version: 66.12
revision: CLOWNFISH
glider: 512
mission: 9
dive: 17
start: 7 15 118 7 38 13
data:
$ID,512
$MISSION,9
$DIVE,17
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,950
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,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,166
$T_MISSION,600
$T_ABORT,720
$T_TURN,500
$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,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52952
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2000
$TGT_DEFAULT_LON,-15430
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,184
$PITCH_MAX,3927
$C_PITCH,2850
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,28
$PITCH_TIMEOUT,22
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,255
$ROLL_MAX,3932
$ROLL_DEG,40
$C_ROLL_DIVE,2020
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2780
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-63.57946
$PRESSURE_SLOPE,0.000116527
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,1.14
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,69
$DEVICE4,35
$DEVICE5,54
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042943917
$SEABIRD_T_H,0.00062894222
$SEABIRD_T_I,2.3572227e-05
$SEABIRD_T_J,2.4870369e-06
$SEABIRD_C_G,-9.7596245
$SEABIRD_C_H,1.0842633
$SEABIRD_C_I,-0.0017886258
$SEABIRD_C_J,0.00018584721
$GPS1,150718,072518,1916.4642,-15438.4941,16,1.5,57,9.6,0.6,183.3,6,7.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.08
$_SM_ANGLEo,-70.2
$GPS2,150718,073749,1916.3123,-15438.4580,7,1.1,38,9.6,0.4,212.5,9,6.9
$SPEED_LIMITS,0.174,0.252
$TGT_NAME,H2
$TGT_LATLONG,1900.000,-15424.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,140.6,39416,-19.0,-10.040,-21.70,2079
$D_GRID,500
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.85,-136.3,192,2014,1178,1269,0.0,0.0,0,99,0.00,0.00,-79.35,0.000,16390,0.000,0.000,191,2013,3337,3321,3354,0,0,0,0,0,0,26.20,24.17,26.21
$GC,102,-0.85,-136.3,191,2013,3322,3354,-0.5,-5.9,9,121,10.52,2.20,0.00,0.000,2564,0.255,0.035,2578,600,3339,3324,3354,0,0,0,0,0,0,25.30,25.66,25.51
$GC,461,-0.85,-136.3,2578,599,3329,3353,89.0,-18.5,43,472,0.00,2.10,0.00,0.000,3078,0.000,0.027,2570,2019,3340,3330,3351,0,0,0,0,0,0,26.13,26.10,26.13
$GC,709,-0.85,-136.3,2569,2022,3333,3351,127.6,-14.1,68,714,0.00,2.17,0.00,0.000,2564,0.000,0.041,2578,612,3342,3334,3351,0,0,0,0,0,0,26.63,26.00,26.63
$GC,840,-0.85,-136.3,2578,612,3334,3350,145.5,-14.9,79,849,0.00,2.08,0.00,0.000,3078,0.000,0.029,2569,2014,3342,3335,3350,0,0,0,0,0,0,26.22,26.17,26.23
$GC,1085,-0.85,-136.3,2569,2013,3334,3351,178.5,-12.2,104,1090,0.00,2.17,0.00,0.000,2308,0.000,0.045,2559,3418,3342,3334,3351,0,0,0,0,0,0,26.73,26.08,26.74
$GC,1208,-0.85,-136.3,2558,3419,3335,3350,193.4,-12.1,115,1218,0.03,2.08,0.00,0.000,3078,0.210,0.028,2568,2011,3342,3335,3350,0,0,0,0,0,0,26.09,26.22,26.11
$GC,1466,-0.85,-136.3,2567,2008,3335,3350,220.8,-10.3,126,1472,0.00,2.12,0.00,0.000,2564,0.000,0.043,2578,622,3342,3335,3350,0,0,0,0,0,0,26.75,26.09,26.76
$GC,1548,-0.85,-136.3,2578,622,3335,3350,229.3,-10.4,128,1552,0.00,2.12,0.00,0.000,3078,0.000,0.028,2570,2025,3342,3335,3350,0,0,0,0,0,0,26.32,26.28,26.34
$GC,1826,-0.85,-136.3,2569,2025,3334,3350,259.5,-11.0,135,1831,0.00,2.17,0.00,0.000,2308,0.000,0.046,2559,3422,3341,3333,3350,0,0,0,0,0,0,26.80,26.12,26.80
$GC,2198,-0.85,-136.3,2558,3421,3332,3349,301.0,-11.3,144,2203,0.03,2.12,0.00,0.000,3078,0.203,0.028,2568,2024,3340,3332,3349,0,0,0,0,0,0,26.17,26.29,26.18
$GC,2472,-0.85,-136.3,2568,2023,3332,3348,329.4,-9.8,151,2473,0.00,0.00,0.00,0.000,2054,0.000,0.000,2568,2023,3339,3331,3347,0,0,0,0,0,0,26.91,26.91,26.91
$GC,2712,-0.85,-136.3,2568,2023,3331,3345,351.6,-9.2,157,2716,0.00,2.17,0.00,0.000,2564,0.000,0.046,2579,622,3337,3330,3345,0,0,0,0,0,0,26.87,26.07,26.88
$GC,2771,-0.85,-136.3,2578,622,3330,3344,355.6,-9.1,158,2776,0.00,2.08,0.00,0.000,3078,0.000,0.029,2570,2022,3337,3330,3344,0,0,0,0,0,0,26.44,26.34,26.47
$GC,3034,-0.85,-136.3,2569,2022,3328,3341,381.5,-9.1,165,3039,0.00,2.17,0.00,0.000,2308,0.000,0.047,2560,3412,3334,3328,3341,0,0,0,0,0,0,26.89,26.12,26.89
$GC,3091,-0.85,-136.3,2559,3412,3327,3341,385.2,-9.1,166,3096,0.05,2.10,0.00,0.000,3078,0.199,0.030,2575,2015,3334,3327,3341,0,0,0,0,0,0,26.15,26.28,26.22
$GC,3355,-0.85,-136.3,2574,2011,3325,3339,411.1,-9.3,173,3359,0.00,2.22,0.00,0.000,2308,0.000,0.048,2566,3416,3332,3326,3339,0,0,0,0,0,0,26.91,26.10,26.91
$GC,3454,-0.85,-136.3,2565,3416,3325,3338,418.7,-9.1,175,3459,0.00,2.10,0.00,0.000,3078,0.000,0.030,2566,2017,3331,3325,3338,0,0,0,0,0,0,26.41,26.29,26.45
$GC,3717,-0.85,-136.3,2565,2017,3323,3335,441.9,-8.1,182,3723,0.00,2.17,0.00,0.000,2564,0.000,0.047,2574,621,3329,3323,3335,0,0,0,0,0,0,26.91,26.06,26.92
$GC,3750,-0.85,-136.3,2573,621,3323,3335,441.9,-8.1,182,3757,0.00,2.10,0.00,0.000,3078,0.000,0.031,2565,2027,3329,3323,3336,0,0,0,0,0,0,26.45,26.33,26.48
$GC,3996,-0.85,-136.3,2565,2027,3320,3333,464.5,-8.0,189,4000,0.00,2.20,0.00,0.000,2308,0.000,0.048,2555,3423,3326,3320,3333,0,0,0,0,0,0,26.98,26.09,26.98
$GC,4021,-0.85,-136.3,2554,3423,3319,3333,464.5,-8.0,189,4026,0.08,2.12,0.00,0.000,3078,0.175,0.030,2578,2013,3326,3320,3333,0,0,0,0,0,0,26.07,26.31,26.17
$GC,4275,-0.85,-136.3,2577,2010,3319,3330,486.6,-7.9,196,4280,0.00,2.12,0.00,0.000,516,0.000,0.047,2588,622,3324,3319,3330,0,0,0,0,0,0,26.94,26.06,26.94
$GC,4346,-0.85,-136.3,2588,622,3318,3330,490.2,-8.2,197,4354,0.00,2.10,0.00,0.000,1030,0.000,0.031,2580,2022,3324,3318,3330,0,0,0,0,0,0,26.41,26.31,26.44
$STATE,4432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4432,begin apogee
$GC,4437,-0.18,0.0,2579,1877,3318,3329,500.5,-8.7,200,4554,0.68,0.00,112.20,0.884,10246,0.141,0.000,2792,1874,2779,2793,2766,0,0,0,0,0,0,25.70,24.82,24.09
$STATE,4555,end apogee,CONTROL_FINISHED_OK
$STATE,4555,begin climb
$GC,4556,0.85,136.3,2791,1874,2793,2766,501.7,0.0,203,4684,0.90,0.00,124.12,0.848,10246,0.064,0.000,3118,1874,2224,2261,2188,0,0,0,0,0,0,25.05,24.54,23.89
$GC,4913,0.85,136.3,3117,1874,2251,2181,437.7,21.3,212,4917,0.00,2.30,0.00,0.000,2308,0.000,0.047,3118,3301,2216,2251,2181,0,0,0,0,0,0,26.08,25.56,26.09
$GC,4942,0.85,136.3,3117,3301,2250,2181,437.7,21.3,212,4949,0.00,2.17,0.00,0.000,5126,0.000,0.034,3126,1915,2215,2250,2181,0,0,0,0,0,0,25.79,25.65,25.82
$GC,5189,0.85,136.3,3126,1915,2247,2181,382.1,19.3,219,5193,0.00,2.20,0.00,0.000,4356,0.000,0.045,3118,3300,2213,2246,2181,0,0,0,0,0,0,26.40,25.80,26.40
$GC,5213,0.85,136.3,3118,3300,2246,2180,382.1,19.3,219,5217,0.00,2.17,0.00,0.000,5126,0.000,0.033,3127,1900,2213,2246,2181,0,0,0,0,0,0,26.02,25.89,26.06
$GC,5470,0.85,136.3,3126,1898,2244,2179,328.3,19.4,226,5471,0.00,0.00,0.00,0.000,4102,0.000,0.000,3127,1898,2212,2244,2180,0,0,0,0,0,0,26.55,26.55,26.56
$GC,5710,0.85,136.3,3127,1899,2243,2178,280.4,20.3,232,5711,0.00,0.00,0.00,0.000,4102,0.000,0.000,3127,1898,2210,2243,2178,0,0,0,0,0,0,26.64,26.65,26.64
$GC,5950,0.85,136.3,3126,1895,2242,2177,238.3,16.7,238,5954,0.00,2.22,0.00,0.000,4356,0.000,0.045,3119,3298,2210,2242,2178,0,0,0,0,0,0,26.70,25.96,26.71
$GC,6058,0.85,136.3,3118,3298,2240,2177,224.6,17.0,240,6067,0.00,2.20,0.00,0.000,5126,0.000,0.034,3127,1896,2208,2240,2177,0,0,0,0,0,0,26.11,26.06,26.15
$GC,6308,0.85,136.3,3127,1895,2240,2177,175.4,15.3,256,6315,0.00,0.00,0.00,0.000,4102,0.000,0.000,3127,1895,2208,2239,2177,0,0,0,0,0,0,26.77,26.77,26.77
$GC,6559,0.85,136.3,3127,1895,2238,2177,138.8,13.6,281,6568,0.00,2.17,0.00,0.000,4356,0.000,0.044,3127,3294,2207,2237,2177,0,0,0,0,0,0,26.79,26.00,26.80
$GC,6606,0.85,136.3,3126,3294,2237,2177,131.7,15.3,285,6615,0.03,2.12,0.00,0.000,5126,0.220,0.033,3130,1898,2207,2237,2177,0,0,0,0,0,0,26.03,26.12,26.02
$GC,6852,0.85,136.3,3129,1897,2237,2177,97.5,13.0,310,6856,0.00,2.20,0.00,0.000,4612,0.000,0.049,3139,491,2207,2237,2177,0,0,0,0,0,0,26.82,25.96,26.83
$GC,6962,0.85,136.3,3138,491,2236,2177,82.9,13.7,319,6971,0.05,2.15,0.00,0.000,5126,0.163,0.028,3123,1905,2206,2236,2177,0,0,0,0,0,0,26.03,26.25,26.06
$GC,7214,0.86,151.6,3123,1908,2236,2177,57.0,9.3,344,7238,0.00,2.17,11.35,0.553,10756,0.000,0.049,3132,496,2162,2193,2131,0,0,0,0,0,0,26.85,26.13,25.42
$GC,7343,0.87,159.0,3132,496,2191,2130,44.2,9.7,354,7356,0.00,2.15,8.20,0.510,13318,0.000,0.030,3132,1899,2130,2163,2098,0,0,0,0,0,0,26.27,26.23,25.44
$GC,7633,0.88,165.7,3131,1900,2162,2095,17.9,9.7,388,7645,0.00,2.22,7.20,0.475,8452,0.000,0.050,3132,3305,2103,2138,2069,0,0,0,0,0,0,26.72,26.10,25.44
$GC,7704,0.88,165.7,3131,3305,2137,2068,10.5,10.9,397,7714,0.00,2.20,0.00,0.000,5126,0.000,0.031,3142,1894,2102,2137,2068,0,0,0,0,0,0,26.22,26.17,26.25
$STATE,7772,end climb,SURFACE_DEPTH_REACHED
$STATE,7772,begin surface coast
$FINISH,-1.7,1.022686
$STATE,7815,end surface coast,CONTROL_FINISHED_OK
$STATE,7816,begin surface
$SM_CCo,7830,98.95,0.500,0,0,1229,380.21
$SM_GC,-3.13,8.07,0.17,98.95,0.070,0.055,0.500,197,2046,1229,-8.25,-1.27,380.21,0,0,0,0,0,0,26.09,26.41,24.84
$IRIDIUM_FIX,1909.23,-15437.60,150718,073149
$TT8_MAMPS,0.023968,0.35952
$HUMID,44.36
$INTERNAL_PRESSURE,9.6556
$TCM_TEMP,24.20
$XPDR_PINGS,34
$24V_AH,23.89,18.062
$10V_AH,10.12,10.356
$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,20.425,78.050,263.075,98.950,0.000,56.255,91.250,387.083,29.250,0.000,39.424,1276.693,4564.997,495.143,2284.343,73.604,0.000,1104.784,0.000,1171.885,0.000,131.586,0.000
$DEVICE_MAMPS,254.745,62.730,883.575,499.545,0.000,66.560,160.000,223.000,420.000,0.000,16.480,11.500,2.190,11.500,38.470,49.700,0.000,15.460,0.000,14.980,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,283.149,236.370,436.409,421.263,871.408,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,6.740,50.930,47.940,37.450,0.000,0.000,0.000,0.000,0.000
$MEM,343276
$DATA_FILE_SIZE,37231,412
$CAP_FILE_SIZE,96992,0
$CFSIZE,260165632,258457600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.097,60.86,1
$GPS,150718,095131,1915.688,-15437.678,19,0.9,36,9.6,0.5,130.8,9,8.1