version: 66.03
glider: 143
mission: 4
dive: 9
start: 4 5 108 12 20 33
data:
$ID,143
$MISSION,4
$DIVE,9
$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,-4122.8203
$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,19
$R_STBD_OVSHOOT,25
$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
$GPS1,121308,5916.343,-2024.132,27,1.3,27,-14.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-51.0
$GPS2,122015,5916.429,-2024.089,11,1.3,11,-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,13.6,67735,-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,17,begin dive
$GC,18,-0.82,-194.7,0.0,0.0,0,115,0.00,0.00,-94.00,0.000,2,0.000,0.000,1467,2226,3484
$GC,117,-0.82,-194.7,3.3,-7.1,13,142,9.82,2.90,-9.00,0.000,4,0.255,0.072,2612,3617,3867
$GC,330,-0.73,-194.7,40.9,-17.2,52,339,0.12,2.78,0.00,0.000,6,0.132,0.043,2634,2211,3868
$GC,403,-0.68,-194.7,52.5,-15.2,65,411,0.00,2.80,0.00,0.000,4,0.000,0.058,2634,814,3868
$GC,428,-0.68,-194.7,56.4,-15.9,69,436,0.00,2.72,0.00,0.000,6,0.000,0.041,2634,2201,3869
$GC,563,-0.63,-194.7,75.7,-14.5,94,571,0.15,2.90,0.00,0.000,4,0.140,0.059,2658,3630,3868
$GC,599,-0.63,-194.7,80.7,-13.1,100,607,0.00,2.80,0.00,0.000,6,0.000,0.041,2658,2205,3869
$GC,732,-0.63,-194.7,96.7,-11.5,125,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2205,3868
$GC,866,-0.63,-194.7,112.5,-12.0,150,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2203,3869
$GC,999,-0.63,-194.7,129.0,-12.9,175,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2203,3868
$GC,1132,-0.63,-194.7,145.2,-12.3,200,1140,0.00,2.88,0.00,0.000,4,0.000,0.058,2658,3627,3868
$GC,1173,-0.63,-194.7,150.0,-11.4,207,1181,0.00,2.75,0.00,0.000,6,0.000,0.042,2658,2219,3868
$GC,1311,-0.63,-194.7,166.4,-12.4,232,1319,0.00,2.80,0.00,0.000,4,0.000,0.058,2658,810,3869
$GC,1343,-0.63,-194.7,170.1,-12.4,237,1349,0.00,2.72,0.00,0.000,6,0.000,0.042,2658,2227,3868
$GC,1477,-0.63,-194.7,185.7,-11.3,262,1486,0.00,2.80,0.00,0.000,4,0.000,0.058,2658,3626,3868
$GC,1531,-0.67,-194.7,191.6,-11.1,271,1537,0.00,2.72,0.00,0.000,6,0.000,0.041,2658,2211,3868
$GC,1666,-0.67,-194.7,206.9,-11.2,296,1674,0.00,2.78,0.00,0.000,4,0.000,0.057,2658,811,3868
$GC,1699,-0.72,-194.7,210.4,-11.4,301,1705,0.00,2.72,0.00,0.000,6,0.000,0.042,2658,2232,3868
$GC,1835,-0.72,-194.7,226.6,-12.2,326,1843,0.00,2.78,0.00,0.000,4,0.000,0.056,2658,3623,3869
$GC,1892,-0.76,-194.7,233.3,-11.3,336,1900,0.10,2.70,0.00,0.000,6,0.058,0.041,2632,2235,3868
$GC,2032,-0.71,-194.7,252.0,-13.4,361,2038,0.00,2.80,0.00,0.000,4,0.000,0.056,2632,802,3869
$GC,2067,-0.71,-194.7,256.8,-13.7,367,2073,0.00,2.75,0.00,0.000,6,0.000,0.044,2632,2231,3869
$GC,2202,-0.66,-194.7,275.5,-14.3,392,2211,0.12,2.78,0.00,0.000,4,0.128,0.056,2650,3623,3869
$GC,2245,-0.66,-194.7,280.8,-12.4,399,2251,0.00,2.67,0.00,0.000,6,0.000,0.041,2650,2231,3869
$GC,2380,-0.66,-194.7,297.3,-11.7,424,2388,0.00,2.80,0.00,0.000,4,0.000,0.055,2650,808,3869
$GC,2411,-0.66,-194.7,300.9,-12.3,429,2417,0.00,2.72,0.00,0.000,6,0.000,0.042,2650,2231,3869
$GC,2546,-0.66,-194.7,317.4,-12.5,454,2554,0.00,2.78,0.00,0.000,4,0.000,0.055,2650,3628,3868
$GC,2589,-0.66,-194.7,322.4,-12.2,461,2595,0.00,2.67,0.00,0.000,6,0.000,0.041,2650,2227,3868
$GC,2725,-0.66,-194.7,339.3,-12.3,486,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2224,3868
$GC,2862,-0.66,-194.7,356.6,-12.7,511,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2223,3868
$GC,3000,-0.66,-194.7,374.1,-12.6,536,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2224,3869
$GC,3144,-0.66,-194.7,391.9,-12.3,561,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2223,3868
$GC,3282,-0.66,-194.7,409.3,-12.5,586,3288,0.00,2.78,0.00,0.000,4,0.000,0.055,2650,3636,3868
$GC,3315,-0.66,-194.7,413.4,-12.4,592,3323,0.00,2.70,0.00,0.000,6,0.000,0.041,2650,2239,3869
$GC,3458,-0.66,-194.7,430.9,-12.6,617,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2236,3868
$GC,3596,-0.66,-194.7,448.8,-13.3,642,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2236,3868
$GC,3734,-0.66,-194.7,466.9,-13.0,667,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2236,3868
$GC,3873,-0.66,-194.7,485.4,-13.7,692,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2236,3868
$GC,4016,-0.66,-194.7,504.9,-14.1,717,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2236,3868
$GC,4154,-0.66,-194.7,523.7,-13.5,742,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2236,3868
$GC,4292,-0.66,-194.7,542.0,-13.2,767,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2236,3868
$GC,4433,-0.66,-194.7,560.3,-13.0,786,4437,0.00,2.72,0.00,0.000,4,0.000,0.054,2650,3628,3868
$GC,4471,-0.66,-194.7,565.4,-13.5,789,4475,0.00,2.65,0.00,0.000,6,0.000,0.043,2650,2244,3868
$GC,4603,-0.66,-194.7,582.9,-13.3,801,4608,0.00,2.80,0.00,0.000,4,0.000,0.059,2650,805,3868
$GC,4631,-0.66,-194.7,586.6,-14.0,803,4635,0.00,2.75,0.00,0.000,6,0.000,0.044,2650,2247,3868
$GC,4763,-0.66,-194.7,604.5,-13.4,815,4768,0.00,2.72,0.00,0.000,4,0.000,0.057,2650,3636,3868
$GC,4795,-0.66,-194.7,608.9,-14.0,817,4802,0.00,2.72,0.00,0.000,6,0.000,0.046,2650,2245,3868
$GC,4929,-0.66,-194.7,626.8,-13.3,830,4933,0.00,2.85,0.00,0.000,4,0.000,0.065,2650,806,3868
$GC,4960,-0.66,-194.7,631.1,-13.7,832,4967,0.00,2.80,0.00,0.000,6,0.000,0.044,2650,2251,3868
$GC,5093,-0.66,-194.7,648.6,-13.0,845,5098,0.00,2.72,0.00,0.000,4,0.000,0.060,2650,3633,3868
$GC,5132,-0.66,-194.7,653.7,-13.8,848,5136,0.00,2.70,0.00,0.000,6,0.000,0.046,2650,2239,3868
$GC,5264,-0.66,-194.7,671.1,-12.9,860,5269,0.00,2.88,0.00,0.000,4,0.000,0.069,2650,801,3868
$GC,5292,-0.66,-194.7,674.6,-13.7,862,5296,0.00,2.80,0.00,0.000,6,0.000,0.048,2650,2254,3868
$GC,5425,-0.66,-194.7,691.4,-12.7,874,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2254,3868
$GC,5552,-0.66,-194.7,708.2,-13.7,886,5556,0.00,2.72,0.00,0.000,4,0.000,0.064,2650,3623,3868
$GC,5590,-0.66,-194.7,713.3,-13.2,889,5594,0.00,2.70,0.00,0.000,6,0.000,0.050,2650,2238,3868
$GC,5722,-0.66,-194.7,729.9,-12.5,901,5727,0.00,2.88,0.00,0.000,4,0.000,0.071,2650,805,3867
$GC,5754,-0.70,-194.7,734.0,-12.9,903,5761,0.00,2.78,0.00,0.000,6,0.000,0.048,2650,2243,3867
$GC,5887,-0.70,-194.7,750.6,-12.4,916,5892,0.00,2.75,0.00,0.000,4,0.000,0.064,2650,3626,3867
$GC,5926,-0.70,-194.7,755.5,-12.6,919,5931,0.00,2.70,0.00,0.000,6,0.000,0.049,2650,2241,3867
$GC,6059,-0.70,-194.7,771.3,-11.9,931,6063,0.00,2.88,0.00,0.000,4,0.000,0.070,2650,801,3868
$GC,6097,-0.75,-194.7,775.7,-11.6,934,6102,0.00,2.78,0.00,0.000,6,0.000,0.048,2650,2240,3867
$GC,6230,-0.75,-194.7,790.6,-10.8,946,6234,0.00,2.78,0.00,0.000,4,0.000,0.064,2650,3630,3868
$GC,6272,-0.75,-194.7,795.5,-10.9,949,6279,0.00,2.75,0.00,0.000,6,0.000,0.049,2650,2236,3867
$GC,6406,-0.75,-194.7,809.9,-11.0,962,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2236,3867
$GC,6533,-0.75,-194.7,824.2,-11.1,974,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2236,3867
$GC,6661,-0.75,-194.7,838.3,-11.1,986,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2236,3868
$GC,6788,-0.75,-194.7,852.1,-11.1,998,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2236,3867
$GC,6915,-0.75,-194.7,866.3,-11.0,1010,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2236,3867
$GC,7043,-0.75,-194.7,880.5,-11.3,1022,7047,0.00,2.78,0.00,0.000,4,0.000,0.062,2650,3626,3867
$GC,7086,-0.75,-194.7,885.5,-11.0,1025,7093,0.00,2.70,0.00,0.000,6,0.000,0.048,2650,2252,3867
$GC,7219,-0.75,-194.7,899.4,-10.2,1038,7224,0.00,2.90,0.00,0.000,4,0.000,0.069,2650,801,3867
$GC,7258,-0.80,-194.7,903.4,-10.7,1041,7264,0.12,2.80,0.00,0.000,6,0.062,0.048,2623,2253,3867
$GC,7391,-0.75,-194.7,919.7,-13.0,1053,7396,0.00,2.75,0.00,0.000,4,0.000,0.064,2622,3634,3867
$GC,7441,-0.75,-194.7,926.3,-13.0,1057,7446,0.00,2.70,0.00,0.000,6,0.000,0.050,2622,2251,3866
$GC,7574,-0.71,-194.7,943.5,-12.9,1069,7576,0.12,0.00,0.00,0.000,6,0.137,0.000,2640,2251,3866
$GC,7701,-0.71,-194.7,958.1,-11.3,1081,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2250,3867
$GC,7829,-0.71,-194.7,972.8,-11.7,1093,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2250,3866
$GC,7956,-0.71,-194.7,987.6,-11.7,1105,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2250,3866
$STATE,7976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7976,begin apogee
$GC,7980,-0.19,0.0,990.0,11.5,1107,8184,0.68,0.00,199.82,1.548,6,0.128,0.000,2754,2112,3071
$STATE,8185,end apogee,CONTROL_FINISHED_OK
$STATE,8185,begin climb
$GC,8186,0.82,194.7,999.2,0.0,1127,8392,1.25,0.00,200.05,1.413,6,0.090,0.000,2971,2112,2277
$GC,8515,0.68,194.7,972.1,12.6,1159,8521,0.15,2.95,0.00,0.000,4,0.140,0.070,2948,737,2274
$GC,8593,0.58,194.7,962.6,11.7,1165,8600,0.15,2.85,0.00,0.000,6,0.138,0.044,2927,2140,2273
$GC,8727,0.52,198.8,949.5,9.9,1178,8737,0.00,0.00,5.22,1.011,6,0.000,0.000,2927,2140,2259
$GC,8864,0.46,198.8,935.7,10.2,1191,8869,0.15,2.90,0.00,0.000,4,0.131,0.058,2903,3550,2259
$GC,8885,0.46,202.8,933.6,9.9,1192,8896,0.00,2.85,5.53,1.059,6,0.000,0.050,2903,2152,2244
$GC,9024,0.55,270.3,922.7,7.7,1205,9099,0.00,3.12,69.15,1.387,4,0.000,0.070,2903,720,1969
$GC,9115,0.40,345.6,915.4,7.4,1213,9202,0.00,2.92,78.22,1.326,6,0.000,0.043,2902,2146,1661
$GC,9330,0.59,429.0,899.5,7.1,1234,9424,0.12,3.05,86.80,1.329,4,0.068,0.058,2927,3551,1321
$GC,9508,0.67,432.8,882.1,9.9,1251,9520,0.00,3.00,4.78,0.944,6,0.000,0.051,2927,2117,1306
$GC,9647,0.71,435.0,868.5,9.9,1264,9652,0.15,2.97,0.00,0.000,4,0.070,0.056,2958,3546,1303
$GC,9719,0.71,435.0,859.3,13.7,1270,9724,0.00,2.97,0.00,0.000,6,0.000,0.053,2959,2101,1302
$GC,9852,0.65,435.0,840.1,14.9,1282,9857,0.00,2.88,0.00,0.000,4,0.000,0.070,2958,720,1301
$GC,9890,0.65,435.0,834.6,14.0,1285,9894,0.00,2.75,0.00,0.000,6,0.000,0.043,2958,2110,1300
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