version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 125
start: 3 25 118 14 53 18
data:
$ID,626
$MISSION,2
$DIVE,125
$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,39
$R_STBD_OVSHOOT,58
$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
$GPS1,250318,144801,2229.2739,-15551.0752,30,0.8,32,10.0,0.0,21.1,12,86.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-73.8
$GPS2,250318,145236,2229.3193,-15551.0986,6,0.9,6,10.0,1.5,8.0,9,220.0
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,M3
$TGT_LATLONG,2211.600,-15551.700
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,140.0,32832,-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,14,begin dive
$GC,15,-0.78,-87.6,194,2329,1167,1078,0.0,0.0,0,67,0.00,0.00,-49.28,0.000,16386,0.000,0.000,194,2329,2730,2752,2708,0,0,0,0,0,0,15.01,28.83,15.02
$GC,69,-0.78,-87.6,194,2329,2752,2707,3.2,-4.8,6,87,6.47,2.35,-5.62,0.000,18948,0.433,0.070,2243,904,3070,3101,3040,0,0,0,0,0,0,14.58,14.02,14.83
$GC,125,-0.78,-87.6,2243,904,3103,3040,30.2,-46.2,14,131,0.00,2.28,0.00,0.000,3078,0.000,0.047,2236,2293,3071,3102,3040,0,0,0,0,0,0,14.87,14.78,14.88
$GC,380,-0.78,-87.6,2235,2293,3104,3040,126.3,-33.9,39,385,0.00,2.33,0.00,0.000,2308,0.000,0.055,2235,3735,3072,3104,3040,0,0,0,0,0,0,15.04,14.83,15.04
$GC,395,-0.78,-87.6,2234,3735,3105,3040,131.1,-33.9,40,404,0.00,2.33,0.00,0.000,3078,0.000,0.048,2235,2324,3072,3105,3040,0,0,0,0,0,0,14.83,14.79,14.89
$GC,653,-0.78,-87.6,2235,2323,3108,3040,214.9,-30.5,63,654,0.00,0.00,0.00,0.000,2054,0.000,0.000,2235,2323,3074,3108,3040,0,0,0,0,0,0,15.09,15.09,15.09
$GC,896,-0.78,-87.6,2235,2323,3110,3040,282.7,-27.3,69,897,0.00,0.00,0.00,0.000,2054,0.000,0.000,2235,2323,3075,3111,3040,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1133,-0.78,-87.6,2235,2323,3113,3040,344.0,-25.6,75,1138,0.00,2.28,0.00,0.000,2564,0.000,0.058,2235,907,3076,3113,3040,0,0,0,0,0,0,15.19,14.96,15.19
$GC,1163,-0.78,-87.6,2234,906,3113,3040,344.0,-25.6,75,1169,0.08,2.28,0.00,0.000,3078,0.413,0.041,2250,2336,3076,3113,3040,0,0,0,0,0,0,14.83,14.97,15.00
$GC,1416,-0.78,-87.6,2250,2336,3113,3040,412.0,-23.2,82,1421,0.00,2.22,0.00,0.000,260,0.000,0.060,2249,3733,3076,3113,3039,0,0,0,0,0,0,15.21,14.97,15.21
$GC,1448,-0.78,-87.6,2249,3734,3113,3040,412.0,-23.2,82,1453,0.00,2.25,0.00,0.000,1030,0.000,0.045,2249,2310,3076,3113,3040,0,0,0,0,0,0,15.06,15.00,15.07
$GC,1700,-0.78,-87.6,2249,2308,3113,3040,476.2,-22.6,89,1705,0.00,2.20,0.00,0.000,516,0.000,0.057,2249,916,3076,3113,3039,0,0,0,0,0,0,15.22,15.00,15.23
$GC,1747,-0.78,-87.6,2249,915,3113,3039,486.5,-22.8,90,1752,0.00,2.25,0.00,0.000,1030,0.000,0.044,2249,2323,3076,3113,3040,0,0,0,0,0,0,15.07,15.00,15.09
$GC,2024,-0.78,-87.6,2248,2323,3113,3039,549.8,-22.2,97,2029,0.00,2.25,0.00,0.000,260,0.000,0.060,2248,3735,3076,3113,3039,0,0,0,0,0,0,15.23,15.00,15.24
$GC,2075,-0.78,-87.6,2248,3735,3113,3039,558.4,-21.8,98,2081,0.00,2.25,0.00,0.000,1030,0.000,0.045,2248,2312,3076,3113,3039,0,0,0,0,0,0,15.09,15.02,15.10
$GC,2348,-0.78,-87.6,2248,2311,3113,3037,617.1,-21.1,105,2353,0.00,2.22,0.00,0.000,516,0.000,0.057,2248,907,3074,3113,3036,0,0,0,0,0,0,15.24,15.02,15.25
$GC,2399,-0.78,-87.6,2248,906,3113,3035,626.1,-21.1,106,2404,0.00,2.28,0.00,0.000,1030,0.000,0.045,2248,2327,3074,3113,3035,0,0,0,0,0,0,15.09,15.02,15.11
$GC,2671,-0.78,-87.6,2248,2327,3113,3032,683.7,-20.5,113,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2327,3072,3113,3032,0,0,0,0,0,0,15.25,15.26,15.26
$GC,2911,-0.78,-87.6,2248,2327,3113,3028,732.0,-20.1,119,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2327,3070,3113,3027,0,0,0,0,0,0,15.26,15.26,15.26
$GC,3151,-0.78,-87.6,2248,2327,3113,3025,781.0,-20.3,125,3156,0.00,2.28,0.00,0.000,516,0.000,0.057,2248,909,3069,3113,3025,0,0,0,0,0,0,15.26,15.04,15.27
$GC,3177,-0.78,-87.6,2248,908,3113,3024,781.0,-20.3,125,3182,0.00,2.28,0.00,0.000,1030,0.000,0.047,2248,2327,3069,3113,3025,0,0,0,0,0,0,15.11,15.03,15.13
$GC,3435,-0.78,-87.6,2248,2327,3113,3020,835.3,-18.9,132,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2327,3065,3111,3020,0,0,0,0,0,0,15.26,15.27,15.27
$GC,3674,-0.78,-87.6,2248,2327,3113,3018,879.9,-18.4,138,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2327,3065,3113,3018,0,0,0,0,0,0,15.26,15.28,15.27
$STATE,3794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3794,begin apogee
$GC,3799,-0.16,0.0,2248,2150,3112,3015,902.0,-18.4,141,3876,0.52,0.00,74.03,2.403,10246,0.288,0.000,2445,2148,2710,2785,2635,0,0,0,0,0,0,14.92,14.33,13.55
$STATE,3877,end apogee,CONTROL_FINISHED_OK
$STATE,3877,begin climb
$GC,3878,0.78,87.6,2445,2148,2784,2636,907.9,0.0,143,3964,0.73,2.50,77.12,2.739,10500,0.182,0.064,2733,3572,2352,2430,2275,0,0,0,0,0,0,14.25,14.06,13.16
$GC,4036,0.78,87.6,2732,3572,2428,2274,914.5,-5.4,147,4042,0.00,2.35,0.00,0.000,3078,0.000,0.047,2743,2173,2351,2429,2274,0,0,0,0,0,0,14.50,14.42,14.50
$GC,4318,1.09,341.8,2742,2173,2429,2270,931.2,-6.0,154,4560,0.17,2.53,230.60,2.941,10756,0.154,0.070,2855,759,1314,1417,1212,0,0,0,0,0,0,14.68,13.72,12.99
$GC,4611,1.09,341.8,2854,759,1417,1212,885.7,26.4,161,4617,0.00,2.40,0.00,0.000,5126,0.000,0.044,2855,2173,1314,1417,1212,0,0,0,0,0,0,14.28,14.21,14.30
$GC,4884,1.09,341.8,2854,2175,1417,1209,796.3,31.6,168,4889,0.00,2.42,0.00,0.000,4612,0.000,0.070,2865,759,1313,1417,1209,0,0,0,0,0,0,14.83,14.60,14.83
$GC,4920,1.09,341.8,2865,759,1417,1209,796.3,31.6,168,4927,0.00,2.30,0.00,0.000,5126,0.000,0.044,2865,2160,1313,1417,1209,0,0,0,0,0,0,14.72,14.64,14.73
$GC,5166,1.09,341.8,2865,2163,1417,1207,706.0,31.4,175,5171,0.00,2.38,0.00,0.000,4612,0.000,0.070,2875,759,1312,1417,1207,0,0,0,0,0,0,14.98,14.75,14.99
$GC,5202,1.09,341.8,2875,759,1417,1207,706.0,31.4,175,5209,0.08,2.30,0.00,0.000,5126,0.438,0.045,2853,2171,1312,1417,1207,0,0,0,0,0,0,14.62,14.78,14.81
$GC,5448,1.09,341.8,2852,2175,1417,1205,619.5,29.9,182,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2175,1311,1417,1205,0,0,0,0,0,0,15.06,15.06,15.07
$GC,5688,1.09,341.8,2852,2175,1417,1203,549.9,28.9,188,5693,0.00,2.38,0.00,0.000,4612,0.000,0.070,2862,758,1310,1417,1203,0,0,0,0,0,0,15.11,14.88,15.11
$GC,5709,1.09,341.8,2862,757,1417,1204,549.9,28.9,188,5714,0.00,2.28,0.00,0.000,5126,0.000,0.047,2862,2164,1310,1417,1203,0,0,0,0,0,0,14.97,14.90,14.98
$GC,5972,1.09,341.8,2862,2166,1417,1203,468.0,28.7,195,5973,0.00,0.00,0.00,0.000,4102,0.000,0.000,2862,2166,1310,1417,1203,0,0,0,0,0,0,15.14,15.14,15.14
$GC,6213,1.09,341.8,2862,2166,1417,1202,397.4,29.5,201,6214,0.00,0.00,0.00,0.000,4102,0.000,0.000,2862,2166,1309,1416,1203,0,0,0,0,0,0,15.16,15.16,15.16
$GC,6452,1.09,341.8,2862,2166,1417,1201,329.6,28.2,207,6457,0.00,2.35,0.00,0.000,4612,0.000,0.069,2874,750,1309,1417,1201,0,0,0,0,0,0,15.18,14.95,15.19
$GC,6513,1.09,341.8,2873,750,1417,1201,317.5,28.4,208,6519,0.08,2.28,0.00,0.000,5126,0.420,0.044,2850,2172,1309,1417,1201,0,0,0,0,0,0,14.81,14.97,14.99
$GC,6776,1.09,341.8,2849,2175,1417,1200,241.8,25.8,215,6781,0.00,2.22,0.00,0.000,260,0.000,0.052,2849,3569,1308,1417,1200,0,0,0,0,0,0,15.19,14.97,15.20
$GC,6791,1.09,341.8,2849,3569,1417,1201,241.8,25.8,215,6797,0.00,2.28,0.00,0.000,5126,0.000,0.050,2859,2160,1309,1417,1201,0,0,0,0,0,0,15.05,14.97,15.07
$GC,7041,1.09,341.8,2859,2159,1417,1200,180.0,23.7,226,7046,0.00,2.28,0.00,0.000,4612,0.000,0.062,2870,750,1308,1417,1200,0,0,0,0,0,0,15.19,14.97,15.20
$GC,7127,1.09,341.8,2870,749,1417,1199,159.8,22.9,234,7133,0.05,2.25,0.00,0.000,5126,0.445,0.040,2854,2165,1307,1417,1198,0,0,0,0,0,0,14.82,14.99,15.02
$GC,7381,1.09,341.8,2854,2169,1417,1198,100.7,22.9,259,7387,0.00,2.22,0.00,0.000,4356,0.000,0.051,2854,3563,1307,1417,1198,0,0,0,0,0,0,15.16,14.95,15.17
$GC,7480,1.09,341.8,2853,3563,1417,1198,79.2,20.4,268,7485,0.00,2.28,0.00,0.000,5126,0.000,0.050,2863,2158,1307,1416,1198,0,0,0,0,0,0,15.03,14.95,15.04
$GC,7734,1.09,341.8,2863,2158,1416,1198,29.9,19.6,293,7742,0.00,0.00,0.00,0.000,4102,0.000,0.000,2863,2158,1307,1417,1198,0,0,0,0,0,0,15.14,15.14,15.14
$STATE,7866,end climb,SURFACE_DEPTH_REACHED
$STATE,7867,begin surface coast
$FINISH,0.1,1.010419
$STATE,7880,end surface coast,CONTROL_FINISHED_OK
$STATE,7880,begin surface
$SM_CCo,7894,30.10,0.135,0,0,1117,390.02
$SM_GC,0.86,6.05,0.25,30.10,0.067,0.069,0.135,193,2321,1117,-7.13,-1.39,390.02,0,0,0,0,0,0,14.92,14.92,14.80
$IRIDIUM_FIX,2220.67,-15553.25,250318,144858
$TT8_MAMPS,0.019474,0.26215
$HUMID,46.49
$INTERNAL_PRESSURE,9.35842
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,282.7,6.9
$24V_AH,12.99,33.115
$10V_AH,13.33,0.000
$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,14.225,78.775,381.750,30.100,0.000,29.251,47.941,105.278,10.250,0.000,7.442,1169.703,5292.533,456.051,1248.876,66.730,0.000,983.968,0.000,1002.467,0.000,67.334,0.000
$DEVICE_MAMPS,445.230,74.205,2940.660,134.640,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,215.200,142.936,251.025,238.327,365.672,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343092
$DATA_FILE_SIZE,27288,317
$CAP_FILE_SIZE,79643,0
$CFSIZE,2097086464,2081783808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.136,304.82,1
$GPS,250318,170613,2228.483,-15550.934,17,0.9,17,10.0,0.7,279.7,8,39.8