version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 184
start: 3 30 118 13 18 39
data:
$ID,626
$MISSION,2
$DIVE,184
$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,380
$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,2340
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$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,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
$GPS1,300318,130750,2223.1213,-15614.2861,15,1.2,16,9.9,0.5,326.7,8,22.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.9
$GPS2,300318,131813,2223.2300,-15614.3867,7,1.2,7,9.9,0.0,0.0,7,125.5
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M6
$TGT_LATLONG,2220.000,-15623.300
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,193.7,16400,-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,-116.8,186,2358,709,672,0.0,0.0,0,79,0.00,0.00,-60.90,0.000,16390,0.000,0.000,186,2359,2717,2746,2689,0,0,0,0,0,0,14.99,13.72,14.95
$GC,82,-0.71,-116.8,186,2359,2747,2689,4.0,-7.3,8,100,6.97,2.35,0.00,0.000,2564,0.438,0.044,2332,930,2715,2746,2685,0,0,0,0,0,0,14.47,14.69,14.76
$GC,152,-0.71,-116.8,2332,929,2746,2685,33.4,-35.1,18,161,0.00,2.33,0.00,0.000,3078,0.000,0.047,2331,2311,2715,2746,2685,0,0,0,0,0,0,14.73,14.68,14.74
$GC,402,-0.71,-116.8,2331,2311,2747,2685,109.4,-26.8,43,407,0.00,2.38,0.00,0.000,2308,0.000,0.062,2331,3754,2715,2746,2685,0,0,0,0,0,0,15.07,14.80,15.07
$GC,436,-0.71,-116.8,2331,3755,2747,2685,118.8,-25.7,46,441,0.00,2.30,0.00,0.000,3078,0.000,0.053,2331,2349,2716,2747,2685,0,0,0,0,0,0,14.92,14.83,14.93
$GC,688,-0.71,-116.8,2331,2348,2747,2685,182.2,-24.0,71,694,0.00,2.33,0.00,0.000,2564,0.000,0.063,2331,929,2715,2747,2683,0,0,0,0,0,0,15.12,14.85,15.12
$GC,715,-0.71,-116.8,2331,928,2747,2685,187.6,-24.0,73,723,0.00,2.33,0.00,0.000,3078,0.000,0.048,2331,2346,2715,2747,2684,0,0,0,0,0,0,14.97,14.85,14.97
$GC,972,-0.71,-116.8,2331,2346,2749,2685,241.7,-19.5,84,977,0.00,2.30,0.00,0.000,2308,0.000,0.066,2331,3749,2717,2749,2685,0,0,0,0,0,0,15.18,14.88,15.18
$GC,1048,-0.71,-116.8,2331,3750,2749,2685,250.0,-19.9,85,1055,0.00,2.28,0.00,0.000,3078,0.000,0.048,2331,2337,2717,2749,2685,0,0,0,0,0,0,15.02,14.93,15.03
$GC,1294,-0.71,-116.8,2331,2334,2750,2685,305.6,-19.9,92,1300,0.00,2.30,0.00,0.000,2564,0.000,0.062,2331,930,2717,2750,2685,0,0,0,0,0,0,15.21,14.94,15.21
$GC,1340,-0.71,-116.8,2331,930,2750,2685,314.4,-20.1,93,1346,0.00,2.30,0.00,0.000,3078,0.000,0.050,2331,2339,2717,2750,2685,0,0,0,0,0,0,15.05,14.95,15.07
$GC,1617,-0.71,-116.8,2331,2339,2750,2685,368.5,-18.6,100,1623,0.00,2.33,0.00,0.000,2564,0.000,0.060,2331,929,2717,2750,2685,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1664,-0.71,-116.8,2331,929,2750,2684,376.4,-18.6,101,1670,0.00,2.30,0.00,0.000,3078,0.000,0.045,2331,2355,2717,2750,2684,0,0,0,0,0,0,15.07,14.97,15.08
$GC,1942,-0.71,-116.8,2331,2355,2750,2683,424.9,-17.3,108,1947,0.00,2.25,0.00,0.000,2308,0.000,0.057,2323,3749,2716,2750,2683,0,0,0,0,0,0,15.25,14.97,15.25
$GC,1987,-0.71,-116.8,2322,3749,2750,2682,432.1,-17.3,109,1994,0.05,2.25,0.00,0.000,3078,0.448,0.041,2338,2330,2716,2750,2683,0,0,0,0,0,0,14.77,15.00,15.01
$GC,2267,-0.71,-116.8,2338,2328,2750,2678,477.3,-15.9,116,2272,0.00,2.25,0.00,0.000,2564,0.000,0.056,2338,934,2713,2749,2678,0,0,0,0,0,0,15.25,14.99,15.26
$GC,2309,-0.71,-116.8,2336,934,2750,2677,484.6,-16.1,117,2314,0.00,2.28,0.00,0.000,3078,0.000,0.044,2333,2339,2713,2750,2677,0,0,0,0,0,0,15.09,15.00,15.10
$GC,2592,-0.71,-116.8,2333,2339,2749,2674,529.4,-15.7,124,2597,0.00,2.30,0.00,0.000,2308,0.000,0.060,2332,3750,2712,2750,2674,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2643,-0.71,-116.8,2332,3751,2749,2674,536.1,-15.8,125,2648,0.00,2.25,0.00,0.000,3078,0.000,0.040,2332,2332,2712,2750,2674,0,0,0,0,0,0,15.10,15.02,15.11
$GC,2915,-0.71,-116.8,2331,2330,2749,2669,580.5,-16.2,132,2920,0.00,2.25,0.00,0.000,2564,0.000,0.057,2332,936,2709,2749,2669,0,0,0,0,0,0,15.26,15.00,15.26
$GC,2986,-0.71,-116.8,2331,936,2749,2667,587.8,-16.6,133,2992,0.00,2.28,0.00,0.000,3078,0.000,0.044,2331,2343,2708,2749,2667,0,0,0,0,0,0,15.09,15.00,15.11
$STATE,3037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3037,begin apogee
$GC,3042,-0.16,0.0,2331,2118,2749,2666,601.6,-17.1,135,3135,0.50,0.00,90.60,1.919,10246,0.296,0.000,2515,2115,2239,2307,2172,0,0,0,0,0,0,14.79,14.36,13.68
$STATE,3136,end apogee,CONTROL_FINISHED_OK
$STATE,3136,begin climb
$GC,3138,0.71,116.8,2515,2116,2307,2172,607.2,0.0,137,3241,0.70,2.38,95.55,1.990,10756,0.197,0.060,2793,775,1762,1872,1653,0,0,0,0,0,0,14.29,14.17,13.48
$GC,3261,0.71,116.8,2792,775,1871,1653,603.6,5.0,140,3267,0.00,2.35,0.00,0.000,3078,0.000,0.043,2792,2165,1762,1871,1653,0,0,0,0,0,0,14.41,14.34,14.42
$GC,3525,0.71,116.8,2790,2165,1870,1650,565.3,13.7,147,3530,0.00,2.33,0.00,0.000,2308,0.000,0.060,2793,3555,1760,1870,1650,0,0,0,0,0,0,14.95,14.70,14.95
$GC,3541,0.71,116.8,2793,3556,1870,1650,565.3,13.7,147,3547,0.00,2.28,0.00,0.000,5126,0.000,0.049,2803,2178,1760,1870,1650,0,0,0,0,0,0,14.81,14.73,14.82
$GC,3809,0.71,116.8,2803,2178,1869,1647,525.8,13.8,154,3815,0.00,2.38,0.00,0.000,4612,0.000,0.061,2814,744,1758,1870,1647,0,0,0,0,0,0,15.07,14.82,15.07
$GC,3836,0.71,116.8,2814,744,1869,1647,525.8,13.8,154,3842,0.05,2.30,0.00,0.000,5126,0.468,0.042,2799,2164,1757,1868,1647,0,0,0,0,0,0,14.62,14.85,14.85
$GC,4094,0.71,116.8,2799,2167,1868,1645,489.2,12.6,161,4099,0.00,2.28,0.00,0.000,260,0.000,0.059,2799,3547,1756,1868,1645,0,0,0,0,0,0,15.12,14.88,15.13
$GC,4115,0.71,116.8,2799,3547,1867,1645,489.2,12.6,161,4121,0.00,2.28,0.00,0.000,5126,0.000,0.049,2809,2147,1756,1867,1645,0,0,0,0,0,0,14.98,14.90,14.99
$GC,4378,0.71,116.8,2809,2147,1866,1644,452.7,13.3,168,4384,0.00,2.33,0.00,0.000,4356,0.000,0.059,2810,3552,1755,1866,1644,0,0,0,0,0,0,15.17,14.90,15.17
$GC,4624,0.71,116.8,2809,3552,1862,1645,419.1,13.7,174,4630,0.05,2.28,0.00,0.000,5126,0.500,0.050,2804,2150,1753,1862,1644,0,0,0,0,0,0,14.68,14.94,14.96
$GC,4902,0.71,116.8,2804,2149,1862,1642,385.8,11.6,181,4908,0.00,2.30,0.00,0.000,4356,0.000,0.057,2804,3552,1751,1861,1641,0,0,0,0,0,0,15.20,14.94,15.21
$GC,5163,0.71,116.8,2804,3552,1860,1642,357.0,11.9,187,5169,0.05,2.28,0.00,0.000,5126,0.506,0.044,2799,2140,1751,1860,1642,0,0,0,0,0,0,14.69,14.96,14.98
$GC,5426,0.71,116.8,2799,2138,1860,1640,327.2,10.3,194,5432,0.00,2.25,0.00,0.000,516,0.000,0.056,2809,743,1750,1860,1640,0,0,0,0,0,0,15.21,14.96,15.22
$GC,5555,0.72,127.3,2809,743,1859,1640,315.9,9.4,197,5569,0.00,2.25,7.30,1.119,13318,0.000,0.037,2810,2158,1719,1828,1610,0,0,0,0,0,0,15.06,14.99,14.38
$GC,5831,0.72,130.3,2809,2159,1827,1610,289.2,9.8,204,5840,0.00,2.25,3.95,0.864,12548,0.000,0.052,2810,3548,1706,1815,1597,0,0,0,0,0,0,15.20,14.83,14.35
$GC,5892,0.72,130.3,2809,3549,1812,1602,284.5,10.4,205,5897,0.05,2.25,0.00,0.000,5126,0.503,0.045,2805,2151,1707,1813,1602,0,0,0,0,0,0,14.69,14.96,14.95
$GC,6155,0.72,135.5,2805,2149,1813,1605,256.3,9.7,212,6165,0.00,2.33,6.25,1.005,12804,0.000,0.054,2816,744,1683,1789,1578,0,0,0,0,0,0,15.21,14.94,14.38
$GC,6202,0.73,141.4,2816,742,1789,1578,251.7,9.7,213,6216,0.00,2.25,5.82,0.991,13318,0.000,0.037,2816,2156,1661,1766,1557,0,0,0,0,0,0,15.02,14.95,14.35
$GC,6478,0.73,141.4,2815,2156,1766,1556,221.5,11.0,220,6479,0.00,0.00,0.00,0.000,4102,0.000,0.000,2816,2156,1661,1766,1556,0,0,0,0,0,0,15.19,15.19,15.18
$GC,6717,0.73,141.4,2815,2156,1765,1555,195.8,10.6,226,6724,0.00,2.25,0.00,0.000,4356,0.000,0.054,2816,3546,1661,1766,1556,0,0,0,0,0,0,15.21,14.95,15.21
$GC,6793,0.73,141.4,2816,3546,1765,1556,187.9,10.2,233,6799,0.08,2.25,0.00,0.000,5126,0.448,0.044,2803,2148,1660,1765,1556,0,0,0,0,0,0,14.69,14.97,14.96
$GC,7046,0.73,154.0,2803,2145,1765,1556,162.3,9.3,258,7065,0.00,2.30,10.77,1.005,8452,0.000,0.050,2803,3543,1608,1712,1505,0,0,0,0,0,0,15.19,14.90,14.40
$GC,7095,0.74,165.7,2803,3543,1711,1506,158.0,9.3,262,7111,0.00,2.25,9.75,1.009,13318,0.000,0.044,2813,2151,1561,1664,1459,0,0,0,0,0,0,14.98,14.91,14.36
$GC,7358,0.74,166.5,2813,2150,1664,1459,129.5,10.0,288,7359,0.00,0.00,0.00,0.000,4102,0.000,0.000,2813,2150,1561,1664,1459,0,0,0,0,0,0,15.11,15.11,15.11
$GC,7598,0.74,166.5,2813,2148,1664,1459,105.8,11.6,312,7604,0.00,2.28,0.00,0.000,4612,0.000,0.054,2825,748,1561,1664,1459,0,0,0,0,0,0,15.14,14.88,15.14
$GC,7859,0.74,166.9,2824,749,1664,1460,78.8,10.0,336,7866,0.05,2.25,0.00,0.000,5126,0.467,0.035,2808,2163,1562,1664,1460,0,0,0,0,0,0,14.66,14.92,14.90
$GC,8116,0.77,216.1,2808,2165,1664,1462,55.7,7.2,361,8159,0.00,2.30,37.42,0.911,10500,0.000,0.050,2808,3543,1358,1453,1263,0,0,0,0,0,0,15.12,14.73,14.32
$GC,8316,0.77,216.1,2808,3543,1452,1269,29.8,15.3,378,8325,0.00,2.33,0.00,0.000,1030,0.000,0.045,2819,2155,1361,1453,1269,0,0,0,0,0,0,14.79,14.76,14.81
$STATE,8509,end climb,SURFACE_DEPTH_REACHED
$STATE,8509,begin surface coast
$FINISH,0.2,1.010511
$STATE,8534,end surface coast,CONTROL_FINISHED_OK
$STATE,8534,begin surface
$SM_CCo,8548,97.43,0.113,0,0,687,380.21
$SM_GC,1.10,6.10,0.28,97.43,0.091,0.056,0.113,189,2380,687,-7.30,-1.58,380.21,0,0,0,0,0,0,14.83,14.85,14.71
$IRIDIUM_FIX,2211.35,-15611.96,300318,131431
$TT8_MAMPS,0.019474,0.323568
$HUMID,41.33
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,53.1,6.5
$24V_AH,13.48,48.340
$10V_AH,13.56,0.000
$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,14.650,105.975,267.425,97.425,0.000,92.329,160.870,128.336,0.500,0.000,8.126,1611.970,5168.634,492.852,1911.242,97.119,0.000,1156.705,0.000,1466.133,0.000,5.458,0.000
$DEVICE_MAMPS,506.430,65.790,1989.765,113.220,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,280.783,220.174,392.539,382.171,586.389,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343108
$DATA_FILE_SIZE,37224,414
$CAP_FILE_SIZE,96363,0
$CFSIZE,2097086464,2075918336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.210,314.48,1
$GPS,300318,154400,2223.092,-15615.479,42,0.8,42,9.9,0.5,6.0,10,33.5