version: 65.00
glider: 17
mission: 2
dive: 128
start: 7 23 105 14 48 52
data:
$ID,17
$MISSION,2
$DIVE,128
$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,-28830.549
$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,18
$R_STBD_OVSHOOT,22
$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
$GPS1,144303,7059.357,1128.050,40,1.9,40
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-53.8
$GPS2,144758,7059.358,1127.915,17,1.9,18,1.2
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.014,-0.138
$KALMAN_X,182002.5,82.0,-263.1,-388864.0,1007.9
$KALMAN_Y,-64051.8,59.4,939.7,135603.4,-5291.1
$MHEAD_RNG_PITCHd_Wd,172.9,8170,-27.6,-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,-1.77,-45.1,0.0,0.0,0,58,0.00,0.00,-40.95,0.000,2,0.000,0.000,288,1708,2594
$GC,60,-1.77,-55.9,3.1,-6.7,8,80,11.23,2.60,-3.62,0.000,4,0.195,0.070,2132,329,2731
$GC,298,-1.78,-55.9,39.4,-13.8,55,303,0.00,2.50,0.00,0.000,6,0.000,0.033,2132,1742,2734
$GC,607,-1.78,-55.9,76.8,-12.0,116,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1742,2736
$GC,921,-1.78,-55.9,115.5,-12.5,166,930,0.00,2.60,0.00,0.000,4,0.000,0.053,2132,3147,2738
$GC,952,-1.78,-55.9,119.5,-13.9,169,961,0.00,2.53,0.00,0.000,6,0.000,0.043,2132,1734,2739
$GC,1264,-1.78,-55.9,159.7,-12.6,200,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1734,2739
$GC,1576,-1.78,-55.9,198.6,-12.6,231,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1734,2740
$GC,1888,-1.78,-55.9,237.1,-11.9,262,1897,0.00,2.62,0.00,0.000,4,0.000,0.051,2132,3147,2739
$GC,1953,-1.78,-55.9,245.7,-12.2,268,1958,0.00,2.55,0.00,0.000,6,0.000,0.044,2132,1743,2739
$GC,2261,-1.78,-55.9,286.0,-13.1,299,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1742,2739
$GC,2573,-1.78,-55.9,326.5,-12.9,330,2582,0.00,2.58,0.00,0.000,4,0.000,0.052,2132,3143,2739
$GC,2619,-1.78,-55.9,332.5,-12.8,334,2623,0.00,2.50,0.00,0.000,6,0.000,0.044,2132,1739,2739
$GC,2926,-1.78,-55.9,372.6,-12.7,365,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1738,2739
$GC,3268,-1.78,-55.9,415.6,-12.3,390,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1738,2739
$GC,3629,-1.78,-55.9,460.0,-12.3,399,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1738,2739
$GC,3989,-1.78,-55.9,502.6,-11.8,408,3998,0.00,2.60,0.00,0.000,4,0.000,0.054,2132,3144,2739
$GC,4009,-1.78,-55.9,505.0,-12.0,408,4013,0.00,2.53,0.00,0.000,6,0.000,0.046,2132,1736,2739
$GC,4350,-1.78,-55.9,543.8,-11.3,417,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1736,2740
$GC,4711,-1.78,-55.9,583.7,-11.0,426,4720,0.00,2.60,0.00,0.000,4,0.000,0.055,2132,3148,2739
$GC,4752,-1.78,-55.9,588.3,-11.4,427,4760,0.00,2.53,0.00,0.000,6,0.000,0.047,2132,1739,2740
$GC,5073,-1.78,-55.9,623.2,-10.7,435,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1739,2740
$GC,5435,-1.78,-55.9,662.6,-11.2,444,5443,0.00,2.60,0.00,0.000,4,0.000,0.066,2132,332,2740
$GC,5465,-1.78,-55.9,666.4,-13.3,444,5469,0.00,2.47,0.00,0.000,6,0.000,0.038,2132,1742,2739
$GC,5796,-1.78,-55.9,703.5,-11.2,453,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1742,2740
$GC,6157,-1.78,-55.9,742.7,-11.1,462,6165,0.00,2.58,0.00,0.000,4,0.000,0.062,2132,3140,2739
$GC,6182,-1.78,-55.9,745.6,-12.8,462,6186,0.00,2.53,0.00,0.000,6,0.000,0.051,2132,1736,2740
$GC,6518,-1.78,-55.9,783.4,-11.3,471,6526,0.00,2.60,0.00,0.000,4,0.000,0.062,2132,3139,2739
$GC,6563,-1.78,-55.9,788.9,-12.2,472,6567,0.00,2.53,0.00,0.000,6,0.000,0.052,2132,1735,2739
$GC,6880,-1.78,-55.9,825.7,-11.6,480,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1735,2739
$GC,7240,-1.78,-55.9,865.3,-10.9,489,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1735,2739
$GC,7601,-1.78,-55.9,903.2,-10.3,498,7609,0.00,2.65,0.00,0.000,4,0.000,0.064,2132,3142,2738
$GC,7631,-1.78,-55.9,906.4,-12.0,498,7635,0.00,2.53,0.00,0.000,6,0.000,0.054,2132,1741,2738
$GC,7962,-1.78,-55.9,940.2,-10.1,507,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1739,2738
$GC,8323,-1.78,-55.9,977.7,-10.4,516,8331,0.00,2.60,0.00,0.000,4,0.000,0.065,2132,3139,2737
$GC,8353,-1.78,-55.9,981.0,-12.2,516,8357,0.00,2.53,0.00,0.000,6,0.000,0.054,2132,1740,2737
$GC,8485,-0.31,0.0,995.1,10.9,520,8564,1.75,0.00,51.70,1.506,6,0.148,0.000,2451,1740,2501
$GC,8565,1.78,55.9,996.9,6.6,522,8624,2.28,2.67,49.65,1.501,4,0.087,0.064,2911,3091,2273
$GC,8670,1.78,55.9,991.5,8.0,524,8674,0.00,2.55,0.00,0.000,6,0.000,0.054,2911,1707,2271
$GC,9006,1.78,55.9,961.1,9.1,533,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1707,2269
$GC,9366,1.78,55.9,927.0,9.5,542,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1707,2269
$GC,9727,1.78,55.9,893.6,9.1,551,9736,0.00,2.62,0.00,0.000,4,0.000,0.067,2911,3103,2267
$GC,9833,1.78,55.9,884.0,9.0,553,9837,0.00,2.55,0.00,0.000,6,0.000,0.055,2911,1706,2267
$GC,10170,1.78,55.9,855.2,8.5,562,10208,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1706,2267
$GC,10530,1.78,55.9,824.6,8.5,571,10569,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1706,2266
$GC,10891,1.78,55.9,794.5,8.2,580,10899,0.00,2.65,0.00,0.000,4,0.000,0.067,2911,3106,2265
$GC,10972,1.78,55.9,787.6,8.3,582,10981,0.00,2.55,0.00,0.000,6,0.000,0.056,2911,1706,2265
$GC,11293,1.78,55.9,761.2,8.2,590,11332,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1706,2265
$GC,11654,1.78,56.5,731.7,7.9,599,11692,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1706,2264
$GC,12014,1.79,58.1,703.5,7.8,608,12023,0.00,2.62,0.00,0.000,4,0.000,0.067,2911,3108,2264
$GC,12247,1.79,58.1,684.6,8.4,613,12251,0.00,2.58,0.00,0.000,6,0.000,0.054,2909,1699,2264
$GC,12578,1.79,63.8,660.1,7.3,622,12593,0.00,2.67,5.00,1.422,4,0.000,0.064,2911,3107,2239
$GC,12629,1.79,65.4,656.1,7.8,623,12633,0.00,2.58,0.00,0.000,6,0.000,0.054,2911,1702,2239
$GC,12940,1.80,65.4,630.2,8.2,631,12949,0.00,2.65,0.00,0.000,4,0.000,0.077,2911,294,2239
$GC,13066,1.80,65.4,618.3,10.4,634,13071,0.00,2.50,0.00,0.000,6,0.000,0.043,2910,1700,2239
$GC,13384,1.80,65.4,589.8,8.9,642,13393,0.00,2.60,0.00,0.000,4,0.000,0.067,2911,3109,2239
$GC,13561,1.80,65.4,574.0,8.2,646,13565,0.00,2.55,0.00,0.000,6,0.000,0.051,2911,1698,2239
$GC,13868,1.80,70.8,551.0,7.4,654,13907,0.00,0.00,5.57,1.341,6,0.000,0.000,2911,1698,2211
$GC,14228,1.80,73.9,523.5,7.6,663,14267,0.00,0.00,2.38,1.369,6,0.000,0.000,2909,1698,2199
$GC,14589,1.80,73.9,491.8,9.1,672,14628,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1698,2199
$GC,14950,1.80,73.9,457.1,9.8,681,14988,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1698,2199
$GC,15310,1.80,73.9,422.1,9.8,690,15319,0.00,2.65,0.00,0.000,4,0.000,0.058,2911,3115,2199
$GC,15464,1.80,73.9,407.1,9.5,693,15473,0.00,2.53,0.00,0.000,6,0.000,0.046,2911,1703,2199
$GC,15775,1.80,73.9,376.7,9.8,718,15784,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1703,2199
$GC,16088,1.80,73.9,347.0,9.0,749,16097,0.00,2.62,0.00,0.000,4,0.000,0.056,2911,3114,2199
$GC,16190,1.80,73.9,337.5,9.1,759,16199,0.00,2.53,0.00,0.000,6,0.000,0.044,2911,1704,2199
$GC,16502,1.80,75.7,310.9,7.8,790,16511,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1704,2199
$GC,16814,1.81,75.7,284.8,8.1,821,16823,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1704,2199
$GC,17126,1.81,75.7,260.1,8.1,852,17136,0.00,2.60,0.00,0.000,4,0.000,0.055,2911,3110,2199
$GC,17212,1.81,77.3,253.0,7.8,860,17222,0.00,2.55,3.22,1.114,6,0.000,0.044,2911,1709,2186
$GC,17530,1.81,77.3,226.2,8.1,892,17539,0.00,2.60,0.00,0.000,4,0.000,0.065,2911,298,2186
$GC,17591,1.81,77.3,220.6,10.7,898,17600,0.00,2.50,0.00,0.000,6,0.000,0.037,2911,1713,2186
$GC,17903,1.81,77.3,192.5,9.0,929,17912,0.00,2.58,0.00,0.000,4,0.000,0.058,2911,3106,2186
$GC,18065,1.81,77.3,176.6,10.5,945,18074,0.00,2.50,0.00,0.000,6,0.000,0.043,2911,1704,2186
$GC,18377,1.81,77.3,147.0,9.2,976,18386,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1704,2186
$GC,18690,1.81,77.3,119.3,8.3,1007,18699,0.00,2.60,0.00,0.000,4,0.000,0.054,2911,3106,2186
$GC,18816,1.81,77.6,108.4,8.0,1019,18820,0.00,2.53,0.00,0.000,6,0.000,0.042,2911,1712,2186
$GC,19125,1.81,77.6,83.3,8.1,1070,19129,0.00,2.55,0.00,0.000,4,0.000,0.053,2911,3107,2186
$GC,19231,1.81,77.6,74.4,8.4,1091,19236,0.00,2.50,0.00,0.000,6,0.000,0.043,2911,1702,2186
$GC,19542,1.81,79.3,50.2,7.8,1152,19551,0.00,2.65,2.17,0.968,4,0.000,0.052,2911,3108,2177
$GC,19623,1.81,79.3,43.6,8.9,1168,19627,0.00,2.50,0.00,0.000,6,0.000,0.042,2911,1705,2177
$GC,19932,1.81,103.7,23.4,5.1,1229,19957,0.00,2.67,19.15,0.828,4,0.000,0.051,2911,3100,2077
$GC,20074,1.84,110.5,14.2,7.2,1257,20084,0.00,2.50,5.03,0.855,6,0.000,0.042,2911,1704,2050
$FINISH,0.1,1.027128,0
$SM_CCo,20280,91.93,0.740,0,0,1522,240.15
$RAFOS_CLK,-2909
$RAFOS,1,1122149941,20.333334,20.316944,48,43,42,552,1376,1073
$RAFOS,0,1122149342,20.166666,20.150555,57,47,41,485,1463,220
$RAFOS,2,1122136168,16.500000,16.491112,50,47,46,219,141,967
$RAFOS,1,1122135564,16.333334,16.323334,112,43,42,438,73,864
$RAFOS,0,1122134963,16.166666,16.156389,60,54,45,230,203,272
$TT8_MAMPS,0.020709
$HUMID,2015
$INTERNAL_PRESSURE,7.25081
$TCM_TEMP,3.00
$ALTIM_TOP_PING,9.9,10.5
$ALTIM_BOTTOM_PING,973.5,0.0
$24V_AH,23.4,19.897
$10V_AH,10.0,15.271
$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,27.275,138.825,143.875,91.925,0.000,32.324,30.414,126.364,0.500,62.324,993.436,15393.661,1169.749,2138.710,1060.395,33.361,2422.011,0.000,1398.725,1500.000,3.463
$DEVICE_MAMPS,194.818,76.700,1506.388,740.155,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1472.048,1824.539,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47871,1294
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230705,202939,7057.501,1128.408,34,1.0,34,1.2