version: 65.00
glider: 23
mission: 1
dive: 313
start: 10 15 105 18 34 33
data:
$ID,23
$MISSION,1
$DIVE,313
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0.0001163584
$T_DIVE,413
$T_MISSION,495
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,1
$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,1.0275
$MASS,52362
$KALMAN_USE,2
$KALMAN_Q,1000
$KALMAN_R,100
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$SM_CC,333
$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,-1388.0076
$T_RSLEEP,2
$PITCH_MIN,294
$PITCH_MAX,3611
$C_PITCH,2515
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$ROLL_MIN,208
$ROLL_MAX,3867
$C_ROLL_DIVE,2144
$C_ROLL_CLIMB,2012
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,550
$VBD_MIN,500
$VBD_MAX,3664
$C_VBD,2717
$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,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-29.113598
$PRESSURE_SLOPE,0.0001163668
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,15
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,0
$GPS_DEVICE,0
$RAFOS_DEVICE,-1
$XPDR_DEVICE,0
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004414265
$SEABIRD_T_H,0.00064973778
$SEABIRD_T_I,2.7798471e-05
$SEABIRD_T_J,3.1719046e-06
$SEABIRD_C_G,-10.522164
$SEABIRD_C_H,1.1897064
$SEABIRD_C_I,-0.0027912261
$SEABIRD_C_J,0.00032908627
$GPS1,182424,5724.007,-13920.915,40,1.4,40
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-52.1
$GPS2,183420,5723.977,-13920.934,12,1.6,12,23.8
$SPEED_LIMITS,0.138,0.204
$TGT_NAME,PICKUP
$TGT_LATLONG,5900.000,-14630.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,269.7,446232,-16.6,-7.990
$D_GRID,1010
$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,19,-1.17,-121.7,0.0,0.0,0,73,0.00,0.00,-52.22,0.000,2,0.000,0.000,294,2152,2858
$GC,74,-1.17,-121.7,4.3,-8.5,5,99,11.40,2.72,-6.95,0.000,4,0.166,0.064,2252,734,3214
$GC,179,-1.17,-121.7,28.5,-19.6,15,190,0.00,2.60,0.00,0.000,6,0.000,0.033,2252,2144,3217
$GC,493,-1.17,-121.7,75.4,-13.9,37,501,0.00,2.45,0.00,0.000,4,0.000,0.052,2252,3546,3221
$GC,536,-1.17,-121.7,81.7,-13.6,39,545,0.00,2.40,0.00,0.000,6,0.000,0.037,2252,2137,3221
$GC,860,-1.17,-121.7,122.6,-12.0,55,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2138,3224
$GC,1201,-1.17,-121.7,159.6,-10.7,70,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2138,3225
$GC,1561,-1.17,-121.7,197.0,-10.2,79,1570,0.00,2.70,0.00,0.000,4,0.000,0.055,2252,738,3226
$GC,1606,-1.17,-121.7,202.0,-10.4,80,1615,0.00,2.58,0.00,0.000,6,0.000,0.038,2252,2139,3225
$GC,1925,-1.17,-121.7,231.9,-9.2,88,1933,0.00,2.67,0.00,0.000,4,0.000,0.054,2252,741,3225
$GC,1966,-1.17,-121.7,236.1,-9.9,89,1974,0.00,2.60,0.00,0.000,6,0.000,0.038,2252,2146,3225
$GC,2290,-1.17,-121.7,266.8,-9.6,97,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2145,3225
$GC,2650,-1.17,-121.7,299.9,-9.1,106,2659,0.00,2.70,0.00,0.000,4,0.000,0.054,2252,741,3225
$GC,2681,-1.17,-121.7,303.0,-10.0,106,2691,0.00,2.60,0.00,0.000,6,0.000,0.038,2252,2143,3225
$GC,3012,-1.17,-121.7,333.5,-9.3,109,3021,0.00,2.70,0.00,0.000,4,0.000,0.055,2252,741,3225
$GC,3038,-1.17,-121.7,335.9,-9.6,109,3047,0.00,2.62,0.00,0.000,6,0.000,0.039,2252,2148,3225
$GC,3496,-1.17,-121.7,375.1,-8.6,112,3504,0.00,2.70,0.00,0.000,4,0.000,0.056,2252,742,3225
$GC,3527,-1.17,-121.7,378.0,-9.6,112,3536,0.00,2.62,0.00,0.000,6,0.000,0.040,2252,2144,3225
$GC,3980,-1.17,-121.7,418.9,-9.0,115,3989,0.00,2.70,0.00,0.000,4,0.000,0.057,2252,743,3225
$GC,4013,-1.17,-121.7,421.8,-10.6,115,4021,0.00,2.62,0.00,0.000,6,0.000,0.041,2252,2143,3225
$GC,4465,-1.17,-121.7,462.7,-8.9,118,4473,0.00,2.70,0.00,0.000,4,0.000,0.057,2252,742,3224
$GC,4486,-1.17,-121.7,464.6,-9.0,118,4495,0.00,2.62,0.00,0.000,6,0.000,0.041,2252,2144,3224
$GC,4951,-1.17,-121.7,505.8,-8.9,121,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2143,3224
$GC,5429,-1.17,-121.7,545.0,-8.3,124,5437,0.00,2.70,0.00,0.000,4,0.000,0.058,2252,742,3223
$GC,5484,-1.17,-121.7,549.5,-8.8,124,5493,0.00,2.62,0.00,0.000,6,0.000,0.042,2252,2141,3223
$GC,5912,-1.17,-121.7,580.1,-7.1,127,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2141,3222
$GC,6392,-1.17,-121.7,615.1,-7.2,130,6400,0.00,2.72,0.00,0.000,4,0.000,0.060,2252,741,3222
$GC,6460,-1.17,-121.7,620.3,-7.9,130,6468,0.00,2.65,0.00,0.000,6,0.000,0.044,2252,2145,3222
$GC,6876,-1.17,-121.7,651.8,-7.5,133,6885,0.00,2.72,0.00,0.000,4,0.000,0.061,2252,743,3220
$GC,6909,-1.17,-121.7,654.2,-8.5,133,6917,0.00,2.65,0.00,0.000,6,0.000,0.044,2252,2145,3220
$GC,7361,-1.17,-121.7,688.3,-7.5,136,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2145,3219
$GC,7841,-1.17,-121.7,726.4,-7.9,139,7849,0.00,2.75,0.00,0.000,4,0.000,0.064,2252,742,3219
$GC,7881,-1.17,-121.7,729.7,-8.5,139,7890,0.00,2.65,0.00,0.000,6,0.000,0.045,2252,2145,3219
$GC,8325,-1.17,-121.7,763.7,-7.6,142,8333,0.00,2.72,0.00,0.000,4,0.000,0.064,2252,744,3219
$GC,8357,-1.17,-121.7,766.2,-9.3,142,8366,0.00,2.65,0.00,0.000,6,0.000,0.046,2252,2145,3219
$GC,8809,-1.17,-121.7,800.4,-7.4,145,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2145,3218
$GC,9290,-1.17,-121.7,833.5,-7.0,148,9298,0.00,2.75,0.00,0.000,4,0.000,0.064,2252,742,3217
$GC,9370,-1.17,-121.7,839.1,-6.8,148,9379,0.00,2.65,0.00,0.000,6,0.000,0.047,2252,2146,3217
$GC,9772,-1.17,-121.7,865.7,-6.6,151,9781,0.00,2.72,0.00,0.000,4,0.000,0.064,2252,744,3217
$GC,9819,-1.17,-121.7,868.8,-7.1,151,9827,0.00,2.65,0.00,0.000,6,0.000,0.045,2252,2151,3217
$GC,10256,-1.17,-121.7,897.6,-6.6,154,10264,0.00,2.75,0.00,0.000,4,0.000,0.065,2252,743,3216
$GC,10297,-1.17,-121.7,900.6,-7.4,154,10306,0.00,2.65,0.00,0.000,6,0.000,0.047,2252,2148,3216
$GC,10740,-1.17,-121.7,932.6,-7.3,157,10748,0.00,2.72,0.00,0.000,4,0.000,0.065,2252,743,3215
$GC,10785,-1.17,-121.7,936.3,-8.9,157,10794,0.00,2.65,0.00,0.000,6,0.000,0.046,2252,2150,3215
$GC,11224,-1.17,-121.7,970.1,-7.7,160,11232,0.00,2.75,0.00,0.000,4,0.000,0.065,2252,743,3215
$GC,11274,-1.17,-121.7,974.2,-7.8,160,11283,0.00,2.65,0.00,0.000,6,0.000,0.047,2252,2149,3215
$GC,11550,-0.31,0.0,993.9,7.2,162,11706,0.98,0.00,108.50,1.379,6,0.106,0.000,2443,2149,2715
$GC,11707,1.17,121.7,996.5,4.8,163,11818,1.52,2.40,102.35,1.379,4,0.077,0.067,2768,3412,2220
$GC,11862,1.17,121.7,987.2,8.9,163,11871,0.00,2.47,0.00,0.000,6,0.000,0.047,2768,2022,2220
$GC,12193,1.17,121.7,957.7,8.9,166,12351,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2022,2219
$GC,12673,1.17,121.7,915.2,8.8,169,12681,0.00,2.53,0.00,0.000,4,0.000,0.063,2768,3420,2219
$GC,12765,1.17,121.7,906.4,9.9,169,12769,0.00,2.47,0.00,0.000,6,0.000,0.047,2768,2012,2218
$GC,13157,1.17,121.7,870.6,9.1,172,13165,0.00,2.55,0.00,0.000,4,0.000,0.061,2768,3421,2218
$GC,13222,1.17,121.7,864.2,10.0,172,13231,0.00,2.47,0.00,0.000,6,0.000,0.047,2768,2012,2218
$GC,13639,1.17,121.7,826.2,9.0,175,13648,0.00,2.55,0.00,0.000,4,0.000,0.062,2768,3425,2217
$GC,13679,1.17,121.7,822.3,9.5,175,13688,0.00,2.47,0.00,0.000,6,0.000,0.047,2768,2012,2217
$GC,14124,1.17,121.7,785.2,8.3,178,14133,0.00,2.55,0.00,0.000,4,0.000,0.063,2767,3423,2217
$GC,14185,1.17,129.9,779.9,7.6,178,14199,0.00,2.47,6.03,1.309,6,0.000,0.047,2768,2011,2187
$GC,14609,1.18,135.1,746.9,7.8,181,14618,0.00,2.60,4.15,1.299,4,0.000,0.063,2767,3420,2165
$GC,14644,1.19,142.5,744.0,7.7,181,14658,0.00,2.50,6.22,1.306,6,0.000,0.048,2768,2009,2135
$GC,15094,1.19,144.4,708.6,7.9,184,15102,0.00,2.55,0.00,0.000,4,0.000,0.063,2768,3420,2135
$GC,15130,1.20,144.4,705.0,9.8,184,15139,0.00,2.47,0.00,0.000,6,0.000,0.048,2767,2011,2134
$GC,15579,1.20,144.4,666.3,8.7,187,15587,0.00,2.55,0.00,0.000,4,0.000,0.063,2768,3421,2133
$GC,15619,1.20,144.4,662.5,8.6,187,15628,0.00,2.47,0.00,0.000,6,0.000,0.048,2768,2011,2134
$GC,16061,1.20,144.4,624.9,8.5,190,16219,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2011,2133
$GC,16542,1.20,144.4,585.5,8.3,193,16550,0.00,2.55,0.00,0.000,4,0.000,0.062,2767,3422,2132
$GC,16587,1.20,144.4,581.5,8.9,193,16596,0.00,2.47,0.00,0.000,6,0.000,0.046,2767,2009,2133
$GC,17026,1.20,148.5,546.9,7.8,196,17184,0.00,0.00,4.38,1.259,6,0.000,0.000,2768,2009,2111
$GC,17508,1.20,152.3,509.4,7.8,199,17517,0.00,2.60,3.03,1.243,4,0.000,0.061,2768,3417,2095
$GC,17548,1.20,152.3,505.8,8.4,199,17557,0.00,2.47,0.00,0.000,6,0.000,0.046,2768,2008,2093
$GC,17992,1.20,156.8,471.3,7.8,202,18150,0.00,0.00,3.55,1.230,6,0.000,0.000,2768,2008,2077
$GC,18472,1.21,161.0,433.8,7.8,205,18631,0.00,0.00,3.28,1.210,6,0.000,0.000,2768,2008,2060
$GC,18955,1.21,171.9,397.7,7.5,208,19111,0.00,0.00,8.73,1.120,6,0.000,0.000,2768,2008,2015
$GC,19433,1.23,171.9,358.8,8.0,211,19591,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2008,2015
$GC,19913,1.23,171.9,318.9,8.3,214,19921,0.00,2.72,0.00,0.000,4,0.000,0.061,2768,602,2015
$GC,19943,1.23,176.6,316.4,7.8,214,19952,0.00,2.62,3.75,1.114,6,0.000,0.038,2768,2018,1995
$GC,20279,1.23,178.9,289.9,7.9,217,20315,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2017,1995
$GC,20640,1.23,186.2,262.6,7.7,226,20677,0.00,0.00,7.12,1.036,6,0.000,0.000,2767,2017,1957
$GC,21001,1.24,191.1,234.6,7.8,235,21010,0.00,2.80,3.25,1.059,4,0.000,0.059,2768,610,1938
$GC,21051,1.25,191.1,230.3,8.8,236,21060,0.00,2.60,0.00,0.000,6,0.000,0.038,2768,2010,1938
$GC,21364,1.25,191.1,204.6,8.4,244,21400,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2011,1938
$GC,21725,1.25,196.6,176.1,7.7,253,21739,0.00,2.78,4.57,0.989,4,0.000,0.059,2768,601,1915
$GC,21762,1.25,196.6,172.9,8.9,253,21766,0.00,2.62,0.00,0.000,6,0.000,0.038,2768,2015,1915
$GC,22090,1.25,211.0,148.4,7.4,262,22109,0.00,0.00,11.20,0.913,6,0.000,0.000,2767,2014,1856
$GC,22409,1.27,229.0,125.0,7.2,278,22431,0.12,2.83,13.57,0.889,4,0.061,0.058,2798,610,1783
$GC,22465,1.29,229.0,120.2,9.5,280,22476,0.00,2.60,0.00,0.000,6,0.000,0.037,2798,2011,1782
$GC,22776,1.29,229.0,94.5,8.1,296,22785,0.00,2.50,0.00,0.000,4,0.000,0.057,2798,3417,1782
$GC,22807,1.29,229.0,91.9,9.4,297,22817,0.00,2.45,0.00,0.000,6,0.000,0.041,2798,2010,1782
$GC,23121,1.29,229.0,66.6,8.1,313,23130,0.00,2.70,0.00,0.000,4,0.000,0.059,2798,602,1782
$GC,23171,1.29,237.4,62.4,7.6,315,23186,0.00,2.60,5.78,0.874,6,0.000,0.037,2798,2014,1748
$GC,23496,1.30,305.0,41.5,5.0,338,23558,0.00,2.80,51.17,0.779,4,0.000,0.056,2798,603,1472
$GC,23624,1.37,327.5,34.3,7.0,350,23648,0.00,2.62,17.23,0.778,6,0.000,0.036,2798,2015,1379
$GC,23960,1.40,354.8,10.2,6.8,383,23992,0.00,2.78,19.85,0.755,4,0.000,0.054,2798,602,1269
$FINISH,1.0,1.024246,0
$SM_CCo,24152,0.00,0.000,0,0,1265,356.18
$TT8_MAMPS,0.026845
$HUMID,2185
$TCM_TEMP,6.50
$ALTIM_TOP_PING,0.0,0.0
$ALTIM_BOTTOM_PING,0.0,0.0
$24V_AH,23.3,50.947
$10V_AH,10.0,38.068
$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,25.650,194.250,387.700,0.000,0.000,62.587,80.648,247.091,0.000,55.293,852.357,18227.953,2602.131,1785.076,1367.107,0.000,3743.397,0.000,1118.562,0.000,0.000
$DEVICE_MAMPS,165.672,66.729,1379.066,0.000,0.000,103.000,160.000,223.000,0.000,165.000,18.650,1.040,18.650,38.650,44.650,0.000,12.000,3.000,26.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,468.558,324.204,585.823,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,21616,393
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,161005,011837,5723.577,-13926.865,36,1.5,36,23.8