version: 65.00
glider: 17
mission: 2
dive: 81
start: 7 11 105 4 49 49
data:
$ID,17
$MISSION,2
$DIVE,81
$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,-25750.432
$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,17
$R_STBD_OVSHOOT,24
$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
$GPS1,044039,7210.773,1439.944,34,1.1,34
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-53.7
$GPS2,044852,7210.721,1440.388,20,1.5,21,3.4
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7210.000,1430.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.187,0.121
$KALMAN_X,125229.3,232.5,-626.7,-211923.7,6328.8
$KALMAN_Y,-80194.2,581.5,1480.8,282857.0,-9608.1
$MHEAD_RNG_PITCHd_Wd,299.5,6041,-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,-45.53,0.000,2,0.000,0.000,287,1712,2645
$GC,64,-1.17,-121.6,3.1,-6.6,9,94,12.02,2.60,-9.35,0.000,4,0.195,0.069,2263,296,2997
$GC,171,-1.17,-121.6,15.6,-10.0,30,175,0.00,2.47,0.00,0.000,6,0.000,0.034,2263,1708,2999
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$GC,3863,-1.17,-121.6,317.4,-8.1,616,3872,0.00,2.58,0.00,0.000,4,0.000,0.054,2263,3108,3005
$GC,3898,-1.17,-121.6,320.4,-8.8,619,3903,0.00,2.55,0.00,0.000,6,0.000,0.044,2263,1708,3005
$GC,4206,-1.17,-121.6,346.8,-8.5,650,4215,0.00,2.58,0.00,0.000,4,0.000,0.054,2263,3108,3005
$GC,4261,-1.17,-121.6,351.8,-9.1,655,4266,0.00,2.55,0.00,0.000,6,0.000,0.045,2263,1708,3005
$GC,4569,-1.17,-121.6,377.6,-8.0,686,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1709,3004
$GC,4891,-1.17,-121.6,403.3,-7.6,715,4899,0.00,2.58,0.00,0.000,4,0.000,0.056,2263,3113,3005
$GC,4916,-1.17,-121.6,405.3,-8.2,715,4920,0.00,2.53,0.00,0.000,6,0.000,0.045,2263,1701,3005
$GC,5252,-1.17,-121.6,430.8,-7.5,724,5261,0.00,2.58,0.00,0.000,4,0.000,0.055,2263,3107,3005
$GC,5282,-1.17,-121.6,433.2,-8.4,724,5286,0.00,2.53,0.00,0.000,6,0.000,0.047,2263,1702,3005
$GC,5613,-1.17,-121.6,457.4,-7.3,733,5622,0.00,2.58,0.00,0.000,4,0.000,0.056,2263,3108,3005
$GC,5658,-1.17,-121.6,461.0,-7.8,734,5663,0.00,2.53,0.00,0.000,6,0.000,0.047,2263,1700,3004
$GC,5975,-1.17,-121.6,485.5,-7.9,742,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1700,3004
$GC,6336,-1.17,-121.6,514.4,-8.2,751,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1700,3004
$GC,6696,-1.17,-121.6,545.3,-8.8,760,6705,0.00,2.60,0.00,0.000,4,0.000,0.057,2263,3107,3004
$GC,6767,-1.17,-121.6,552.2,-10.2,761,6771,0.00,2.53,0.00,0.000,6,0.000,0.048,2263,1705,3004
$GC,7098,-1.17,-121.6,581.8,-8.7,770,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1705,3004
$GC,7459,-1.17,-121.6,614.0,-9.1,779,7467,0.00,2.62,0.00,0.000,4,0.000,0.059,2263,3112,3004
$GC,7489,-1.17,-121.6,616.8,-9.8,779,7493,0.00,2.55,0.00,0.000,6,0.000,0.050,2263,1702,3004
$GC,7820,-1.17,-121.6,646.2,-8.7,788,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1703,3004
$GC,8180,-1.17,-121.6,675.8,-8.0,797,8189,0.00,2.62,0.00,0.000,4,0.000,0.063,2263,3105,3004
$GC,8246,-1.17,-121.6,681.2,-8.4,798,8250,0.00,2.53,0.00,0.000,6,0.000,0.052,2263,1706,3004
$GC,8582,-1.17,-121.6,705.3,-6.8,807,8591,0.00,2.62,0.00,0.000,4,0.000,0.073,2263,299,3004
$GC,8607,-1.17,-121.6,707.2,-7.9,807,8611,0.00,2.47,0.00,0.000,6,0.000,0.041,2263,1706,3004
$GC,8943,-1.17,-121.6,729.5,-6.8,816,8952,0.00,2.58,0.00,0.000,4,0.000,0.065,2263,3107,3003
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$GC,9665,-1.17,-121.6,781.3,-7.5,834,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1709,3004
$GC,10026,-1.17,-121.6,809.9,-8.1,843,10064,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1709,3003
$GC,10386,-1.17,-121.6,838.9,-7.9,852,10395,0.00,2.62,0.00,0.000,4,0.000,0.067,2263,3105,3002
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$GC,10748,-1.17,-121.6,867.3,-7.7,861,10786,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1702,3001
$GC,11108,-1.17,-121.6,895.1,-7.7,870,11117,0.00,2.62,0.00,0.000,4,0.000,0.068,2263,3108,3000
$GC,11143,-1.17,-121.6,898.1,-9.6,870,11148,0.00,2.60,0.00,0.000,6,0.000,0.058,2263,1705,3000
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$GC,11520,-1.17,-121.6,926.7,-7.6,880,11524,0.00,2.55,0.00,0.000,6,0.000,0.058,2263,1701,3000
$GC,11831,-1.17,-121.6,951.9,-7.9,888,11840,0.00,2.60,0.00,0.000,4,0.000,0.069,2264,3106,2999
$GC,11861,-1.17,-121.6,954.5,-9.4,888,11865,0.00,2.55,0.00,0.000,6,0.000,0.058,2263,1703,2999
$GC,12192,-1.17,-121.6,981.4,-8.1,897,12231,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1702,2998
$GC,12394,-0.31,0.0,996.8,7.8,902,12512,1.02,0.00,108.50,1.473,6,0.131,0.000,2456,1702,2501
$GC,12515,1.17,121.6,999.5,3.3,905,12633,1.60,0.00,105.80,1.411,6,0.084,0.000,2779,1702,2004
$GC,12954,1.17,121.6,957.6,11.1,916,12992,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1702,2001
$GC,13314,1.17,121.6,917.6,11.2,925,13323,0.00,2.65,0.00,0.000,4,0.000,0.069,2779,3105,2001
$GC,13370,1.17,121.6,911.3,11.4,926,13374,0.00,2.58,0.00,0.000,6,0.000,0.059,2779,1705,2000
$GC,13676,1.17,121.6,877.3,11.0,934,13684,0.00,2.65,0.00,0.000,4,0.000,0.070,2779,3105,2000
$GC,13717,1.17,121.6,872.7,11.5,935,13725,0.00,2.58,0.00,0.000,6,0.000,0.060,2779,1705,1999
$GC,14038,1.17,121.6,838.1,10.7,943,14076,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1705,1999
$GC,14398,1.17,121.6,799.1,10.9,952,14437,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1705,1999
$GC,14759,1.17,121.6,761.2,10.6,961,14767,0.00,2.70,0.00,0.000,4,0.000,0.087,2779,298,1998
$GC,14804,1.17,121.6,756.0,11.4,962,14808,0.00,2.53,0.00,0.000,6,0.000,0.046,2779,1704,1998
$GC,15120,1.17,121.6,722.2,10.8,970,15159,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,1998
$GC,15481,1.17,121.6,680.4,11.8,979,15520,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,1997
$GC,15842,1.17,121.6,637.2,11.9,988,15850,0.00,2.67,0.00,0.000,4,0.000,0.077,2779,296,1996
$GC,15882,1.17,121.6,632.0,13.6,989,15891,0.00,2.53,0.00,0.000,6,0.000,0.047,2779,1704,1997
$GC,16203,1.17,121.6,595.3,11.1,997,16242,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,1996
$GC,16564,1.17,121.6,557.4,10.1,1006,16573,0.00,2.67,0.00,0.000,4,0.000,0.074,2779,293,1995
$GC,16655,1.17,121.6,547.4,9.8,1008,16659,0.00,2.53,0.00,0.000,6,0.000,0.044,2779,1706,1995
$GC,16966,1.17,121.6,517.2,9.5,1016,16975,0.00,2.62,0.00,0.000,4,0.000,0.065,2779,3116,1995
$GC,17027,1.17,121.6,511.4,9.2,1017,17031,0.00,2.55,0.00,0.000,6,0.000,0.051,2779,1703,1995
$GC,17368,1.17,121.6,481.5,8.4,1026,17407,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1703,1995
$GC,17729,1.17,121.6,451.6,8.2,1035,17737,0.00,2.65,0.00,0.000,4,0.000,0.071,2779,293,1995
$GC,17784,1.17,121.6,446.5,8.8,1036,17788,0.00,2.50,0.00,0.000,6,0.000,0.040,2779,1707,1995
$GC,18090,1.17,121.6,420.5,8.5,1044,18129,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1708,1995
$GC,18431,1.17,121.6,390.9,8.8,1060,18441,0.00,2.65,0.00,0.000,4,0.000,0.068,2779,294,1995
$GC,18462,1.17,121.6,388.0,10.4,1063,18471,0.00,2.50,0.00,0.000,6,0.000,0.041,2779,1705,1995
$GC,18774,1.17,121.6,360.2,8.6,1094,18783,0.00,2.60,0.00,0.000,4,0.000,0.061,2779,3109,1995
$GC,18799,1.17,121.6,357.9,8.5,1096,18804,0.00,2.55,0.00,0.000,6,0.000,0.047,2779,1713,1995
$GC,19107,1.17,121.6,330.4,8.7,1127,19116,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1713,1994
$GC,19419,1.17,121.6,302.0,9.2,1158,19428,0.00,2.65,0.00,0.000,4,0.000,0.069,2779,296,1995
$GC,19480,1.17,121.6,295.6,10.8,1164,19489,0.00,2.47,0.00,0.000,6,0.000,0.038,2779,1707,1995
$GC,19792,1.17,121.6,266.8,9.7,1195,19801,0.00,2.58,0.00,0.000,4,0.000,0.059,2779,3108,1995
$GC,19837,1.17,121.6,262.4,8.9,1199,19842,0.00,2.55,0.00,0.000,6,0.000,0.045,2778,1709,1995
$GC,20145,1.17,121.6,233.4,9.3,1230,20154,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1709,1995
$GC,20457,1.17,121.6,203.1,9.5,1261,20466,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1709,1995
$GC,20771,1.17,121.6,173.1,9.3,1319,20776,0.00,2.62,0.00,0.000,4,0.000,0.064,2779,298,1995
$GC,20817,1.17,121.6,168.5,10.1,1328,20822,0.00,2.47,0.00,0.000,6,0.000,0.037,2779,1705,1995
$GC,21127,1.17,121.6,140.3,9.2,1389,21131,0.00,2.58,0.00,0.000,4,0.000,0.056,2779,3108,1995
$GC,21152,1.17,121.6,137.9,9.2,1394,21156,0.00,2.53,0.00,0.000,6,0.000,0.044,2779,1704,1994
$GC,21461,1.17,121.6,110.3,8.8,1455,21465,0.00,2.60,0.00,0.000,4,0.000,0.064,2779,299,1995
$GC,21497,1.17,121.6,106.9,10.0,1462,21501,0.00,2.47,0.00,0.000,6,0.000,0.036,2779,1706,1995
$GC,21806,1.17,121.6,80.2,8.7,1523,21809,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1707,1995
$GC,22115,1.17,121.6,51.6,9.8,1584,22119,0.00,2.65,0.00,0.000,4,0.000,0.061,2779,293,1995
$GC,22171,1.17,121.6,45.4,11.3,1595,22175,0.00,2.50,0.00,0.000,6,0.000,0.035,2779,1704,1995
$GC,22480,1.17,121.6,14.0,9.6,1656,22484,0.00,2.62,0.00,0.000,4,0.000,0.061,2779,297,1995
$GC,22495,1.17,121.6,12.6,9.3,1659,22500,0.00,2.50,0.00,0.000,6,0.000,0.036,2779,1706,1995
$FINISH,0.2,1.027109,0
$SM_CCo,22658,91.47,0.716,0,0,1441,260.02
$RAFOS_CLK,-4784
$RAFOS,2,1121070542,8.500000,8.483889,47,47,43,213,1204,531
$RAFOS,1,1121069943,8.333333,8.317500,44,44,43,523,1195,214
$RAFOS,0,1121069380,8.166667,8.161111,41,41,41,205,221,604
$TT8_MAMPS,0.021476
$HUMID,2009
$INTERNAL_PRESSURE,7.23127
$TCM_TEMP,1.50
$ALTIM_TOP_PING,9.8,9.1
$ALTIM_BOTTOM_PING,971.8,151.8
$24V_AH,23.4,14.026
$10V_AH,10.0,10.013
$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,25.950,184.900,214.300,91.475,0.000,64.674,58.861,203.289,0.500,58.712,1201.359,16942.184,1244.817,2555.516,1385.202,33.361,2725.602,0.000,1653.471,900.000,3.467
$DEVICE_MAMPS,194.818,86.671,1473.407,715.611,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1907.371,2362.121,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60337,1688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110705,111010,7211.687,1436.066,31,1.2,31,3.3