version: 65.00
glider: 17
mission: 2
dive: 123
start: 7 22 105 7 10 7
data:
$ID,17
$MISSION,2
$DIVE,123
$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,-28501.236
$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,17
$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
$GPS1,070339,7110.114,1205.856,30,0.9,30
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-53.8
$GPS2,070910,7110.094,1205.901,18,1.1,19,1.6
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.214,-0.060
$KALMAN_X,183617.5,-216.5,-279.1,-366497.9,1397.5
$KALMAN_Y,-59163.1,318.1,375.7,150906.1,-3428.6
$MHEAD_RNG_PITCHd_Wd,252.8,35412,-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,-121.6,0.0,0.0,0,58,0.00,0.00,-41.08,0.000,2,0.000,0.000,287,1714,2593
$GC,60,-1.17,-121.6,3.2,-6.8,8,90,11.95,2.72,-10.82,0.000,4,0.192,0.066,2262,3134,2999
$GC,172,-1.17,-121.6,17.1,-12.1,30,176,0.00,2.53,0.00,0.000,6,0.000,0.043,2262,1736,3001
$GC,481,-1.17,-121.6,51.3,-10.6,91,485,0.00,2.60,0.00,0.000,4,0.000,0.059,2262,332,3003
$GC,526,-1.17,-121.6,56.3,-11.0,100,531,0.00,2.50,0.00,0.000,6,0.000,0.035,2262,1741,3003
$GC,836,-1.17,-121.6,87.8,-10.2,161,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1742,3005
$GC,1149,-1.17,-121.6,119.2,-10.0,204,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1742,3005
$GC,1461,-1.17,-121.6,150.8,-10.3,235,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1742,3005
$GC,1773,-1.17,-121.6,183.6,-10.4,266,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1742,3006
$GC,2085,-1.17,-121.6,215.1,-9.7,297,2094,0.00,2.60,0.00,0.000,4,0.000,0.059,2262,335,3006
$GC,2110,-1.17,-121.6,217.7,-10.8,299,2115,0.00,2.53,0.00,0.000,6,0.000,0.036,2262,1739,3006
$GC,2418,-1.17,-121.6,247.9,-9.9,330,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1739,3006
$GC,2730,-1.17,-121.6,278.8,-9.9,361,2739,0.00,2.60,0.00,0.000,4,0.000,0.060,2262,334,3006
$GC,2755,-1.17,-121.6,281.5,-11.5,363,2760,0.00,2.53,0.00,0.000,6,0.000,0.038,2262,1733,3006
$GC,3062,-1.17,-121.6,313.3,-10.4,394,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1734,3005
$GC,3375,-1.17,-121.6,344.4,-9.9,425,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1734,3006
$GC,3687,-1.17,-121.6,375.2,-9.9,456,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1734,3006
$GC,4029,-1.17,-121.6,407.6,-9.3,484,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1734,3006
$GC,4389,-1.17,-121.6,439.9,-8.8,493,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1734,3006
$GC,4752,-1.17,-121.6,470.9,-8.3,502,4760,0.00,2.60,0.00,0.000,4,0.000,0.062,2262,335,3006
$GC,4781,-1.17,-121.6,473.6,-9.3,502,4786,0.00,2.50,0.00,0.000,6,0.000,0.038,2262,1742,3006
$GC,5113,-1.17,-121.6,500.4,-8.0,511,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1742,3006
$GC,5475,-1.17,-121.6,528.8,-7.9,520,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1742,3006
$GC,5834,-1.17,-121.6,556.4,-7.5,529,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1742,3006
$GC,6195,-1.17,-121.6,582.2,-7.2,538,6203,0.00,2.58,0.00,0.000,4,0.000,0.062,2262,3142,3006
$GC,6250,-1.17,-121.6,586.5,-7.9,539,6254,0.00,2.53,0.00,0.000,6,0.000,0.048,2262,1736,3006
$GC,6556,-1.17,-121.6,609.3,-7.6,547,6565,0.00,2.60,0.00,0.000,4,0.000,0.067,2262,335,3006
$GC,6597,-1.17,-121.6,612.8,-8.7,548,6605,0.00,2.47,0.00,0.000,6,0.000,0.040,2262,1741,3006
$GC,6918,-1.17,-121.6,640.3,-8.8,556,6926,0.00,2.58,0.00,0.000,4,0.000,0.064,2262,3143,3006
$GC,6953,-1.17,-121.6,643.6,-10.2,556,6958,0.00,2.55,0.00,0.000,6,0.000,0.051,2262,1753,3006
$GC,7279,-1.17,-121.6,672.7,-8.9,565,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1752,3006
$GC,7640,-1.17,-121.6,703.5,-8.6,574,7678,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1752,3006
$GC,8000,-1.17,-121.6,734.5,-8.7,583,8009,0.00,2.62,0.00,0.000,4,0.000,0.064,2262,3142,3006
$GC,8041,-1.17,-121.6,738.2,-8.8,584,8050,0.00,2.55,0.00,0.000,6,0.000,0.053,2262,1739,3006
$GC,8362,-1.17,-121.6,766.0,-8.6,592,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1739,3006
$GC,8723,-1.17,-121.6,797.1,-8.5,601,8731,0.00,2.62,0.00,0.000,4,0.000,0.065,2262,3142,3005
$GC,8783,-1.17,-121.6,802.8,-10.1,602,8787,0.00,2.55,0.00,0.000,6,0.000,0.053,2262,1734,3006
$GC,9126,-1.17,-121.6,832.0,-8.6,611,9163,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1733,3005
$GC,9485,-1.17,-121.6,863.1,-8.7,620,9494,0.00,2.62,0.00,0.000,4,0.000,0.066,2262,3142,3005
$GC,9515,-1.17,-121.6,865.9,-10.5,620,9519,0.00,2.55,0.00,0.000,6,0.000,0.055,2262,1739,3004
$GC,9846,-1.17,-121.6,895.0,-8.9,629,9855,0.00,2.60,0.00,0.000,4,0.000,0.067,2262,3142,3004
$GC,9871,-1.17,-121.6,897.4,-10.7,629,9875,0.00,2.55,0.00,0.000,6,0.000,0.055,2262,1734,3004
$GC,10209,-1.17,-121.6,927.1,-8.8,638,10218,0.00,2.65,0.00,0.000,4,0.000,0.067,2262,3146,3004
$GC,10236,-1.17,-121.6,929.5,-10.5,638,10244,0.00,2.55,0.00,0.000,6,0.000,0.056,2262,1740,3004
$GC,10571,-1.17,-121.6,958.6,-8.5,647,10610,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3003
$GC,10932,-1.17,-121.6,989.6,-8.5,656,10940,0.00,2.62,0.00,0.000,4,0.000,0.068,2262,3143,3002
$GC,10962,-1.17,-121.6,992.2,-9.8,656,10966,0.00,2.55,0.00,0.000,6,0.000,0.056,2262,1739,3002
$GC,11014,-0.31,0.0,996.4,8.5,658,11132,1.02,0.00,109.12,1.463,6,0.133,0.000,2454,1738,2501
$GC,11134,1.17,121.6,1000.0,4.0,661,11250,1.58,2.67,104.22,1.404,4,0.092,0.067,2778,3106,2005
$GC,11292,1.17,121.6,992.5,10.1,664,11297,0.00,2.65,0.00,0.000,6,0.000,0.057,2778,1712,2003
$GC,11618,1.17,121.6,960.8,9.6,673,11627,0.00,2.78,0.00,0.000,4,0.000,0.093,2778,300,2003
$GC,11648,1.17,121.6,957.6,10.6,673,11652,0.00,2.55,0.00,0.000,6,0.000,0.049,2778,1706,2002
$GC,11979,1.17,121.6,925.3,9.8,682,12018,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,2001
$GC,12340,1.17,121.6,889.5,9.9,691,12379,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,2000
$GC,12701,1.17,121.6,853.4,10.0,700,12739,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,2000
$GC,13061,1.17,121.6,815.5,10.7,709,13100,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,2000
$GC,13422,1.17,121.6,777.7,10.3,718,13430,0.00,2.70,0.00,0.000,4,0.000,0.081,2778,297,1999
$GC,13463,1.17,121.6,773.2,11.2,719,13471,0.00,2.53,0.00,0.000,6,0.000,0.046,2778,1703,1999
$GC,13784,1.17,121.6,740.1,10.2,727,13822,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1999
$GC,14144,1.17,121.6,705.3,9.4,736,14153,0.00,2.65,0.00,0.000,4,0.000,0.071,2778,3112,1999
$GC,14185,1.17,121.6,701.5,8.7,737,14193,0.00,2.58,0.00,0.000,6,0.000,0.057,2778,1706,1998
$GC,14506,1.17,121.6,673.0,8.7,745,14514,0.00,2.62,0.00,0.000,4,0.000,0.067,2778,3112,1998
$GC,14551,1.17,121.6,668.8,9.1,746,14555,0.00,2.58,0.00,0.000,6,0.000,0.056,2778,1704,1998
$GC,14869,1.17,121.6,641.1,8.6,754,14906,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1704,1997
$GC,15228,1.17,123.8,611.7,7.9,763,15237,0.00,2.65,0.00,0.000,4,0.000,0.065,2778,3110,1997
$GC,15294,1.17,123.8,606.1,8.2,764,15298,0.00,2.55,0.00,0.000,6,0.000,0.054,2778,1705,1997
$GC,15630,1.17,124.6,579.2,8.0,773,15639,0.00,2.65,0.00,0.000,4,0.000,0.077,2778,296,1997
$GC,15691,1.17,124.6,573.8,8.4,774,15695,0.00,2.50,0.00,0.000,6,0.000,0.042,2778,1707,1997
$GC,16032,1.17,124.6,545.4,8.5,783,16070,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1997
$GC,16393,1.17,124.6,511.9,9.6,792,16431,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1707,1997
$GC,16753,1.17,124.6,475.0,10.3,801,16792,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1996
$GC,17114,1.17,124.6,438.1,10.2,810,17152,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1709,1997
$GC,17474,1.17,124.6,401.5,10.2,819,17513,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1708,1997
$GC,17818,1.17,124.6,368.4,9.6,850,17825,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,1996
$GC,18129,1.17,124.6,340.7,8.5,881,18137,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,1997
$GC,18442,1.17,124.6,313.9,8.4,912,18450,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,1997
$GC,18753,1.17,124.6,287.1,8.6,943,18762,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,1997
$GC,19065,1.17,124.6,259.8,8.6,974,19075,0.00,2.62,0.00,0.000,4,0.000,0.060,2778,3113,1997
$GC,19116,1.17,124.6,255.2,9.6,979,19125,0.00,2.53,0.00,0.000,6,0.000,0.044,2778,1703,1997
$GC,19428,1.17,124.6,226.6,9.8,1010,19437,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1703,1997
$GC,19741,1.17,124.6,197.3,9.8,1041,19750,0.00,2.60,0.00,0.000,4,0.000,0.056,2778,3111,1997
$GC,19786,1.17,124.6,192.9,9.6,1045,19790,0.00,2.55,0.00,0.000,6,0.000,0.045,2778,1711,1997
$GC,20093,1.17,124.6,164.3,9.1,1076,20102,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1712,1997
$GC,20405,1.17,124.6,135.9,8.9,1107,20415,0.00,2.58,0.00,0.000,4,0.000,0.054,2778,3110,1997
$GC,20491,1.17,124.6,127.8,9.7,1115,20496,0.00,2.55,0.00,0.000,6,0.000,0.044,2778,1709,1997
$GC,20799,1.17,124.6,100.4,8.7,1146,20807,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,1997
$GC,21113,1.17,124.6,70.8,9.5,1207,21117,0.00,2.62,0.00,0.000,4,0.000,0.066,2778,298,1997
$GC,21159,1.17,124.6,65.8,11.2,1216,21163,0.00,2.47,0.00,0.000,6,0.000,0.036,2778,1708,1997
$GC,21468,1.17,124.6,35.7,8.6,1277,21472,0.00,2.58,0.00,0.000,4,0.000,0.058,2778,3110,1997
$GC,21549,1.17,124.6,28.2,8.5,1293,21553,0.00,2.53,0.00,0.000,6,0.000,0.042,2778,1702,1997
$GC,21859,1.17,159.0,6.8,6.5,1354,21894,0.00,2.70,28.60,0.765,4,0.000,0.053,2778,3101,1852
$FINISH,0.5,1.027192,0
$SM_CCo,21951,55.78,0.723,0,0,1522,240.15
$RAFOS_CLK,-5809
$RAFOS,2,1122035342,12.500000,12.483889,45,44,41,1223,48,193
$RAFOS,1,1122034748,12.333333,12.318889,48,42,41,561,871,76
$RAFOS,0,1122034144,12.166667,12.151111,48,46,45,73,690,395
$RAFOS,2,1122020956,8.500000,8.487778,45,44,39,48,193,1610
$RAFOS,1,1122020355,8.333333,8.320833,48,41,41,263,145,1286
$RAFOS,0,1122019742,8.166667,8.150556,46,44,41,209,1249,222
$TT8_MAMPS,0.020709
$HUMID,2036
$INTERNAL_PRESSURE,7.24104
$TCM_TEMP,2.00
$ALTIM_TOP_PING,9.8,9.7
$ALTIM_BOTTOM_PING,972.5,0.0
$24V_AH,23.3,19.330
$10V_AH,10.0,14.756
$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,25.975,139.575,241.950,55.775,0.000,32.321,48.571,145.357,0.500,52.596,1006.934,16850.799,1337.872,2103.273,1123.038,33.361,2598.120,0.000,1366.389,1800.000,3.464
$DEVICE_MAMPS,191.750,92.807,1463.436,722.514,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1551.693,1921.742,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,49668,1368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220705,131809,7108.145,1158.800,33,1.2,33,1.5