version: 66.07.10.p01
glider: 574
mission: 4
dive: 8
start: 9 20 112 22 56 44
data:
$ID,574
$MISSION,4
$DIVE,8
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,134
$T_MISSION,150
$T_ABORT,720
$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,185
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,90
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-5179.0103
$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,3000
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,43
$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,2827
$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,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,-61.017719
$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,0.0043508084
$SEABIRD_T_H,0.00062732975
$SEABIRD_T_I,2.3669163e-05
$SEABIRD_T_J,2.5502761e-06
$SEABIRD_C_G,-9.9075203
$SEABIRD_C_H,1.1452845
$SEABIRD_C_I,-0.00093430834
$SEABIRD_C_J,0.0001541152
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,-1
$GPS1,200912,225007,-4327.197,-955.162,18,0.9,19,-21.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.1
$GPS2,200912,225622,-4327.187,-955.373,41,1.1,42,-21.1
$SPEED_LIMITS,0.172,0.285
$TGT_NAME,HEADING
$TGT_LATLONG,-4327.187,-940.497
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.251,0.135
$KALMAN_X,-2989.6,-846.1,-190.4,3225.8,-754.4
$KALMAN_Y,-1789.4,-454.4,-75.8,857.9,-522.0
$MHEAD_RNG_PITCHd_Wd,111.1,20000,-16.3,-9.950
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.55,-180.0,0.0,0.0,0,110,0.00,0.00,-84.32,0.000,2,0.000,0.000,67,1974,3289,0,0,0,0,0,0
$GC,112,-0.55,-180.0,3.6,-5.8,14,139,12.25,2.22,-5.10,0.000,4,0.277,0.072,2804,3340,3564,0,0,0,0,0,0
$GC,278,-0.55,-180.0,35.9,-12.5,42,286,0.03,2.20,0.00,0.000,6,0.168,0.050,2814,1961,3565,0,0,0,0,0,0
$GC,426,-0.51,-180.0,52.7,-10.8,67,432,0.08,0.75,0.00,0.000,4,0.206,0.060,2832,1479,3565,0,0,0,0,0,0
$GC,508,-0.51,-180.0,61.6,-10.7,81,513,0.00,0.73,0.00,0.000,6,0.000,0.044,2830,1952,3565,0,0,0,0,0,0
$GC,856,-0.51,-180.0,109.8,-14.7,142,863,0.00,0.52,0.00,0.000,4,0.000,0.059,2830,1613,3564,0,0,0,0,0,0
$GC,972,-0.48,-180.0,126.6,-16.1,162,979,0.00,0.50,0.00,0.000,6,0.000,0.046,2828,1954,3564,0,0,0,0,0,0
$GC,1325,-0.48,-180.0,169.8,-11.7,223,1330,0.00,0.77,0.00,0.000,4,0.000,0.056,2828,1457,3564,0,0,0,0,0,0
$GC,1406,-0.48,-180.0,179.5,-11.7,237,1412,0.03,0.75,0.00,0.000,6,0.188,0.044,2834,1956,3564,0,0,0,0,0,0
$GC,1756,-0.48,-180.0,221.4,-11.2,298,1763,0.00,0.45,0.00,0.000,4,0.000,0.061,2834,1662,3564,0,0,0,0,0,0
$GC,1879,-0.48,-180.0,235.5,-11.8,319,1884,0.00,0.43,0.00,0.000,6,0.000,0.048,2833,1955,3564,0,0,0,0,0,0
$GC,2228,-0.48,-180.0,278.2,-11.5,380,2235,0.00,0.32,0.00,0.000,4,0.000,0.062,2833,1733,3565,0,0,0,0,0,0
$GC,2294,-0.48,-180.0,285.4,-11.5,391,2299,0.00,0.30,0.00,0.000,6,0.000,0.053,2831,1957,3564,0,0,0,0,0,0
$STATE,2385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2386,begin apogee
$GC,2389,-0.17,0.0,295.5,10.5,407,2489,0.32,0.00,96.45,0.868,2,0.138,0.000,2937,1686,3048,0,0,0,0,0,0
$STATE,2490,end apogee,ABORT_DEPTH_EXCEEDED
$SM_CCo,2502,524.60,0.848,0,0,396,596.31
$SM_GC,1.26,8.02,0.00,0.00,0.076,0.000,0.000,91,1680,387,-9.05,-0.57,598.52
$IRIDIUM_FIX,-4311.50,-953.09,200912,212127
$TT8_MAMPS,0.026215
$HUMID,46.02
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,24.0,6.399
$10V_AH,10.5,3.126
$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,20.725,10.375,96.450,524.600,0.000,23.326,37.774,202.391,0.000,0.000,43.966,1037.356,2452.650,654.381,1405.474,46.892,0.000,1102.417,0.000,1105.454,0.000,1.262,0.000
$DEVICE_MAMPS,276.930,71.910,867.510,848.385,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,289.643,758.588,119.457,100.602,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354792
$DATA_FILE_SIZE,23587,425
$CAP_FILE_SIZE,52164,1
$CFSIZE,2097086464,2094202880
$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,210912,002425,-4327.534,-955.457,18,1.1,18,-21.0