version: 66.11
glider: 160
mission: 9
dive: 436
start: 7 20 113 22 17 7
data:
$ID,160
$MISSION,9
$DIVE,436
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$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,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55936
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-41877.441
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3900
$C_PITCH,3295
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,335
$ROLL_MAX,3200
$ROLL_DEG,30
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,190
$VBD_MAX,3660
$C_VBD,2479
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-21.182281
$PRESSURE_SLOPE,0.0001158597
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043567605
$SEABIRD_T_H,0.00063562888
$SEABIRD_T_I,2.4601901e-05
$SEABIRD_T_J,2.6145824e-06
$SEABIRD_C_G,-9.8833933
$SEABIRD_C_H,1.1029875
$SEABIRD_C_I,-0.0011442616
$SEABIRD_C_J,0.00017903016
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,200713,220305,2433.290,-3800.750,32,1.0,32,-15.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.24
$_SM_ANGLEo,-69.3
$GPS2,200713,221636,2433.295,-3800.791,10,1.8,15,-15.1
$SPEED_LIMITS,0.127,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$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,297.7,2419,-26.8,-7.333,-30.00,828
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,33,end surface,CONTROL_FINISHED_OK
$STATE,33,begin dive
$GC,37,-1.38,-39.7,149,1950,214,164,0.0,0.0,0,54,0.00,0.00,-15.68,0.000,16386,0.000,0.000,149,1950,542,525,559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.38,-39.7,150,1950,525,559,4.2,0.0,1,178,12.68,2.58,-96.70,0.000,18692,0.346,0.093,2845,3008,2642,2644,2640,0,0,0,0,0,0,14.24,14.41,14.75
$GC,409,-1.29,-39.7,2845,3008,2644,2640,44.3,-17.5,24,415,0.15,2.38,0.00,0.000,3078,0.302,0.034,2874,1945,2642,2643,2641,0,0,0,0,0,0,14.05,14.51,28.83
$GC,730,-1.23,-39.7,2875,1946,2643,2640,97.0,-16.9,45,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1946,2645,2644,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1031,-1.18,-39.7,2875,1946,2643,2640,141.0,-13.1,65,1037,0.15,2.35,0.00,0.000,2564,0.293,0.057,2910,896,2642,2644,2640,0,0,0,0,0,0,14.02,14.50,28.83
$GC,1253,-1.14,-39.7,2910,896,2643,2640,162.9,-8.9,79,1258,0.00,2.38,0.00,0.000,1030,0.000,0.047,2910,1960,2641,2643,2640,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1567,-1.12,-39.7,2910,1960,2643,2640,190.1,-8.3,100,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1960,2641,2643,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1867,-1.09,-39.7,2910,1959,2643,2640,219.8,-11.0,120,1873,0.12,2.40,0.00,0.000,2564,0.311,0.055,2939,901,2641,2643,2639,0,0,0,0,0,0,14.08,14.49,28.83
$GC,1960,-1.09,-39.7,2938,901,2643,2639,228.6,-11.3,125,1968,0.00,2.33,0.00,0.000,1030,0.000,0.047,2939,1944,2641,2644,2639,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2278,-1.09,-39.7,2939,1944,2643,2638,269.5,-12.7,142,2283,0.00,2.35,0.00,0.000,516,0.000,0.057,2939,901,2640,2642,2638,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2332,-1.09,-39.7,2939,901,2643,2637,273.9,-12.8,143,2337,0.00,2.30,0.00,0.000,1030,0.000,0.046,2939,1941,2639,2643,2636,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2646,-1.09,-39.7,2939,1941,2643,2636,316.2,-11.9,154,2652,0.00,2.35,0.00,0.000,516,0.000,0.057,2939,898,2639,2643,2636,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2694,-1.09,-39.7,2939,898,2643,2635,319.9,-11.5,155,2700,0.00,2.28,0.00,0.000,1030,0.000,0.044,2939,1932,2639,2643,2635,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3018,-1.09,-39.7,2939,1932,2643,2633,352.7,-9.2,166,3023,0.00,2.50,0.00,0.000,260,0.000,0.073,2939,3002,2638,2643,2633,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3076,-1.09,-39.7,2939,3002,2643,2633,356.0,-9.0,167,3084,0.00,2.40,0.00,0.000,1030,0.000,0.038,2939,1927,2637,2642,2633,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3384,-1.09,-39.7,2939,1928,2643,2632,384.6,-8.5,178,3389,0.00,2.30,0.00,0.000,516,0.000,0.059,2939,896,2637,2643,2631,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3466,-1.09,-39.7,2938,896,2642,2631,390.6,-8.8,180,3472,0.00,2.28,0.00,0.000,1030,0.000,0.047,2939,1918,2636,2641,2631,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3784,-1.09,-39.7,2939,1918,2641,2630,424.5,-10.6,191,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1917,2636,2642,2630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4081,-1.09,-39.7,2939,1918,2640,2628,461.9,-13.3,201,4086,0.00,2.30,0.00,0.000,516,0.000,0.057,2939,896,2634,2640,2628,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4292,-1.09,-39.7,2939,900,2639,2627,490.2,-15.6,207,4299,0.00,2.28,0.00,0.000,1030,0.000,0.048,2939,1919,2632,2638,2627,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4598,-1.09,-39.7,2939,1919,2638,2625,538.6,-14.4,218,4603,0.00,2.33,0.00,0.000,516,0.000,0.058,2939,894,2631,2638,2625,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4652,-1.09,-39.7,2939,895,2638,2620,543.4,-14.3,219,4657,0.00,2.25,0.00,0.000,1030,0.000,0.047,2939,1908,2631,2638,2625,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4968,-1.09,-39.7,2939,1908,2638,2624,582.6,-10.7,230,4974,0.00,2.30,0.00,0.000,516,0.000,0.057,2939,895,2630,2638,2623,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5043,-1.09,-39.7,2939,894,2637,2623,589.2,-10.2,232,5048,0.00,2.22,0.00,0.000,1030,0.000,0.047,2939,1895,2629,2637,2621,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5369,-1.09,-39.7,2939,1895,2637,2621,621.6,-9.8,243,5375,0.00,2.58,0.00,0.000,260,0.000,0.068,2939,3005,2628,2636,2621,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5417,-1.09,-39.7,2939,3005,2636,2621,625.1,-9.9,244,5423,0.00,2.50,0.00,0.000,1030,0.000,0.037,2939,1883,2628,2636,2621,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5741,-1.09,-39.7,2939,1884,2636,2620,659.8,-10.5,255,5747,0.00,2.20,0.00,0.000,516,0.000,0.057,2939,899,2627,2635,2619,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5865,-1.09,-39.7,2939,899,2634,2619,670.7,-10.9,258,5872,0.00,2.17,0.00,0.000,1030,0.000,0.044,2939,1879,2629,2634,2625,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6167,-1.09,-39.7,2939,1879,2634,2617,705.1,-10.3,269,6173,0.00,2.60,0.00,0.000,260,0.000,0.065,2939,3006,2625,2634,2617,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6206,-1.09,-39.7,2939,3006,2634,2617,708.6,-10.2,270,6211,0.00,2.55,0.00,0.000,1030,0.000,0.035,2939,1867,2625,2634,2617,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6539,-1.09,-39.7,2939,1867,2633,2616,743.8,-10.6,281,6545,0.00,2.17,0.00,0.000,516,0.000,0.057,2939,899,2624,2633,2615,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6704,-1.09,-39.7,2939,900,2632,2616,761.6,-11.2,286,6710,0.00,2.15,0.00,0.000,1030,0.000,0.043,2938,1869,2624,2632,2616,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7032,-1.09,-39.7,2939,1869,2632,2620,797.3,-10.4,297,7037,0.00,2.62,0.00,0.000,260,0.000,0.063,2939,3002,2623,2632,2614,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7075,-1.09,-39.7,2939,3002,2631,2614,801.2,-10.5,298,7080,0.00,2.55,0.00,0.000,1030,0.000,0.034,2939,1859,2622,2631,2614,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7403,-1.09,-39.7,2939,1861,2631,2612,834.7,-9.7,309,7408,0.00,2.15,0.00,0.000,516,0.000,0.055,2939,898,2621,2631,2612,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7552,-1.09,-39.7,2939,899,2629,2612,847.5,-10.0,313,7559,0.00,2.15,0.00,0.000,1030,0.000,0.044,2939,1861,2620,2628,2612,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7860,-1.09,-39.7,2940,1861,2628,2610,879.5,-9.7,324,7865,0.00,2.20,0.00,0.000,516,0.000,0.054,2939,895,2619,2629,2609,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7898,-1.09,-39.7,2939,896,2627,2609,883.0,-9.8,325,7904,0.00,2.15,0.00,0.000,1030,0.000,0.043,2939,1863,2618,2627,2610,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8232,-1.11,-39.7,2939,1862,2627,2609,917.4,-10.4,336,8237,0.00,2.65,0.00,0.000,260,0.000,0.066,2939,3001,2617,2627,2608,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8290,-1.11,-39.7,2939,3001,2626,2607,921.5,-10.6,337,8297,0.00,2.60,0.00,0.000,1030,0.000,0.037,2939,1841,2616,2626,2607,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8601,-1.12,-39.7,2939,1842,2626,2606,957.4,-11.1,348,8606,0.00,2.12,0.00,0.000,516,0.000,0.056,2939,898,2615,2626,2605,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8679,-1.12,-39.7,2939,898,2626,2606,965.3,-11.3,350,8685,0.00,2.12,0.00,0.000,1030,0.000,0.043,2939,1853,2615,2625,2606,0,0,0,0,0,0,28.83,14.50,28.83
$STATE,8875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8876,begin apogee
$GC,8885,-0.25,0.0,2939,1783,2626,2605,990.9,-12.0,357,8925,1.05,0.00,33.35,2.144,10244,0.232,0.000,3204,1783,2479,2497,2461,0,0,0,0,0,0,13.75,28.83,13.15
$STATE,8927,end apogee,CONTROL_FINISHED_OK
$STATE,8927,begin climb
$GC,8930,1.38,39.7,3204,1783,2496,2457,992.0,0.0,358,8980,1.73,2.33,38.88,2.183,10756,0.118,0.061,3731,765,2316,2335,2297,0,0,0,0,0,0,14.38,14.45,13.09
$GC,8999,1.38,39.7,3731,765,2332,2296,994.0,-2.9,360,9004,0.00,2.35,0.00,0.000,1030,0.000,0.041,3731,1806,2313,2332,2295,0,0,0,0,0,0,28.83,14.34,28.83
$STATE,9250,end climb,ABORT_DEPTH_EXCEEDED
$SM_CCo,9263,508.95,2.109,42,1,445,498.69
$SM_CCo,9987,91.15,1.932,8,0,188,561.49
$SM_GC,4.82,10.52,0.00,0.00,0.049,0.000,0.000,135,1818,191,-9.78,0.51,561.25,0,0,0,0,0,0,14.65,28.83,28.83
$IRIDIUM_FIX,2420.48,-3757.07,200713,151520
$TT8_MAMPS,0.026215,0.026215
$HUMID,95.91
$INTERNAL_PRESSURE,9.3304
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3853216
$TM_FREEKB,4535960
$24V_AH,13.0,171.543
$10V_AH,13.2,0.000
$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,26.400,93.875,72.225,600.100,0.000,0.000,0.000,508.575,0.000,0.000,17.953,1583.357,9977.304,1106.513,1593.905,499.751,0.000,2293.707,0.000,1074.128,0.000,0.540,0.000
$DEVICE_MAMPS,345.780,97.920,2183.310,2109.105,0.000,0.000,0.000,209.610,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8976.000,34.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.763,10.597,0.000,0.000
$MEM,345428
$DATA_FILE_SIZE,13440,369
$CAP_FILE_SIZE,125007,8
$CFSIZE,260034560,193495040
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,50,0,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$SM_CCo,14019,0.12,0.142,0,0,190,561.49
$SM_GC,5.03,0.08,0.00,0.00,0.360,0.000,0.000,143,1819,190,-9.86,0.54,561.49,0,0,0,0,0,0,14.07,28.83,28.83
$GPS,210713,021659,2433.316,-3801.490,40,1.0,40,-15.1