version: 66.03
glider: 143
mission: 4
dive: 6
start: 4 4 108 21 50 38
data:
$ID,143
$MISSION,4
$DIVE,6
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,350
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,360
$T_ABORT,720
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51457
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4078.5029
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1469
$PITCH_MAX,4022
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,182
$ROLL_MAX,3816
$ROLL_DEG,40
$C_ROLL_DIVE,2220
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3964
$C_VBD,3071
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-13.47135
$PRESSURE_SLOPE,9.1530041e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043273759
$SEABIRD_T_H,0.00064184016
$SEABIRD_T_I,2.4188148e-05
$SEABIRD_T_J,2.4070987e-06
$SEABIRD_C_G,-10.197048
$SEABIRD_C_H,1.1695373
$SEABIRD_C_I,-0.0015330453
$SEABIRD_C_J,0.00015523176
$GPS1,214355,5900.630,-2029.645,23,0.8,41,-14.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-63.3
$GPS2,215020,5900.662,-2029.646,11,1.2,16,-14.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FL47
$TGT_LATLONG,5905.530,-2027.330
$TGT_RADIUS,400.000
$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,27.9,9281,-18.2,-10.000
$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
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.86,-146.0,0.0,0.0,0,78,0.00,0.00,-58.92,0.000,2,0.000,0.000,1469,2226,3555
$GC,80,-0.86,-146.0,3.3,-6.7,8,104,10.00,2.85,-2.65,0.000,4,0.258,0.064,2603,3611,3669
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$GC,1246,-0.68,-146.0,163.1,-11.9,223,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2218,3670
$GC,1380,-0.68,-146.0,180.3,-13.1,248,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2217,3670
$GC,1519,-0.68,-146.0,198.2,-13.1,273,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2217,3670
$GC,1652,-0.68,-146.0,215.3,-12.0,298,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2217,3670
$GC,1791,-0.68,-146.0,232.2,-12.5,323,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2216,3670
$GC,1924,-0.68,-146.0,249.2,-12.4,348,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2216,3670
$GC,2063,-0.68,-146.0,265.7,-12.0,373,2069,0.00,2.78,0.00,0.000,4,0.000,0.060,2648,3617,3670
$GC,2108,-0.68,-146.0,271.3,-12.2,381,2114,0.00,2.67,0.00,0.000,6,0.000,0.041,2648,2228,3670
$GC,2244,-0.68,-146.0,287.6,-11.1,406,2252,0.00,2.80,0.00,0.000,4,0.000,0.056,2648,807,3670
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$GC,2590,-0.72,-146.0,328.0,-11.9,468,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2219,3670
$GC,2728,-0.72,-146.0,344.3,-12.5,493,2734,0.00,2.75,0.00,0.000,4,0.000,0.054,2648,807,3670
$GC,2763,-0.77,-146.0,348.7,-12.9,499,2770,0.00,2.75,0.00,0.000,6,0.000,0.041,2648,2246,3670
$GC,2902,-0.77,-146.0,365.7,-12.2,524,2911,0.00,2.75,0.00,0.000,4,0.000,0.055,2648,3634,3670
$GC,2935,-0.77,-146.0,369.5,-12.8,529,2941,0.00,2.67,0.00,0.000,6,0.000,0.041,2648,2238,3670
$GC,3073,-0.77,-146.0,386.4,-11.6,554,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2235,3670
$GC,3212,-0.77,-146.0,402.7,-12.0,579,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2235,3670
$GC,3350,-0.77,-146.0,418.8,-11.4,604,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2235,3670
$GC,3493,-0.77,-146.0,434.6,-11.0,629,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2235,3670
$GC,3632,-0.77,-146.0,450.3,-11.4,654,3638,0.00,2.75,0.00,0.000,4,0.000,0.054,2648,815,3670
$GC,3659,-0.77,-146.0,453.4,-11.5,659,3665,0.00,2.72,0.00,0.000,6,0.000,0.041,2648,2249,3670
$GC,3798,-0.77,-146.0,468.7,-11.2,684,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2250,3670
$GC,3941,-0.77,-146.0,484.5,-11.2,709,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2249,3670
$GC,4079,-0.77,-146.0,500.2,-11.0,734,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2250,3670
$GC,4217,-0.77,-146.0,515.7,-11.0,759,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2249,3670
$GC,4355,-0.77,-146.0,531.7,-11.7,784,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2250,3670
$GC,4498,-0.77,-146.0,547.8,-11.3,809,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2250,3670
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$GC,4764,-0.77,-146.0,577.8,-10.9,836,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2250,3670
$GC,4891,-0.77,-146.0,591.9,-11.1,848,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2250,3670
$GC,5019,-0.77,-146.0,605.9,-11.0,860,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2250,3670
$GC,5146,-0.77,-146.0,620.1,-11.3,872,5151,0.00,2.85,0.00,0.000,4,0.000,0.061,2648,809,3670
$GC,5178,-0.77,-146.0,623.8,-11.6,874,5185,0.00,2.72,0.00,0.000,6,0.000,0.042,2648,2247,3670
$GC,5311,-0.77,-146.0,638.9,-11.3,887,5316,0.00,2.72,0.00,0.000,4,0.000,0.058,2648,3634,3670
$GC,5349,-0.77,-146.0,643.3,-11.7,890,5354,0.00,2.67,0.00,0.000,6,0.000,0.047,2648,2254,3670
$GC,5482,-0.77,-146.0,658.9,-12.5,902,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2254,3670
$GC,5609,-0.77,-146.0,675.1,-13.0,914,5614,0.00,2.88,0.00,0.000,4,0.000,0.070,2648,811,3670
$GC,5641,-0.82,-146.0,679.3,-13.0,916,5648,0.15,2.78,0.00,0.000,6,0.061,0.048,2616,2252,3670
$GC,5775,-0.77,-146.0,699.2,-15.1,929,5780,0.00,2.75,0.00,0.000,4,0.000,0.064,2616,3633,3670
$GC,5807,-0.71,-146.0,704.4,-16.0,931,5814,0.17,2.72,0.00,0.000,6,0.143,0.055,2641,2255,3670
$GC,5940,-0.71,-146.0,722.0,-12.9,944,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2255,3670
$GC,6067,-0.71,-146.0,737.8,-12.2,956,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2255,3670
$GC,6195,-0.71,-146.0,753.5,-12.7,968,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2255,3670
$GC,6322,-0.71,-146.0,769.5,-12.4,980,6327,0.00,2.90,0.00,0.000,4,0.000,0.073,2641,810,3670
$GC,6366,-0.76,-146.0,775.0,-12.9,983,6373,0.00,2.78,0.00,0.000,6,0.000,0.048,2641,2247,3670
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$GC,6671,-0.76,-146.0,811.6,-11.8,1011,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2248,3670
$GC,6798,-0.76,-146.0,826.6,-11.5,1023,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2248,3670
$GC,6925,-0.76,-146.0,841.7,-11.9,1035,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2248,3670
$GC,7053,-0.76,-146.0,856.6,-11.6,1047,7054,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2248,3670
$GC,7180,-0.76,-146.0,871.3,-11.5,1059,7185,0.00,2.90,0.00,0.000,4,0.000,0.072,2640,805,3670
$GC,7202,-0.76,-146.0,873.8,-11.4,1060,7208,0.00,2.80,0.00,0.000,6,0.000,0.048,2641,2259,3670
$GC,7335,-0.76,-146.0,888.8,-11.5,1073,7339,0.00,2.72,0.00,0.000,4,0.000,0.063,2641,3635,3670
$GC,7389,-0.76,-146.0,895.2,-11.7,1077,7396,0.00,2.70,0.00,0.000,6,0.000,0.050,2641,2266,3670
$GC,7522,-0.76,-146.0,910.4,-11.4,1090,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2266,3670
$GC,7650,-0.76,-146.0,925.1,-11.9,1102,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2266,3670
$GC,7777,-0.76,-146.0,939.7,-11.4,1114,7782,0.00,2.92,0.00,0.000,4,0.000,0.070,2641,804,3669
$GC,7810,-0.80,-146.0,943.4,-11.6,1116,7816,0.00,2.83,0.00,0.000,6,0.000,0.047,2640,2273,3669
$GC,7943,-0.80,-146.0,958.1,-11.3,1129,7947,0.00,2.70,0.00,0.000,4,0.000,0.063,2641,3634,3669
$GC,7974,-0.80,-146.0,962.0,-12.4,1131,7981,0.00,2.67,0.00,0.000,6,0.000,0.048,2641,2275,3669
$GC,8108,-0.80,-146.0,977.6,-11.7,1144,8113,0.00,2.92,0.00,0.000,4,0.000,0.069,2641,810,3669
$GC,8151,-0.86,-146.0,982.8,-11.9,1147,8158,0.15,2.80,0.00,0.000,6,0.064,0.046,2609,2269,3669
$STATE,8208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8209,begin apogee
$GC,8213,-0.19,0.0,990.7,14.3,1153,8372,0.88,0.00,152.27,1.626,6,0.138,0.000,2753,2130,3072
$STATE,8373,end apogee,CONTROL_FINISHED_OK
$STATE,8373,begin climb
$GC,8374,0.86,146.0,998.0,0.0,1169,8532,1.30,3.03,148.75,1.399,4,0.087,0.068,2981,747,2475
$GC,8566,0.71,146.0,986.5,11.3,1187,8572,0.17,2.90,0.00,0.000,6,0.146,0.043,2958,2157,2473
$GC,8699,0.60,146.0,973.0,10.1,1199,8701,0.17,0.00,0.00,0.000,6,0.147,0.000,2934,2157,2471
$GC,8827,0.59,172.7,961.7,8.8,1211,8861,0.00,2.97,28.65,1.492,4,0.000,0.061,2934,3562,2366
$GC,8866,-0.23,172.7,957.8,10.4,1214,8873,1.15,2.92,0.00,0.000,6,0.127,0.047,2752,2147,2365
$GC,9000,0.29,245.4,950.9,6.7,1227,9083,0.57,3.08,74.30,1.364,4,0.073,0.070,2859,741,2069
$GC,9387,0.70,262.0,917.9,9.2,1262,9412,0.50,2.58,17.50,1.427,6,0.071,0.042,2952,2044,2002
$GC,9546,0.89,301.6,904.6,8.2,1277,9598,0.20,3.28,41.15,1.332,4,0.055,0.058,2995,3566,1839
$GC,9704,0.83,301.6,881.9,15.4,1291,9711,0.00,3.00,0.00,0.000,6,0.000,0.052,2995,2109,1835
$GC,9837,0.72,301.6,858.8,18.2,1304,9843,0.22,3.00,0.00,0.000,4,0.150,0.055,2960,3573,1835
$GC,9966,0.72,301.6,840.5,13.4,1315,9971,0.00,2.97,0.00,0.000,6,0.000,0.051,2960,2105,1833
$GC,10099,0.68,301.6,822.1,13.9,1327,10104,0.00,2.83,0.00,0.000,4,0.000,0.071,2960,732,1833
$GC,10115,0.63,301.6,819.8,14.1,1328,10120,0.15,2.70,0.00,0.000,6,0.138,0.042,2939,2120,1833
$GC,10249,0.63,301.6,804.0,11.6,1340,10254,0.00,2.92,0.00,0.000,4,0.000,0.058,2939,3566,1833
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$STATE,17074,end climb,SURFACE_DEPTH_REACHED
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$DEVICE_SECS,23.500,251.475,462.625,0.000,0.000,28.377,31.366,218.230,106.500,0.000,0.000,17.657,3791.955,6819.891,807.276,5546.679,565.086,0.000,2895.889,0.000,5556.782,0.000,0.468
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$DATA_FILE_SIZE,177207,2378
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