version: 65.00
glider: 17
mission: 2
dive: 199
start: 8 11 105 8 10 13
data:
$ID,17
$MISSION,2
$DIVE,199
$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,-33931.195
$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,31
$ROLL_AD_RATE,500
$VBD_MIN,380
$VBD_MAX,3730
$C_VBD,2501
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,200
$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
$GPS1,075658,7053.971,1242.470,64,8.6,83
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-53.7
$GPS2,080922,7053.980,1242.371,66,2.1,86,2.0
$SPEED_LIMITS,0.138,0.223
$TGT_NAME,TARGET_02
$TGT_LATLONG,7055.000,1130.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.098,0.200
$KALMAN_X,216565.9,-34.8,17.8,-377195.8,1284.0
$KALMAN_Y,-127327.5,-101.4,523.0,189508.0,-4921.6
$MHEAD_RNG_PITCHd_Wd,331.8,43861,-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,-121.6,0.0,0.0,0,54,0.00,0.00,-36.03,0.000,2,0.000,0.000,290,1750,2581
$GC,55,-1.17,-121.6,3.1,-5.8,7,86,11.88,2.67,-10.25,0.000,4,0.190,0.067,2262,3135,2999
$GC,304,-1.17,-121.6,34.4,-10.0,56,309,0.00,2.47,0.00,0.000,6,0.000,0.040,2262,1735,3004
$GC,613,-1.17,-121.6,63.7,-9.6,117,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1734,3005
$GC,923,-1.17,-121.6,94.9,-10.4,178,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1734,3006
$GC,1239,-1.17,-121.6,126.4,-10.0,202,1248,0.00,2.62,0.00,0.000,4,0.000,0.052,2262,3137,3007
$GC,1280,-1.17,-121.6,130.7,-10.2,204,1288,0.00,2.47,0.00,0.000,6,0.000,0.043,2262,1740,3007
$GC,1601,-1.17,-121.6,162.0,-9.5,220,1610,0.00,2.58,0.00,0.000,4,0.000,0.061,2262,335,3007
$GC,1636,-1.17,-121.6,165.6,-9.9,221,1641,0.00,2.50,0.00,0.000,6,0.000,0.034,2262,1726,3008
$GC,1943,-1.17,-121.6,193.6,-9.1,237,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1726,3007
$GC,2264,-1.17,-121.6,223.5,-9.4,253,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1726,3008
$GC,2585,-1.17,-121.6,252.5,-9.1,269,2594,0.00,2.65,0.00,0.000,4,0.000,0.056,2262,3146,3008
$GC,2630,-1.17,-121.6,256.7,-9.1,271,2635,0.00,2.50,0.00,0.000,6,0.000,0.044,2262,1740,3008
$GC,2947,-1.17,-121.6,284.5,-8.7,287,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3007
$GC,3268,-1.17,-121.6,311.7,-8.5,303,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3007
$GC,3590,-1.17,-121.6,338.8,-8.6,319,3598,0.00,2.58,0.00,0.000,4,0.000,0.062,2262,336,3008
$GC,3620,-1.17,-121.6,341.7,-9.8,320,3624,0.00,2.50,0.00,0.000,6,0.000,0.035,2262,1741,3007
$GC,3932,-1.17,-121.6,367.8,-8.1,336,3940,0.00,2.60,0.00,0.000,4,0.000,0.056,2262,3143,3007
$GC,3962,-1.17,-121.6,370.5,-9.3,337,3966,0.00,2.50,0.00,0.000,6,0.000,0.044,2262,1740,3007
$GC,4274,-1.17,-121.6,397.2,-8.9,353,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1739,3007
$GC,4595,-1.17,-121.6,426.6,-9.2,369,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1739,3007
$GC,4916,-1.17,-121.6,457.0,-9.6,388,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1739,3007
$GC,5231,-1.17,-121.6,486.8,-9.7,419,5240,0.00,2.62,0.00,0.000,4,0.000,0.055,2262,3143,3007
$GC,5281,-1.17,-121.6,491.9,-9.9,424,5290,0.00,2.50,0.00,0.000,6,0.000,0.046,2261,1741,3007
$GC,5594,-1.17,-121.6,521.4,-9.7,455,5603,0.00,2.60,0.00,0.000,4,0.000,0.064,2262,332,3007
$GC,5634,-1.17,-121.6,525.5,-9.9,459,5643,0.00,2.50,0.00,0.000,6,0.000,0.038,2262,1741,3007
$GC,5946,-1.17,-121.6,556.5,-9.6,490,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1741,3007
$GC,6259,-1.17,-121.6,585.5,-9.4,521,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1741,3007
$GC,6571,-1.17,-121.6,612.1,-8.5,552,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1741,3007
$GC,6883,-1.17,-121.6,637.5,-8.4,583,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1741,3007
$GC,7194,-1.17,-121.6,664.9,-8.8,602,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1741,3007
$GC,7555,-1.17,-121.6,696.7,-8.9,611,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1741,3007
$GC,7916,-1.17,-121.6,729.3,-9.1,620,7924,0.00,2.65,0.00,0.000,4,0.000,0.064,2262,3142,3006
$GC,7946,-1.17,-121.6,732.2,-10.2,620,7951,0.00,2.53,0.00,0.000,6,0.000,0.053,2262,1743,3006
$GC,8278,-1.17,-121.6,760.3,-8.4,629,8316,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1743,3006
$GC,8638,-1.17,-121.6,790.2,-8.2,638,8647,0.00,2.65,0.00,0.000,4,0.000,0.065,2262,3142,3005
$GC,8674,-1.17,-121.6,793.4,-9.4,638,8679,0.00,2.58,0.00,0.000,6,0.000,0.054,2262,1738,3005
$GC,9000,-1.17,-121.6,818.6,-7.6,647,9039,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1738,3004
$GC,9361,-1.17,-121.6,846.6,-7.8,656,9369,0.00,2.65,0.00,0.000,4,0.000,0.067,2262,3142,3004
$GC,9397,-1.17,-121.6,849.7,-8.7,656,9401,0.00,2.58,0.00,0.000,6,0.000,0.054,2262,1740,3004
$GC,9723,-1.17,-121.6,875.3,-7.8,665,9762,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3003
$GC,10086,-1.17,-121.6,904.3,-8.1,674,10094,0.00,2.62,0.00,0.000,4,0.000,0.067,2262,3143,3002
$GC,10136,-1.17,-121.6,908.9,-8.6,675,10140,0.00,2.53,0.00,0.000,6,0.000,0.054,2262,1740,3002
$GC,10448,-1.17,-121.6,934.9,-8.3,683,10486,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3001
$GC,10808,-1.17,-121.6,965.5,-8.5,692,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1740,3000
$GC,11170,-0.31,0.0,995.5,8.3,701,11289,1.02,0.00,108.43,1.503,6,0.131,0.000,2454,1740,2501
$GC,11290,1.17,121.6,999.3,4.1,704,11409,1.62,0.00,106.22,1.469,6,0.094,0.000,2776,1740,2005
$GC,11730,1.17,121.6,966.3,9.4,715,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1740,2003
$GC,12091,1.17,121.6,932.5,9.5,724,12129,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1740,2004
$GC,12451,1.17,121.6,898.5,9.6,733,12460,0.00,2.80,0.00,0.000,4,0.000,0.087,2776,299,2002
$GC,12486,1.17,121.6,894.8,10.3,733,12491,0.00,2.55,0.00,0.000,6,0.000,0.044,2775,1694,2002
$GC,12812,1.17,121.6,864.0,9.4,742,12851,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1696,2002
$GC,13173,1.17,121.6,830.5,9.2,751,13212,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1696,2001
$GC,13534,1.17,121.6,797.6,9.0,760,13572,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1696,2000
$GC,13894,1.17,121.6,764.9,9.2,769,13933,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1696,2000
$GC,14255,1.17,121.6,732.0,9.1,778,14294,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1696,2000
$GC,14616,1.17,121.6,699.2,9.0,787,14624,0.00,2.67,0.00,0.000,4,0.000,0.079,2776,297,1999
$GC,14646,1.17,121.6,696.1,9.4,787,14650,0.00,2.55,0.00,0.000,6,0.000,0.046,2776,1709,1999
$GC,14977,1.17,121.6,664.6,9.6,796,15015,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1711,1999
$GC,15318,1.17,121.6,631.5,9.8,818,15328,0.00,2.67,0.00,0.000,4,0.000,0.077,2776,299,1999
$GC,15359,1.17,121.6,627.3,9.4,822,15368,0.00,2.53,0.00,0.000,6,0.000,0.044,2776,1705,1999
$GC,15674,1.17,121.6,599.1,8.8,853,15680,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1999
$GC,15983,1.17,121.6,572.7,8.3,884,15992,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1706,1998
$GC,16296,1.17,121.6,545.5,8.7,915,16305,0.00,2.67,0.00,0.000,4,0.000,0.064,2776,3115,1998
$GC,16326,1.17,121.6,542.6,8.8,918,16335,0.00,2.55,0.00,0.000,6,0.000,0.051,2776,1706,1998
$GC,16638,1.17,121.6,515.7,8.6,949,16647,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1706,1998
$GC,16950,1.17,121.6,488.3,8.7,980,16960,0.00,2.65,0.00,0.000,4,0.000,0.071,2776,294,1998
$GC,16971,1.17,121.6,486.4,8.7,982,16980,0.00,2.50,0.00,0.000,6,0.000,0.041,2776,1707,1998
$GC,17283,1.17,121.6,459.3,8.5,1013,17292,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1707,1998
$GC,17595,1.17,121.6,433.3,8.1,1034,17603,0.00,2.65,0.00,0.000,4,0.000,0.061,2777,3111,1998
$GC,17624,1.17,123.1,430.7,7.9,1035,17628,0.00,2.53,0.00,0.000,6,0.000,0.047,2776,1705,1998
$GC,17936,1.17,123.1,405.1,8.2,1051,17955,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1998
$GC,18257,1.17,123.1,379.1,8.2,1067,18266,0.00,2.62,0.00,0.000,4,0.000,0.058,2776,3111,1998
$GC,18283,1.17,123.1,376.8,8.3,1068,18287,0.00,2.53,0.00,0.000,6,0.000,0.047,2776,1705,1998
$GC,18600,1.17,123.1,351.1,8.0,1084,18608,0.00,2.62,0.00,0.000,4,0.000,0.070,2776,299,1998
$GC,18621,1.17,123.1,349.2,8.3,1085,18630,0.00,2.50,0.00,0.000,6,0.000,0.039,2776,1705,1998
$GC,18943,1.17,125.2,323.3,7.9,1101,18961,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1998
$GC,19264,1.17,128.0,297.7,7.9,1117,19273,0.00,2.65,4.35,1.163,4,0.000,0.065,2776,297,1979
$GC,19309,1.17,128.0,293.7,8.3,1119,19313,0.00,2.53,0.00,0.000,6,0.000,0.038,2776,1705,1979
$GC,19626,1.17,128.0,267.4,8.5,1135,19644,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1979
$GC,19947,1.17,128.0,240.2,8.6,1151,19965,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1706,1979
$GC,20268,1.17,128.0,214.0,8.0,1167,20276,0.00,2.62,0.00,0.000,4,0.000,0.056,2776,3109,1979
$GC,20313,1.17,130.5,210.2,7.9,1169,20323,0.00,2.50,2.10,1.125,6,0.000,0.044,2776,1705,1969
$GC,20631,1.17,130.5,184.7,8.2,1185,20650,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1969
$GC,20952,1.17,130.5,157.8,8.5,1201,20971,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1969
$GC,21274,1.17,130.5,130.9,8.4,1217,21292,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1969
$GC,21595,1.17,130.5,103.7,8.7,1233,21613,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1969
$GC,21919,1.17,130.5,75.5,8.7,1288,21922,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1705,1969
$GC,22228,1.17,130.5,47.2,8.9,1349,22232,0.00,2.62,0.00,0.000,4,0.000,0.052,2776,3113,1969
$GC,22258,1.17,130.5,44.4,8.5,1355,22262,0.00,2.53,0.00,0.000,6,0.000,0.044,2776,1700,1969
$GC,22569,1.17,263.3,21.9,2.1,1416,22681,0.00,2.75,102.93,0.789,4,0.000,0.051,2776,3110,1427
$GC,22721,1.32,263.3,9.8,10.0,1445,22726,0.17,2.55,0.00,0.000,6,0.054,0.044,2816,1706,1427
$FINISH,0.2,1.026745,0
$SM_CCo,22874,0.00,0.000,0,0,1422,264.68
$RAFOS_CLK,257
$RAFOS,2,1123763342,12.500000,12.483889,43,38,38,193,151,1306
$RAFOS,1,1123762749,12.333333,12.319167,55,51,44,576,272,1044
$RAFOS,0,1123762147,12.166667,12.151944,45,43,41,1501,140,1577
$RAFOS,2,1123748951,8.500000,8.486389,47,47,45,228,1054,196
$RAFOS,1,1123748344,8.333333,8.317778,53,48,45,198,983,1183
$TT8_MAMPS,0.020709
$HUMID,2068
$INTERNAL_PRESSURE,7.25081
$TCM_TEMP,2.50
$ALTIM_TOP_PING,9.8,10.0
$ALTIM_BOTTOM_PING,972.2,0.0
$24V_AH,23.3,28.650
$10V_AH,10.0,22.780
$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,26.300,124.050,324.025,0.000,0.000,64.654,73.388,339.279,0.500,174.304,1000.200,17663.127,1339.342,2266.009,1475.907,33.375,2609.539,0.000,1367.522,1500.000,3.463
$DEVICE_MAMPS,190.216,104.312,1502.553,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil
$SENSOR_SECS,1620.144,2016.206,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53589,1460
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110805,143256,7053.974,1241.328,48,1.2,48,2.0