version: 66.03
glider: 142
mission: 5
dive: 8
start: 4 4 108 23 58 18
data:
$ID,142
$MISSION,5
$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,225
$T_TURN_SAMPINT,5
$T_NO_W,240
$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,51804
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$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,-12679.642
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1435
$PITCH_MAX,3965
$C_PITCH,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,220
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,475
$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,-2.876246
$PRESSURE_SLOPE,9.1518581e-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,1
$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,-1.65
$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,0.0043273787
$SEABIRD_T_H,0.0006414231
$SEABIRD_T_I,2.3931538e-05
$SEABIRD_T_J,2.340664e-06
$SEABIRD_C_G,-10.258962
$SEABIRD_C_H,1.1819305
$SEABIRD_C_I,-0.0037964056
$SEABIRD_C_J,0.00031207138
$GPS1,235126,5859.915,-2030.008,36,1.6,36,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-63.5
$GPS2,235757,5859.938,-2030.003,13,1.5,13,-14.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FL48
$TGT_LATLONG,5905.350,-2028.470
$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,22.5,10130,-17.5,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.91,-146.0,0.0,0.0,0,88,0.00,0.00,-65.68,0.000,2,0.000,0.000,1432,1956,3483
$GC,91,-0.91,-146.0,3.1,-5.6,9,115,10.68,2.85,-5.85,0.000,4,0.236,0.045,2713,3402,3667
$GC,268,-0.84,-146.0,25.8,-12.1,41,276,0.10,2.85,0.00,0.000,6,0.143,0.035,2729,1969,3668
$GC,341,-0.84,-146.0,34.2,-11.6,54,348,0.00,2.85,0.00,0.000,4,0.000,0.054,2729,570,3668
$GC,392,-0.84,-146.0,40.4,-11.8,63,400,0.00,2.72,0.00,0.000,6,0.000,0.026,2729,1977,3668
$GC,464,-0.84,-146.0,48.5,-10.9,76,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1983,3668
$GC,536,-0.84,-146.0,56.5,-11.3,89,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1983,3668
$GC,669,-0.84,-146.0,71.7,-11.5,114,677,0.00,2.75,0.00,0.000,4,0.000,0.038,2729,3377,3668
$GC,726,-0.84,-146.0,78.3,-11.7,124,734,0.00,2.78,0.00,0.000,6,0.000,0.034,2729,1970,3668
$GC,861,-0.84,-146.0,93.6,-11.6,149,868,0.00,2.83,0.00,0.000,4,0.000,0.053,2729,567,3668
$GC,881,-0.84,-146.0,96.1,-11.7,152,889,0.00,2.72,0.00,0.000,6,0.000,0.026,2729,1985,3668
$GC,1016,-0.84,-146.0,111.3,-11.4,177,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1991,3668
$GC,1149,-0.84,-146.0,126.7,-11.3,202,1157,0.00,2.72,0.00,0.000,4,0.000,0.039,2729,3377,3668
$GC,1211,-0.84,-146.0,133.9,-11.2,213,1219,0.00,2.70,0.00,0.000,6,0.000,0.034,2729,1998,3668
$GC,1346,-0.84,-146.0,149.3,-11.9,238,1353,0.00,2.85,0.00,0.000,4,0.000,0.052,2729,571,3668
$GC,1366,-0.84,-146.0,151.7,-11.6,241,1372,0.00,2.75,0.00,0.000,6,0.000,0.026,2729,2026,3668
$GC,1501,-0.84,-146.0,167.8,-11.7,266,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2030,3668
$GC,1641,-0.84,-146.0,184.1,-12.0,291,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2030,3668
$GC,1776,-0.84,-146.0,200.2,-11.7,316,1784,0.00,2.62,0.00,0.000,4,0.000,0.039,2729,3373,3668
$GC,1840,-0.84,-146.0,207.7,-12.0,327,1846,0.00,2.60,0.00,0.000,6,0.000,0.033,2729,2023,3668
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$GC,2116,-0.84,-146.0,239.7,-11.2,377,2122,0.00,2.65,0.00,0.000,4,0.000,0.038,2729,3386,3668
$GC,2173,-0.84,-146.0,246.4,-11.5,387,2179,0.00,2.60,0.00,0.000,6,0.000,0.032,2729,2035,3668
$GC,2309,-0.84,-146.0,262.7,-12.0,412,2317,0.00,2.92,0.00,0.000,4,0.000,0.051,2729,564,3668
$GC,2330,-0.84,-146.0,265.3,-12.3,415,2337,0.00,2.83,0.00,0.000,6,0.000,0.026,2729,2065,3668
$GC,2467,-0.84,-146.0,281.9,-12.5,440,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2070,3668
$GC,2606,-0.84,-146.0,298.5,-11.9,465,2612,0.00,2.53,0.00,0.000,4,0.000,0.038,2729,3381,3668
$GC,2663,-0.84,-146.0,305.3,-12.1,475,2669,0.00,2.53,0.00,0.000,6,0.000,0.032,2729,2064,3668
$GC,2799,-0.84,-146.0,321.6,-12.4,500,2807,0.00,2.97,0.00,0.000,4,0.000,0.051,2729,566,3668
$GC,2834,-0.84,-146.0,326.3,-13.0,506,2842,0.00,2.88,0.00,0.000,6,0.000,0.027,2729,2078,3668
$GC,2973,-0.84,-146.0,342.6,-12.0,531,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2085,3668
$GC,3109,-0.84,-146.0,358.7,-11.5,556,3117,0.00,2.53,0.00,0.000,4,0.000,0.039,2729,3381,3668
$GC,3156,-0.84,-146.0,364.3,-11.8,564,3164,0.00,2.53,0.00,0.000,6,0.000,0.032,2729,2077,3668
$GC,3300,-0.84,-146.0,381.1,-11.7,589,3306,0.00,2.97,0.00,0.000,4,0.000,0.051,2729,561,3668
$GC,3339,-0.84,-146.0,386.3,-12.6,596,3347,0.00,2.90,0.00,0.000,6,0.000,0.027,2729,2086,3668
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$GC,3621,-0.84,-146.0,419.7,-12.1,646,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2092,3668
$GC,3760,-0.84,-146.0,435.9,-11.5,671,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2092,3668
$GC,3898,-0.84,-146.0,451.7,-11.2,696,3906,0.00,2.50,0.00,0.000,4,0.000,0.039,2729,3376,3668
$GC,3953,-0.84,-146.0,457.5,-11.3,705,3959,0.00,2.47,0.00,0.000,6,0.000,0.032,2729,2085,3668
$GC,4091,-0.84,-146.0,473.1,-11.2,730,4097,0.00,3.00,0.00,0.000,4,0.000,0.053,2729,563,3668
$GC,4125,-0.84,-146.0,477.1,-12.6,736,4133,0.00,2.90,0.00,0.000,6,0.000,0.027,2729,2090,3668
$GC,4269,-0.84,-146.0,492.8,-11.0,761,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2096,3668
$GC,4407,-0.84,-146.0,507.9,-10.7,786,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2096,3668
$GC,4546,-0.84,-146.0,522.7,-10.3,811,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2096,3668
$GC,4684,-0.84,-146.0,537.1,-10.2,836,4692,0.00,2.50,0.00,0.000,4,0.000,0.041,2729,3376,3668
$GC,4739,-0.84,-146.0,542.5,-10.2,845,4745,0.00,2.45,0.00,0.000,6,0.000,0.032,2729,2096,3668
$GC,4875,-0.84,-146.0,556.8,-10.5,864,4880,0.00,3.03,0.00,0.000,4,0.000,0.055,2729,566,3667
$GC,4907,-0.84,-146.0,560.5,-11.6,866,4913,0.00,2.90,0.00,0.000,6,0.000,0.028,2729,2102,3668
$GC,5041,-0.84,-146.0,574.3,-10.4,879,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2103,3668
$GC,5168,-0.84,-146.0,587.3,-10.2,891,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2103,3668
$GC,5295,-0.84,-146.0,600.4,-10.5,903,5299,0.00,2.47,0.00,0.000,4,0.000,0.044,2729,3381,3669
$GC,5357,-0.84,-146.0,607.0,-10.6,908,5361,0.00,2.45,0.00,0.000,6,0.000,0.035,2729,2110,3668
$GC,5490,-0.84,-146.0,622.1,-11.4,920,5494,0.00,3.08,0.00,0.000,4,0.000,0.059,2729,568,3668
$GC,5539,-0.84,-146.0,628.1,-12.5,924,5544,0.00,2.92,0.00,0.000,6,0.000,0.029,2729,2109,3668
$GC,5672,-0.84,-146.0,642.8,-11.2,936,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2110,3668
$GC,5800,-0.84,-146.0,656.6,-10.7,948,5804,0.00,2.50,0.00,0.000,4,0.000,0.051,2729,3379,3668
$GC,5865,-0.84,-146.0,663.8,-10.8,953,5872,0.00,2.47,0.00,0.000,6,0.000,0.041,2729,2112,3668
$GC,5999,-0.84,-146.0,677.7,-10.4,966,6004,0.00,3.12,0.00,0.000,4,0.000,0.064,2729,563,3668
$GC,6031,-0.84,-146.0,681.4,-11.5,968,6037,0.00,2.97,0.00,0.000,6,0.000,0.034,2729,2112,3668
$GC,6164,-0.84,-146.0,695.8,-10.9,981,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2112,3668
$GC,6292,-0.84,-146.0,709.2,-10.3,993,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2112,3668
$GC,6419,-0.84,-146.0,722.9,-10.6,1005,6423,0.00,2.58,0.00,0.000,4,0.000,0.066,2729,3379,3668
$GC,6473,-0.84,-146.0,729.1,-11.2,1009,6480,0.00,2.50,0.00,0.000,6,0.000,0.054,2729,2137,3668
$GC,6607,-0.84,-146.0,744.1,-11.4,1022,6612,0.00,3.33,0.00,0.000,4,0.000,0.086,2729,568,3668
$GC,6628,-0.84,-146.0,746.6,-11.7,1023,6634,0.00,3.15,0.00,0.000,6,0.000,0.052,2729,2144,3668
$GC,6761,-0.84,-146.0,761.4,-11.0,1036,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2144,3668
$GC,6889,-0.84,-146.0,775.4,-10.9,1048,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2144,3668
$GC,7017,-0.84,-146.0,789.2,-10.8,1060,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2144,3668
$GC,7144,-0.84,-146.0,802.5,-10.3,1072,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2144,3668
$GC,7273,-0.84,-146.0,815.6,-10.6,1084,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2144,3668
$GC,7400,-0.84,-146.0,828.4,-9.9,1096,7405,0.00,2.78,0.00,0.000,4,0.000,0.116,2729,3364,3668
$GC,7461,-0.84,-146.0,834.5,-10.0,1101,7466,0.00,2.78,0.00,0.000,6,0.000,0.109,2729,2147,3668
$GC,7595,-0.84,-146.0,847.4,-9.9,1113,7600,0.00,3.72,0.00,0.000,4,0.000,0.134,2729,571,3668
$GC,7612,-0.84,-146.0,849.0,-9.8,1114,7617,0.00,3.47,0.00,0.000,6,0.000,0.104,2729,2123,3668
$GC,7745,-0.84,-146.0,862.5,-10.0,1126,7749,0.00,2.90,0.00,0.000,4,0.000,0.128,2729,3364,3668
$GC,7817,-0.84,-146.0,869.8,-10.0,1132,7822,0.00,2.83,0.00,0.000,6,0.000,0.127,2729,2180,3668
$GC,7950,-0.84,-146.0,883.0,-10.0,1144,7960,0.00,3.95,0.00,0.000,4,0.000,0.152,2729,579,3667
$GC,7976,-0.84,-146.0,885.9,-11.8,1146,7983,0.00,3.72,0.00,0.000,6,0.000,0.122,2729,2168,3667
$GC,8109,-0.84,-146.0,899.6,-10.4,1159,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2168,3668
$GC,8237,-0.84,-146.0,912.6,-10.0,1171,8242,0.00,3.00,0.00,0.000,4,0.000,0.155,2729,3365,3668
$GC,8303,-0.84,-146.0,919.4,-10.3,1176,8309,0.00,2.95,0.00,0.000,6,0.000,0.158,2729,2209,3668
$GC,8437,-0.84,-146.0,932.8,-10.0,1189,8442,0.00,3.42,0.00,0.000,4,0.000,0.080,2729,570,3667
$GC,8503,-0.84,-146.0,940.0,-10.9,1194,8509,0.00,3.05,0.00,0.000,6,0.000,0.028,2729,2174,3667
$GC,8637,-0.84,-146.0,953.2,-9.9,1207,8638,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2174,3667
$GC,8764,-0.84,-146.0,966.0,-10.2,1219,8765,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2174,3667
$GC,8892,-0.84,-146.0,978.1,-9.7,1231,8896,0.00,2.38,0.00,0.000,4,0.000,0.051,2729,3380,3667
$GC,8954,-0.84,-146.0,984.1,-9.8,1236,8958,0.00,2.35,0.00,0.000,6,0.000,0.040,2729,2181,3667
$STATE,9021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9021,begin apogee
$GC,9027,-0.21,0.0,990.9,9.7,1242,9184,0.82,0.00,149.45,1.527,6,0.127,0.000,2866,2594,3071
$STATE,9185,end apogee,CONTROL_FINISHED_OK
$STATE,9185,begin climb
$GC,9187,0.91,146.0,994.5,0.0,1258,9351,1.45,2.85,153.10,1.489,4,0.087,0.055,3111,3887,2475
$GC,9419,0.74,146.0,969.4,15.6,1280,9425,0.20,2.65,0.00,0.000,6,0.133,0.035,3084,2600,2473
$GC,9553,0.64,146.0,952.4,12.4,1292,9558,0.15,2.72,0.00,0.000,4,0.136,0.052,3061,3897,2473
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$GC,9719,0.53,146.0,934.8,10.3,1307,9724,0.15,2.65,0.00,0.000,4,0.138,0.051,3040,3890,2472
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$STATE,17916,end climb,SURFACE_DEPTH_REACHED
$STATE,17916,begin surface coast
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$STATE,17934,end surface coast,CONTROL_FINISHED_OK
$STATE,17934,begin surface
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$10V_AH,9.8,3.996
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$DATA_FILE_SIZE,183281,2491
$CAP_FILE_SIZE,252177,0
$CFSIZE,260165632,257617920
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$GPS,050408,045958,5904.088,-2030.147,33,3.8,52,-14.3