version: 65.00
glider: 23
mission: 1
dive: 328
start: 10 20 105 0 31 4
data:
$ID,23
$MISSION,1
$DIVE,328
$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,-486.86569
$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,19
$R_STBD_OVSHOOT,33
$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
$GPS1,002107,5718.303,-14100.803,34,0.8,34
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-52.1
$GPS2,003051,5718.333,-14100.948,11,1.3,11,23.4
$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,277.6,366010,-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,-121.7,0.0,0.0,0,63,0.00,0.00,-42.28,0.000,2,0.000,0.000,288,2151,2650
$GC,64,-1.17,-121.7,3.2,-7.5,4,97,11.45,2.80,-12.75,0.000,4,0.167,0.062,2252,734,3215
$GC,212,-1.17,-121.7,28.9,-16.1,18,224,0.00,2.62,0.00,0.000,6,0.000,0.035,2252,2140,3217
$GC,536,-1.17,-121.7,75.3,-13.4,41,545,0.00,2.72,0.00,0.000,4,0.000,0.052,2252,729,3220
$GC,592,-1.17,-121.7,83.4,-13.4,43,597,0.00,2.62,0.00,0.000,6,0.000,0.036,2252,2143,3221
$GC,901,-1.17,-121.7,123.2,-12.3,59,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2142,3221
$GC,1242,-1.17,-121.7,164.7,-12.1,73,1250,0.00,2.72,0.00,0.000,4,0.000,0.053,2252,734,3222
$GC,1272,-1.17,-121.7,168.5,-12.4,73,1281,0.00,2.62,0.00,0.000,6,0.000,0.038,2252,2142,3221
$GC,1607,-1.17,-121.7,205.3,-11.0,82,1616,0.00,2.72,0.00,0.000,4,0.000,0.053,2252,733,3221
$GC,1658,-1.17,-121.7,211.5,-10.6,83,1667,0.00,2.65,0.00,0.000,6,0.000,0.038,2252,2149,3222
$GC,1972,-1.17,-121.7,245.1,-10.8,91,1980,0.00,2.72,0.00,0.000,4,0.000,0.054,2252,733,3222
$GC,1998,-1.17,-121.7,248.3,-11.9,91,2007,0.00,2.65,0.00,0.000,6,0.000,0.038,2252,2147,3221
$GC,2336,-1.17,-121.7,286.2,-11.2,100,2345,0.00,2.50,0.00,0.000,4,0.000,0.064,2252,3555,3221
$GC,2386,-1.17,-121.7,292.3,-11.8,101,2391,0.00,2.42,0.00,0.000,6,0.000,0.043,2252,2138,3221
$GC,2779,-1.17,-121.7,334.7,-10.8,105,2787,0.00,2.70,0.00,0.000,4,0.000,0.057,2252,741,3221
$GC,2825,-1.17,-121.7,339.8,-11.4,105,2834,0.00,2.62,0.00,0.000,6,0.000,0.039,2252,2144,3221
$GC,3262,-1.17,-121.7,382.1,-9.5,108,3271,0.00,2.72,0.00,0.000,4,0.000,0.056,2252,740,3221
$GC,3340,-1.17,-121.7,389.3,-8.6,108,3348,0.00,2.65,0.00,0.000,6,0.000,0.040,2253,2145,3221
$GC,3746,-1.17,-121.7,423.4,-8.4,111,3755,0.00,2.72,0.00,0.000,4,0.000,0.057,2252,741,3221
$GC,3786,-1.17,-121.7,427.1,-9.4,111,3795,0.00,2.65,0.00,0.000,6,0.000,0.041,2252,2144,3221
$GC,4229,-1.17,-121.7,468.5,-9.6,114,4237,0.00,2.53,0.00,0.000,4,0.000,0.068,2251,3554,3221
$GC,4260,-1.17,-121.7,471.6,-10.7,114,4264,0.00,2.42,0.00,0.000,6,0.000,0.045,2251,2142,3221
$GC,4713,-1.17,-121.7,511.5,-8.7,117,4721,0.00,2.72,0.00,0.000,4,0.000,0.059,2252,740,3221
$GC,4748,-1.17,-121.7,514.5,-8.6,117,4757,0.00,2.65,0.00,0.000,6,0.000,0.041,2252,2147,3221
$GC,5197,-1.17,-121.7,552.3,-8.4,120,5205,0.00,2.75,0.00,0.000,4,0.000,0.058,2252,737,3221
$GC,5237,-1.17,-121.7,555.8,-8.5,120,5246,0.00,2.65,0.00,0.000,6,0.000,0.043,2252,2144,3222
$GC,5679,-1.17,-121.7,591.6,-8.0,123,5687,0.00,2.72,0.00,0.000,4,0.000,0.059,2252,742,3221
$GC,5721,-1.17,-121.7,594.8,-7.1,123,5729,0.00,2.65,0.00,0.000,6,0.000,0.044,2252,2144,3221
$GC,6163,-1.17,-121.7,627.7,-7.4,126,6171,0.00,2.75,0.00,0.000,4,0.000,0.061,2252,741,3221
$GC,6188,-1.17,-121.7,629.9,-8.7,126,6197,0.00,2.65,0.00,0.000,6,0.000,0.044,2252,2143,3221
$GC,6645,-1.17,-121.7,669.1,-8.7,129,6654,0.00,2.75,0.00,0.000,4,0.000,0.063,2252,742,3220
$GC,6678,-1.17,-121.7,671.7,-10.0,129,6687,0.00,2.65,0.00,0.000,6,0.000,0.045,2252,2142,3220
$GC,7130,-1.17,-121.7,710.1,-8.4,132,7138,0.00,2.75,0.00,0.000,4,0.000,0.064,2252,743,3220
$GC,7177,-1.17,-121.7,714.0,-8.4,132,7185,0.00,2.67,0.00,0.000,6,0.000,0.046,2252,2147,3220
$GC,7614,-1.17,-121.7,748.4,-7.8,135,7622,0.00,2.78,0.00,0.000,4,0.000,0.064,2252,743,3220
$GC,7669,-1.17,-121.7,753.1,-8.3,135,7678,0.00,2.67,0.00,0.000,6,0.000,0.046,2252,2147,3220
$GC,8098,-1.17,-121.7,786.0,-7.7,138,8106,0.00,2.55,0.00,0.000,4,0.000,0.074,2251,3557,3219
$GC,8138,-1.17,-121.7,789.4,-8.4,138,8142,0.00,2.42,0.00,0.000,6,0.000,0.048,2252,2148,3219
$GC,8580,-1.17,-121.7,822.0,-7.3,141,8588,0.00,2.78,0.00,0.000,4,0.000,0.066,2251,738,3218
$GC,8637,-1.17,-121.7,826.5,-8.1,141,8646,0.00,2.67,0.00,0.000,6,0.000,0.046,2252,2148,3218
$GC,9065,-1.17,-121.7,856.2,-6.9,144,9074,0.00,2.78,0.00,0.000,4,0.000,0.064,2252,739,3218
$GC,9111,-1.17,-121.7,859.5,-7.5,144,9120,0.00,2.67,0.00,0.000,6,0.000,0.045,2252,2150,3218
$GC,9549,-1.17,-121.7,890.7,-7.1,147,9558,0.00,2.80,0.00,0.000,4,0.000,0.065,2252,732,3218
$GC,9615,-1.17,-121.7,895.6,-7.7,147,9624,0.00,2.67,0.00,0.000,6,0.000,0.046,2252,2143,3217
$GC,10032,-1.17,-121.7,924.2,-6.8,150,10040,0.00,2.78,0.00,0.000,4,0.000,0.064,2252,735,3217
$GC,10074,-1.17,-121.7,927.4,-7.6,150,10082,0.00,2.67,0.00,0.000,6,0.000,0.046,2251,2145,3216
$GC,10516,-1.17,-121.7,960.7,-7.5,153,10524,0.00,2.78,0.00,0.000,4,0.000,0.065,2252,738,3215
$GC,10571,-1.17,-121.7,965.4,-8.4,153,10580,0.00,2.67,0.00,0.000,6,0.000,0.047,2252,2147,3216
$GC,11003,-0.31,0.0,998.9,7.9,156,11158,0.98,0.00,108.75,1.379,6,0.104,0.000,2443,2146,2714
$GC,11162,1.17,121.7,1001.8,6.3,157,11274,1.55,2.40,102.62,1.379,4,0.079,0.067,2771,3412,2220
$GC,11348,1.17,121.7,989.1,10.4,158,11357,0.00,2.47,0.00,0.000,6,0.000,0.048,2773,2016,2220
$GC,11812,1.17,121.7,945.9,9.4,161,11970,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2016,2217
$GC,12292,1.17,121.7,899.9,9.5,164,12301,0.00,2.53,0.00,0.000,4,0.000,0.064,2773,3421,2217
$GC,12403,1.17,121.7,889.0,9.3,164,12412,0.00,2.45,0.00,0.000,6,0.000,0.048,2773,2011,2217
$GC,12776,1.17,121.7,856.9,8.6,167,12934,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2011,2217
$GC,13256,1.17,121.7,817.2,8.3,170,13265,0.00,2.53,0.00,0.000,4,0.000,0.063,2773,3420,2215
$GC,13313,1.17,121.7,812.3,8.2,170,13317,0.00,2.45,0.00,0.000,6,0.000,0.048,2773,2011,2215
$GC,13742,1.17,122.4,778.2,8.0,173,13750,0.00,2.55,0.00,0.000,4,0.000,0.064,2773,3428,2215
$GC,13787,1.17,122.4,774.4,8.5,173,13791,0.00,2.45,0.00,0.000,6,0.000,0.048,2773,2012,2216
$GC,14224,1.17,129.2,740.6,7.7,176,14238,0.00,2.58,5.28,1.315,4,0.000,0.063,2773,3420,2190
$GC,14333,1.18,129.2,730.8,9.2,176,14341,0.00,2.45,0.00,0.000,6,0.000,0.048,2773,2011,2190
$GC,14710,1.18,129.2,700.4,8.0,179,14869,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2011,2189
$GC,15190,1.18,132.6,662.7,7.8,182,15199,0.00,2.60,2.33,1.311,4,0.000,0.063,2773,3420,2176
$GC,15238,1.18,132.6,658.4,9.8,182,15242,0.00,2.45,0.00,0.000,6,0.000,0.048,2773,2011,2176
$GC,15675,1.18,132.6,621.5,8.5,185,15684,0.00,2.53,0.00,0.000,4,0.000,0.064,2773,3421,2175
$GC,15746,1.18,132.6,614.8,9.2,185,15754,0.00,2.45,0.00,0.000,6,0.000,0.047,2773,2009,2175
$GC,16157,1.18,132.6,579.3,8.6,188,16166,0.00,2.53,0.00,0.000,4,0.000,0.063,2773,3421,2176
$GC,16185,1.18,132.6,577.1,9.7,188,16194,0.00,2.45,0.00,0.000,6,0.000,0.047,2773,2006,2175
$GC,16642,1.18,137.6,541.2,7.8,191,16801,0.00,0.00,4.18,1.233,6,0.000,0.000,2773,2006,2155
$GC,17122,1.19,137.6,500.8,8.3,194,17131,0.00,2.53,0.00,0.000,4,0.000,0.061,2773,3422,2155
$GC,17173,1.19,137.6,496.0,9.8,194,17182,0.00,2.42,0.00,0.000,6,0.000,0.045,2773,2010,2154
$GC,17605,1.19,137.6,460.6,8.1,197,17613,0.00,2.72,0.00,0.000,4,0.000,0.062,2773,603,2154
$GC,17637,1.19,137.6,458.1,8.2,197,17645,0.00,2.62,0.00,0.000,6,0.000,0.039,2773,2014,2154
$GC,18089,1.19,153.6,425.0,7.3,200,18108,0.00,2.62,12.77,1.123,4,0.000,0.061,2773,3425,2090
$GC,18175,1.21,153.6,417.7,8.8,200,18184,0.00,2.47,0.00,0.000,6,0.000,0.045,2773,2008,2090
$GC,18571,1.21,159.2,386.8,7.7,203,18580,0.00,2.75,4.28,1.154,4,0.000,0.061,2773,602,2067
$GC,18609,1.21,162.0,383.7,7.9,203,18618,0.00,2.65,2.12,1.192,6,0.000,0.039,2773,2014,2056
$GC,19056,1.22,165.0,348.7,7.9,206,19065,0.00,2.58,2.33,1.161,4,0.000,0.061,2773,3423,2043
$GC,19106,1.22,165.0,344.3,9.3,206,19110,0.00,2.45,0.00,0.000,6,0.000,0.044,2773,2008,2043
$GC,19538,1.22,165.0,307.7,8.5,209,19547,0.00,2.70,0.00,0.000,4,0.000,0.060,2773,603,2043
$GC,19580,1.22,165.0,304.0,10.1,209,19589,0.00,2.62,0.00,0.000,6,0.000,0.038,2773,2016,2043
$GC,19902,1.22,174.5,279.0,7.6,215,19941,0.00,0.00,7.30,1.036,6,0.000,0.000,2773,2015,2005
$GC,20263,1.23,194.0,252.5,7.1,224,20287,0.00,2.83,15.15,0.979,4,0.000,0.058,2773,602,1925
$GC,20304,1.25,197.8,249.3,7.8,225,20313,0.00,2.65,2.88,1.040,6,0.000,0.037,2773,2014,1909
$GC,20627,1.25,197.8,223.4,8.1,233,20665,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2014,1909
$GC,20988,1.25,197.8,193.8,8.2,242,20996,0.00,2.75,0.00,0.000,4,0.000,0.058,2773,601,1909
$GC,21025,1.25,197.8,190.4,8.6,242,21029,0.00,2.62,0.00,0.000,6,0.000,0.037,2773,2016,1909
$GC,21351,1.25,208.4,165.7,7.5,251,21365,0.00,2.83,8.07,0.933,4,0.000,0.058,2773,603,1867
$GC,21421,1.27,208.4,159.5,9.0,252,21433,0.00,2.62,0.00,0.000,6,0.000,0.037,2773,2014,1866
$GC,21735,1.27,214.7,134.5,7.7,265,21749,0.00,2.78,4.53,0.939,4,0.000,0.057,2773,602,1841
$GC,21782,1.27,214.7,130.6,8.1,267,21791,0.00,2.62,0.00,0.000,6,0.000,0.036,2773,2012,1841
$GC,22101,1.27,244.4,108.9,6.7,283,22130,0.00,2.83,22.67,0.851,4,0.000,0.055,2773,612,1719
$GC,22179,1.31,264.3,103.4,7.1,286,22204,0.08,2.65,14.90,0.858,6,0.051,0.037,2799,2009,1638
$GC,22508,1.33,264.3,76.8,8.6,303,22516,0.00,2.50,0.00,0.000,4,0.000,0.056,2799,3423,1638
$GC,22534,1.33,264.3,74.2,10.6,304,22543,0.00,2.45,0.00,0.000,6,0.000,0.041,2799,2009,1638
$GC,22851,1.33,266.1,48.4,7.9,320,22862,0.00,2.72,0.00,0.000,4,0.000,0.060,2799,601,1638
$GC,22931,1.33,266.1,41.4,8.4,327,22937,0.00,2.65,0.00,0.000,6,0.000,0.037,2799,2010,1638
$GC,23244,1.33,284.5,19.9,7.2,358,23270,0.00,0.00,14.98,0.798,6,0.000,0.000,2799,2009,1556
$FINISH,1.0,1.024685,0
$SM_CCo,23489,25.45,0.779,0,0,1411,320.12
$TT8_MAMPS,0.027612
$HUMID,2146
$TCM_TEMP,4.50
$ALTIM_TOP_PING,0.0,0.0
$ALTIM_BOTTOM_PING,0.0,0.0
$24V_AH,23.2,53.095
$10V_AH,10.0,39.615
$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,25.725,231.625,335.125,25.450,0.000,63.639,113.227,177.014,0.000,48.219,940.487,18277.377,1480.691,1983.493,1501.078,0.000,2743.386,505.572,1301.332,0.000,0.000
$DEVICE_MAMPS,167.206,74.399,1379.066,779.272,0.000,103.000,160.000,223.000,0.000,165.000,18.650,1.040,18.650,38.650,44.650,0.000,12.000,3.000,26.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,454.259,313.413,565.324,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,20895,381
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201005,070437,5718.604,-14111.384,38,1.2,38,23.3