version: 66.12
revision: CLOWNFISH
glider: 512
mission: 9
dive: 42
start: 7 17 118 17 5 39
data:
$ID,512
$MISSION,9
$DIVE,42
$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,38
$R_STBD_OVSHOOT,71
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2860
$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
$GPS1,170718,165932,1848.8416,-15423.5801,17,0.9,29,9.6,0.6,193.2,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.17
$_SM_ANGLEo,-69.4
$GPS2,170718,170510,1848.7946,-15423.6367,7,0.8,16,9.6,0.0,174.1,9,9.8
$SPEED_LIMITS,0.174,0.252
$TGT_NAME,H4
$TGT_LATLONG,1848.000,-15424.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,191.7,1603,-27.8,-10.040,-30.00,973
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.07,-63.6,188,2056,1249,1354,0.0,0.0,0,90,0.00,0.00,-69.78,0.000,16390,0.000,0.000,188,2056,3122,3102,3142,0,0,0,0,0,0,26.16,24.17,26.17
$GC,92,-1.15,-123.6,188,2057,3102,3142,-2.6,-3.7,8,112,10.00,2.30,-5.05,0.000,18948,0.252,0.050,2480,607,3365,3357,3374,0,0,0,0,0,0,25.32,24.28,25.53
$GC,359,-1.15,-123.6,2480,605,3362,3374,74.6,-24.1,35,371,0.00,2.05,0.00,0.000,3078,0.000,0.027,2472,1989,3368,3362,3374,0,0,0,0,0,0,26.08,26.05,26.10
$GC,607,-1.15,-123.6,2471,1989,3364,3374,127.8,-20.3,60,612,0.00,2.22,0.00,0.000,2308,0.000,0.041,2461,3419,3369,3365,3374,0,0,0,0,0,0,26.59,26.03,26.59
$GC,1071,-1.15,-123.6,2460,3419,3369,3375,214.9,-19.3,95,1075,0.00,2.12,0.00,0.000,3078,0.000,0.025,2469,2017,3372,3369,3375,0,0,0,0,0,0,26.27,26.23,26.29
$GC,1328,-1.15,-123.6,2468,2017,3370,3374,260.5,-15.3,102,1335,0.00,2.17,0.00,0.000,2308,0.000,0.041,2460,3421,3372,3370,3374,0,0,0,0,0,0,26.74,26.15,26.74
$GC,1420,-1.15,-123.6,2460,3421,3370,3374,273.2,-15.0,104,1425,0.00,2.08,0.00,0.000,3078,0.000,0.025,2468,2017,3372,3370,3374,0,0,0,0,0,0,26.39,26.29,26.42
$GC,1693,-1.15,-123.6,2468,2017,3369,3374,311.6,-13.9,111,1694,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,2017,3371,3369,3374,0,0,0,0,0,0,26.79,26.80,26.80
$GC,1933,-1.15,-123.6,2468,2017,3367,3374,344.1,-13.5,117,1940,0.00,2.12,0.00,0.000,2564,0.000,0.041,2479,624,3370,3367,3374,0,0,0,0,0,0,26.82,26.15,26.82
$GC,2095,-1.15,-123.6,2478,624,3366,3374,361.7,-13.6,120,2106,0.00,2.08,0.00,0.000,3078,0.000,0.027,2470,2021,3369,3365,3374,0,0,0,0,0,0,26.46,26.35,26.48
$GC,2343,-1.15,-123.6,2470,2021,3362,3374,396.5,-12.1,127,2347,0.00,2.15,0.00,0.000,2564,0.000,0.041,2478,624,3368,3362,3374,0,0,0,0,0,0,26.85,26.15,26.86
$GC,2392,-1.15,-123.6,2478,624,3362,3374,402.0,-12.3,128,2396,0.00,2.10,0.00,0.000,3078,0.000,0.026,2470,2016,3368,3362,3374,0,0,0,0,0,0,26.41,26.38,26.44
$GC,2665,-1.15,-123.6,2469,2016,3358,3373,434.7,-11.6,135,2671,0.00,2.17,0.00,0.000,2308,0.000,0.043,2459,3417,3365,3358,3373,0,0,0,0,0,0,26.88,26.19,26.89
$GC,2802,-1.15,-123.6,2458,3417,3356,3372,451.6,-13.7,138,2807,0.03,2.12,0.00,0.000,3078,0.220,0.028,2473,2020,3364,3356,3372,0,0,0,0,0,0,26.21,26.32,26.22
$GC,3067,-1.15,-123.6,2473,2020,3355,3370,490.7,-14.0,145,3072,0.00,2.20,0.00,0.000,2308,0.000,0.044,2464,3419,3362,3355,3370,0,0,0,0,0,0,26.91,26.15,26.92
$GC,3097,-1.15,-123.6,2463,3419,3354,3370,490.7,-14.0,145,3101,0.00,2.10,0.00,0.000,3078,0.000,0.028,2472,2017,3362,3355,3370,0,0,0,0,0,0,26.45,26.34,26.48
$STATE,3151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3151,begin apogee
$GC,3155,-0.18,0.0,2473,1883,3354,3370,503.0,-14.3,147,3261,1.05,0.00,102.88,0.895,10246,0.160,0.000,2786,1881,2860,2871,2849,0,0,0,0,0,0,25.53,24.93,24.20
$STATE,3262,end apogee,CONTROL_FINISHED_OK
$STATE,3262,begin climb
$GC,3264,1.15,123.6,2786,1881,2870,2848,506.0,0.0,149,3380,1.15,0.00,111.93,0.868,10758,0.060,0.000,3209,1881,2356,2379,2334,0,0,0,0,0,0,25.10,24.63,23.99
$GC,3589,1.15,123.6,3208,1882,2369,2325,436.6,25.3,158,3594,0.00,2.25,0.00,0.000,2308,0.000,0.043,3201,3291,2348,2370,2326,0,0,0,0,0,0,26.09,25.63,26.10
$GC,3659,1.15,123.6,3201,3291,2367,2326,426.9,24.5,159,3663,0.00,2.17,0.00,0.000,3078,0.000,0.031,3209,1918,2347,2368,2326,0,0,0,0,0,0,25.91,25.77,25.94
$GC,3911,1.15,123.6,3209,1918,2364,2324,360.1,23.7,166,3912,0.00,0.00,0.00,0.000,2054,0.000,0.000,3210,1917,2344,2364,2324,0,0,0,0,0,0,26.45,26.46,26.46
$GC,4150,1.15,123.6,3209,1918,2363,2323,307.0,21.8,172,4155,0.00,2.22,0.00,0.000,2564,0.000,0.044,3221,489,2343,2363,2323,0,0,0,0,0,0,26.58,25.96,26.58
$GC,4220,1.15,123.6,3220,488,2362,2323,297.9,21.7,173,4224,0.00,2.12,0.00,0.000,3078,0.000,0.026,3212,1903,2342,2361,2323,0,0,0,0,0,0,26.27,26.17,26.29
$GC,4467,1.15,123.6,3212,1907,2360,2320,238.9,21.1,179,4473,0.00,2.17,0.00,0.000,2308,0.000,0.041,3201,3307,2340,2360,2320,0,0,0,0,0,0,26.68,26.07,26.69
$GC,4549,1.15,123.6,3201,3307,2358,2320,222.6,20.7,181,4554,0.00,2.17,0.00,0.000,3078,0.000,0.028,3210,1898,2339,2358,2320,0,0,0,0,0,0,26.20,26.15,26.23
$GC,4797,1.15,123.6,3210,1897,2358,2318,177.9,16.6,197,4798,0.00,0.00,0.00,0.000,2054,0.000,0.000,3211,1897,2337,2357,2318,0,0,0,0,0,0,26.75,26.76,26.76
$GC,5041,1.15,123.6,3210,1898,2356,2317,136.6,19.7,221,5046,0.00,2.17,0.00,0.000,2308,0.000,0.039,3202,3303,2336,2356,2317,0,0,0,0,0,0,26.79,26.13,26.79
$GC,5203,1.15,123.6,3202,3303,2355,2316,110.0,15.1,235,5210,0.00,2.12,0.00,0.000,3078,0.000,0.028,3211,1894,2336,2355,2317,0,0,0,0,0,0,26.35,26.23,26.39
$GC,5453,1.15,123.6,3210,1894,2354,2317,72.1,15.4,260,5465,0.00,2.15,0.00,0.000,2308,0.000,0.039,3203,3296,2336,2355,2317,0,0,0,0,0,0,26.84,26.16,26.84
$GC,5554,1.15,123.6,3202,3295,2355,2317,56.9,14.6,268,5566,0.00,2.08,0.00,0.000,3078,0.000,0.028,3211,1900,2336,2355,2317,0,0,0,0,0,0,26.30,26.26,26.33
$GC,5827,1.15,128.1,3211,1900,2355,2317,23.2,9.6,298,5835,0.00,0.00,0.00,0.000,2054,0.000,0.000,3211,1900,2336,2355,2318,0,0,0,0,0,0,26.86,26.86,26.86
$STATE,6064,end climb,SURFACE_DEPTH_REACHED
$STATE,6064,begin surface coast
$FINISH,-1.9,1.022674
$STATE,6107,end surface coast,CONTROL_FINISHED_OK
$STATE,6107,begin surface
$SM_CCo,6122,120.68,0.509,0,0,1309,380.21
$SM_GC,-4.38,8.38,0.17,120.68,0.076,0.054,0.509,192,2051,1309,-8.27,-1.13,380.21,0,0,0,0,0,0,26.10,26.58,24.85
$IRIDIUM_FIX,1844.15,-15419.08,170718,144335
$TT8_MAMPS,0.023968,0.294357
$HUMID,43.89
$INTERNAL_PRESSURE,9.6556
$TCM_TEMP,23.80
$XPDR_PINGS,33
$24V_AH,23.99,20.423
$10V_AH,10.21,11.959
$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,20.600,51.975,214.800,120.675,0.000,28.500,47.665,163.925,29.000,0.000,17.346,1067.660,3322.409,424.861,1711.833,73.192,0.000,947.020,0.000,1012.608,0.000,130.877,0.000
$DEVICE_MAMPS,251.685,70.380,895.050,508.725,0.000,66.560,160.000,223.000,420.000,0.000,16.480,11.500,2.190,11.500,38.470,49.700,0.000,15.460,0.000,14.980,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,233.463,206.378,369.736,371.770,768.921,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,6.740,50.930,47.940,37.450,0.000,0.000,0.000,0.000,0.000
$MEM,343220
$DATA_FILE_SIZE,30621,338
$CAP_FILE_SIZE,75658,0
$CFSIZE,260165632,257261568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.117,206.75,1
$GPS,170718,185055,1847.776,-15424.039,8,0.9,40,9.6,0.4,189.7,8,5.8