version: 66.07.10.p01
glider: 574
mission: 4
dive: 514
start: 1 22 113 20 31 29
data:
$ID,574
$MISSION,4
$DIVE,514
$D_SURF,3
$D_FLARE,3
$D_TGT,980
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$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,580
$T_MISSION,620
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,10800
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,110
$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,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,160
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,3
$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,-7435.8154
$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,2980
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,10
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1745
$C_ROLL_CLIMB,1670
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,42
$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,493
$GPS1,220113,201305,-4100.211,-425.473,103,0.9,103,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-73.4
$GPS2,220113,203106,-4059.964,-425.466,35,1.3,35,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4103.000,-230.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,114.6,161365,-12.6,-5.632
$D_GRID,980
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.67,-107.0,0.0,0.0,0,49,0.00,0.00,-21.90,0.000,2,0.000,0.000,69,1584,1742,0,0,0,0,0,0
$GC,52,-0.67,-107.0,3.1,-2.4,2,120,12.27,2.58,-49.35,0.000,4,0.259,0.064,2748,3144,3262,0,0,0,0,0,0
$GC,295,-0.67,-107.0,26.7,-11.3,23,299,0.00,2.25,0.00,0.000,6,0.000,0.045,2748,1744,3263,0,0,0,0,0,0
$GC,416,-0.67,-107.0,40.6,-11.5,30,420,0.05,0.82,0.00,0.000,4,0.212,0.058,2760,1242,3263,0,0,0,0,0,0
$GC,674,-0.67,-107.0,69.6,-9.9,39,678,0.00,0.80,0.00,0.000,6,0.000,0.039,2760,1750,3264,0,0,0,0,0,0
$GC,1416,-0.67,-107.0,138.4,-10.1,55,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1750,3264,0,0,0,0,0,0
$GC,2144,-0.67,-107.0,210.7,-8.8,67,2148,0.00,2.25,0.00,0.000,4,0.000,0.051,2757,3148,3264,0,0,0,0,0,0
$GC,2401,-0.67,-107.0,234.6,-10.0,70,2407,0.00,2.22,0.00,0.000,6,0.000,0.044,2757,1744,3265,0,0,0,0,0,0
$GC,3135,-0.67,-107.0,316.0,-11.2,83,3139,0.00,2.25,0.00,0.000,4,0.000,0.048,2757,3148,3265,0,0,0,0,0,0
$GC,3393,-0.67,-107.0,344.1,-10.4,86,3398,0.00,2.25,0.00,0.000,6,0.000,0.041,2757,1745,3264,0,0,0,0,0,0
$GC,4127,-0.67,-107.0,412.4,-8.4,99,4131,0.00,1.27,0.00,0.000,4,0.000,0.055,2756,962,3264,0,0,0,0,0,0
$GC,4385,-0.67,-107.0,433.6,-7.8,102,4389,0.00,1.23,0.00,0.000,6,0.000,0.037,2757,1741,3264,0,0,0,0,0,0
$GC,5125,-0.67,-107.0,497.3,-9.6,115,5129,0.00,2.25,0.00,0.000,4,0.000,0.050,2757,3150,3262,0,0,0,0,0,0
$GC,5236,-0.67,-107.0,509.1,-10.9,116,5240,0.00,2.25,0.00,0.000,6,0.000,0.038,2757,1738,3262,0,0,0,0,0,0
$GC,5987,-0.67,-107.0,590.6,-10.7,129,5991,0.00,2.30,0.00,0.000,4,0.000,0.057,2757,336,3261,0,0,0,0,0,0
$GC,6239,-0.67,-107.0,616.7,-10.7,132,6243,0.00,2.22,0.00,0.000,6,0.000,0.034,2757,1745,3260,0,0,0,0,0,0
$GC,6979,-0.67,-107.0,694.4,-11.0,145,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1746,3259,0,0,0,0,0,0
$GC,7706,-0.67,-107.0,773.4,-10.4,157,7711,0.00,2.35,0.00,0.000,4,0.000,0.055,2757,335,3257,0,0,0,0,0,0
$GC,7885,-0.67,-107.0,790.8,-9.2,159,7889,0.00,2.22,0.00,0.000,6,0.000,0.034,2756,1743,3256,0,0,0,0,0,0
$GC,8631,-0.67,-107.0,853.5,-8.5,172,8635,0.00,2.33,0.00,0.000,4,0.000,0.057,2757,342,3255,0,0,0,0,0,0
$GC,8788,-0.67,-107.0,868.0,-9.3,174,8792,0.00,2.20,0.00,0.000,6,0.000,0.034,2757,1746,3254,0,0,0,0,0,0
$GC,9556,-0.67,-107.0,942.5,-10.2,187,9559,0.00,0.73,0.00,0.000,4,0.000,0.050,2756,1295,3254,0,0,0,0,0,0
$GC,9815,-0.67,-107.0,969.3,-10.1,190,9818,0.00,0.70,0.00,0.000,6,0.000,0.042,2757,1747,3253,0,0,0,0,0,0
$STATE,9946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9946,begin apogee
$GC,9952,-0.26,0.0,982.2,9.7,193,10047,0.43,0.00,92.70,1.473,6,0.106,0.000,2890,1667,2827,0,0,0,0,0,0
$STATE,10048,end apogee,CONTROL_FINISHED_OK
$STATE,10048,begin loiter
$GC,10736,-0.25,169.5,1038.0,-6.0,206,10892,0.00,2.45,149.90,1.480,4,0.000,0.043,2890,3074,2134,0,0,0,0,0,0
$GC,10942,-0.25,182.4,1044.8,-0.5,209,10962,0.00,2.30,12.45,1.333,6,0.000,0.041,2890,1679,2083,0,0,0,0,0,0
$STATE,11707,end loiter,ABORT_DEPTH_EXCEEDED
$SM_CCo,11720,458.42,1.289,38,0,396,596.31
$SM_GC,2.79,7.95,0.00,0.00,0.050,0.000,0.000,81,1678,388,-9.00,0.23,598.28
$IRIDIUM_FIX,-4043.58,-428.30,210113,212113
$TT8_MAMPS,0.026964
$HUMID,53.26
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.6,121.811
$10V_AH,9.7,72.075
$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,20.700,42.350,255.050,458.425,0.000,25.565,40.968,744.123,0.000,0.000,38.121,1046.942,18085.297,942.445,1828.065,268.624,0.000,1621.898,0.000,988.145,0.000,1.017,0.000
$DEVICE_MAMPS,258.570,82.620,1480.275,1289.025,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,153.028,125.741,93.910,17.856,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354712
$DATA_FILE_SIZE,13632,222
$CAP_FILE_SIZE,101323,38
$CFSIZE,2097086464,2023522304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,38,2
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,230113,022459,-4100.354,-425.045,69,1.0,69,-22.6