version: 66.03
glider: 143
mission: 4
dive: 8
start: 4 5 108 7 30 20
data:
$ID,143
$MISSION,4
$DIVE,8
$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,200
$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,-4108.7788
$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,2215
$C_ROLL_CLIMB,2135
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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
$GPS1,072308,5909.916,-2027.068,35,1.1,35,-14.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-62.6
$GPS2,073002,5909.975,-2027.052,8,1.2,13,-14.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,FL47
$TGT_LATLONG,5953.000,-2025.000
$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,15.7,79706,-15.7,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.82,-194.7,0.0,0.0,0,94,0.00,0.00,-72.85,0.000,2,0.000,0.000,1467,2239,3498
$GC,96,-0.82,-194.7,3.1,-5.7,10,119,9.62,0.00,-8.75,0.000,6,0.250,0.000,2613,2239,3868
$GC,183,-0.72,-194.7,20.9,-18.7,25,191,0.15,0.00,0.00,0.000,6,0.152,0.000,2637,2239,3869
$GC,255,-0.72,-194.7,31.8,-12.5,38,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2239,3869
$GC,327,-0.67,-194.7,41.1,-12.2,51,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2239,3869
$GC,398,-0.67,-194.7,51.3,-12.5,64,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2239,3869
$GC,531,-0.67,-194.7,68.6,-12.7,89,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2239,3869
$GC,664,-0.67,-194.7,86.4,-13.0,114,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2239,3869
$GC,797,-0.67,-194.7,104.8,-13.5,139,805,0.00,2.75,0.00,0.000,4,0.000,0.058,2636,3603,3869
$GC,832,-0.67,-194.7,109.8,-13.6,145,841,0.00,2.70,0.00,0.000,6,0.000,0.041,2636,2214,3869
$GC,966,-0.67,-194.7,128.1,-13.4,170,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2213,3869
$GC,1100,-0.67,-194.7,146.5,-13.3,195,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2213,3869
$GC,1235,-0.67,-194.7,165.6,-13.9,220,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2213,3869
$GC,1373,-0.67,-194.7,184.6,-14.1,245,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2213,3869
$GC,1506,-0.67,-194.7,203.4,-13.5,270,1515,0.00,2.80,0.00,0.000,4,0.000,0.058,2636,3606,3869
$GC,1554,-0.67,-194.7,209.8,-13.1,278,1562,0.00,2.70,0.00,0.000,6,0.000,0.041,2637,2219,3869
$GC,1692,-0.67,-194.7,228.7,-13.3,303,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2218,3869
$GC,1826,-0.67,-194.7,247.3,-13.7,328,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2218,3869
$GC,1965,-0.67,-194.7,265.9,-13.5,353,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2217,3869
$GC,2098,-0.67,-194.7,283.9,-13.2,378,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2217,3869
$GC,2237,-0.67,-194.7,302.5,-14.0,403,2243,0.00,2.75,0.00,0.000,4,0.000,0.055,2637,3610,3869
$GC,2274,-0.67,-194.7,307.9,-13.4,410,2283,0.00,2.70,0.00,0.000,6,0.000,0.041,2637,2220,3869
$GC,2414,-0.67,-194.7,326.7,-14.3,435,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2217,3869
$GC,2547,-0.67,-194.7,345.2,-13.9,460,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2216,3869
$GC,2687,-0.67,-194.7,364.0,-13.7,485,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2216,3869
$GC,2825,-0.67,-194.7,383.3,-14.1,510,2831,0.00,2.75,0.00,0.000,4,0.000,0.055,2636,3614,3869
$GC,2858,-0.67,-194.7,388.1,-14.3,516,2866,0.00,2.67,0.00,0.000,6,0.000,0.041,2636,2233,3869
$GC,3002,-0.67,-194.7,407.8,-13.7,541,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2231,3869
$GC,3140,-0.67,-194.7,427.7,-14.6,566,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2231,3869
$GC,3278,-0.67,-194.7,447.2,-13.6,591,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2231,3869
$GC,3417,-0.67,-194.7,466.4,-13.9,616,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2231,3869
$GC,3560,-0.67,-194.7,486.1,-14.0,641,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2230,3869
$GC,3698,-0.67,-194.7,505.8,-14.3,666,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2231,3869
$GC,3836,-0.67,-194.7,525.5,-13.7,691,3842,0.00,2.70,0.00,0.000,4,0.000,0.055,2637,3607,3869
$GC,3871,-0.67,-194.7,530.3,-14.6,697,3878,0.00,2.62,0.00,0.000,6,0.000,0.042,2637,2237,3869
$GC,4010,-0.67,-194.7,549.9,-14.1,722,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2236,3869
$GC,4142,-0.67,-194.7,568.4,-13.9,735,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2236,3869
$GC,4270,-0.67,-194.7,586.6,-14.3,747,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2236,3869
$GC,4399,-0.67,-194.7,604.5,-13.9,759,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2236,3869
$GC,4525,-0.67,-194.7,621.8,-13.6,771,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2236,3869
$GC,4652,-0.67,-194.7,639.2,-13.6,783,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2236,3869
$GC,4780,-0.67,-194.7,656.2,-13.5,795,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2237,3869
$GC,4907,-0.67,-194.7,673.2,-13.4,807,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2236,3869
$GC,5035,-0.67,-194.7,690.0,-12.9,819,5039,0.00,2.75,0.00,0.000,4,0.000,0.063,2637,3612,3869
$GC,5073,-0.67,-194.7,694.9,-12.7,822,5077,0.00,2.67,0.00,0.000,6,0.000,0.052,2636,2247,3869
$GC,5205,-0.67,-194.7,711.4,-12.0,834,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2246,3869
$GC,5333,-0.67,-194.7,727.9,-13.2,846,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2247,3868
$GC,5460,-0.67,-194.7,744.6,-13.2,858,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2246,3869
$GC,5589,-0.67,-194.7,761.6,-13.5,870,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2247,3869
$GC,5715,-0.67,-194.7,777.8,-12.4,882,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2247,3869
$GC,5842,-0.67,-194.7,793.8,-12.6,894,5847,0.00,2.90,0.00,0.000,4,0.000,0.074,2636,806,3869
$GC,5869,-0.67,-194.7,797.2,-13.2,896,5874,0.00,2.75,0.00,0.000,6,0.000,0.048,2637,2232,3869
$GC,6002,-0.67,-194.7,813.6,-12.8,908,6006,0.00,2.78,0.00,0.000,4,0.000,0.063,2637,3633,3869
$GC,6033,-0.67,-194.7,817.7,-12.5,910,6040,0.00,2.72,0.00,0.000,6,0.000,0.051,2636,2249,3869
$GC,6167,-0.67,-194.7,834.1,-12.7,923,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2248,3868
$GC,6294,-0.67,-194.7,850.0,-12.1,935,6299,0.00,2.90,0.00,0.000,4,0.000,0.071,2636,802,3868
$GC,6321,-0.67,-194.7,853.4,-13.3,937,6326,0.00,2.85,0.00,0.000,6,0.000,0.048,2636,2278,3868
$GC,6454,-0.67,-194.7,869.0,-11.7,949,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2278,3868
$GC,6581,-0.67,-194.7,884.2,-12.2,961,6586,0.00,2.97,0.00,0.000,4,0.000,0.070,2636,802,3868
$GC,6613,-0.67,-194.7,888.1,-12.1,963,6620,0.00,2.83,0.00,0.000,6,0.000,0.048,2636,2252,3868
$GC,6747,-0.67,-194.7,903.3,-11.6,976,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2252,3868
$GC,6874,-0.67,-194.7,919.2,-12.6,988,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2253,3868
$GC,7001,-0.67,-194.7,935.4,-12.3,1000,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2253,3868
$GC,7129,-0.67,-194.7,951.1,-12.2,1012,7133,0.00,2.92,0.00,0.000,4,0.000,0.070,2637,800,3868
$GC,7156,-0.67,-194.7,954.3,-12.6,1014,7160,0.00,2.75,0.00,0.000,6,0.000,0.048,2636,2230,3868
$GC,7288,-0.67,-194.7,970.6,-12.3,1026,7293,0.00,2.78,0.00,0.000,4,0.000,0.063,2636,3626,3868
$GC,7331,-0.67,-194.7,976.2,-13.1,1029,7338,0.00,2.78,0.00,0.000,6,0.000,0.048,2636,2213,3868
$STATE,7442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7442,begin apogee
$GC,7446,-0.19,0.0,990.4,12.6,1040,7655,0.70,0.00,202.32,1.601,6,0.122,0.000,2757,2116,3070
$STATE,7656,end apogee,CONTROL_FINISHED_OK
$STATE,7656,begin climb
$GC,7658,0.82,194.7,1001.2,0.0,1061,7866,1.23,3.15,198.43,1.390,4,0.083,0.058,2972,3545,2276
$GC,8036,0.68,194.7,967.3,13.5,1096,8041,0.15,2.90,0.00,0.000,6,0.148,0.050,2952,2146,2272
$GC,8168,0.56,194.7,950.9,12.2,1108,8174,0.17,2.92,0.00,0.000,4,0.140,0.057,2924,3552,2272
$GC,8314,0.52,194.7,935.4,10.8,1120,8320,0.00,2.92,0.00,0.000,6,0.000,0.051,2924,2119,2271
$GC,8447,0.48,209.1,922.4,9.5,1133,8467,0.00,0.00,15.10,1.382,6,0.000,0.000,2924,2119,2218
$GC,8594,0.44,209.1,907.5,10.4,1147,8600,0.15,2.95,0.00,0.000,4,0.134,0.058,2899,3548,2216
$GC,8610,0.44,209.1,905.8,10.8,1148,8615,0.00,2.88,0.00,0.000,6,0.000,0.049,2899,2130,2215
$GC,8743,0.51,267.0,895.0,8.0,1160,8809,0.00,3.03,59.72,1.442,4,0.000,0.056,2899,3546,1981
$GC,8821,0.17,344.5,888.8,7.3,1167,8908,0.38,2.90,79.82,1.292,6,0.105,0.049,2837,2158,1666
$GC,9034,0.51,344.5,869.4,10.8,1187,9040,0.35,3.05,0.00,0.000,4,0.063,0.070,2907,718,1659
$GC,9343,0.86,361.8,841.3,9.4,1214,9368,0.43,2.88,17.52,1.393,6,0.066,0.042,2988,2176,1595
$GC,9503,0.95,373.2,826.5,9.6,1229,9524,0.00,3.12,12.93,1.339,4,0.000,0.071,2988,727,1548
$GC,9575,0.87,373.2,817.4,15.0,1235,9581,0.00,2.78,0.00,0.000,6,0.000,0.045,2988,2114,1547
$GC,9708,0.74,373.2,794.5,18.1,1248,9713,0.17,2.92,0.00,0.000,4,0.143,0.058,2962,3544,1546
$GC,9736,0.67,373.2,789.7,16.9,1250,9741,0.00,2.90,0.00,0.000,6,0.000,0.052,2962,2120,1546
$GC,9869,0.60,373.2,769.8,15.0,1262,9874,0.17,2.90,0.00,0.000,4,0.133,0.070,2933,715,1545
$GC,9885,0.55,373.2,767.4,14.9,1263,9890,0.00,2.80,0.00,0.000,6,0.000,0.044,2933,2138,1545
$GC,10018,0.55,373.2,752.1,11.7,1275,10019,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2139,1544
$GC,10145,0.55,373.2,737.4,11.5,1287,10146,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2138,1545
$GC,10273,0.55,373.2,722.7,11.3,1299,10274,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2138,1544
$GC,10400,0.55,373.2,708.1,11.7,1311,10401,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2138,1544
$GC,10527,0.55,373.2,693.5,10.9,1323,10532,0.00,2.90,0.00,0.000,4,0.000,0.068,2933,718,1543
$GC,10543,0.55,373.2,691.8,10.9,1324,10548,0.00,2.72,0.00,0.000,6,0.000,0.042,2933,2125,1543
$GC,10675,0.55,373.2,678.1,10.2,1336,10677,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2125,1543
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$GC,10932,0.57,391.3,653.2,9.4,1360,10953,0.00,0.00,19.00,1.277,6,0.000,0.000,2933,2125,1475
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