version: 65.00
glider: 17
mission: 2
dive: 166
start: 8 2 105 13 40 8
data:
$ID,17
$MISSION,2
$DIVE,166
$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,220
$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,-31517.137
$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,29
$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
$GPS1,133327,7110.674,1619.894,43,1.6,43
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-53.9
$GPS2,133916,7110.694,1620.188,15,1.1,16,4.4
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.215,-0.057
$KALMAN_X,202174.9,247.3,951.2,-228278.0,-757.3
$KALMAN_Y,-65156.9,23.4,2594.7,156084.0,434.7
$MHEAD_RNG_PITCHd_Wd,250.8,178096,-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,16,-1.17,-121.6,0.0,0.0,0,58,0.00,0.00,-40.17,0.000,2,0.000,0.000,291,1748,2672
$GC,59,-1.17,-121.6,3.2,-6.7,8,85,11.85,2.62,-8.48,0.000,4,0.189,0.065,2264,3140,2999
$GC,151,-1.17,-121.6,15.8,-12.4,26,156,0.00,2.50,0.00,0.000,6,0.000,0.042,2264,1738,3002
$GC,461,-1.17,-121.6,49.5,-9.1,87,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1738,3003
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$GC,3836,-1.17,-121.6,333.8,-8.5,341,3845,0.00,2.47,0.00,0.000,6,0.000,0.035,2264,1740,3007
$GC,4158,-1.17,-121.6,356.8,-6.9,357,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1739,3007
$GC,4479,-1.17,-121.6,378.1,-6.8,373,4487,0.00,2.58,0.00,0.000,4,0.000,0.060,2264,337,3007
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$GC,4841,-1.17,-121.6,405.3,-7.6,391,4849,0.00,2.58,0.00,0.000,4,0.000,0.061,2264,338,3007
$GC,4911,-1.17,-121.6,411.3,-8.9,394,4915,0.00,2.50,0.00,0.000,6,0.000,0.037,2264,1742,3007
$GC,5223,-1.17,-121.6,438.3,-9.0,410,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1743,3007
$GC,5545,-1.17,-121.6,468.3,-9.0,435,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1743,3007
$GC,5857,-1.17,-121.6,493.1,-7.6,466,5866,0.00,2.60,0.00,0.000,4,0.000,0.062,2264,338,3007
$GC,5912,-1.17,-121.6,497.6,-8.5,471,5917,0.00,2.53,0.00,0.000,6,0.000,0.038,2264,1737,3007
$GC,6220,-1.17,-121.6,520.3,-7.6,502,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1739,3007
$GC,6532,-1.17,-121.6,545.9,-8.4,533,6541,0.00,2.58,0.00,0.000,4,0.000,0.063,2264,338,3007
$GC,6573,-1.17,-121.6,549.6,-9.5,537,6582,0.00,2.47,0.00,0.000,6,0.000,0.039,2265,1741,3007
$GC,6885,-1.17,-121.6,576.0,-8.2,568,6894,0.00,2.60,0.00,0.000,4,0.000,0.064,2264,338,3007
$GC,6915,-1.17,-121.6,578.5,-9.1,571,6924,0.00,2.50,0.00,0.000,6,0.000,0.039,2264,1741,3007
$GC,7228,-1.17,-121.6,602.2,-7.1,602,7237,0.00,2.58,0.00,0.000,4,0.000,0.062,2264,3144,3007
$GC,7263,-1.17,-121.6,604.8,-7.5,605,7267,0.00,2.55,0.00,0.000,6,0.000,0.049,2264,1744,3007
$GC,7570,-1.17,-121.6,625.1,-6.6,636,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1744,3007
$GC,7882,-1.17,-121.6,645.4,-6.5,667,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1744,3007
$GC,8193,-1.17,-121.6,667.4,-7.1,680,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1744,3007
$GC,8554,-1.17,-121.6,691.4,-6.2,689,8562,0.00,2.65,0.00,0.000,4,0.000,0.064,2264,3143,3007
$GC,8579,-1.17,-121.6,693.1,-7.2,689,8583,0.00,2.53,0.00,0.000,6,0.000,0.052,2265,1739,3007
$GC,8915,-1.17,-121.6,716.7,-7.5,698,8924,0.00,2.65,0.00,0.000,4,0.000,0.064,2264,3148,3006
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$GC,9277,-1.17,-121.6,746.3,-7.9,707,9286,0.00,2.62,0.00,0.000,4,0.000,0.073,2264,331,3006
$GC,9318,-1.17,-121.6,749.9,-8.6,708,9326,0.00,2.50,0.00,0.000,6,0.000,0.044,2264,1740,3005
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$GC,10000,-1.17,-121.6,803.7,-7.6,725,10038,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3005
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$GC,11082,-1.17,-121.6,885.1,-7.6,752,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1740,3003
$GC,11442,-1.17,-121.6,914.1,-8.1,761,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1741,3003
$GC,11803,-1.17,-121.6,942.2,-7.7,770,11841,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1741,3002
$GC,12164,-1.17,-121.6,969.8,-7.7,779,12171,0.00,2.70,0.00,0.000,4,0.000,0.093,2264,336,3001
$GC,12191,-1.17,-121.6,972.1,-8.8,779,12195,0.00,2.53,0.00,0.000,6,0.000,0.047,2264,1737,3001
$GC,12529,-0.31,0.0,996.8,7.2,788,12647,1.02,0.00,109.85,1.462,6,0.133,0.000,2456,1739,2502
$GC,12648,1.17,121.6,999.4,3.2,791,12763,1.60,2.75,105.82,1.417,4,0.087,0.067,2776,3107,2004
$GC,12783,1.17,121.6,991.3,10.4,794,12788,0.00,2.60,0.00,0.000,6,0.000,0.057,2776,1707,2003
$GC,13091,1.17,121.6,957.8,11.1,802,13129,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,2001
$GC,13451,1.17,121.6,918.6,10.6,811,13490,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,2000
$GC,13812,1.17,121.6,881.9,10.1,820,13820,0.00,2.70,0.00,0.000,4,0.000,0.067,2776,3114,2000
$GC,13842,1.17,121.6,878.8,11.0,820,13846,0.00,2.60,0.00,0.000,6,0.000,0.058,2776,1702,1999
$GC,14174,1.17,121.6,847.3,9.5,829,14212,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1701,1999
$GC,14534,1.17,121.6,814.2,9.4,838,14573,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1701,1999
$GC,14895,1.17,121.6,778.8,9.7,847,14933,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1701,1998
$GC,15258,1.17,121.6,743.1,10.0,856,15294,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1701,1998
$GC,15616,1.17,121.6,705.3,10.5,865,15655,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1701,1996
$GC,15977,1.17,121.6,666.7,10.7,874,16015,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1701,1997
$GC,16318,1.17,121.6,631.3,10.3,896,16328,0.00,2.67,0.00,0.000,4,0.000,0.080,2776,293,1996
$GC,16374,1.17,121.6,625.1,10.4,901,16378,0.00,2.58,0.00,0.000,6,0.000,0.044,2776,1704,1995
$GC,16681,1.17,121.6,593.6,10.6,932,16690,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,1995
$GC,16994,1.17,121.6,561.1,10.3,963,17002,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1706,1995
$GC,17306,1.17,121.6,528.7,10.3,994,17314,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,1995
$GC,17618,1.17,121.6,496.1,10.3,1025,17627,0.00,2.65,0.00,0.000,4,0.000,0.071,2776,294,1995
$GC,17673,1.17,121.6,489.7,11.1,1030,17678,0.00,2.55,0.00,0.000,6,0.000,0.041,2776,1698,1995
$GC,17981,1.17,121.6,458.3,10.5,1061,17990,0.00,2.62,0.00,0.000,4,0.000,0.064,2776,3110,1995
$GC,18026,1.17,121.6,453.4,10.1,1065,18031,0.00,2.58,0.00,0.000,6,0.000,0.049,2776,1702,1995
$GC,18343,1.17,121.6,419.8,10.6,1083,18351,0.00,2.62,0.00,0.000,4,0.000,0.071,2776,295,1995
$GC,18393,1.17,121.6,414.2,11.1,1085,18397,0.00,2.50,0.00,0.000,6,0.000,0.039,2776,1707,1995
$GC,18705,1.17,121.6,382.3,10.1,1101,18723,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,1995
$GC,19026,1.17,121.6,352.9,8.7,1117,19034,0.00,2.62,0.00,0.000,4,0.000,0.061,2775,3109,1995
$GC,19061,1.17,121.6,349.8,8.2,1118,19065,0.00,2.55,0.00,0.000,6,0.000,0.047,2776,1707,1995
$GC,19368,1.17,121.6,325.2,8.1,1134,19386,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,1995
$GC,19689,1.17,121.6,295.7,9.5,1150,19707,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,1995
$GC,20010,1.17,121.6,265.5,9.4,1166,20028,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,1995
$GC,20331,1.17,121.6,235.0,9.6,1182,20339,0.00,2.62,0.00,0.000,4,0.000,0.065,2776,294,1995
$GC,20386,1.17,121.6,229.4,11.0,1184,20391,0.00,2.55,0.00,0.000,6,0.000,0.037,2776,1707,1995
$GC,20693,1.17,121.6,201.0,9.2,1200,20701,0.00,2.60,0.00,0.000,4,0.000,0.063,2776,296,1996
$GC,20738,1.17,121.6,196.5,10.7,1202,20742,0.00,2.50,0.00,0.000,6,0.000,0.037,2776,1704,1995
$GC,21055,1.17,121.6,167.2,9.2,1218,21063,0.00,2.60,0.00,0.000,4,0.000,0.063,2776,297,1995
$GC,21090,1.17,121.6,163.8,10.5,1219,21094,0.00,2.53,0.00,0.000,6,0.000,0.037,2777,1698,1995
$GC,21397,1.17,121.6,137.4,8.7,1235,21415,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1699,1995
$GC,21718,1.17,121.6,107.1,9.7,1251,21736,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1699,1995
$GC,22041,1.17,133.3,77.2,7.5,1303,22056,0.00,2.67,8.60,0.868,4,0.000,0.061,2776,299,1957
$GC,22097,1.18,133.3,72.2,9.4,1314,22101,0.00,2.53,0.00,0.000,6,0.000,0.035,2776,1703,1956
$GC,22408,1.18,133.3,46.6,8.2,1375,22412,0.00,2.60,0.00,0.000,4,0.000,0.061,2776,294,1957
$GC,22464,1.18,133.3,41.6,9.1,1386,22468,0.00,2.50,0.00,0.000,6,0.000,0.035,2776,1707,1957
$GC,22773,1.18,133.5,16.5,8.0,1447,22777,0.00,2.58,0.00,0.000,4,0.000,0.056,2776,3107,1957
$GC,22910,1.18,133.5,4.1,9.2,1474,22914,0.00,2.50,0.00,0.000,6,0.000,0.044,2776,1702,1956
$FINISH,0.1,1.026951,0
$SM_CCo,22963,60.22,0.719,0,0,1604,220.03
$RAFOS_CLK,-1752
$RAFOS,2,1123000167,16.500000,16.490833,50,43,43,214,193,224
$RAFOS,1,1122999566,16.333334,16.323889,52,46,44,213,73,1303
$RAFOS,0,1122998942,16.166666,16.150555,42,41,40,1539,48,198
$TT8_MAMPS,0.021476
$HUMID,2046
$INTERNAL_PRESSURE,7.26059
$TCM_TEMP,3.00
$ALTIM_TOP_PING,9.8,9.4
$ALTIM_BOTTOM_PING,970.1,0.0
$24V_AH,23.3,24.419
$10V_AH,10.0,19.251
$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,25.675,154.325,224.275,60.225,0.000,32.323,27.043,173.809,0.500,62.303,1056.924,17636.012,1318.048,2236.808,1215.782,33.364,2633.840,0.000,1431.491,900.000,3.675
$DEVICE_MAMPS,189.449,92.807,1461.902,718.679,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1680.535,2084.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54591,1481
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020805,200527,7110.428,1611.297,48,1.1,48,4.3