version: 66.11
glider: 160
mission: 9
dive: 425
start: 7 18 113 0 23 29
data:
$ID,160
$MISSION,9
$DIVE,425
$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,-41790.5
$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,26
$R_STBD_OVSHOOT,35
$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
$GPS1,180713,000759,2422.278,-3746.817,40,1.0,40,-15.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.11
$_SM_ANGLEo,-68.0
$GPS2,180713,002248,2422.252,-3746.873,12,1.3,29,-15.0
$SPEED_LIMITS,0.127,0.203
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$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,196.8,3280,-24.0,-7.333,-27.42,1020
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.25,-48.9,142,1943,224,164,0.0,0.0,0,42,0.00,0.00,-14.88,0.000,16386,0.000,0.000,141,1943,530,523,538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.25,-48.9,141,1943,523,534,4.2,0.0,1,170,12.75,2.38,-97.97,0.000,18948,0.338,0.075,2889,899,2679,2698,2661,0,0,0,0,0,0,14.27,14.40,14.76
$GC,397,-1.15,-48.9,2889,899,2699,2660,45.0,-17.6,24,403,0.15,2.33,0.00,0.000,3078,0.319,0.045,2918,1943,2678,2699,2657,0,0,0,0,0,0,14.07,14.49,28.83
$GC,718,-1.09,-48.9,2918,1943,2699,2659,90.9,-12.3,45,723,0.00,2.35,0.00,0.000,516,0.000,0.051,2918,897,2679,2699,2659,0,0,0,0,0,0,28.83,14.48,28.83
$GC,845,-1.02,-48.9,2918,897,2699,2659,105.1,-11.2,53,851,0.20,2.30,0.00,0.000,3078,0.275,0.043,2961,1935,2678,2699,2658,0,0,0,0,0,0,14.07,14.47,28.83
$GC,1167,-1.00,-48.9,2961,1935,2699,2662,139.4,-11.7,74,1172,0.00,2.47,0.00,0.000,260,0.000,0.067,2961,3003,2678,2699,2658,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1234,-0.98,-48.9,1936,2999,2642,2649,147.2,-12.1,78,1240,0.00,2.42,0.00,0.000,1030,0.000,0.033,2961,1920,2678,2699,2658,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1549,-0.96,-48.9,2961,1922,2699,2659,186.1,-12.3,99,1555,0.00,2.25,0.00,0.000,516,0.000,0.054,2961,901,2678,2699,2657,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1665,-0.94,-48.9,2961,901,2699,2656,200.4,-13.1,106,1671,0.12,2.25,0.00,0.000,3078,0.275,0.043,2987,1922,2677,2699,2655,0,0,0,0,0,0,14.19,14.54,28.83
$GC,1985,-0.94,-48.9,2987,1921,2699,2655,236.3,-10.0,127,1991,0.00,2.28,0.00,0.000,516,0.000,0.052,2987,904,2680,2706,2655,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2069,-0.94,-48.9,1952,903,2642,2646,244.5,-10.7,132,2075,0.00,2.22,0.00,0.000,1030,0.000,0.042,2987,1920,2676,2699,2654,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2387,-0.94,-48.9,2987,1919,2699,2653,280.5,-11.1,144,2392,0.00,2.28,0.00,0.000,516,0.000,0.052,2987,902,2676,2699,2654,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2523,-0.94,-48.9,2987,902,2699,2653,294.1,-10.7,148,2528,0.00,2.20,0.00,0.000,1030,0.000,0.043,2987,1907,2679,2699,2659,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2851,-0.94,-48.9,2987,1906,2699,2651,323.9,-8.1,159,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1906,2674,2698,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3147,-0.94,-48.9,2987,1906,2696,2649,347.9,-8.3,169,3152,0.00,2.25,0.00,0.000,516,0.000,0.052,2987,903,2674,2699,2649,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3205,-0.94,-48.9,2987,901,2699,2649,350.8,-8.3,170,3212,0.00,2.20,0.00,0.000,1030,0.000,0.041,2987,1908,2674,2699,2649,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3513,-0.94,-48.9,2987,1907,2699,2646,382.2,-9.6,181,3518,0.00,2.25,0.00,0.000,516,0.000,0.051,2987,901,2673,2701,2646,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3550,-0.94,-48.9,2983,901,2699,2646,385.3,-9.3,182,3556,0.00,2.17,0.00,0.000,1030,0.000,0.042,2987,1895,2672,2699,2646,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3884,-0.94,-48.9,2987,1894,2700,2644,419.1,-10.0,193,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1895,2671,2699,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4181,-0.94,-48.9,2987,1895,2699,2642,445.3,-8.2,203,4186,0.00,2.22,0.00,0.000,516,0.000,0.050,2987,901,2670,2699,2642,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4239,-0.94,-48.9,2987,901,2699,2642,448.1,-8.0,204,4246,0.00,2.15,0.00,0.000,1030,0.000,0.040,2987,1885,2670,2699,2641,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4546,-0.94,-48.9,2987,1884,2699,2640,474.0,-8.0,215,4551,0.00,2.60,0.00,0.000,260,0.000,0.064,2987,3003,2669,2699,2640,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4583,-0.94,-48.9,2987,3003,2699,2640,477.1,-8.3,216,4588,0.00,2.50,0.00,0.000,1030,0.000,0.034,2987,1882,2669,2699,2640,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4917,-0.96,-48.9,2988,1884,2698,2637,511.3,-11.1,227,4922,0.00,2.17,0.00,0.000,516,0.000,0.052,2987,899,2668,2699,2637,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5020,-0.96,-48.9,2987,900,2699,2637,523.0,-11.7,230,5025,0.00,2.17,0.00,0.000,1030,0.000,0.041,2987,1888,2667,2699,2636,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5348,-0.96,-48.9,2987,1887,2699,2634,560.1,-10.8,241,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1888,2666,2699,2634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5645,-0.97,-48.9,2987,1887,2699,2632,589.5,-9.5,251,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1887,2665,2699,2632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5945,-0.99,-48.9,2987,1887,2699,2630,619.4,-10.2,261,5950,0.00,2.22,0.00,0.000,516,0.000,0.050,2987,900,2664,2699,2630,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6013,-1.01,-48.9,2987,899,2698,2630,626.5,-10.8,263,6019,0.00,2.17,0.00,0.000,1030,0.000,0.040,2987,1888,2664,2698,2630,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6347,-1.03,-48.9,2987,1888,2698,2628,661.1,-9.7,274,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1888,2663,2698,2628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6644,-1.04,-48.9,2987,1888,2697,2627,686.3,-8.0,284,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1888,2662,2698,2627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6944,-1.06,-48.9,2987,1888,2696,2625,712.3,-9.3,294,6950,0.12,2.60,0.00,0.000,4356,0.125,0.065,2936,2996,2660,2696,2624,0,0,0,0,0,0,14.52,14.43,28.83
$GC,6998,-1.06,-48.9,2937,2996,2696,2624,716.3,-9.8,295,7003,0.00,2.50,0.00,0.000,1030,0.000,0.034,2937,1885,2663,2695,2631,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7316,-1.04,-48.9,2937,1886,2696,2623,758.9,-13.1,306,7321,0.00,2.20,0.00,0.000,516,0.000,0.054,2936,899,2659,2694,2625,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7461,-1.02,-48.9,2937,899,2694,2623,775.8,-13.3,310,7466,0.00,2.17,0.00,0.000,1030,0.000,0.042,2936,1881,2658,2694,2623,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7780,-1.01,-48.9,2937,1880,2694,2621,815.0,-10.7,321,7786,0.12,2.62,0.00,0.000,2308,0.296,0.065,2965,2997,2657,2693,2621,0,0,0,0,0,0,14.12,14.42,28.83
$GC,7838,-1.01,-48.9,2965,2997,2693,2621,818.7,-10.4,322,7846,0.00,2.55,0.00,0.000,1030,0.000,0.035,2964,1865,2657,2693,2621,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8145,-1.01,-48.9,2965,1866,2693,2619,846.0,-7.6,333,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1866,2656,2693,2619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8446,-1.01,-48.9,2965,1866,2692,2618,868.5,-8.0,343,8451,0.00,2.15,0.00,0.000,516,0.000,0.054,2966,902,2654,2691,2617,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8577,-1.01,-48.9,1920,901,2634,2608,879.6,-8.7,347,8582,0.00,2.17,0.00,0.000,1030,0.000,0.042,2965,1879,2653,2690,2617,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8910,-1.01,-48.9,2965,1878,2690,2616,912.2,-10.3,358,8915,0.00,2.65,0.00,0.000,260,0.000,0.068,2965,3002,2653,2690,2616,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8954,-1.01,-48.9,2965,3002,2689,2615,916.2,-10.4,359,8959,0.00,2.55,0.00,0.000,1030,0.000,0.037,2965,1878,2652,2689,2616,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9281,-1.01,-48.9,2965,1884,2689,2614,953.6,-11.3,370,9286,0.00,2.20,0.00,0.000,516,0.000,0.055,2965,899,2650,2687,2614,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9359,-1.01,-48.9,2965,899,2688,2614,961.8,-11.7,372,9364,0.00,2.17,0.00,0.000,1030,0.000,0.043,2965,1876,2651,2688,2614,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,9585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9585,begin apogee
$GC,9594,-0.25,0.0,2965,1788,2688,2613,990.7,-11.9,380,9643,0.95,0.00,43.88,2.072,10244,0.224,0.000,3212,1785,2475,2532,2419,0,0,0,0,0,0,13.79,28.83,13.16
$STATE,9645,end apogee,CONTROL_FINISHED_OK
$STATE,9645,begin climb
$GC,9648,1.25,48.9,3208,1788,2529,2417,992.0,0.0,381,9703,1.55,2.40,47.38,2.176,10756,0.116,0.060,3687,756,2277,2322,2233,0,0,0,0,0,0,14.28,14.39,13.09
$GC,9718,1.25,48.9,3686,760,2313,2239,997.6,-5.5,384,9723,0.00,2.38,0.00,0.000,1030,0.000,0.038,3687,1805,2271,2311,2232,0,0,0,0,0,0,28.83,14.30,28.83
$STATE,9989,end climb,ABORT_DEPTH_EXCEEDED
$SM_CCo,10004,519.00,2.137,40,1,379,514.64
$SM_CCo,10729,60.65,1.931,5,0,189,561.74
$SM_GC,4.91,10.45,0.00,0.00,0.053,0.000,0.000,142,1819,189,-9.78,0.54,561.74,0,0,0,0,0,0,14.59,28.83,28.83
$IRIDIUM_FIX,2413.38,-3748.97,170713,171703
$TT8_MAMPS,0.026215,0.026215
$HUMID,96.58
$INTERNAL_PRESSURE,9.3597
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3857184
$TM_FREEKB,4569792
$24V_AH,13.0,167.053
$10V_AH,12.7,0.000
$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,26.425,88.325,91.250,579.650,0.000,0.000,0.000,488.000,0.000,0.000,31.853,1630.175,11358.399,1065.473,1650.986,508.639,0.000,2242.062,0.000,1070.487,0.000,0.539,0.000
$DEVICE_MAMPS,338.130,79.560,2175.660,2137.410,0.000,0.000,0.000,224.145,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9699.000,2148.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.621,9.820,0.000,0.000
$MEM,345188
$DATA_FILE_SIZE,13428,393
$CAP_FILE_SIZE,131818,8
$CFSIZE,260034560,194809856
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,45,0,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$SM_CCo,15698,0.00,0.000,0,0,190,561.49
$SM_GC,5.22,0.00,0.00,0.00,0.000,0.000,0.000,141,1819,190,-9.86,0.68,561.49,0,0,0,0,0,0,28.83,28.83,28.83
$GPS,180713,044554,2421.665,-3746.729,37,1.5,37,-15.0