version: 66.12
revision: CLOWNFISH
glider: 512
mission: 9
dive: 172
start: 8 4 118 16 3 38
data:
$ID,512
$MISSION,9
$DIVE,172
$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,37
$R_STBD_OVSHOOT,68
$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
$GPS1,040818,154601,1932.0505,-15433.8447,14,0.9,43,9.7,0.7,6.4,9,5.3
$_CALLS,6
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.17
$_SM_ANGLEo,-70.9
$GPS2,040818,160312,1932.1609,-15433.8828,7,0.8,19,9.7,0.5,316.0,9,9.6
$SPEED_LIMITS,0.174,0.252
$TGT_NAME,NT
$TGT_LATLONG,1936.000,-15438.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,291.5,10107,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-136.3,182,2051,1262,1340,0.0,0.0,0,97,0.00,0.00,-79.22,0.000,16390,0.000,0.000,183,2052,3491,3463,3520,0,0,0,0,0,0,26.34,24.32,26.35
$GC,100,-0.72,-136.3,182,2052,3464,3520,2.1,-8.8,9,119,10.20,2.08,0.00,0.000,2308,0.237,0.031,2585,3391,3493,3467,3520,0,0,0,0,0,0,25.28,25.64,25.48
$GC,521,-0.72,-136.3,2584,3391,3472,3520,90.9,-16.0,47,525,0.00,2.08,0.00,0.000,3078,0.000,0.026,2593,2010,3496,3472,3520,0,0,0,0,0,0,26.33,26.21,26.36
$GC,773,-0.72,-136.3,2593,2009,3473,3519,131.1,-15.0,72,774,0.00,0.00,0.00,0.000,2054,0.000,0.000,2593,2009,3496,3473,3519,0,0,0,0,0,0,26.73,26.74,26.74
$GC,1012,-0.72,-136.3,2593,2009,3473,3519,164.7,-13.5,96,1028,0.00,2.15,0.00,0.000,2564,0.000,0.042,2604,601,3496,3473,3519,0,0,0,0,0,0,26.83,26.20,26.84
$GC,1039,-0.72,-136.3,2603,601,3473,3520,168.7,-14.0,98,1044,0.00,2.05,0.00,0.000,3078,0.000,0.025,2595,1999,3496,3473,3520,0,0,0,0,0,0,26.48,26.39,26.51
$GC,1285,-0.72,-136.3,2595,2001,3474,3519,199.7,-13.1,122,1289,0.00,2.15,0.00,0.000,2564,0.000,0.041,2604,598,3497,3474,3520,0,0,0,0,0,0,26.87,26.24,26.88
$GC,1413,-0.72,-136.3,2603,598,3474,3519,215.0,-12.9,126,1418,0.00,2.10,0.00,0.000,3078,0.000,0.025,2595,2008,3496,3474,3519,0,0,0,0,0,0,26.56,26.45,26.58
$GC,1687,-0.72,-136.3,2594,2008,3473,3519,244.9,-10.0,133,1691,0.00,2.15,0.00,0.000,2308,0.000,0.044,2584,3401,3496,3473,3519,0,0,0,0,0,0,26.92,26.34,26.93
$GC,1747,-0.72,-136.3,2584,3401,3473,3519,249.3,-9.9,134,1752,0.05,2.08,0.00,0.000,3078,0.184,0.026,2600,2010,3496,3473,3519,0,0,0,0,0,0,26.29,26.40,26.37
$GC,2011,-0.72,-136.3,2599,2006,3471,3518,277.8,-9.8,141,2016,0.00,2.12,0.00,0.000,2564,0.000,0.042,2610,601,3495,3472,3518,0,0,0,0,0,0,26.91,26.28,26.91
$GC,2057,-0.72,-136.3,2610,601,3471,3518,281.6,-9.6,142,2061,0.00,2.08,0.00,0.000,3078,0.000,0.026,2601,2015,3494,3471,3518,0,0,0,0,0,0,26.58,26.47,26.60
$GC,2329,-0.72,-136.3,2601,2015,3471,3516,309.5,-10.3,149,2333,0.00,2.17,0.00,0.000,2564,0.000,0.044,2610,603,3493,3471,3516,0,0,0,0,0,0,26.96,26.27,26.97
$GC,2363,-0.72,-136.3,2609,602,3471,3516,309.5,-10.3,149,2371,0.00,2.10,0.00,0.000,3078,0.000,0.027,2601,2034,3493,3470,3516,0,0,0,0,0,0,26.58,26.48,26.60
$GC,2611,-0.72,-136.3,2600,2034,3470,3513,339.0,-10.4,156,2617,0.00,2.12,0.00,0.000,2308,0.000,0.046,2590,3402,3491,3469,3513,0,0,0,0,0,0,26.94,26.34,26.94
$GC,2638,-0.72,-136.3,2590,3402,3469,3513,339.0,-10.4,156,2643,0.00,2.10,0.00,0.000,3078,0.000,0.028,2597,1989,3491,3469,3513,0,0,0,0,0,0,26.55,26.43,26.58
$GC,2890,-0.72,-136.3,2596,1988,3468,3509,364.8,-8.7,163,2892,0.00,0.00,0.00,0.000,2054,0.000,0.000,2596,1988,3488,3467,3509,0,0,0,0,0,0,26.98,26.99,26.98
$GC,3131,-0.72,-136.3,2596,1989,3465,3507,386.1,-8.9,169,3135,0.00,2.12,0.00,0.000,2564,0.000,0.044,2606,613,3486,3465,3507,0,0,0,0,0,0,26.95,26.27,26.96
$GC,3192,-0.72,-136.3,2605,612,3465,3507,390.1,-9.0,170,3196,0.00,2.08,0.00,0.000,3078,0.000,0.029,2598,2007,3486,3465,3507,0,0,0,0,0,0,26.58,26.46,26.60
$GC,3450,-0.72,-136.3,2597,2007,3463,3504,413.3,-8.4,177,3457,0.00,2.17,0.00,0.000,2308,0.000,0.048,2587,3404,3483,3463,3504,0,0,0,0,0,0,26.96,26.29,26.96
$GC,3611,-0.72,-136.3,2586,3404,3461,3503,427.0,-8.6,181,3618,0.03,2.08,0.00,0.000,3078,0.179,0.031,2596,2013,3482,3461,3503,0,0,0,0,0,0,26.32,26.42,26.35
$GC,3892,-0.72,-136.3,2594,2009,3460,3500,450.6,-8.4,188,3893,0.00,0.00,0.00,0.000,2054,0.000,0.000,2595,2009,3480,3460,3500,0,0,0,0,0,0,26.97,26.98,26.98
$GC,4130,-0.72,-136.3,2594,2009,3459,3498,469.9,-8.0,194,4136,0.00,2.20,0.00,0.000,2308,0.000,0.047,2586,3404,3478,3458,3498,0,0,0,0,0,0,27.01,26.27,27.01
$GC,4179,-0.72,-136.3,2586,3404,3457,3497,473.3,-8.1,195,4183,0.05,2.10,0.00,0.000,3078,0.177,0.030,2602,2008,3477,3457,3498,0,0,0,0,0,0,26.30,26.40,26.39
$GC,4447,-0.72,-136.3,2601,2005,3456,3495,495.4,-8.0,202,4451,0.00,2.17,0.00,0.000,2564,0.000,0.046,2613,602,3475,3455,3495,0,0,0,0,0,0,26.97,26.20,26.98
$STATE,4528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4528,begin apogee
$GC,4534,-0.19,0.0,2604,1880,3454,3494,502.5,-8.3,204,4649,0.50,0.00,109.45,0.920,10246,0.118,0.000,2770,1881,2934,2939,2930,0,0,0,0,0,0,25.82,24.98,24.20
$STATE,4650,end apogee,CONTROL_FINISHED_OK
$STATE,4650,begin climb
$GC,4652,0.72,136.3,2770,1881,2939,2929,505.7,0.0,207,4776,0.80,0.00,120.72,0.880,10246,0.064,0.000,3061,1883,2378,2414,2343,0,0,0,0,0,0,25.21,24.77,24.06
$GC,5008,0.72,136.3,3061,1884,2404,2336,464.3,13.8,216,5013,0.00,2.25,0.00,0.000,2564,0.000,0.047,3073,468,2370,2404,2336,0,0,0,0,0,0,26.30,25.82,26.31
$GC,5033,0.72,136.3,3072,469,2403,2336,464.3,13.8,216,5038,0.00,2.15,0.00,0.000,1030,0.000,0.028,3066,1876,2369,2403,2336,0,0,0,0,0,0,26.04,25.97,26.08
$GC,5285,0.72,136.3,3066,1878,2399,2335,426.8,13.3,223,5291,0.00,2.22,0.00,0.000,260,0.000,0.047,3056,3285,2366,2398,2335,0,0,0,0,0,0,26.56,26.03,26.58
$GC,5348,0.72,136.3,3055,3285,2396,2334,421.0,13.7,224,5352,0.00,2.15,0.00,0.000,1030,0.000,0.031,3065,1877,2365,2396,2335,0,0,0,0,0,0,26.24,26.14,26.28
$GC,5605,0.72,136.3,3064,1877,2395,2333,381.7,14.3,231,5612,0.00,2.22,0.00,0.000,260,0.000,0.047,3056,3285,2363,2394,2333,0,0,0,0,0,0,26.70,26.12,26.72
$GC,5725,0.72,136.3,3056,3285,2394,2333,364.5,14.3,234,5729,0.00,2.15,0.00,0.000,1030,0.000,0.030,3065,1876,2363,2393,2333,0,0,0,0,0,0,26.34,26.24,26.39
$GC,6001,0.72,136.3,3065,1875,2394,2332,328.1,13.2,241,6005,0.00,2.17,0.00,0.000,516,0.000,0.047,3076,471,2362,2393,2332,0,0,0,0,0,0,26.80,26.17,26.82
$GC,6070,0.72,136.3,3076,471,2392,2332,322.4,13.4,242,6074,0.00,2.15,0.00,0.000,1030,0.000,0.028,3067,1884,2362,2392,2332,0,0,0,0,0,0,26.42,26.34,26.46
$GC,6322,0.72,136.3,3067,1886,2391,2330,285.8,12.9,249,6326,0.00,2.20,0.00,0.000,260,0.000,0.045,3057,3296,2360,2390,2330,0,0,0,0,0,0,26.85,26.19,26.86
$GC,6346,0.72,136.3,3056,3296,2390,2330,285.8,12.9,249,6350,0.00,2.17,0.00,0.000,1030,0.000,0.032,3065,1874,2360,2390,2330,0,0,0,0,0,0,26.39,26.28,26.44
$GC,6593,0.72,136.3,3065,1873,2390,2329,251.1,13.1,255,6597,0.00,2.17,0.00,0.000,516,0.000,0.048,3076,473,2359,2390,2329,0,0,0,0,0,0,26.88,26.17,26.89
$GC,6657,0.72,136.3,3076,473,2389,2329,246.4,13.0,256,6661,0.00,2.15,0.00,0.000,5126,0.000,0.028,3068,1895,2359,2389,2329,0,0,0,0,0,0,26.48,26.36,26.52
$GC,6909,0.72,136.3,3067,1897,2388,2328,215.4,10.6,263,6913,0.00,2.17,0.00,0.000,260,0.000,0.047,3057,3289,2358,2388,2328,0,0,0,0,0,0,26.90,26.21,26.91
$GC,6945,0.72,136.3,3056,3289,2388,2328,212.0,10.3,264,6949,0.00,2.15,0.00,0.000,1030,0.000,0.032,3065,1875,2358,2388,2328,0,0,0,0,0,0,26.41,26.30,26.46
$GC,7195,0.72,149.9,3065,1875,2388,2327,189.3,9.4,277,7213,0.00,2.17,9.43,0.650,8708,0.000,0.048,3077,471,2322,2354,2291,0,0,0,0,0,0,26.91,26.01,25.06
$GC,7261,0.72,149.9,3075,471,2352,2291,182.0,11.0,283,7269,0.00,2.10,0.00,0.000,5126,0.000,0.027,3068,1882,2321,2352,2290,0,0,0,0,0,0,26.44,26.39,26.46
$GC,7508,0.72,157.2,3067,1883,2351,2289,157.8,9.7,308,7521,0.00,2.22,7.65,0.595,8452,0.000,0.045,3057,3291,2293,2325,2262,0,0,0,0,0,0,26.85,26.06,25.15
$GC,7553,0.72,165.8,3057,3291,2324,2261,153.8,9.6,312,7568,0.00,2.20,9.20,0.601,9222,0.000,0.031,3066,1876,2258,2292,2225,0,0,0,0,0,0,26.32,26.29,25.17
$GC,7815,0.72,186.4,3065,1876,2290,2222,128.4,9.0,338,7840,0.00,2.22,18.55,0.620,8708,0.000,0.047,3077,477,2173,2212,2135,0,0,0,0,0,0,26.74,25.96,25.21
$GC,7976,0.72,186.4,3076,476,2208,2134,112.3,10.6,352,7988,0.00,2.17,0.00,0.000,1030,0.000,0.028,3069,1879,2170,2208,2133,0,0,0,0,0,0,26.24,26.20,26.27
$GC,8231,0.72,197.6,3068,1882,2208,2133,88.0,9.5,377,8251,0.00,2.22,10.20,0.549,8452,0.000,0.044,3058,3283,2130,2170,2091,0,0,0,0,0,0,26.71,25.66,25.19
$GC,8302,0.72,205.3,3057,3283,2169,2091,80.9,9.7,383,8324,0.00,2.17,8.60,0.523,9222,0.000,0.029,3066,1877,2097,2139,2056,0,0,0,0,0,0,26.24,26.18,25.11
$GC,8566,0.72,213.5,3066,1877,2138,2053,57.2,9.6,409,8585,0.00,0.00,8.65,0.505,8198,0.000,0.000,3067,1877,2063,2106,2020,0,0,0,0,0,0,26.67,25.82,25.16
$GC,8827,0.73,290.6,3066,1877,2105,2019,35.3,6.2,435,8895,0.00,0.00,63.10,0.549,10246,0.000,0.000,3067,1877,1749,1788,1710,0,0,0,0,0,0,26.71,25.53,24.98
$GC,9220,0.74,352.0,3066,1877,1779,1708,7.1,7.0,488,9277,0.00,2.22,49.17,0.518,10756,0.000,0.046,3077,475,1497,1513,1482,0,0,0,0,0,0,26.53,25.37,25.00
$STATE,9285,end climb,SURFACE_DEPTH_REACHED
$STATE,9285,begin surface coast
$FINISH,1.2,1.022472
$STATE,9301,end surface coast,CONTROL_FINISHED_OK
$STATE,9301,begin surface
$SM_CCo,9317,28.73,0.501,0,0,1303,400.08
$SM_GC,-1.32,7.53,2.40,28.73,0.037,0.026,0.501,195,2010,1303,-8.21,-1.13,400.08,0,0,0,0,0,0,25.74,25.84,24.84
$IRIDIUM_FIX,1922.94,-15432.59,040818,155632
$TT8_MAMPS,0.023219,0.365512
$HUMID,46.06
$INTERNAL_PRESSURE,9.6849
$TCM_TEMP,24.90
$XPDR_PINGS,25
$24V_AH,24.06,35.636
$10V_AH,10.05,22.202
$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,19.150,99.025,414.725,28.725,0.000,162.956,305.807,197.365,27.000,0.000,20.530,1498.486,5598.695,507.862,2662.565,121.151,0.000,1276.346,0.000,1372.238,0.000,132.856,0.000
$DEVICE_MAMPS,237.150,48.195,919.530,501.075,0.000,66.560,160.000,223.000,420.000,0.000,16.480,11.500,2.190,11.500,38.470,49.700,0.000,15.460,0.000,14.980,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,340.651,289.851,530.706,511.270,1057.965,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,6.740,50.930,47.940,37.450,0.000,0.000,0.000,0.000,0.000
$MEM,343236
$DATA_FILE_SIZE,43939,497
$CAP_FILE_SIZE,112161,0
$CFSIZE,260165632,249401344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.088,130.23,1
$GPS,040818,184032,1932.476,-15434.482,15,0.8,33,9.7,0.5,90.0,10,9.4