version: 65.00
glider: 23
mission: 1
dive: 325
start: 10 19 105 4 21 6
data:
$ID,23
$MISSION,1
$DIVE,325
$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,320
$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,-289.88202
$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,38
$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
$GPS1,041536,5718.906,-14034.222,50,1.5,50
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-51.9
$GPS2,042051,5718.868,-14034.264,15,1.3,15,23.5
$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,275.4,387579,-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,18,-1.17,-121.7,0.0,0.0,0,63,0.00,0.00,-42.72,0.000,2,0.000,0.000,293,2153,2665
$GC,64,-1.17,-121.7,3.5,-8.5,4,96,11.45,0.00,-12.05,0.000,6,0.167,0.000,2255,2155,3215
$GC,409,-1.17,-121.7,58.2,-11.8,35,417,0.00,2.42,0.00,0.000,4,0.000,0.054,2255,3537,3219
$GC,452,-1.17,-121.7,63.7,-12.4,37,461,0.00,2.40,0.00,0.000,6,0.000,0.039,2255,2134,3220
$GC,776,-1.17,-121.7,105.1,-13.3,53,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2134,3223
$GC,1097,-1.17,-121.7,142.1,-11.0,69,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2135,3223
$GC,1417,-1.17,-121.7,178.4,-11.6,79,1426,0.00,2.70,0.00,0.000,4,0.000,0.056,2255,739,3223
$GC,1460,-1.17,-121.7,183.2,-10.9,80,1469,0.00,2.58,0.00,0.000,6,0.000,0.037,2255,2130,3223
$GC,1783,-1.17,-121.7,216.7,-10.2,88,1792,0.00,2.67,0.00,0.000,4,0.000,0.054,2255,737,3223
$GC,1808,-1.17,-121.7,219.5,-10.6,88,1817,0.00,2.62,0.00,0.000,6,0.000,0.038,2255,2146,3223
$GC,2147,-1.17,-121.7,251.7,-9.4,97,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2145,3223
$GC,2508,-1.17,-121.7,284.4,-9.1,106,2516,0.00,2.70,0.00,0.000,4,0.000,0.054,2255,738,3223
$GC,2553,-1.17,-121.7,288.8,-9.4,107,2562,0.00,2.62,0.00,0.000,6,0.000,0.038,2255,2143,3223
$GC,2871,-1.17,-121.7,319.3,-9.7,112,2879,0.00,2.70,0.00,0.000,4,0.000,0.054,2255,738,3223
$GC,2896,-1.17,-121.7,322.0,-10.8,112,2905,0.00,2.62,0.00,0.000,6,0.000,0.038,2255,2142,3223
$GC,3354,-1.17,-121.7,366.0,-9.6,115,3362,0.00,2.70,0.00,0.000,4,0.000,0.055,2255,738,3223
$GC,3394,-1.17,-121.7,370.0,-10.4,115,3403,0.00,2.62,0.00,0.000,6,0.000,0.040,2255,2144,3223
$GC,3838,-1.17,-121.7,412.8,-9.6,118,3847,0.00,2.72,0.00,0.000,4,0.000,0.056,2255,735,3223
$GC,3919,-1.17,-121.7,420.4,-9.3,118,3928,0.00,2.65,0.00,0.000,6,0.000,0.041,2255,2146,3223
$GC,4321,-1.17,-121.7,455.5,-8.6,121,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2145,3223
$GC,4801,-1.17,-121.7,494.4,-8.2,124,4809,0.00,2.72,0.00,0.000,4,0.000,0.058,2255,740,3223
$GC,4872,-1.17,-121.7,500.3,-8.4,124,4880,0.00,2.62,0.00,0.000,6,0.000,0.041,2255,2143,3223
$GC,5284,-1.17,-121.7,534.5,-8.3,127,5292,0.00,2.72,0.00,0.000,4,0.000,0.058,2255,738,3223
$GC,5349,-1.17,-121.7,540.1,-8.8,127,5358,0.00,2.62,0.00,0.000,6,0.000,0.042,2255,2142,3223
$GC,5766,-1.17,-121.7,574.8,-8.3,130,5775,0.00,2.72,0.00,0.000,4,0.000,0.059,2255,739,3223
$GC,5803,-1.17,-121.7,578.1,-9.5,130,5811,0.00,2.65,0.00,0.000,6,0.000,0.043,2255,2145,3223
$GC,6250,-1.17,-121.7,616.2,-8.6,133,6258,0.00,2.72,0.00,0.000,4,0.000,0.061,2255,740,3222
$GC,6313,-1.17,-121.7,621.7,-9.4,133,6322,0.00,2.62,0.00,0.000,6,0.000,0.044,2255,2143,3222
$GC,6735,-1.17,-121.7,657.3,-8.3,136,6743,0.00,2.72,0.00,0.000,4,0.000,0.062,2255,740,3222
$GC,6762,-1.17,-121.7,659.3,-8.6,136,6771,0.00,2.65,0.00,0.000,6,0.000,0.044,2255,2145,3222
$GC,7220,-1.17,-121.7,694.9,-7.7,139,7228,0.00,2.75,0.00,0.000,4,0.000,0.064,2255,742,3221
$GC,7302,-1.17,-121.7,701.3,-7.2,139,7310,0.00,2.65,0.00,0.000,6,0.000,0.046,2255,2144,3221
$GC,7705,-1.17,-121.7,731.5,-7.5,142,7713,0.00,2.75,0.00,0.000,4,0.000,0.064,2255,741,3221
$GC,7730,-1.17,-121.7,733.5,-8.6,142,7739,0.00,2.65,0.00,0.000,6,0.000,0.045,2255,2144,3221
$GC,8189,-1.17,-121.7,769.7,-8.0,145,8197,0.00,2.75,0.00,0.000,4,0.000,0.064,2254,742,3221
$GC,8254,-1.17,-121.7,775.5,-9.1,145,8263,0.00,2.65,0.00,0.000,6,0.000,0.045,2254,2145,3220
$GC,8672,-1.17,-121.7,811.3,-8.6,148,8680,0.00,2.75,0.00,0.000,4,0.000,0.064,2255,741,3220
$GC,8733,-1.17,-121.7,816.8,-9.6,148,8742,0.00,2.65,0.00,0.000,6,0.000,0.045,2255,2146,3220
$GC,9157,-1.17,-121.7,850.8,-8.0,151,9166,0.00,2.75,0.00,0.000,4,0.000,0.064,2255,741,3219
$GC,9217,-1.17,-121.7,855.3,-7.9,151,9225,0.00,2.65,0.00,0.000,6,0.000,0.045,2255,2148,3219
$GC,9644,-1.17,-121.7,887.0,-7.4,154,9652,0.00,2.75,0.00,0.000,4,0.000,0.064,2255,741,3218
$GC,9699,-1.17,-121.7,891.4,-8.6,154,9708,0.00,2.65,0.00,0.000,6,0.000,0.045,2254,2146,3218
$GC,10126,-1.17,-121.7,922.3,-7.2,157,10135,0.00,2.75,0.00,0.000,4,0.000,0.064,2255,740,3218
$GC,10153,-1.17,-121.7,924.3,-7.6,157,10161,0.00,2.65,0.00,0.000,6,0.000,0.045,2255,2144,3218
$GC,10610,-1.17,-121.7,957.1,-7.1,160,10619,0.00,2.75,0.00,0.000,4,0.000,0.064,2255,740,3217
$GC,10681,-1.17,-121.7,962.5,-7.7,160,10690,0.00,2.65,0.00,0.000,6,0.000,0.046,2255,2148,3217
$GC,11095,-0.31,0.0,991.7,7.0,163,11252,0.98,0.00,109.05,1.376,6,0.106,0.000,2446,2147,2715
$GC,11256,1.17,121.7,994.5,5.7,164,11368,1.52,2.40,102.65,1.377,4,0.077,0.066,2772,3411,2221
$GC,11482,1.17,121.7,978.7,10.2,165,11491,0.00,2.45,0.00,0.000,6,0.000,0.048,2772,2019,2220
$GC,11904,1.17,121.7,942.6,8.4,168,11913,0.00,2.55,0.00,0.000,4,0.000,0.062,2772,3424,2219
$GC,11951,1.17,121.7,938.5,8.6,168,11960,0.00,2.47,0.00,0.000,6,0.000,0.046,2772,2011,2218
$GC,12388,1.17,128.7,904.6,7.7,171,12402,0.00,2.60,5.25,1.373,4,0.000,0.061,2772,3420,2192
$GC,12484,1.18,128.7,896.4,8.4,171,12493,0.00,2.47,0.00,0.000,6,0.000,0.047,2772,2011,2191
$GC,12870,1.18,128.7,865.0,8.1,174,12879,0.00,2.55,0.00,0.000,4,0.000,0.063,2772,3420,2191
$GC,12938,1.18,128.7,858.8,9.2,174,12946,0.00,2.47,0.00,0.000,6,0.000,0.047,2772,2010,2191
$GC,13356,1.18,128.7,822.7,8.6,177,13515,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2011,2191
$GC,13836,1.18,128.7,780.9,8.7,180,13845,0.00,2.55,0.00,0.000,4,0.000,0.063,2772,3421,2190
$GC,13907,1.18,128.7,774.3,9.3,180,13916,0.00,2.45,0.00,0.000,6,0.000,0.047,2772,2015,2190
$GC,14318,1.18,128.7,738.5,8.6,183,14327,0.00,2.55,0.00,0.000,4,0.000,0.064,2772,3427,2190
$GC,14381,1.18,128.7,733.1,8.8,183,14389,0.00,2.47,0.00,0.000,6,0.000,0.047,2772,2010,2190
$GC,14804,1.18,134.1,699.9,7.8,186,14813,0.00,2.62,3.88,1.305,4,0.000,0.063,2772,3421,2170
$GC,14856,1.19,134.1,695.5,8.4,186,14865,0.00,2.47,0.00,0.000,6,0.000,0.047,2772,2012,2170
$GC,15288,1.19,134.1,660.7,8.1,189,15447,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2012,2170
$GC,15769,1.19,134.1,619.7,8.5,192,15777,0.00,2.53,0.00,0.000,4,0.000,0.063,2772,3420,2170
$GC,15849,1.19,134.1,612.1,9.3,192,15858,0.00,2.45,0.00,0.000,6,0.000,0.047,2772,2012,2170
$GC,16251,1.19,134.1,575.9,8.9,195,16410,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2012,2170
$GC,16731,1.19,134.1,534.8,8.7,198,16740,0.00,2.53,0.00,0.000,4,0.000,0.062,2772,3421,2170
$GC,16783,1.19,134.1,530.1,8.0,198,16792,0.00,2.45,0.00,0.000,6,0.000,0.046,2772,2011,2170
$GC,17217,1.19,137.6,495.7,7.8,201,17376,0.00,0.00,2.60,1.256,6,0.000,0.000,2772,2011,2156
$GC,17697,1.19,150.6,460.5,7.4,204,17716,0.00,2.58,10.90,1.134,4,0.000,0.060,2772,3420,2101
$GC,17780,1.20,153.0,454.0,7.9,204,17789,0.00,2.47,0.00,0.000,6,0.000,0.044,2772,2010,2101
$GC,18186,1.21,171.8,424.8,7.2,207,18342,0.00,0.00,17.17,1.086,6,0.000,0.000,2772,2010,2015
$GC,18663,1.23,178.9,387.1,7.7,210,18677,0.00,2.80,5.18,1.122,4,0.000,0.062,2772,603,1986
$GC,18706,1.23,178.9,383.3,8.4,210,18715,0.00,2.65,0.00,0.000,6,0.000,0.038,2772,2013,1986
$GC,19151,1.23,178.9,344.7,8.8,213,19159,0.00,2.50,0.00,0.000,4,0.000,0.061,2773,3421,1986
$GC,19196,1.23,178.9,340.0,9.4,213,19205,0.00,2.45,0.00,0.000,6,0.000,0.043,2772,2011,1986
$GC,19634,1.23,178.9,301.7,8.7,216,19793,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2010,1986
$GC,20115,1.23,178.9,259.8,8.5,225,20156,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2011,1985
$GC,20476,1.23,188.6,231.3,7.6,234,20490,0.00,2.83,7.22,0.991,4,0.000,0.058,2772,601,1947
$GC,20523,1.24,188.6,227.6,8.3,235,20532,0.00,2.62,0.00,0.000,6,0.000,0.037,2773,2016,1947
$GC,20841,1.24,193.2,202.8,7.8,243,20882,0.00,0.00,3.53,1.012,6,0.000,0.000,2772,2016,1928
$GC,21202,1.25,193.2,173.6,8.2,252,21242,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2016,1928
$GC,21545,1.25,193.2,146.6,8.0,261,21553,0.00,2.75,0.00,0.000,4,0.000,0.058,2772,600,1928
$GC,21575,1.25,193.2,143.9,9.4,262,21586,0.00,2.60,0.00,0.000,6,0.000,0.037,2772,2013,1928
$GC,21889,1.25,239.0,123.0,6.0,278,21934,0.00,2.80,35.10,0.846,4,0.000,0.057,2772,603,1741
$GC,21973,1.30,275.8,117.5,6.4,282,22008,0.12,2.62,28.48,0.830,6,0.058,0.037,2801,2013,1591
$GC,22317,1.34,275.8,89.7,8.3,299,22325,0.00,2.75,0.00,0.000,4,0.000,0.058,2800,603,1591
$GC,22347,1.34,275.8,87.0,9.0,300,22358,0.00,2.62,0.00,0.000,6,0.000,0.036,2800,2015,1591
$GC,22658,1.34,275.8,62.3,8.2,316,22667,0.00,2.75,0.00,0.000,4,0.000,0.058,2800,602,1591
$GC,22691,1.34,275.8,59.5,9.0,317,22700,0.00,2.60,0.00,0.000,6,0.000,0.037,2800,2010,1591
$GC,23005,1.34,314.4,33.9,6.3,343,23040,0.00,2.80,29.12,0.775,4,0.000,0.057,2800,604,1433
$GC,23121,1.38,314.4,25.0,8.3,354,23132,0.00,2.62,0.00,0.000,6,0.000,0.036,2800,2014,1430
$FINISH,0.0,1.014938,0
$SM_CCo,23432,1.95,0.902,0,0,1412,320.12
$TT8_MAMPS,0.026845
$HUMID,2192
$TCM_TEMP,5.00
$ALTIM_TOP_PING,0.0,0.0
$ALTIM_BOTTOM_PING,0.0,0.0
$24V_AH,23.2,52.683
$10V_AH,10.0,39.312
$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,25.600,199.850,360.125,1.950,0.000,31.293,32.645,114.388,0.000,68.507,856.823,17907.385,1989.643,1881.092,1216.418,0.000,3175.052,0.000,1194.793,0.000,0.000
$DEVICE_MAMPS,167.206,65.962,1376.765,901.992,0.000,103.000,160.000,223.000,0.000,165.000,18.650,1.040,18.650,38.650,44.650,0.000,12.000,3.000,26.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,456.564,315.043,566.301,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,21032,383
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191005,105324,5718.442,-14041.535,27,1.8,44,23.4