version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 180
start: 3 30 118 3 11 2
data:
$ID,626
$MISSION,2
$DIVE,180
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$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,200
$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,120
$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,410
$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,2570
$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,2350
$C_ROLL_CLIMB,2172
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$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,2260
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00061500003
$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
$GPS1,300318,030602,2223.6169,-15610.6094,19,1.1,19,9.9,0.0,0.0,8,25.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-73.9
$GPS2,300318,031037,2223.6206,-15610.6475,14,1.1,14,9.9,0.0,0.0,8,26.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M5
$TGT_LATLONG,2224.200,-15605.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,104.6,9389,-20.5,-10.000,-23.08,1791
$D_GRID,600
$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,-0.71,-116.8,188,2352,663,637,0.0,0.0,0,80,0.00,0.00,-62.33,0.000,16390,0.000,0.000,188,2352,2737,2765,2709,0,0,0,0,0,0,15.00,13.74,14.96
$GC,82,-0.71,-116.8,188,2353,2765,2709,3.9,-6.8,8,100,6.97,2.33,0.00,0.000,2564,0.440,0.044,2332,936,2737,2765,2709,0,0,0,0,0,0,14.48,14.70,14.77
$GC,127,-0.71,-116.8,2332,935,2765,2707,25.1,-45.7,14,135,0.00,2.35,0.00,0.000,3078,0.000,0.048,2331,2323,2736,2766,2706,0,0,0,0,0,0,14.75,14.71,14.78
$GC,382,-0.71,-116.8,2331,2322,2766,2699,106.5,-31.0,40,387,0.00,2.38,0.00,0.000,2308,0.000,0.061,2322,3772,2732,2766,2699,0,0,0,0,0,0,15.07,14.80,15.07
$GC,421,-0.71,-116.8,2321,3773,2765,2699,116.4,-30.3,43,428,0.05,2.33,0.00,0.000,3078,0.453,0.053,2337,2355,2732,2766,2699,0,0,0,0,0,0,14.62,14.82,14.85
$GC,670,-0.71,-116.8,2337,2353,2765,2699,181.1,-25.2,68,675,0.00,2.33,0.00,0.000,2564,0.000,0.061,2337,932,2732,2766,2699,0,0,0,0,0,0,15.11,14.86,15.11
$GC,686,-0.71,-116.8,2337,930,2766,2699,184.0,-23.8,69,694,0.00,2.35,0.00,0.000,3078,0.000,0.041,2332,2354,2732,2766,2699,0,0,0,0,0,0,14.88,14.82,14.89
$GC,962,-0.71,-116.8,2331,2354,2766,2699,243.9,-20.6,82,963,0.00,0.00,0.00,0.000,2054,0.000,0.000,2331,2354,2732,2766,2699,0,0,0,0,0,0,15.17,15.18,15.18
$GC,1202,-0.71,-116.8,2332,2354,2766,2699,292.9,-20.6,88,1203,0.00,0.00,0.00,0.000,2054,0.000,0.000,2332,2354,2732,2766,2699,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1442,-0.71,-116.8,2332,2354,2766,2699,339.3,-19.4,94,1447,0.00,2.30,0.00,0.000,2564,0.000,0.053,2332,939,2732,2766,2699,0,0,0,0,0,0,15.23,14.96,15.23
$GC,1468,-0.71,-116.8,2332,937,2766,2699,339.3,-19.4,94,1474,0.00,2.28,0.00,0.000,3078,0.000,0.044,2332,2355,2732,2766,2699,0,0,0,0,0,0,15.07,14.97,15.08
$GC,1726,-0.71,-116.8,2331,2355,2766,2699,393.2,-18.7,101,1731,0.00,2.33,0.00,0.000,2564,0.000,0.054,2332,929,2732,2765,2699,0,0,0,0,0,0,15.24,14.98,15.25
$GC,1752,-0.71,-116.8,2332,928,2765,2698,393.2,-18.7,101,1757,0.00,2.30,0.00,0.000,3078,0.000,0.045,2332,2357,2732,2766,2698,0,0,0,0,0,0,15.08,14.98,15.09
$GC,2009,-0.71,-116.8,2331,2357,2765,2696,444.2,-17.7,108,2010,0.00,0.00,0.00,0.000,2054,0.000,0.000,2332,2357,2731,2766,2696,0,0,0,0,0,0,15.25,15.26,15.26
$GC,2250,-0.71,-116.8,2331,2357,2766,2694,485.1,-17.3,114,2255,0.00,2.35,0.00,0.000,2564,0.000,0.056,2332,930,2730,2766,2694,0,0,0,0,0,0,15.26,15.00,15.26
$GC,2276,-0.71,-116.8,2331,929,2765,2693,485.1,-17.3,114,2281,0.00,2.30,0.00,0.000,3078,0.000,0.046,2331,2355,2729,2765,2693,0,0,0,0,0,0,15.09,15.00,15.11
$GC,2535,-0.71,-116.8,2331,2355,2765,2690,534.0,-17.3,121,2536,0.00,0.00,0.00,0.000,2054,0.000,0.000,2331,2355,2727,2765,2690,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2774,-0.71,-116.8,2331,2355,2765,2686,575.4,-17.3,127,2779,0.00,2.28,0.00,0.000,2308,0.000,0.060,2331,3756,2725,2765,2685,0,0,0,0,0,0,15.27,14.97,15.27
$GC,2835,-0.71,-116.8,2331,3756,2765,2685,582.5,-17.2,128,2841,0.00,2.25,0.00,0.000,3078,0.000,0.041,2331,2339,2725,2765,2685,0,0,0,0,0,0,15.10,15.02,15.11
$STATE,2936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2936,begin apogee
$GC,2940,-0.16,0.0,2331,2140,2765,2684,601.9,-16.1,131,3032,0.50,0.00,88.00,1.682,10246,0.291,0.000,2515,2137,2260,2327,2193,0,0,0,0,0,0,14.81,14.43,13.81
$STATE,3033,end apogee,CONTROL_FINISHED_OK
$STATE,3033,begin climb
$GC,3034,0.71,116.8,2515,2137,2327,2193,606.9,0.0,133,3140,0.68,2.58,98.20,2.399,10500,0.194,0.053,2781,3587,1783,1890,1677,0,0,0,0,0,0,14.35,14.14,13.40
$GC,3207,0.71,116.8,2780,3587,1888,1677,596.9,8.3,137,3212,0.00,2.33,0.00,0.000,3078,0.000,0.047,2791,2208,1782,1888,1676,0,0,0,0,0,0,14.53,14.46,14.54
$GC,3464,0.71,116.8,2791,2208,1887,1671,559.0,13.3,144,3470,0.00,2.40,0.00,0.000,2564,0.000,0.057,2803,758,1779,1887,1672,0,0,0,0,0,0,14.96,14.73,14.96
$GC,3485,0.71,116.8,2802,757,1887,1671,559.0,13.3,144,3491,0.00,2.35,0.00,0.000,5126,0.000,0.039,2803,2188,1779,1887,1672,0,0,0,0,0,0,14.83,14.75,14.83
$GC,3748,0.71,116.8,2802,2188,1887,1669,522.6,12.8,151,3754,0.00,2.30,0.00,0.000,4356,0.000,0.059,2803,3581,1778,1887,1669,0,0,0,0,0,0,15.07,14.83,15.08
$GC,3879,0.71,116.8,2803,3581,1884,1669,506.7,12.6,154,3885,0.00,2.30,0.00,0.000,5126,0.000,0.047,2813,2168,1777,1885,1669,0,0,0,0,0,0,14.95,14.87,14.96
$GC,4152,0.71,116.8,2813,2167,1884,1666,472.5,11.8,161,4157,0.00,2.33,0.00,0.000,4356,0.000,0.056,2813,3578,1775,1885,1666,0,0,0,0,0,0,15.15,14.90,15.15
$GC,4174,0.71,116.8,2813,3578,1884,1666,472.5,11.8,161,4180,0.08,2.28,0.00,0.000,5126,0.463,0.044,2801,2166,1775,1884,1666,0,0,0,0,0,0,14.67,14.92,14.94
$GC,4438,0.71,116.8,2800,2164,1882,1664,438.0,12.1,168,4443,0.00,2.25,0.00,0.000,4612,0.000,0.056,2811,772,1773,1883,1664,0,0,0,0,0,0,15.18,14.92,15.18
$GC,4454,0.71,116.8,2811,772,1884,1664,438.0,12.1,168,4460,0.00,2.28,0.00,0.000,5126,0.000,0.041,2812,2176,1774,1884,1664,0,0,0,0,0,0,15.02,14.95,15.04
$GC,4722,0.71,116.8,2811,2177,1882,1663,405.0,11.6,175,4727,0.00,2.28,0.00,0.000,4356,0.000,0.059,2812,3573,1772,1882,1663,0,0,0,0,0,0,15.20,14.95,15.21
$GC,4808,0.71,116.8,2811,3573,1881,1663,395.3,11.7,177,4815,0.08,2.28,0.00,0.000,5126,0.446,0.049,2798,2172,1772,1881,1663,0,0,0,0,0,0,14.71,14.96,14.98
$GC,5087,0.71,116.8,2798,2170,1881,1661,364.5,10.7,184,5092,0.00,2.30,0.00,0.000,260,0.000,0.054,2798,3582,1771,1881,1661,0,0,0,0,0,0,15.21,14.97,15.21
$GC,5103,0.71,116.8,2798,3582,1881,1661,364.5,10.7,184,5109,0.00,2.28,0.00,0.000,5126,0.000,0.045,2808,2170,1771,1881,1661,0,0,0,0,0,0,15.06,14.97,15.07
$GC,5371,0.71,116.8,2808,2170,1880,1659,335.3,10.0,191,5376,0.00,2.28,0.00,0.000,4612,0.000,0.055,2820,759,1770,1880,1660,0,0,0,0,0,0,15.23,14.97,15.23
$GC,5387,0.71,116.8,2819,757,1880,1660,335.3,10.0,191,5393,0.05,2.28,0.00,0.000,5126,0.472,0.039,2805,2185,1770,1880,1660,0,0,0,0,0,0,14.73,14.99,15.01
$GC,5655,0.72,133.7,2804,2187,1879,1659,308.8,9.0,198,5675,0.00,2.33,12.32,1.182,12804,0.000,0.056,2815,758,1711,1818,1604,0,0,0,0,0,0,15.23,14.92,14.40
$GC,5746,0.73,138.7,2814,757,1816,1604,300.5,9.7,200,5757,0.00,2.28,5.25,0.983,13318,0.000,0.039,2815,2175,1691,1796,1586,0,0,0,0,0,0,15.02,14.94,14.35
$GC,6019,0.73,143.2,2815,2177,1795,1585,271.4,9.7,207,6030,0.00,2.30,4.85,0.912,12804,0.000,0.053,2825,762,1673,1778,1568,0,0,0,0,0,0,15.18,14.81,14.36
$GC,6091,0.73,143.2,2824,762,1777,1568,266.8,10.0,208,6097,0.08,2.25,0.00,0.000,5126,0.429,0.039,2801,2175,1672,1777,1568,0,0,0,0,0,0,14.70,14.93,14.93
$GC,6345,0.73,143.2,2801,2177,1777,1567,234.9,10.6,215,6350,0.00,2.28,0.00,0.000,260,0.000,0.053,2801,3581,1672,1777,1567,0,0,0,0,0,0,15.19,14.95,15.19
$GC,6858,0.74,164.3,2801,3581,1775,1568,185.6,8.8,238,6881,0.00,2.28,16.40,1.063,13318,0.000,0.044,2811,2170,1587,1690,1485,0,0,0,0,0,0,15.04,14.95,14.36
$GC,7130,0.74,164.3,2811,2170,1690,1485,154.3,11.3,265,7135,0.00,2.28,0.00,0.000,4612,0.000,0.056,2822,770,1587,1690,1485,0,0,0,0,0,0,15.13,14.88,15.13
$GC,7205,0.74,164.3,2822,769,1689,1485,146.1,10.3,272,7211,0.00,2.25,0.00,0.000,5126,0.000,0.037,2822,2173,1586,1688,1485,0,0,0,0,0,0,14.98,14.91,14.99
$GC,7461,0.77,212.9,2822,2174,1689,1485,124.0,7.2,297,7507,0.00,2.33,36.12,0.994,12548,0.000,0.051,2822,3569,1388,1478,1299,0,0,0,0,0,0,15.14,14.69,14.29
$GC,7552,0.77,212.9,2822,3569,1478,1306,112.8,15.6,305,7558,0.05,2.30,0.00,0.000,5126,0.487,0.046,2817,2170,1392,1478,1306,0,0,0,0,0,0,14.54,14.76,14.78
$GC,7807,0.77,212.9,2817,2169,1478,1306,77.8,13.2,330,7812,0.00,2.28,0.00,0.000,516,0.000,0.056,2829,764,1392,1479,1306,0,0,0,0,0,0,15.05,14.81,15.06
$GC,7844,0.77,212.9,2828,763,1479,1306,72.4,14.1,333,7850,0.00,2.28,0.00,0.000,5126,0.000,0.037,2828,2175,1392,1479,1306,0,0,0,0,0,0,14.91,14.84,14.92
$GC,8100,0.77,212.9,2828,2177,1479,1308,31.8,15.3,358,8105,0.00,2.28,0.00,0.000,4356,0.000,0.053,2828,3574,1393,1479,1308,0,0,0,0,0,0,15.08,14.84,15.08
$GC,8190,0.77,212.9,2828,3575,1478,1309,17.3,16.0,372,8200,0.05,2.35,0.00,0.000,5126,0.425,0.044,2823,2165,1394,1479,1309,0,0,0,0,0,0,14.57,14.80,14.74
$STATE,8295,end climb,SURFACE_DEPTH_REACHED
$STATE,8295,begin surface coast
$FINISH,0.3,1.011805
$STATE,8321,end surface coast,CONTROL_FINISHED_OK
$STATE,8321,begin surface
$SM_CCo,8335,108.18,0.116,0,0,646,395.17
$SM_CCo,8445,-0.12,0.000,0,0,650,395.17
$SM_CCo,8449,0.38,0.414,0,0,647,395.17
$SM_GC,1.42,6.03,0.30,0.38,0.080,0.070,0.414,187,2360,647,-7.29,-1.22,395.17,0,0,0,0,0,0,14.86,14.85,14.76
$IRIDIUM_FIX,2216.01,-15611.96,300318,030704
$TT8_MAMPS,0.019474,0.326564
$HUMID,41.45
$INTERNAL_PRESSURE,9.39748
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.5,6.4
$24V_AH,13.40,47.575
$10V_AH,13.67,0.000
$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,14.600,102.025,261.150,108.550,0.000,28.650,41.911,103.215,0.500,0.000,15.237,1465.240,5164.033,476.321,1543.371,90.193,0.000,1103.102,0.000,1324.220,0.000,5.459,0.000
$DEVICE_MAMPS,486.540,72.675,2399.040,413.865,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,266.319,203.946,363.327,343.543,527.120,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343044
$DATA_FILE_SIZE,33920,393
$CAP_FILE_SIZE,90861,0
$CFSIZE,2097086464,2076311552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.157,305.86,1
$GPS,300318,053301,2223.733,-15610.367,35,1.0,35,9.9,0.0,0.0,8,199.1