version: 65.00
glider: 17
mission: 2
dive: 101
start: 7 16 105 10 59 9
data:
$ID,17
$MISSION,2
$DIVE,101
$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,240
$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,-27051.504
$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,1740
$C_ROLL_CLIMB,1705
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$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
$GPS1,105239,7159.175,1329.617,44,1.1,44
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-53.6
$GPS2,105816,7159.200,1329.489,18,1.1,19,2.6
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.129,-0.182
$KALMAN_X,173498.5,-336.1,-1850.6,-302581.5,7268.5
$KALMAN_Y,-59460.1,141.2,1396.1,241305.4,-3410.8
$MHEAD_RNG_PITCHd_Wd,212.7,139182,-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,-121.6,0.0,0.0,0,63,0.00,0.00,-46.05,0.000,2,0.000,0.000,289,1699,2720
$GC,65,-1.17,-121.6,3.6,-8.5,9,90,11.95,2.72,-6.93,0.000,4,0.193,0.064,2262,3134,2999
$GC,197,-1.17,-121.6,20.4,-11.2,35,201,0.00,2.50,0.00,0.000,6,0.000,0.041,2262,1736,3001
$GC,506,-1.17,-121.6,50.6,-9.3,96,510,0.00,2.55,0.00,0.000,4,0.000,0.058,2262,335,3004
$GC,577,-1.17,-121.6,57.7,-9.6,110,581,0.00,2.47,0.00,0.000,6,0.000,0.033,2262,1740,3004
$GC,886,-1.17,-121.6,84.8,-8.6,171,890,0.00,2.58,0.00,0.000,4,0.000,0.057,2262,337,3006
$GC,932,-1.17,-121.6,89.0,-9.7,180,936,0.00,2.50,0.00,0.000,6,0.000,0.035,2262,1742,3006
$GC,1241,-1.17,-121.6,117.4,-9.4,241,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1742,3006
$GC,1550,-1.17,-121.6,147.6,-9.8,302,1555,0.00,2.60,0.00,0.000,4,0.000,0.057,2262,3145,3006
$GC,1571,-1.17,-121.6,149.7,-10.2,306,1575,0.00,2.53,0.00,0.000,6,0.000,0.043,2262,1738,3006
$GC,1880,-1.17,-121.6,180.8,-10.3,367,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1738,3006
$GC,2188,-1.17,-121.6,210.8,-9.5,417,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1738,3006
$GC,2501,-1.17,-121.6,239.7,-9.0,448,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1738,3006
$GC,2813,-1.17,-121.6,267.1,-8.6,479,2822,0.00,2.58,0.00,0.000,4,0.000,0.060,2262,337,3006
$GC,2854,-1.17,-121.6,270.8,-9.3,483,2863,0.00,2.47,0.00,0.000,6,0.000,0.035,2262,1740,3006
$GC,3166,-1.17,-121.6,296.5,-8.3,514,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3007
$GC,3478,-1.17,-121.6,321.9,-7.7,545,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3006
$GC,3790,-1.17,-121.6,345.6,-7.6,576,3799,0.00,2.55,0.00,0.000,4,0.000,0.056,2262,3143,3006
$GC,3815,-1.17,-121.6,347.7,-8.6,578,3820,0.00,2.53,0.00,0.000,6,0.000,0.044,2262,1751,3006
$GC,4123,-1.17,-121.6,372.3,-8.1,609,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1750,3006
$GC,4435,-1.17,-121.6,399.1,-9.2,640,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1751,3006
$GC,4776,-1.17,-121.6,428.8,-8.5,650,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1750,3006
$GC,5137,-1.17,-121.6,456.4,-7.4,659,5145,0.00,2.60,0.00,0.000,4,0.000,0.062,2262,334,3006
$GC,5163,-1.17,-121.6,458.3,-8.0,659,5171,0.00,2.47,0.00,0.000,6,0.000,0.036,2262,1740,3006
$GC,5499,-1.17,-121.6,480.6,-6.8,668,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1741,3006
$GC,5859,-1.17,-121.6,507.5,-7.7,677,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1741,3006
$GC,6220,-1.17,-121.6,538.7,-9.0,686,6228,0.00,2.60,0.00,0.000,4,0.000,0.062,2262,334,3006
$GC,6245,-1.17,-121.6,541.3,-11.1,686,6249,0.00,2.50,0.00,0.000,6,0.000,0.039,2262,1742,3006
$GC,6581,-1.17,-121.6,573.1,-9.1,695,6590,0.00,2.58,0.00,0.000,4,0.000,0.061,2262,3143,3006
$GC,6636,-1.17,-121.6,578.3,-9.5,696,6640,0.00,2.53,0.00,0.000,6,0.000,0.047,2262,1737,3006
$GC,6943,-1.17,-121.6,604.6,-8.6,704,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1737,3006
$GC,7303,-1.17,-121.6,633.3,-7.9,713,7312,0.00,2.60,0.00,0.000,4,0.000,0.060,2262,3142,3006
$GC,7354,-1.17,-121.6,637.5,-8.4,714,7358,0.00,2.53,0.00,0.000,6,0.000,0.049,2262,1736,3006
$GC,7665,-1.17,-121.6,660.9,-7.3,722,7674,0.00,2.60,0.00,0.000,4,0.000,0.062,2262,3146,3006
$GC,7690,-1.17,-121.6,662.6,-7.7,722,7694,0.00,2.53,0.00,0.000,6,0.000,0.051,2262,1740,3006
$GC,8026,-1.17,-121.6,685.6,-6.7,731,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1741,3006
$GC,8387,-1.17,-121.6,709.5,-6.7,740,8395,0.00,2.62,0.00,0.000,4,0.000,0.064,2262,3142,3006
$GC,8407,-1.17,-121.6,710.9,-7.2,740,8411,0.00,2.53,0.00,0.000,6,0.000,0.053,2262,1742,3005
$GC,8748,-1.17,-121.6,734.4,-6.7,749,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1741,3006
$GC,9109,-1.17,-121.6,757.9,-6.4,758,9117,0.00,2.62,0.00,0.000,4,0.000,0.064,2262,3142,3006
$GC,9124,-1.17,-121.6,758.9,-6.1,758,9128,0.00,2.55,0.00,0.000,6,0.000,0.055,2262,1740,3006
$GC,9430,-1.17,-121.6,779.1,-6.6,766,9468,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1739,3006
$GC,9791,-1.17,-121.6,801.4,-5.9,775,9829,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1739,3005
$GC,10151,-1.17,-121.6,823.7,-6.6,784,10190,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3004
$GC,10512,-1.17,-121.6,850.0,-7.5,793,10550,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3003
$GC,10872,-1.17,-121.6,878.6,-8.0,802,10911,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3002
$GC,11233,-1.17,-121.6,908.6,-8.2,811,11272,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3001
$GC,11594,-1.17,-121.6,937.9,-8.0,820,11632,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3000
$GC,11954,-1.17,-121.6,965.1,-7.4,829,11993,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1740,2999
$GC,12315,-1.17,-121.6,990.2,-6.8,838,12354,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3000
$GC,12397,-0.31,0.0,995.5,6.6,840,12515,1.02,0.00,108.95,1.479,6,0.127,0.000,2456,1740,2501
$GC,12518,1.17,121.6,996.9,2.4,843,12634,1.52,2.70,105.10,1.434,4,0.082,0.065,2777,3105,2004
$GC,12659,1.17,121.6,986.5,11.4,846,12664,0.00,2.62,0.00,0.000,6,0.000,0.058,2777,1706,2003
$GC,13001,1.17,121.6,945.8,11.8,855,13039,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,2003
$GC,13361,1.17,121.6,904.6,11.2,864,13400,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,2002
$GC,13722,1.17,121.6,866.0,10.4,873,13761,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1706,2002
$GC,14083,1.17,121.6,829.8,10.2,882,14091,0.00,2.65,0.00,0.000,4,0.000,0.067,2777,3105,2002
$GC,14128,1.17,121.6,824.8,11.4,883,14132,0.00,2.58,0.00,0.000,6,0.000,0.058,2777,1705,2002
$GC,14444,1.17,121.6,790.6,10.9,891,14453,0.00,2.70,0.00,0.000,4,0.000,0.086,2777,298,2002
$GC,14485,1.17,121.6,785.7,11.9,892,14493,0.00,2.53,0.00,0.000,6,0.000,0.045,2777,1700,2002
$GC,14806,1.17,121.6,749.0,11.4,900,14845,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1703,2002
$GC,15167,1.17,121.6,710.4,10.5,909,15175,0.00,2.65,0.00,0.000,4,0.000,0.069,2777,3113,2002
$GC,15222,1.17,121.6,704.6,9.9,910,15226,0.00,2.58,0.00,0.000,6,0.000,0.057,2777,1704,2002
$GC,15528,1.17,121.6,675.2,9.6,918,15537,0.00,2.67,0.00,0.000,4,0.000,0.082,2777,296,2002
$GC,15594,1.17,121.6,668.4,11.3,919,15598,0.00,2.53,0.00,0.000,6,0.000,0.045,2778,1706,2002
$GC,15930,1.17,121.6,636.9,9.3,928,15938,0.00,2.60,0.00,0.000,4,0.000,0.068,2777,3110,2002
$GC,15990,1.17,121.6,630.8,10.1,929,15994,0.00,2.58,0.00,0.000,6,0.000,0.055,2777,1701,2002
$GC,16332,1.17,121.6,594.0,11.3,938,16370,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1701,2002
$GC,16692,1.17,121.6,554.1,10.9,947,16701,0.00,2.62,0.00,0.000,4,0.000,0.064,2777,3113,2002
$GC,16739,1.17,121.6,549.2,9.7,948,16747,0.00,2.55,0.00,0.000,6,0.000,0.053,2777,1704,2002
$GC,17055,1.17,121.6,517.8,9.7,956,17063,0.00,2.65,0.00,0.000,4,0.000,0.076,2777,294,2002
$GC,17100,1.17,121.6,513.0,11.3,957,17104,0.00,2.50,0.00,0.000,6,0.000,0.041,2777,1707,2002
$GC,17416,1.17,121.6,481.7,10.2,965,17455,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,2002
$GC,17777,1.17,121.6,442.4,11.0,974,17816,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1708,2001
$GC,18138,1.17,121.6,402.3,11.1,983,18176,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1708,2002
$GC,18480,1.17,121.6,365.0,10.6,1014,18488,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1708,2002
$GC,18792,1.17,121.6,334.3,8.7,1045,18801,0.00,2.65,0.00,0.000,4,0.000,0.067,2777,288,2002
$GC,18854,1.17,121.6,328.4,10.5,1051,18863,0.00,2.50,0.00,0.000,6,0.000,0.039,2777,1707,2002
$GC,19166,1.17,121.6,301.2,8.2,1082,19175,0.00,2.62,0.00,0.000,4,0.000,0.060,2777,3113,2002
$GC,19207,1.17,121.6,297.5,10.5,1086,19216,0.00,2.53,0.00,0.000,6,0.000,0.045,2777,1701,2002
$GC,19520,1.17,121.6,270.0,8.7,1117,19529,0.00,2.60,0.00,0.000,4,0.000,0.067,2777,297,2002
$GC,19575,1.17,121.6,264.3,9.3,1122,19580,0.00,2.53,0.00,0.000,6,0.000,0.037,2777,1705,2002
$GC,19883,1.17,121.6,236.2,9.2,1153,19892,0.00,2.60,0.00,0.000,4,0.000,0.059,2777,3113,2002
$GC,19924,1.17,121.6,232.2,9.7,1157,19933,0.00,2.53,0.00,0.000,6,0.000,0.044,2777,1705,2002
$GC,20236,1.17,121.6,201.5,9.7,1188,20245,0.00,2.60,0.00,0.000,4,0.000,0.066,2777,296,2002
$GC,20302,1.17,121.6,194.2,11.1,1199,20306,0.00,2.47,0.00,0.000,6,0.000,0.037,2777,1705,2002
$GC,20612,1.17,121.6,161.9,11.7,1260,20615,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1707,2002
$GC,20921,1.17,121.6,123.6,12.0,1321,20925,0.00,2.65,0.00,0.000,4,0.000,0.063,2777,293,2002
$GC,20962,1.17,121.6,118.4,13.0,1329,20968,0.00,2.50,0.00,0.000,6,0.000,0.037,2777,1704,2002
$GC,21272,1.17,121.6,84.8,8.9,1390,21276,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1705,2002
$GC,21581,1.17,135.1,58.3,7.4,1451,21601,0.00,2.65,11.90,0.858,4,0.000,0.057,2777,3110,1949
$GC,21642,1.18,136.5,53.5,7.9,1463,21646,0.00,2.55,0.00,0.000,6,0.000,0.044,2777,1705,1949
$GC,21951,1.18,187.4,43.3,5.7,1524,22002,0.00,2.67,40.60,0.775,4,0.000,0.064,2777,298,1737
$GC,22039,1.24,187.4,33.3,13.2,1541,22043,0.00,2.50,0.00,0.000,6,0.000,0.035,2777,1706,1736
$FINISH,0.2,1.026947,0
$SM_CCo,22329,36.97,0.740,0,0,1522,240.15
$RAFOS_CLK,-1796
$RAFOS,2,1121531351,16.500000,16.486389,48,46,45,1285,1090,1488
$RAFOS,1,1121530745,16.333334,16.318056,53,41,41,140,6,1540
$RAFOS,0,1121530149,16.166666,16.152500,53,52,45,203,217,572
$RAFOS,2,1121516967,12.500000,12.490833,43,43,43,89,321,733
$RAFOS,1,1121516366,12.333333,12.323889,43,43,40,207,1598,1271
$RAFOS,0,1121515741,12.166667,12.150278,46,44,41,215,224,721
$TT8_MAMPS,0.021476
$HUMID,2054
$INTERNAL_PRESSURE,7.25081
$TCM_TEMP,3.00
$ALTIM_TOP_PING,9.6,9.0
$ALTIM_BOTTOM_PING,970.8,0.0
$24V_AH,23.3,16.461
$10V_AH,10.0,12.255
$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,25.875,149.275,266.550,36.975,0.000,32.345,32.737,162.839,0.500,66.260,1095.923,16678.621,1389.612,2401.533,1228.764,33.366,2795.898,0.000,1539.130,1800.000,3.461
$DEVICE_MAMPS,192.517,85.904,1478.776,740.155,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1802.374,2232.778,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56928,1595
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160705,171311,7158.086,1321.095,32,1.4,32,2.5