version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 83
start: 3 19 118 7 57 45
data:
$ID,626
$MISSION,2
$DIVE,83
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,750
$D_NO_BLEED,100
$D_BOOST,5
$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,200
$T_MISSION,450
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54699
$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,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,30
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,211
$PITCH_MAX,3943
$C_PITCH,2406
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,286
$ROLL_MAX,3922
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2132
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2720
$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,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.38618
$PRESSURE_SLOPE,0.000140886
$AD7714Ch0Gain,32
$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,50
$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,2.21
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,67
$DEVICE5,54
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044050994
$SEABIRD_T_H,0.00064172823
$SEABIRD_T_I,2.5755839e-05
$SEABIRD_T_J,3.1466591e-06
$SEABIRD_C_G,-9.6491127
$SEABIRD_C_H,1.0791453
$SEABIRD_C_I,-0.0026383207
$SEABIRD_C_J,0.00025441265
$GPS1,190318,075043,2248.0408,-15548.9961,16,1.3,16,10.0,1.3,323.5,5,41.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-64.6
$GPS2,190318,075720,2248.0898,-15549.0693,6,1.3,6,10.0,0.9,139.3,5,170.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M3
$TGT_LATLONG,2211.600,-15551.700
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,139.6,67729,-20.5,-10.000,-23.08,1791
$D_GRID,600
$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,-0.78,-116.8,195,2310,1176,1083,0.0,0.0,0,82,0.00,0.00,-64.03,0.000,16390,0.000,0.000,195,2310,3198,3220,3177,0,0,0,0,0,0,15.02,14.00,15.00
$GC,84,-0.78,-116.8,194,2310,3221,3177,2.9,-4.2,8,102,6.20,2.30,0.00,0.000,2564,0.430,0.040,2146,877,3200,3224,3177,0,0,0,0,0,0,14.59,14.75,14.83
$GC,186,-0.78,-116.8,2146,877,3226,3177,31.6,-22.9,24,192,0.00,2.30,0.00,0.000,3078,0.000,0.047,2141,2282,3201,3225,3177,0,0,0,0,0,0,14.90,14.81,14.91
$GC,442,-0.78,-116.8,2141,2282,3226,3177,89.9,-23.5,49,448,0.00,2.35,0.00,0.000,2308,0.000,0.060,2141,3721,3201,3226,3177,0,0,0,0,0,0,15.10,14.85,15.10
$GC,481,-0.78,-116.8,2140,3722,3226,3176,98.0,-21.7,52,491,0.00,2.33,0.00,0.000,3078,0.000,0.049,2141,2312,3201,3227,3176,0,0,0,0,0,0,14.88,14.83,14.89
$GC,731,-0.78,-116.8,2141,2311,3227,3176,145.3,-18.7,77,736,0.00,2.33,0.00,0.000,2308,0.000,0.064,2141,3719,3201,3227,3176,0,0,0,0,0,0,15.13,14.90,15.14
$GC,811,-0.78,-116.8,2140,3719,3227,3177,159.6,-16.7,84,824,0.00,2.33,0.00,0.000,3078,0.000,0.047,2141,2297,3202,3228,3177,0,0,0,0,0,0,14.92,14.88,14.94
$GC,1063,-0.78,-116.8,2140,2297,3229,3176,201.1,-15.6,109,1069,0.00,2.33,0.00,0.000,2308,0.000,0.063,2140,3714,3202,3229,3176,0,0,0,0,0,0,15.16,14.93,15.16
$GC,1081,-0.78,-116.8,2140,3714,3228,3177,201.1,-15.6,109,1087,0.00,2.25,0.00,0.000,3078,0.000,0.044,2141,2294,3202,3228,3177,0,0,0,0,0,0,15.04,14.96,15.04
$GC,1350,-0.78,-116.8,2140,2294,3229,3176,239.8,-13.2,116,1351,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,2294,3203,3230,3176,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1590,-0.78,-116.8,2140,2294,3231,3177,270.9,-13.0,122,1591,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,2294,3203,3230,3176,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1829,-0.78,-116.8,2140,2294,3231,3176,303.8,-13.7,128,1830,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,2294,3204,3231,3177,0,0,0,0,0,0,15.25,15.25,15.25
$GC,2070,-0.78,-116.8,2140,2294,3231,3176,337.1,-13.9,134,2078,0.00,2.25,0.00,0.000,2564,0.000,0.060,2141,884,3203,3230,3177,0,0,0,0,0,0,15.26,15.04,15.27
$GC,2104,-0.78,-116.8,2140,884,3230,3176,337.1,-13.9,134,2109,0.00,2.28,0.00,0.000,3078,0.000,0.046,2140,2308,3203,3231,3176,0,0,0,0,0,0,15.14,15.04,15.14
$GC,2357,-0.78,-116.8,2140,2309,3231,3175,375.6,-13.4,141,2358,0.00,0.00,0.00,0.000,2054,0.000,0.000,2140,2308,3203,3231,3175,0,0,0,0,0,0,15.26,15.27,15.27
$GC,2597,-0.78,-116.8,2140,2308,3231,3172,406.1,-12.7,147,2603,0.00,2.28,0.00,0.000,2564,0.000,0.059,2141,895,3201,3231,3172,0,0,0,0,0,0,15.28,15.05,15.28
$GC,2629,-0.78,-116.8,2140,894,3230,3172,406.1,-12.7,147,2634,0.00,2.25,0.00,0.000,3078,0.000,0.046,2140,2303,3201,3231,3172,0,0,0,0,0,0,15.15,15.06,15.16
$GC,2881,-0.78,-116.8,2140,2303,3231,3170,441.1,-11.9,154,2887,0.00,2.30,0.00,0.000,2564,0.000,0.059,2140,887,3200,3231,3170,0,0,0,0,0,0,15.28,15.07,15.28
$GC,2933,-0.78,-116.8,2140,887,3231,3170,446.5,-12.1,155,2938,0.00,2.28,0.00,0.000,3078,0.000,0.044,2141,2310,3200,3230,3170,0,0,0,0,0,0,15.15,15.07,15.16
$GC,3206,-0.78,-116.8,2140,2310,3230,3166,478.6,-11.1,162,3212,0.00,2.28,0.00,0.000,2308,0.000,0.063,2140,3710,3198,3230,3166,0,0,0,0,0,0,15.28,15.04,15.28
$GC,3292,-0.78,-116.8,2140,3710,3230,3165,487.8,-11.1,164,3297,0.00,2.22,0.00,0.000,3078,0.000,0.041,2140,2293,3197,3230,3165,0,0,0,0,0,0,15.16,15.08,15.16
$GC,3575,-0.78,-116.8,2140,2292,3230,3161,517.8,-10.3,171,3580,0.00,2.25,0.00,0.000,2564,0.000,0.056,2140,897,3195,3230,3161,0,0,0,0,0,0,15.28,15.07,15.28
$GC,3671,-0.78,-116.8,2140,897,3230,3160,527.3,-10.8,173,3676,0.00,2.25,0.00,0.000,3078,0.000,0.047,2140,2304,3195,3230,3160,0,0,0,0,0,0,15.15,15.07,15.16
$GC,3939,-0.78,-116.8,2140,2303,3231,3157,559.3,-11.6,180,3944,0.00,2.28,0.00,0.000,2308,0.000,0.063,2141,3706,3193,3230,3157,0,0,0,0,0,0,15.28,15.05,15.28
$GC,4084,-0.78,-116.8,2140,3706,3230,3155,574.9,-12.2,183,4089,0.00,2.20,0.00,0.000,3078,0.000,0.041,2140,2301,3192,3230,3155,0,0,0,0,0,0,15.16,15.08,15.16
$STATE,4305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4305,begin apogee
$GC,4309,-0.16,0.0,2140,2111,3230,3151,603.3,-11.5,189,4407,0.57,0.00,94.78,2.485,10246,0.252,0.000,2360,2106,2719,2796,2643,0,0,0,0,0,0,14.94,14.24,13.42
$STATE,4408,end apogee,CONTROL_FINISHED_OK
$STATE,4408,begin climb
$GC,4410,0.78,116.8,2360,2106,2797,2644,605.6,0.0,191,4517,0.73,2.50,99.60,2.759,10500,0.136,0.053,2658,3546,2245,2319,2171,0,0,0,0,0,0,14.22,13.95,13.28
$GC,4558,0.78,116.8,2658,3547,2317,2171,591.4,11.9,195,4564,0.00,2.35,0.00,0.000,5126,0.000,0.047,2669,2156,2244,2317,2171,0,0,0,0,0,0,14.45,14.37,14.45
$GC,4835,0.78,116.8,2669,2155,2317,2166,547.0,15.7,202,4840,0.00,2.30,0.00,0.000,4356,0.000,0.054,2669,3543,2241,2315,2167,0,0,0,0,0,0,14.97,14.75,14.97
$GC,4922,0.78,116.8,2668,3543,2315,2166,533.3,16.2,204,4929,0.08,2.30,0.00,0.000,5126,0.415,0.047,2656,2129,2241,2316,2166,0,0,0,0,0,0,14.65,14.80,14.83
$GC,5202,0.78,116.8,2655,2127,2315,2163,492.0,13.9,211,5207,0.00,2.30,0.00,0.000,516,0.000,0.061,2665,721,2239,2315,2163,0,0,0,0,0,0,15.10,14.88,15.11
$GC,5293,0.78,116.8,2665,720,2314,2162,480.3,13.8,213,5298,0.00,2.30,0.00,0.000,5126,0.000,0.045,2665,2143,2239,2314,2164,0,0,0,0,0,0,14.99,14.91,15.00
$GC,5565,0.78,116.8,2665,2144,2313,2161,438.5,15.2,220,5570,0.00,2.28,0.00,0.000,4356,0.000,0.056,2665,3546,2237,2313,2161,0,0,0,0,0,0,15.17,14.95,15.18
$GC,5625,0.78,116.8,2665,3547,2312,2161,431.8,15.3,221,5631,0.05,2.30,0.00,0.000,5126,0.459,0.048,2660,2122,2236,2312,2161,0,0,0,0,0,0,14.80,14.95,14.99
$GC,5889,0.78,116.8,2659,2118,2312,2159,390.5,14.4,228,5894,0.00,2.28,0.00,0.000,4612,0.000,0.060,2669,724,2235,2312,2159,0,0,0,0,0,0,15.21,14.97,15.21
$GC,5990,0.78,116.8,2669,724,2311,2159,378.4,14.1,230,5995,0.00,2.28,0.00,0.000,5126,0.000,0.042,2669,2147,2235,2311,2159,0,0,0,0,0,0,15.07,15.00,15.08
$GC,6252,0.78,116.8,2669,2149,2310,2157,341.6,12.7,237,6253,0.00,0.00,0.00,0.000,4102,0.000,0.000,2669,2149,2233,2310,2157,0,0,0,0,0,0,15.23,15.23,15.23
$GC,6493,0.78,116.8,2669,2150,2310,2156,313.0,11.8,243,6494,0.00,0.00,0.00,0.000,4102,0.000,0.000,2669,2150,2233,2310,2156,0,0,0,0,0,0,15.25,15.25,15.25
$GC,6732,0.78,116.8,2669,2150,2309,2156,285.4,11.7,249,6737,0.00,2.33,0.00,0.000,4612,0.000,0.060,2681,724,2232,2309,2156,0,0,0,0,0,0,15.26,15.02,15.26
$GC,6753,0.78,116.8,2680,724,2309,2156,285.4,11.7,249,6759,0.08,2.28,0.00,0.000,5126,0.360,0.045,2653,2131,2232,2309,2155,0,0,0,0,0,0,14.90,15.03,15.07
$GC,7016,0.78,116.8,2653,2135,2309,2156,253.6,11.3,256,7021,0.00,2.25,0.00,0.000,2308,0.000,0.056,2653,3535,2232,2309,2156,0,0,0,0,0,0,15.26,15.03,15.27
$GC,7067,0.78,116.8,2653,3535,2308,2156,248.4,11.6,257,7072,0.00,2.25,0.00,0.000,5126,0.000,0.047,2662,2130,2232,2308,2156,0,0,0,0,0,0,15.12,15.04,15.13
$GC,7339,0.78,116.8,2661,2129,2308,2156,218.7,10.1,264,7344,0.00,2.25,0.00,0.000,4612,0.000,0.059,2673,726,2232,2309,2156,0,0,0,0,0,0,15.27,15.04,15.28
$GC,7645,0.79,123.9,2673,726,2308,2156,185.8,9.6,279,7659,0.00,2.25,5.18,1.281,13318,0.000,0.041,2673,2137,2213,2288,2138,0,0,0,0,0,0,15.11,15.04,14.38
$GC,7900,0.81,137.7,2673,2138,2288,2138,162.6,9.2,304,7922,0.00,2.28,11.75,1.527,12548,0.000,0.055,2673,3524,2157,2229,2085,0,0,0,0,0,0,15.21,14.88,14.28
$GC,8018,0.81,137.7,2673,3523,2229,2085,150.3,10.5,315,8025,0.05,2.28,0.00,0.000,5126,0.431,0.046,2667,2123,2156,2229,2084,0,0,0,0,0,0,14.76,14.92,14.95
$GC,8272,0.83,151.4,2666,2121,2229,2085,127.7,9.2,340,8285,0.00,0.00,11.00,1.634,10758,0.000,0.000,2666,2121,2101,2175,2027,0,0,0,0,0,0,15.16,14.85,14.21
$GC,8525,0.83,155.0,2666,2119,2175,2028,102.1,9.8,365,8537,0.00,2.30,3.15,0.955,10500,0.000,0.056,2666,3531,2087,2163,2012,0,0,0,0,0,0,15.11,14.88,14.26
$GC,8582,0.83,155.0,2666,3531,2163,2012,95.8,11.0,370,8587,0.00,2.28,0.00,0.000,5126,0.000,0.049,2676,2135,2088,2163,2013,0,0,0,0,0,0,14.97,14.89,14.97
$GC,8836,0.83,155.0,2675,2134,2163,2014,69.6,10.6,395,8841,0.00,2.30,0.00,0.000,4612,0.000,0.058,2687,720,2088,2163,2014,0,0,0,0,0,0,15.13,14.90,15.13
$GC,8900,0.83,155.0,2687,719,2163,2014,62.9,11.3,400,8909,0.03,2.30,0.00,0.000,5126,0.431,0.039,2677,2134,2088,2163,2014,0,0,0,0,0,0,14.72,14.88,14.85
$GC,9149,0.83,155.0,2676,2137,2163,2017,36.3,11.5,425,9154,0.00,2.25,0.00,0.000,4356,0.000,0.054,2677,3531,2090,2163,2018,0,0,0,0,0,0,15.13,14.92,15.14
$GC,9268,0.83,155.0,2677,3531,2163,2020,21.1,12.2,440,9277,0.00,2.30,0.00,0.000,5126,0.000,0.045,2686,2136,2091,2163,2020,0,0,0,0,0,0,14.92,14.87,14.95
$STATE,9439,end climb,SURFACE_DEPTH_REACHED
$STATE,9439,begin surface coast
$FINISH,0.3,1.023893
$STATE,9470,end surface coast,CONTROL_FINISHED_OK
$STATE,9470,begin surface
$SM_CCo,9483,128.90,0.137,0,0,1127,390.02
$SM_GC,1.07,5.78,0.25,128.90,0.093,0.068,0.137,193,2308,1127,-6.83,-1.55,390.02,0,0,0,0,0,0,14.92,14.92,14.76
$IRIDIUM_FIX,2239.35,-15546.34,190318,075337
$TT8_MAMPS,0.019474,0.331058
$HUMID,40.11
$INTERNAL_PRESSURE,9.43654
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,13.28,21.152
$10V_AH,13.58,0.000
$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,13.550,101.125,225.450,128.900,0.000,66.364,57.375,118.289,27.750,0.000,7.310,1773.205,5756.626,486.005,1924.694,80.748,0.000,1181.250,0.000,1585.228,0.000,170.082,0.000
$DEVICE_MAMPS,459.000,72.675,2758.590,136.935,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,320.253,251.268,456.147,450.865,691.806,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343136
$DATA_FILE_SIZE,40669,473
$CAP_FILE_SIZE,109139,0
$CFSIZE,2097086464,2086895616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.143,313.92,1
$GPS,190318,103900,2247.655,-15549.114,30,1.1,30,10.0,0.6,284.9,8,21.7