version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 186
start: 3 30 118 18 18 26
data:
$ID,626
$MISSION,2
$DIVE,186
$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,39
$R_STBD_OVSHOOT,60
$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,0.00031500001
$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
$GPS1,300318,181320,2223.1350,-15616.4668,18,1.3,18,9.9,0.9,339.7,6,71.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-73.5
$GPS2,300318,181801,2223.2073,-15616.4824,19,1.3,19,9.9,0.8,21.8,6,101.8
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M6
$TGT_LATLONG,2220.000,-15623.300
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,188.1,13103,-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,-0.68,-116.8,186,2357,707,670,0.0,0.0,0,80,0.00,0.00,-60.65,0.000,16390,0.000,0.000,186,2357,2717,2747,2688,0,0,0,0,0,0,15.00,13.71,14.95
$GC,83,-0.68,-116.8,186,2357,2747,2689,4.6,-9.3,8,101,7.00,2.33,0.00,0.000,2564,0.437,0.034,2344,900,2716,2748,2685,0,0,0,0,0,0,14.47,14.71,14.77
$GC,139,-0.68,-116.8,2343,900,2745,2683,30.2,-37.7,16,145,0.05,2.30,0.00,0.000,3078,0.482,0.041,2348,2320,2715,2748,2683,0,0,0,0,0,0,14.53,14.77,14.78
$GC,394,-0.68,-116.8,2348,2320,2747,2683,104.4,-24.7,41,400,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2320,2715,2748,2682,0,0,0,0,0,0,15.07,15.07,15.07
$GC,642,-0.68,-116.8,2348,2320,2749,2683,166.1,-23.9,66,643,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2320,2716,2749,2683,0,0,0,0,0,0,15.11,15.11,15.12
$GC,882,-0.68,-116.8,2348,2320,2751,2683,217.4,-20.3,84,888,0.00,2.33,0.00,0.000,2308,0.000,0.058,2345,3749,2717,2752,2683,0,0,0,0,0,0,15.16,14.87,15.16
$GC,929,-0.68,-116.8,2345,3749,2752,2683,226.2,-20.2,85,935,0.00,2.28,0.00,0.000,3078,0.000,0.046,2346,2331,2717,2752,2683,0,0,0,0,0,0,15.00,14.90,15.01
$GC,1207,-0.68,-116.8,2345,2330,2753,2683,279.9,-19.0,92,1208,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2330,2718,2753,2683,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1447,-0.68,-116.8,2345,2330,2753,2683,323.8,-18.6,98,1448,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2330,2718,2753,2683,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1687,-0.68,-116.8,2345,2330,2753,2683,364.7,-16.9,104,1692,0.00,2.25,0.00,0.000,2564,0.000,0.054,2345,929,2718,2753,2683,0,0,0,0,0,0,15.24,14.98,15.24
$GC,1769,-0.68,-116.8,2344,928,2753,2682,379.3,-17.2,106,1774,0.00,2.28,0.00,0.000,3078,0.000,0.043,2345,2336,2718,2753,2683,0,0,0,0,0,0,15.07,14.97,15.09
$GC,2051,-0.68,-116.8,2344,2336,2753,2682,427.2,-17.0,113,2057,0.00,2.30,0.00,0.000,2308,0.000,0.061,2345,3752,2717,2753,2682,0,0,0,0,0,0,15.25,14.97,15.26
$GC,2159,-0.68,-116.8,2345,3753,2753,2681,440.3,-16.6,115,2164,0.00,2.25,0.00,0.000,3078,0.000,0.043,2345,2337,2717,2753,2681,0,0,0,0,0,0,15.09,15.00,15.09
$GC,2416,-0.68,-116.8,2345,2336,2753,2677,483.3,-15.5,122,2417,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2336,2715,2753,2677,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2656,-0.68,-116.8,2344,2336,2752,2674,521.3,-16.4,128,2657,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2336,2714,2753,2675,0,0,0,0,0,0,15.27,15.27,15.27
$GC,2896,-0.68,-116.8,2345,2336,2753,2671,561.7,-16.9,134,2901,0.00,2.28,0.00,0.000,2564,0.000,0.057,2345,932,2712,2753,2671,0,0,0,0,0,0,15.27,15.00,15.27
$GC,2967,-0.68,-116.8,2345,932,2753,2670,569.1,-17.1,135,2973,0.00,2.28,0.00,0.000,3078,0.000,0.044,2345,2339,2712,2753,2671,0,0,0,0,0,0,15.09,15.00,15.11
$STATE,3138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3138,begin apogee
$GC,3143,-0.16,0.0,2345,2131,2753,2668,603.4,-17.1,140,3237,0.47,0.00,91.28,1.987,10246,0.284,0.000,2522,2128,2239,2307,2172,0,0,0,0,0,0,14.80,14.35,13.64
$STATE,3238,end apogee,CONTROL_FINISHED_OK
$STATE,3238,begin climb
$GC,3240,0.68,116.8,2522,2128,2307,2172,610.0,0.0,142,3347,0.65,2.53,99.47,2.521,10500,0.190,0.057,2772,3559,1762,1872,1653,0,0,0,0,0,0,14.28,14.00,13.36
$GC,3368,0.68,116.8,2772,3559,1870,1654,609.1,2.7,145,3373,0.00,2.38,0.00,0.000,3078,0.000,0.044,2783,2156,1762,1870,1654,0,0,0,0,0,0,14.37,14.30,14.38
$GC,3625,0.68,116.8,2783,2155,1870,1650,577.7,11.3,152,3626,0.00,0.00,0.00,0.000,2054,0.000,0.000,2783,2155,1759,1869,1650,0,0,0,0,0,0,14.92,14.93,14.92
$GC,3866,0.68,116.8,2783,2156,1869,1648,549.6,11.5,158,3871,0.00,2.33,0.00,0.000,2564,0.000,0.058,2794,747,1758,1870,1647,0,0,0,0,0,0,15.04,14.80,15.05
$GC,3892,0.68,116.8,2794,747,1869,1647,549.6,11.5,158,3897,0.00,2.30,0.00,0.000,5126,0.000,0.042,2794,2161,1757,1869,1646,0,0,0,0,0,0,14.90,14.83,14.92
$GC,4149,0.68,116.8,2794,2162,1868,1645,515.4,12.1,165,4150,0.00,0.00,0.00,0.000,4102,0.000,0.000,2794,2162,1756,1868,1645,0,0,0,0,0,0,15.11,15.12,15.12
$GC,4391,0.68,116.8,2794,2162,1867,1644,486.5,12.3,171,4396,0.00,2.28,0.00,0.000,4356,0.000,0.060,2795,3550,1755,1867,1644,0,0,0,0,0,0,15.15,14.90,15.16
$GC,4573,0.68,116.8,2794,3550,1864,1644,466.1,12.4,175,4579,0.05,2.28,0.00,0.000,5126,0.516,0.046,2790,2146,1754,1864,1644,0,0,0,0,0,0,14.67,14.94,14.95
$GC,4836,0.68,116.8,2790,2144,1864,1642,433.6,11.3,182,4841,0.00,2.30,0.00,0.000,4356,0.000,0.054,2790,3555,1753,1864,1642,0,0,0,0,0,0,15.19,14.94,15.19
$GC,4962,0.68,116.8,2790,3555,1862,1642,419.5,11.5,185,4968,0.00,2.28,0.00,0.000,5126,0.000,0.046,2801,2146,1752,1862,1642,0,0,0,0,0,0,15.04,14.96,15.05
$GC,5240,0.68,116.8,2800,2146,1862,1640,389.8,10.9,192,5246,0.00,2.30,0.00,0.000,4356,0.000,0.053,2801,3556,1751,1862,1640,0,0,0,0,0,0,15.21,14.95,15.21
$GC,5291,0.68,116.8,2800,3556,1861,1640,385.2,11.0,193,5297,0.08,2.28,0.00,0.000,5126,0.445,0.045,2787,2142,1751,1861,1641,0,0,0,0,0,0,14.71,14.97,14.99
$GC,5564,0.68,116.8,2787,2140,1861,1639,357.2,10.0,200,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2140,1750,1861,1639,0,0,0,0,0,0,15.21,15.22,15.22
$GC,5805,0.68,116.8,2787,2140,1860,1638,332.6,10.1,206,5810,0.00,2.25,0.00,0.000,516,0.000,0.057,2798,747,1749,1861,1638,0,0,0,0,0,0,15.23,14.97,15.23
$GC,6031,0.68,121.5,2797,747,1860,1638,312.8,9.7,211,6036,0.00,2.25,0.00,0.000,5126,0.000,0.037,2798,2162,1749,1860,1638,0,0,0,0,0,0,15.07,14.99,15.08
$GC,6289,0.68,142.5,2798,2163,1860,1638,288.4,8.8,218,6313,0.00,2.25,18.30,1.226,12548,0.000,0.052,2798,3549,1655,1759,1551,0,0,0,0,0,0,15.24,14.81,14.37
$GC,6749,0.68,142.5,2797,3549,1759,1562,237.0,11.3,229,6755,0.05,2.25,0.00,0.000,5126,0.483,0.046,2793,2153,1660,1758,1562,0,0,0,0,0,0,14.68,14.93,14.94
$GC,7012,0.69,163.2,2792,2153,1759,1561,210.5,8.8,236,7036,0.00,2.28,17.42,1.112,8452,0.000,0.050,2793,3546,1571,1670,1473,0,0,0,0,0,0,15.19,14.87,14.38
$GC,7165,0.69,163.2,2792,3545,1669,1473,192.8,12.3,242,7170,0.00,2.28,0.00,0.000,5126,0.000,0.046,2803,2150,1571,1669,1473,0,0,0,0,0,0,14.97,14.88,14.97
$GC,7418,0.69,163.2,2802,2150,1668,1472,163.1,10.4,267,7423,0.00,2.30,0.00,0.000,4612,0.000,0.057,2814,741,1570,1668,1472,0,0,0,0,0,0,15.14,14.89,15.14
$GC,7680,0.69,163.3,2814,740,1668,1472,134.3,10.0,291,7686,0.05,2.25,0.00,0.000,5126,0.447,0.035,2797,2152,1569,1667,1472,0,0,0,0,0,0,14.66,14.92,14.91
$GC,7934,0.70,205.8,2797,2155,1668,1473,113.2,7.6,316,7971,0.00,2.28,31.88,0.993,8452,0.000,0.050,2797,3549,1397,1489,1306,0,0,0,0,0,0,15.14,14.68,14.31
$GC,8014,0.70,205.8,2797,3549,1489,1311,105.3,11.6,323,8022,0.00,2.30,0.00,0.000,5126,0.000,0.047,2807,2150,1400,1489,1311,0,0,0,0,0,0,14.86,14.78,14.87
$GC,8264,0.70,205.8,2808,2149,1489,1312,69.1,13.7,348,8272,0.00,0.00,0.00,0.000,4102,0.000,0.000,2808,2150,1401,1489,1313,0,0,0,0,0,0,15.05,15.06,15.06
$GC,8513,0.70,205.8,2807,2149,1489,1313,35.5,13.7,373,8518,0.00,2.30,0.00,0.000,4612,0.000,0.056,2819,741,1401,1489,1314,0,0,0,0,0,0,15.08,14.83,15.08
$GC,8567,0.70,205.8,2819,740,1489,1315,28.1,14.0,378,8576,0.05,2.30,0.00,0.000,5126,0.387,0.035,2801,2145,1402,1490,1314,0,0,0,0,0,0,14.58,14.81,14.76
$STATE,8748,end climb,SURFACE_DEPTH_REACHED
$STATE,8749,begin surface coast
$FINISH,0.3,1.023887
$STATE,8774,end surface coast,CONTROL_FINISHED_OK
$STATE,8774,begin surface
$SM_CCo,8788,103.93,0.113,0,0,690,380.21
$SM_GC,1.27,5.95,0.28,103.93,0.071,0.061,0.113,186,2361,690,-7.31,-1.39,380.21,0,0,0,0,0,0,14.86,14.86,14.73
$IRIDIUM_FIX,2213.68,-15617.16,300318,181422
$TT8_MAMPS,0.019474,0.262899
$HUMID,41.06
$INTERNAL_PRESSURE,9.40725
$TCM_TEMP,21.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,6.4
$24V_AH,13.36,48.724
$10V_AH,13.66,0.000
$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,14.400,73.925,258.350,103.925,0.000,27.967,42.277,102.819,0.500,0.000,20.230,1607.921,5349.362,467.428,1677.946,84.511,0.000,1104.649,0.000,1452.809,0.000,5.461,0.000
$DEVICE_MAMPS,515.610,68.085,2521.440,113.220,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,279.702,211.625,378.042,365.000,560.041,0.000,0.000,0.000,0.000,0.000
$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,37265,412
$CAP_FILE_SIZE,87003,0
$CFSIZE,2097086464,2075721728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.144,316.69,1
$GPS,300318,204754,2222.856,-15617.276,42,0.7,42,9.9,0.0,0.0,11,20.0