version: 66.07
glider: 500
mission: 4
dive: 122
start: 7 13 110 4 14 15
data:
$ID,500
$MISSION,4
$DIVE,122
$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,-111593.24
$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,57
$R_STBD_OVSHOOT,57
$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
$GPS1,130710,035555,2031.184,-15952.553,40,1.0,40,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.4
$GPS2,130710,041320,2031.657,-15952.850,8,1.4,8,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT06a
$TGT_LATLONG,2020.000,-15945.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.143,-0.170
$KALMAN_X,-33913.6,11.2,390.6,47217.0,-3822.2
$KALMAN_Y,36464.0,-51.3,-471.3,-29139.1,4735.5
$MHEAD_RNG_PITCHd_Wd,130.3,25532,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.71,-116.8,0.0,0.0,0,69,0.00,0.00,-51.58,0.000,2,0.000,0.000,131,2046,2739,0,0,0,0,0,0
$GC,71,-0.71,-116.8,3.3,-5.4,10,103,10.18,2.42,-12.90,0.000,4,0.234,0.055,2648,454,3301,0,0,0,0,0,0
$GC,170,-0.71,-116.8,21.5,-19.7,28,176,0.00,2.28,0.00,0.000,6,0.000,0.033,2638,2024,3303,0,0,0,0,0,0
$GC,374,-0.71,-116.8,54.9,-13.5,51,378,0.00,2.38,0.00,0.000,4,0.000,0.043,2626,3612,3303,0,0,0,0,0,0
$GC,451,-0.71,-116.8,64.7,-12.0,58,456,0.12,2.28,0.00,0.000,6,0.135,0.029,2665,2037,3303,0,0,0,0,0,0
$GC,711,-0.71,-116.8,89.3,-9.1,82,716,0.00,2.30,0.00,0.000,4,0.000,0.041,2665,446,3305,0,0,0,0,0,0
$GC,773,-0.71,-116.8,95.5,-10.1,87,777,0.00,2.25,0.00,0.000,6,0.000,0.031,2655,2042,3305,0,0,0,0,0,0
$GC,1033,-0.71,-116.8,121.6,-10.4,111,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2042,3307,0,0,0,0,0,0
$GC,1288,-0.71,-116.8,147.4,-9.0,135,1292,0.00,2.33,0.00,0.000,4,0.000,0.044,2655,451,3307,0,0,0,0,0,0
$GC,1326,-0.71,-116.8,151.5,-11.0,138,1330,0.00,2.25,0.00,0.000,6,0.000,0.031,2643,2037,3307,0,0,0,0,0,0
$GC,1587,-0.71,-116.8,178.5,-10.9,162,1591,0.00,2.30,0.00,0.000,4,0.000,0.042,2631,3612,3307,0,0,0,0,0,0
$GC,1663,-0.71,-116.8,186.9,-10.9,168,1670,0.00,2.28,0.00,0.000,6,0.000,0.028,2631,2029,3307,0,0,0,0,0,0
$GC,1921,-0.71,-116.8,211.5,-9.0,187,1925,0.00,2.28,0.00,0.000,4,0.000,0.041,2631,443,3306,0,0,0,0,0,0
$GC,1969,-0.71,-116.8,216.0,-9.5,189,1975,0.10,2.28,0.00,0.000,6,0.114,0.031,2658,2032,3307,0,0,0,0,0,0
$GC,2291,-0.71,-116.8,238.2,-7.6,205,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2033,3307,0,0,0,0,0,0
$GC,2600,-0.71,-116.8,264.0,-8.4,220,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2033,3305,0,0,0,0,0,0
$GC,2909,-0.71,-116.8,288.0,-7.1,235,2913,0.00,2.30,0.00,0.000,4,0.000,0.042,2657,444,3304,0,0,0,0,0,0
$GC,2971,-0.71,-116.8,292.7,-7.5,238,2975,0.00,2.25,0.00,0.000,6,0.000,0.031,2648,2034,3304,0,0,0,0,0,0
$GC,3294,-0.71,-116.8,315.0,-6.8,249,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2035,3302,0,0,0,0,0,0
$GC,3618,-0.71,-116.8,337.6,-7.0,257,3622,0.00,2.30,0.00,0.000,4,0.000,0.043,2635,3606,3301,0,0,0,0,0,0
$GC,3706,-0.71,-116.8,344.1,-7.8,259,3710,0.00,2.28,0.00,0.000,6,0.000,0.029,2635,2006,3300,0,0,0,0,0,0
$GC,4031,-0.71,-116.8,369.5,-8.1,267,4035,0.00,2.25,0.00,0.000,4,0.000,0.044,2635,458,3298,0,0,0,0,0,0
$GC,4074,-0.71,-116.8,373.7,-10.0,268,4079,0.08,2.25,0.00,0.000,6,0.115,0.031,2655,2022,3298,0,0,0,0,0,0
$GC,4400,-0.71,-116.8,398.3,-7.4,276,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2023,3296,0,0,0,0,0,0
$GC,4723,-0.71,-116.8,422.5,-7.4,284,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2023,3295,0,0,0,0,0,0
$GC,5047,-0.71,-116.8,444.8,-6.6,292,5052,0.00,2.33,0.00,0.000,4,0.000,0.044,2655,451,3294,0,0,0,0,0,0
$GC,5068,-0.71,-116.8,446.4,-7.3,292,5073,0.00,2.28,0.00,0.000,6,0.000,0.033,2645,2029,3293,0,0,0,0,0,0
$GC,5412,-0.71,-116.8,471.0,-7.2,301,5416,0.00,2.35,0.00,0.000,4,0.000,0.045,2634,3611,3292,0,0,0,0,0,0
$GC,5443,-0.71,-116.8,473.7,-8.3,301,5448,0.00,2.30,0.00,0.000,6,0.000,0.030,2633,2027,3292,0,0,0,0,0,0
$GC,5781,-0.71,-116.8,500.7,-7.7,310,5785,0.00,2.30,0.00,0.000,4,0.000,0.044,2633,448,3290,0,0,0,0,0,0
$GC,5835,-0.71,-116.8,505.6,-8.7,311,5840,0.10,2.28,0.00,0.000,6,0.110,0.032,2660,2026,3290,0,0,0,0,0,0
$GC,6149,-0.71,-116.8,526.3,-6.6,319,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2026,3289,0,0,0,0,0,0
$GC,6473,-0.71,-116.8,546.5,-6.1,327,6477,0.00,2.30,0.00,0.000,4,0.000,0.045,2661,453,3288,0,0,0,0,0,0
$GC,6561,-0.71,-116.8,552.5,-6.7,329,6566,0.00,2.28,0.00,0.000,6,0.000,0.032,2651,2023,3288,0,0,0,0,0,0
$GC,6886,-0.71,-116.8,571.7,-6.0,337,6890,0.00,2.33,0.00,0.000,4,0.000,0.045,2639,3613,3287,0,0,0,0,0,0
$GC,6912,-0.71,-116.8,573.4,-6.4,337,6916,0.00,2.30,0.00,0.000,6,0.000,0.031,2638,2038,3287,0,0,0,0,0,0
$GC,7249,-0.71,-116.8,595.7,-6.7,346,7253,0.00,2.35,0.00,0.000,4,0.000,0.045,2639,447,3286,0,0,0,0,0,0
$GC,7281,-0.71,-116.8,598.3,-8.5,346,7289,0.08,2.30,0.00,0.000,6,0.118,0.033,2657,2035,3286,0,0,0,0,0,0
$GC,7614,-0.71,-116.8,617.6,-5.8,355,7618,0.00,2.33,0.00,0.000,4,0.000,0.045,2647,3608,3286,0,0,0,0,0,0
$GC,7657,-0.71,-116.8,620.5,-6.6,356,7661,0.00,2.33,0.00,0.000,6,0.000,0.031,2647,2018,3285,0,0,0,0,0,0
$GC,7982,-0.71,-116.8,640.8,-6.3,364,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2018,3286,0,0,0,0,0,0
$GC,8306,-0.71,-116.8,661.2,-6.2,372,8310,0.00,2.30,0.00,0.000,4,0.000,0.045,2647,450,3285,0,0,0,0,0,0
$GC,8389,-0.71,-116.8,667.2,-7.8,374,8393,0.00,2.28,0.00,0.000,6,0.000,0.034,2635,2045,3285,0,0,0,0,0,0
$GC,8719,-0.71,-116.8,689.7,-7.0,382,8723,0.00,2.33,0.00,0.000,4,0.000,0.044,2635,458,3285,0,0,0,0,0,0
$GC,8790,-0.71,-116.8,695.4,-7.8,383,8795,0.08,2.28,0.00,0.000,6,0.117,0.034,2654,2022,3284,0,0,0,0,0,0
$GC,9128,-0.71,-116.8,715.3,-5.7,392,9132,0.00,2.35,0.00,0.000,4,0.000,0.046,2644,3609,3284,0,0,0,0,0,0
$GC,9160,-0.71,-116.8,717.3,-6.6,392,9166,0.00,2.30,0.00,0.000,6,0.000,0.031,2644,2038,3285,0,0,0,0,0,0
$GC,9491,-0.71,-116.8,738.3,-6.4,401,9493,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2038,3284,0,0,0,0,0,0
$GC,9816,-0.71,-116.8,758.9,-6.4,409,9820,0.00,2.35,0.00,0.000,4,0.000,0.045,2644,447,3284,0,0,0,0,0,0
$GC,9876,-0.71,-116.8,763.1,-7.5,410,9880,0.00,2.30,0.00,0.000,6,0.000,0.033,2632,2031,3284,0,0,0,0,0,0
$GC,10190,-0.71,-116.8,783.2,-6.2,418,10191,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2031,3284,0,0,0,0,0,0
$GC,10514,-0.71,-116.8,801.7,-5.6,426,10518,0.00,2.35,0.00,0.000,4,0.000,0.047,2632,451,3284,0,0,0,0,0,0
$GC,10598,-0.71,-116.8,806.8,-6.3,428,10602,0.12,2.25,0.00,0.000,6,0.145,0.034,2659,2032,3284,0,0,0,0,0,0
$GC,10921,-0.71,-116.8,819.9,-3.9,436,10922,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2032,3285,0,0,0,0,0,0
$GC,11246,-0.71,-116.8,832.4,-3.8,444,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2032,3285,0,0,0,0,0,0
$GC,11571,-0.71,-116.8,845.6,-4.2,452,11575,0.00,2.35,0.00,0.000,4,0.000,0.048,2659,449,3285,0,0,0,0,0,0
$GC,11597,-0.71,-116.8,847.1,-5.3,452,11602,0.00,2.30,0.00,0.000,6,0.000,0.035,2649,2039,3286,0,0,0,0,0,0
$GC,11934,-0.71,-116.8,863.5,-5.1,461,11935,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2039,3285,0,0,0,0,0,0
$GC,12259,-0.71,-116.8,880.3,-5.2,469,12263,0.00,2.38,0.00,0.000,4,0.000,0.047,2649,450,3285,0,0,0,0,0,0
$GC,12308,-0.71,-116.8,883.2,-6.2,470,12312,0.00,2.28,0.00,0.000,6,0.000,0.034,2638,2045,3285,0,0,0,0,0,0
$GC,12627,-0.71,-116.8,900.9,-5.6,478,12631,0.00,2.38,0.00,0.000,4,0.000,0.047,2638,456,3286,0,0,0,0,0,0
$GC,12666,-0.71,-116.8,903.6,-7.1,479,12671,0.12,2.25,0.00,0.000,6,0.145,0.035,2664,2030,3285,0,0,0,0,0,0
$GC,12989,-0.71,-116.8,920.0,-5.1,487,12990,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2031,3286,0,0,0,0,0,0
$GC,13314,-0.71,-116.8,937.0,-5.3,495,13318,0.00,2.40,0.00,0.000,4,0.000,0.048,2665,447,3286,0,0,0,0,0,0
$GC,13353,-0.71,-116.8,939.4,-6.3,496,13357,0.00,2.30,0.00,0.000,6,0.000,0.034,2655,2039,3285,0,0,0,0,0,0
$STATE,13512,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13512,begin apogee
$GC,13517,-0.23,0.0,949.0,6.0,500,13619,0.47,0.00,99.57,1.284,6,0.108,0.000,2815,2039,2822,0,0,0,0,0,0
$STATE,13620,end apogee,CONTROL_FINISHED_OK
$STATE,13620,begin climb
$GC,13622,0.71,116.8,951.4,0.0,502,13737,0.85,0.00,111.60,1.251,6,0.063,0.000,3122,2039,2345,0,0,0,0,0,0
$GC,14039,0.71,116.8,910.6,12.0,513,14043,0.00,2.45,0.00,0.000,4,0.000,0.049,3135,450,2328,0,0,0,0,0,0
$GC,14065,0.71,116.8,907.3,12.3,513,14070,0.00,2.38,0.00,0.000,6,0.000,0.034,3135,2018,2328,0,0,0,0,0,0
$GC,14402,0.71,116.8,866.4,12.0,522,14406,0.00,2.38,0.00,0.000,4,0.000,0.049,3146,453,2324,0,0,0,0,0,0
$GC,14445,0.71,116.8,860.8,13.1,523,14449,0.00,2.38,0.00,0.000,6,0.000,0.035,3147,2043,2324,0,0,0,0,0,0
$GC,14769,0.71,116.8,820.4,12.6,531,14770,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2043,2322,0,0,0,0,0,0
$GC,15094,0.71,116.8,779.8,12.6,539,15098,0.00,2.38,0.00,0.000,4,0.000,0.049,3159,459,2321,0,0,0,0,0,0
$GC,15148,0.71,116.8,772.5,12.9,540,15153,0.10,2.33,0.00,0.000,6,0.143,0.035,3125,2033,2321,0,0,0,0,0,0
$GC,15461,0.71,116.8,736.2,11.6,548,15465,0.00,2.38,0.00,0.000,4,0.000,0.046,3125,3619,2320,0,0,0,0,0,0
$GC,15499,0.71,116.8,731.5,12.3,549,15504,0.00,2.33,0.00,0.000,6,0.000,0.036,3136,2031,2319,0,0,0,0,0,0
$GC,15823,0.71,116.8,692.0,12.3,557,15827,0.00,2.38,0.00,0.000,4,0.000,0.049,3148,452,2318,0,0,0,0,0,0
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$STATE,22782,end climb,SURFACE_DEPTH_REACHED
$STATE,22782,begin surface coast
$FINISH,0.7,1.010522
$STATE,22824,end surface coast,CONTROL_FINISHED_OK
$STATE,22824,begin surface
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$10V_AH,9.9,17.804
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,33380,948
$CAP_FILE_SIZE,256807,0
$CFSIZE,260165632,248061952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130710,103730,2031.719,-15952.999,38,1.1,38,9.6