version: 66.12
revision: CLOWNFISH
glider: 512
mission: 9
dive: 128
start: 7 29 118 1 30 31
data:
$ID,512
$MISSION,9
$DIVE,128
$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,30
$R_STBD_OVSHOOT,57
$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
$GPS1,290718,012328,1916.3395,-15432.0967,39,0.8,60,9.6,0.5,221.8,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.88
$_SM_ANGLEo,-72.6
$GPS2,290718,013005,1916.3169,-15432.0195,6,0.8,12,9.6,0.5,105.3,11,9.5
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,N2
$TGT_LATLONG,1917.000,-15430.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,54.1,3422,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.04,-63.4,187,2044,1339,1421,0.0,0.0,0,89,0.00,0.00,-69.15,0.000,16390,0.000,0.000,187,2045,3195,3177,3213,0,0,0,0,0,0,26.19,24.18,26.20
$GC,92,-1.04,-120.6,187,2045,3177,3213,-3.1,-4.0,8,113,9.43,2.30,-4.60,0.000,18948,0.226,0.049,2500,589,3429,3414,3445,0,0,0,0,0,0,25.24,24.15,25.44
$GC,122,-1.04,-120.6,2500,589,3415,3445,9.4,-32.1,11,132,0.00,2.17,0.00,0.000,3078,0.000,0.027,2492,1999,3430,3415,3445,0,0,0,0,0,0,25.95,25.91,25.97
$GC,393,-1.04,-120.6,2491,2003,3420,3445,89.2,-23.8,40,394,0.00,0.00,0.00,0.000,2054,0.000,0.000,2492,2003,3432,3419,3445,0,0,0,0,0,0,26.51,26.52,26.52
$GC,633,-1.04,-120.6,2491,2003,3421,3445,145.2,-20.6,64,634,0.00,0.00,0.00,0.000,2054,0.000,0.000,2492,2003,3433,3421,3446,0,0,0,0,0,0,26.60,26.60,26.60
$GC,877,-1.04,-120.6,2491,2003,3422,3445,191.2,-18.1,88,883,0.00,0.00,0.00,0.000,2054,0.000,0.000,2492,2003,3434,3423,3446,0,0,0,0,0,0,26.68,26.68,26.68
$GC,1134,-1.04,-120.6,2491,2003,3424,3445,231.5,-15.4,99,1138,0.00,2.17,0.00,0.000,2308,0.000,0.041,2481,3413,3434,3424,3445,0,0,0,0,0,0,26.74,26.20,26.74
$GC,1165,-1.04,-120.6,2480,3413,3424,3445,231.5,-15.4,99,1169,0.00,2.10,0.00,0.000,3078,0.000,0.025,2489,1998,3434,3424,3445,0,0,0,0,0,0,26.40,26.29,26.43
$GC,1417,-1.04,-120.6,2489,1997,3424,3445,273.2,-14.5,106,1425,0.00,2.12,0.00,0.000,2564,0.000,0.041,2500,602,3434,3424,3445,0,0,0,0,0,0,26.77,26.20,26.77
$GC,1631,-1.04,-120.6,2500,602,3423,3445,303.4,-14.2,111,1635,0.00,2.10,0.00,0.000,3078,0.000,0.026,2491,2023,3434,3423,3445,0,0,0,0,0,0,26.48,26.39,26.51
$GC,1914,-1.04,-120.6,2491,2023,3421,3445,342.1,-14.2,118,1918,0.00,2.15,0.00,0.000,2308,0.000,0.044,2481,3413,3433,3421,3445,0,0,0,0,0,0,26.84,26.26,26.84
$GC,1943,-1.04,-120.6,2480,3413,3421,3445,342.1,-14.2,118,1948,0.00,2.12,0.00,0.000,3078,0.000,0.027,2489,2021,3433,3421,3445,0,0,0,0,0,0,26.41,26.37,26.44
$GC,2196,-1.04,-120.6,2488,2021,3418,3445,380.2,-13.4,125,2197,0.00,0.00,0.00,0.000,2054,0.000,0.000,2488,2021,3432,3418,3446,0,0,0,0,0,0,26.85,26.86,26.86
$GC,2437,-1.04,-120.6,2488,2021,3414,3445,411.6,-13.0,131,2441,0.00,2.17,0.00,0.000,2308,0.000,0.045,2480,3404,3429,3413,3445,0,0,0,0,0,0,26.88,26.26,26.88
$GC,2587,-1.04,-120.6,2480,3404,3412,3445,428.3,-13.5,134,2592,0.00,2.15,0.00,0.000,3078,0.000,0.028,2488,2005,3428,3412,3445,0,0,0,0,0,0,26.43,26.38,26.46
$GC,2840,-1.04,-120.6,2488,2006,3411,3440,465.8,-13.3,141,2841,0.00,0.00,0.00,0.000,2054,0.000,0.000,2488,2006,3425,3411,3440,0,0,0,0,0,0,26.89,26.90,26.90
$GC,3079,-1.04,-120.6,2488,2005,3408,3438,496.1,-12.5,147,3084,0.00,2.17,0.00,0.000,2564,0.000,0.045,2499,600,3422,3408,3437,0,0,0,0,0,0,26.90,26.20,26.91
$GC,3154,-1.04,-120.6,2499,599,3407,3437,501.3,-12.5,148,3162,0.00,2.10,0.00,0.000,3078,0.000,0.027,2490,2018,3422,3407,3437,0,0,0,0,0,0,26.53,26.42,26.55
$GC,3401,-1.04,-120.6,2490,2018,3405,3435,534.8,-11.9,155,3406,0.00,2.17,0.00,0.000,2308,0.000,0.046,2479,3408,3419,3405,3434,0,0,0,0,0,0,26.91,26.24,26.91
$GC,3431,-1.04,-120.6,2479,3408,3405,3434,534.8,-11.9,155,3435,0.00,2.12,0.00,0.000,3078,0.000,0.029,2487,2002,3419,3405,3434,0,0,0,0,0,0,26.47,26.34,26.51
$GC,3684,-1.04,-120.6,2487,2001,3404,3432,568.1,-11.7,162,3690,0.00,2.22,0.00,0.000,2308,0.000,0.047,2479,3404,3417,3403,3432,0,0,0,0,0,0,26.92,26.22,26.92
$GC,3771,-1.04,-120.6,2478,3404,3402,3431,578.0,-11.9,164,3775,0.00,2.15,0.00,0.000,3078,0.000,0.030,2487,2012,3417,3403,3431,0,0,0,0,0,0,26.40,26.35,26.43
$GC,4044,-1.04,-120.6,2486,2012,3401,3427,612.1,-12.4,171,4046,0.00,0.00,0.00,0.000,2054,0.000,0.000,2487,2013,3414,3401,3427,0,0,0,0,0,0,26.94,26.94,26.94
$GC,4283,-1.04,-120.6,2486,2012,3399,3426,642.8,-12.7,177,4290,0.00,2.17,0.00,0.000,2564,0.000,0.043,2498,601,3412,3398,3426,0,0,0,0,0,0,26.93,26.18,26.94
$GC,4331,-1.04,-120.6,2497,601,3398,3426,648.1,-12.7,178,4336,0.00,2.10,0.00,0.000,3078,0.000,0.028,2489,2008,3411,3397,3426,0,0,0,0,0,0,26.51,26.39,26.53
$GC,4604,-1.04,-120.6,2488,2009,3397,3424,682.1,-12.0,185,4608,0.00,2.20,0.00,0.000,2308,0.000,0.047,2478,3403,3410,3397,3424,0,0,0,0,0,0,26.94,26.17,26.94
$GC,4664,-1.04,-120.6,2477,3403,3396,3423,687.2,-12.1,186,4668,0.00,2.12,0.00,0.000,3078,0.000,0.029,2486,1997,3409,3395,3424,0,0,0,0,0,0,26.46,26.34,26.50
$STATE,4766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4767,begin apogee
$GC,4771,-0.19,0.0,2487,1866,3396,3422,701.2,-11.8,189,4876,0.93,0.00,101.07,1.064,10246,0.146,0.000,2771,1866,2935,2940,2931,0,0,0,0,0,0,25.30,24.81,23.96
$STATE,4877,end apogee,CONTROL_FINISHED_OK
$STATE,4877,begin climb
$GC,4878,1.04,120.6,2770,1866,2939,2930,703.3,0.0,191,4999,1.08,2.40,112.32,1.017,10500,0.054,0.044,3161,3273,2442,2468,2416,0,0,0,0,0,0,25.04,24.56,23.74
$GC,5028,1.04,120.6,3160,3273,2464,2412,685.6,14.4,195,5033,0.00,2.25,0.00,0.000,1030,0.000,0.030,3168,1902,2437,2463,2412,0,0,0,0,0,0,25.12,25.08,25.15
$GC,5286,1.04,120.6,3168,1901,2457,2408,622.5,22.4,202,5290,0.00,2.20,0.00,0.000,260,0.000,0.044,3161,3277,2432,2457,2408,0,0,0,0,0,0,26.22,25.72,26.22
$GC,5315,1.04,120.6,3160,3277,2456,2408,622.5,22.4,202,5322,0.00,2.20,0.00,0.000,1030,0.000,0.031,3169,1867,2432,2456,2408,0,0,0,0,0,0,25.93,25.83,25.96
$GC,5561,1.04,120.6,3169,1867,2454,2406,562.5,22.1,209,5566,0.00,2.25,0.00,0.000,260,0.000,0.044,3161,3284,2429,2453,2406,0,0,0,0,0,0,26.47,25.93,26.48
$GC,5591,1.04,120.6,3161,3284,2452,2406,562.5,22.1,209,5595,0.00,2.20,0.00,0.000,1030,0.000,0.029,3169,1885,2429,2452,2406,0,0,0,0,0,0,26.16,26.03,26.20
$GC,5843,1.04,120.6,3169,1885,2451,2405,499.5,22.3,216,5849,0.00,2.22,0.00,0.000,260,0.000,0.045,3162,3286,2428,2451,2405,0,0,0,0,0,0,26.60,26.02,26.62
$GC,5911,1.04,120.6,3161,3286,2450,2405,490.7,22.3,217,5916,0.00,2.17,0.00,0.000,1030,0.000,0.030,3170,1868,2427,2450,2405,0,0,0,0,0,0,26.23,26.13,26.27
$GC,6163,1.04,120.6,3169,1867,2449,2403,435.0,19.2,224,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1867,2426,2449,2403,0,0,0,0,0,0,26.70,26.71,26.71
$GC,6403,1.04,120.6,3169,1867,2449,2402,388.4,19.2,230,6407,0.00,2.22,0.00,0.000,260,0.000,0.044,3162,3282,2425,2448,2402,0,0,0,0,0,0,26.74,26.10,26.76
$GC,6467,1.04,120.6,3161,3282,2447,2402,381.4,19.1,231,6471,0.00,2.15,0.00,0.000,1030,0.000,0.028,3170,1871,2424,2447,2402,0,0,0,0,0,0,26.31,26.21,26.36
$GC,6719,1.04,120.6,3169,1871,2447,2401,328.7,18.5,238,6723,0.00,2.22,0.00,0.000,260,0.000,0.043,3162,3288,2424,2447,2402,0,0,0,0,0,0,26.79,26.12,26.81
$GC,6835,1.04,120.6,3161,3288,2445,2401,307.0,18.5,241,6841,0.00,2.15,0.00,0.000,1030,0.000,0.031,3170,1882,2423,2446,2401,0,0,0,0,0,0,26.32,26.21,26.37
$GC,7114,1.04,120.6,3169,1881,2446,2400,259.8,16.2,248,7119,0.00,2.17,0.00,0.000,516,0.000,0.045,3181,476,2423,2446,2401,0,0,0,0,0,0,26.84,26.10,26.84
$GC,7209,1.04,120.6,3181,476,2445,2401,245.5,16.8,250,7213,0.00,2.15,0.00,0.000,5126,0.000,0.028,3173,1862,2423,2445,2401,0,0,0,0,0,0,26.37,26.33,26.40
$GC,7476,1.04,120.6,3173,1867,2445,2399,203.1,15.2,257,7477,0.00,0.00,0.00,0.000,4102,0.000,0.000,3173,1867,2421,2444,2399,0,0,0,0,0,0,26.87,26.88,26.88
$GC,7716,1.04,120.6,3173,1867,2444,2399,168.0,13.2,278,7720,0.00,2.22,0.00,0.000,4356,0.000,0.044,3162,3296,2421,2444,2399,0,0,0,0,0,0,26.89,26.13,26.89
$GC,7787,1.04,120.6,3162,3295,2443,2399,157.5,14.9,284,7791,0.00,2.15,0.00,0.000,1030,0.000,0.030,3171,1874,2421,2443,2399,0,0,0,0,0,0,26.36,26.26,26.41
$GC,8042,1.04,120.6,3170,1874,2442,2399,125.7,11.5,309,8050,0.00,2.12,0.00,0.000,516,0.000,0.045,3182,486,2420,2442,2399,0,0,0,0,0,0,26.89,26.10,26.91
$GC,8179,1.04,120.6,3181,486,2442,2400,107.6,13.3,321,8188,0.00,2.08,0.00,0.000,5126,0.000,0.024,3174,1886,2420,2442,2399,0,0,0,0,0,0,26.44,26.40,26.46
$GC,8425,1.04,121.8,3173,1889,2443,2399,81.4,9.9,346,8430,0.00,2.17,0.00,0.000,4356,0.000,0.041,3163,3301,2420,2442,2399,0,0,0,0,0,0,26.92,26.19,26.93
$GC,8563,1.04,124.6,3162,3301,2442,2399,67.3,9.7,357,8574,0.00,2.12,0.00,0.000,5126,0.000,0.026,3171,1872,2420,2442,2399,0,0,0,0,0,0,26.36,26.33,26.41
$GC,8817,1.04,138.1,3171,1872,2442,2400,43.9,8.6,382,8841,0.00,2.25,13.30,0.543,8452,0.000,0.048,3164,3300,2369,2392,2346,0,0,0,0,0,0,26.92,26.07,25.29
$GC,8881,1.04,138.1,3163,3300,2391,2346,36.7,11.0,387,8892,0.00,2.12,0.00,0.000,5126,0.000,0.026,3173,1874,2368,2391,2345,0,0,0,0,0,0,26.36,26.32,26.39
$GC,9203,1.05,215.7,3172,1874,2390,2345,19.4,1.8,429,9276,0.00,2.20,64.53,0.546,8708,0.000,0.044,3183,481,2053,2097,2009,0,0,0,0,0,0,26.83,25.42,25.04
$GC,9336,1.05,215.7,3183,481,2093,2008,10.6,11.3,445,9346,0.00,2.17,0.00,0.000,5126,0.000,0.024,3183,1879,2050,2093,2007,0,0,0,0,0,0,25.91,25.88,25.94
$STATE,9395,end climb,SURFACE_DEPTH_REACHED
$STATE,9395,begin surface coast
$FINISH,-1.5,1.022302
$STATE,9424,end surface coast,CONTROL_FINISHED_OK
$STATE,9424,begin surface
$SM_CCo,9440,85.45,0.518,0,0,1384,380.21
$SM_GC,-4.98,8.32,0.20,85.45,0.070,0.050,0.518,189,2059,1384,-8.21,-0.74,380.21,0,0,0,0,0,0,25.82,26.08,24.69
$IRIDIUM_FIX,1906.95,-15437.60,280718,213525
$TT8_MAMPS,0.023219,0.29211
$HUMID,43.81
$INTERNAL_PRESSURE,9.6556
$TCM_TEMP,24.40
$XPDR_PINGS,28
$24V_AH,23.74,30.176
$10V_AH,10.14,18.478
$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,19.750,96.075,291.225,85.450,0.000,29.944,42.900,216.699,37.750,0.000,14.168,1434.683,5774.438,462.192,2147.550,112.325,0.000,1178.796,0.000,1286.256,0.000,192.938,0.000
$DEVICE_MAMPS,226.440,71.910,1064.115,517.905,0.000,66.560,160.000,223.000,420.000,0.000,16.480,11.500,2.190,11.500,38.470,49.700,0.000,15.460,0.000,14.980,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,313.933,247.779,454.419,451.211,933.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,6.740,50.930,47.940,37.450,0.000,0.000,0.000,0.000,0.000
$MEM,343152
$DATA_FILE_SIZE,40654,457
$CAP_FILE_SIZE,108073,0
$CFSIZE,260165632,252198912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.086,121.16,1
$GPS,290718,041048,1916.640,-15430.517,16,1.5,57,9.6,0.4,352.6,6,6.8