version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 189
start: 3 31 118 1 44 44
data:
$ID,626
$MISSION,2
$DIVE,189
$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,2569
$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,2390
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,33
$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,0.0012300001
$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
$GPS1,310318,013917,2222.0791,-15619.2734,31,2.0,32,9.9,0.5,346.4,5,28.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.2
$GPS2,310318,014419,2222.1160,-15619.3037,11,1.0,37,9.9,0.0,330.6,6,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M6
$TGT_LATLONG,2220.000,-15623.300
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,195.9,7888,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.78,-116.8,186,2374,709,669,0.0,0.0,0,79,0.00,0.00,-61.55,0.000,16390,0.000,0.000,186,2375,2718,2746,2690,0,0,0,0,0,0,15.01,13.74,14.97
$GC,82,-0.78,-116.8,186,2375,2746,2690,3.8,-7.0,8,100,6.93,2.28,0.00,0.000,2564,0.441,0.037,2313,965,2718,2746,2690,0,0,0,0,0,0,14.49,14.71,14.78
$GC,161,-0.78,-116.8,2312,965,2746,2685,37.0,-36.1,19,166,0.00,2.35,0.00,0.000,3078,0.000,0.048,2303,2389,2716,2747,2685,0,0,0,0,0,0,14.87,14.76,14.88
$GC,414,-0.78,-116.8,2302,2390,2746,2685,121.0,-30.5,44,419,0.00,2.30,0.00,0.000,2308,0.000,0.056,2292,3805,2715,2746,2685,0,0,0,0,0,0,15.08,14.81,15.08
$GC,526,-0.78,-116.8,2291,3806,2746,2685,152.8,-27.0,54,536,0.05,2.35,0.00,0.000,3078,0.389,0.049,2309,2393,2716,2747,2686,0,0,0,0,0,0,14.58,14.77,14.76
$GC,803,-0.78,-116.8,2309,2392,2747,2685,221.4,-26.5,76,805,0.00,0.00,0.00,0.000,2054,0.000,0.000,2309,2392,2716,2747,2685,0,0,0,0,0,0,15.15,15.15,15.15
$GC,1043,-0.78,-116.8,2309,2392,2750,2685,277.5,-22.4,82,1048,0.00,2.30,0.00,0.000,2564,0.000,0.061,2309,983,2717,2750,2685,0,0,0,0,0,0,15.19,14.92,15.19
$GC,1074,-0.78,-116.8,2309,983,2750,2685,277.5,-22.4,82,1080,0.00,2.30,0.00,0.000,3078,0.000,0.050,2304,2394,2717,2750,2685,0,0,0,0,0,0,15.02,14.92,15.04
$GC,1327,-0.78,-116.8,2304,2396,2750,2685,336.7,-19.6,89,1333,0.00,2.30,0.00,0.000,2308,0.000,0.066,2304,3800,2717,2750,2685,0,0,0,0,0,0,15.22,14.93,15.22
$GC,1370,-0.78,-116.8,2303,3800,2750,2685,344.4,-18.6,90,1376,0.00,2.28,0.00,0.000,3078,0.000,0.044,2304,2381,2717,2749,2685,0,0,0,0,0,0,15.06,14.97,15.07
$GC,1653,-0.78,-116.8,2303,2380,2750,2685,398.0,-19.2,97,1658,0.00,2.28,0.00,0.000,2564,0.000,0.060,2304,979,2717,2750,2684,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1735,-0.78,-116.8,2303,978,2749,2683,414.4,-19.6,99,1740,0.00,2.33,0.00,0.000,3078,0.000,0.050,2303,2400,2716,2750,2683,0,0,0,0,0,0,15.07,14.97,15.09
$GC,2019,-0.78,-116.8,2303,2400,2749,2681,467.3,-18.7,106,2020,0.00,0.00,0.00,0.000,2054,0.000,0.000,2303,2400,2715,2750,2681,0,0,0,0,0,0,15.25,15.25,15.25
$GC,2257,-0.78,-116.8,2303,2400,2750,2678,512.2,-18.6,112,2258,0.00,0.00,0.00,0.000,2054,0.000,0.000,2303,2400,2713,2750,2677,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2497,-0.78,-116.8,2303,2400,2749,2674,554.8,-17.8,118,2503,0.00,2.35,0.00,0.000,2564,0.000,0.060,2303,974,2712,2750,2674,0,0,0,0,0,0,15.26,14.99,15.27
$GC,2519,-0.78,-116.8,2303,973,2749,2674,554.8,-17.8,118,2525,0.00,2.33,0.00,0.000,3078,0.000,0.050,2302,2392,2711,2749,2674,0,0,0,0,0,0,15.09,14.98,15.11
$STATE,2740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2741,begin apogee
$GC,2745,-0.16,0.0,2302,2128,2749,2670,600.3,-18.5,124,2838,0.60,0.00,89.38,1.666,10246,0.304,0.000,2519,2123,2239,2307,2172,0,0,0,0,0,0,14.78,14.45,13.87
$STATE,2839,end apogee,CONTROL_FINISHED_OK
$STATE,2839,begin climb
$GC,2840,0.78,116.8,2519,2123,2306,2172,606.9,0.0,126,2944,0.75,2.55,96.03,2.104,10500,0.193,0.058,2809,3559,1763,1868,1658,0,0,0,0,0,0,14.35,14.18,13.52
$GC,2980,0.78,116.8,2809,3561,1866,1659,604.3,4.2,129,2988,0.00,2.38,0.00,0.000,1030,0.000,0.048,2820,2157,1763,1867,1659,0,0,0,0,0,0,14.47,14.40,14.47
$GC,3226,0.78,116.8,2819,2157,1867,1658,564.9,14.2,136,3232,0.00,2.35,0.00,0.000,260,0.000,0.057,2820,3562,1762,1866,1658,0,0,0,0,0,0,14.94,14.70,14.95
$GC,3263,0.78,116.8,2819,3562,1866,1658,564.9,14.2,136,3270,0.00,2.35,0.00,0.000,5126,0.000,0.049,2830,2140,1761,1865,1658,0,0,0,0,0,0,14.82,14.74,14.83
$GC,3509,0.78,116.8,2830,2140,1866,1654,522.4,15.6,143,3515,0.00,2.40,0.00,0.000,4356,0.000,0.058,2830,3568,1760,1867,1654,0,0,0,0,0,0,15.07,14.82,15.07
$GC,3635,0.78,116.8,2830,3568,1864,1654,502.6,16.1,146,3642,0.05,2.33,0.00,0.000,5126,0.520,0.049,2826,2146,1759,1864,1654,0,0,0,0,0,0,14.61,14.86,14.87
$GC,3913,0.78,116.8,2826,2144,1864,1651,462.6,14.0,153,3919,0.00,2.38,0.00,0.000,4356,0.000,0.056,2826,3571,1757,1864,1651,0,0,0,0,0,0,15.14,14.89,15.15
$GC,3996,0.78,116.8,2826,3571,1862,1651,450.3,14.3,155,4002,0.05,2.33,0.00,0.000,5126,0.516,0.048,2821,2149,1756,1862,1651,0,0,0,0,0,0,14.66,14.92,14.92
$GC,4279,0.78,116.8,2821,2149,1862,1649,411.0,13.5,162,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2149,1755,1862,1649,0,0,0,0,0,0,15.18,15.19,15.19
$GC,4518,0.78,116.8,2821,2149,1861,1646,382.8,11.6,168,4524,0.00,2.28,0.00,0.000,516,0.000,0.056,2832,741,1754,1861,1647,0,0,0,0,0,0,15.19,14.95,15.21
$GC,4534,0.78,116.8,2832,740,1861,1647,382.8,11.6,168,4540,0.00,2.30,0.00,0.000,5126,0.000,0.038,2832,2172,1754,1861,1647,0,0,0,0,0,0,15.04,14.97,15.06
$GC,4802,0.78,116.8,2832,2173,1861,1645,348.5,11.9,175,4804,0.00,0.00,0.00,0.000,4102,0.000,0.000,2832,2173,1753,1861,1645,0,0,0,0,0,0,15.21,15.22,15.21
$GC,5042,0.78,116.8,2832,2173,1860,1644,322.1,10.9,181,5047,0.00,2.22,0.00,0.000,4356,0.000,0.054,2832,3556,1752,1860,1644,0,0,0,0,0,0,15.23,14.97,15.23
$GC,5305,0.78,116.8,2832,3556,1858,1645,297.5,10.0,187,5311,0.08,2.28,0.00,0.000,5126,0.461,0.044,2820,2139,1751,1858,1645,0,0,0,0,0,0,14.70,14.98,15.00
$GC,5568,0.82,144.8,2819,2139,1858,1644,273.9,8.4,194,5590,0.00,0.00,19.98,1.304,10246,0.000,0.000,2820,2138,1648,1751,1545,0,0,0,0,0,0,15.23,14.88,14.31
$GC,5807,0.82,144.8,2819,2139,1749,1544,245.3,12.7,200,5813,0.00,2.28,0.00,0.000,2564,0.000,0.057,2830,744,1646,1749,1544,0,0,0,0,0,0,15.15,14.90,15.15
$GC,5859,0.82,144.8,2830,743,1748,1544,240.4,12.5,201,5865,0.00,2.25,0.00,0.000,1030,0.000,0.037,2830,2149,1646,1749,1544,0,0,0,0,0,0,15.00,14.92,15.00
$GC,6132,0.83,158.1,2830,2151,1748,1544,213.0,9.2,208,6145,0.00,0.00,10.98,1.101,10758,0.000,0.000,2830,2152,1593,1696,1491,0,0,0,0,0,0,15.19,14.90,14.36
$GC,6392,0.83,158.1,2830,2152,1695,1491,183.3,12.9,222,6398,0.00,2.28,0.00,0.000,2308,0.000,0.052,2830,3554,1592,1695,1489,0,0,0,0,0,0,15.16,14.91,15.15
$GC,6806,0.83,158.1,2830,3554,1694,1491,133.9,10.3,261,6813,0.00,2.28,0.00,0.000,5126,0.000,0.044,2841,2151,1593,1694,1492,0,0,0,0,0,0,15.00,14.92,15.01
$GC,7060,0.83,158.1,2840,2151,1694,1492,108.8,11.2,286,7065,0.00,2.28,0.00,0.000,4612,0.000,0.054,2852,742,1593,1694,1492,0,0,0,0,0,0,15.15,14.91,15.15
$GC,7138,0.84,164.7,2851,741,1694,1493,101.3,9.6,293,7151,0.00,2.25,6.62,0.828,13318,0.000,0.036,2852,2152,1565,1668,1463,0,0,0,0,0,0,15.00,14.92,14.38
$GC,7390,0.85,172.1,2851,2153,1667,1464,76.1,9.6,318,7404,0.00,2.28,7.12,0.803,12548,0.000,0.048,2851,3559,1535,1638,1433,0,0,0,0,0,0,15.13,14.76,14.40
$GC,7466,0.85,172.1,2851,3559,1638,1434,68.2,11.4,324,7476,0.05,2.33,0.00,0.000,5126,0.431,0.044,2846,2156,1535,1637,1434,0,0,0,0,0,0,14.57,14.80,14.76
$GC,7715,0.85,172.1,2846,2156,1637,1435,42.2,10.7,349,7722,0.00,2.28,0.00,0.000,4356,0.000,0.049,2846,3550,1536,1637,1436,0,0,0,0,0,0,15.11,14.87,15.11
$GC,7742,0.85,172.1,2846,3550,1637,1437,39.3,10.7,351,7748,0.00,2.28,0.00,0.000,5126,0.000,0.042,2856,2143,1537,1637,1437,0,0,0,0,0,0,14.96,14.88,14.97
$GC,8022,0.85,172.1,2856,2142,1638,1438,9.2,12.1,392,8031,0.00,2.35,0.00,0.000,4356,0.000,0.050,2856,3546,1538,1638,1439,0,0,0,0,0,0,15.08,14.81,15.09
$STATE,8073,end climb,SURFACE_DEPTH_REACHED
$STATE,8073,begin surface coast
$FINISH,0.3,1.023824
$STATE,8098,end surface coast,CONTROL_FINISHED_OK
$STATE,8098,begin surface
$SM_CCo,8114,120.70,0.113,0,0,688,380.21
$SM_GC,1.15,6.10,1.92,120.70,0.081,0.043,0.113,187,2380,688,-7.28,1.13,380.21,0,0,0,0,0,0,14.88,14.86,14.73
$IRIDIUM_FIX,2213.68,-15617.16,310318,014019
$TT8_MAMPS,0.019474,0.262899
$HUMID,40.54
$INTERNAL_PRESSURE,9.42678
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.5,6.4
$24V_AH,13.52,49.279
$10V_AH,13.77,0.000
$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,14.650,83.275,230.100,120.700,0.000,29.527,43.632,104.051,0.500,0.000,38.288,1473.611,4919.912,477.980,1594.460,86.502,0.000,1054.007,0.000,1350.229,0.000,5.458,0.000
$DEVICE_MAMPS,520.200,65.790,2103.750,113.220,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,274.077,215.829,388.754,397.245,609.475,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343140
$DATA_FILE_SIZE,37295,404
$CAP_FILE_SIZE,82916,0
$CFSIZE,2097086464,2075426816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.205,293.59,1
$GPS,310318,040300,2221.705,-15620.524,27,0.7,27,9.9,0.8,296.2,11,17.1