version: 66.03
glider: 143
mission: 4
dive: 10
start: 4 5 108 17 7 11
data:
$ID,143
$MISSION,4
$DIVE,10
$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,15
$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,-4154.0952
$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,15
$R_STBD_OVSHOOT,22
$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
$GPS1,164546,5922.790,-2020.322,36,2.9,55,-14.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-45.8
$GPS2,170653,5923.156,-2020.046,9,2.8,28,-14.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5933.587,-2018.630
$TGT_RADIUS,1852.000
$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,29.3,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.82,-194.7,0.0,0.0,0,143,0.00,0.00,-115.38,0.000,2,0.000,0.000,1464,2223,3558
$GC,145,-0.82,-194.7,3.4,-6.9,16,169,9.93,2.85,-6.90,0.000,4,0.254,0.067,2614,3627,3866
$GC,270,-0.74,-194.7,28.4,-16.9,38,278,0.10,2.80,0.00,0.000,6,0.133,0.041,2631,2210,3867
$GC,343,-0.68,-194.7,40.0,-15.5,51,351,0.12,0.00,0.00,0.000,6,0.140,0.000,2648,2209,3867
$GC,415,-0.68,-194.7,50.0,-13.1,64,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2209,3867
$GC,548,-0.68,-194.7,68.3,-13.4,89,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2207,3867
$GC,681,-0.68,-194.7,86.6,-14.0,114,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2207,3867
$GC,814,-0.68,-194.7,104.8,-13.8,139,822,0.00,2.88,0.00,0.000,4,0.000,0.059,2649,3624,3867
$GC,855,-0.68,-194.7,110.4,-13.8,146,863,0.00,2.75,0.00,0.000,6,0.000,0.041,2648,2218,3867
$GC,989,-0.68,-194.7,128.5,-13.1,171,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2218,3867
$GC,1122,-0.68,-194.7,146.4,-13.5,196,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2217,3867
$GC,1260,-0.68,-194.7,165.0,-13.8,221,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2217,3868
$GC,1395,-0.68,-194.7,183.4,-13.8,246,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2217,3867
$GC,1534,-0.68,-194.7,202.7,-13.9,271,1540,0.00,2.80,0.00,0.000,4,0.000,0.058,2649,3624,3867
$GC,1569,-0.68,-194.7,207.6,-14.2,277,1575,0.00,2.70,0.00,0.000,6,0.000,0.041,2648,2223,3867
$GC,1704,-0.68,-194.7,226.4,-13.9,302,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2222,3867
$GC,1842,-0.68,-194.7,244.7,-13.0,327,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2221,3867
$GC,1976,-0.68,-194.7,262.5,-13.3,352,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2221,3868
$GC,2115,-0.68,-194.7,280.7,-13.3,377,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2221,3867
$GC,2249,-0.68,-194.7,298.8,-13.7,402,2257,0.00,2.80,0.00,0.000,4,0.000,0.056,2648,3621,3867
$GC,2281,-0.68,-194.7,302.9,-13.7,407,2287,0.00,2.67,0.00,0.000,6,0.000,0.041,2648,2228,3867
$GC,2416,-0.68,-194.7,320.7,-12.6,432,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2225,3867
$GC,2554,-0.68,-194.7,338.7,-12.9,457,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2225,3867
$GC,2689,-0.68,-194.7,356.4,-12.7,482,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2225,3867
$GC,2826,-0.68,-194.7,374.5,-13.1,507,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2225,3867
$GC,2964,-0.68,-194.7,393.0,-13.1,532,2972,0.00,2.78,0.00,0.000,4,0.000,0.056,2648,3620,3867
$GC,2997,-0.68,-194.7,397.0,-14.1,537,3003,0.00,2.65,0.00,0.000,6,0.000,0.041,2648,2238,3867
$GC,3135,-0.68,-194.7,415.4,-13.4,562,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2235,3867
$GC,3273,-0.68,-194.7,433.7,-13.2,587,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2235,3867
$GC,3411,-0.68,-194.7,452.6,-14.2,612,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2235,3867
$GC,3554,-0.68,-194.7,471.7,-13.4,637,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2235,3867
$GC,3692,-0.68,-194.7,490.2,-13.3,662,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2234,3867
$GC,3830,-0.68,-194.7,508.4,-13.6,687,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2235,3867
$GC,3968,-0.68,-194.7,527.2,-13.8,712,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2235,3867
$GC,4112,-0.68,-194.7,546.9,-13.9,737,4118,0.00,2.72,0.00,0.000,4,0.000,0.054,2648,3624,3867
$GC,4145,-0.68,-194.7,551.9,-13.9,742,4149,0.00,2.65,0.00,0.000,6,0.000,0.042,2648,2241,3867
$GC,4277,-0.68,-194.7,569.7,-13.1,754,4282,0.00,2.80,0.00,0.000,4,0.000,0.058,2648,802,3867
$GC,4309,-0.68,-194.7,573.8,-12.9,756,4316,0.00,2.78,0.00,0.000,6,0.000,0.041,2649,2247,3867
$GC,4443,-0.68,-194.7,590.8,-12.8,769,4447,0.00,2.70,0.00,0.000,4,0.000,0.056,2648,3626,3867
$GC,4485,-0.68,-194.7,596.4,-12.4,772,4492,0.00,2.65,0.00,0.000,6,0.000,0.044,2648,2265,3867
$GC,4619,-0.68,-194.7,613.5,-13.2,785,4623,0.00,2.88,0.00,0.000,4,0.000,0.062,2648,805,3866
$GC,4645,-0.68,-194.7,617.0,-13.4,787,4650,0.00,2.78,0.00,0.000,6,0.000,0.044,2648,2259,3867
$GC,4778,-0.68,-194.7,634.0,-12.8,799,4782,0.00,2.67,0.00,0.000,4,0.000,0.058,2649,3623,3867
$GC,4816,-0.68,-194.7,638.8,-12.4,802,4821,0.00,2.65,0.00,0.000,6,0.000,0.047,2648,2257,3867
$GC,4949,-0.68,-194.7,654.8,-12.3,814,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2258,3867
$GC,5076,-0.68,-194.7,670.1,-11.7,826,5081,0.00,2.92,0.00,0.000,4,0.000,0.071,2649,800,3867
$GC,5103,-0.68,-194.7,673.3,-12.6,828,5108,0.00,2.83,0.00,0.000,6,0.000,0.047,2648,2266,3866
$GC,5236,-0.68,-194.7,688.4,-11.2,840,5241,0.00,2.70,0.00,0.000,4,0.000,0.063,2648,3622,3867
$GC,5275,-0.68,-194.7,692.8,-11.4,843,5279,0.00,2.65,0.00,0.000,6,0.000,0.051,2649,2267,3866
$GC,5407,-0.68,-194.7,707.3,-11.0,855,5412,0.00,2.92,0.00,0.000,4,0.000,0.072,2648,807,3866
$GC,5434,-0.68,-194.7,710.3,-11.6,857,5439,0.00,2.83,0.00,0.000,6,0.000,0.048,2648,2269,3866
$GC,5567,-0.68,-194.7,724.8,-11.1,869,5571,0.00,2.70,0.00,0.000,4,0.000,0.064,2649,3623,3866
$GC,5598,-0.68,-194.7,728.4,-11.3,871,5605,0.00,2.70,0.00,0.000,6,0.000,0.051,2648,2260,3866
$GC,5732,-0.68,-194.7,743.2,-11.5,884,5737,0.00,2.92,0.00,0.000,4,0.000,0.071,2648,805,3866
$GC,5752,-0.68,-194.7,745.6,-10.9,885,5759,0.00,2.83,0.00,0.000,6,0.000,0.049,2648,2265,3866
$GC,5886,-0.68,-194.7,759.7,-10.8,898,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2265,3866
$GC,6013,-0.68,-194.7,773.7,-11.1,910,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2264,3866
$GC,6141,-0.68,-194.7,788.3,-11.6,922,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2265,3866
$GC,6268,-0.68,-194.7,803.1,-11.8,934,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2266,3866
$GC,6395,-0.68,-194.7,818.4,-11.9,946,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2266,3866
$GC,6523,-0.68,-194.7,833.6,-12.0,958,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2267,3866
$GC,6652,-0.68,-194.7,848.7,-11.7,970,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2268,3866
$GC,6779,-0.68,-194.7,864.2,-12.4,982,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2268,3866
$GC,6907,-0.68,-194.7,879.6,-12.2,994,6911,0.00,2.95,0.00,0.000,4,0.000,0.071,2648,804,3866
$GC,6927,-0.68,-194.7,882.3,-11.9,995,6934,0.00,2.80,0.00,0.000,6,0.000,0.048,2648,2239,3866
$GC,7061,-0.68,-194.7,898.0,-11.7,1008,7065,0.00,2.78,0.00,0.000,4,0.000,0.064,2648,3629,3866
$GC,7098,-0.68,-194.7,902.5,-12.2,1011,7103,0.00,2.67,0.00,0.000,6,0.000,0.049,2648,2255,3865
$GC,7231,-0.68,-194.7,917.5,-11.3,1023,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2255,3865
$GC,7359,-0.68,-194.7,931.8,-11.0,1035,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2255,3865
$GC,7486,-0.68,-194.7,946.1,-11.3,1047,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2255,3865
$GC,7613,-0.68,-194.7,960.3,-11.3,1059,7618,0.00,2.90,0.00,0.000,4,0.000,0.071,2648,806,3865
$GC,7640,-0.68,-194.7,963.4,-11.9,1061,7645,0.00,2.83,0.00,0.000,6,0.000,0.050,2648,2266,3865
$GC,7773,-0.68,-194.7,978.4,-11.6,1073,7777,0.00,2.72,0.00,0.000,4,0.000,0.065,2648,3630,3864
$GC,7827,-0.73,-194.7,984.8,-11.5,1077,7834,0.00,2.65,0.00,0.000,6,0.000,0.049,2648,2272,3865
$STATE,7874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7874,begin apogee
$GC,7878,-0.19,0.0,990.2,11.5,1082,8087,0.62,0.00,200.90,1.581,6,0.118,0.000,2756,2124,3071
$STATE,8088,end apogee,CONTROL_FINISHED_OK
$STATE,8088,begin climb
$GC,8090,0.82,194.7,999.5,0.0,1103,8304,1.23,3.20,201.07,1.427,4,0.082,0.059,2972,3547,2276
$GC,8407,0.67,194.7,970.8,14.5,1133,8412,0.17,2.95,0.00,0.000,6,0.142,0.050,2949,2141,2272
$GC,8539,0.56,194.7,954.4,11.9,1145,8545,0.15,2.95,0.00,0.000,4,0.139,0.057,2925,3547,2272
$GC,8692,0.52,194.7,939.0,10.4,1158,8696,0.00,2.88,0.00,0.000,6,0.000,0.049,2925,2138,2271
$GC,8825,0.48,209.3,926.4,9.5,1170,8846,0.00,2.95,15.30,1.402,4,0.000,0.058,2925,3551,2217
$GC,8986,0.48,211.4,910.1,9.9,1184,8992,0.00,2.83,0.00,0.000,6,0.000,0.049,2925,2160,2215
$GC,9120,0.46,226.4,897.3,9.5,1197,9145,0.15,3.08,18.58,1.452,4,0.130,0.071,2899,709,2148
$GC,9166,0.60,304.0,893.4,7.3,1201,9255,0.15,2.95,79.00,1.332,6,0.065,0.044,2928,2174,1831
$GC,9380,0.60,304.0,871.2,10.9,1222,9385,0.00,2.85,0.00,0.000,4,0.000,0.060,2928,3548,1826
$GC,9497,0.60,304.0,858.4,10.8,1232,9501,0.00,2.85,0.00,0.000,6,0.000,0.051,2928,2155,1824
$GC,9629,0.60,304.0,844.2,10.9,1244,9634,0.00,2.97,0.00,0.000,4,0.000,0.071,2928,725,1824
$GC,9667,0.60,304.0,840.0,10.7,1247,9672,0.00,2.80,0.00,0.000,6,0.000,0.044,2928,2141,1823
$GC,9800,0.60,304.0,825.9,10.8,1259,9805,0.00,2.88,0.00,0.000,4,0.000,0.059,2928,3550,1823
$GC,9815,0.60,304.0,824.1,11.6,1260,9820,0.00,2.88,0.00,0.000,6,0.000,0.050,2928,2121,1822
$GC,9948,0.60,304.0,809.7,10.9,1272,9953,0.00,2.88,0.00,0.000,4,0.000,0.071,2929,725,1822
$GC,9964,0.60,304.0,807.9,11.2,1273,9969,0.00,2.75,0.00,0.000,6,0.000,0.044,2928,2130,1821
$GC,10099,0.60,304.0,793.2,11.4,1285,10103,0.00,2.88,0.00,0.000,4,0.000,0.058,2928,3554,1821
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$GC,10253,0.60,304.0,775.9,10.9,1299,10257,0.00,2.90,0.00,0.000,4,0.000,0.070,2928,717,1821
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