version: 66.07.10.p01
glider: 574
mission: 8
dive: 7
start: 12 5 113 16 27 31
data:
$ID,574
$MISSION,8
$DIVE,7
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,300
$D_NO_BLEED,200
$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,100
$T_MISSION,115
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,1
$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,-4200
$TGT_DEFAULT_LON,-900
$TGT_AUTO_DEFAULT,0
$SM_CC,530.63239
$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,-14654.791
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,3858
$C_PITCH,3040
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,13
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1979
$C_ROLL_CLIMB,1979
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,396
$VBD_MAX,3960
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,-58.423965
$PRESSURE_SLOPE,0.00011710486
$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,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.812
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$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,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,-1
$GPS1,051213,162051,-5446.306,1.991,24,0.8,24,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-66.1
$GPS2,051213,162710,-5446.346,2.049,20,0.8,20,-20.3
$SPEED_LIMITS,0.173,0.268
$TGT_NAME,WP1
$TGT_LATLONG,-5500.000,0.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,205.2,25381,-17.7,-10.000
$D_GRID,300
$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,-0.58,-155.7,0.0,0.0,0,144,0.00,0.00,-117.80,0.000,2,0.000,0.000,67,1970,2783,0,0,0,0,0,0
$GC,146,-0.58,-155.7,3.2,-2.3,12,181,13.55,2.42,-12.52,0.000,4,0.282,0.068,2836,3383,3238,0,0,0,0,0,0
$GC,392,-0.58,-155.7,32.1,-9.7,33,397,0.05,2.28,0.00,0.000,6,0.224,0.039,2846,1983,3240,0,0,0,0,0,0
$GC,432,-0.58,-155.7,35.8,-9.3,36,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1982,3240,0,0,0,0,0,0
$GC,463,-0.58,-155.7,38.7,-9.4,39,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1982,3240,0,0,0,0,0,0
$GC,494,-0.58,-155.7,41.7,-9.2,42,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1982,3240,0,0,0,0,0,0
$GC,525,-0.58,-155.7,45.0,-10.3,45,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1982,3240,0,0,0,0,0,0
$GC,557,-0.58,-155.7,48.7,-11.4,48,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1983,3240,0,0,0,0,0,0
$GC,589,-0.58,-155.7,52.5,-11.9,51,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1983,3240,0,0,0,0,0,0
$GC,620,-0.58,-155.7,55.7,-10.5,54,624,0.00,0.45,0.00,0.000,4,0.000,0.054,2847,1685,3240,0,0,0,0,0,0
$GC,737,-0.58,-155.7,66.3,-8.7,64,741,0.00,0.45,0.00,0.000,6,0.000,0.037,2846,2009,3240,0,0,0,0,0,0
$GC,783,-0.58,-155.7,70.9,-10.2,68,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2009,3240,0,0,0,0,0,0
$GC,814,-0.58,-155.7,74.4,-10.9,71,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2009,3240,0,0,0,0,0,0
$GC,846,-0.58,-155.7,77.7,-10.5,74,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2009,3240,0,0,0,0,0,0
$GC,878,-0.58,-155.7,80.8,-9.8,77,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2009,3240,0,0,0,0,0,0
$GC,910,-0.58,-155.7,83.8,-9.3,80,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2009,3240,0,0,0,0,0,0
$GC,941,-0.58,-155.7,86.9,-9.7,83,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2009,3240,0,0,0,0,0,0
$GC,973,-0.58,-155.7,90.3,-10.6,86,977,0.00,0.40,0.00,0.000,4,0.000,0.047,2845,2301,3240,0,0,0,0,0,0
$GC,1090,-0.58,-155.7,101.0,-9.5,96,1094,0.00,0.52,0.00,0.000,6,0.000,0.044,2845,1951,3240,0,0,0,0,0,0
$GC,1136,-0.58,-155.7,105.7,-9.8,100,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1166,-0.58,-155.7,108.8,-10.4,103,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1199,-0.58,-155.7,112.0,-10.0,106,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1230,-0.58,-155.7,115.6,-11.1,109,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1262,-0.58,-155.7,118.9,-10.6,112,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1951,3240,0,0,0,0,0,0
$GC,1293,-0.58,-155.7,122.1,-10.3,115,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1324,-0.58,-155.7,125.6,-10.8,118,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1356,-0.58,-155.7,129.3,-11.8,121,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1951,3240,0,0,0,0,0,0
$GC,1388,-0.58,-155.7,133.0,-11.5,124,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1420,-0.58,-155.7,136.8,-11.6,127,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1451,-0.58,-155.7,140.6,-12.1,130,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1950,3240,0,0,0,0,0,0
$GC,1483,-0.58,-155.7,144.9,-13.2,133,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1515,-0.58,-155.7,149.0,-12.9,136,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1950,3240,0,0,0,0,0,0
$GC,1546,-0.58,-155.7,152.5,-11.5,139,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1578,-0.58,-155.7,155.7,-10.3,142,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1610,-0.58,-155.7,159.0,-10.1,145,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1641,-0.58,-155.7,162.5,-11.0,148,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1673,-0.58,-155.7,165.8,-10.5,151,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1705,-0.58,-155.7,168.8,-9.9,154,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1736,-0.58,-155.7,171.8,-9.4,157,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1769,-0.58,-155.7,174.8,-9.5,160,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1950,3240,0,0,0,0,0,0
$GC,1800,-0.58,-155.7,178.0,-9.5,163,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1832,-0.58,-155.7,181.3,-10.2,166,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1951,3240,0,0,0,0,0,0
$GC,1863,-0.58,-155.7,184.4,-10.0,169,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1895,-0.58,-155.7,187.9,-10.7,172,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1927,-0.58,-155.7,191.0,-10.0,175,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1950,3240,0,0,0,0,0,0
$GC,1958,-0.58,-155.7,194.2,-10.2,178,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,3240,0,0,0,0,0,0
$GC,1990,-0.58,-155.7,197.7,-10.9,181,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1950,3240,0,0,0,0,0,0
$GC,2022,-0.58,-155.7,201.1,-10.5,184,2026,0.00,0.38,0.00,0.000,4,0.000,0.060,2845,1697,3240,0,0,0,0,0,0
$GC,2243,-0.58,-155.7,226.0,-11.1,203,2246,0.00,0.38,0.00,0.000,6,0.000,0.041,2844,1975,3240,0,0,0,0,0,0
$GC,2288,-0.58,-155.7,231.1,-11.4,207,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1975,3239,0,0,0,0,0,0
$GC,2320,-0.58,-155.7,234.6,-11.0,210,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1975,3239,0,0,0,0,0,0
$GC,2351,-0.58,-155.7,238.2,-11.5,213,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1975,3239,0,0,0,0,0,0
$GC,2383,-0.58,-155.7,241.8,-11.4,216,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1975,3239,0,0,0,0,0,0
$GC,2415,-0.58,-155.7,245.6,-11.5,219,2419,0.00,0.32,0.00,0.000,4,0.000,0.050,2842,2228,3239,0,0,0,0,0,0
$GC,2509,-0.58,-155.7,256.9,-12.3,227,2512,0.00,0.38,0.00,0.000,6,0.000,0.047,2842,1965,3239,0,0,0,0,0,0
$GC,2554,-0.58,-155.7,262.2,-11.8,231,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1965,3239,0,0,0,0,0,0
$GC,2586,-0.58,-155.7,266.0,-11.8,234,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1965,3239,0,0,0,0,0,0
$GC,2618,-0.58,-155.7,269.7,-11.5,237,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1964,3239,0,0,0,0,0,0
$GC,2649,-0.58,-155.7,273.4,-11.9,240,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1965,3239,0,0,0,0,0,0
$GC,2681,-0.58,-155.7,277.1,-11.7,243,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1965,3239,0,0,0,0,0,0
$GC,2712,-0.58,-155.7,281.0,-12.0,246,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1964,3239,0,0,0,0,0,0
$GC,2744,-0.58,-155.7,284.7,-11.5,249,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1965,3240,0,0,0,0,0,0
$GC,2776,-0.58,-155.7,288.3,-11.4,252,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1965,3239,0,0,0,0,0,0
$GC,2807,-0.58,-155.7,292.0,-11.9,255,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1965,3239,0,0,0,0,0,0
$GC,2839,-0.58,-155.7,295.7,-11.6,258,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1965,3240,0,0,0,0,0,0
$GC,2871,-0.58,-155.7,299.5,-11.8,261,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1965,3239,0,0,0,0,0,0
$STATE,2879,end dive,ABORT_DEPTH_EXCEEDED
$SM_CCo,2891,619.50,1.128,20,1,484,518.80
$SM_CCo,3614,23.10,0.982,1,0,395,540.63
$SM_GC,2.30,7.65,0.00,0.00,0.059,0.000,0.000,92,1959,391,-9.17,-0.54,541.86
$IRIDIUM_FIX,-5423.69,3.72,051213,151550
$TT8_MAMPS,0.026964
$HUMID,66.65
$INTERNAL_PRESSURE,8.91107
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,22.6,38.045
$10V_AH,10.1,28.892
$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,21.250,7.975,0.000,642.600,0.000,31.757,24.901,225.032,0.000,0.000,22.907,896.661,3259.293,883.929,1348.816,102.636,0.000,1291.986,0.000,1051.813,0.000,1.007,0.000
$DEVICE_MAMPS,281.520,68.085,0.000,1128.375,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,189.310,864.118,187.869,162.279,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355088
$DATA_FILE_SIZE,13633,262
$CAP_FILE_SIZE,83376,29
$CFSIZE,2097086464,2094202880
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,21,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,051213,181023,-5446.742,2.134,45,1.0,45,-20.3