version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 123
start: 3 25 118 10 9 59
data:
$ID,626
$MISSION,2
$DIVE,123
$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,40
$R_STBD_OVSHOOT,48
$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
$GPS1,250318,100431,2230.2620,-15551.5820,26,0.8,43,10.0,0.0,328.4,10,46.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-73.0
$GPS2,250318,100916,2230.3303,-15551.6367,6,1.0,6,10.0,0.5,334.3,8,139.0
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,M3
$TGT_LATLONG,2211.600,-15551.700
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,128.3,34688,-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,-87.6,194,2324,1152,1087,0.0,0.0,0,65,0.00,0.00,-48.42,0.000,16386,0.000,0.000,194,2324,2715,2737,2693,0,0,0,0,0,0,15.00,28.83,15.01
$GC,68,-0.78,-87.6,194,2324,2737,2693,3.5,-6.8,6,86,6.55,0.00,-6.05,0.000,18950,0.444,0.000,2241,2324,3071,3101,3042,0,0,0,0,0,0,14.57,14.02,14.82
$GC,340,-0.78,-87.6,2241,2324,3104,3044,113.5,-38.2,36,345,0.00,2.28,0.00,0.000,2308,0.000,0.057,2235,3721,3074,3104,3044,0,0,0,0,0,0,15.04,14.81,15.04
$GC,356,-0.78,-87.6,2235,3721,3104,3044,118.8,-37.2,37,361,0.00,2.28,0.00,0.000,3078,0.000,0.053,2235,2320,3074,3104,3044,0,0,0,0,0,0,14.91,14.83,14.92
$GC,608,-0.78,-87.6,2235,2318,3106,3044,199.5,-31.3,62,614,0.00,2.28,0.00,0.000,2564,0.000,0.057,2236,905,3074,3106,3043,0,0,0,0,0,0,15.09,14.87,15.09
$GC,624,-0.78,-87.6,2236,904,3105,3044,203.0,-30.3,63,630,0.00,2.25,0.00,0.000,3078,0.000,0.041,2235,2311,3074,3106,3043,0,0,0,0,0,0,14.96,14.88,14.97
$GC,893,-0.78,-87.6,2234,2311,3109,3043,275.5,-26.0,70,899,0.00,2.28,0.00,0.000,2308,0.000,0.060,2233,3731,3076,3109,3044,0,0,0,0,0,0,15.14,14.91,15.14
$GC,921,-0.78,-87.6,2233,3731,3109,3043,275.5,-26.0,70,930,0.00,2.22,0.00,0.000,3078,0.000,0.045,2233,2314,3076,3109,3044,0,0,0,0,0,0,14.97,14.93,14.98
$GC,1184,-0.78,-87.6,2233,2312,3111,3044,345.1,-24.6,77,1192,0.00,2.22,0.00,0.000,2564,0.000,0.056,2233,911,3077,3111,3043,0,0,0,0,0,0,15.17,14.95,15.18
$GC,1219,-0.78,-87.6,2232,911,3111,3043,345.1,-24.6,77,1226,0.05,2.22,0.00,0.000,3078,0.410,0.041,2241,2323,3077,3111,3043,0,0,0,0,0,0,14.81,14.95,14.95
$GC,1472,-0.78,-87.6,2240,2323,3112,3043,412.6,-22.7,84,1474,0.00,0.00,0.00,0.000,2054,0.000,0.000,2241,2323,3076,3109,3043,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1713,-0.78,-87.6,2240,2323,3111,3043,463.6,-20.9,90,1714,0.00,0.00,0.00,0.000,2054,0.000,0.000,2240,2323,3077,3111,3043,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1952,-0.78,-87.6,2240,2323,3110,3043,512.7,-20.6,96,1958,0.00,2.28,0.00,0.000,2564,0.000,0.055,2241,914,3077,3111,3043,0,0,0,0,0,0,15.24,15.02,15.25
$GC,1979,-0.78,-87.6,2240,914,3111,3044,512.7,-20.6,96,1984,0.00,2.25,0.00,0.000,3078,0.000,0.043,2236,2327,3077,3111,3043,0,0,0,0,0,0,15.10,15.02,15.11
$GC,2237,-0.78,-87.6,2235,2327,3111,3039,572.4,-21.2,103,2242,0.00,2.28,0.00,0.000,2308,0.000,0.063,2235,3731,3075,3111,3039,0,0,0,0,0,0,15.25,15.01,15.26
$GC,2282,-0.78,-87.6,2235,3731,3111,3039,580.7,-20.6,104,2288,0.00,2.25,0.00,0.000,3078,0.000,0.045,2235,2307,3074,3111,3038,0,0,0,0,0,0,15.11,15.03,15.12
$GC,2560,-0.78,-87.6,2235,2305,3111,3035,636.1,-19.8,111,2565,0.00,2.22,0.00,0.000,2564,0.000,0.057,2235,914,3072,3111,3034,0,0,0,0,0,0,15.26,15.03,15.26
$GC,2602,-0.78,-87.6,2234,913,3111,3034,644.7,-20.1,112,2607,0.00,2.25,0.00,0.000,3078,0.000,0.044,2234,2320,3072,3110,3034,0,0,0,0,0,0,15.11,15.03,15.12
$GC,2884,-0.78,-87.6,2234,2320,3111,3029,700.6,-19.9,119,2889,0.00,2.28,0.00,0.000,2564,0.000,0.057,2235,917,3070,3111,3029,0,0,0,0,0,0,15.26,15.04,15.27
$GC,2922,-0.78,-87.6,2234,917,3111,3028,700.6,-19.9,119,2929,0.00,2.25,0.00,0.000,3078,0.000,0.046,2234,2321,3069,3111,3028,0,0,0,0,0,0,15.12,15.03,15.13
$GC,3166,-0.78,-87.6,2234,2321,3110,3025,757.7,-19.8,126,3167,0.00,0.00,0.00,0.000,2054,0.000,0.000,2235,2321,3068,3111,3025,0,0,0,0,0,0,15.26,15.27,15.27
$GC,3407,-0.78,-87.6,2234,2321,3111,3021,803.7,-19.2,132,3408,0.00,0.00,0.00,0.000,2054,0.000,0.000,2235,2321,3066,3111,3021,0,0,0,0,0,0,15.27,15.28,15.27
$GC,3646,-0.78,-87.6,2234,2321,3111,3019,848.6,-18.5,138,3651,0.00,2.28,0.00,0.000,2308,0.000,0.063,2234,3727,3065,3111,3019,0,0,0,0,0,0,15.28,15.03,15.28
$GC,3667,-0.78,-87.6,2234,3727,3111,3019,848.6,-18.5,138,3672,0.00,2.22,0.00,0.000,3078,0.000,0.047,2234,2321,3064,3111,3018,0,0,0,0,0,0,15.14,15.05,15.14
$STATE,3928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3929,begin apogee
$GC,3933,-0.16,0.0,2235,2135,3111,3013,900.5,-18.2,145,4011,0.57,0.00,74.95,2.729,10246,0.281,0.000,2451,2130,2710,2784,2636,0,0,0,0,0,0,14.92,14.25,13.33
$STATE,4012,end apogee,CONTROL_FINISHED_OK
$STATE,4012,begin climb
$GC,4013,0.78,87.6,2451,2130,2784,2636,905.8,0.0,147,4103,0.70,2.55,79.10,2.999,10500,0.169,0.063,2733,3572,2354,2432,2276,0,0,0,0,0,0,14.19,13.90,13.14
$GC,4204,0.78,87.6,2733,3572,2430,2275,913.6,-6.2,151,4211,0.00,2.33,0.00,0.000,3078,0.000,0.048,2743,2178,2352,2430,2275,0,0,0,0,0,0,14.53,14.47,14.55
$GC,4450,1.07,321.7,2743,2178,2430,2271,927.7,-4.8,158,4675,0.17,2.53,216.40,3.075,11012,0.155,0.069,2855,762,1397,1499,1296,0,0,0,0,0,0,14.67,13.74,12.99
$GC,4826,1.07,321.7,2855,762,1497,1294,854.2,31.2,167,4832,0.00,2.35,0.00,0.000,5126,0.000,0.044,2855,2169,1395,1497,1294,0,0,0,0,0,0,14.51,14.43,14.52
$GC,5094,1.07,321.7,2854,2172,1497,1292,766.4,30.9,174,5099,0.00,2.40,0.00,0.000,4612,0.000,0.070,2865,760,1394,1497,1292,0,0,0,0,0,0,14.90,14.66,14.90
$GC,5110,1.07,321.7,2865,760,1497,1291,766.4,30.9,174,5117,0.08,2.30,0.00,0.000,5126,0.448,0.044,2843,2166,1394,1497,1291,0,0,0,0,0,0,14.52,14.69,14.72
$GC,5379,1.07,321.7,2843,2170,1497,1289,682.9,28.5,181,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2170,1392,1497,1288,0,0,0,0,0,0,15.02,15.02,15.02
$GC,5619,1.07,321.7,2842,2170,1497,1288,614.5,28.4,187,5624,0.00,2.33,0.00,0.000,516,0.000,0.065,2853,757,1392,1497,1288,0,0,0,0,0,0,15.07,14.85,15.08
$GC,5670,1.07,321.7,2853,758,1497,1288,602.2,28.6,188,5676,0.00,2.25,0.00,0.000,5126,0.000,0.041,2853,2164,1392,1497,1288,0,0,0,0,0,0,14.95,14.88,14.96
$GC,5942,1.07,321.7,2853,2168,1497,1287,522.5,28.0,195,5943,0.00,0.00,0.00,0.000,4102,0.000,0.000,2853,2167,1392,1497,1287,0,0,0,0,0,0,15.13,15.13,15.13
$GC,6184,1.07,321.7,2853,2168,1497,1286,454.5,28.1,201,6189,0.00,2.33,0.00,0.000,4612,0.000,0.063,2864,756,1391,1497,1286,0,0,0,0,0,0,15.15,14.92,15.15
$GC,6210,1.07,321.7,2864,756,1497,1285,454.5,28.1,201,6216,0.08,2.25,0.00,0.000,5126,0.428,0.041,2841,2174,1391,1497,1285,0,0,0,0,0,0,14.77,14.95,14.97
$GC,6468,1.07,321.7,2839,2177,1497,1284,373.7,27.7,208,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2177,1390,1497,1284,0,0,0,0,0,0,15.17,15.18,15.18
$GC,6709,1.07,321.7,2840,2176,1497,1283,309.0,26.5,214,6714,0.00,2.33,0.00,0.000,516,0.000,0.067,2850,755,1390,1497,1283,0,0,0,0,0,0,15.19,14.96,15.19
$GC,6724,1.07,321.7,2850,755,1497,1283,309.0,26.5,214,6730,0.00,2.22,0.00,0.000,5126,0.000,0.041,2850,2157,1390,1497,1283,0,0,0,0,0,0,15.06,14.98,15.07
$GC,6992,1.07,321.7,2850,2160,1497,1283,237.4,24.6,221,6993,0.00,0.00,0.00,0.000,4102,0.000,0.000,2850,2161,1390,1497,1283,0,0,0,0,0,0,15.21,15.21,15.21
$GC,7232,1.07,321.7,2850,2159,1497,1281,182.9,22.4,230,7238,0.00,2.30,0.00,0.000,4612,0.000,0.067,2861,759,1389,1497,1281,0,0,0,0,0,0,15.21,14.97,15.21
$GC,7244,1.07,321.7,2860,758,1497,1281,180.2,22.1,231,7250,0.05,2.25,0.00,0.000,5126,0.463,0.045,2845,2169,1389,1497,1281,0,0,0,0,0,0,14.83,15.00,15.03
$GC,7497,1.07,321.7,2845,2172,1497,1281,125.0,21.3,256,7503,0.00,2.20,0.00,0.000,4356,0.000,0.051,2845,3559,1389,1497,1281,0,0,0,0,0,0,15.19,14.97,15.19
$GC,7511,1.07,321.7,2845,3558,1497,1281,122.5,20.8,257,7516,0.00,2.25,0.00,0.000,5126,0.000,0.048,2854,2161,1389,1497,1281,0,0,0,0,0,0,15.05,14.97,15.06
$GC,7766,1.07,321.7,2855,2161,1497,1281,67.6,21.8,282,7772,0.00,2.25,0.00,0.000,4356,0.000,0.051,2855,3558,1389,1497,1281,0,0,0,0,0,0,15.16,14.95,15.16
$GC,7783,1.07,321.7,2855,3560,1497,1281,64.4,21.7,283,7792,0.05,2.30,0.00,0.000,5126,0.403,0.050,2848,2163,1388,1495,1281,0,0,0,0,0,0,14.76,14.91,14.90
$GC,8042,1.07,321.7,2847,2159,1497,1281,14.9,20.2,314,8051,0.00,2.30,0.00,0.000,4356,0.000,0.054,2848,3554,1389,1497,1282,0,0,0,0,0,0,15.12,14.88,15.13
$GC,8094,1.07,321.7,2847,3554,1497,1282,4.3,20.3,322,8104,0.03,2.33,0.00,0.000,5126,0.519,0.048,2850,2154,1389,1496,1283,0,0,0,0,0,0,14.71,14.88,14.85
$STATE,8111,end climb,SURFACE_DEPTH_REACHED
$STATE,8111,begin surface coast
$FINISH,0.1,1.023708
$STATE,8125,end surface coast,CONTROL_FINISHED_OK
$STATE,8125,begin surface
$SM_CCo,8138,39.10,0.138,0,0,1117,390.02
$SM_GC,1.47,6.10,0.25,39.10,0.084,0.076,0.138,193,2313,1117,-7.14,-1.53,390.02,0,0,0,0,0,0,14.92,14.90,14.81
$IRIDIUM_FIX,2218.34,-15553.25,250318,100530
$TT8_MAMPS,0.018725,0.265895
$HUMID,45.43
$INTERNAL_PRESSURE,9.36819
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,376.1,6.9
$24V_AH,12.99,32.399
$10V_AH,13.37,0.000
$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,14.425,87.375,370.450,39.100,0.000,32.936,55.227,103.917,15.750,0.000,7.437,1202.109,5457.872,476.992,1282.993,76.667,0.000,1023.225,0.000,1019.573,0.000,98.344,0.000
$DEVICE_MAMPS,518.670,77.265,3075.300,138.465,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,221.251,147.109,258.926,242.605,372.244,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343100
$DATA_FILE_SIZE,27323,326
$CAP_FILE_SIZE,85792,0
$CFSIZE,2097086464,2081980416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.186,315.24,1
$GPS,250318,122708,2229.901,-15551.318,18,1.3,18,10.0,0.8,23.4,6,26.2