version: 65.00
glider: 17
mission: 2
dive: 75
start: 7 9 105 15 4 3
data:
$ID,17
$MISSION,2
$DIVE,75
$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,-25357.643
$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,15
$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
$GPS1,145803,7206.511,1429.191,41,1.0,41
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-53.8
$GPS2,150310,7206.498,1429.339,16,1.3,17,3.2
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7210.000,1430.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.004,0.143
$KALMAN_X,100542.5,-82.5,505.5,-194950.0,516.9
$KALMAN_Y,-60364.2,-426.0,-1257.0,258959.4,2910.1
$MHEAD_RNG_PITCHd_Wd,355.1,6497,-26.7,-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,-1.72,-48.3,0.0,0.0,0,62,0.00,0.00,-45.53,0.000,2,0.000,0.000,290,1709,2660
$GC,64,-1.72,-56.3,3.4,-7.1,9,84,11.30,2.67,-1.80,0.000,4,0.196,0.067,2142,296,2734
$GC,312,-1.73,-56.3,38.6,-12.2,58,317,0.00,2.50,0.00,0.000,6,0.000,0.033,2142,1711,2737
$GC,622,-1.73,-56.3,71.5,-10.3,119,626,0.00,2.62,0.00,0.000,4,0.000,0.055,2142,293,2739
$GC,754,-1.73,-56.3,86.4,-11.5,145,758,0.00,2.50,0.00,0.000,6,0.000,0.034,2142,1708,2739
$GC,1063,-1.73,-56.3,118.4,-10.5,206,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1708,2741
$GC,1372,-1.73,-56.3,150.5,-9.8,267,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1708,2741
$GC,1681,-1.73,-56.3,182.1,-10.4,328,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1708,2741
$GC,1989,-1.73,-56.3,215.6,-11.5,375,1999,0.00,2.60,0.00,0.000,4,0.000,0.054,2142,3110,2741
$GC,2030,-1.73,-56.3,220.4,-11.3,379,2039,0.00,2.53,0.00,0.000,6,0.000,0.043,2142,1699,2742
$GC,2342,-1.73,-56.3,255.8,-11.2,410,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1699,2742
$GC,2655,-1.73,-56.3,291.3,-11.4,441,2664,0.00,2.62,0.00,0.000,4,0.000,0.051,2142,3110,2742
$GC,2726,-1.73,-56.3,299.8,-12.2,448,2735,0.00,2.53,0.00,0.000,6,0.000,0.043,2142,1702,2742
$GC,3038,-1.73,-56.3,335.5,-11.4,479,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1702,2742
$GC,3350,-1.73,-56.3,370.0,-10.2,510,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1702,2742
$GC,3672,-1.73,-56.3,405.1,-10.8,539,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1702,2742
$GC,4033,-1.73,-56.3,443.4,-10.6,548,4041,0.00,2.60,0.00,0.000,4,0.000,0.052,2142,3108,2742
$GC,4089,-1.73,-56.3,449.5,-11.4,549,4097,0.00,2.53,0.00,0.000,6,0.000,0.044,2142,1704,2742
$GC,4435,-1.73,-56.3,485.5,-10.2,558,4443,0.00,2.58,0.00,0.000,4,0.000,0.061,2142,300,2742
$GC,4486,-1.73,-56.3,491.0,-11.2,559,4494,0.00,2.47,0.00,0.000,6,0.000,0.034,2142,1712,2742
$GC,4797,-1.73,-56.3,521.3,-9.7,567,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1712,2742
$GC,5157,-1.73,-56.3,554.4,-8.7,576,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1712,2742
$GC,5518,-1.73,-56.3,585.0,-8.3,585,5526,0.00,2.58,0.00,0.000,4,0.000,0.057,2142,3108,2742
$GC,5568,-1.73,-56.3,589.4,-8.9,586,5572,0.00,2.53,0.00,0.000,6,0.000,0.047,2142,1707,2742
$GC,5879,-1.73,-56.3,614.9,-8.2,594,5888,0.00,2.55,0.00,0.000,4,0.000,0.057,2142,3104,2742
$GC,5940,-1.73,-56.3,620.2,-9.1,595,5944,0.00,2.53,0.00,0.000,6,0.000,0.048,2142,1707,2742
$GC,6281,-1.73,-56.3,649.1,-8.7,604,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1706,2742
$GC,6642,-1.73,-56.3,682.9,-8.9,613,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1706,2742
$GC,7003,-1.73,-56.3,715.3,-9.1,622,7012,0.00,2.58,0.00,0.000,4,0.000,0.060,2142,3102,2742
$GC,7079,-1.73,-56.3,722.5,-9.6,623,7083,0.00,2.58,0.00,0.000,6,0.000,0.051,2142,1707,2742
$GC,7405,-1.73,-56.3,753.3,-9.6,632,7413,0.00,2.62,0.00,0.000,4,0.000,0.071,2142,299,2742
$GC,7430,-1.73,-56.3,755.9,-11.5,632,7434,0.00,2.47,0.00,0.000,6,0.000,0.041,2142,1700,2742
$GC,7766,-1.73,-56.3,787.6,-9.3,641,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1702,2741
$GC,8128,-1.73,-56.3,821.4,-9.3,650,8136,0.00,2.62,0.00,0.000,4,0.000,0.064,2142,3112,2741
$GC,8203,-1.73,-56.3,828.8,-10.3,651,8208,0.00,2.58,0.00,0.000,6,0.000,0.054,2143,1715,2740
$GC,8529,-1.73,-56.3,860.2,-9.7,660,8538,0.00,2.60,0.00,0.000,4,0.000,0.064,2142,3109,2739
$GC,8600,-1.73,-56.3,867.5,-10.6,661,8604,0.00,2.55,0.00,0.000,6,0.000,0.054,2142,1702,2739
$GC,8931,-1.73,-56.3,898.7,-9.2,670,8940,0.00,2.67,0.00,0.000,4,0.000,0.082,2142,299,2739
$GC,8972,-1.73,-56.3,902.7,-10.2,671,8980,0.00,2.50,0.00,0.000,6,0.000,0.042,2142,1706,2739
$GC,9293,-1.73,-56.3,931.1,-8.8,679,9331,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1706,2738
$GC,9653,-1.73,-56.3,963.1,-8.8,688,9692,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1706,2737
$GC,10014,-1.73,-56.3,994.0,-8.5,697,10053,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1706,2736
$GC,10096,-0.31,0.0,1000.8,8.4,699,10174,1.70,0.00,51.80,1.501,6,0.146,0.000,2454,1706,2501
$GC,10175,1.73,56.3,1001.6,4.9,701,10234,2.20,2.90,49.95,1.487,4,0.087,0.093,2900,308,2271
$GC,10240,1.73,56.3,997.7,8.6,702,10244,0.00,2.60,0.00,0.000,6,0.000,0.055,2900,1702,2271
$GC,10576,1.73,56.3,958.6,11.9,711,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1704,2268
$GC,10937,1.73,56.3,915.2,12.0,720,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1704,2267
$GC,11298,1.73,56.3,870.9,12.2,729,11306,0.00,2.72,0.00,0.000,4,0.000,0.084,2900,298,2265
$GC,11348,1.73,56.3,864.4,13.6,730,11352,0.00,2.55,0.00,0.000,6,0.000,0.047,2900,1705,2265
$GC,11659,1.73,56.3,828.0,11.5,738,11698,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1707,2266
$GC,12020,1.73,56.3,789.1,10.6,747,12058,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1707,2264
$GC,12381,1.73,56.3,751.8,10.0,756,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1707,2264
$GC,12741,1.73,56.3,716.7,9.5,765,12780,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1707,2263
$GC,13102,1.73,56.3,684.1,9.0,774,13110,0.00,2.62,0.00,0.000,4,0.000,0.067,2900,3111,2262
$GC,13213,1.73,56.3,673.7,9.8,776,13217,0.00,2.55,0.00,0.000,6,0.000,0.054,2900,1705,2261
$GC,13544,1.73,56.3,645.0,8.4,785,13553,0.00,2.67,0.00,0.000,4,0.000,0.075,2900,293,2261
$GC,13615,1.73,56.3,638.7,9.5,786,13619,0.00,2.53,0.00,0.000,6,0.000,0.044,2900,1706,2261
$GC,13946,1.73,56.3,609.4,8.9,795,13954,0.00,2.62,0.00,0.000,4,0.000,0.066,2901,3112,2261
$GC,13981,1.73,56.3,606.1,9.0,795,13986,0.00,2.58,0.00,0.000,6,0.000,0.052,2900,1710,2261
$GC,14307,1.73,56.3,576.0,9.6,804,14316,0.00,2.60,0.00,0.000,4,0.000,0.061,2900,3113,2261
$GC,14454,1.73,56.3,560.8,9.8,807,14458,0.00,2.55,0.00,0.000,6,0.000,0.050,2900,1703,2261
$GC,14790,1.73,56.3,526.2,10.4,816,14798,0.00,2.62,0.00,0.000,4,0.000,0.071,2900,297,2261
$GC,14912,1.73,56.3,512.2,11.5,819,14920,0.00,2.50,0.00,0.000,6,0.000,0.040,2900,1709,2261
$GC,15233,1.73,56.3,478.1,10.5,827,15241,0.00,2.65,0.00,0.000,4,0.000,0.067,2900,293,2261
$GC,15365,1.73,56.3,463.7,10.4,830,15373,0.00,2.50,0.00,0.000,6,0.000,0.040,2900,1704,2261
$GC,15676,1.73,56.3,435.5,8.8,838,15714,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1704,2261
$GC,16036,1.73,58.5,407.1,7.8,847,16045,0.00,2.62,0.00,0.000,4,0.000,0.061,2900,3112,2261
$GC,16274,1.73,61.2,389.5,7.7,861,16284,0.00,2.58,2.03,1.259,6,0.000,0.044,2900,1705,2251
$GC,16592,1.73,66.5,366.0,7.4,893,16602,0.00,2.65,4.65,1.172,4,0.000,0.065,2900,299,2229
$GC,16754,1.74,66.5,351.7,10.0,909,16764,0.00,2.50,0.00,0.000,6,0.000,0.037,2900,1707,2229
$GC,17067,1.74,66.5,324.1,8.8,940,17075,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1707,2229
$GC,17379,1.74,66.5,296.2,9.6,971,17388,0.00,2.60,0.00,0.000,4,0.000,0.058,2900,3108,2229
$GC,17399,1.74,66.5,294.3,9.4,973,17408,0.00,2.53,0.00,0.000,6,0.000,0.044,2900,1706,2229
$GC,17711,1.74,66.5,266.3,8.5,1004,17720,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1706,2229
$GC,18023,1.74,66.5,239.0,8.5,1035,18032,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1706,2229
$GC,18336,1.74,66.5,212.7,8.5,1066,18344,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1706,2228
$GC,18649,1.74,66.5,185.1,8.6,1113,18653,0.00,2.60,0.00,0.000,4,0.000,0.054,2900,3108,2229
$GC,18705,1.74,66.5,180.0,9.6,1124,18709,0.00,2.53,0.00,0.000,6,0.000,0.042,2900,1705,2229
$GC,19014,1.74,66.5,152.3,9.4,1185,19017,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1705,2229
$GC,19323,1.74,66.5,123.3,9.2,1246,19327,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1705,2229
$GC,19634,1.74,66.5,93.4,10.0,1307,19638,0.00,2.58,0.00,0.000,4,0.000,0.052,2900,3108,2229
$GC,19670,1.74,66.5,89.7,10.6,1314,19674,0.00,2.53,0.00,0.000,6,0.000,0.042,2900,1704,2229
$GC,19979,1.74,66.5,59.2,10.1,1375,19983,0.00,2.58,0.00,0.000,4,0.000,0.052,2900,3110,2229
$GC,20106,1.74,66.5,46.6,9.7,1400,20110,0.00,2.53,0.00,0.000,6,0.000,0.042,2900,1701,2229
$GC,20415,1.74,78.4,19.8,6.7,1461,20429,0.00,0.00,10.55,0.823,6,0.000,0.000,2900,1701,2180
$GC,20734,1.75,118.5,2.0,3.6,1524,20739,0.00,0.00,2.78,0.870,2,0.000,0.000,2900,1701,2164
$FINISH,0.2,1.026784,0
$SM_CCo,20817,124.30,0.709,0,0,1440,260.02
$RAFOS_CLK,-2896
$RAFOS,2,1120940943,20.500000,20.484167,43,42,41,873,139,1074
$RAFOS,1,1120940344,20.333334,20.317778,53,49,45,117,147,205
$RAFOS,0,1120939747,20.166666,20.151945,44,43,38,205,242,895
$RAFOS,2,1120926559,16.500000,16.488611,49,45,42,139,217,203
$RAFOS,1,1120925942,16.333334,16.317223,45,44,42,207,1266,6
$RAFOS,0,1120925354,16.166666,16.153889,46,44,42,953,219,117
$TT8_MAMPS,0.021476
$HUMID,2013
$INTERNAL_PRESSURE,7.23127
$TCM_TEMP,2.00
$ALTIM_TOP_PING,10.0,10.2
$ALTIM_BOTTOM_PING,973.3,0.0
$24V_AH,23.4,13.290
$10V_AH,10.0,9.333
$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,27.150,139.275,121.750,124.300,0.000,32.322,29.792,143.265,0.500,61.934,1089.507,15506.397,1121.208,2431.779,1189.096,33.355,2515.808,0.000,1588.316,1800.000,3.463
$DEVICE_MAMPS,196.352,92.807,1501.019,709.475,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1739.616,2152.965,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,55872,1537
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090705,205427,7207.029,1435.953,46,1.1,46,3.3