version: 66.00
glider: 23
mission: 1
dive: 104
start: 9 25 106 18 37 54
data:
$ID,23
$MISSION,1
$DIVE,104
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$T_DIVE,550
$T_MISSION,600
$T_TURN,240
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52064
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-06
$HEADING,-1
$TGT_DEFAULT_LAT,22.349001
$TGT_DEFAULT_LON,-159.567
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-75572.125
$T_RSLEEP,5
$PITCH_MIN,405
$PITCH_MAX,3489
$C_PITCH,2495
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$ROLL_MIN,208
$ROLL_MAX,3567
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$VBD_MIN,500
$VBD_MAX,3664
$C_VBD,2773
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-30.332773
$PRESSURE_SLOPE,0.0001163668
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$ALTIM_BOTTOM_PING_RANGE,15
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,3
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,5
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,0
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043036696
$SEABIRD_T_H,0.00062677584
$SEABIRD_T_I,2.2664151e-05
$SEABIRD_T_J,2.2667414e-06
$SEABIRD_C_G,-10.310682
$SEABIRD_C_H,1.1615626
$SEABIRD_C_I,-0.0017275931
$SEABIRD_C_J,0.00021877716
$GPS1,182355,2235.273,-15831.940,85,1.8,102
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-58.0
$GPS2,183705,2235.249,-15832.087,11,2.7,30,10.0
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,HOME1
$TGT_LATLONG,2200.000,-15900.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.174,-0.128
$KALMAN_X,-37120.2,-397.7,-98.2,146848.4,1553.6
$KALMAN_Y,-98367.9,-24.9,-62.5,126451.2,-1497.0
$MHEAD_RNG_PITCHd_Wd,223.7,80988,-11.3,-6.000
$D_GRID,990
$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,20,-0.86,-146.0,0.0,0.0,0,75,0.00,0.00,-52.97,0.000,2,0.000,0.000,392,1977,2746
$GC,77,-0.86,-146.0,3.1,-3.9,8,110,10.32,2.75,-13.65,0.000,4,0.148,0.067,2300,579,3370
$GC,248,-0.86,-146.0,27.3,-12.8,31,255,0.00,2.70,0.00,0.000,6,0.000,0.041,2301,2000,3371
$GC,441,-0.86,-146.0,53.5,-12.8,47,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2002,3371
$GC,639,-0.86,-146.0,78.9,-12.4,63,646,0.00,2.85,0.00,0.000,4,0.000,0.058,2301,581,3372
$GC,696,-0.86,-146.0,85.6,-12.3,67,704,0.00,2.67,0.00,0.000,6,0.000,0.041,2300,1997,3372
$GC,889,-0.86,-146.0,105.2,-10.1,83,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1999,3374
$GC,1125,-0.86,-146.0,125.1,-8.0,98,1132,0.00,2.85,0.00,0.000,4,0.000,0.059,2300,580,3375
$GC,1188,-0.86,-146.0,131.3,-10.2,99,1195,0.00,2.70,0.00,0.000,6,0.000,0.042,2300,1994,3376
$GC,1554,-0.86,-146.0,167.6,-9.7,105,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1995,3377
$GC,1916,-0.86,-146.0,197.0,-7.7,111,1924,0.00,2.85,0.00,0.000,4,0.000,0.060,2300,578,3377
$GC,1993,-0.86,-146.0,202.8,-7.4,112,2000,0.00,2.70,0.00,0.000,6,0.000,0.043,2300,1991,3377
$GC,2347,-0.86,-146.0,226.6,-6.6,118,2354,0.00,2.42,0.00,0.000,4,0.000,0.059,2300,3416,3379
$GC,2489,-0.86,-146.0,238.8,-9.1,120,2496,0.00,2.38,0.00,0.000,6,0.000,0.049,2300,1995,3380
$GC,2836,-0.86,-146.0,267.8,-8.1,126,2843,0.00,2.83,0.00,0.000,4,0.000,0.064,2300,593,3379
$GC,2882,-0.86,-146.0,270.7,-7.3,126,2889,0.00,2.67,0.00,0.000,6,0.000,0.044,2300,1994,3379
$GC,3206,-0.86,-146.0,289.9,-5.9,132,3213,0.00,2.85,0.00,0.000,4,0.000,0.063,2300,588,3378
$GC,3251,-0.86,-146.0,292.7,-6.5,132,3258,0.00,2.70,0.00,0.000,6,0.000,0.044,2300,1997,3378
$GC,3574,-0.86,-146.0,315.3,-7.3,138,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1996,3376
$GC,3937,-0.86,-146.0,343.1,-7.6,144,3944,0.00,2.85,0.00,0.000,4,0.000,0.066,2300,600,3374
$GC,4025,-0.86,-146.0,350.0,-7.5,145,4033,0.00,2.70,0.00,0.000,6,0.000,0.047,2300,1996,3374
$GC,4366,-0.86,-146.0,370.6,-5.7,151,4374,0.00,2.85,0.00,0.000,4,0.000,0.066,2300,590,3371
$GC,4430,-0.86,-146.0,374.1,-5.9,152,4437,0.00,2.72,0.00,0.000,6,0.000,0.048,2300,1993,3371
$GC,4795,-0.86,-146.0,395.3,-6.0,158,4803,0.00,2.88,0.00,0.000,4,0.000,0.069,2300,593,3368
$GC,4853,-0.86,-146.0,399.0,-6.5,158,4860,0.00,2.75,0.00,0.000,6,0.000,0.048,2300,1996,3368
$GC,5162,-0.86,-146.0,417.1,-5.8,164,5169,0.00,2.88,0.00,0.000,4,0.000,0.069,2300,595,3365
$GC,5232,-0.86,-146.0,421.3,-6.4,165,5239,0.00,2.75,0.00,0.000,6,0.000,0.048,2300,1992,3364
$GC,5593,-0.86,-146.0,442.5,-5.9,171,5600,0.00,2.88,0.00,0.000,4,0.000,0.070,2300,600,3361
$GC,5620,-0.86,-146.0,444.4,-6.6,171,5627,0.00,2.72,0.00,0.000,6,0.000,0.050,2300,1993,3362
$GC,5961,-0.86,-146.0,469.3,-7.5,177,5969,0.00,2.88,0.00,0.000,4,0.000,0.071,2300,602,3358
$GC,6031,-0.86,-146.0,474.8,-8.2,178,6039,0.00,2.78,0.00,0.000,6,0.000,0.050,2300,1999,3358
$GC,6390,-0.86,-146.0,496.8,-5.6,184,6397,0.00,2.92,0.00,0.000,4,0.000,0.071,2300,590,3355
$GC,6441,-0.86,-146.0,499.6,-5.8,184,6448,0.00,2.78,0.00,0.000,6,0.000,0.051,2300,1992,3356
$GC,6759,-0.86,-146.0,515.2,-4.8,190,6766,0.00,2.90,0.00,0.000,4,0.000,0.072,2300,596,3353
$GC,6798,-0.86,-146.0,517.1,-5.1,190,6806,0.00,2.78,0.00,0.000,6,0.000,0.051,2300,1993,3353
$GC,7127,-0.86,-146.0,531.5,-4.6,196,7134,0.00,2.90,0.00,0.000,4,0.000,0.073,2300,600,3351
$GC,7166,-0.86,-146.0,533.9,-6.9,196,7173,0.00,2.78,0.00,0.000,6,0.000,0.052,2300,1995,3350
$GC,7495,-0.86,-146.0,559.3,-8.0,202,7502,0.00,2.92,0.00,0.000,4,0.000,0.073,2300,591,3349
$GC,7552,-0.86,-146.0,564.0,-8.5,202,7560,0.00,2.80,0.00,0.000,6,0.000,0.052,2300,1997,3348
$GC,7861,-0.86,-146.0,583.2,-5.8,208,7869,0.00,2.90,0.00,0.000,4,0.000,0.073,2300,599,3346
$GC,7919,-0.86,-146.0,585.6,-4.3,208,7926,0.00,2.78,0.00,0.000,6,0.000,0.052,2300,1994,3346
$GC,8228,-0.86,-146.0,594.8,-2.9,214,8288,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,1993,3343
$GC,8592,-0.86,-146.0,612.5,-5.4,220,8599,0.00,2.92,0.00,0.000,4,0.000,0.075,2300,593,3340
$GC,8655,-0.86,-146.0,616.8,-7.1,221,8662,0.00,2.80,0.00,0.000,6,0.000,0.054,2300,1997,3340
$GC,9020,-0.86,-146.0,638.8,-5.9,227,9028,0.00,2.90,0.00,0.000,4,0.000,0.075,2300,599,3340
$GC,9072,-0.86,-146.0,641.8,-6.4,227,9079,0.00,2.80,0.00,0.000,6,0.000,0.054,2300,1997,3341
$GC,9390,-0.86,-146.0,658.5,-5.2,233,9398,0.00,2.92,0.00,0.000,4,0.000,0.075,2300,596,3338
$GC,9429,-0.86,-146.0,660.6,-5.7,233,9436,0.00,2.83,0.00,0.000,6,0.000,0.055,2300,2000,3338
$GC,9758,-0.86,-146.0,677.2,-5.0,239,9765,0.00,2.92,0.00,0.000,4,0.000,0.076,2302,603,3337
$GC,9804,-0.86,-146.0,679.8,-5.8,239,9812,0.00,2.80,0.00,0.000,6,0.000,0.056,2300,1995,3337
$GC,10129,-0.86,-146.0,700.4,-6.6,245,10136,0.00,2.92,0.00,0.000,4,0.000,0.078,2300,595,3335
$GC,10162,-0.86,-146.0,703.1,-8.3,245,10169,0.00,2.80,0.00,0.000,6,0.000,0.056,2300,1991,3335
$GC,10497,-0.86,-146.0,726.5,-6.9,251,10504,0.00,2.92,0.00,0.000,4,0.000,0.078,2300,594,3334
$GC,10554,-0.86,-146.0,730.3,-7.2,251,10561,0.00,2.83,0.00,0.000,6,0.000,0.057,2300,1998,3335
$GC,10864,-0.86,-146.0,747.0,-5.2,257,10871,0.00,2.92,0.00,0.000,4,0.000,0.077,2300,597,3333
$GC,10904,-0.86,-146.0,749.1,-5.4,257,10911,0.00,2.83,0.00,0.000,6,0.000,0.057,2300,1999,3333
$GC,11234,-0.86,-146.0,766.5,-5.3,263,11242,0.00,2.92,0.00,0.000,4,0.000,0.077,2301,598,3332
$GC,11267,-0.86,-146.0,768.4,-6.0,263,11274,0.00,2.83,0.00,0.000,6,0.000,0.057,2300,1998,3332
$GC,11603,-0.86,-146.0,785.9,-5.1,269,11611,0.00,2.92,0.00,0.000,4,0.000,0.077,2300,597,3331
$GC,11649,-0.86,-146.0,788.5,-5.5,269,11657,0.00,2.80,0.00,0.000,6,0.000,0.056,2300,1991,3331
$GC,11974,-0.86,-146.0,803.9,-4.7,275,11981,0.00,2.92,0.00,0.000,4,0.000,0.076,2301,593,3330
$GC,12019,-0.86,-146.0,806.3,-5.6,275,12026,0.00,2.83,0.00,0.000,6,0.000,0.056,2300,1998,3330
$GC,12342,-0.86,-146.0,821.0,-4.6,281,12350,0.00,2.92,0.00,0.000,4,0.000,0.077,2300,600,3329
$GC,12376,-0.86,-146.0,822.6,-5.6,281,12383,0.00,2.80,0.00,0.000,6,0.000,0.057,2300,1991,3329
$GC,12711,-0.86,-146.0,841.0,-5.6,287,12718,0.00,2.92,0.00,0.000,4,0.000,0.077,2300,597,3328
$GC,12756,-0.86,-146.0,843.6,-5.8,287,12763,0.00,2.83,0.00,0.000,6,0.000,0.058,2300,1997,3328
$GC,13081,-0.86,-146.0,860.9,-5.3,293,13088,0.00,2.92,0.00,0.000,4,0.000,0.077,2300,592,3327
$GC,13132,-0.86,-146.0,863.8,-5.5,293,13140,0.00,2.83,0.00,0.000,6,0.000,0.057,2300,1997,3327
$GC,13207,-0.86,-146.0,867.2,-4.6,295,13267,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1996,3327
$GC,13328,-0.86,-146.0,872.2,-4.3,297,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1996,3327
$GC,13448,-0.86,-146.0,876.6,-3.9,299,13456,0.00,2.92,0.00,0.000,4,0.000,0.077,2300,602,3327
$GC,13475,-0.86,-146.0,877.5,-3.9,299,13483,0.00,2.80,0.00,0.000,6,0.000,0.058,2300,1991,3328
$GC,13575,-0.86,-146.0,880.8,-3.3,301,13634,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1990,3326
$GC,13695,-0.86,-146.0,884.5,-3.1,303,13702,0.00,2.92,0.00,0.000,4,0.000,0.077,2300,597,3326
$GC,13728,-0.86,-146.0,885.5,-2.9,303,13735,0.00,2.83,0.00,0.000,6,0.000,0.058,2300,1996,3326
$GC,13821,-0.86,-146.0,888.4,-3.1,305,13881,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1996,3326
$GC,13942,-0.86,-146.0,892.3,-3.1,307,13950,0.00,2.92,0.00,0.000,4,0.000,0.077,2300,599,3326
$GC,13975,-0.86,-146.0,893.2,-3.8,307,13982,0.00,2.83,0.00,0.000,6,0.000,0.058,2300,1997,3326
$GC,14068,-0.86,-146.0,896.4,-3.3,309,14128,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1997,3326
$GC,14189,-0.86,-146.0,900.6,-3.4,311,14196,0.00,2.92,0.00,0.000,4,0.000,0.077,2300,599,3326
$GC,14222,-0.86,-146.0,902.0,-4.2,311,14229,0.00,2.83,0.00,0.000,6,0.000,0.058,2300,1998,3325
$GC,14316,-0.86,-146.0,905.6,-3.9,313,14375,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1997,3325
$GC,14436,-0.86,-146.0,910.7,-4.1,315,14443,0.00,2.92,0.00,0.000,4,0.000,0.077,2300,598,3325
$GC,14469,-0.86,-146.0,912.2,-4.9,315,14476,0.00,2.83,0.00,0.000,6,0.000,0.058,2300,1995,3325
$GC,14562,-0.86,-146.0,916.7,-4.7,317,14622,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1994,3325
$GC,14683,-0.86,-146.0,922.2,-4.6,319,14743,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1994,3325
$GC,14804,-0.86,-146.0,928.3,-4.9,321,14811,0.00,2.92,0.00,0.000,4,0.000,0.078,2300,598,3325
$GC,14844,-0.86,-146.0,930.6,-6.0,321,14852,0.00,2.83,0.00,0.000,6,0.000,0.058,2300,1995,3325
$GC,14931,-0.86,-146.0,935.7,-5.7,323,14991,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1994,3324
$GC,15052,-0.86,-146.0,942.9,-5.9,325,15059,0.00,2.92,0.00,0.000,4,0.000,0.077,2300,601,3324
$GC,15097,-0.86,-146.0,946.0,-7.5,325,15105,0.00,2.83,0.00,0.000,6,0.000,0.059,2300,1993,3325
$GC,15179,-0.86,-146.0,951.3,-6.5,327,15238,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1993,3324
$GC,15542,-0.86,-146.0,975.6,-6.7,333,15549,0.00,2.92,0.00,0.000,4,0.000,0.077,2300,593,3324
$GC,15611,-0.86,-146.0,980.2,-6.4,334,15618,0.00,2.83,0.00,0.000,6,0.000,0.059,2300,1999,3324
$GC,15792,-0.31,0.0,991.0,6.1,337,15910,0.60,0.00,113.97,1.505,6,0.091,0.000,2426,1807,2772
$GC,15915,0.86,146.0,995.2,4.9,339,16046,1.20,2.75,121.22,1.493,4,0.080,0.076,2681,3214,2176
$GC,16212,0.86,146.0,975.2,8.1,343,16220,0.00,2.62,0.00,0.000,6,0.000,0.065,2680,1811,2174
$GC,16530,0.86,146.0,949.9,7.9,349,16537,0.00,2.62,0.00,0.000,4,0.000,0.069,2680,3211,2174
$GC,16575,0.86,146.0,945.9,7.9,349,16582,0.00,2.62,0.00,0.000,6,0.000,0.065,2684,1805,2173
$GC,16656,0.86,146.0,939.5,7.9,351,16716,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1805,2173
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