version: 66.07.10.p01
glider: 573
mission: 9
dive: 15
start: 4 22 115 22 54 43
data:
$ID,573
$MISSION,9
$DIVE,15
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,500
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$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,220
$T_MISSION,250
$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,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,230
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52922
$LENGTH,1.8
$NAV_MODE,2
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-3415
$TGT_DEFAULT_LON,2600
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$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,-13454.329
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3050
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2862
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$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,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-86.704987
$PRESSURE_SLOPE,0.00011693723
$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,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,14
$GPS1,220415,225005,-3431.910,2600.042,40,0.9,41,-28.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-61.1
$GPS2,220415,225419,-3432.030,2559.781,14,1.8,14,-28.0
$SPEED_LIMITS,0.197,0.329
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3430.000,2600.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.229,0.204
$KALMAN_X,-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
$KALMAN_Y,-14362.4,-6812.0,-2167.9,-3593.3,-569.5
$MHEAD_RNG_PITCHd_Wd,78.1,3773,-16.3,-11.364
$D_GRID,750
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.08,-223.8,0.0,0.0,0,121,0.00,0.00,-94.68,0.000,2,0.000,0.000,89,2196,2926,0,0,0,0,0,0
$GC,123,-1.08,-223.8,3.4,-4.3,11,158,11.15,2.33,-15.95,0.000,4,0.261,0.082,2678,3623,3777,0,0,0,0,0,0
$GC,271,-0.95,-223.8,35.6,-17.5,33,279,0.22,2.33,0.00,0.000,6,0.163,0.068,2740,2206,3780,0,0,0,0,0,0
$GC,387,-0.87,-223.8,54.3,-15.5,52,396,0.10,0.00,0.00,0.000,6,0.192,0.000,2764,2206,3781,0,0,0,0,0,0
$GC,507,-0.84,-223.8,70.6,-13.7,71,514,0.00,2.40,0.00,0.000,4,0.000,0.093,2765,782,3782,0,0,0,0,0,0
$GC,522,-0.81,-223.8,72.7,-14.1,73,530,0.12,2.47,0.00,0.000,6,0.187,0.096,2786,2209,3782,0,0,0,0,0,0
$GC,638,-0.85,-223.8,84.8,-10.3,92,647,0.00,2.30,0.00,0.000,4,0.000,0.074,2776,3616,3782,0,0,0,0,0,0
$GC,686,-0.90,-223.8,89.4,-10.1,99,693,0.00,2.30,0.00,0.000,6,0.000,0.066,2776,2197,3782,0,0,0,0,0,0
$GC,804,-0.94,-223.8,101.0,-9.7,118,814,0.08,2.42,0.00,0.000,4,0.113,0.095,2718,785,3783,0,0,0,0,0,0
$GC,844,-0.88,-223.8,106.2,-13.8,124,854,0.15,2.42,0.00,0.000,6,0.164,0.083,2754,2205,3783,0,0,0,0,0,0
$GC,967,-0.88,-223.8,120.6,-12.2,143,974,0.00,2.30,0.00,0.000,4,0.000,0.082,2744,3620,3784,0,0,0,0,0,0
$GC,1006,-0.88,-223.8,125.8,-12.5,149,1014,0.08,2.35,0.00,0.000,6,0.177,0.079,2760,2201,3783,0,0,0,0,0,0
$GC,1124,-0.88,-223.8,139.6,-11.1,168,1137,0.00,2.42,0.00,0.000,4,0.000,0.094,2760,781,3783,0,0,0,0,0,0
$GC,1151,-0.88,-223.8,142.5,-11.6,171,1158,0.00,2.42,0.00,0.000,6,0.000,0.089,2752,2208,3783,0,0,0,0,0,0
$GC,1266,-0.88,-223.8,157.4,-13.2,190,1276,0.00,2.33,0.00,0.000,4,0.000,0.083,2741,3614,3783,0,0,0,0,0,0
$GC,1315,-0.88,-223.8,163.6,-12.4,197,1323,0.10,2.35,0.00,0.000,6,0.166,0.080,2765,2194,3783,0,0,0,0,0,0
$GC,1430,-0.88,-223.8,177.7,-12.7,216,1440,0.00,2.42,0.00,0.000,4,0.000,0.097,2765,777,3783,0,0,0,0,0,0
$GC,1467,-0.88,-223.8,181.9,-13.3,221,1474,0.00,2.40,0.00,0.000,6,0.000,0.088,2755,2200,3783,0,0,0,0,0,0
$GC,1583,-0.88,-223.8,197.6,-13.3,240,1591,0.00,2.38,0.00,0.000,4,0.000,0.087,2745,3625,3783,0,0,0,0,0,0
$GC,1619,-0.88,-223.8,202.3,-13.3,245,1627,0.08,2.38,0.00,0.000,6,0.175,0.084,2761,2203,3783,0,0,0,0,0,0
$GC,1738,-0.88,-223.8,217.9,-12.8,264,1747,0.00,2.45,0.00,0.000,4,0.000,0.099,2761,772,3783,0,0,0,0,0,0
$GC,1784,-0.88,-223.8,224.0,-13.3,271,1791,0.00,2.42,0.00,0.000,6,0.000,0.090,2752,2201,3783,0,0,0,0,0,0
$GC,1899,-0.88,-223.8,240.1,-14.1,290,1909,0.00,2.38,0.00,0.000,4,0.000,0.092,2741,3619,3781,0,0,0,0,0,0
$GC,1928,-0.88,-223.8,244.0,-14.0,294,1938,0.05,2.42,0.00,0.000,6,0.155,0.089,2757,2201,3781,0,0,0,0,0,0
$GC,2049,-0.88,-223.8,260.0,-13.5,313,2056,0.00,2.42,0.00,0.000,4,0.000,0.103,2757,770,3780,0,0,0,0,0,0
$GC,2100,-0.88,-223.8,267.1,-13.6,321,2108,0.08,2.45,0.00,0.000,6,0.223,0.092,2761,2208,3780,0,0,0,0,0,0
$GC,2218,-0.88,-223.8,283.0,-13.5,340,2227,0.00,2.40,0.00,0.000,4,0.000,0.096,2751,3625,3780,0,0,0,0,0,0
$GC,2266,-0.91,-223.8,288.8,-13.0,347,2273,0.00,2.40,0.00,0.000,6,0.000,0.087,2752,2192,3780,0,0,0,0,0,0
$GC,2383,-0.91,-223.8,304.8,-13.7,366,2392,0.00,2.45,0.00,0.000,4,0.000,0.105,2751,776,3780,0,0,0,0,0,0
$GC,2434,-0.91,-223.8,312.1,-14.4,374,2444,0.00,2.42,0.00,0.000,6,0.000,0.086,2741,2195,3780,0,0,0,0,0,0
$GC,2555,-0.89,-223.8,328.9,-14.4,393,2563,0.08,2.40,0.00,0.000,4,0.220,0.102,2746,3620,3779,0,0,0,0,0,0
$GC,2588,-0.89,-223.8,333.7,-13.2,398,2598,0.03,2.42,0.00,0.000,6,0.135,0.092,2755,2210,3778,0,0,0,0,0,0
$GC,2708,-0.89,-223.8,349.2,-13.2,417,2716,0.00,2.45,0.00,0.000,4,0.000,0.101,2755,757,3778,0,0,0,0,0,0
$GC,2772,-0.89,-223.8,357.9,-13.7,427,2780,0.08,2.45,0.00,0.000,6,0.223,0.088,2760,2202,3778,0,0,0,0,0,0
$GC,2892,-0.89,-223.8,373.5,-12.9,446,2901,0.00,2.42,0.00,0.000,4,0.000,0.102,2750,3620,3777,0,0,0,0,0,0
$GC,2928,-0.91,-223.8,377.9,-12.6,451,2935,0.00,2.42,0.00,0.000,6,0.000,0.095,2750,2194,3776,0,0,0,0,0,0
$GC,3044,-0.91,-223.8,393.1,-13.3,470,3054,0.00,2.45,0.00,0.000,4,0.000,0.103,2750,773,3776,0,0,0,0,0,0
$GC,3097,-0.91,-223.8,400.2,-13.1,478,3107,0.03,2.45,0.00,0.000,6,0.203,0.087,2747,2202,3776,0,0,0,0,0,0
$GC,3216,-0.91,-223.8,416.2,-13.8,497,3223,0.00,2.42,0.00,0.000,4,0.000,0.106,2737,3632,3775,0,0,0,0,0,0
$GC,3268,-0.91,-223.8,423.1,-13.0,505,3276,0.08,2.47,0.00,0.000,6,0.175,0.102,2753,2198,3774,0,0,0,0,0,0
$GC,3384,-0.91,-223.8,437.9,-13.0,524,3393,0.00,2.45,0.00,0.000,4,0.000,0.103,2753,777,3774,0,0,0,0,0,0
$GC,3433,-0.91,-223.8,444.2,-13.8,531,3441,0.00,2.40,0.00,0.000,6,0.000,0.087,2743,2200,3774,0,0,0,0,0,0
$GC,3551,-0.91,-223.8,461.2,-13.6,550,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2200,3773,0,0,0,0,0,0
$GC,3668,-0.91,-223.8,477.2,-13.9,569,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2200,3773,0,0,0,0,0,0
$GC,3784,-0.91,-223.8,492.8,-13.1,588,3794,0.00,2.42,0.00,0.000,4,0.000,0.103,2733,3619,3772,0,0,0,0,0,0
$STATE,3807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3807,begin apogee
$GC,3813,-0.25,0.0,495.5,13.1,591,3887,0.73,0.00,70.07,0.875,2,0.144,0.000,2964,1799,3382,0,0,0,0,0,0
$STATE,3888,end apogee,ABORT_DEPTH_EXCEEDED
$SM_CCo,3899,608.17,0.868,0,0,408,601.71
$SM_GC,1.89,7.55,0.00,0.00,0.046,0.000,0.000,86,1798,403,-9.19,-0.06,603.18
$IRIDIUM_FIX,-3419.93,2559.97,170208,121255
$TT8_MAMPS,0.026215
$HUMID,67.12
$INTERNAL_PRESSURE,9.25506
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,23.7,4.553
$10V_AH,10.4,2.689
$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,20.750,101.850,70.075,608.175,0.000,0.000,0.000,0.000,10.000,0.000,17.409,1653.364,4298.526,915.909,1709.160,71.918,0.000,1600.441,0.000,1520.825,0.000,63.845,0.000
$DEVICE_MAMPS,260.865,113.220,875.160,867.510,0.000,0.000,0.000,0.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.134,1539.220,1038.669,1663.560,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331344
$DATA_FILE_SIZE,43919,601
$CAP_FILE_SIZE,111416,1
$CFSIZE,2097086464,2090532864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,230415,011853,-3432.330,2558.769,42,1.0,42,-28.0