version: 66.07
glider: 500
mission: 4
dive: 120
start: 7 12 110 15 3 45
data:
$ID,500
$MISSION,4
$DIVE,120
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1025
$D_NO_BLEED,200
$D_BOOST,4
$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,388
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51642
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$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,1
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-111570.05
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2031
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2822
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-65.916748
$PRESSURE_SLOPE,0.00011603366
$AD7714Ch0Gain,128
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$GPS1,120710,145137,2031.855,-15953.501,25,1.1,25,9.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.4
$GPS2,120710,150250,2032.033,-15953.689,13,1.4,13,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT06a
$TGT_LATLONG,2020.000,-15945.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.145,-0.169
$KALMAN_X,-28276.3,-9.5,247.2,40291.7,-3102.1
$KALMAN_Y,29032.1,145.1,-235.3,-21438.6,3536.6
$MHEAD_RNG_PITCHd_Wd,129.8,26914,-17.0,-8.505
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.71,-116.8,0.0,0.0,0,69,0.00,0.00,-50.75,0.000,2,0.000,0.000,139,2040,2677,0,0,0,0,0,0
$GC,71,-0.71,-116.8,3.4,-5.9,10,103,10.12,2.40,-14.07,0.000,4,0.232,0.057,2653,449,3301,0,0,0,0,0,0
$GC,294,-0.71,-116.8,42.1,-17.4,44,298,0.00,2.28,0.00,0.000,6,0.000,0.032,2642,2041,3303,0,0,0,0,0,0
$GC,554,-0.71,-116.8,77.7,-12.5,68,558,0.00,2.33,0.00,0.000,4,0.000,0.043,2630,3611,3304,0,0,0,0,0,0
$GC,664,-0.71,-116.8,90.0,-10.5,77,671,0.00,2.30,0.00,0.000,6,0.000,0.028,2630,2025,3305,0,0,0,0,0,0
$GC,925,-0.71,-116.8,119.1,-11.9,102,930,0.10,2.30,0.00,0.000,4,0.150,0.042,2660,447,3306,0,0,0,0,0,0
$GC,998,-0.71,-116.8,127.4,-10.9,108,1002,0.00,2.25,0.00,0.000,6,0.000,0.032,2650,2042,3307,0,0,0,0,0,0
$GC,1258,-0.71,-116.8,156.1,-11.0,132,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2042,3307,0,0,0,0,0,0
$GC,1512,-0.71,-116.8,182.0,-9.6,156,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2043,3308,0,0,0,0,0,0
$GC,1766,-0.71,-116.8,203.3,-7.3,178,1770,0.00,2.33,0.00,0.000,4,0.000,0.042,2650,447,3308,0,0,0,0,0,0
$GC,1816,-0.71,-116.8,207.3,-7.9,180,1820,0.00,2.28,0.00,0.000,6,0.000,0.032,2639,2027,3308,0,0,0,0,0,0
$GC,2137,-0.71,-116.8,230.6,-7.6,196,2141,0.00,2.33,0.00,0.000,4,0.000,0.042,2626,3614,3307,0,0,0,0,0,0
$GC,2179,-0.71,-116.8,234.3,-8.6,198,2185,0.08,2.28,0.00,0.000,6,0.110,0.028,2658,2032,3307,0,0,0,0,0,0
$GC,2506,-0.71,-116.8,261.8,-8.4,214,2510,0.00,2.35,0.00,0.000,4,0.000,0.043,2647,3614,3305,0,0,0,0,0,0
$GC,2561,-0.71,-116.8,266.6,-8.8,216,2568,0.00,2.28,0.00,0.000,6,0.000,0.029,2647,2037,3305,0,0,0,0,0,0
$GC,2877,-0.71,-116.8,291.9,-7.7,232,2881,0.00,2.33,0.00,0.000,4,0.000,0.044,2647,443,3303,0,0,0,0,0,0
$GC,2920,-0.71,-116.8,295.8,-8.6,234,2925,0.00,2.28,0.00,0.000,6,0.000,0.032,2635,2033,3303,0,0,0,0,0,0
$GC,3264,-0.71,-116.8,328.7,-9.9,244,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2033,3301,0,0,0,0,0,0
$GC,3588,-0.71,-116.8,359.1,-9.1,252,3592,0.00,2.30,0.00,0.000,4,0.000,0.043,2635,449,3298,0,0,0,0,0,0
$GC,3637,-0.71,-116.8,363.9,-9.8,253,3642,0.08,2.28,0.00,0.000,6,0.117,0.032,2654,2028,3298,0,0,0,0,0,0
$GC,3957,-0.71,-116.8,386.3,-6.7,261,3961,0.00,2.33,0.00,0.000,4,0.000,0.044,2644,3613,3296,0,0,0,0,0,0
$GC,4005,-0.71,-116.8,389.7,-6.8,262,4010,0.00,2.28,0.00,0.000,6,0.000,0.029,2644,2029,3296,0,0,0,0,0,0
$GC,4325,-0.71,-116.8,410.3,-6.5,270,4329,0.00,2.30,0.00,0.000,4,0.000,0.044,2644,452,3294,0,0,0,0,0,0
$GC,4419,-0.71,-116.8,417.2,-7.0,272,4423,0.00,2.28,0.00,0.000,6,0.000,0.032,2632,2064,3293,0,0,0,0,0,0
$GC,4743,-0.71,-116.8,439.2,-7.1,280,4747,0.00,2.28,0.00,0.000,4,0.000,0.044,2620,3610,3291,0,0,0,0,0,0
$GC,4776,-0.71,-116.8,441.9,-8.2,280,4781,0.12,2.28,0.00,0.000,6,0.133,0.030,2660,2010,3290,0,0,0,0,0,0
$GC,5113,-0.71,-116.8,465.1,-7.1,289,5117,0.00,2.28,0.00,0.000,4,0.000,0.044,2660,447,3288,0,0,0,0,0,0
$GC,5167,-0.71,-116.8,469.6,-7.7,290,5172,0.00,2.28,0.00,0.000,6,0.000,0.032,2650,2025,3288,0,0,0,0,0,0
$GC,5480,-0.71,-116.8,491.8,-7.1,298,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2025,3286,0,0,0,0,0,0
$GC,5805,-0.71,-116.8,514.1,-6.7,306,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2025,3285,0,0,0,0,0,0
$GC,6130,-0.71,-116.8,534.8,-6.3,314,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2025,3283,0,0,0,0,0,0
$GC,6455,-0.71,-116.8,554.0,-5.9,322,6459,0.00,2.33,0.00,0.000,4,0.000,0.045,2638,3610,3281,0,0,0,0,0,0
$GC,6504,-0.71,-116.8,557.4,-6.7,323,6508,0.00,2.30,0.00,0.000,6,0.000,0.031,2638,2005,3281,0,0,0,0,0,0
$GC,6823,-0.71,-116.8,579.3,-7.2,331,6827,0.00,2.28,0.00,0.000,4,0.000,0.045,2639,450,3280,0,0,0,0,0,0
$GC,6854,-0.71,-116.8,582.2,-8.9,331,6860,0.08,2.30,0.00,0.000,6,0.119,0.033,2656,2035,3280,0,0,0,0,0,0
$GC,7192,-0.71,-116.8,606.3,-7.2,340,7196,0.00,2.35,0.00,0.000,4,0.000,0.044,2656,450,3278,0,0,0,0,0,0
$GC,7224,-0.71,-116.8,609.0,-8.2,340,7230,0.00,2.28,0.00,0.000,6,0.000,0.033,2647,2022,3277,0,0,0,0,0,0
$GC,7555,-0.71,-116.8,633.7,-7.2,349,7559,0.00,2.30,0.00,0.000,4,0.000,0.045,2646,453,3276,0,0,0,0,0,0
$GC,7582,-0.71,-116.8,635.9,-7.7,349,7586,0.00,2.25,0.00,0.000,6,0.000,0.033,2635,2039,3276,0,0,0,0,0,0
$GC,7919,-0.71,-116.8,656.6,-5.8,358,7923,0.00,2.30,0.00,0.000,4,0.000,0.045,2623,3611,3275,0,0,0,0,0,0
$GC,7958,-0.71,-116.8,658.8,-6.2,359,7963,0.12,2.28,0.00,0.000,6,0.136,0.031,2662,2022,3275,0,0,0,0,0,0
$GC,8282,-0.71,-116.8,670.8,-3.4,367,8286,0.00,2.33,0.00,0.000,4,0.000,0.046,2663,454,3274,0,0,0,0,0,0
$GC,8321,-0.71,-116.8,672.4,-4.4,368,8325,0.00,2.25,0.00,0.000,6,0.000,0.034,2653,2033,3273,0,0,0,0,0,0
$GC,8645,-0.71,-116.8,685.3,-4.1,376,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2033,3273,0,0,0,0,0,0
$GC,8969,-0.71,-116.8,701.1,-5.1,384,8973,0.00,2.33,0.00,0.000,4,0.000,0.046,2653,455,3272,0,0,0,0,0,0
$GC,9046,-0.71,-116.8,706.2,-6.7,385,9053,0.00,2.30,0.00,0.000,6,0.000,0.034,2641,2039,3272,0,0,0,0,0,0
$GC,9378,-0.71,-116.8,726.6,-6.2,394,9379,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2039,3271,0,0,0,0,0,0
$GC,9703,-0.71,-116.8,745.5,-5.7,402,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2039,3270,0,0,0,0,0,0
$GC,10028,-0.71,-116.8,764.4,-5.8,410,10029,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2039,3269,0,0,0,0,0,0
$GC,10353,-0.71,-116.8,782.7,-5.7,418,10357,0.00,2.35,0.00,0.000,4,0.000,0.047,2642,459,3268,0,0,0,0,0,0
$GC,10391,-0.71,-116.8,785.2,-6.9,419,10395,0.00,2.25,0.00,0.000,6,0.000,0.034,2630,2039,3268,0,0,0,0,0,0
$GC,10717,-0.71,-116.8,805.0,-6.1,427,10719,0.10,0.00,0.00,0.000,6,0.155,0.000,2661,2040,3268,0,0,0,0,0,0
$GC,11040,-0.71,-116.8,822.4,-5.3,435,11041,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2039,3267,0,0,0,0,0,0
$GC,11365,-0.71,-116.8,840.8,-5.7,443,11369,0.00,2.38,0.00,0.000,4,0.000,0.047,2661,452,3267,0,0,0,0,0,0
$GC,11404,-0.71,-116.8,843.3,-7.4,444,11408,0.00,2.25,0.00,0.000,6,0.000,0.035,2651,2027,3267,0,0,0,0,0,0
$GC,11728,-0.71,-116.8,863.5,-6.1,452,11729,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2027,3267,0,0,0,0,0,0
$GC,12051,-0.71,-116.8,882.9,-5.9,460,12056,0.00,2.33,0.00,0.000,4,0.000,0.047,2652,455,3266,0,0,0,0,0,0
$GC,12091,-0.71,-116.8,885.5,-6.9,461,12095,0.00,2.28,0.00,0.000,6,0.000,0.035,2640,2035,3266,0,0,0,0,0,0
$GC,12415,-0.71,-116.8,905.2,-6.0,469,12419,0.00,2.35,0.00,0.000,4,0.000,0.047,2628,3613,3266,0,0,0,0,0,0
$GC,12441,-0.71,-116.8,906.9,-6.0,469,12446,0.08,2.33,0.00,0.000,6,0.110,0.032,2659,2027,3266,0,0,0,0,0,0
$GC,12778,-0.71,-116.8,923.9,-4.8,478,12782,0.00,2.33,0.00,0.000,4,0.000,0.048,2659,454,3266,0,0,0,0,0,0
$GC,12817,-0.71,-116.8,926.0,-5.7,479,12821,0.00,2.25,0.00,0.000,6,0.000,0.035,2650,2027,3266,0,0,0,0,0,0
$GC,13141,-0.71,-116.8,941.8,-4.8,487,13142,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2028,3265,0,0,0,0,0,0
$GC,13465,-0.71,-116.8,958.2,-5.1,495,13469,0.00,2.35,0.00,0.000,4,0.000,0.047,2650,457,3265,0,0,0,0,0,0
$STATE,13506,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13506,begin apogee
$GC,13513,-0.23,0.0,961.1,7.2,496,13612,0.50,0.00,94.68,1.295,6,0.111,0.000,2810,2038,2822,0,0,0,0,0,0
$STATE,13612,end apogee,CONTROL_FINISHED_OK
$STATE,13613,begin climb
$GC,13614,0.71,116.8,962.7,0.0,498,13737,0.85,2.65,110.88,1.259,4,0.064,0.045,3122,3608,2342,0,0,0,0,0,0
$GC,13775,0.71,116.8,950.2,13.6,501,13782,0.00,2.50,0.00,0.000,6,0.000,0.035,3133,2041,2336,0,0,0,0,0,0
$GC,14107,0.71,116.8,905.5,13.7,510,14111,0.00,2.42,0.00,0.000,4,0.000,0.048,3146,451,2326,0,0,0,0,0,0
$GC,14178,0.71,116.8,894.8,15.0,511,14182,0.00,2.38,0.00,0.000,6,0.000,0.035,3146,2029,2325,0,0,0,0,0,0
$GC,14514,0.71,116.8,845.4,14.7,520,14516,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2029,2323,0,0,0,0,0,0
$GC,14840,0.71,116.8,795.5,15.2,528,14841,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2029,2322,0,0,0,0,0,0
$GC,15164,0.71,116.8,746.6,14.8,536,15168,0.00,2.38,0.00,0.000,4,0.000,0.045,3146,3615,2321,0,0,0,0,0,0
$GC,15192,0.71,116.8,742.3,14.8,536,15197,0.15,2.35,0.00,0.000,6,0.166,0.035,3117,2012,2320,0,0,0,0,0,0
$GC,15523,0.71,116.8,701.0,12.3,544,15527,0.00,2.35,0.00,0.000,4,0.000,0.048,3127,449,2319,0,0,0,0,0,0
$GC,15605,0.71,116.8,690.5,12.9,545,15612,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,2031,2319,0,0,0,0,0,0
$GC,15937,0.71,116.8,650.2,12.2,554,15938,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2031,2318,0,0,0,0,0,0
$GC,16262,0.71,116.8,610.4,12.3,562,16263,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2031,2318,0,0,0,0,0,0
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$STATE,22474,end climb,SURFACE_DEPTH_REACHED
$STATE,22474,begin surface coast
$FINISH,0.8,1.023052
$STATE,22513,end surface coast,CONTROL_FINISHED_OK
$STATE,22513,begin surface
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$10V_AH,9.8,17.648
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$FG_AHR_10Vo,0.000
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$CAP_FILE_SIZE,245257,0
$CFSIZE,260165632,248242176
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$GPS,120710,212154,2031.969,-15953.500,24,0.9,41,9.6