version: 66.03
glider: 143
mission: 4
dive: 11
start: 4 5 108 21 55 27
data:
$ID,143
$MISSION,4
$DIVE,11
$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,-4167.0942
$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,20
$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
$GPS1,214808,5929.125,-2013.898,27,1.1,27,-14.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-56.2
$GPS2,215509,5929.213,-2013.695,10,1.1,10,-14.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5939.644,-2012.283
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,116,0.00,0.00,-87.60,0.000,2,0.000,0.000,1468,2246,3539
$GC,118,-0.82,-194.7,3.3,-6.2,12,142,9.55,2.90,-7.47,0.000,4,0.247,0.070,2612,805,3866
$GC,201,-0.76,-194.7,21.0,-17.3,26,209,0.10,2.75,0.00,0.000,6,0.141,0.046,2628,2190,3867
$GC,274,-0.70,-194.7,32.5,-16.0,39,282,0.00,2.95,0.00,0.000,4,0.000,0.064,2629,3630,3867
$GC,315,-0.65,-194.7,39.1,-16.1,46,324,0.12,2.78,0.00,0.000,6,0.218,0.041,2650,2214,3867
$GC,387,-0.65,-194.7,48.9,-12.8,59,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2213,3867
$GC,459,-0.65,-194.7,58.2,-12.7,72,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2213,3867
$GC,592,-0.65,-194.7,75.7,-13.5,97,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2212,3867
$GC,725,-0.65,-194.7,93.2,-13.0,122,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2210,3867
$GC,858,-0.65,-194.7,110.7,-13.7,147,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2210,3867
$GC,991,-0.65,-194.7,128.0,-13.6,172,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2210,3867
$GC,1125,-0.65,-194.7,145.4,-12.5,197,1133,0.00,2.88,0.00,0.000,4,0.000,0.059,2650,3637,3867
$GC,1160,-0.65,-194.7,150.1,-12.7,203,1166,0.00,2.72,0.00,0.000,6,0.000,0.040,2650,2216,3867
$GC,1295,-0.65,-194.7,167.5,-12.5,228,1303,0.00,2.78,0.00,0.000,4,0.000,0.057,2650,811,3867
$GC,1316,-0.65,-194.7,169.9,-13.1,231,1322,0.00,2.72,0.00,0.000,6,0.000,0.044,2650,2234,3867
$GC,1452,-0.65,-194.7,187.2,-12.8,256,1460,0.00,2.80,0.00,0.000,4,0.000,0.059,2650,3629,3867
$GC,1484,-0.65,-194.7,191.2,-13.1,261,1490,0.00,2.72,0.00,0.000,6,0.000,0.039,2650,2208,3867
$GC,1619,-0.65,-194.7,208.1,-12.4,286,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2207,3867
$GC,1758,-0.65,-194.7,224.8,-12.0,311,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2207,3867
$GC,1892,-0.65,-194.7,240.9,-11.7,336,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2206,3867
$GC,2030,-0.65,-194.7,257.2,-12.2,361,2036,0.00,2.83,0.00,0.000,4,0.000,0.057,2651,3634,3867
$GC,2065,-0.65,-194.7,261.5,-12.6,367,2071,0.00,2.70,0.00,0.000,6,0.000,0.040,2650,2223,3867
$GC,2200,-0.65,-194.7,278.1,-12.1,392,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2219,3867
$GC,2338,-0.65,-194.7,294.8,-12.1,417,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2219,3867
$GC,2472,-0.65,-194.7,311.4,-12.4,442,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2219,3867
$GC,2610,-0.65,-194.7,327.8,-11.9,467,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2219,3867
$GC,2744,-0.65,-194.7,343.8,-11.6,492,2752,0.00,2.80,0.00,0.000,4,0.000,0.055,2650,3630,3867
$GC,2786,-0.65,-194.7,348.6,-11.3,499,2792,0.00,2.67,0.00,0.000,6,0.000,0.040,2650,2228,3867
$GC,2923,-0.65,-194.7,365.1,-11.9,524,2931,0.00,2.78,0.00,0.000,4,0.000,0.054,2650,811,3867
$GC,2956,-0.65,-194.7,368.8,-12.6,529,2962,0.00,2.70,0.00,0.000,6,0.000,0.041,2650,2238,3867
$GC,3093,-0.65,-194.7,385.6,-12.4,554,3099,0.00,2.72,0.00,0.000,4,0.000,0.054,2650,3633,3867
$GC,3136,-0.65,-194.7,390.3,-11.9,561,3142,0.00,2.67,0.00,0.000,6,0.000,0.039,2650,2230,3867
$GC,3275,-0.65,-194.7,407.0,-11.9,586,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2226,3867
$GC,3413,-0.65,-194.7,422.7,-11.2,611,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2226,3867
$GC,3551,-0.65,-194.7,437.7,-11.1,636,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2226,3867
$GC,3695,-0.65,-194.7,453.0,-10.8,661,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2226,3867
$GC,3833,-0.65,-194.7,468.4,-11.0,686,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2226,3867
$GC,3971,-0.65,-194.7,483.0,-10.4,711,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2226,3867
$GC,4109,-0.65,-194.7,497.4,-10.4,736,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2226,3867
$GC,4253,-0.65,-194.7,512.2,-10.2,761,4259,0.00,2.75,0.00,0.000,4,0.000,0.054,2650,3634,3867
$GC,4291,-0.65,-194.7,516.6,-10.7,768,4299,0.00,2.70,0.00,0.000,6,0.000,0.041,2650,2235,3867
$GC,4436,-0.65,-194.7,532.2,-11.0,793,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2235,3867
$GC,4574,-0.65,-194.7,549.0,-12.0,818,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2235,3867
$GC,4711,-0.65,-194.7,564.9,-11.5,832,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2235,3867
$GC,4839,-0.65,-194.7,580.9,-13.0,844,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2235,3867
$GC,4966,-0.65,-194.7,597.6,-13.1,856,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2235,3867
$GC,5093,-0.65,-194.7,615.2,-13.8,868,5098,0.00,2.75,0.00,0.000,4,0.000,0.058,2650,3628,3867
$GC,5120,-0.65,-194.7,618.9,-14.2,870,5125,0.00,2.65,0.00,0.000,6,0.000,0.045,2650,2248,3867
$GC,5255,-0.65,-194.7,636.2,-12.9,882,5259,0.00,2.85,0.00,0.000,4,0.000,0.065,2650,807,3866
$GC,5287,-0.65,-194.7,640.6,-13.1,884,5294,0.00,2.75,0.00,0.000,6,0.000,0.045,2650,2247,3867
$GC,5420,-0.65,-194.7,657.7,-12.9,897,5424,0.00,2.72,0.00,0.000,4,0.000,0.061,2650,3627,3867
$GC,5447,-0.65,-194.7,661.1,-13.2,899,5451,0.00,2.70,0.00,0.000,6,0.000,0.047,2650,2234,3867
$GC,5579,-0.65,-194.7,677.8,-12.6,911,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2233,3867
$GC,5706,-0.65,-194.7,693.7,-12.4,923,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2234,3867
$GC,5834,-0.65,-194.7,709.5,-12.6,935,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2234,3867
$GC,5963,-0.65,-194.7,725.1,-12.4,947,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2234,3867
$GC,6089,-0.65,-194.7,740.6,-12.1,959,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2233,3867
$GC,6216,-0.65,-194.7,755.5,-11.6,971,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2233,3867
$GC,6344,-0.65,-194.7,769.9,-11.4,983,6348,0.00,2.80,0.00,0.000,4,0.000,0.064,2650,3633,3867
$GC,6371,-0.65,-194.7,773.0,-12.4,985,6375,0.00,2.70,0.00,0.000,6,0.000,0.050,2650,2250,3867
$GC,6503,-0.65,-194.7,788.0,-11.4,997,6508,0.00,2.90,0.00,0.000,4,0.000,0.071,2650,801,3867
$GC,6523,-0.65,-194.7,790.6,-12.2,998,6531,0.00,2.85,0.00,0.000,6,0.000,0.048,2650,2262,3867
$GC,6657,-0.65,-194.7,806.3,-12.0,1011,6662,0.00,2.72,0.00,0.000,4,0.000,0.064,2650,3631,3867
$GC,6688,-0.65,-194.7,810.2,-12.8,1013,6695,0.00,2.67,0.00,0.000,6,0.000,0.048,2650,2270,3866
$GC,6822,-0.65,-194.7,825.9,-12.2,1026,6827,0.00,2.92,0.00,0.000,4,0.000,0.069,2650,801,3866
$GC,6855,-0.69,-194.7,829.8,-11.8,1028,6861,0.00,2.85,0.00,0.000,6,0.000,0.049,2650,2276,3867
$GC,6988,-0.69,-194.7,844.6,-11.3,1041,6992,0.00,2.70,0.00,0.000,4,0.000,0.064,2650,3633,3866
$GC,7026,-0.69,-194.7,848.9,-11.6,1044,7030,0.00,2.65,0.00,0.000,6,0.000,0.049,2650,2271,3866
$GC,7159,-0.69,-194.7,863.4,-10.9,1056,7163,0.00,2.92,0.00,0.000,4,0.000,0.069,2650,804,3866
$GC,7185,-0.69,-194.7,866.3,-11.7,1058,7190,0.00,2.85,0.00,0.000,6,0.000,0.049,2650,2281,3866
$GC,7318,-0.69,-194.7,880.6,-10.8,1070,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2280,3866
$GC,7445,-0.69,-194.7,894.1,-10.5,1082,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2281,3866
$GC,7573,-0.69,-194.7,907.9,-11.0,1094,7578,0.00,2.97,0.00,0.000,4,0.000,0.067,2650,800,3866
$GC,7593,-0.69,-194.7,910.3,-10.9,1095,7600,0.00,2.83,0.00,0.000,6,0.000,0.048,2650,2264,3866
$GC,7727,-0.69,-194.7,924.8,-11.0,1108,7731,0.00,2.72,0.00,0.000,4,0.000,0.064,2650,3631,3866
$GC,7758,-0.69,-194.7,928.5,-11.4,1110,7765,0.00,2.72,0.00,0.000,6,0.000,0.048,2650,2247,3865
$GC,7892,-0.69,-194.7,943.3,-11.3,1123,7897,0.00,2.88,0.00,0.000,4,0.000,0.070,2650,805,3865
$GC,7924,-0.74,-194.7,947.0,-11.8,1125,7930,0.00,2.80,0.00,0.000,6,0.000,0.048,2650,2256,3865
$GC,8057,-0.74,-194.7,962.0,-11.3,1138,8062,0.00,2.72,0.00,0.000,4,0.000,0.064,2650,3626,3865
$GC,8096,-0.78,-194.7,966.5,-11.9,1141,8101,0.00,2.70,0.00,0.000,6,0.000,0.049,2650,2239,3865
$GC,8229,-0.78,-194.7,981.5,-11.6,1153,8233,0.00,2.85,0.00,0.000,4,0.000,0.068,2650,807,3865
$GC,8267,-0.85,-194.7,985.9,-12.1,1156,8273,0.17,2.78,0.00,0.000,6,0.054,0.048,2612,2242,3865
$STATE,8303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8303,begin apogee
$GC,8307,-0.19,0.0,991.0,13.6,1159,8516,0.85,0.00,203.25,1.631,6,0.137,0.000,2753,2125,3071
$STATE,8517,end apogee,CONTROL_FINISHED_OK
$STATE,8517,begin climb
$GC,8519,0.82,194.7,1002.0,0.0,1180,8726,1.25,0.00,200.68,1.418,6,0.086,0.000,2970,2125,2277
$GC,8853,0.69,194.7,975.9,11.7,1212,8859,0.12,2.97,0.00,0.000,4,0.143,0.067,2955,734,2273
$GC,8937,0.59,194.7,966.6,10.8,1219,8943,0.17,2.90,0.00,0.000,6,0.131,0.044,2930,2159,2272
$GC,9070,0.55,216.2,954.3,9.3,1231,9102,0.00,2.97,22.30,1.441,4,0.000,0.060,2930,3545,2189
$GC,9107,-0.31,240.0,950.7,9.2,1234,9144,1.20,2.85,25.55,1.275,6,0.118,0.048,2734,2173,2092
$GC,9271,0.15,328.4,941.5,6.9,1250,9373,0.50,3.22,91.18,1.364,4,0.063,0.068,2832,721,1730
$GC,9677,0.44,328.4,895.6,12.3,1287,9683,0.32,3.08,0.00,0.000,6,0.057,0.044,2897,2259,1725
$GC,9810,0.79,328.4,881.5,10.4,1299,9815,0.38,2.65,0.00,0.000,4,0.094,0.058,2965,3555,1724
$GC,9887,0.75,328.4,872.2,14.1,1305,9894,0.00,2.70,0.00,0.000,6,0.000,0.049,2966,2221,1723
$GC,10021,0.67,328.4,851.9,15.9,1318,10025,0.00,3.10,0.00,0.000,4,0.000,0.070,2966,723,1723
$GC,10059,0.61,328.4,845.7,15.8,1321,10065,0.20,2.97,0.00,0.000,6,0.126,0.044,2936,2230,1723
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$GC,13496,0.73,643.3,403.0,22.0,1719,13501,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2014,486
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$STATE,15782,begin surface coast
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$STATE,15794,end surface coast,CONTROL_FINISHED_OK
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