version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 181
start: 3 30 118 5 38 13
data:
$ID,626
$MISSION,2
$DIVE,181
$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,1
$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,2340
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2240
$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
$GPS1,300318,053301,2223.7334,-15610.3672,35,1.0,35,9.9,0.0,0.0,8,199.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-73.4
$GPS2,300318,053749,2223.7583,-15610.4043,15,1.0,15,9.9,0.0,0.0,8,22.5
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M6
$TGT_LATLONG,2220.000,-15623.300
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,210.3,23163,-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,-116.8,187,2361,664,635,0.0,0.0,0,79,0.00,0.00,-61.00,0.000,16390,0.000,0.000,187,2362,2718,2746,2690,0,0,0,0,0,0,15.00,13.74,14.96
$GC,82,-0.71,-116.8,186,2361,2746,2690,4.5,-9.2,8,100,6.95,2.38,0.00,0.000,2564,0.437,0.045,2331,915,2716,2747,2686,0,0,0,0,0,0,14.49,14.69,14.77
$GC,161,-0.71,-116.8,2331,915,2746,2685,38.0,-35.1,18,166,0.00,2.33,0.00,0.000,3078,0.000,0.051,2331,2320,2716,2747,2685,0,0,0,0,0,0,14.85,14.76,14.87
$GC,416,-0.71,-116.8,2331,2320,2746,2685,113.4,-27.6,43,421,0.00,2.35,0.00,0.000,2308,0.000,0.058,2320,3759,2716,2747,2685,0,0,0,0,0,0,15.07,14.81,15.07
$GC,494,-0.71,-116.8,2320,3760,2746,2685,135.1,-24.4,50,500,0.05,2.30,0.00,0.000,3078,0.461,0.049,2336,2347,2715,2746,2685,0,0,0,0,0,0,14.62,14.84,14.86
$GC,748,-0.71,-116.8,2335,2345,2748,2685,198.9,-24.3,75,753,0.00,2.33,0.00,0.000,2308,0.000,0.063,2332,3748,2716,2748,2685,0,0,0,0,0,0,15.13,14.85,15.13
$GC,764,-0.71,-116.8,2332,3748,2748,2685,201.9,-23.9,76,771,0.00,2.28,0.00,0.000,3078,0.000,0.047,2332,2338,2716,2748,2685,0,0,0,0,0,0,14.97,14.88,14.98
$GC,1033,-0.71,-116.8,2331,2338,2751,2685,261.0,-22.2,83,1038,0.00,2.30,0.00,0.000,2564,0.000,0.061,2332,924,2718,2751,2685,0,0,0,0,0,0,15.19,14.91,15.19
$GC,1064,-0.71,-116.8,2332,923,2751,2685,261.0,-22.2,83,1069,0.00,2.30,0.00,0.000,3078,0.000,0.049,2332,2341,2718,2751,2685,0,0,0,0,0,0,15.02,14.92,15.03
$GC,1317,-0.71,-116.8,2331,2341,2752,2685,317.9,-20.7,90,1322,0.00,2.33,0.00,0.000,2564,0.000,0.060,2332,930,2718,2751,2685,0,0,0,0,0,0,15.21,14.95,15.21
$GC,1348,-0.71,-116.8,2331,930,2752,2685,317.9,-20.7,90,1353,0.00,2.30,0.00,0.000,3078,0.000,0.050,2332,2343,2718,2752,2685,0,0,0,0,0,0,15.05,14.95,15.06
$GC,1600,-0.71,-116.8,2331,2343,2752,2685,373.0,-18.9,97,1605,0.00,2.30,0.00,0.000,2308,0.000,0.066,2332,3748,2718,2752,2685,0,0,0,0,0,0,15.23,14.94,15.23
$GC,1671,-0.71,-116.8,2331,3749,2752,2685,380.8,-18.9,98,1677,0.00,2.28,0.00,0.000,3078,0.000,0.047,2331,2327,2718,2752,2685,0,0,0,0,0,0,15.07,14.98,15.08
$GC,1924,-0.71,-116.8,2331,2326,2752,2684,431.6,-18.2,105,1930,0.00,2.25,0.00,0.000,2564,0.000,0.060,2331,934,2718,2751,2685,0,0,0,0,0,0,15.24,14.98,15.25
$GC,1956,-0.71,-116.8,2331,934,2751,2684,431.6,-18.2,105,1961,0.00,2.30,0.00,0.000,3078,0.000,0.051,2331,2347,2718,2752,2684,0,0,0,0,0,0,15.08,14.97,15.09
$GC,2208,-0.71,-116.8,2331,2346,2751,2682,481.2,-17.0,112,2213,0.00,2.33,0.00,0.000,2564,0.000,0.060,2331,934,2716,2751,2682,0,0,0,0,0,0,15.25,14.98,15.26
$GC,2230,-0.71,-116.8,2331,933,2752,2682,481.2,-17.0,112,2236,0.00,2.30,0.00,0.000,3078,0.000,0.050,2331,2347,2716,2751,2681,0,0,0,0,0,0,15.09,14.98,15.10
$GC,2493,-0.71,-116.8,2332,2347,2751,2678,527.4,-15.9,119,2498,0.00,2.33,0.00,0.000,2564,0.000,0.060,2331,933,2714,2751,2678,0,0,0,0,0,0,15.26,14.99,15.26
$GC,2514,-0.71,-116.8,2331,932,2751,2677,527.4,-15.9,119,2520,0.00,2.30,0.00,0.000,3078,0.000,0.050,2331,2343,2714,2751,2677,0,0,0,0,0,0,15.09,14.99,15.10
$GC,2777,-0.71,-116.8,2331,2344,2751,2674,575.0,-16.8,126,2782,0.00,2.30,0.00,0.000,2308,0.000,0.067,2331,3749,2712,2751,2674,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2813,-0.71,-116.8,2331,3750,2751,2674,575.0,-16.8,126,2819,0.00,2.28,0.00,0.000,3078,0.000,0.046,2331,2330,2713,2752,2674,0,0,0,0,0,0,15.10,15.00,15.11
$STATE,2937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2937,begin apogee
$GC,2942,-0.16,0.0,2331,2121,2751,2672,602.3,-16.9,130,3034,0.50,0.00,89.32,1.649,10246,0.295,0.000,2514,2119,2239,2306,2172,0,0,0,0,0,0,14.81,14.45,13.85
$STATE,3035,end apogee,CONTROL_FINISHED_OK
$STATE,3035,begin climb
$GC,3037,0.71,116.8,2515,2119,2306,2173,607.7,0.0,132,3142,0.68,2.58,96.85,2.189,10500,0.196,0.058,2780,3562,1762,1870,1654,0,0,0,0,0,0,14.35,14.16,13.48
$GC,3153,0.71,116.8,2779,3562,1869,1655,603.8,5.5,135,3159,0.00,2.38,0.00,0.000,3078,0.000,0.049,2790,2171,1762,1869,1655,0,0,0,0,0,0,14.36,14.28,14.37
$GC,3425,0.71,116.8,2791,2171,1869,1649,566.0,13.2,142,3431,0.00,2.40,0.00,0.000,2564,0.000,0.062,2802,739,1759,1869,1650,0,0,0,0,0,0,14.94,14.70,14.94
$GC,3457,0.71,116.8,2802,740,1869,1650,566.0,13.2,142,3463,0.00,2.35,0.00,0.000,5126,0.000,0.041,2802,2175,1759,1869,1650,0,0,0,0,0,0,14.81,14.73,14.82
$GC,3711,0.71,116.8,2802,2176,1868,1647,525.0,14.6,149,3717,0.00,2.28,0.00,0.000,4356,0.000,0.060,2802,3550,1757,1868,1647,0,0,0,0,0,0,15.07,14.81,15.07
$GC,3828,0.71,116.8,2802,3550,1866,1647,512.3,14.9,151,3835,0.00,2.30,0.00,0.000,5126,0.000,0.050,2812,2147,1757,1867,1647,0,0,0,0,0,0,14.94,14.86,14.95
$GC,4074,0.71,116.8,2812,2147,1867,1645,473.2,13.3,158,4075,0.00,0.00,0.00,0.000,4102,0.000,0.000,2812,2147,1755,1866,1645,0,0,0,0,0,0,15.14,15.14,15.14
$GC,4314,0.71,116.8,2812,2147,1866,1643,443.3,12.1,164,4319,0.00,2.33,0.00,0.000,4356,0.000,0.057,2812,3555,1754,1866,1643,0,0,0,0,0,0,15.17,14.91,15.18
$GC,4365,0.71,116.8,2812,3556,1865,1643,438.2,11.9,165,4371,0.08,2.30,0.00,0.000,5126,0.444,0.050,2799,2144,1753,1864,1643,0,0,0,0,0,0,14.70,14.93,14.96
$GC,4638,0.71,116.8,2799,2142,1864,1641,408.6,10.4,172,4643,0.00,2.33,0.00,0.000,260,0.000,0.059,2799,3554,1752,1864,1641,0,0,0,0,0,0,15.19,14.93,15.20
$GC,4680,0.71,116.8,2799,3554,1863,1641,404.0,10.4,173,4685,0.00,2.30,0.00,0.000,5126,0.000,0.050,2810,2146,1752,1863,1641,0,0,0,0,0,0,15.04,14.95,15.05
$GC,4963,0.72,122.5,2809,2146,1862,1640,377.2,9.7,180,4973,0.00,2.28,4.38,0.966,12804,0.000,0.056,2821,741,1737,1850,1625,0,0,0,0,0,0,15.21,14.83,14.32
$GC,4994,0.72,128.3,2821,741,1848,1626,377.2,9.7,180,5008,0.05,2.28,5.95,1.095,13318,0.468,0.040,2805,2165,1714,1823,1605,0,0,0,0,0,0,14.73,14.96,14.35
$GC,5247,0.72,128.3,2805,2166,1822,1605,346.5,11.0,187,5248,0.00,0.00,0.00,0.000,4102,0.000,0.000,2805,2166,1713,1822,1605,0,0,0,0,0,0,15.19,15.19,15.19
$GC,5485,0.72,128.3,2804,2166,1821,1603,320.3,10.5,193,5491,0.00,2.25,0.00,0.000,4356,0.000,0.053,2805,3556,1712,1821,1604,0,0,0,0,0,0,15.21,14.95,15.21
$GC,5576,0.72,128.3,2805,3556,1821,1604,310.3,11.3,195,5582,0.00,2.28,0.00,0.000,5126,0.000,0.045,2815,2144,1712,1820,1604,0,0,0,0,0,0,15.05,14.97,15.06
$GC,5849,0.72,128.3,2815,2145,1821,1603,281.5,10.4,202,5854,0.00,2.30,0.00,0.000,4356,0.000,0.053,2815,3552,1711,1820,1603,0,0,0,0,0,0,15.22,14.97,15.22
$GC,6155,0.72,128.3,2815,3551,1819,1604,250.6,10.2,209,6161,0.08,2.28,0.00,0.000,5126,0.443,0.045,2803,2138,1711,1818,1604,0,0,0,0,0,0,14.71,14.98,14.98
$GC,6416,0.74,164.0,2802,2136,1819,1603,226.7,8.0,216,6448,0.00,2.33,27.02,1.129,10756,0.000,0.057,2813,743,1567,1669,1465,0,0,0,0,0,0,15.23,14.85,14.38
$GC,6496,0.75,174.1,2813,741,1666,1466,217.7,9.4,218,6510,0.00,2.28,8.77,0.994,13318,0.000,0.037,2813,2154,1528,1627,1429,0,0,0,0,0,0,14.95,14.87,14.33
$GC,6759,0.75,174.1,2813,2155,1624,1426,182.1,12.2,232,6765,0.00,2.28,0.00,0.000,4356,0.000,0.051,2813,3555,1525,1624,1426,0,0,0,0,0,0,15.09,14.86,15.10
$GC,6797,0.75,174.1,2813,3555,1623,1426,177.9,12.3,235,6804,0.00,2.28,0.00,0.000,5126,0.000,0.046,2824,2153,1524,1623,1426,0,0,0,0,0,0,14.95,14.88,14.97
$GC,7044,0.75,174.1,2823,2154,1623,1426,146.9,12.8,260,7045,0.00,0.00,0.00,0.000,4102,0.000,0.000,2824,2153,1524,1623,1426,0,0,0,0,0,0,15.12,15.13,15.12
$GC,7283,0.75,174.1,2824,2153,1623,1426,116.3,13.7,284,7288,0.00,2.30,0.00,0.000,4356,0.000,0.051,2824,3559,1524,1623,1426,0,0,0,0,0,0,15.14,14.89,15.14
$GC,7321,0.75,174.1,2824,3559,1623,1426,111.8,13.6,287,7329,0.08,2.28,0.00,0.000,5126,0.431,0.044,2810,2148,1524,1623,1426,0,0,0,0,0,0,14.66,14.90,14.90
$GC,7568,0.75,175.3,2810,2146,1623,1427,84.5,9.9,312,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2146,1524,1623,1426,0,0,0,0,0,0,15.14,15.14,15.14
$GC,7809,0.75,175.3,2810,2145,1623,1430,58.9,10.4,336,7815,0.00,2.28,0.00,0.000,260,0.000,0.050,2810,3554,1526,1623,1430,0,0,0,0,0,0,15.12,14.89,15.13
$GC,7926,0.75,175.3,2810,3554,1623,1431,46.1,10.7,346,7931,0.00,2.28,0.00,0.000,5126,0.000,0.044,2820,2150,1527,1623,1431,0,0,0,0,0,0,14.97,14.90,14.99
$GC,8193,0.76,195.1,2820,2149,1623,1434,20.4,8.9,379,8218,0.00,0.00,16.45,0.809,12294,0.000,0.000,2820,2149,1440,1537,1343,0,0,0,0,0,0,15.11,14.67,14.37
$STATE,8348,end climb,SURFACE_DEPTH_REACHED
$STATE,8349,begin surface coast
$FINISH,0.4,1.023616
$STATE,8375,end surface coast,CONTROL_FINISHED_OK
$STATE,8375,begin surface
$SM_CCo,8388,121.10,0.860,1,0,647,390.27
$SM_CCo,8517,-0.12,0.000,0,0,651,390.27
$SM_CCo,8520,0.32,0.457,0,0,647,390.27
$SM_GC,1.18,6.10,0.30,0.32,0.093,0.064,0.457,188,2341,647,-7.30,-1.39,390.27,0,0,0,0,0,0,14.85,14.84,14.43
$IRIDIUM_FIX,2213.68,-15609.82,300318,053402
$TT8_MAMPS,0.019474,0.262899
$HUMID,40.47
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.5,6.4
$24V_AH,13.48,47.782
$10V_AH,13.52,0.000
$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,14.550,102.150,248.750,121.425,0.000,29.855,44.343,111.505,0.500,0.000,16.123,1495.957,5147.755,483.798,1600.817,95.186,0.000,1104.759,0.000,1371.383,0.000,5.461,0.000
$DEVICE_MAMPS,468.180,67.320,2188.665,859.860,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,276.788,216.352,384.697,395.062,606.158,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343128
$DATA_FILE_SIZE,37277,408
$CAP_FILE_SIZE,91711,0
$CFSIZE,2097086464,2076213248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.169,304.64,1
$GPS,300318,080107,2223.452,-15611.684,18,1.5,18,9.9,0.5,306.7,5,71.6