version: 65.00
glider: 17
mission: 2
dive: 152
start: 7 29 105 21 38 24
data:
$ID,17
$MISSION,2
$DIVE,152
$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,-30536.527
$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,20
$R_STBD_OVSHOOT,31
$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
$GPS1,213208,7107.479,1450.029,34,1.3,34
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-53.8
$GPS2,213728,7107.475,1450.030,18,1.7,19,3.4
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_03
$TGT_LATLONG,7110.000,1620.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,-0.011
$KALMAN_X,196810.3,77.7,1194.0,-279177.9,-6428.2
$KALMAN_Y,-49786.4,144.8,-1436.6,138682.9,7712.9
$MHEAD_RNG_PITCHd_Wd,89.4,53992,-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,-40.67,0.000,2,0.000,0.000,290,1748,2591
$GC,60,-1.17,-121.6,3.0,-6.6,8,90,11.95,2.67,-10.85,0.000,4,0.192,0.063,2264,3147,2999
$GC,187,-1.17,-121.6,18.4,-11.9,33,191,0.00,2.53,0.00,0.000,6,0.000,0.041,2264,1734,3001
$GC,496,-1.17,-121.6,51.1,-9.4,94,500,0.00,2.60,0.00,0.000,4,0.000,0.050,2264,3136,3002
$GC,552,-1.17,-121.6,56.5,-10.0,105,556,0.00,2.50,0.00,0.000,6,0.000,0.039,2264,1737,3003
$GC,861,-1.17,-121.6,85.5,-9.3,166,865,0.00,2.58,0.00,0.000,4,0.000,0.058,2264,335,3005
$GC,881,-1.17,-121.6,87.6,-9.8,170,886,0.00,2.47,0.00,0.000,6,0.000,0.033,2263,1734,3005
$GC,1189,-1.17,-121.6,115.5,-9.0,214,1198,0.00,2.58,0.00,0.000,4,0.000,0.057,2264,334,3006
$GC,1224,-1.17,-121.6,118.8,-9.4,217,1229,0.00,2.53,0.00,0.000,6,0.000,0.035,2264,1739,3005
$GC,1532,-1.17,-121.6,144.9,-8.2,248,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1739,3006
$GC,1844,-1.17,-121.6,173.0,-9.2,279,1853,0.00,2.58,0.00,0.000,4,0.000,0.058,2264,337,3006
$GC,1885,-1.17,-121.6,177.1,-10.5,283,1894,0.00,2.47,0.00,0.000,6,0.000,0.036,2264,1741,3006
$GC,2197,-1.17,-121.6,207.6,-9.4,314,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1741,3006
$GC,2509,-1.17,-121.6,237.9,-10.1,345,2518,0.00,2.58,0.00,0.000,4,0.000,0.058,2263,338,3006
$GC,2540,-1.17,-121.6,241.0,-11.2,348,2549,0.00,2.50,0.00,0.000,6,0.000,0.036,2264,1743,3006
$GC,2852,-1.17,-121.6,268.8,-9.3,379,2861,0.00,2.58,0.00,0.000,4,0.000,0.058,2264,338,3006
$GC,2877,-1.17,-121.6,271.2,-9.7,381,2881,0.00,2.53,0.00,0.000,6,0.000,0.036,2264,1735,3006
$GC,3184,-1.17,-121.6,299.5,-9.7,412,3194,0.00,2.58,0.00,0.000,4,0.000,0.058,2264,335,3006
$GC,3206,-1.17,-121.6,301.6,-10.0,414,3215,0.00,2.50,0.00,0.000,6,0.000,0.037,2264,1743,3006
$GC,3518,-1.17,-121.6,332.5,-10.2,445,3527,0.00,2.60,0.00,0.000,4,0.000,0.057,2264,3143,3006
$GC,3548,-1.17,-121.6,335.7,-11.1,448,3558,0.00,2.50,0.00,0.000,6,0.000,0.043,2264,1742,3006
$GC,3860,-1.17,-121.6,366.5,-9.4,479,3870,0.00,2.58,0.00,0.000,4,0.000,0.060,2264,336,3006
$GC,3885,-1.17,-121.6,368.9,-10.3,481,3890,0.00,2.50,0.00,0.000,6,0.000,0.036,2264,1731,3006
$GC,4193,-1.17,-121.6,395.0,-8.3,512,4202,0.00,2.55,0.00,0.000,4,0.000,0.059,2264,334,3006
$GC,4220,-1.17,-121.6,397.4,-10.0,514,4224,0.00,2.47,0.00,0.000,6,0.000,0.036,2264,1742,3006
$GC,4535,-1.17,-121.6,424.1,-8.2,525,4544,0.00,2.58,0.00,0.000,4,0.000,0.058,2264,336,3006
$GC,4555,-1.17,-121.6,425.9,-8.8,525,4559,0.00,2.50,0.00,0.000,6,0.000,0.037,2264,1739,3006
$GC,4897,-1.17,-121.6,455.3,-8.7,534,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3006
$GC,5257,-1.17,-121.6,487.3,-8.9,543,5266,0.00,2.60,0.00,0.000,4,0.000,0.060,2264,335,3006
$GC,5277,-1.17,-121.6,489.1,-9.1,543,5281,0.00,2.53,0.00,0.000,6,0.000,0.038,2264,1739,3006
$GC,5618,-1.17,-121.6,518.6,-8.5,552,5657,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3006
$GC,5979,-1.17,-121.6,548.6,-8.1,561,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3006
$GC,6340,-1.17,-121.6,578.1,-8.3,570,6348,0.00,2.58,0.00,0.000,4,0.000,0.062,2264,337,3006
$GC,6365,-1.17,-121.6,580.2,-9.1,570,6369,0.00,2.50,0.00,0.000,6,0.000,0.039,2264,1741,3006
$GC,6701,-1.17,-121.6,605.8,-7.5,579,6710,0.00,2.60,0.00,0.000,4,0.000,0.063,2264,335,3006
$GC,6783,-1.17,-121.6,612.0,-7.7,581,6791,0.00,2.50,0.00,0.000,6,0.000,0.039,2264,1740,3006
$GC,7104,-1.17,-121.6,634.1,-6.9,589,7112,0.00,2.60,0.00,0.000,4,0.000,0.061,2264,3146,3006
$GC,7123,-1.17,-121.6,635.6,-7.4,589,7128,0.00,2.53,0.00,0.000,6,0.000,0.049,2264,1743,3006
$GC,7465,-1.17,-121.6,659.1,-6.8,598,7474,0.00,2.60,0.00,0.000,4,0.000,0.067,2264,334,3006
$GC,7521,-1.17,-121.6,663.4,-7.6,599,7525,0.00,2.50,0.00,0.000,6,0.000,0.040,2264,1739,3006
$GC,7827,-1.17,-121.6,685.0,-7.0,607,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1739,3006
$GC,8188,-1.17,-121.6,712.3,-7.7,616,8196,0.00,2.60,0.00,0.000,4,0.000,0.069,2264,334,3006
$GC,8212,-1.17,-121.6,714.4,-8.9,616,8217,0.00,2.50,0.00,0.000,6,0.000,0.043,2264,1738,3006
$GC,8549,-1.17,-121.6,741.2,-8.0,625,8590,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1739,3006
$GC,8910,-1.17,-121.6,770.8,-8.4,634,8918,0.00,2.65,0.00,0.000,4,0.000,0.064,2264,3143,3006
$GC,8940,-1.17,-121.6,773.6,-10.4,634,8944,0.00,2.53,0.00,0.000,6,0.000,0.051,2264,1739,3005
$GC,9271,-1.17,-121.6,802.3,-8.7,643,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1739,3005
$GC,9632,-1.17,-121.6,833.3,-8.4,652,9642,0.00,2.62,0.00,0.000,4,0.000,0.076,2264,335,3004
$GC,9659,-1.17,-121.6,835.8,-9.7,652,9663,0.00,2.50,0.00,0.000,6,0.000,0.042,2264,1741,3004
$GC,9996,-1.17,-121.6,864.4,-8.6,661,10004,0.00,2.60,0.00,0.000,4,0.000,0.067,2264,3144,3003
$GC,10026,-1.17,-121.6,867.1,-9.3,661,10035,0.00,2.55,0.00,0.000,6,0.000,0.053,2264,1735,3003
$GC,10357,-1.17,-121.6,894.7,-8.2,670,10395,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1735,3003
$GC,10717,-1.17,-121.6,923.1,-7.8,679,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1735,3001
$GC,11078,-1.17,-121.6,949.9,-7.3,688,11087,0.00,2.65,0.00,0.000,4,0.000,0.084,2264,338,3000
$GC,11098,-1.17,-121.6,951.4,-7.6,688,11102,0.00,2.53,0.00,0.000,6,0.000,0.043,2264,1740,3000
$GC,11441,-1.17,-121.6,974.7,-6.6,697,11478,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1741,3000
$GC,11762,-0.31,0.0,995.5,6.5,705,11880,1.00,0.00,109.25,1.460,6,0.127,0.000,2453,1741,2501
$GC,11881,1.17,121.6,997.2,2.5,708,11997,1.58,2.67,104.78,1.422,4,0.086,0.065,2779,3107,2004
$GC,12014,1.17,121.6,988.2,10.3,711,12019,0.00,2.62,0.00,0.000,6,0.000,0.056,2779,1704,2004
$GC,12326,1.17,121.6,951.3,12.0,719,12334,0.00,2.75,0.00,0.000,4,0.000,0.093,2779,300,2002
$GC,12361,1.17,121.6,946.8,12.4,719,12365,0.00,2.58,0.00,0.000,6,0.000,0.049,2779,1695,2001
$GC,12687,1.17,121.6,908.7,11.5,728,12725,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1697,2001
$GC,13048,1.17,121.6,869.6,10.7,737,13056,0.00,2.70,0.00,0.000,4,0.000,0.085,2779,299,1999
$GC,13073,1.17,121.6,866.6,10.6,737,13077,0.00,2.55,0.00,0.000,6,0.000,0.044,2779,1705,1999
$GC,13409,1.17,121.6,831.3,10.3,746,13418,0.00,2.65,0.00,0.000,4,0.000,0.067,2779,3110,1999
$GC,13439,1.17,121.6,828.1,10.3,746,13443,0.00,2.58,0.00,0.000,6,0.000,0.056,2779,1704,1998
$GC,13771,1.17,121.6,794.8,10.0,755,13779,0.00,2.70,0.00,0.000,4,0.000,0.082,2779,298,1998
$GC,13816,1.17,121.6,789.7,11.2,756,13820,0.00,2.55,0.00,0.000,6,0.000,0.044,2779,1710,1998
$GC,14133,1.17,121.6,758.1,10.0,764,14141,0.00,2.67,0.00,0.000,4,0.000,0.078,2779,297,1998
$GC,14168,1.17,121.6,754.2,10.4,764,14172,0.00,2.58,0.00,0.000,6,0.000,0.047,2779,1703,1997
$GC,14494,1.17,121.6,720.3,10.5,773,14502,0.00,2.67,0.00,0.000,4,0.000,0.077,2779,296,1997
$GC,14524,1.17,121.6,716.9,10.6,773,14528,0.00,2.53,0.00,0.000,6,0.000,0.046,2779,1706,1997
$GC,14855,1.17,121.6,682.3,10.3,782,14864,0.00,2.62,0.00,0.000,4,0.000,0.067,2780,3110,1997
$GC,14906,1.17,121.6,677.0,10.1,783,14910,0.00,2.55,0.00,0.000,6,0.000,0.055,2779,1706,1996
$GC,15217,1.17,121.6,646.6,10.0,791,15225,0.00,2.67,0.00,0.000,4,0.000,0.078,2779,294,1996
$GC,15252,1.17,121.6,642.7,11.5,791,15257,0.00,2.58,0.00,0.000,6,0.000,0.044,2780,1699,1996
$GC,15578,1.17,121.6,610.7,9.6,800,15587,0.00,2.65,0.00,0.000,4,0.000,0.075,2779,294,1995
$GC,15623,1.17,121.6,605.7,11.8,801,15627,0.00,2.55,0.00,0.000,6,0.000,0.044,2779,1710,1995
$GC,15940,1.17,121.6,573.5,10.0,809,15978,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1711,1995
$GC,16300,1.17,121.6,539.5,9.4,818,16309,0.00,2.65,0.00,0.000,4,0.000,0.062,2780,3110,1995
$GC,16351,1.17,121.6,534.5,10.3,819,16355,0.00,2.55,0.00,0.000,6,0.000,0.050,2779,1700,1994
$GC,16663,1.17,121.6,505.1,9.6,827,16701,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1700,1994
$GC,17023,1.17,121.6,468.4,10.6,836,17064,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1700,1994
$GC,17384,1.17,121.6,428.2,11.3,845,17423,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1700,1995
$GC,17725,1.17,121.6,389.7,10.9,858,17734,0.00,2.62,0.00,0.000,4,0.000,0.070,2779,297,1995
$GC,17755,1.17,121.6,386.2,12.5,861,17765,0.00,2.53,0.00,0.000,6,0.000,0.038,2779,1708,1995
$GC,18068,1.17,121.6,354.0,9.6,892,18077,0.00,2.62,0.00,0.000,4,0.000,0.066,2780,296,1995
$GC,18104,1.17,121.6,350.2,11.2,895,18108,0.00,2.55,0.00,0.000,6,0.000,0.038,2779,1699,1995
$GC,18411,1.17,121.6,321.5,9.1,926,18420,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1700,1995
$GC,18724,1.17,121.6,295.3,8.2,957,18732,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1700,1995
$GC,19036,1.17,121.6,266.9,9.8,988,19045,0.00,2.62,0.00,0.000,4,0.000,0.065,2779,293,1995
$GC,19087,1.17,121.6,261.4,11.0,993,19096,0.00,2.50,0.00,0.000,6,0.000,0.037,2779,1706,1994
$GC,19399,1.17,121.6,230.1,10.4,1024,19407,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1707,1994
$GC,19711,1.17,121.6,199.2,9.6,1055,19722,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1707,1995
$GC,20023,1.17,121.6,168.9,9.2,1086,20032,0.00,2.65,0.00,0.000,4,0.000,0.064,2780,292,1995
$GC,20064,1.17,121.6,164.8,10.6,1090,20073,0.00,2.53,0.00,0.000,6,0.000,0.038,2779,1706,1995
$GC,20376,1.17,121.6,135.1,9.0,1121,20385,0.00,2.60,0.00,0.000,4,0.000,0.055,2780,3109,1995
$GC,20402,1.17,121.6,132.5,9.9,1123,20407,0.00,2.55,0.00,0.000,6,0.000,0.044,2779,1702,1995
$GC,20710,1.17,121.6,104.4,8.9,1154,20719,0.00,2.60,0.00,0.000,4,0.000,0.065,2780,299,1995
$GC,20755,1.17,121.6,100.0,9.4,1158,20760,0.00,2.53,0.00,0.000,6,0.000,0.035,2779,1697,1995
$GC,21064,1.17,129.6,74.4,7.6,1219,21074,0.00,0.00,5.88,0.890,6,0.000,0.000,2780,1698,1972
$GC,21379,1.17,130.9,51.3,7.9,1281,21382,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1698,1971
$GC,21688,1.18,148.7,23.8,7.2,1342,21708,0.00,2.70,14.68,0.781,4,0.000,0.055,2779,3110,1894
$GC,21794,1.19,162.8,16.0,7.4,1363,21814,0.00,2.53,10.62,0.776,6,0.000,0.041,2779,1704,1837
$FINISH,0.4,1.026700,0
$SM_CCo,21974,54.30,0.718,0,0,1521,240.15
$RAFOS_CLK,-4813
$RAFOS,2,1122683380,0.500000,0.494444,58,48,44,140,926,1419
$RAFOS,1,1122682745,0.333333,0.318056,45,45,43,1219,1444,207
$RAFOS,0,1122682174,0.166667,0.159444,49,43,43,203,48,775
$TT8_MAMPS,0.021476
$HUMID,2032
$INTERNAL_PRESSURE,7.26059
$TCM_TEMP,3.00
$ALTIM_TOP_PING,9.7,9.0
$ALTIM_BOTTOM_PING,972.1,0.0
$24V_AH,23.3,22.761
$10V_AH,10.0,17.776
$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,25.875,206.025,245.200,54.300,0.000,32.323,29.772,148.992,0.500,56.164,1074.780,16848.816,1144.251,2202.498,1165.275,33.376,2493.739,0.000,1429.407,900.000,3.456
$DEVICE_MAMPS,191.750,92.807,1459.601,717.912,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1583.628,1962.172,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51398,1395
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300705,034658,7106.082,1456.160,43,1.9,44,3.5