version: 66.11
glider: 169
mission: 8
dive: 819
start: 9 4 113 5 16 58
data:
$ID,169
$MISSION,8
$DIVE,819
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,130
$T_BOOST,4
$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,320
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,270
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52063
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$HEADING,230
$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,592.89008
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-23620.088
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2365
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2575
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2852
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$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,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.8000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.03682
$PRESSURE_SLOPE,0.0001078585
$AD7714Ch0Gain,1
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042608725
$SEABIRD_T_H,0.00061783189
$SEABIRD_T_I,2.1692709e-05
$SEABIRD_T_J,2.1724361e-06
$SEABIRD_C_G,-10.034778
$SEABIRD_C_H,1.1503564
$SEABIRD_C_I,-0.0019294197
$SEABIRD_C_J,0.0002327933
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,040913,051036,2212.461,12216.610,31,0.9,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-68.4
$GPS2,040913,051625,2212.627,12216.688,18,1.3,18,-2.9
$SPEED_LIMITS,0.179,0.319
$TGT_NAME,HEADING
$TGT_LATLONG,2205.686,12207.759
$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,232.9,20000,-3.1,-10.312,-17.92,3914
$D_GRID,4820
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.87,-262.8,121,2569,632,238,0.0,0.0,0,110,0.00,0.00,-85.60,0.000,16386,0.000,0.000,121,2570,2642,2637,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.87,-262.8,121,2570,2637,2648,3.9,-7.9,9,153,8.38,2.20,-22.42,0.000,19204,0.233,0.055,2069,3828,3923,3890,3957,0,0,0,0,0,0,24.72,25.57,26.49
$GC,269,-0.87,-262.8,2069,3828,3898,3949,59.0,-32.9,24,275,0.00,2.15,0.00,0.000,1030,0.000,0.026,2069,2515,3923,3898,3949,0,0,0,0,0,0,28.83,25.92,28.83
$GC,584,-0.87,-262.8,2069,2512,3901,3946,143.6,-21.9,47,590,0.00,2.33,0.00,0.000,260,0.000,0.045,2059,3833,3923,3901,3946,0,0,0,0,0,0,28.83,25.39,28.83
$GC,621,-0.87,-262.8,2059,3833,3900,3947,148.3,-22.1,48,627,0.00,2.12,0.00,0.000,1030,0.000,0.024,2059,2510,3923,3901,3946,0,0,0,0,0,0,28.83,26.01,28.83
$GC,946,-0.87,-262.8,2059,2510,3903,3946,223.6,-22.3,65,951,0.00,2.30,0.00,0.000,260,0.000,0.044,2048,3826,3923,3902,3945,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1077,-0.87,-262.8,2048,3825,3903,3945,250.5,-22.5,71,1083,0.10,2.08,0.00,0.000,3078,0.135,0.024,2082,2515,3924,3903,3945,0,0,0,0,0,0,25.56,26.04,28.83
$GC,1385,-0.87,-262.8,2081,2515,3904,3945,307.4,-16.4,87,1391,0.00,2.33,0.00,0.000,260,0.000,0.046,2076,3840,3924,3904,3945,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1470,-0.87,-262.8,2075,3840,3903,3945,321.7,-18.0,91,1476,0.00,2.12,0.00,0.000,1030,0.000,0.023,2076,2509,3924,3904,3945,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1787,-0.87,-262.8,2076,2509,3903,3944,374.4,-16.6,107,1793,0.00,2.30,0.00,0.000,260,0.000,0.044,2074,3826,3923,3903,3944,0,0,0,0,0,0,28.83,25.42,28.83
$GC,1826,-0.87,-262.8,2074,3825,3902,3943,381.1,-16.3,109,1832,0.00,2.10,0.00,0.000,1030,0.000,0.023,2074,2506,3922,3902,3943,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2148,-0.87,-262.8,2074,2507,3900,3941,429.8,-14.8,122,2154,0.00,2.30,0.00,0.000,260,0.000,0.044,2074,3825,3920,3900,3941,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2202,-0.87,-262.8,2074,3825,3900,3941,434.1,-14.4,123,2206,0.00,2.12,0.00,0.000,1030,0.000,0.023,2074,2506,3920,3899,3941,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2507,-0.87,-262.8,2073,2506,3897,3940,484.4,-15.3,134,2513,0.00,2.33,0.00,0.000,260,0.000,0.045,2073,3830,3919,3897,3941,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2670,-0.87,-262.8,2073,3830,3894,3940,507.5,-15.3,139,2676,0.00,2.12,0.00,0.000,1030,0.000,0.023,2074,2505,3917,3894,3940,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2990,-0.87,-262.8,2073,2506,3889,3940,557.6,-15.4,150,2996,0.00,2.35,0.00,0.000,260,0.000,0.047,2073,3833,3914,3889,3939,0,0,0,0,0,0,28.83,25.33,28.83
$GC,3062,-0.87,-262.8,2073,3832,3888,3940,566.8,-15.4,152,3066,0.00,2.15,0.00,0.000,1030,0.000,0.023,2073,2502,3913,3888,3939,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3384,-0.87,-262.8,2073,2501,3885,3936,613.3,-13.6,163,3391,0.00,2.38,0.00,0.000,260,0.000,0.050,2073,3832,3910,3884,3936,0,0,0,0,0,0,28.83,25.25,28.83
$GC,3512,-0.87,-262.8,2073,3832,3882,3936,630.5,-14.2,167,3517,0.00,2.10,0.00,0.000,1030,0.000,0.023,2073,2506,3908,3882,3935,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3836,-0.87,-262.8,2073,2506,3882,3929,683.2,-16.6,178,3841,0.00,2.35,0.00,0.000,260,0.000,0.045,2073,3834,3906,3882,3930,0,0,0,0,0,0,28.83,25.30,28.83
$GC,3900,-0.87,-262.8,2073,3834,3881,3930,693.2,-16.5,180,3904,0.00,2.15,0.00,0.000,1030,0.000,0.024,2073,2513,3905,3881,3929,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4230,-0.87,-262.8,2073,2509,3879,3925,746.5,-15.9,191,4235,0.00,2.35,0.00,0.000,260,0.000,0.046,2063,3837,3901,3878,3925,0,0,0,0,0,0,28.83,25.29,28.83
$GC,4273,-0.87,-262.8,2063,3836,3877,3925,751.5,-15.9,192,4279,0.00,2.17,0.00,0.000,1030,0.000,0.024,2064,2507,3901,3877,3925,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4589,-0.87,-262.8,2063,2505,3875,3920,805.4,-16.5,203,4594,0.00,2.35,0.00,0.000,260,0.000,0.048,2060,3826,3897,3875,3920,0,0,0,0,0,0,28.83,25.20,28.83
$GC,4686,-0.87,-262.8,2060,3826,3873,3920,820.6,-16.9,206,4691,0.00,2.10,0.00,0.000,1030,0.000,0.025,2059,2521,3896,3873,3920,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5009,-0.87,-262.8,2060,2519,3872,3917,876.6,-16.7,217,5015,0.00,2.33,0.00,0.000,260,0.000,0.050,2050,3826,3894,3872,3916,0,0,0,0,0,0,28.83,25.13,28.83
$GC,5071,-0.87,-262.8,2050,3826,3870,3916,886.8,-16.8,219,5077,0.12,2.17,0.00,0.000,3078,0.143,0.026,2083,2507,3893,3870,3917,0,0,0,0,0,0,25.49,25.88,28.83
$GC,5404,-0.87,-262.8,2084,2507,3870,3912,939.6,-16.2,230,5410,0.00,2.33,0.00,0.000,260,0.000,0.047,2074,3821,3891,3870,3912,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5478,-0.87,-262.8,2074,3821,3869,3912,949.6,-16.5,232,5484,0.00,2.15,0.00,0.000,1030,0.000,0.026,2074,2511,3890,3869,3912,0,0,0,0,0,0,28.83,25.84,28.83
$STATE,5729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5729,begin apogee
$GC,5741,-0.12,0.0,2073,2607,3868,3908,994.7,-17.1,241,5982,0.73,0.12,234.23,0.962,10246,0.097,0.060,2318,2521,2851,2956,2747,0,0,0,0,0,0,24.82,24.87,23.74
$STATE,5984,end apogee,CONTROL_FINISHED_OK
$STATE,5984,begin climb
$GC,5990,0.87,262.8,2318,2521,2940,2729,1018.5,0.0,249,5999,0.85,0.00,5.10,0.740,10498,0.034,0.000,2664,2521,2815,2920,2711,0,0,0,0,0,0,25.18,28.83,28.83
$STATE,6000,end climb,ABORT_DEPTH_EXCEEDED
$SM_CCo,6014,589.17,0.926,0,0,434,592.89
$SM_GC,0.14,6.45,0.17,0.00,0.025,0.065,0.000,141,2609,392,-6.90,-0.25,603.44,0,0,0,0,0,0,25.31,26.28,28.83
$IRIDIUM_FIX,2202.04,12218.82,040913,010130
$TT8_MAMPS,0.02247,0.02247
$HUMID,56.89
$INTERNAL_PRESSURE,9.40822
$TCM_TEMP,16.80
$XPDR_PINGS,0
$24V_AH,23.7,114.665
$10V_AH,10.1,81.653
$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,16.625,63.075,239.325,589.175,0.000,0.000,0.000,197.275,0.000,0.000,21.352,547.873,11597.301,860.436,966.883,353.123,0.000,1712.089,0.000,762.590,0.000,0.542,0.000
$DEVICE_MAMPS,232.560,65.025,961.605,925.650,0.000,0.000,0.000,110.160,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323572
$DATA_FILE_SIZE,10187,250
$CAP_FILE_SIZE,83971,0
$CFSIZE,260034560,127193088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,040913,091129,2214.325,12217.183,39,1.2,44,-2.9