-121.6,468.3,-8.5,673,5313,0.00,2.58,0.00,0.000,4,0.000,0.057,2263,3108,3006
$GC,5339,-1.17,-121.6,471.5,-9.0,673,5344,0.00,2.55,0.00,0.000,6,0.000,0.045,2263,1711,3006
$GC,5666,-1.17,-121.6,499.7,-8.5,682,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1712,3006
$GC,6026,-1.17,-121.6,528.8,-8.2,691,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1712,3005
$GC,6387,-1.17,-121.6,558.4,-8.3,700,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1712,3006
$GC,6748,-1.17,-121.6,589.2,-8.7,709,6756,0.00,2.62,0.00,0.000,4,0.000,0.065,2263,293,3006
$GC,6772,-1.17,-121.6,591.5,-9.8,709,6776,0.00,2.47,0.00,0.000,6,0.000,0.037,2263,1708,3006
$GC,7110,-1.17,-121.6,619.1,-7.8,718,7118,0.00,2.58,0.00,0.000,4,0.000,0.058,2263,3104,3006
$GC,7150,-1.17,-121.6,622.4,-8.0,719,7159,0.00,2.53,0.00,0.000,6,0.000,0.048,2263,1705,3006
$GC,7471,-1.17,-121.6,646.9,-7.4,727,7480,0.00,2.60,0.00,0.000,4,0.000,0.067,2263,299,3006
$GC,7491,-1.17,-121.6,648.5,-8.3,727,7495,0.00,2.47,0.00,0.000,6,0.000,0.038,2263,1705,3006
$GC,7832,-1.17,-121.6,674.4,-7.5,736,7841,0.00,2.55,0.00,0.000,4,0.000,0.061,2263,3108,3006
$GC,7877,-1.17,-121.6,678.0,-7.4,737,7882,0.00,2.53,0.00,0.000,6,0.000,0.049,2263,1707,3006
$GC,8194,-1.17,-121.6,702.9,-7.8,745,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1706,3006
$GC,8555,-1.17,-121.6,731.7,-8.2,754,8563,0.00,2.60,0.00,0.000,4,0.000,0.061,2263,3113,3006
$GC,8590,-1.17,-121.6,734.7,-8.2,754,8594,0.00,2.58,0.00,0.000,6,0.000,0.050,2263,1706,3006
$GC,8916,-1.17,-121.6,761.4,-8.1,763,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1705,3006
$GC,9276,-1.17,-121.6,790.5,-7.9,772,9285,0.00,2.62,0.00,0.000,4,0.000,0.073,2263,299,3006
$GC,9362,-1.17,-121.6,797.8,-8.7,774,9366,0.00,2.47,0.00,0.000,6,0.000,0.039,2263,1704,3005
$GC,9679,-1.17,-121.6,823.0,-8.2,782,9687,0.00,2.60,0.00,0.000,4,0.000,0.064,2263,3108,3006
$GC,9724,-1.17,-121.6,826.9,-8.7,783,9728,0.00,2.55,0.00,0.000,6,0.000,0.053,2263,1702,3006
$GC,10040,-1.17,-121.6,851.8,-7.9,791,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1702,3005
$GC,10401,-1.17,-121.6,879.1,-7.5,800,10409,0.00,2.60,0.00,0.000,4,0.000,0.064,2263,3106,3004
$GC,10442,-1.17,-121.6,882.2,-8.2,801,10450,0.00,2.53,0.00,0.000,6,0.000,0.054,2263,1705,3004
$GC,10763,-1.17,-121.6,905.6,-7.3,809,10801,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1705,3004
$GC,11123,-1.17,-121.6,933.2,-7.8,818,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1705,3003
$GC,11484,-1.17,-121.6,959.7,-7.2,827,11492,0.00,2.60,0.00,0.000,4,0.000,0.067,2263,3106,3003
$GC,11529,-1.17,-121.6,963.0,-7.8,828,11533,0.00,2.55,0.00,0.000,6,0.000,0.055,2263,1705,3002
$GC,11845,-1.17,-121.6,986.5,-7.5,836,11884,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1705,3001
$GC,11967,-0.31,0.0,995.4,7.5,839,12086,1.02,0.00,109.78,1.496,6,0.131,0.000,2456,1705,2501
$GC,12088,1.17,121.6,998.2,3.3,842,12206,1.60,0.00,106.25,1.446,6,0.084,0.000,2779,1705,2005
$GC,12527,1.17,121.6,956.3,11.2,853,12565,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1705,2002
$GC,12888,1.17,121.6,916.6,11.1,862,12926,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1705,2002
$GC,13248,1.17,121.6,877.1,10.9,871,13257,0.00,2.75,0.00,0.000,4,0.000,0.089,2779,299,2000
$GC,13273,1.17,121.6,874.3,11.3,871,13277,0.00,2.55,0.00,0.000,6,0.000,0.047,2779,1703,2001
$GC,13609,1.17,121.6,839.7,10.0,880,13648,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1705,1999
$GC,13970,1.17,121.6,803.9,10.1,889,13978,0.00,2.70,0.00,0.000,4,0.000,0.083,2779,300,1998
$GC,14030,1.17,121.6,796.8,11.5,890,14034,0.00,2.53,0.00,0.000,6,0.000,0.044,2779,1709,1998
$GC,14372,1.17,121.6,757.9,11.1,899,14410,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1711,1998
$GC,14732,1.17,121.6,720.0,10.8,908,14741,0.00,2.60,0.00,0.000,4,0.000,0.067,2779,3110,1997
$GC,14788,1.17,121.6,713.8,10.5,909,14792,0.00,2.55,0.00,0.000,6,0.000,0.053,2779,1707,1996
$GC,15094,1.17,121.6,681.3,10.5,917,15132,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1996
$GC,15455,1.17,121.6,643.3,10.5,926,15463,0.00,2.60,0.00,0.000,4,0.000,0.063,2779,3110,1995
$GC,15480,1.17,121.6,640.6,10.4,926,15484,0.00,2.55,0.00,0.000,6,0.000,0.052,2779,1704,1995
$GC,15816,1.17,121.6,606.7,10.0,935,15824,0.00,2.65,0.00,0.000,4,0.000,0.074,2779,298,1995
$GC,15846,1.17,121.6,603.3,11.3,935,15850,0.00,2.53,0.00,0.000,6,0.000,0.041,2779,1711,1995
$GC,16178,1.17,121.6,567.7,10.8,944,16187,0.00,2.67,0.00,0.000,4,0.000,0.070,2779,292,1995
$GC,16229,1.17,121.6,561.5,11.7,945,16233,0.00,2.53,0.00,0.000,6,0.000,0.040,2779,1705,1995
$GC,16541,1.17,121.6,528.2,10.4,953,16549,0.00,2.65,0.00,0.000,4,0.000,0.068,2779,296,1995
$GC,16576,1.17,121.6,524.3,11.8,953,16581,0.00,2.53,0.00,0.000,6,0.000,0.040,2779,1695,1995
$GC,16902,1.17,121.6,491.0,10.1,962,16911,0.00,2.62,0.00,0.000,4,0.000,0.068,2779,296,1994
$GC,16922,1.17,121.6,488.7,10.5,962,16926,0.00,2.50,0.00,0.000,6,0.000,0.039,2779,1705,1995
$GC,17263,1.17,121.6,453.2,10.4,971,17272,0.00,2.65,0.00,0.000,4,0.000,0.068,2779,293,1994
$GC,17340,1.17,121.6,444.8,11.6,972,17344,0.00,2.50,0.00,0.000,6,0.000,0.038,2779,1706,1995
$GC,17665,1.17,121.6,412.2,10.0,981,17704,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1708,1995
$GC,18007,1.17,121.6,376.1,10.6,1006,18016,0.00,2.65,0.00,0.000,4,0.000,0.067,2779,296,1995
$GC,18042,1.17,121.6,372.0,10.8,1009,18047,0.00,2.53,0.00,0.000,6,0.000,0.038,2779,1698,1995
$GC,18350,1.17,121.6,340.2,9.9,1040,18359,0.00,2.62,0.00,0.000,4,0.000,0.059,2779,3114,1995
$GC,18380,1.17,121.6,337.1,10.8,1043,18389,0.00,2.55,0.00,0.000,6,0.000,0.045,2779,1698,1995
$GC,18692,1.17,121.6,305.4,10.2,1074,18702,0.00,2.60,0.00,0.000,4,0.000,0.068,2779,299,1995
$GC,18728,1.17,121.6,301.4,12.3,1077,18732,0.00,2.50,0.00,0.000,6,0.000,0.036,2779,1699,1995
$GC,19035,1.17,121.6,269.6,10.2,1108,19044,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1700,1995
$GC,19347,1.17,121.6,238.6,9.5,1139,19357,0.00,2.60,0.00,0.000,4,0.000,0.062,2779,297,1995
$GC,19382,1.17,121.6,235.0,11.3,1142,19387,0.00,2.50,0.00,0.000,6,0.000,0.035,2779,1696,1995
$GC,19690,1.17,121.6,204.6,10.2,1173,19699,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1698,1995
$GC,20004,1.17,121.6,171.5,10.3,1230,20008,0.00,2.58,0.00,0.000,4,0.000,0.061,2779,297,1995
$GC,20040,1.17,121.6,167.6,11.2,1237,20044,0.00,2.45,0.00,0.000,6,0.000,0.036,2780,1704,1995
$GC,20349,1.17,121.6,135.9,9.0,1298,20353,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1705,1995
$GC,20658,1.17,121.6,106.6,9.6,1359,20663,0.00,2.60,0.00,0.000,4,0.000,0.060,2780,297,1995
$GC,20694,1.17,121.6,103.1,10.7,1366,20698,0.00,2.50,0.00,0.000,6,0.000,0.036,2779,1708,1995
$GC,21003,1.17,121.6,73.3,9.2,1427,21007,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1709,1995
$GC,21312,1.17,121.6,42.0,9.8,1488,21316,0.00,2.58,0.00,0.000,4,0.000,0.056,2779,3109,1995
$GC,21393,1.17,121.6,34.2,9.8,1504,21398,0.00,2.50,0.00,0.000,6,0.000,0.041,2779,1702,1994
$GC,21703,1.17,137.0,6.5,7.3,1565,21722,0.00,2.62,11.77,0.801,4,0.000,0.061,2779,300,1940
$FINISH,0.2,1.026822,0
$SM_CCo,21813,83.10,0.719,0,0,1441,260.02
$RAFOS_CLK,-849
$RAFOS,2,1120868976,0.500000,0.493333,43,43,43,202,229,1104
$RAFOS,1,1120868374,0.333333,0.326111,43,41,40,408,114,225
$RAFOS,0,1120867773,0.166667,0.159167,45,45,41,48,198,1463
$RAFOS,2,1120854541,20.500000,20.483612,43,42,41,1340,1606,200
$RAFOS,1,1120853943,20.333334,20.317499,48,46,41,1187,140,120
$RAFOS,0,1120853345,20.166666,20.151388,45,42,42,140,630,937
$TT8_MAMPS,0.021476
$HUMID,2027
$INTERNAL_PRESSURE,7.23127
$TCM_TEMP,2.00
$ALTIM_TOP_PING,9.8,9.6
$ALTIM_BOTTOM_PING,971.5,0.0
$24V_AH,23.3,12.952
$10V_AH,10.0,8.997
$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,26.050,179.500,227.800,83.100,0.000,32.322,28.686,156.034,0.500,55.704,1129.848,16367.743,1205.550,2398.175,1200.542,33.360,2613.518,0.000,1557.738,1800.000,3.463
$DEVICE_MAMPS,194.818,88.972,1495.650,718.679,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1788.447,2214.028,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56882,1583
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090705,020609,7204.786,1412.729,30,1.1,30,3.1