version: 66.07
glider: 500
mission: 4
dive: 123
start: 7 13 110 10 57 32
data:
$ID,500
$MISSION,4
$DIVE,123
$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,-111604.05
$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,53
$R_STBD_OVSHOOT,44
$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
$GPS1,130710,103730,2031.719,-15952.999,38,1.1,38,9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.5
$GPS2,130710,105638,2032.057,-15953.124,7,1.6,7,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT06a
$TGT_LATLONG,2020.000,-15945.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.123,-0.186
$KALMAN_X,-36638.7,-300.8,-380.5,50552.2,-1480.8
$KALMAN_Y,39945.1,204.9,496.0,-33102.9,2139.9
$MHEAD_RNG_PITCHd_Wd,136.9,26413,-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,-116.8,0.0,0.0,0,64,0.00,0.00,-46.35,0.000,2,0.000,0.000,133,2018,2550,0,0,0,0,0,0
$GC,66,-0.71,-116.8,3.1,-4.6,9,103,10.12,2.38,-18.58,0.000,4,0.231,0.056,2655,452,3301,0,0,0,0,0,0
$GC,204,-0.71,-116.8,24.4,-16.4,34,210,0.00,2.30,0.00,0.000,6,0.000,0.033,2644,2051,3302,0,0,0,0,0,0
$GC,408,-0.71,-116.8,52.9,-13.4,56,412,0.00,2.35,0.00,0.000,4,0.000,0.041,2644,452,3302,0,0,0,0,0,0
$GC,461,-0.71,-116.8,60.5,-13.9,60,468,0.00,2.28,0.00,0.000,6,0.000,0.031,2633,2030,3302,0,0,0,0,0,0
$GC,723,-0.71,-116.8,94.2,-13.0,85,727,0.00,2.30,0.00,0.000,4,0.000,0.041,2621,3611,3304,0,0,0,0,0,0
$GC,761,-0.71,-116.8,99.2,-12.4,88,766,0.12,2.25,0.00,0.000,6,0.137,0.029,2659,2022,3304,0,0,0,0,0,0
$GC,1021,-0.71,-116.8,128.3,-10.8,112,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2022,3305,0,0,0,0,0,0
$GC,1276,-0.71,-116.8,153.9,-9.5,136,1280,0.00,2.25,0.00,0.000,4,0.000,0.042,2660,455,3306,0,0,0,0,0,0
$GC,1338,-0.71,-116.8,160.6,-11.3,141,1342,0.00,2.22,0.00,0.000,6,0.000,0.031,2649,2051,3305,0,0,0,0,0,0
$GC,1598,-0.71,-116.8,188.4,-10.4,165,1602,0.00,2.30,0.00,0.000,4,0.000,0.042,2637,3613,3305,0,0,0,0,0,0
$GC,1619,-0.71,-116.8,190.7,-10.2,166,1625,0.00,2.28,0.00,0.000,6,0.000,0.028,2637,2030,3305,0,0,0,0,0,0
$GC,1874,-0.71,-116.8,220.2,-12.0,183,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2030,3305,0,0,0,0,0,0
$GC,2184,-0.71,-116.8,255.7,-10.7,198,2188,0.00,2.28,0.00,0.000,4,0.000,0.042,2637,455,3305,0,0,0,0,0,0
$GC,2238,-0.71,-116.8,261.7,-11.2,200,2245,0.08,2.25,0.00,0.000,6,0.116,0.031,2657,2021,3304,0,0,0,0,0,0
$GC,2554,-0.71,-116.8,285.1,-6.7,216,2558,0.00,2.28,0.00,0.000,4,0.000,0.042,2657,455,3303,0,0,0,0,0,0
$GC,2586,-0.71,-116.8,287.6,-7.8,217,2592,0.00,2.25,0.00,0.000,6,0.000,0.031,2647,2027,3303,0,0,0,0,0,0
$GC,2920,-0.71,-116.8,314.2,-8.3,230,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2028,3301,0,0,0,0,0,0
$GC,3244,-0.71,-116.8,343.5,-9.4,238,3248,0.00,2.33,0.00,0.000,4,0.000,0.042,2634,3620,3298,0,0,0,0,0,0
$GC,3288,-0.71,-116.8,347.8,-10.4,239,3292,0.00,2.30,0.00,0.000,6,0.000,0.029,2634,2024,3298,0,0,0,0,0,0
$GC,3612,-0.71,-116.8,381.9,-10.6,247,3616,0.00,2.28,0.00,0.000,4,0.000,0.043,2635,447,3296,0,0,0,0,0,0
$GC,3671,-0.71,-116.8,389.0,-11.7,248,3677,0.08,2.28,0.00,0.000,6,0.114,0.031,2654,2031,3296,0,0,0,0,0,0
$GC,4020,-0.71,-116.8,418.1,-7.9,257,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2031,3293,0,0,0,0,0,0
$GC,4344,-0.71,-116.8,441.2,-7.0,265,4348,0.00,2.35,0.00,0.000,4,0.000,0.044,2654,447,3291,0,0,0,0,0,0
$GC,4376,-0.71,-116.8,443.8,-8.2,265,4382,0.00,2.28,0.00,0.000,6,0.000,0.032,2644,2045,3290,0,0,0,0,0,0
$GC,4707,-0.71,-116.8,467.4,-7.1,274,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2045,3288,0,0,0,0,0,0
$GC,5032,-0.71,-116.8,488.1,-6.0,282,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2045,3286,0,0,0,0,0,0
$GC,5357,-0.71,-116.8,505.7,-5.4,290,5361,0.00,2.35,0.00,0.000,4,0.000,0.044,2644,454,3284,0,0,0,0,0,0
$GC,5383,-0.71,-116.8,507.5,-7.1,290,5387,0.00,2.28,0.00,0.000,6,0.000,0.033,2633,2030,3284,0,0,0,0,0,0
$GC,5720,-0.71,-116.8,532.5,-7.9,299,5724,0.00,2.30,0.00,0.000,4,0.000,0.044,2621,3608,3282,0,0,0,0,0,0
$GC,5769,-0.71,-116.8,537.1,-9.6,300,5774,0.10,2.30,0.00,0.000,6,0.104,0.030,2661,2024,3281,0,0,0,0,0,0
$GC,6089,-0.71,-116.8,560.9,-7.5,308,6093,0.00,2.28,0.00,0.000,4,0.000,0.045,2661,459,3280,0,0,0,0,0,0
$GC,6155,-0.71,-116.8,566.3,-8.1,309,6159,0.00,2.25,0.00,0.000,6,0.000,0.032,2651,2030,3279,0,0,0,0,0,0
$GC,6497,-0.71,-116.8,589.7,-6.5,318,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2031,3277,0,0,0,0,0,0
$GC,6822,-0.71,-116.8,610.3,-6.2,326,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2031,3276,0,0,0,0,0,0
$GC,7147,-0.71,-116.8,631.9,-6.6,334,7151,0.00,2.35,0.00,0.000,4,0.000,0.046,2652,448,3275,0,0,0,0,0,0
$GC,7179,-0.71,-116.8,634.3,-7.5,334,7186,0.00,2.30,0.00,0.000,6,0.000,0.032,2640,2038,3274,0,0,0,0,0,0
$GC,7511,-0.71,-116.8,656.3,-6.5,343,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2038,3273,0,0,0,0,0,0
$GC,7836,-0.71,-116.8,674.4,-5.4,351,7837,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2038,3272,0,0,0,0,0,0
$GC,8161,-0.71,-116.8,691.7,-5.1,359,8165,0.00,2.35,0.00,0.000,4,0.000,0.046,2640,456,3271,0,0,0,0,0,0
$GC,8226,-0.71,-116.8,695.9,-6.6,360,8231,0.10,2.25,0.00,0.000,6,0.156,0.034,2658,2037,3270,0,0,0,0,0,0
$GC,8569,-0.71,-116.8,711.9,-4.9,369,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2037,3269,0,0,0,0,0,0
$GC,8893,-0.71,-116.8,729.4,-5.5,377,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2038,3268,0,0,0,0,0,0
$GC,9218,-0.71,-116.8,748.8,-6.1,385,9222,0.00,2.35,0.00,0.000,4,0.000,0.047,2658,450,3267,0,0,0,0,0,0
$GC,9290,-0.71,-116.8,753.9,-7.2,386,9294,0.00,2.30,0.00,0.000,6,0.000,0.033,2648,2031,3267,0,0,0,0,0,0
$GC,9633,-0.71,-116.8,775.2,-6.2,395,9635,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2031,3267,0,0,0,0,0,0
$GC,9957,-0.71,-116.8,793.7,-5.5,403,9962,0.00,2.38,0.00,0.000,4,0.000,0.046,2637,3611,3266,0,0,0,0,0,0
$GC,9986,-0.71,-116.8,795.2,-5.4,403,9990,0.00,2.28,0.00,0.000,6,0.000,0.031,2637,2028,3266,0,0,0,0,0,0
$GC,10316,-0.71,-116.8,811.9,-4.7,411,10320,0.00,2.33,0.00,0.000,4,0.000,0.047,2637,455,3266,0,0,0,0,0,0
$GC,10348,-0.71,-116.8,813.6,-5.2,411,10353,0.08,2.30,0.00,0.000,6,0.118,0.034,2655,2033,3266,0,0,0,0,0,0
$GC,10686,-0.71,-116.8,824.7,-3.1,420,10690,0.00,2.35,0.00,0.000,4,0.000,0.046,2656,458,3265,0,0,0,0,0,0
$GC,10713,-0.71,-116.8,825.8,-3.8,420,10717,0.00,2.30,0.00,0.000,6,0.000,0.033,2646,2037,3265,0,0,0,0,0,0
$GC,11051,-0.71,-116.8,836.5,-3.2,429,11052,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2036,3264,0,0,0,0,0,0
$GC,11375,-0.71,-116.8,847.4,-3.5,437,11376,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2036,3264,0,0,0,0,0,0
$GC,11700,-0.71,-116.8,860.3,-4.2,445,11704,0.00,2.35,0.00,0.000,4,0.000,0.047,2646,459,3263,0,0,0,0,0,0
$GC,11743,-0.71,-116.8,862.5,-4.8,446,11747,0.00,2.28,0.00,0.000,6,0.000,0.034,2635,2034,3263,0,0,0,0,0,0
$GC,12068,-0.71,-116.8,878.7,-5.1,454,12069,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2033,3262,0,0,0,0,0,0
$GC,12392,-0.71,-116.8,896.2,-5.5,462,12393,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2034,3262,0,0,0,0,0,0
$GC,12717,-0.71,-116.8,914.5,-5.8,470,12721,0.00,2.35,0.00,0.000,4,0.000,0.048,2635,453,3261,0,0,0,0,0,0
$GC,12822,-0.71,-116.8,922.1,-7.3,472,12827,0.12,2.28,0.00,0.000,6,0.144,0.035,2661,2042,3261,0,0,0,0,0,0
$GC,13170,-0.71,-116.8,939.4,-4.9,481,13174,0.00,2.38,0.00,0.000,4,0.000,0.047,2661,458,3261,0,0,0,0,0,0
$GC,13202,-0.71,-116.8,941.4,-5.4,481,13208,0.00,2.25,0.00,0.000,6,0.000,0.034,2651,2031,3261,0,0,0,0,0,0
$STATE,13531,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13531,begin apogee
$GC,13536,-0.23,0.0,958.9,5.3,490,13633,0.47,0.00,94.15,1.292,6,0.109,0.000,2811,2031,2822,0,0,0,0,0,0
$STATE,13634,end apogee,CONTROL_FINISHED_OK
$STATE,13634,begin climb
$GC,13636,0.71,116.8,960.4,0.0,492,13759,0.85,2.67,110.85,1.257,4,0.064,0.045,3123,3612,2343,0,0,0,0,0,0
$GC,13780,0.71,116.8,949.7,12.9,495,13785,0.00,2.53,0.00,0.000,6,0.000,0.035,3135,2042,2338,0,0,0,0,0,0
$GC,14129,0.71,116.8,902.8,13.3,504,14133,0.00,2.42,0.00,0.000,4,0.000,0.049,3147,451,2327,0,0,0,0,0,0
$GC,14222,0.71,116.8,888.9,14.2,506,14227,0.00,2.38,0.00,0.000,6,0.000,0.035,3147,2028,2325,0,0,0,0,0,0
$GC,14541,0.71,116.8,843.2,14.6,514,14546,0.00,2.40,0.00,0.000,4,0.000,0.045,3147,3621,2323,0,0,0,0,0,0
$GC,14562,0.71,116.8,839.9,14.0,514,14568,0.10,2.40,0.00,0.000,6,0.150,0.035,3127,2028,2323,0,0,0,0,0,0
$GC,14905,0.71,116.8,793.8,13.3,523,14910,0.00,2.38,0.00,0.000,4,0.000,0.048,3137,447,2322,0,0,0,0,0,0
$GC,14977,0.71,116.8,783.5,13.9,524,14982,0.00,2.35,0.00,0.000,6,0.000,0.035,3137,2033,2321,0,0,0,0,0,0
$GC,15314,0.71,116.8,739.9,12.8,533,15318,0.00,2.35,0.00,0.000,4,0.000,0.045,3137,3618,2320,0,0,0,0,0,0
$GC,15352,0.71,116.8,734.6,13.5,534,15356,0.00,2.35,0.00,0.000,6,0.000,0.035,3149,2025,2319,0,0,0,0,0,0
$GC,15675,0.71,116.8,691.2,13.7,542,15679,0.00,2.35,0.00,0.000,4,0.000,0.048,3161,458,2319,0,0,0,0,0,0
$GC,15752,0.71,116.8,680.0,13.9,543,15758,0.12,2.33,0.00,0.000,6,0.143,0.035,3120,2033,2319,0,0,0,0,0,0
$GC,16090,0.71,116.8,640.7,11.4,552,16091,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2033,2318,0,0,0,0,0,0
$GC,16414,0.71,116.8,604.3,11.1,560,16415,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2033,2317,0,0,0,0,0,0
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$STATE,22522,end climb,SURFACE_DEPTH_REACHED
$STATE,22523,begin surface coast
$FINISH,0.7,1.023377
$STATE,22552,end surface coast,CONTROL_FINISHED_OK
$STATE,22552,begin surface
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$XPDR_PINGS,0
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$10V_AH,9.8,17.885
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$FG_AHR_10Vo,0.000
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$MEM,333652
$DATA_FILE_SIZE,33373,919
$CAP_FILE_SIZE,250430,0
$CFSIZE,260165632,247984128
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$GPS,130710,171606,2030.824,-15952.688,25,1.0,25,9.6