version: 66.00
glider: 23
mission: 1
dive: 108
start: 9 27 106 4 56 34
data:
$ID,23
$MISSION,1
$DIVE,108
$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,-75840.219
$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,18
$R_STBD_OVSHOOT,56
$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
$GPS1,044128,2224.287,-15845.100,54,2.7,73
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-53.1
$GPS2,045544,2224.312,-15845.287,42,1.9,61,9.9
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,HOME1
$TGT_LATLONG,2200.000,-15900.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.097,-0.194
$KALMAN_X,-38705.7,39.5,-215.8,125507.3,-325.7
$KALMAN_Y,-99444.1,-31.6,-347.1,107552.1,123.1
$MHEAD_RNG_PITCHd_Wd,196.6,51630,-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,19,-0.86,-146.0,0.0,0.0,0,75,0.00,0.00,-52.90,0.000,2,0.000,0.000,392,2005,2739
$GC,76,-0.86,-146.0,3.1,-3.8,8,110,10.23,2.88,-13.82,0.000,4,0.143,0.067,2301,584,3370
$GC,215,-0.86,-146.0,23.6,-14.6,29,222,0.00,2.65,0.00,0.000,6,0.000,0.041,2301,1981,3371
$GC,419,-0.86,-146.0,51.5,-13.8,45,427,0.00,2.85,0.00,0.000,4,0.000,0.060,2300,579,3371
$GC,446,-0.86,-146.0,55.4,-13.2,47,454,0.00,2.70,0.00,0.000,6,0.000,0.041,2300,1984,3371
$GC,647,-0.86,-146.0,75.5,-11.9,63,654,0.00,2.85,0.00,0.000,4,0.000,0.059,2300,582,3373
$GC,692,-0.86,-146.0,80.9,-12.3,66,699,0.00,2.70,0.00,0.000,6,0.000,0.041,2300,1994,3373
$GC,886,-0.86,-146.0,99.9,-8.8,82,893,0.00,2.88,0.00,0.000,4,0.000,0.060,2300,584,3374
$GC,913,-0.86,-146.0,102.2,-8.5,84,920,0.00,2.72,0.00,0.000,6,0.000,0.041,2300,1995,3375
$GC,1113,-0.86,-146.0,120.3,-10.0,100,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1996,3376
$GC,1477,-0.86,-146.0,154.5,-8.9,106,1484,0.00,2.88,0.00,0.000,4,0.000,0.061,2301,586,3377
$GC,1565,-0.86,-146.0,163.5,-10.0,107,1573,0.00,2.72,0.00,0.000,6,0.000,0.042,2300,1998,3377
$GC,1907,-0.86,-146.0,194.9,-9.6,113,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1997,3379
$GC,2270,-0.86,-146.0,220.0,-6.6,119,2277,0.00,2.88,0.00,0.000,4,0.000,0.061,2301,588,3380
$GC,2377,-0.86,-146.0,229.3,-8.4,120,2384,0.00,2.72,0.00,0.000,6,0.000,0.044,2300,1990,3380
$GC,2700,-0.86,-146.0,250.1,-5.8,126,2707,0.00,2.88,0.00,0.000,4,0.000,0.063,2300,583,3380
$GC,2758,-0.86,-146.0,252.8,-4.4,126,2765,0.00,2.75,0.00,0.000,6,0.000,0.045,2300,1991,3380
$GC,3067,-0.86,-146.0,275.6,-8.2,132,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1990,3379
$GC,3430,-0.86,-146.0,304.5,-7.2,138,3437,0.00,2.90,0.00,0.000,4,0.000,0.065,2300,582,3377
$GC,3598,-0.86,-146.0,317.2,-7.3,140,3606,0.00,2.78,0.00,0.000,6,0.000,0.047,2300,1993,3375
$GC,3921,-0.86,-146.0,337.1,-6.1,146,3928,0.00,2.90,0.00,0.000,4,0.000,0.066,2301,587,3374
$GC,3990,-0.86,-146.0,341.2,-6.1,147,3997,0.00,2.78,0.00,0.000,6,0.000,0.047,2300,1994,3373
$GC,4349,-0.86,-146.0,361.2,-5.6,153,4357,0.00,2.90,0.00,0.000,4,0.000,0.067,2300,585,3370
$GC,4450,-0.86,-146.0,366.9,-5.4,154,4458,0.00,2.80,0.00,0.000,6,0.000,0.048,2302,1998,3370
$GC,4780,-0.86,-146.0,387.3,-6.5,160,4788,0.00,2.92,0.00,0.000,4,0.000,0.069,2300,583,3367
$GC,4833,-0.86,-146.0,391.6,-8.3,160,4840,0.00,2.80,0.00,0.000,6,0.000,0.048,2300,1994,3366
$GC,5149,-0.86,-146.0,415.5,-7.4,166,5157,0.00,2.92,0.00,0.000,4,0.000,0.069,2300,583,3363
$GC,5255,-0.86,-146.0,422.5,-6.8,167,5263,0.00,2.80,0.00,0.000,6,0.000,0.050,2300,1990,3362
$GC,5579,-0.86,-146.0,440.5,-5.5,173,5587,0.00,2.92,0.00,0.000,4,0.000,0.069,2300,583,3360
$GC,5618,-0.86,-146.0,442.9,-6.1,173,5626,0.00,2.83,0.00,0.000,6,0.000,0.050,2300,2002,3360
$GC,5947,-0.86,-146.0,459.9,-5.2,179,5955,0.00,2.92,0.00,0.000,4,0.000,0.071,2300,589,3357
$GC,6017,-0.86,-146.0,464.7,-7.1,180,6024,0.00,2.80,0.00,0.000,6,0.000,0.050,2300,1993,3357
$GC,6377,-0.86,-146.0,490.6,-7.2,186,6385,0.00,2.92,0.00,0.000,4,0.000,0.072,2300,588,3355
$GC,6454,-0.86,-146.0,496.5,-7.4,187,6462,0.00,2.80,0.00,0.000,6,0.000,0.051,2300,1990,3355
$GC,6807,-0.86,-146.0,516.3,-4.9,193,6814,0.00,2.92,0.00,0.000,4,0.000,0.072,2300,585,3352
$GC,6858,-0.86,-146.0,518.4,-4.3,193,6865,0.00,2.83,0.00,0.000,6,0.000,0.051,2300,1996,3352
$GC,7176,-0.86,-146.0,534.9,-5.7,199,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1995,3349
$GC,7538,-0.86,-146.0,562.3,-7.7,205,7545,0.00,2.92,0.00,0.000,4,0.000,0.074,2300,591,3350
$GC,7596,-0.86,-146.0,567.0,-7.5,205,7603,0.00,2.83,0.00,0.000,6,0.000,0.052,2300,1994,3348
$GC,7905,-0.86,-146.0,586.3,-6.0,211,7912,0.00,2.92,0.00,0.000,4,0.000,0.074,2299,590,3345
$GC,7938,-0.86,-146.0,587.9,-5.3,211,7946,0.00,2.83,0.00,0.000,6,0.000,0.053,2300,1993,3345
$GC,8273,-0.86,-146.0,600.5,-3.6,217,8280,0.00,2.92,0.00,0.000,4,0.000,0.074,2300,590,3342
$GC,8336,-0.86,-146.0,603.3,-4.6,218,8343,0.00,2.83,0.00,0.000,6,0.000,0.054,2300,1993,3341
$GC,8702,-0.86,-146.0,620.9,-5.1,224,8710,0.00,2.95,0.00,0.000,4,0.000,0.074,2300,585,3340
$GC,8772,-0.86,-146.0,625.3,-7.3,225,8780,0.00,2.85,0.00,0.000,6,0.000,0.054,2300,1995,3340
$GC,9132,-0.86,-146.0,650.6,-7.3,231,9139,0.00,2.95,0.00,0.000,4,0.000,0.076,2300,591,3339
$GC,9178,-0.86,-146.0,653.8,-7.4,231,9186,0.00,2.83,0.00,0.000,6,0.000,0.054,2300,1989,3339
$GC,9503,-0.86,-146.0,672.4,-5.4,237,9510,0.00,2.92,0.00,0.000,4,0.000,0.076,2300,594,3338
$GC,9566,-0.86,-146.0,675.8,-5.7,238,9573,0.00,2.85,0.00,0.000,6,0.000,0.055,2300,2000,3338
$GC,9931,-0.86,-146.0,690.6,-3.9,244,9938,0.00,2.95,0.00,0.000,4,0.000,0.076,2300,585,3336
$GC,9982,-0.86,-146.0,692.8,-4.7,244,9989,0.00,2.85,0.00,0.000,6,0.000,0.054,2300,1995,3336
$GC,10300,-0.86,-146.0,705.4,-4.0,250,10308,0.00,2.95,0.00,0.000,4,0.000,0.076,2300,585,3335
$GC,10358,-0.86,-146.0,708.1,-4.8,250,10366,0.00,2.85,0.00,0.000,6,0.000,0.054,2300,1996,3335
$GC,10667,-0.86,-146.0,723.0,-4.8,256,10675,0.00,2.95,0.00,0.000,4,0.000,0.076,2300,585,3334
$GC,10731,-0.86,-146.0,726.3,-5.1,257,10738,0.00,2.85,0.00,0.000,6,0.000,0.054,2300,1996,3333
$GC,11097,-0.86,-146.0,744.2,-4.9,263,11105,0.00,2.92,0.00,0.000,4,0.000,0.076,2300,593,3333
$GC,11142,-0.86,-146.0,746.6,-5.3,263,11150,0.00,2.83,0.00,0.000,6,0.000,0.054,2300,1992,3333
$GC,11465,-0.86,-146.0,762.1,-4.8,269,11473,0.00,2.95,0.00,0.000,4,0.000,0.076,2300,592,3332
$GC,11499,-0.86,-146.0,763.8,-4.7,269,11507,0.00,2.85,0.00,0.000,6,0.000,0.054,2300,2001,3331
$GC,11834,-0.86,-146.0,780.7,-5.1,275,11841,0.00,2.92,0.00,0.000,4,0.000,0.076,2300,597,3331
$GC,11885,-0.86,-146.0,783.3,-4.9,275,11892,0.00,2.83,0.00,0.000,6,0.000,0.055,2300,1993,3331
$GC,12203,-0.86,-146.0,795.9,-3.8,281,12210,0.00,2.95,0.00,0.000,4,0.000,0.076,2300,587,3330
$GC,12256,-0.86,-146.0,797.8,-3.6,281,12263,0.00,2.85,0.00,0.000,6,0.000,0.054,2300,1997,3330
$GC,12572,-0.86,-146.0,810.5,-4.0,287,12580,0.00,2.95,0.00,0.000,4,0.000,0.077,2300,587,3329
$GC,12612,-0.86,-146.0,812.3,-5.0,287,12620,0.00,2.85,0.00,0.000,6,0.000,0.055,2300,1995,3330
$GC,12942,-0.86,-146.0,828.0,-4.8,293,12950,0.00,2.92,0.00,0.000,4,0.000,0.078,2300,593,3329
$GC,13000,-0.86,-146.0,831.3,-5.4,293,13008,0.00,2.85,0.00,0.000,6,0.000,0.057,2300,1999,3329
$GC,13309,-0.86,-146.0,847.9,-5.4,299,13317,0.00,2.95,0.00,0.000,4,0.000,0.078,2300,589,3328
$GC,13337,-0.86,-146.0,849.7,-6.6,299,13344,0.00,2.85,0.00,0.000,6,0.000,0.057,2300,1997,3327
$GC,13678,-0.86,-146.0,868.4,-5.5,305,13685,0.00,2.95,0.00,0.000,4,0.000,0.079,2300,590,3327
$GC,13729,-0.86,-146.0,871.3,-6.2,305,13737,0.00,2.85,0.00,0.000,6,0.000,0.057,2300,1996,3327
$GC,13804,-0.86,-146.0,875.5,-5.5,307,13864,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1996,3327
$GC,13925,-0.86,-146.0,882.1,-5.5,309,13932,0.00,2.95,0.00,0.000,4,0.000,0.079,2300,589,3327
$GC,13958,-0.86,-146.0,884.0,-5.7,309,13965,0.00,2.85,0.00,0.000,6,0.000,0.056,2300,1996,3327
$GC,14051,-0.86,-146.0,889.2,-5.5,311,14111,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1995,3326
$GC,14172,-0.86,-146.0,895.5,-5.3,313,14180,0.00,2.95,0.00,0.000,4,0.000,0.079,2300,589,3326
$GC,14217,-0.86,-146.0,897.9,-5.7,313,14225,0.00,2.85,0.00,0.000,6,0.000,0.056,2300,1996,3326
$GC,14298,-0.86,-146.0,902.2,-5.2,315,14358,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1995,3326
$GC,14419,-0.86,-146.0,907.9,-4.9,317,14426,0.00,2.95,0.00,0.000,4,0.000,0.078,2299,589,3326
$GC,14446,-0.86,-146.0,909.2,-4.8,317,14453,0.00,2.83,0.00,0.000,6,0.000,0.057,2300,1994,3326
$GC,14546,-0.86,-146.0,913.4,-4.1,319,14605,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1992,3326
$GC,14666,-0.86,-146.0,917.6,-3.8,321,14673,0.00,2.95,0.00,0.000,4,0.000,0.079,2300,589,3326
$GC,14693,-0.86,-146.0,918.5,-3.4,321,14700,0.00,2.85,0.00,0.000,6,0.000,0.057,2300,1996,3326
$GC,14792,-0.86,-146.0,921.6,-2.9,323,14852,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1995,3325
$GC,14913,-0.86,-146.0,925.3,-3.0,325,14920,0.00,2.95,0.00,0.000,4,0.000,0.078,2301,588,3325
$GC,14959,-0.86,-146.0,926.8,-3.8,325,14966,0.00,2.83,0.00,0.000,6,0.000,0.057,2300,1992,3325
$GC,15039,-0.86,-146.0,929.3,-2.9,327,15100,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1991,3325
$GC,15160,-0.86,-146.0,933.0,-3.0,329,15167,0.00,2.95,0.00,0.000,4,0.000,0.080,2300,589,3325
$GC,15187,-0.86,-146.0,934.0,-3.5,329,15194,0.00,2.85,0.00,0.000,6,0.000,0.058,2300,1992,3325
$GC,15286,-0.86,-146.0,937.6,-3.6,331,15346,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1991,3325
$GC,15407,-0.86,-146.0,942.3,-3.7,333,15415,0.00,2.95,0.00,0.000,4,0.000,0.079,2300,594,3325
$GC,15447,-0.86,-146.0,944.1,-4.7,333,15455,0.00,2.83,0.00,0.000,6,0.000,0.058,2300,1994,3325
$GC,15534,-0.86,-146.0,948.1,-4.6,335,15594,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1994,3324
$GC,15655,-0.86,-146.0,953.7,-4.6,337,15662,0.00,2.95,0.00,0.000,4,0.000,0.080,2301,590,3324
$GC,15695,-0.86,-146.0,955.8,-5.9,337,15703,0.00,2.85,0.00,0.000,6,0.000,0.058,2300,1993,3324
$GC,16026,-0.86,-146.0,973.0,-5.3,343,16033,0.00,2.97,0.00,0.000,4,0.000,0.081,2300,586,3324
$GC,16077,-0.86,-146.0,975.8,-6.4,343,16085,0.00,2.88,0.00,0.000,6,0.000,0.058,2300,1998,3324
$GC,16396,-0.31,0.0,990.3,4.5,349,16515,0.60,0.00,113.65,1.477,6,0.094,0.000,2425,1800,2772
$GC,16520,0.86,146.0,992.6,3.0,351,16652,1.17,2.75,121.10,1.495,4,0.076,0.076,2678,3207,2175
$GC,16702,0.86,146.0,981.8,7.6,353,16710,0.00,2.62,0.00,0.000,6,0.000,0.066,2678,1811,2176
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