version: 65.00
glider: 23
mission: 1
dive: 400
start: 11 9 105 5 29 23
data:
$ID,23
$MISSION,1
$DIVE,400
$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,543.83008
$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,-543.48083
$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,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,475
$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
$GPS1,052307,5843.062,-14638.844,31,1.1,31
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-50.2
$GPS2,052909,5843.080,-14638.870,15,1.3,15,22.4
$SPEED_LIMITS,0.138,0.204
$TGT_NAME,PICKUP_N
$TGT_LATLONG,5906.000,-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,348.8,43278,-16.6,-7.990
$D_GRID,2584
$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,-121.7,0.0,0.0,0,104,0.00,0.00,-82.93,0.000,2,0.000,0.000,290,2155,2773
$GC,106,-1.17,-121.7,3.4,-6.9,8,138,11.52,2.80,-9.75,0.000,4,0.170,0.066,2251,732,3215
$GC,265,-1.17,-121.7,31.0,-16.4,23,271,0.00,2.67,0.00,0.000,6,0.000,0.037,2251,2126,3218
$GC,574,-1.17,-121.7,79.0,-14.6,45,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2127,3224
$GC,895,-1.17,-121.7,121.7,-13.7,61,903,0.00,2.72,0.00,0.000,4,0.000,0.054,2251,730,3241
$GC,925,-1.17,-121.7,125.7,-12.8,62,936,0.00,2.70,0.00,0.000,6,0.000,0.038,2251,2152,3241
$GC,1238,-1.17,-121.7,160.9,-11.3,76,1247,0.00,2.78,0.00,0.000,4,0.000,0.055,2251,731,3246
$GC,1269,-1.17,-121.7,164.4,-12.5,76,1278,0.00,2.65,0.00,0.000,6,0.000,0.039,2251,2143,3247
$GC,1602,-1.17,-121.7,198.2,-9.8,85,1610,0.00,2.78,0.00,0.000,4,0.000,0.056,2251,725,3247
$GC,1632,-1.17,-121.7,201.3,-9.8,85,1641,0.00,2.70,0.00,0.000,6,0.000,0.039,2251,2146,3247
$GC,1965,-1.17,-121.7,234.5,-10.6,94,1973,0.00,2.78,0.00,0.000,4,0.000,0.057,2251,727,3247
$GC,2015,-1.17,-121.7,240.4,-11.2,95,2024,0.00,2.67,0.00,0.000,6,0.000,0.041,2251,2142,3248
$GC,2329,-1.17,-121.7,274.6,-10.9,103,2337,0.00,2.78,0.00,0.000,4,0.000,0.057,2251,727,3247
$GC,2369,-1.17,-121.7,279.1,-10.8,104,2378,0.00,2.67,0.00,0.000,6,0.000,0.041,2251,2143,3248
$GC,2770,-1.17,-121.7,318.1,-9.6,111,2779,0.00,2.78,0.00,0.000,4,0.000,0.057,2251,733,3247
$GC,2876,-1.17,-121.7,329.0,-10.4,111,2885,0.00,2.67,0.00,0.000,6,0.000,0.041,2251,2145,3247
$GC,3253,-1.17,-121.7,369.0,-10.7,114,3261,0.00,2.78,0.00,0.000,4,0.000,0.058,2251,727,3247
$GC,3298,-1.17,-121.7,373.7,-11.2,114,3307,0.00,2.70,0.00,0.000,6,0.000,0.041,2251,2144,3248
$GC,3735,-1.17,-121.7,414.5,-9.2,117,3743,0.00,2.78,0.00,0.000,4,0.000,0.058,2251,726,3248
$GC,3780,-1.17,-121.7,419.0,-10.3,117,3789,0.00,2.67,0.00,0.000,6,0.000,0.041,2251,2144,3248
$GC,4217,-1.17,-121.7,462.2,-9.9,120,4226,0.00,2.80,0.00,0.000,4,0.000,0.059,2251,727,3247
$GC,4293,-1.17,-121.7,470.2,-10.8,120,4302,0.00,2.67,0.00,0.000,6,0.000,0.041,2251,2144,3248
$GC,4700,-1.17,-121.7,506.7,-8.8,123,4708,0.00,2.78,0.00,0.000,4,0.000,0.060,2251,731,3247
$GC,4791,-1.17,-121.7,515.4,-8.7,123,4800,0.00,2.67,0.00,0.000,6,0.000,0.044,2251,2142,3247
$GC,5182,-1.17,-121.7,552.8,-9.6,126,5191,0.00,2.80,0.00,0.000,4,0.000,0.060,2251,731,3247
$GC,5248,-1.17,-121.7,559.6,-11.4,126,5257,0.00,2.70,0.00,0.000,6,0.000,0.044,2251,2149,3248
$GC,5665,-1.17,-121.7,600.9,-9.8,129,5673,0.00,2.83,0.00,0.000,4,0.000,0.061,2251,731,3247
$GC,5725,-1.17,-121.7,607.0,-10.7,129,5734,0.00,2.70,0.00,0.000,6,0.000,0.044,2251,2149,3247
$GC,6147,-1.17,-121.7,645.6,-9.0,132,6156,0.00,2.80,0.00,0.000,4,0.000,0.063,2251,733,3247
$GC,6233,-1.17,-121.7,653.9,-10.4,132,6242,0.00,2.70,0.00,0.000,6,0.000,0.046,2251,2148,3247
$GC,6630,-1.17,-121.7,689.8,-9.0,135,6638,0.00,2.83,0.00,0.000,4,0.000,0.064,2251,727,3247
$GC,6705,-1.17,-121.7,697.2,-9.4,135,6714,0.00,2.75,0.00,0.000,6,0.000,0.046,2251,2143,3247
$GC,7112,-1.17,-121.7,733.5,-8.9,138,7121,0.00,2.83,0.00,0.000,4,0.000,0.064,2251,732,3247
$GC,7157,-1.17,-121.7,737.6,-9.3,138,7166,0.00,2.70,0.00,0.000,6,0.000,0.046,2251,2143,3247
$GC,7594,-1.17,-121.7,774.0,-8.3,141,7603,0.00,2.80,0.00,0.000,4,0.000,0.064,2251,732,3247
$GC,7691,-1.17,-121.7,782.1,-8.3,141,7699,0.00,2.70,0.00,0.000,6,0.000,0.047,2251,2144,3247
$GC,8077,-1.17,-121.7,813.1,-7.9,144,8085,0.00,2.83,0.00,0.000,4,0.000,0.065,2251,734,3247
$GC,8163,-1.17,-121.7,820.3,-8.7,144,8172,0.00,2.70,0.00,0.000,6,0.000,0.046,2251,2150,3247
$GC,8559,-1.17,-121.7,855.4,-8.9,147,8568,0.00,2.83,0.00,0.000,4,0.000,0.065,2251,730,3247
$GC,8630,-1.17,-121.7,862.8,-10.5,147,8639,0.00,2.70,0.00,0.000,6,0.000,0.046,2251,2148,3247
$GC,9042,-1.17,-121.7,904.6,-10.1,150,9050,0.00,2.80,0.00,0.000,4,0.000,0.066,2251,733,3247
$GC,9072,-1.17,-121.7,907.7,-11.7,150,9081,0.00,2.70,0.00,0.000,6,0.000,0.047,2251,2151,3246
$GC,9524,-1.17,-121.7,949.3,-9.1,153,9533,0.00,2.85,0.00,0.000,4,0.000,0.066,2251,729,3246
$GC,9610,-1.17,-121.7,956.9,-8.4,153,9619,0.00,2.70,0.00,0.000,6,0.000,0.048,2251,2148,3246
$GC,10007,-1.17,-121.7,988.7,-8.0,156,10015,0.00,2.80,0.00,0.000,4,0.000,0.066,2251,733,3246
$GC,10031,-0.31,0.0,990.4,8.5,156,10495,0.95,0.00,360.00,0.548,6,0.105,0.000,2441,2146,3240
$GC,10496,1.17,121.7,1013.0,5.1,159,10820,1.52,0.00,220.60,1.324,6,0.065,0.000,2776,2146,2220
$GC,11140,1.17,121.7,980.3,8.1,163,11148,0.00,3.15,0.00,0.000,4,0.000,0.066,2776,560,2221
$GC,11201,1.17,121.7,974.6,9.6,163,11210,0.00,2.70,0.00,0.000,6,0.000,0.043,2776,1974,2221
$GC,11623,1.17,121.7,936.6,9.0,166,11631,0.00,2.55,0.00,0.000,4,0.000,0.066,2776,3384,2220
$GC,11790,1.17,121.7,919.7,10.6,167,11799,0.00,2.47,0.00,0.000,6,0.000,0.046,2776,1973,2221
$GC,12108,1.17,121.7,890.3,9.0,169,12116,0.00,2.55,0.00,0.000,4,0.000,0.062,2776,3385,2221
$GC,12158,1.17,121.7,885.6,10.1,169,12167,0.00,2.47,0.00,0.000,6,0.000,0.045,2776,1975,2221
$GC,12591,1.17,126.4,851.3,7.8,172,12600,0.00,2.60,3.17,1.368,4,0.000,0.061,2776,3380,2200
$GC,12733,1.18,151.3,840.9,6.9,172,12762,0.00,2.47,20.70,1.275,6,0.000,0.045,2776,1975,2099
$GC,13076,1.20,152.6,814.5,7.9,175,13234,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1976,2099
$GC,13557,1.21,152.6,770.9,8.8,178,13565,0.00,2.55,0.00,0.000,4,0.000,0.061,2776,3386,2099
$GC,13658,1.21,152.6,760.3,10.5,178,13666,0.00,2.47,0.00,0.000,6,0.000,0.046,2776,1976,2099
$GC,14039,1.21,152.6,724.2,9.4,181,14197,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1976,2100
$GC,14520,1.21,152.6,683.3,8.8,184,14528,0.00,2.55,0.00,0.000,4,0.000,0.063,2777,3384,2100
$GC,14631,1.21,165.5,674.5,7.4,184,14650,0.00,2.47,11.32,1.236,6,0.000,0.047,2776,1974,2042
$GC,15003,1.22,177.9,646.8,7.4,187,15162,0.00,0.00,10.27,1.194,6,0.000,0.000,2776,1973,1990
$GC,15483,1.23,177.9,602.9,8.7,190,15492,0.00,2.55,0.00,0.000,4,0.000,0.062,2776,3384,1990
$GC,15599,1.23,177.9,590.0,11.1,190,15608,0.00,2.47,0.00,0.000,6,0.000,0.047,2776,1972,1990
$GC,15966,1.23,177.9,555.7,9.3,193,15974,0.00,2.78,0.00,0.000,4,0.000,0.067,2776,563,1990
$GC,15996,1.23,177.9,552.9,9.3,193,16005,0.00,2.65,0.00,0.000,6,0.000,0.040,2776,1980,1990
$GC,16449,1.23,177.9,514.0,8.5,196,16457,0.00,2.80,0.00,0.000,4,0.000,0.062,2776,555,1990
$GC,16686,1.23,178.3,493.9,8.0,197,16695,0.00,2.67,0.00,0.000,6,0.000,0.041,2776,1980,1990
$GC,17094,1.23,188.3,463.2,7.6,200,17108,0.00,2.88,8.12,1.144,4,0.000,0.063,2776,565,1949
$GC,17210,1.24,188.3,452.6,10.0,200,17219,0.00,2.65,0.00,0.000,6,0.000,0.041,2776,1976,1949
$GC,17577,1.24,188.3,422.0,8.4,203,17585,0.00,2.53,0.00,0.000,4,0.000,0.063,2776,3382,1949
$GC,17673,1.24,188.3,412.9,8.8,203,17682,0.00,2.45,0.00,0.000,6,0.000,0.045,2776,1973,1948
$GC,18061,1.24,188.3,379.7,8.5,206,18069,0.00,2.53,0.00,0.000,4,0.000,0.060,2776,3388,1949
$GC,18101,1.24,188.3,376.1,8.5,206,18110,0.00,2.47,0.00,0.000,6,0.000,0.045,2776,1970,1949
$GC,18543,1.24,194.5,341.4,7.7,209,18702,0.00,0.00,5.20,1.084,6,0.000,0.000,2776,1970,1922
$GC,19023,1.25,195.2,302.4,8.0,212,19032,0.00,2.55,0.00,0.000,4,0.000,0.058,2776,3389,1922
$GC,19109,1.25,195.2,294.8,9.4,212,19118,0.00,2.47,0.00,0.000,6,0.000,0.045,2776,1972,1922
$GC,19426,1.25,195.2,267.7,8.6,219,19434,0.00,2.75,0.00,0.000,4,0.000,0.063,2776,561,1922
$GC,19456,1.25,195.2,264.9,9.5,219,19468,0.00,2.65,0.00,0.000,6,0.000,0.039,2776,1986,1922
$GC,19787,1.25,197.9,238.5,7.9,228,19796,0.00,2.58,2.67,1.055,4,0.000,0.058,2776,3387,1908
$GC,19830,1.25,202.0,235.0,7.8,229,19839,0.00,2.47,3.17,1.046,6,0.000,0.044,2776,1972,1892
$GC,20151,1.26,207.0,208.7,7.8,237,20160,0.00,2.58,3.95,1.013,4,0.000,0.057,2776,3377,1870
$GC,20202,1.26,207.0,204.6,8.3,238,20211,0.00,2.47,0.00,0.000,6,0.000,0.044,2776,1971,1871
$GC,20514,1.26,227.8,182.8,7.1,246,20538,0.00,2.83,16.17,0.921,4,0.000,0.064,2776,563,1786
$GC,20565,1.29,239.3,178.8,7.5,247,20579,0.00,2.65,8.73,0.926,6,0.000,0.039,2776,1973,1740
$GC,20920,1.30,239.4,150.0,8.0,256,20928,0.00,2.78,0.00,0.000,4,0.000,0.063,2776,559,1739
$GC,20965,1.30,246.4,146.0,7.7,258,20982,0.00,2.65,5.28,0.933,6,0.000,0.039,2776,1978,1710
$GC,21282,1.31,257.8,122.5,7.5,274,21303,0.12,0.00,8.65,0.897,6,0.060,0.000,2806,1979,1663
$GC,21603,1.32,257.8,95.3,8.5,290,21611,0.00,2.53,0.00,0.000,4,0.000,0.058,2806,3390,1663
$GC,21658,1.32,257.8,89.9,10.4,292,21665,0.00,2.50,0.00,0.000,6,0.000,0.044,2806,1981,1663
$GC,21965,1.32,272.5,64.0,7.3,308,21987,0.00,2.80,10.73,0.841,4,0.000,0.061,2806,565,1603
$GC,22072,1.34,296.3,56.6,6.9,313,22096,0.00,2.65,17.92,0.809,6,0.000,0.038,2806,1977,1507
$GC,22406,1.36,301.2,30.8,7.8,341,22415,0.00,0.00,3.22,0.880,6,0.000,0.000,2806,1977,1486
$GC,22718,1.37,301.2,4.4,9.5,372,22727,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1979,1486
$FINISH,0.4,1.025279,0
$SM_CCo,22787,185.35,0.704,1,0,498,544.08
$TT8_MAMPS,0.026845
$HUMID,2125
$TCM_TEMP,3.50
$ALTIM_TOP_PING,0.0,0.0
$ALTIM_BOTTOM_PING,0.0,0.0
$24V_AH,23.0,63.804
$10V_AH,10.0,47.064
$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,25.750,225.450,719.900,185.350,0.000,31.293,35.372,157.746,0.000,50.079,904.695,17262.348,2092.887,2029.616,1128.982,0.000,3417.649,0.000,1327.210,0.000,0.000
$DEVICE_MAMPS,170.274,66.729,1367.561,704.106,0.000,103.000,160.000,223.000,0.000,165.000,18.650,1.040,18.650,38.650,44.650,0.000,12.000,3.000,26.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,447.004,316.423,572.739,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,20711,377
$ERRORS,0,1,0,0,0,0,0,0,0,0,1,0,104,2,0
$GPS,091105,052909,5843.080,-14638.870,902,99.0,902,22.4