version: 66.07
glider: 543
mission: 6
dive: 4
start: 12 9 112 11 52 51
data:
$ID,543
$MISSION,6
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,300
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,5
$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,133
$T_MISSION,148
$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,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52589
$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,-4230
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,472.49722
$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,-7381.8623
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,3353
$C_ROLL_CLIMB,3153
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,9
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2474
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00061500003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,-55.913475
$PRESSURE_SLOPE,0.00011638312
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$DEVICE4,118
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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,0.0043127281
$SEABIRD_T_H,0.00062185986
$SEABIRD_T_I,2.2048062e-05
$SEABIRD_T_J,2.2117231e-06
$SEABIRD_C_G,-10.303595
$SEABIRD_C_H,1.1762303
$SEABIRD_C_I,-0.001936322
$SEABIRD_C_J,0.00024357962
$GPS1,091212,114301,-4229.621,802.962,19,1.8,19,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-23.2
$GPS2,091212,115153,-4229.614,803.017,37,0.9,37,-24.9
$SPEED_LIMITS,0.174,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.292,-0.045
$KALMAN_X,-337.0,9.6,141.5,2053.9,-429.6
$KALMAN_Y,544.7,263.2,149.0,-179.1,227.5
$MHEAD_RNG_PITCHd_Wd,123.7,23201,-14.9,-10.025
$D_GRID,400
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.53,-194.7,0.0,0.0,0,126,0.00,0.00,-103.53,0.000,2,0.000,0.000,82,3342,3164,0,0,0,0,0,0
$GC,130,-0.53,-194.7,3.6,-6.7,13,151,5.78,2.17,-2.22,0.000,4,0.253,0.054,1473,1955,3270,0,0,0,0,0,0
$GC,245,-0.53,-194.7,23.0,-10.0,29,256,0.00,2.33,0.00,0.000,6,0.000,0.065,1464,3352,3271,0,0,0,0,0,0
$GC,333,-0.53,-194.7,34.6,-13.3,42,341,0.00,0.98,0.00,0.000,4,0.000,0.075,1460,3949,3271,0,0,0,0,0,0
$GC,431,-0.53,-194.7,48.3,-13.9,58,442,0.00,0.90,0.00,0.000,6,0.000,0.041,1460,3361,3271,0,0,0,0,0,0
$GC,678,-0.53,-194.7,79.1,-11.1,99,685,0.00,0.95,0.00,0.000,4,0.000,0.068,1456,3953,3271,0,0,0,0,0,0
$GC,891,-0.53,-194.7,104.8,-12.0,131,895,0.00,0.93,0.00,0.000,6,0.000,0.041,1455,3341,3271,0,0,0,0,0,0
$GC,1221,-0.53,-194.7,142.7,-11.3,152,1225,0.00,0.98,0.00,0.000,4,0.000,0.067,1451,3951,3271,0,0,0,0,0,0
$GC,1299,-0.53,-194.7,152.4,-12.4,156,1309,0.00,0.93,0.00,0.000,6,0.000,0.041,1451,3340,3271,0,0,0,0,0,0
$GC,1623,-0.53,-194.7,191.2,-12.4,177,1626,0.00,0.98,0.00,0.000,4,0.000,0.068,1447,3952,3271,0,0,0,0,0,0
$GC,1685,-0.53,-194.7,200.3,-13.6,180,1693,0.00,0.90,0.00,0.000,6,0.000,0.041,1447,3356,3271,0,0,0,0,0,0
$GC,2009,-0.53,-194.7,242.3,-12.9,201,2013,0.10,0.95,0.00,0.000,4,0.184,0.066,1469,3949,3270,0,0,0,0,0,0
$GC,2081,-0.53,-194.7,250.7,-11.0,205,2085,0.00,0.90,0.00,0.000,6,0.000,0.042,1468,3346,3270,0,0,0,0,0,0
$GC,2416,-0.53,-194.7,286.4,-10.7,221,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3346,3270,0,0,0,0,0,0
$STATE,2496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2496,begin apogee
$GC,2503,-0.14,0.0,295.2,10.6,225,2622,0.43,0.00,115.90,0.811,2,0.132,0.000,1601,3154,2740,0,0,0,0,0,0
$STATE,2623,end apogee,ABORT_DEPTH_EXCEEDED
$SM_CCo,2636,468.08,1.341,1,0,506,482.50
$SM_GC,0.62,4.00,0.00,0.00,0.040,0.000,0.000,74,3154,505,-4.84,0.00,482.99
$IRIDIUM_FIX,-4212.81,806.15,091212,111142
$TT8_MAMPS,0.025466
$HUMID,59.37
$INTERNAL_PRESSURE,9.00542
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,23.5,2.628
$10V_AH,10.3,0.837
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,10.300,14.150,115.900,468.075,0.000,0.000,0.000,0.000,0.000,0.000,39.683,628.092,3406.268,663.040,635.620,249.392,32.333,1003.540,0.000,676.711,0.000,1.015,0.000
$DEVICE_MAMPS,253.215,74.970,810.900,1341.045,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,138.700,546.622,382.414,195.276,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354308
$DATA_FILE_SIZE,17081,231
$CAP_FILE_SIZE,56184,1
$CFSIZE,259252224,258146304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,091212,132528,-4229.635,803.608,38,1.1,38,-24.9