version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 122
start: 3 25 118 7 31 40
data:
$ID,626
$MISSION,2
$DIVE,122
$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,37
$R_STBD_OVSHOOT,55
$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
$GPS1,250318,072625,2230.4277,-15551.8184,17,0.9,40,10.0,0.6,263.9,8,12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.6
$GPS2,250318,073058,2230.4727,-15551.8770,6,0.9,6,10.0,0.6,185.7,8,109.7
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,M3
$TGT_LATLONG,2211.600,-15551.700
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,124.5,34953,-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,-87.6,194,2344,1157,1082,0.0,0.0,0,74,0.00,0.00,-57.30,0.000,16390,0.000,0.000,194,2344,3070,3092,3048,0,0,0,0,0,0,15.01,14.03,14.97
$GC,76,-0.78,-87.6,194,2344,3092,3049,5.0,-10.1,7,93,6.55,2.22,0.00,0.000,2308,0.442,0.043,2238,3724,3071,3094,3049,0,0,0,0,0,0,14.58,14.73,14.81
$GC,102,-0.78,-87.6,2237,3724,3095,3049,20.9,-47.9,10,111,0.00,2.35,0.00,0.000,3078,0.000,0.054,2238,2322,3072,3096,3049,0,0,0,0,0,0,14.81,14.76,14.81
$GC,356,-0.78,-87.6,2237,2320,3098,3049,116.7,-32.8,36,357,0.00,0.00,0.00,0.000,2054,0.000,0.000,2237,2320,3073,3098,3049,0,0,0,0,0,0,15.04,15.05,15.05
$GC,596,-0.78,-87.6,2237,2320,3100,3049,190.6,-29.7,60,601,0.00,2.30,0.00,0.000,2564,0.000,0.058,2238,894,3074,3100,3049,0,0,0,0,0,0,15.09,14.87,15.09
$GC,634,-0.78,-87.6,2237,894,3100,3049,201.7,-30.5,63,641,0.00,2.28,0.00,0.000,3078,0.000,0.044,2236,2307,3074,3100,3049,0,0,0,0,0,0,14.96,14.88,14.97
$GC,882,-0.78,-87.6,2235,2308,3102,3049,271.5,-27.1,70,890,0.00,2.28,0.00,0.000,2308,0.000,0.057,2235,3734,3076,3103,3049,0,0,0,0,0,0,15.14,14.90,15.14
$GC,917,-0.78,-87.6,2235,3734,3103,3049,271.5,-27.1,70,923,0.00,2.22,0.00,0.000,3078,0.000,0.042,2235,2316,3076,3103,3049,0,0,0,0,0,0,14.97,14.92,14.99
$GC,1172,-0.78,-87.6,2235,2314,3106,3049,341.4,-24.5,77,1178,0.00,2.22,0.00,0.000,2564,0.000,0.058,2235,914,3077,3106,3049,0,0,0,0,0,0,15.17,14.95,15.18
$GC,1195,-0.78,-87.6,2235,914,3106,3049,341.4,-24.5,77,1201,0.00,2.22,0.00,0.000,3078,0.000,0.044,2235,2319,3077,3106,3049,0,0,0,0,0,0,15.00,14.95,15.02
$GC,1459,-0.78,-87.6,2235,2319,3106,3049,408.2,-22.4,84,1465,0.00,2.25,0.00,0.000,2308,0.000,0.059,2235,3732,3077,3106,3049,0,0,0,0,0,0,15.19,14.97,15.20
$GC,1482,-0.78,-87.6,2235,3732,3106,3049,408.2,-22.4,84,1488,0.00,2.22,0.00,0.000,3078,0.000,0.041,2236,2309,3077,3106,3049,0,0,0,0,0,0,15.02,14.98,15.04
$GC,1746,-0.78,-87.6,2235,2308,3106,3049,467.2,-20.5,91,1755,0.00,2.22,0.00,0.000,2564,0.000,0.058,2235,907,3077,3106,3049,0,0,0,0,0,0,15.21,15.00,15.21
$GC,1776,-0.78,-87.6,2235,907,3106,3049,467.2,-20.5,91,1782,0.00,2.28,0.00,0.000,3078,0.000,0.045,2236,2327,3077,3106,3049,0,0,0,0,0,0,15.08,15.00,15.09
$GC,2035,-0.78,-87.6,2235,2327,3106,3048,523.6,-19.1,98,2044,0.00,2.28,0.00,0.000,2564,0.000,0.056,2235,907,3077,3106,3048,0,0,0,0,0,0,15.22,15.00,15.22
$GC,2060,-0.78,-87.6,2235,907,3105,3047,523.6,-19.1,98,2066,0.00,2.30,0.00,0.000,3078,0.000,0.047,2235,2328,3077,3106,3048,0,0,0,0,0,0,15.09,15.00,15.10
$GC,2324,-0.78,-87.6,2235,2328,3106,3045,580.3,-19.8,105,2325,0.00,0.00,0.00,0.000,2054,0.000,0.000,2235,2328,3075,3106,3045,0,0,0,0,0,0,15.22,15.23,15.23
$GC,2564,-0.78,-87.6,2235,2328,3106,3042,628.0,-19.9,111,2565,0.00,0.00,0.00,0.000,2054,0.000,0.000,2236,2328,3074,3106,3042,0,0,0,0,0,0,15.23,15.24,15.24
$GC,2803,-0.78,-87.6,2235,2328,3105,3038,675.7,-19.9,117,2812,0.00,2.28,0.00,0.000,2564,0.000,0.056,2235,917,3072,3106,3038,0,0,0,0,0,0,15.24,15.03,15.24
$GC,2823,-0.78,-87.6,2235,915,3106,3038,675.7,-19.9,117,2831,0.00,2.25,0.00,0.000,3078,0.000,0.047,2235,2327,3071,3105,3037,0,0,0,0,0,0,15.07,15.02,15.09
$GC,3094,-0.78,-87.6,2235,2327,3106,3034,731.9,-19.1,124,3095,0.00,0.00,0.00,0.000,2054,0.000,0.000,2235,2327,3069,3105,3034,0,0,0,0,0,0,15.25,15.25,15.25
$GC,3333,-0.78,-87.6,2235,2327,3105,3030,773.8,-17.2,130,3339,0.00,2.28,0.00,0.000,2564,0.000,0.057,2235,911,3067,3105,3030,0,0,0,0,0,0,15.25,15.03,15.25
$GC,3361,-0.78,-87.6,2235,910,3105,3029,773.8,-17.2,130,3370,0.00,2.25,0.00,0.000,3078,0.000,0.047,2234,2320,3067,3106,3029,0,0,0,0,0,0,15.07,15.02,15.09
$GC,3624,-0.78,-87.6,2235,2320,3105,3026,822.6,-16.7,137,3632,0.00,2.25,0.00,0.000,2308,0.000,0.061,2235,3722,3066,3106,3026,0,0,0,0,0,0,15.25,15.01,15.25
$GC,3664,-0.78,-87.6,2235,3722,3105,3026,822.6,-16.7,137,3674,0.00,2.22,0.00,0.000,3078,0.000,0.045,2235,2313,3065,3106,3025,0,0,0,0,0,0,15.12,15.04,15.13
$GC,3910,-0.78,-87.6,2235,2313,3105,3022,869.6,-16.8,144,3916,0.00,2.25,0.00,0.000,2564,0.000,0.060,2235,909,3063,3105,3021,0,0,0,0,0,0,15.24,15.02,15.24
$GC,3936,-0.78,-87.6,2235,909,3105,3021,869.6,-16.8,144,3942,0.00,2.28,0.00,0.000,3078,0.000,0.047,2235,2326,3063,3105,3021,0,0,0,0,0,0,15.11,15.03,15.13
$STATE,4114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4114,begin apogee
$GC,4118,-0.16,0.0,2235,2132,3105,3019,903.8,-16.5,149,4197,0.57,0.00,74.18,2.545,10246,0.285,0.000,2449,2130,2710,2783,2638,0,0,0,0,0,0,14.90,14.27,13.35
$STATE,4197,end apogee,CONTROL_FINISHED_OK
$STATE,4198,begin climb
$GC,4199,0.78,87.6,2450,2130,2783,2638,908.2,0.0,151,4288,0.70,2.55,78.72,2.908,10500,0.168,0.063,2734,3568,2351,2430,2273,0,0,0,0,0,0,14.23,13.91,13.16
$GC,4389,0.78,87.6,2732,3568,2429,2271,912.4,-3.9,155,4396,0.00,2.33,0.00,0.000,3078,0.000,0.049,2743,2178,2349,2428,2271,0,0,0,0,0,0,14.54,14.47,14.54
$GC,4635,1.03,290.5,2743,2177,2429,2268,920.8,-2.8,162,4826,0.12,2.47,180.30,2.868,11012,0.177,0.060,2822,3572,1525,1631,1419,0,0,0,0,0,0,14.67,13.93,13.05
$GC,5088,1.03,290.5,2821,3572,1630,1418,832.0,26.1,173,5093,0.00,2.38,0.00,0.000,1030,0.000,0.057,2832,2159,1524,1630,1418,0,0,0,0,0,0,14.66,14.59,14.66
$GC,5361,1.03,290.5,2831,2160,1630,1416,758.8,25.7,180,5366,0.00,2.38,0.00,0.000,260,0.000,0.060,2832,3575,1523,1630,1416,0,0,0,0,0,0,14.97,14.74,14.97
$GC,5376,1.03,290.5,2832,3575,1630,1416,758.8,25.7,180,5382,0.00,2.35,0.00,0.000,5126,0.000,0.057,2842,2160,1523,1630,1416,0,0,0,0,0,0,14.83,14.76,14.85
$GC,5644,1.03,290.5,2842,2160,1630,1415,684.4,26.3,187,5649,0.00,2.35,0.00,0.000,4612,0.000,0.070,2854,744,1522,1630,1415,0,0,0,0,0,0,15.06,14.83,15.06
$GC,5710,1.03,290.5,2854,744,1630,1415,673.0,26.3,188,5717,0.08,2.33,0.00,0.000,5126,0.447,0.045,2831,2178,1522,1630,1415,0,0,0,0,0,0,14.69,14.85,14.88
$GC,5969,1.03,290.5,2830,2181,1630,1413,601.4,24.8,195,5974,0.00,2.38,0.00,0.000,516,0.000,0.067,2841,744,1521,1630,1413,0,0,0,0,0,0,15.11,14.88,15.11
$GC,5995,1.03,290.5,2841,743,1629,1413,601.4,24.8,195,6000,0.00,2.30,0.00,0.000,5126,0.000,0.044,2842,2169,1522,1631,1413,0,0,0,0,0,0,14.97,14.90,14.98
$GC,6252,1.03,290.5,2841,2171,1630,1412,530.3,24.8,202,6253,0.00,0.00,0.00,0.000,4102,0.000,0.000,2842,2170,1521,1630,1412,0,0,0,0,0,0,15.15,15.15,15.15
$GC,6492,1.03,290.5,2841,2170,1630,1411,471.4,24.0,208,6497,0.00,2.38,0.00,0.000,4612,0.000,0.066,2852,739,1520,1630,1411,0,0,0,0,0,0,15.17,14.94,15.17
$GC,6518,1.03,290.5,2852,739,1630,1410,471.4,24.0,208,6524,0.05,2.30,0.00,0.000,5126,0.494,0.046,2836,2168,1520,1630,1411,0,0,0,0,0,0,14.78,14.95,14.98
$GC,6776,1.03,290.5,2836,2172,1630,1410,407.1,22.2,215,6781,0.00,2.35,0.00,0.000,4612,0.000,0.067,2846,750,1520,1630,1410,0,0,0,0,0,0,15.19,14.95,15.19
$GC,6792,1.03,290.5,2846,749,1629,1410,407.1,22.2,215,6798,0.05,2.28,0.00,0.000,5126,0.497,0.046,2831,2166,1520,1630,1410,0,0,0,0,0,0,14.78,14.97,15.00
$GC,7060,1.03,290.5,2831,2169,1630,1409,343.7,22.5,222,7065,0.00,2.25,0.00,0.000,260,0.000,0.053,2831,3569,1519,1630,1408,0,0,0,0,0,0,15.19,14.98,15.20
$GC,7103,1.03,290.5,2831,3569,1630,1410,334.1,22.5,223,7108,0.00,2.30,0.00,0.000,5126,0.000,0.050,2841,2151,1520,1630,1410,0,0,0,0,0,0,15.06,14.98,15.07
$GC,7385,1.03,290.5,2841,2150,1630,1410,271.6,22.1,230,7386,0.00,0.00,0.00,0.000,4102,0.000,0.000,2841,2150,1520,1630,1410,0,0,0,0,0,0,15.21,15.21,15.21
$GC,7625,1.03,290.5,2841,2150,1630,1410,225.4,18.8,236,7626,0.00,0.00,0.00,0.000,4102,0.000,0.000,2842,2150,1519,1630,1409,0,0,0,0,0,0,15.22,15.22,15.23
$GC,7865,1.03,290.5,2842,2150,1630,1409,181.6,17.6,248,7870,0.00,2.30,0.00,0.000,4356,0.000,0.053,2841,3569,1519,1630,1409,0,0,0,0,0,0,15.22,15.00,15.22
$GC,7934,1.03,290.5,2841,3569,1630,1413,170.9,15.9,254,7941,0.08,2.28,0.00,0.000,5126,0.438,0.048,2828,2154,1521,1630,1413,0,0,0,0,0,0,14.82,15.00,15.02
$GC,8182,1.03,290.5,2827,2153,1630,1413,128.1,16.6,279,8187,0.00,2.25,0.00,0.000,516,0.000,0.060,2838,746,1522,1630,1414,0,0,0,0,0,0,15.18,14.96,15.19
$GC,8335,1.03,290.5,2838,746,1630,1414,103.2,15.7,293,8341,0.00,2.28,0.00,0.000,5126,0.000,0.039,2839,2176,1522,1630,1414,0,0,0,0,0,0,15.04,14.97,15.05
$GC,8592,1.03,290.5,2838,2178,1630,1417,64.4,15.6,318,8600,0.00,0.00,0.00,0.000,4102,0.000,0.000,2838,2178,1523,1630,1417,0,0,0,0,0,0,15.16,15.16,15.16
$GC,8841,1.03,290.5,2838,2179,1630,1419,28.3,13.6,344,8850,0.00,2.28,0.00,0.000,4356,0.000,0.053,2838,3562,1525,1630,1420,0,0,0,0,0,0,15.13,14.89,15.13
$GC,8964,1.03,290.5,2838,3562,1630,1421,8.6,16.1,364,8973,0.05,2.30,0.00,0.000,5126,0.418,0.046,2832,2164,1525,1630,1421,0,0,0,0,0,0,14.71,14.88,14.85
$STATE,9003,end climb,SURFACE_DEPTH_REACHED
$STATE,9003,begin surface coast
$FINISH,0.2,1.014982
$STATE,9023,end surface coast,CONTROL_FINISHED_OK
$STATE,9023,begin surface
$SM_CCo,9036,58.35,0.139,0,0,1118,390.02
$SM_GC,1.22,6.00,0.22,58.35,0.076,0.067,0.139,194,2321,1118,-7.11,-1.44,390.02,0,0,0,0,0,0,14.92,14.92,14.78
$IRIDIUM_FIX,2223.01,-15532.40,250318,072736
$TT8_MAMPS,0.019474,0.265146
$HUMID,43.10
$INTERNAL_PRESSURE,9.38772
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,13.05,32.037
$10V_AH,13.39,0.000
$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,14.250,101.500,333.200,58.350,0.000,32.929,51.906,96.627,42.750,0.000,7.424,1426.045,5868.559,506.667,1517.965,82.595,0.000,1126.912,0.000,1201.380,0.000,263.798,0.000
$DEVICE_MAMPS,497.250,69.615,2907.765,139.230,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,253.186,172.604,305.101,294.138,451.317,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343120
$DATA_FILE_SIZE,33968,373
$CAP_FILE_SIZE,105283,0
$CFSIZE,2097086464,2082013184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.207,313.75,1
$GPS,250318,100431,2230.262,-15551.582,26,0.8,43,10.0,0.0,328.4,10,46.0