version: 66.12
revision: CLOWNFISH
glider: 512
mission: 9
dive: 169
start: 8 4 118 7 30 45
data:
$ID,512
$MISSION,9
$DIVE,169
$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,400
$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,26
$R_STBD_OVSHOOT,42
$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
$GPS1,040818,072401,1929.5732,-15431.9922,16,1.0,39,9.7,0.4,6.4,9,6.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.43
$_SM_ANGLEo,-71.4
$GPS2,040818,073019,1929.5731,-15432.0391,6,1.0,16,9.7,0.4,350.3,9,9.1
$SPEED_LIMITS,0.174,0.252
$TGT_NAME,NT
$TGT_LATLONG,1936.000,-15438.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,304.6,15806,-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,16,-0.72,-136.3,193,2015,1142,1191,0.0,0.0,0,106,0.00,0.00,-84.85,0.000,16390,0.000,0.000,193,2015,3488,3461,3516,0,0,0,0,0,0,26.31,25.48,26.32
$GC,109,-0.72,-136.3,193,2015,3461,3516,2.5,-9.5,10,128,10.32,2.20,0.00,0.000,2308,0.244,0.034,2584,3413,3490,3464,3516,0,0,0,0,0,0,25.33,25.70,25.53
$GC,471,-0.72,-136.3,2584,3413,3469,3517,84.7,-16.2,43,479,0.00,2.17,0.00,0.000,3078,0.000,0.028,2593,2000,3492,3469,3516,0,0,0,0,0,0,26.21,26.17,26.25
$GC,719,-0.72,-136.3,2592,1999,3470,3516,124.5,-15.4,68,723,0.00,2.15,0.00,0.000,2564,0.000,0.043,2604,598,3493,3470,3516,0,0,0,0,0,0,26.74,26.17,26.74
$GC,767,-0.72,-136.3,2603,598,3470,3516,132.3,-16.5,72,771,0.00,2.10,0.00,0.000,3078,0.000,0.024,2595,2024,3493,3470,3516,0,0,0,0,0,0,26.44,26.34,26.46
$GC,1021,-0.72,-136.3,2594,2024,3472,3516,166.9,-13.4,97,1030,0.00,2.17,0.00,0.000,2564,0.000,0.041,2603,601,3494,3472,3516,0,0,0,0,0,0,26.82,26.22,26.82
$GC,1091,-0.72,-136.3,2602,601,3472,3516,175.3,-12.5,103,1099,0.00,2.05,0.00,0.000,3078,0.000,0.024,2594,2011,3494,3472,3516,0,0,0,0,0,0,26.44,26.40,26.46
$GC,1347,-0.72,-136.3,2594,2012,3473,3516,206.1,-12.3,126,1353,0.00,2.15,0.00,0.000,2308,0.000,0.043,2584,3407,3494,3473,3516,0,0,0,0,0,0,26.83,26.32,26.83
$GC,1455,-0.72,-136.3,2583,3407,3473,3516,215.6,-12.1,128,1460,0.00,2.10,0.00,0.000,3078,0.000,0.028,2591,1993,3494,3473,3516,0,0,0,0,0,0,26.51,26.39,26.53
$GC,1707,-0.72,-136.3,2591,1993,3473,3516,245.7,-10.3,135,1711,0.00,2.20,0.00,0.000,2308,0.000,0.043,2583,3407,3494,3473,3516,0,0,0,0,0,0,26.87,26.34,26.87
$GC,1741,-0.72,-136.3,2582,3407,3472,3516,245.7,-10.3,135,1752,0.05,2.10,0.00,0.000,3078,0.184,0.028,2602,2007,3494,3473,3516,0,0,0,0,0,0,26.29,26.41,26.39
$GC,1991,-0.72,-136.3,2602,2007,3472,3516,272.6,-9.3,142,1996,0.00,2.10,0.00,0.000,516,0.000,0.041,2614,606,3493,3471,3516,0,0,0,0,0,0,26.90,26.31,26.91
$GC,2074,-0.72,-136.3,2613,605,3470,3516,280.4,-9.4,144,2078,0.00,2.10,0.00,0.000,1030,0.000,0.026,2605,2037,3493,3470,3516,0,0,0,0,0,0,26.55,26.48,26.58
$GC,2351,-0.72,-136.3,2604,2037,3470,3513,304.4,-8.4,151,2356,0.00,2.10,0.00,0.000,260,0.000,0.046,2595,3401,3491,3469,3513,0,0,0,0,0,0,26.95,26.36,26.96
$GC,2381,-0.72,-136.3,2593,3401,3469,3513,304.4,-8.4,151,2385,0.00,2.08,0.00,0.000,3078,0.000,0.027,2599,2012,3491,3469,3513,0,0,0,0,0,0,26.56,26.45,26.60
$GC,2630,-0.72,-136.3,2598,2012,3469,3510,331.7,-10.2,157,2635,0.00,2.15,0.00,0.000,2308,0.000,0.044,2590,3398,3489,3468,3510,0,0,0,0,0,0,26.94,26.35,26.94
$GC,2722,-0.72,-136.3,2590,3398,3466,3510,340.3,-10.5,159,2727,0.00,2.12,0.00,0.000,3078,0.000,0.027,2597,1974,3488,3466,3510,0,0,0,0,0,0,26.57,26.44,26.59
$GC,2991,-0.72,-136.3,2596,1974,3465,3507,367.6,-9.5,166,2997,0.00,2.08,0.00,0.000,2564,0.000,0.043,2607,607,3486,3465,3507,0,0,0,0,0,0,26.94,26.31,26.95
$GC,3078,-0.72,-136.3,2607,607,3465,3506,375.2,-9.4,168,3082,0.00,2.08,0.00,0.000,3078,0.000,0.028,2599,2013,3485,3465,3506,0,0,0,0,0,0,26.59,26.48,26.61
$GC,3348,-0.72,-136.3,2598,2012,3464,3504,400.3,-9.1,175,3349,0.00,0.00,0.00,0.000,2054,0.000,0.000,2598,2012,3483,3463,3503,0,0,0,0,0,0,26.97,26.98,26.98
$GC,3587,-0.72,-136.3,2598,2012,3462,3501,420.9,-8.6,181,3592,0.00,2.15,0.00,0.000,2308,0.000,0.048,2588,3395,3481,3461,3501,0,0,0,0,0,0,26.97,26.32,26.98
$GC,3643,-0.72,-136.3,2588,3395,3461,3501,424.3,-8.6,182,3647,0.00,2.08,0.00,0.000,3078,0.000,0.028,2591,2014,3481,3461,3501,0,0,0,0,0,0,26.55,26.44,26.58
$GC,3903,-0.72,-136.3,2590,2014,3459,3499,450.0,-9.6,189,3909,0.00,2.15,0.00,0.000,2564,0.000,0.044,2601,607,3479,3459,3499,0,0,0,0,0,0,26.98,26.25,26.98
$GC,3924,-0.72,-136.3,2601,607,3459,3499,450.0,-9.6,189,3929,0.00,2.10,0.00,0.000,3078,0.000,0.028,2593,2017,3479,3459,3499,0,0,0,0,0,0,26.57,26.46,26.60
$GC,4183,-0.72,-136.3,2592,2017,3457,3496,476.2,-9.1,196,4189,0.00,2.15,0.00,0.000,2308,0.000,0.047,2582,3399,3476,3457,3496,0,0,0,0,0,0,26.97,26.29,26.97
$GC,4312,-0.72,-136.3,2582,3399,3455,3496,487.6,-9.4,199,4317,0.08,2.10,0.00,0.000,3078,0.155,0.028,2606,2005,3475,3455,3496,0,0,0,0,0,0,26.25,26.41,26.34
$STATE,4460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4460,begin apogee
$GC,4464,-0.19,0.0,2607,1853,3454,3494,500.7,-8.3,203,4580,0.50,0.00,110.43,0.911,10246,0.116,0.000,2776,1851,2934,2939,2930,0,0,0,0,0,0,25.87,24.98,24.21
$STATE,4581,end apogee,CONTROL_FINISHED_OK
$STATE,4581,begin climb
$GC,4582,0.72,136.3,2775,1851,2939,2930,502.9,0.0,206,4713,0.75,2.40,120.78,0.871,11012,0.064,0.044,3046,3268,2378,2413,2344,0,0,0,0,0,0,25.21,24.82,24.06
$GC,4728,0.72,136.3,3045,3268,2410,2343,493.4,10.0,209,4733,0.00,2.22,0.00,0.000,3078,0.000,0.031,3054,1900,2376,2410,2343,0,0,0,0,0,0,25.25,25.21,25.27
$GC,4980,0.72,136.3,3054,1900,2402,2338,455.0,13.7,216,4985,0.00,2.20,0.00,0.000,2308,0.000,0.045,3046,3275,2370,2402,2338,0,0,0,0,0,0,26.34,25.86,26.35
$GC,5026,0.72,136.3,3045,3275,2401,2338,449.2,13.8,217,5030,0.00,2.17,0.00,0.000,3078,0.000,0.031,3055,1874,2369,2401,2338,0,0,0,0,0,0,26.09,25.97,26.13
$GC,5298,0.72,136.3,3054,1873,2397,2337,411.0,14.0,224,5299,0.00,0.00,0.00,0.000,2054,0.000,0.000,3055,1873,2366,2396,2337,0,0,0,0,0,0,26.60,26.62,26.61
$GC,5537,0.72,136.3,3054,1873,2395,2336,379.1,13.1,230,5538,0.00,0.00,0.00,0.000,2054,0.000,0.000,3055,1873,2365,2394,2336,0,0,0,0,0,0,26.71,26.72,26.72
$GC,5778,0.72,136.3,3054,1874,2394,2334,349.8,11.8,236,5784,0.00,2.17,0.00,0.000,2564,0.000,0.048,3065,476,2364,2394,2335,0,0,0,0,0,0,26.77,26.15,26.78
$GC,5830,0.72,136.3,3065,476,2394,2335,344.9,11.8,237,5835,0.00,2.12,0.00,0.000,3078,0.000,0.030,3057,1879,2364,2394,2335,0,0,0,0,0,0,26.44,26.33,26.46
$GC,6097,0.72,136.3,3057,1880,2392,2333,313.5,11.2,244,6101,0.00,2.20,0.00,0.000,2308,0.000,0.047,3046,3285,2362,2391,2334,0,0,0,0,0,0,26.83,26.18,26.84
$GC,6146,0.72,136.3,3046,3285,2390,2334,309.2,11.4,245,6151,0.00,2.15,0.00,0.000,3078,0.000,0.030,3055,1873,2361,2390,2333,0,0,0,0,0,0,26.42,26.29,26.46
$GC,6408,0.72,136.3,3055,1873,2390,2332,277.6,11.2,252,6412,0.00,2.22,0.00,0.000,2308,0.000,0.044,3047,3291,2361,2390,2333,0,0,0,0,0,0,26.87,26.20,26.87
$GC,6467,0.72,136.3,3046,3291,2389,2332,273.1,11.4,253,6471,0.00,2.15,0.00,0.000,3078,0.000,0.031,3055,1875,2360,2389,2332,0,0,0,0,0,0,26.44,26.31,26.48
$GC,6724,0.72,136.3,3055,1875,2389,2332,240.5,11.5,260,6728,0.00,2.17,0.00,0.000,2564,0.000,0.048,3066,475,2360,2389,2331,0,0,0,0,0,0,26.90,26.18,26.91
$GC,6758,0.72,136.3,3066,475,2389,2332,240.5,11.5,260,6766,0.00,2.15,0.00,0.000,3078,0.000,0.028,3058,1879,2360,2389,2332,0,0,0,0,0,0,26.45,26.41,26.53
$GC,7006,0.72,148.2,3058,1879,2387,2331,212.0,9.4,267,7019,0.00,2.20,8.23,0.646,10756,0.000,0.047,3067,476,2330,2359,2302,0,0,0,0,0,0,26.92,25.58,24.99
$GC,7040,0.72,160.2,3066,475,2358,2301,212.0,9.4,267,7059,0.00,2.12,12.02,0.672,11270,0.000,0.028,3058,1889,2281,2313,2250,0,0,0,0,0,0,26.51,26.41,25.19
$GC,7306,0.72,160.2,3058,1889,2310,2247,181.1,11.6,285,7318,0.00,2.20,0.00,0.000,2308,0.000,0.046,3048,3290,2278,2310,2247,0,0,0,0,0,0,26.74,26.15,26.74
$GC,7396,0.72,160.2,3047,3289,2309,2247,171.1,11.1,293,7404,0.00,2.15,0.00,0.000,3078,0.000,0.031,3056,1879,2277,2308,2247,0,0,0,0,0,0,26.39,26.25,26.41
$GC,7647,0.72,174.4,3055,1880,2308,2246,146.2,9.3,318,7666,0.00,0.00,13.20,0.629,10502,0.000,0.000,3056,1880,2223,2258,2189,0,0,0,0,0,0,26.82,25.71,25.24
$GC,7908,0.72,180.4,3055,1880,2256,2185,121.3,9.7,344,7922,0.00,2.25,6.43,0.528,10756,0.000,0.047,3067,476,2198,2234,2163,0,0,0,0,0,0,26.74,25.96,25.10
$GC,7951,0.72,182.8,3067,476,2234,2164,117.5,9.9,347,7958,0.00,2.12,0.00,0.000,3078,0.000,0.029,3059,1882,2199,2235,2164,0,0,0,0,0,0,26.38,26.28,26.40
$GC,8198,0.72,206.0,3059,1883,2233,2162,94.3,8.9,372,8232,0.00,2.22,22.45,0.590,10500,0.000,0.043,3049,3279,2095,2137,2054,0,0,0,0,0,0,26.77,25.67,25.24
$GC,8282,0.72,206.0,3048,3279,2137,2053,86.5,10.2,379,8290,0.00,2.17,0.00,0.000,3078,0.000,0.030,3057,1887,2094,2137,2052,0,0,0,0,0,0,26.15,26.10,26.17
$GC,8535,0.73,242.1,3057,1887,2137,2051,62.6,8.3,404,8573,0.00,0.00,31.60,0.561,10246,0.000,0.000,3057,1887,1946,1992,1900,0,0,0,0,0,0,26.67,25.54,25.15
$GC,8815,0.73,294.8,3057,1887,1991,1896,40.9,7.4,432,8866,0.00,0.00,43.30,0.543,10502,0.000,0.000,3057,1887,1732,1771,1693,0,0,0,0,0,0,26.56,25.39,25.02
$GC,9156,0.74,377.7,3057,1886,1764,1692,17.2,5.9,474,9230,0.00,0.00,66.20,0.522,10246,0.000,0.000,3057,1885,1394,1403,1385,0,0,0,0,0,0,26.52,25.24,24.89
$STATE,9390,end climb,SURFACE_DEPTH_REACHED
$STATE,9391,begin surface coast
$FINISH,-0.6,1.022437
$STATE,9448,end surface coast,CONTROL_FINISHED_OK
$STATE,9448,begin surface
$SM_CCo,9463,11.50,0.461,0,0,1303,400.08
$SM_GC,-1.57,7.43,0.17,11.50,0.036,0.055,0.461,193,2024,1303,-8.21,-1.27,400.08,0,0,0,0,0,0,25.90,26.13,25.06
$IRIDIUM_FIX,1920.65,-15432.59,040818,043754
$TT8_MAMPS,0.023219,0.361018
$HUMID,45.39
$INTERNAL_PRESSURE,9.6849
$TCM_TEMP,25.30
$XPDR_PINGS,26
$24V_AH,24.06,35.291
$10V_AH,10.05,21.967
$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,19.125,95.075,434.625,11.500,0.000,23.412,49.661,195.953,27.250,0.000,18.085,1511.088,5428.451,485.147,2315.608,124.873,0.000,1290.115,0.000,1404.570,0.000,130.593,0.000
$DEVICE_MAMPS,244.035,64.260,911.115,460.530,0.000,66.560,160.000,223.000,420.000,0.000,16.480,11.500,2.190,11.500,38.470,49.700,0.000,15.460,0.000,14.980,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,351.713,299.330,552.927,543.631,1124.620,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,6.740,50.930,47.940,37.450,0.000,0.000,0.000,0.000,0.000
$MEM,343244
$DATA_FILE_SIZE,47280,513
$CAP_FILE_SIZE,108809,0
$CFSIZE,260165632,249573376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.045,98.01,1
$GPS,040818,100957,1930.389,-15432.652,40,0.8,43,9.7,0.0,130.8,9,9.6