version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 185
start: 3 30 118 15 49 26
data:
$ID,626
$MISSION,2
$DIVE,185
$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,37
$R_STBD_OVSHOOT,91
$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
$GPS1,300318,154400,2223.0920,-15615.4795,42,0.8,42,9.9,0.5,6.0,10,33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-73.8
$GPS2,300318,154901,2223.1570,-15615.5098,17,0.7,17,9.9,1.3,318.9,12,20.7
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M6
$TGT_LATLONG,2220.000,-15623.300
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,191.4,14570,-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,-116.8,189,2380,708,670,0.0,0.0,0,73,0.00,0.00,-56.15,0.000,16386,0.000,0.000,189,2380,2521,2552,2491,0,0,0,0,0,0,14.99,28.83,15.00
$GC,76,-0.71,-116.8,189,2381,2552,2492,3.2,-5.9,7,95,6.97,2.38,-3.58,0.000,18948,0.438,0.067,2338,921,2717,2755,2679,0,0,0,0,0,0,14.48,14.02,14.78
$GC,171,-0.71,-116.8,2338,921,2755,2675,36.0,-33.6,20,179,0.00,2.28,0.00,0.000,3078,0.000,0.041,2332,2283,2715,2755,2675,0,0,0,0,0,0,14.76,14.71,14.77
$GC,420,-0.71,-116.8,2331,2283,2755,2675,114.1,-29.0,45,425,0.00,2.30,0.00,0.000,2308,0.000,0.060,2332,3687,2715,2755,2675,0,0,0,0,0,0,15.07,14.81,15.07
$GC,489,-0.71,-116.8,2331,3688,2755,2675,130.9,-25.2,51,497,0.00,2.20,0.00,0.000,3078,0.000,0.052,2332,2345,2715,2755,2676,0,0,0,0,0,0,14.92,14.83,14.94
$GC,739,-0.71,-116.8,2331,2344,2756,2676,191.7,-22.5,76,744,0.00,2.33,0.00,0.000,2564,0.000,0.064,2332,928,2716,2756,2676,0,0,0,0,0,0,15.12,14.85,15.12
$GC,776,-0.71,-116.8,2331,927,2756,2676,200.0,-23.6,79,783,0.00,2.22,0.00,0.000,3078,0.000,0.049,2331,2288,2715,2755,2676,0,0,0,0,0,0,14.97,14.88,14.98
$GC,1024,-0.71,-116.8,2331,2288,2758,2676,252.9,-20.1,86,1029,0.00,2.30,0.00,0.000,2308,0.000,0.066,2331,3688,2716,2757,2676,0,0,0,0,0,0,15.18,14.90,15.18
$GC,1100,-0.71,-116.8,2331,3688,2758,2676,261.6,-20.5,87,1107,0.00,2.17,0.00,0.000,3078,0.000,0.047,2331,2335,2717,2758,2676,0,0,0,0,0,0,15.02,14.94,15.04
$GC,1346,-0.71,-116.8,2331,2334,2760,2676,316.3,-20.0,94,1352,0.00,2.28,0.00,0.000,2564,0.000,0.062,2331,933,2717,2759,2676,0,0,0,0,0,0,15.21,14.94,15.21
$GC,1398,-0.71,-116.8,2331,932,2759,2676,325.1,-20.2,95,1403,0.00,2.20,0.00,0.000,3078,0.000,0.050,2331,2285,2717,2759,2676,0,0,0,0,0,0,15.05,14.96,15.07
$GC,1669,-0.71,-116.8,2331,2285,2760,2676,379.9,-19.4,102,1675,0.00,2.22,0.00,0.000,2564,0.000,0.060,2331,932,2717,2759,2675,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1701,-0.71,-116.8,2331,930,2759,2675,379.9,-19.4,102,1706,0.00,2.20,0.00,0.000,3078,0.000,0.050,2331,2282,2717,2760,2675,0,0,0,0,0,0,15.07,14.97,15.08
$GC,1953,-0.71,-116.8,2331,2282,2759,2675,434.6,-19.2,109,1959,0.00,2.30,0.00,0.000,2308,0.000,0.067,2331,3685,2717,2759,2675,0,0,0,0,0,0,15.25,14.95,15.25
$GC,2055,-0.71,-116.8,2331,3685,2759,2675,449.2,-18.7,111,2060,0.00,2.17,0.00,0.000,3078,0.000,0.047,2331,2330,2717,2759,2675,0,0,0,0,0,0,15.08,15.00,15.09
$GC,2317,-0.71,-116.8,2331,2330,2759,2673,495.9,-16.4,118,2318,0.00,0.00,0.00,0.000,2054,0.000,0.000,2331,2330,2716,2759,2673,0,0,0,0,0,0,15.26,15.25,15.26
$GC,2558,-0.71,-116.8,2331,2329,2759,2670,537.6,-17.4,124,2563,0.00,2.30,0.00,0.000,2564,0.000,0.061,2331,923,2714,2759,2669,0,0,0,0,0,0,15.26,14.99,15.26
$GC,2579,-0.71,-116.8,2331,923,2759,2669,537.6,-17.4,124,2585,0.00,2.20,0.00,0.000,3078,0.000,0.044,2331,2287,2714,2759,2669,0,0,0,0,0,0,15.09,15.01,15.11
$GC,2843,-0.71,-116.8,2331,2288,2759,2666,585.6,-16.7,131,2848,0.00,2.22,0.00,0.000,2564,0.000,0.055,2331,927,2712,2758,2666,0,0,0,0,0,0,15.26,15.00,15.27
$GC,2859,-0.71,-116.8,2331,927,2759,2665,585.6,-16.7,131,2864,0.00,2.20,0.00,0.000,3078,0.000,0.044,2331,2290,2712,2759,2665,0,0,0,0,0,0,15.10,15.01,15.11
$STATE,2965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2965,begin apogee
$GC,2970,-0.16,0.0,2331,2114,2759,2663,606.4,-16.7,134,3063,0.50,0.00,90.15,1.781,10246,0.297,0.000,2514,2111,2240,2308,2172,0,0,0,0,0,0,14.80,14.40,13.81
$STATE,3064,end apogee,CONTROL_FINISHED_OK
$STATE,3064,begin climb
$GC,3065,0.71,116.8,2514,2111,2307,2172,611.9,0.0,136,3168,0.70,2.55,95.70,1.938,10500,0.195,0.051,2784,3566,1762,1869,1656,0,0,0,0,0,0,14.33,14.19,13.52
$GC,3179,0.71,116.8,2783,3566,1868,1657,607.7,5.6,139,3185,0.00,2.35,0.00,0.000,3078,0.000,0.044,2794,2175,1762,1868,1657,0,0,0,0,0,0,14.38,14.31,14.38
$GC,3452,0.71,116.8,2793,2173,1868,1652,568.3,14.0,146,3453,0.00,0.00,0.00,0.000,2054,0.000,0.000,2794,2173,1760,1868,1652,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3692,0.71,116.8,2794,2173,1868,1649,535.8,13.2,152,3697,0.00,2.35,0.00,0.000,2564,0.000,0.059,2805,746,1758,1868,1649,0,0,0,0,0,0,15.06,14.81,15.06
$GC,3709,0.71,116.8,2805,746,1868,1649,535.8,13.2,152,3714,0.00,2.33,0.00,0.000,5126,0.000,0.042,2805,2168,1758,1868,1648,0,0,0,0,0,0,14.91,14.83,14.92
$GC,3976,0.71,116.8,2805,2170,1867,1647,500.2,12.5,159,3977,0.00,0.00,0.00,0.000,4102,0.000,0.000,2806,2170,1757,1867,1647,0,0,0,0,0,0,15.12,15.13,15.13
$GC,4216,0.71,116.8,2805,2170,1865,1645,469.3,13.2,165,4221,0.00,2.28,0.00,0.000,4356,0.000,0.060,2805,3550,1755,1866,1645,0,0,0,0,0,0,15.16,14.90,15.16
$GC,4542,0.71,116.8,2805,3549,1861,1645,424.9,13.8,173,4548,0.05,2.28,0.00,0.000,5126,0.488,0.044,2801,2145,1753,1861,1645,0,0,0,0,0,0,14.69,14.95,14.97
$GC,4820,0.71,116.8,2800,2142,1861,1644,395.6,10.2,180,4826,0.00,2.30,0.00,0.000,4356,0.000,0.053,2801,3553,1752,1860,1644,0,0,0,0,0,0,15.20,14.95,15.21
$GC,5017,0.72,123.3,2800,3553,1860,1644,379.9,9.6,184,5029,0.00,2.28,4.53,1.047,13318,0.000,0.045,2811,2144,1737,1846,1628,0,0,0,0,0,0,15.04,14.97,14.34
$GC,5306,0.72,123.3,2811,2144,1844,1627,346.4,10.7,192,5311,0.00,2.28,0.00,0.000,4612,0.000,0.056,2822,743,1735,1844,1627,0,0,0,0,0,0,15.20,14.95,15.21
$GC,5607,0.72,123.3,2822,742,1842,1627,315.5,11.3,199,5613,0.08,2.28,0.00,0.000,5126,0.420,0.038,2797,2173,1734,1842,1627,0,0,0,0,0,0,14.71,14.97,14.97
$GC,5870,0.72,127.6,2796,2176,1842,1626,287.8,9.8,206,5881,0.00,2.20,5.03,0.965,8452,0.000,0.050,2797,3542,1717,1825,1609,0,0,0,0,0,0,15.21,14.85,14.38
$GC,6353,0.74,162.5,2797,3543,1822,1618,243.2,8.0,218,6387,0.00,2.28,27.10,1.177,9222,0.000,0.050,2807,2149,1574,1673,1476,0,0,0,0,0,0,15.04,14.97,14.30
$GC,6634,0.74,162.5,2807,2149,1672,1474,207.1,13.5,225,6640,0.00,2.28,0.00,0.000,260,0.000,0.055,2807,3543,1573,1672,1474,0,0,0,0,0,0,15.11,14.87,15.12
$GC,6762,0.74,162.5,2807,3544,1672,1474,188.8,13.8,231,6770,0.00,2.33,0.00,0.000,5126,0.000,0.046,2818,2145,1573,1672,1474,0,0,0,0,0,0,14.88,14.85,14.90
$GC,7010,0.74,162.5,2818,2145,1672,1474,156.1,11.0,256,7016,0.00,2.28,0.00,0.000,4612,0.000,0.056,2829,746,1573,1672,1474,0,0,0,0,0,0,15.13,14.89,15.14
$GC,7214,0.75,173.3,2829,745,1671,1474,133.9,9.4,275,7231,0.05,2.25,9.15,0.933,13318,0.477,0.037,2813,2156,1529,1629,1430,0,0,0,0,0,0,14.65,14.92,14.38
$GC,7480,0.75,173.3,2813,2157,1629,1430,106.9,10.7,301,7481,0.00,0.00,0.00,0.000,4102,0.000,0.000,2813,2157,1529,1629,1430,0,0,0,0,0,0,15.11,15.11,15.12
$GC,7720,0.75,173.3,2812,2157,1629,1431,80.1,10.3,325,7725,0.00,2.30,0.00,0.000,4612,0.000,0.054,2823,746,1530,1629,1431,0,0,0,0,0,0,15.13,14.88,15.13
$GC,7871,0.75,183.3,2823,746,1629,1432,64.5,9.4,338,7886,0.00,2.22,8.90,0.836,13318,0.000,0.035,2823,2148,1489,1588,1390,0,0,0,0,0,0,14.97,14.90,14.39
$GC,8125,0.75,183.3,2823,2148,1588,1397,36.0,12.2,363,8130,0.00,2.28,0.00,0.000,4356,0.000,0.052,2823,3547,1492,1588,1397,0,0,0,0,0,0,15.09,14.85,15.10
$GC,8201,0.75,183.3,2823,3547,1588,1399,26.3,12.3,372,8210,0.05,2.35,0.00,0.000,5126,0.429,0.051,2817,2149,1493,1588,1399,0,0,0,0,0,0,14.57,14.81,14.75
$STATE,8418,end climb,SURFACE_DEPTH_REACHED
$STATE,8418,begin surface coast
$FINISH,0.4,1.023249
$STATE,8449,end surface coast,CONTROL_FINISHED_OK
$STATE,8449,begin surface
$SM_CCo,8463,119.93,0.112,0,0,690,380.21
$SM_GC,1.23,5.88,0.30,119.93,0.052,0.060,0.112,186,2355,690,-7.29,-1.41,380.21,0,0,0,0,0,0,14.87,14.88,14.73
$IRIDIUM_FIX,2211.35,-15615.03,300318,154503
$TT8_MAMPS,0.019474,0.323568
$HUMID,41.41
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.6,6.4
$24V_AH,13.52,48.520
$10V_AH,13.60,0.000
$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,14.275,87.000,240.550,119.925,0.000,30.001,45.708,118.605,0.500,0.000,18.291,1695.901,4821.979,491.627,1801.015,87.407,0.000,1153.718,0.000,1556.213,0.000,5.459,0.000
$DEVICE_MAMPS,488.070,69.615,1937.745,112.455,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,280.156,219.523,390.106,395.065,606.184,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343136
$DATA_FILE_SIZE,37171,413
$CAP_FILE_SIZE,90685,0
$CFSIZE,2097086464,2075820032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.213,322.07,1
$GPS,300318,181320,2223.135,-15616.467,18,1.3,18,9.9,0.9,339.7,6,71.8