version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 121
start: 3 25 118 5 8 8
data:
$ID,626
$MISSION,2
$DIVE,121
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,950
$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,300
$T_MISSION,680
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,2500
$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,2320
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2710
$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
$GPS1,250318,050248,2230.9036,-15551.6904,40,0.9,40,10.0,0.7,359.4,8,21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.4
$GPS2,250318,050726,2230.9568,-15551.7373,7,0.9,7,10.0,0.8,296.2,8,59.9
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,M3
$TGT_LATLONG,2211.600,-15551.700
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,130.2,35849,-21.5,-10.000,-24.01,1630
$D_GRID,900
$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,-87.6,198,2267,1157,1084,0.0,0.0,0,72,0.00,0.00,-54.90,0.000,16386,0.000,0.000,197,2267,2970,2993,2948,0,0,0,0,0,0,14.96,28.83,14.97
$GC,74,-0.78,-87.6,197,2267,2993,2949,4.2,-8.1,7,91,6.57,0.00,-1.58,0.000,18694,0.444,0.000,2244,2267,3070,3095,3045,0,0,0,0,0,0,14.53,14.15,14.78
$GC,338,-0.78,-87.6,2244,2267,3097,3045,109.2,-34.0,36,343,0.00,2.40,0.00,0.000,2308,0.000,0.064,2235,3713,3071,3097,3045,0,0,0,0,0,0,15.02,14.78,15.02
$GC,400,-0.78,-87.6,2235,3713,3098,3045,126.3,-28.4,41,405,0.00,2.28,0.00,0.000,3078,0.000,0.054,2235,2322,3071,3098,3045,0,0,0,0,0,0,14.90,14.81,14.90
$GC,652,-0.78,-87.6,2236,2319,3100,3045,201.4,-27.9,66,657,0.00,2.30,0.00,0.000,2564,0.000,0.066,2235,914,3072,3100,3045,0,0,0,0,0,0,15.07,14.85,15.07
$GC,698,-0.78,-87.6,2235,912,3100,3045,213.8,-28.8,67,704,0.00,2.28,0.00,0.000,3078,0.000,0.051,2235,2310,3072,3100,3045,0,0,0,0,0,0,14.95,14.86,14.96
$GC,978,-0.78,-87.6,2234,2310,3103,3045,288.0,-25.8,74,984,0.00,2.28,0.00,0.000,2308,0.000,0.065,2233,3721,3074,3103,3045,0,0,0,0,0,0,15.14,14.89,15.14
$GC,1033,-0.78,-87.6,2232,3721,3102,3045,298.6,-25.3,75,1040,0.03,2.25,0.00,0.000,3078,0.593,0.049,2242,2308,3074,3103,3045,0,0,0,0,0,0,14.77,14.93,14.96
$GC,1307,-0.78,-87.6,2242,2305,3104,3045,363.5,-22.9,82,1314,0.00,2.28,0.00,0.000,2564,0.000,0.063,2242,908,3074,3104,3045,0,0,0,0,0,0,15.17,14.95,15.17
$GC,1332,-0.78,-87.6,2242,907,3104,3045,363.5,-22.9,82,1338,0.00,2.25,0.00,0.000,3078,0.000,0.048,2236,2315,3074,3104,3045,0,0,0,0,0,0,15.00,14.95,15.01
$GC,1598,-0.78,-87.6,2235,2315,3104,3045,426.5,-21.9,89,1599,0.00,0.00,0.00,0.000,2054,0.000,0.000,2235,2315,3074,3104,3045,0,0,0,0,0,0,15.20,15.21,15.20
$GC,1837,-0.78,-87.6,2236,2315,3104,3045,479.7,-22.1,95,1838,0.00,0.00,0.00,0.000,2054,0.000,0.000,2236,2315,3075,3105,3045,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2077,-0.78,-87.6,2236,2315,3104,3043,530.3,-20.6,101,2083,0.00,2.28,0.00,0.000,2564,0.000,0.062,2236,915,3073,3104,3043,0,0,0,0,0,0,15.23,15.00,15.23
$GC,2096,-0.78,-87.6,2236,914,3104,3042,530.3,-20.6,101,2103,0.00,2.25,0.00,0.000,3078,0.000,0.052,2236,2318,3073,3105,3042,0,0,0,0,0,0,15.04,15.00,15.07
$GC,2366,-0.78,-87.6,2235,2318,3104,3038,587.7,-19.6,108,2367,0.00,0.00,0.00,0.000,2054,0.000,0.000,2235,2318,3071,3104,3038,0,0,0,0,0,0,15.22,15.23,15.23
$GC,2607,-0.78,-87.6,2235,2318,3104,3035,635.2,-19.8,114,2613,0.00,2.25,0.00,0.000,2308,0.000,0.062,2235,3726,3069,3104,3035,0,0,0,0,0,0,15.23,15.00,15.24
$GC,2630,-0.78,-87.6,2235,3726,3104,3035,635.2,-19.8,114,2636,0.00,2.20,0.00,0.000,3078,0.000,0.044,2235,2320,3069,3104,3035,0,0,0,0,0,0,15.06,15.02,15.08
$GC,2894,-0.78,-87.6,2235,2318,3104,3030,690.3,-19.3,121,2902,0.00,2.22,0.00,0.000,2564,0.000,0.058,2235,917,3066,3104,3029,0,0,0,0,0,0,15.23,15.02,15.24
$GC,2949,-0.78,-87.6,2235,917,3104,3029,699.8,-19.6,122,2955,0.00,2.22,0.00,0.000,3078,0.000,0.047,2236,2317,3065,3104,3027,0,0,0,0,0,0,15.07,15.01,15.08
$GC,3223,-0.78,-87.6,2235,2316,3103,3025,753.7,-19.0,129,3224,0.00,0.00,0.00,0.000,2054,0.000,0.000,2235,2317,3064,3104,3025,0,0,0,0,0,0,15.23,15.24,15.24
$GC,3463,-0.78,-87.6,2235,2317,3104,3021,797.2,-18.0,135,3464,0.00,0.00,0.00,0.000,2054,0.000,0.000,2235,2317,3062,3104,3021,0,0,0,0,0,0,15.24,15.24,15.24
$GC,3703,-0.78,-87.6,2235,2317,3103,3018,839.7,-17.6,141,3704,0.00,0.00,0.00,0.000,2054,0.000,0.000,2235,2317,3061,3104,3018,0,0,0,0,0,0,15.25,15.26,15.25
$GC,3943,-0.78,-87.6,2235,2317,3104,3014,881.9,-17.6,147,3951,0.00,2.28,0.00,0.000,2564,0.000,0.057,2235,905,3059,3104,3014,0,0,0,0,0,0,15.25,15.02,15.25
$GC,3978,-0.78,-87.6,2235,905,3104,3014,881.9,-17.6,147,3984,0.00,2.25,0.00,0.000,3078,0.000,0.047,2235,2319,3058,3104,3013,0,0,0,0,0,0,15.07,15.02,15.09
$STATE,4070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4070,begin apogee
$GC,4075,-0.16,0.0,2235,2129,3104,3013,904.4,-17.4,150,4152,0.57,0.00,73.53,2.713,10246,0.285,0.000,2450,2124,2710,2784,2637,0,0,0,0,0,0,14.90,14.24,13.34
$STATE,4153,end apogee,CONTROL_FINISHED_OK
$STATE,4153,begin climb
$GC,4154,0.78,87.6,2450,2125,2785,2636,909.1,0.0,152,4241,0.73,2.55,79.60,2.924,10500,0.167,0.063,2738,3571,2352,2430,2274,0,0,0,0,0,0,14.21,13.88,13.14
$GC,4362,1.06,313.2,2737,3571,2430,2271,915.8,-4.2,157,4579,0.17,2.30,208.02,3.075,11270,0.149,0.048,2837,2182,1432,1538,1326,0,0,0,0,0,0,14.45,14.49,12.97
$GC,4835,1.06,313.2,2837,2181,1538,1324,814.7,28.0,169,4841,0.00,2.33,0.00,0.000,260,0.000,0.058,2837,3569,1431,1538,1324,0,0,0,0,0,0,14.76,14.54,14.76
$GC,5087,1.06,313.2,2837,3569,1536,1323,748.8,27.2,175,5092,0.00,2.35,0.00,0.000,5126,0.000,0.058,2847,2161,1429,1536,1323,0,0,0,0,0,0,14.79,14.71,14.81
$GC,5359,1.06,313.2,2847,2160,1537,1320,670.2,27.8,182,5365,0.00,2.35,0.00,0.000,4612,0.000,0.071,2858,750,1428,1537,1320,0,0,0,0,0,0,15.03,14.80,15.04
$GC,5410,1.06,313.2,2858,750,1535,1318,657.4,28.1,183,5416,0.05,2.30,0.00,0.000,5126,0.490,0.044,2844,2169,1426,1535,1318,0,0,0,0,0,0,14.66,14.83,14.85
$GC,5683,1.06,313.2,2843,2172,1535,1318,578.0,27.6,190,5688,0.00,2.38,0.00,0.000,4612,0.000,0.067,2854,750,1426,1535,1318,0,0,0,0,0,0,15.10,14.87,15.10
$GC,5709,1.06,313.2,2853,749,1535,1316,578.0,27.6,190,5716,0.05,2.28,0.00,0.000,5126,0.495,0.044,2839,2165,1425,1535,1316,0,0,0,0,0,0,14.71,14.88,14.92
$GC,5968,1.06,313.2,2839,2168,1534,1316,502.0,26.6,197,5973,0.00,2.35,0.00,0.000,516,0.000,0.066,2850,745,1425,1534,1316,0,0,0,0,0,0,15.13,14.90,15.14
$GC,5989,1.06,313.2,2849,746,1534,1316,502.0,26.6,197,5995,0.00,2.30,0.00,0.000,5126,0.000,0.044,2849,2167,1425,1534,1316,0,0,0,0,0,0,15.00,14.92,15.01
$GC,6251,1.06,313.2,2849,2169,1533,1316,425.9,26.8,204,6252,0.00,0.00,0.00,0.000,4102,0.000,0.000,2850,2169,1424,1534,1315,0,0,0,0,0,0,15.16,15.16,15.16
$GC,6492,1.06,313.2,2849,2169,1534,1315,359.8,27.6,210,6493,0.00,0.00,0.00,0.000,4102,0.000,0.000,2849,2169,1424,1534,1315,0,0,0,0,0,0,15.18,15.19,15.19
$GC,6733,1.06,313.2,2849,2170,1534,1314,297.8,25.9,216,6738,0.00,2.35,0.00,0.000,4612,0.000,0.066,2860,744,1423,1534,1313,0,0,0,0,0,0,15.19,14.97,15.20
$GC,6764,1.06,313.2,2860,744,1532,1312,297.8,25.9,216,6770,0.08,2.28,0.00,0.000,5126,0.422,0.044,2836,2167,1422,1532,1312,0,0,0,0,0,0,14.81,14.98,15.02
$GC,7017,1.06,313.2,2835,2170,1532,1312,229.5,22.8,223,7023,0.00,2.22,0.00,0.000,260,0.000,0.052,2836,3566,1422,1532,1312,0,0,0,0,0,0,15.21,14.99,15.21
$GC,7033,1.06,313.2,2835,3566,1532,1314,229.5,22.8,223,7039,0.00,2.28,0.00,0.000,5126,0.000,0.049,2846,2153,1423,1532,1314,0,0,0,0,0,0,15.07,14.99,15.08
$GC,7281,1.06,313.2,2846,2152,1532,1313,172.3,21.3,237,7286,0.00,2.25,0.00,0.000,4612,0.000,0.060,2857,750,1422,1532,1312,0,0,0,0,0,0,15.21,14.97,15.21
$GC,7360,1.06,313.2,2856,750,1530,1311,155.2,24.3,244,7368,0.05,2.25,0.00,0.000,5126,0.464,0.041,2841,2165,1421,1530,1312,0,0,0,0,0,0,14.81,14.99,15.02
$GC,7609,1.06,313.2,2841,2168,1530,1312,104.7,18.3,269,7614,0.00,2.33,0.00,0.000,516,0.000,0.067,2851,752,1421,1530,1312,0,0,0,0,0,0,15.17,14.95,15.17
$GC,7689,1.06,313.2,2851,752,1530,1311,89.7,19.6,276,7697,0.00,2.30,0.00,0.000,5126,0.000,0.046,2851,2152,1420,1530,1311,0,0,0,0,0,0,14.97,14.92,14.99
$GC,7937,1.06,313.2,2851,2154,1530,1312,43.3,18.7,301,7943,0.00,2.28,0.00,0.000,4356,0.000,0.054,2851,3573,1421,1530,1313,0,0,0,0,0,0,15.15,14.93,15.14
$GC,8013,1.06,313.2,2851,3574,1530,1316,28.7,19.2,308,8022,0.05,2.35,0.00,0.000,5126,0.400,0.048,2844,2153,1423,1530,1316,0,0,0,0,0,0,14.74,14.90,14.89
$STATE,8153,end climb,SURFACE_DEPTH_REACHED
$STATE,8153,begin surface coast
$FINISH,0.2,1.023814
$STATE,8167,end surface coast,CONTROL_FINISHED_OK
$STATE,8167,begin surface
$SM_CCo,8180,42.75,0.142,0,0,1117,390.02
$SM_GC,1.48,5.90,0.28,42.75,0.054,0.065,0.142,194,2342,1117,-7.08,-1.07,390.02,0,0,0,0,0,0,14.92,14.92,14.78
$IRIDIUM_FIX,2223.01,-15552.30,250318,050355
$TT8_MAMPS,0.018725,0.322819
$HUMID,44.95
$INTERNAL_PRESSURE,9.37795
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,12.97,31.713
$10V_AH,13.34,0.000
$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,14.250,83.125,361.150,42.750,0.000,33.616,43.179,103.644,41.250,0.000,8.333,1335.458,5235.441,484.111,1396.403,78.270,0.000,1040.095,0.000,1091.188,0.000,252.621,0.000
$DEVICE_MAMPS,592.875,72.675,3074.535,141.525,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,226.091,153.192,269.527,255.506,392.031,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343112
$DATA_FILE_SIZE,27280,333
$CAP_FILE_SIZE,96366,0
$CFSIZE,2097086464,2082177024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.214,299.41,1
$GPS,250318,072625,2230.428,-15551.818,17,0.9,40,10.0,0.6,263.9,8,12.0