version: 65.00
glider: 17
mission: 2
dive: 83
start: 7 11 105 17 38 40
data:
$ID,17
$MISSION,2
$DIVE,83
$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,-25874.945
$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
$GPS1,173127,7213.070,1433.928,44,1.3,44
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-53.6
$GPS2,173746,7213.114,1434.264,21,1.5,22,3.3
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_01
$TGT_LATLONG,7210.000,1430.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.222,0.011
$KALMAN_X,131005.4,-324.7,18.6,-221608.4,4816.4
$KALMAN_Y,-80199.5,24.4,1519.2,287795.3,-6122.8
$MHEAD_RNG_PITCHd_Wd,269.6,6253,-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,-121.6,0.0,0.0,0,67,0.00,0.00,-50.47,0.000,2,0.000,0.000,290,1712,2745
$GC,69,-1.17,-121.6,3.4,-7.3,10,94,11.93,2.70,-6.47,0.000,4,0.192,0.071,2261,298,2999
$GC,201,-1.17,-121.6,20.8,-11.9,36,205,0.00,2.50,0.00,0.000,6,0.000,0.035,2261,1707,3001
$GC,510,-1.17,-121.6,52.8,-9.9,97,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1707,3004
$GC,819,-1.17,-121.6,82.9,-9.3,158,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1707,3005
$GC,1129,-1.17,-121.6,110.7,-8.8,219,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1708,3005
$GC,1438,-1.17,-121.6,137.0,-8.3,280,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1708,3005
$GC,1747,-1.17,-121.6,164.3,-8.7,341,1751,0.00,2.62,0.00,0.000,4,0.000,0.056,2261,3105,3006
$GC,1773,-1.17,-121.6,166.7,-9.5,346,1777,0.00,2.53,0.00,0.000,6,0.000,0.044,2262,1701,3006
$GC,2082,-1.17,-121.6,195.0,-9.5,407,2086,0.00,2.62,0.00,0.000,4,0.000,0.054,2262,3112,3006
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$GC,2410,-1.17,-121.6,226.2,-9.4,445,2419,0.00,2.60,0.00,0.000,4,0.000,0.054,2262,3108,3006
$GC,2455,-1.17,-121.6,230.7,-9.6,449,2459,0.00,2.55,0.00,0.000,6,0.000,0.044,2261,1706,3006
$GC,2762,-1.17,-121.6,260.0,-9.4,480,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1706,3006
$GC,3075,-1.17,-121.6,289.5,-9.7,511,3084,0.00,2.60,0.00,0.000,4,0.000,0.054,2261,3106,3006
$GC,3115,-1.17,-121.6,293.5,-9.6,515,3124,0.00,2.50,0.00,0.000,6,0.000,0.045,2261,1705,3006
$GC,3427,-1.17,-121.6,323.8,-9.6,546,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1705,3006
$GC,3740,-1.17,-121.6,353.7,-9.7,577,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1705,3007
$GC,4052,-1.17,-121.6,382.6,-9.1,608,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1705,3006
$GC,4373,-1.17,-121.6,411.0,-8.8,631,4382,0.00,2.58,0.00,0.000,4,0.000,0.055,2262,3106,3006
$GC,4434,-1.17,-121.6,416.6,-9.3,632,4438,0.00,2.50,0.00,0.000,6,0.000,0.046,2261,1705,3006
$GC,4775,-1.17,-121.6,446.4,-8.7,641,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1705,3006
$GC,5136,-1.17,-121.6,476.4,-8.2,650,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1705,3006
$GC,5496,-1.17,-121.6,505.2,-8.0,659,5505,0.00,2.60,0.00,0.000,4,0.000,0.055,2261,3105,3006
$GC,5542,-1.17,-121.6,509.1,-8.4,660,5546,0.00,2.50,0.00,0.000,6,0.000,0.048,2261,1707,3006
$GC,5858,-1.17,-121.6,534.1,-7.8,668,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1707,3006
$GC,6219,-1.17,-121.6,562.5,-8.0,677,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1707,3006
$GC,6579,-1.17,-121.6,593.2,-8.7,686,6588,0.00,2.60,0.00,0.000,4,0.000,0.058,2261,3107,3006
$GC,6645,-1.17,-121.6,599.2,-9.6,687,6649,0.00,2.53,0.00,0.000,6,0.000,0.050,2261,1704,3007
$GC,6981,-1.17,-121.6,627.9,-8.5,696,6989,0.00,2.58,0.00,0.000,4,0.000,0.058,2261,3105,3006
$GC,7022,-1.17,-121.6,631.6,-9.3,697,7030,0.00,2.53,0.00,0.000,6,0.000,0.051,2262,1705,3006
$GC,7343,-1.17,-121.6,659.8,-8.8,705,7351,0.00,2.62,0.00,0.000,4,0.000,0.071,2262,295,3006
$GC,7368,-1.17,-121.6,662.1,-9.7,705,7372,0.00,2.47,0.00,0.000,6,0.000,0.040,2261,1703,3006
$GC,7704,-1.17,-121.6,691.9,-8.8,714,7712,0.00,2.62,0.00,0.000,4,0.000,0.064,2261,3109,3006
$GC,7754,-1.17,-121.6,696.4,-9.0,715,7758,0.00,2.53,0.00,0.000,6,0.000,0.052,2262,1706,3006
$GC,8066,-1.17,-121.6,722.1,-8.3,723,8104,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1706,3006
$GC,8426,-1.17,-121.6,752.4,-8.4,732,8435,0.00,2.60,0.00,0.000,4,0.000,0.064,2262,3108,3006
$GC,8451,-1.17,-121.6,754.7,-9.6,732,8455,0.00,2.53,0.00,0.000,6,0.000,0.054,2262,1704,3006
$GC,8787,-1.17,-121.6,783.9,-8.7,741,8796,0.00,2.65,0.00,0.000,4,0.000,0.064,2261,3114,3006
$GC,8817,-1.17,-121.6,786.7,-10.5,741,8821,0.00,2.55,0.00,0.000,6,0.000,0.054,2262,1703,3006
$GC,9148,-1.17,-121.6,816.3,-8.9,750,9187,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1703,3006
$GC,9509,-1.17,-121.6,848.7,-9.0,759,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1704,3005
$GC,9870,-1.17,-121.6,880.2,-8.6,768,9878,0.00,2.62,0.00,0.000,4,0.000,0.067,2261,3114,3004
$GC,9910,-1.17,-121.6,883.8,-9.6,769,9919,0.00,2.55,0.00,0.000,6,0.000,0.056,2262,1704,3004
$GC,10233,-1.17,-121.6,911.3,-8.5,777,10241,0.00,2.60,0.00,0.000,4,0.000,0.067,2261,3108,3003
$GC,10258,-1.17,-121.6,913.7,-10.1,777,10262,0.00,2.55,0.00,0.000,6,0.000,0.056,2262,1700,3003
$GC,10594,-1.17,-121.6,941.8,-8.2,786,10602,0.00,2.62,0.00,0.000,4,0.000,0.067,2262,3108,3003
$GC,10629,-1.17,-121.6,944.8,-8.3,786,10634,0.00,2.58,0.00,0.000,6,0.000,0.058,2262,1713,3002
$GC,10957,-1.17,-121.6,970.5,-7.9,795,10966,0.00,2.62,0.00,0.000,4,0.000,0.068,2262,3109,3002
$GC,10987,-1.17,-121.6,973.3,-9.6,795,10991,0.00,2.55,0.00,0.000,6,0.000,0.058,2261,1704,3001
$GC,11281,-0.31,0.0,996.9,8.1,803,11398,1.02,0.00,110.70,1.544,6,0.131,0.000,2455,1703,2501
$GC,11400,1.17,121.6,1000.2,3.8,806,11518,1.62,0.00,106.78,1.490,6,0.089,0.000,2778,1703,2005
$GC,11839,1.17,121.6,960.8,10.3,817,11848,0.00,2.65,0.00,0.000,4,0.000,0.068,2778,3108,2002
$GC,11880,1.17,121.6,956.6,9.9,818,11888,0.00,2.58,0.00,0.000,6,0.000,0.058,2778,1706,2002
$GC,12201,1.17,121.6,924.4,10.0,826,12240,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1706,2002
$GC,12562,1.17,121.6,887.3,10.3,835,12570,0.00,2.65,0.00,0.000,4,0.000,0.069,2778,3113,2000
$GC,12622,1.17,121.6,880.9,10.3,836,12626,0.00,2.60,0.00,0.000,6,0.000,0.058,2778,1702,2000
$GC,12963,1.17,121.6,845.0,10.6,845,13002,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1702,1999
$GC,13324,1.17,121.6,806.4,10.6,854,13363,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1702,1999
$GC,13685,1.17,121.6,767.7,10.6,863,13723,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1702,1998
$GC,14045,1.17,121.6,730.4,10.5,872,14084,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1702,1998
$GC,14406,1.17,121.6,692.6,10.5,881,14414,0.00,2.70,0.00,0.000,4,0.000,0.067,2778,3113,1997
$GC,14447,1.17,121.6,688.2,10.5,882,14455,0.00,2.58,0.00,0.000,6,0.000,0.058,2778,1705,1996
$GC,14768,1.17,121.6,653.5,10.8,890,14776,0.00,2.67,0.00,0.000,4,0.000,0.081,2779,296,1996
$GC,14793,1.17,121.6,650.5,10.8,890,14797,0.00,2.53,0.00,0.000,6,0.000,0.046,2778,1707,1996
$GC,15129,1.17,121.6,613.8,10.9,899,15137,0.00,2.67,0.00,0.000,4,0.000,0.075,2779,296,1996
$GC,15154,1.17,121.6,610.9,12.6,899,15158,0.00,2.53,0.00,0.000,6,0.000,0.045,2778,1707,1996
$GC,15490,1.17,121.6,573.3,11.0,908,15498,0.00,2.62,0.00,0.000,4,0.000,0.067,2778,3112,1995
$GC,15576,1.17,121.6,563.8,10.8,910,15580,0.00,2.55,0.00,0.000,6,0.000,0.052,2778,1703,1995
$GC,15892,1.17,121.6,529.5,10.7,918,15901,0.00,2.65,0.00,0.000,4,0.000,0.075,2778,294,1995
$GC,15933,1.17,121.6,524.8,12.1,919,15941,0.00,2.50,0.00,0.000,6,0.000,0.044,2778,1707,1995
$GC,16254,1.17,121.6,489.9,11.0,927,16292,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1995
$GC,16614,1.17,121.6,450.8,10.9,936,16623,0.00,2.62,0.00,0.000,4,0.000,0.063,2779,3114,1995
$GC,16644,1.17,121.6,447.4,9.7,936,16649,0.00,2.55,0.00,0.000,6,0.000,0.049,2778,1702,1995
$GC,16976,1.17,121.6,412.6,10.3,945,16984,0.00,2.62,0.00,0.000,4,0.000,0.070,2778,294,1995
$GC,17011,1.17,121.6,408.8,10.8,945,17015,0.00,2.53,0.00,0.000,6,0.000,0.040,2778,1696,1995
$GC,17318,1.17,121.6,377.9,10.1,967,17326,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1698,1995
$GC,17630,1.17,121.6,345.5,10.4,998,17638,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1698,1995
$GC,17942,1.17,121.6,311.8,10.6,1029,17951,0.00,2.62,0.00,0.000,4,0.000,0.066,2778,296,1994
$GC,18003,1.17,121.6,304.4,12.0,1035,18012,0.00,2.50,0.00,0.000,6,0.000,0.039,2778,1705,1995
$GC,18316,1.17,121.6,270.7,10.6,1066,18325,0.00,2.62,0.00,0.000,4,0.000,0.060,2778,3114,1995
$GC,18361,1.17,121.6,265.8,10.6,1070,18365,0.00,2.58,0.00,0.000,6,0.000,0.046,2778,1703,1995
$GC,18668,1.17,121.6,233.7,10.7,1101,18677,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1703,1995
$GC,18981,1.17,121.6,203.3,9.9,1132,18990,0.00,2.62,0.00,0.000,4,0.000,0.066,2779,296,1995
$GC,19026,1.17,121.6,198.5,10.3,1137,19031,0.00,2.50,0.00,0.000,6,0.000,0.037,2780,1706,1995
$GC,19335,1.17,121.6,170.1,9.2,1198,19339,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1708,1995
$GC,19645,1.17,121.6,142.2,9.3,1259,19648,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1995
$GC,19954,1.17,121.6,114.3,9.3,1320,19958,0.00,2.62,0.00,0.000,4,0.000,0.062,2778,298,1995
$GC,19989,1.17,121.6,110.6,10.5,1327,19994,0.00,2.50,0.00,0.000,6,0.000,0.037,2778,1710,1995
$GC,20299,1.17,121.6,82.6,8.5,1388,20303,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1711,1995
$GC,20609,1.17,121.6,55.8,9.8,1449,20612,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1711,1995
$GC,20918,1.17,121.6,26.3,10.9,1510,20921,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1711,1995
$FINISH,0.1,1.027300,0
$SM_CCo,21204,89.20,0.765,0,0,1441,260.02
$RAFOS_CLK,-1863
$RAFOS,2,1121113750,20.500000,20.486111,43,43,41,106,195,899
$RAFOS,1,1121113148,20.333334,20.318890,47,45,43,230,1116,205
$RAFOS,0,1121112547,20.166666,20.151945,47,47,46,100,146,1191
$TT8_MAMPS,0.022243
$HUMID,2021
$INTERNAL_PRESSURE,7.2215
$TCM_TEMP,1.50
$ALTIM_TOP_PING,10.0,9.8
$ALTIM_BOTTOM_PING,970.5,135.4
$24V_AH,23.3,14.284
$10V_AH,10.0,10.240
$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,26.000,154.800,217.475,89.200,0.000,32.323,47.067,187.441,0.500,69.636,1089.482,15935.796,1094.510,2399.195,1245.363,33.357,2473.442,0.000,1548.626,900.000,3.453
$DEVICE_MAMPS,191.750,80.535,1543.971,765.466,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1769.807,2190.688,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56010,1563
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110705,233457,7213.290,1430.715,48,1.2,48,3.3