version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 139
start: 3 27 118 3 11 37
data:
$ID,626
$MISSION,2
$DIVE,139
$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,110
$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,2400
$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,2400
$C_ROLL_CLIMB,2131
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$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,2760
$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
$GPS1,270318,030631,2220.5266,-15554.2832,23,1.1,23,9.9,0.0,0.0,7,37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-76.2
$GPS2,270318,031113,2220.5591,-15554.2861,14,1.1,14,9.9,0.7,69.4,8,33.2
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,M4
$TGT_LATLONG,2218.000,-15612.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,223.5,30720,-21.4,-10.000,-23.94,1642
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.80,-107.1,207,2380,1211,1130,0.0,0.0,0,66,0.00,0.00,-48.42,0.000,16386,0.000,0.000,207,2381,2794,2815,2774,0,0,0,0,0,0,14.99,28.83,14.99
$GC,68,-0.80,-107.1,208,2381,2815,2774,4.2,-7.9,6,86,6.25,0.00,-6.35,0.000,18950,0.451,0.000,2139,2381,3199,3227,3172,0,0,0,0,0,0,14.54,13.94,14.80
$GC,339,-0.80,-107.1,2138,2381,3228,3172,146.4,-51.8,35,345,0.00,2.30,0.00,0.000,2308,0.000,0.050,2129,3802,3200,3228,3172,0,0,0,0,0,0,15.05,14.83,15.05
$GC,512,-0.80,-107.1,2129,3802,3230,3172,220.7,-42.2,48,518,0.00,2.28,0.00,0.000,3078,0.000,0.056,2129,2415,3200,3230,3171,0,0,0,0,0,0,14.95,14.85,14.96
$GC,790,-0.80,-107.1,2129,2413,3233,3172,346.0,-44.5,55,796,0.00,2.25,0.00,0.000,2308,0.000,0.052,2119,3797,3202,3233,3172,0,0,0,0,0,0,15.16,14.92,15.16
$GC,841,-0.80,-107.1,2119,3798,3233,3172,363.2,-43.1,56,847,0.08,2.30,0.00,0.000,3078,0.444,0.057,2141,2389,3202,3233,3172,0,0,0,0,0,0,14.75,14.92,14.96
$GC,1114,-0.80,-107.1,2140,2387,3233,3172,477.8,-41.5,63,1119,0.00,2.33,0.00,0.000,260,0.000,0.062,2141,3806,3202,3234,3171,0,0,0,0,0,0,15.19,14.95,15.20
$GC,1190,-0.80,-107.1,2140,3806,3233,3172,493.2,-40.3,64,1197,0.00,2.30,0.00,0.000,1030,0.000,0.056,2141,2390,3203,3234,3172,0,0,0,0,0,0,15.04,14.97,15.06
$GC,1438,-0.80,-107.1,2141,2390,3233,3171,600.4,-38.6,71,1444,0.00,2.30,0.00,0.000,260,0.000,0.059,2131,3794,3202,3233,3171,0,0,0,0,0,0,15.21,14.97,15.22
$GC,1494,-0.80,-107.1,2131,3794,3233,3172,616.8,-38.5,72,1500,0.00,2.28,0.00,0.000,3078,0.000,0.057,2131,2398,3202,3233,3171,0,0,0,0,0,0,15.07,14.98,15.09
$GC,1762,-0.80,-107.1,2131,2397,3233,3168,722.2,-37.8,79,1763,0.00,0.00,0.00,0.000,2054,0.000,0.000,2131,2397,3200,3233,3168,0,0,0,0,0,0,15.24,15.24,15.24
$GC,2003,-0.80,-107.1,2131,2397,3233,3163,810.4,-36.8,85,2008,0.00,2.33,0.00,0.000,2308,0.000,0.063,2124,3802,3197,3233,3162,0,0,0,0,0,0,15.25,15.00,15.25
$GC,2079,-0.80,-107.1,2124,3803,3233,3162,825.3,-36.3,86,2087,0.05,2.30,0.00,0.000,3078,0.480,0.055,2139,2386,3197,3233,3162,0,0,0,0,0,0,14.83,15.01,15.04
$STATE,2284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2284,begin apogee
$GC,2288,-0.16,0.0,2139,2106,3233,3157,908.2,-35.0,92,2380,0.57,0.00,89.22,2.235,10246,0.337,0.000,2342,2104,2760,2829,2691,0,0,0,0,0,0,14.85,14.29,13.56
$STATE,2381,end apogee,CONTROL_FINISHED_OK
$STATE,2382,begin climb
$GC,2383,0.80,107.1,2342,2104,2829,2691,925.0,0.0,94,2486,0.80,0.00,94.18,2.492,10758,0.259,0.000,2634,2101,2322,2415,2229,0,0,0,0,0,0,14.18,14.09,13.36
$GC,2725,1.05,311.0,2633,2101,2413,2226,937.2,-2.8,103,2920,0.17,2.47,182.32,2.838,11012,0.107,0.071,2779,747,1490,1598,1383,0,0,0,0,0,0,14.66,13.97,13.14
$GC,2991,1.05,311.0,2779,747,1597,1383,914.8,14.8,109,2997,0.12,2.35,0.00,0.000,5126,0.363,0.048,2740,2124,1490,1597,1383,0,0,0,0,0,0,14.19,14.34,14.38
$GC,3249,1.05,311.0,2739,2129,1597,1378,863.7,17.7,116,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2129,1487,1597,1378,0,0,0,0,0,0,14.88,14.89,14.89
$GC,3489,1.05,311.0,2739,2129,1597,1375,822.9,17.0,122,3495,0.00,2.35,0.00,0.000,4612,0.000,0.070,2749,746,1486,1597,1375,0,0,0,0,0,0,15.01,14.78,15.02
$GC,3506,1.05,311.0,2748,746,1597,1375,822.9,17.0,122,3511,0.00,2.30,0.00,0.000,5126,0.000,0.050,2749,2135,1486,1597,1375,0,0,0,0,0,0,14.88,14.79,14.88
$GC,3773,1.05,311.0,2748,2136,1597,1372,773.9,17.1,129,3778,0.00,2.38,0.00,0.000,4612,0.000,0.070,2759,737,1484,1597,1372,0,0,0,0,0,0,15.09,14.85,15.09
$GC,3799,1.05,311.0,2758,737,1597,1372,773.9,17.1,129,3805,0.08,2.30,0.00,0.000,5126,0.400,0.048,2735,2138,1484,1597,1372,0,0,0,0,0,0,14.71,14.87,14.90
$GC,4056,1.05,311.0,2734,2142,1597,1369,727.8,16.2,136,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2142,1483,1597,1369,0,0,0,0,0,0,15.13,15.13,15.14
$GC,4296,1.05,311.0,2734,2142,1597,1368,689.5,16.1,142,4302,0.00,2.35,0.00,0.000,516,0.000,0.066,2744,734,1482,1597,1368,0,0,0,0,0,0,15.16,14.93,15.16
$GC,4333,1.05,311.0,2744,734,1597,1368,689.5,16.1,142,4340,0.00,2.28,0.00,0.000,5126,0.000,0.043,2744,2139,1482,1596,1368,0,0,0,0,0,0,15.02,14.95,15.03
$GC,4579,1.05,311.0,2743,2142,1597,1368,643.4,16.1,149,4585,0.00,2.33,0.00,0.000,4612,0.000,0.063,2754,737,1482,1597,1368,0,0,0,0,0,0,15.17,14.95,15.19
$GC,4626,1.05,311.0,2754,737,1597,1368,636.4,15.9,150,4632,0.05,2.25,0.00,0.000,5126,0.454,0.042,2738,2135,1482,1597,1368,0,0,0,0,0,0,14.79,14.97,15.00
$GC,4904,1.05,311.0,2738,2139,1597,1366,594.6,14.5,157,4909,0.00,2.33,0.00,0.000,516,0.000,0.063,2747,733,1481,1597,1366,0,0,0,0,0,0,15.19,14.96,15.20
$GC,4980,1.05,311.0,2746,733,1597,1366,588.5,14.5,158,4987,0.00,2.25,0.00,0.000,5126,0.000,0.042,2747,2129,1481,1597,1366,0,0,0,0,0,0,15.06,14.98,15.07
$GC,5226,1.05,311.0,2747,2132,1597,1365,547.5,14.7,165,5232,0.00,2.28,0.00,0.000,4356,0.000,0.056,2747,3534,1480,1596,1365,0,0,0,0,0,0,15.21,14.98,15.21
$GC,5269,1.05,311.0,2747,3533,1597,1368,540.5,15.0,166,5276,0.05,2.28,0.00,0.000,5126,0.438,0.050,2741,2142,1482,1596,1368,0,0,0,0,0,0,14.82,14.99,15.03
$GC,5553,1.05,311.0,2741,2142,1596,1368,496.7,15.4,173,5558,0.00,2.33,0.00,0.000,4612,0.000,0.063,2750,718,1482,1596,1368,0,0,0,0,0,0,15.22,14.98,15.22
$GC,5604,1.05,311.0,2750,718,1596,1368,489.7,15.7,174,5610,0.00,2.28,0.00,0.000,5126,0.000,0.041,2750,2132,1482,1597,1368,0,0,0,0,0,0,15.07,15.00,15.09
$GC,5876,1.05,311.0,2750,2135,1596,1367,446.0,15.1,181,5882,0.00,2.33,0.00,0.000,4612,0.000,0.061,2761,722,1481,1596,1367,0,0,0,0,0,0,15.22,14.99,15.23
$GC,5923,1.05,311.0,2760,723,1596,1367,439.3,15.2,182,5929,0.08,2.28,0.00,0.000,5126,0.363,0.041,2735,2140,1482,1597,1367,0,0,0,0,0,0,14.85,15.01,15.04
$GC,6201,1.05,311.0,2734,2144,1596,1365,401.7,13.2,189,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2144,1480,1596,1365,0,0,0,0,0,0,15.23,15.23,15.23
$GC,6442,1.05,311.0,2734,2144,1596,1365,369.9,13.3,195,6448,0.00,2.35,0.00,0.000,516,0.000,0.062,2744,718,1480,1596,1364,0,0,0,0,0,0,15.23,15.00,15.24
$GC,6494,1.05,311.0,2744,718,1596,1365,363.6,13.4,196,6500,0.00,2.28,0.00,0.000,5126,0.000,0.041,2744,2136,1480,1596,1365,0,0,0,0,0,0,15.09,15.02,15.11
$GC,6766,1.05,311.0,2744,2139,1596,1365,325.1,13.6,203,6771,0.00,2.35,0.00,0.000,4612,0.000,0.061,2755,714,1480,1596,1365,0,0,0,0,0,0,15.24,15.00,15.24
$GC,6898,1.05,311.0,2754,713,1596,1365,308.1,14.0,206,6905,0.05,2.28,0.00,0.000,5126,0.425,0.041,2738,2132,1480,1596,1365,0,0,0,0,0,0,14.84,15.02,15.05
$GC,7171,1.05,311.0,2738,2136,1596,1365,271.9,12.5,213,7177,0.00,2.25,0.00,0.000,260,0.000,0.054,2738,3532,1481,1597,1366,0,0,0,0,0,0,15.23,15.01,15.24
$GC,7199,1.05,311.0,2738,3532,1596,1368,271.9,12.5,213,7204,0.00,2.28,0.00,0.000,5126,0.000,0.048,2747,2127,1482,1596,1368,0,0,0,0,0,0,15.09,15.01,15.11
$GC,7455,1.05,311.0,2747,2126,1595,1368,239.5,11.1,220,7457,0.00,0.00,0.00,0.000,4102,0.000,0.000,2747,2126,1481,1595,1368,0,0,0,0,0,0,15.25,15.25,15.25
$GC,7695,1.05,311.0,2747,2126,1595,1368,212.7,11.1,226,7697,0.00,0.00,0.00,0.000,4102,0.000,0.000,2746,2126,1482,1596,1368,0,0,0,0,0,0,15.25,15.25,15.26
$GC,7937,1.05,311.0,2747,2126,1595,1368,185.5,11.9,238,7944,0.00,2.28,0.00,0.000,4612,0.000,0.061,2758,720,1481,1595,1368,0,0,0,0,0,0,15.24,15.00,15.24
$GC,7975,1.05,311.0,2758,721,1596,1367,181.7,11.1,241,7983,0.05,2.28,0.00,0.000,5126,0.416,0.041,2741,2140,1481,1595,1367,0,0,0,0,0,0,14.85,15.02,15.05
$GC,8222,1.06,319.1,2741,2144,1595,1368,156.0,9.5,266,8235,0.00,2.40,6.45,1.060,8708,0.000,0.060,2750,717,1457,1572,1343,0,0,0,0,0,0,15.21,14.95,14.38
$GC,8258,1.06,319.1,2750,716,1570,1343,152.3,10.0,269,8263,0.00,2.28,0.00,0.000,5126,0.000,0.039,2750,2132,1456,1570,1343,0,0,0,0,0,0,15.04,14.97,15.04
$GC,8510,1.07,326.8,2750,2135,1570,1344,126.9,9.5,294,8525,0.00,2.35,8.05,0.983,12804,0.000,0.058,2761,721,1425,1538,1312,0,0,0,0,0,0,15.17,14.79,14.37
$GC,8614,1.07,326.8,2760,721,1535,1313,116.6,10.6,303,8620,0.05,2.28,0.00,0.000,5126,0.400,0.039,2742,2133,1424,1535,1313,0,0,0,0,0,0,14.76,14.92,14.94
$GC,8867,1.09,343.0,2742,2136,1535,1313,92.2,9.0,328,8887,0.00,0.00,13.85,1.240,10246,0.000,0.000,2742,2136,1359,1470,1249,0,0,0,0,0,0,15.14,14.70,14.24
$GC,9131,1.09,343.0,2742,2137,1470,1246,65.7,10.8,354,9136,0.00,2.35,0.00,0.000,2564,0.000,0.060,2752,722,1358,1470,1246,0,0,0,0,0,0,15.07,14.85,15.08
$GC,9178,1.09,343.0,2752,722,1470,1246,60.3,11.0,358,9184,0.00,2.28,0.00,0.000,1030,0.000,0.038,2752,2132,1358,1470,1246,0,0,0,0,0,0,14.93,14.88,14.95
$GC,9433,1.09,343.0,2752,2135,1470,1246,32.0,11.2,383,9439,0.00,2.33,0.00,0.000,516,0.000,0.059,2762,718,1358,1470,1246,0,0,0,0,0,0,15.08,14.85,15.09
$GC,9465,1.09,343.0,2762,718,1470,1247,28.6,10.9,386,9473,0.00,2.33,0.00,0.000,5126,0.000,0.037,2762,2131,1358,1470,1247,0,0,0,0,0,0,14.88,14.85,14.89
$STATE,9704,end climb,SURFACE_DEPTH_REACHED
$STATE,9704,begin surface coast
$FINISH,0.3,1.023402
$STATE,9735,end surface coast,CONTROL_FINISHED_OK
$STATE,9735,begin surface
$SM_CCo,9749,25.98,0.129,0,0,1168,390.02
$SM_GC,2.10,5.85,0.40,25.98,0.071,0.063,0.129,188,2401,1168,-6.82,-1.41,390.02,0,0,0,0,0,0,14.88,14.85,14.77
$IRIDIUM_FIX,2211.35,-15557.28,270318,030730
$TT8_MAMPS,0.019474,0.262899
$HUMID,41.53
$INTERNAL_PRESSURE,9.44631
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,76.2,7.7
$24V_AH,13.14,37.960
$10V_AH,13.48,0.000
$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,14.300,102.325,394.075,25.975,0.000,28.018,47.226,106.809,1.750,0.000,15.431,1558.997,6259.726,523.021,1646.483,82.634,0.000,1186.517,0.000,1410.785,0.000,14.865,0.000
$DEVICE_MAMPS,480.420,71.145,2838.150,129.285,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,292.544,209.887,375.361,369.299,566.621,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343096
$DATA_FILE_SIZE,37334,431
$CAP_FILE_SIZE,95832,0
$CFSIZE,2097086464,2080342016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.134,306.84,1
$GPS,270318,055554,2220.446,-15556.261,49,0.9,49,9.9,0.6,339.7,9,47.9