version: 66.12
revision: CLOWNFISH
glider: 512
mission: 9
dive: 110
start: 7 26 118 7 11 42
data:
$ID,512
$MISSION,9
$DIVE,110
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$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,233
$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,2835
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,27
$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,2010
$C_ROLL_CLIMB,1880
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2935
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,9.9999997e-05
$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
$GPS1,260718,070501,1917.9678,-15432.2061,18,0.7,36,9.6,0.0,147.4,10,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.86
$_SM_ANGLEo,-71.6
$GPS2,260718,071115,1917.9294,-15432.1885,7,0.8,18,9.6,0.0,99.9,11,9.3
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,HCL
$TGT_LATLONG,1917.700,-15432.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,201.9,425,-27.8,-10.014,-30.00,972
$D_GRID,700
$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,16,-1.04,-63.4,188,2007,1330,1420,0.0,0.0,0,89,0.00,0.00,-69.15,0.000,16390,0.000,0.000,189,2007,3195,3177,3214,0,0,0,0,0,0,26.16,24.15,26.17
$GC,92,-1.04,-116.5,189,2007,3177,3214,-3.1,-4.4,8,112,9.82,2.25,-4.28,0.000,18948,0.239,0.051,2504,588,3412,3398,3426,0,0,0,0,0,0,25.19,24.15,25.41
$GC,311,-1.04,-116.5,2503,588,3403,3426,66.1,-26.1,31,322,0.00,2.15,0.00,0.000,3078,0.000,0.027,2495,1990,3414,3403,3426,0,0,0,0,0,0,26.04,26.01,26.07
$GC,561,-1.04,-116.5,2494,1994,3405,3426,126.5,-21.1,56,566,0.00,2.20,0.00,0.000,2308,0.000,0.041,2484,3404,3415,3405,3426,0,0,0,0,0,0,26.53,26.02,26.54
$GC,744,-1.04,-116.5,2483,3404,3406,3425,165.2,-19.7,72,755,0.00,2.15,0.00,0.000,3078,0.000,0.026,2492,1995,3416,3407,3426,0,0,0,0,0,0,26.20,26.16,26.23
$GC,992,-1.04,-116.5,2492,1995,3409,3426,208.6,-17.5,94,993,0.00,0.00,0.00,0.000,2054,0.000,0.000,2492,1995,3416,3408,3425,0,0,0,0,0,0,26.67,26.67,26.67
$GC,1234,-1.04,-116.5,2492,1995,3410,3426,246.5,-16.1,100,1239,0.00,2.20,0.00,0.000,2308,0.000,0.041,2483,3412,3418,3410,3426,0,0,0,0,0,0,26.75,26.17,26.75
$GC,1268,-1.04,-116.5,2483,3412,3410,3426,246.5,-16.1,100,1277,0.00,2.12,0.00,0.000,3078,0.000,0.026,2492,2012,3418,3410,3426,0,0,0,0,0,0,26.32,26.29,26.35
$GC,1516,-1.04,-116.5,2491,2012,3410,3426,288.7,-14.2,107,1523,0.00,2.17,0.00,0.000,2308,0.000,0.041,2483,3413,3418,3410,3426,0,0,0,0,0,0,26.77,26.20,26.77
$GC,1565,-1.04,-116.5,2482,3413,3410,3426,295.1,-14.0,108,1570,0.00,2.08,0.00,0.000,3078,0.000,0.025,2492,2012,3418,3410,3426,0,0,0,0,0,0,26.42,26.32,26.45
$GC,1843,-1.04,-116.5,2491,2011,3409,3425,336.7,-14.4,115,1848,0.00,2.15,0.00,0.000,2564,0.000,0.041,2503,602,3417,3408,3426,0,0,0,0,0,0,26.82,26.17,26.83
$GC,1908,-1.04,-116.5,2502,602,3408,3426,342.7,-14.3,116,1913,0.00,2.12,0.00,0.000,3078,0.000,0.025,2493,2013,3417,3408,3426,0,0,0,0,0,0,26.42,26.38,26.44
$GC,2167,-1.04,-116.5,2493,2014,3405,3425,378.5,-12.5,123,2168,0.00,0.00,0.00,0.000,2054,0.000,0.000,2493,2014,3415,3405,3426,0,0,0,0,0,0,26.84,26.85,26.85
$GC,2407,-1.04,-116.5,2493,2014,3403,3425,410.2,-13.2,129,2411,0.00,2.17,0.00,0.000,2564,0.000,0.043,2502,608,3414,3403,3425,0,0,0,0,0,0,26.86,26.15,26.87
$GC,2462,-1.04,-116.5,2502,608,3402,3426,415.9,-13.4,130,2466,0.00,2.08,0.00,0.000,3078,0.000,0.028,2493,2010,3414,3402,3426,0,0,0,0,0,0,26.48,26.38,26.51
$GC,2730,-1.04,-116.5,2493,2010,3397,3425,453.9,-13.4,137,2737,0.00,2.15,0.00,0.000,2308,0.000,0.046,2482,3395,3410,3397,3424,0,0,0,0,0,0,26.89,26.21,26.89
$GC,2809,-1.04,-116.5,2482,3394,3398,3425,465.0,-13.6,139,2814,0.00,2.08,0.00,0.000,3078,0.000,0.027,2491,2012,3411,3397,3425,0,0,0,0,0,0,26.47,26.36,26.51
$GC,3093,-1.04,-116.5,2490,2013,3396,3421,501.1,-12.3,146,3094,0.00,0.00,0.00,0.000,2054,0.000,0.000,2491,2013,3408,3396,3421,0,0,0,0,0,0,26.90,26.91,26.90
$GC,3331,-1.04,-116.5,2490,2012,3394,3419,529.9,-11.9,152,3335,0.00,2.20,0.00,0.000,2308,0.000,0.044,2482,3408,3406,3394,3418,0,0,0,0,0,0,26.96,26.20,26.96
$GC,3382,-1.04,-116.5,2481,3408,3393,3418,534.4,-12.0,153,3386,0.00,2.10,0.00,0.000,3078,0.000,0.028,2490,2012,3405,3393,3418,0,0,0,0,0,0,26.47,26.35,26.50
$GC,3645,-1.04,-116.5,2490,2012,3391,3416,566.0,-11.3,160,3646,0.00,0.00,0.00,0.000,2054,0.000,0.000,2490,2012,3403,3391,3416,0,0,0,0,0,0,26.92,26.92,26.92
$GC,3885,-1.04,-116.5,2490,2012,3389,3414,594.6,-11.8,166,3890,0.00,2.17,0.00,0.000,2308,0.000,0.045,2481,3399,3401,3389,3414,0,0,0,0,0,0,26.93,26.18,26.94
$GC,3973,-1.04,-116.5,2481,3399,3388,3414,604.3,-11.9,168,3977,0.00,2.15,0.00,0.000,3078,0.000,0.028,2490,2004,3401,3388,3414,0,0,0,0,0,0,26.40,26.35,26.42
$GC,4246,-1.04,-116.5,2489,2003,3386,3411,636.6,-11.7,175,4253,0.00,2.17,0.00,0.000,2564,0.000,0.045,2500,594,3398,3386,3411,0,0,0,0,0,0,26.94,26.12,26.94
$GC,4289,-1.04,-116.5,2500,594,3386,3411,641.3,-11.7,176,4294,0.00,2.15,0.00,0.000,3078,0.000,0.029,2492,2000,3398,3386,3411,0,0,0,0,0,0,26.40,26.36,26.43
$GC,4570,-1.04,-116.5,2491,2000,3384,3408,673.1,-11.2,183,4571,0.00,0.00,0.00,0.000,2054,0.000,0.000,2492,2000,3396,3384,3408,0,0,0,0,0,0,26.96,26.96,26.96
$GC,4806,-1.04,-116.5,2491,2000,3383,3407,699.5,-11.0,189,4808,0.00,0.00,0.00,0.000,2054,0.000,0.000,2492,2000,3395,3383,3407,0,0,0,0,0,0,26.98,26.99,26.99
$STATE,4846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4846,begin apogee
$GC,4850,-0.19,0.0,2491,1852,3382,3406,703.8,-10.9,190,4952,0.93,0.00,97.90,1.069,10246,0.147,0.000,2773,1848,2935,2940,2931,0,0,0,0,0,0,25.29,24.81,23.97
$STATE,4953,end apogee,CONTROL_FINISHED_OK
$STATE,4953,begin climb
$GC,4954,1.04,116.5,2772,1849,2939,2930,705.3,0.0,192,5069,1.05,0.00,107.60,1.030,10758,0.055,0.000,3161,1849,2460,2483,2437,0,0,0,0,0,0,25.03,24.49,23.73
$GC,5326,1.04,116.5,3160,1849,2474,2430,634.4,22.0,202,5331,0.00,2.30,0.00,0.000,2308,0.000,0.044,3152,3284,2451,2473,2429,0,0,0,0,0,0,26.15,25.65,26.15
$GC,5356,1.04,116.5,3152,3284,2471,2429,634.4,22.0,202,5363,0.00,2.15,0.00,0.000,3078,0.000,0.029,3160,1897,2450,2471,2430,0,0,0,0,0,0,25.88,25.77,25.91
$GC,5602,1.04,116.5,3160,1897,2468,2428,576.4,21.0,209,5604,0.00,0.00,0.00,0.000,2054,0.000,0.000,3161,1897,2448,2468,2429,0,0,0,0,0,0,26.44,26.44,26.44
$GC,5842,1.04,116.5,3160,1897,2466,2428,527.0,21.0,215,5846,0.00,2.20,0.00,0.000,2308,0.000,0.043,3153,3293,2446,2466,2427,0,0,0,0,0,0,26.57,25.98,26.58
$GC,5879,1.04,116.5,3152,3292,2465,2427,519.6,20.8,216,5885,0.00,2.17,0.00,0.000,3078,0.000,0.030,3161,1875,2446,2465,2428,0,0,0,0,0,0,26.20,26.07,26.24
$GC,6158,1.04,116.5,3161,1875,2464,2426,462.2,20.4,223,6162,0.00,2.22,0.00,0.000,2308,0.000,0.042,3153,3291,2445,2464,2427,0,0,0,0,0,0,26.67,26.04,26.68
$GC,6197,1.04,116.5,3152,3291,2463,2426,455.3,20.1,224,6201,0.00,2.20,0.00,0.000,3078,0.000,0.031,3161,1879,2444,2463,2426,0,0,0,0,0,0,26.18,26.14,26.22
$GC,6474,1.04,116.5,3161,1879,2462,2426,402.6,18.8,231,6479,0.00,2.20,0.00,0.000,2308,0.000,0.042,3153,3281,2444,2462,2426,0,0,0,0,0,0,26.74,26.08,26.74
$GC,6528,1.04,116.5,3152,3281,2461,2426,394.9,18.7,232,6532,0.00,2.17,0.00,0.000,1030,0.000,0.029,3161,1879,2443,2461,2426,0,0,0,0,0,0,26.22,26.18,26.27
$GC,6795,1.04,116.5,3161,1878,2461,2424,343.5,18.6,239,6797,0.00,0.00,0.00,0.000,2054,0.000,0.000,3162,1878,2442,2461,2424,0,0,0,0,0,0,26.79,26.79,26.79
$GC,7035,1.04,116.5,3160,1878,2460,2422,300.9,17.9,245,7037,0.00,0.00,0.00,0.000,2054,0.000,0.000,3162,1878,2441,2460,2423,0,0,0,0,0,0,26.82,26.82,26.82
$GC,7276,1.04,116.5,3161,1878,2460,2422,259.5,17.8,251,7280,0.00,2.20,0.00,0.000,2308,0.000,0.044,3153,3281,2441,2460,2422,0,0,0,0,0,0,26.84,26.10,26.85
$GC,7314,1.04,116.5,3153,3281,2459,2422,253.1,18.0,252,7319,0.00,2.17,0.00,0.000,3078,0.000,0.028,3162,1877,2440,2459,2422,0,0,0,0,0,0,26.28,26.24,26.32
$GC,7592,1.04,116.5,3161,1877,2459,2421,212.1,13.7,259,7596,0.00,2.20,0.00,0.000,2308,0.000,0.043,3154,3283,2440,2459,2421,0,0,0,0,0,0,26.86,26.11,26.87
$GC,7718,1.04,116.5,3153,3283,2458,2421,195.3,13.2,263,7723,0.00,2.12,0.00,0.000,3078,0.000,0.028,3162,1876,2439,2458,2420,0,0,0,0,0,0,26.39,26.27,26.43
$GC,7970,1.04,116.5,3161,1877,2458,2420,162.0,13.6,288,7971,0.00,0.00,0.00,0.000,2054,0.000,0.000,3162,1876,2438,2458,2419,0,0,0,0,0,0,26.89,26.89,26.89
$GC,8210,1.04,116.5,3162,1876,2458,2420,134.2,11.1,312,8211,0.00,0.00,0.00,0.000,2054,0.000,0.000,3162,1876,2439,2458,2420,0,0,0,0,0,0,26.90,26.91,26.91
$GC,8450,1.04,128.8,3161,1876,2458,2420,109.9,8.7,336,8464,0.00,2.22,8.55,0.578,10500,0.000,0.040,3154,3284,2409,2427,2391,0,0,0,0,0,0,26.91,26.06,25.18
$GC,8570,1.04,128.8,3153,3284,2426,2391,97.1,10.8,346,8579,0.00,2.15,0.00,0.000,3078,0.000,0.028,3162,1877,2408,2426,2391,0,0,0,0,0,0,26.37,26.33,26.39
$GC,8822,1.04,134.4,3162,1877,2426,2390,70.7,9.4,371,8835,0.00,2.17,6.72,0.510,10500,0.000,0.039,3154,3284,2386,2405,2367,0,0,0,0,0,0,26.85,25.78,25.29
$GC,8888,1.05,143.7,3153,3284,2404,2367,64.5,9.0,376,8904,0.00,2.10,9.50,0.535,11270,0.000,0.027,3162,1877,2349,2370,2329,0,0,0,0,0,0,26.36,26.32,25.33
$GC,9154,1.05,163.2,3162,1876,2370,2326,40.0,8.0,402,9178,0.00,2.22,18.17,0.545,10756,0.000,0.044,3173,469,2268,2296,2241,0,0,0,0,0,0,26.74,26.02,25.34
$GC,9206,1.05,181.1,3173,469,2293,2241,35.8,8.1,406,9230,0.00,2.08,16.40,0.532,11270,0.000,0.024,3165,1876,2195,2228,2162,0,0,0,0,0,0,26.25,26.24,25.23
$STATE,9523,end climb,SURFACE_DEPTH_REACHED
$STATE,9524,begin surface coast
$FINISH,-1.7,1.022427
$STATE,9567,end surface coast,CONTROL_FINISHED_OK
$STATE,9567,begin surface
$SM_CCo,9583,101.07,0.519,0,0,1384,380.21
$SM_GC,-4.97,8.12,0.17,101.07,0.067,0.057,0.519,195,2034,1384,-8.21,-1.27,380.21,0,0,0,0,0,0,26.00,26.29,24.74
$IRIDIUM_FIX,1909.23,-15439.66,260718,040834
$TT8_MAMPS,0.023968,0.364014
$HUMID,43.42
$INTERNAL_PRESSURE,9.6556
$TCM_TEMP,24.50
$XPDR_PINGS,24
$24V_AH,23.73,27.971
$10V_AH,10.10,16.967
$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,19.925,82.700,264.850,101.075,0.000,28.528,47.607,189.833,36.750,0.000,19.822,1424.900,6071.451,424.017,2048.927,102.225,0.000,1110.867,0.000,1237.373,0.000,193.531,0.000
$DEVICE_MAMPS,239.445,133.110,1068.705,519.435,0.000,66.560,160.000,223.000,420.000,0.000,16.480,11.500,2.190,11.500,38.470,49.700,0.000,15.460,0.000,14.980,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,315.078,246.478,446.312,423.317,875.781,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,6.740,50.930,47.940,37.450,0.000,0.000,0.000,0.000,0.000
$MEM,343284
$DATA_FILE_SIZE,40648,455
$CAP_FILE_SIZE,106645,0
$CFSIZE,260165632,253337600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.088,112.92,1
$GPS,260718,095421,1916.726,-15432.365,17,0.9,41,9.6,0.3,345.6,9,9.0