version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 191
start: 3 31 118 6 27 14
data:
$ID,626
$MISSION,2
$DIVE,191
$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,110
$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,2420
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,62
$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
$GPS1,310318,062207,2221.2983,-15621.4355,14,1.3,14,9.9,1.0,330.2,6,31.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.4
$GPS2,310318,062649,2221.3445,-15621.4795,17,1.2,17,9.9,0.0,0.0,6,29.8
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,M6
$TGT_LATLONG,2220.000,-15623.300
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,176.5,3991,-21.4,-10.000,-23.94,1642
$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,16,-0.80,-107.1,187,2408,710,671,0.0,0.0,0,80,0.00,0.00,-60.03,0.000,16390,0.000,0.000,187,2408,2679,2709,2649,0,0,0,0,0,0,14.92,13.72,14.89
$GC,83,-0.80,-107.1,187,2408,2709,2649,4.4,-8.8,8,101,6.90,2.30,0.00,0.000,2564,0.438,0.041,2305,1000,2678,2709,2647,0,0,0,0,0,0,14.43,14.64,14.71
$GC,109,-0.80,-107.1,2305,1000,2709,2646,18.4,-41.4,11,118,0.00,2.35,0.00,0.000,3078,0.000,0.049,2296,2386,2677,2709,2646,0,0,0,0,0,0,14.71,14.66,14.73
$GC,363,-0.80,-107.1,2295,2386,2709,2645,108.7,-32.3,38,369,0.00,2.35,0.00,0.000,2308,0.000,0.059,2286,3821,2677,2709,2645,0,0,0,0,0,0,15.04,14.77,15.04
$GC,377,-0.80,-107.1,2286,3821,2709,2645,112.4,-30.9,39,383,0.08,2.28,0.00,0.000,3078,0.407,0.045,2309,2424,2677,2709,2645,0,0,0,0,0,0,14.58,14.80,14.82
$GC,633,-0.80,-107.1,2309,2423,2710,2645,180.1,-25.2,64,638,0.00,2.30,0.00,0.000,260,0.000,0.061,2304,3822,2677,2710,2645,0,0,0,0,0,0,15.09,14.82,15.09
$GC,659,-0.80,-107.1,2303,3822,2710,2645,186.5,-25.3,66,667,0.00,2.33,0.00,0.000,3078,0.000,0.046,2304,2425,2677,2710,2645,0,0,0,0,0,0,14.83,14.78,14.85
$GC,916,-0.80,-107.1,2304,2424,2713,2645,245.5,-22.0,77,921,0.00,2.30,0.00,0.000,2564,0.000,0.058,2304,1009,2679,2713,2645,0,0,0,0,0,0,15.15,14.89,15.16
$GC,961,-0.80,-107.1,2303,1009,2713,2645,254.9,-21.9,78,967,0.00,2.30,0.00,0.000,3078,0.000,0.052,2302,2412,2679,2713,2645,0,0,0,0,0,0,15.00,14.90,15.01
$GC,1239,-0.80,-107.1,2303,2413,2715,2645,314.1,-21.1,85,1244,0.00,2.30,0.00,0.000,2564,0.000,0.057,2303,1007,2680,2715,2645,0,0,0,0,0,0,15.20,14.93,15.20
$GC,1290,-0.80,-107.1,2302,1006,2714,2645,323.2,-21.1,86,1296,0.05,2.30,0.00,0.000,3078,0.469,0.050,2310,2424,2679,2714,2645,0,0,0,0,0,0,14.72,14.93,14.96
$GC,1564,-0.80,-107.1,2310,2424,2714,2645,380.3,-19.8,93,1569,0.00,2.30,0.00,0.000,260,0.000,0.064,2304,3831,2680,2715,2645,0,0,0,0,0,0,15.21,14.93,15.22
$GC,1595,-0.80,-107.1,2304,3831,2714,2645,380.3,-19.8,93,1600,0.00,2.28,0.00,0.000,3078,0.000,0.044,2304,2416,2679,2714,2645,0,0,0,0,0,0,15.06,14.97,15.07
$GC,1847,-0.80,-107.1,2303,2416,2714,2645,433.6,-18.3,100,1852,0.00,2.28,0.00,0.000,2564,0.000,0.058,2304,1009,2679,2714,2645,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1885,-0.80,-107.1,2303,1009,2714,2645,433.6,-18.3,100,1892,0.00,2.33,0.00,0.000,3078,0.000,0.054,2303,2429,2680,2715,2645,0,0,0,0,0,0,15.07,14.96,15.08
$GC,2130,-0.80,-107.1,2303,2429,2714,2644,485.4,-18.7,107,2131,0.00,0.00,0.00,0.000,2054,0.000,0.000,2303,2429,2678,2714,2643,0,0,0,0,0,0,15.24,15.25,15.24
$GC,2369,-0.80,-107.1,2303,2429,2714,2641,530.0,-18.8,113,2370,0.00,0.00,0.00,0.000,2054,0.000,0.000,2303,2429,2677,2714,2641,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2610,-0.80,-107.1,2303,2429,2714,2637,574.9,-18.9,119,2615,0.00,2.35,0.00,0.000,2564,0.000,0.060,2303,1003,2675,2714,2637,0,0,0,0,0,0,15.26,14.99,15.26
$GC,2646,-0.80,-107.1,2303,1002,2714,2636,574.9,-18.9,119,2654,0.05,2.30,0.00,0.000,3078,0.459,0.047,2310,2423,2674,2714,2635,0,0,0,0,0,0,14.77,15.00,15.02
$STATE,2770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2770,begin apogee
$GC,2775,-0.16,0.0,2310,2172,2714,2633,604.8,-18.4,123,2862,0.57,0.00,83.50,1.612,10246,0.304,0.000,2519,2168,2239,2307,2172,0,0,0,0,0,0,14.78,14.47,13.92
$STATE,2863,end apogee,CONTROL_FINISHED_OK
$STATE,2863,begin climb
$GC,2864,0.80,107.1,2519,2168,2304,2171,610.7,0.0,125,2952,0.73,0.00,83.40,1.603,10502,0.197,0.000,2805,2167,1802,1903,1701,0,0,0,0,0,0,14.39,14.26,13.65
$GC,3174,0.80,107.1,2805,2168,1903,1704,580.9,12.7,133,3175,0.00,0.00,0.00,0.000,2054,0.000,0.000,2805,2167,1803,1903,1704,0,0,0,0,0,0,14.90,14.91,14.91
$GC,3412,0.80,107.1,2805,2168,1903,1700,550.2,12.5,139,3414,0.00,0.00,0.00,0.000,2054,0.000,0.000,2805,2167,1802,1903,1701,0,0,0,0,0,0,15.04,15.04,15.04
$GC,3652,0.80,107.1,2805,2167,1903,1697,518.8,12.9,145,3657,0.00,2.38,0.00,0.000,2308,0.000,0.052,2804,3615,1800,1903,1697,0,0,0,0,0,0,15.11,14.85,15.11
$GC,3854,0.80,107.1,2805,3615,1899,1697,492.4,13.0,150,3860,0.00,2.28,0.00,0.000,3078,0.000,0.043,2815,2207,1798,1899,1697,0,0,0,0,0,0,14.98,14.91,15.00
$GC,4137,0.80,107.1,2815,2207,1899,1695,458.6,11.7,157,4142,0.00,2.30,0.00,0.000,2564,0.000,0.056,2826,795,1797,1899,1695,0,0,0,0,0,0,15.17,14.92,15.17
$GC,4253,0.80,107.1,2826,795,1898,1695,449.3,11.3,159,4261,0.00,2.30,0.00,0.000,1030,0.000,0.044,2827,2214,1796,1898,1695,0,0,0,0,0,0,15.01,14.94,15.02
$GC,4499,0.80,107.1,2826,2214,1898,1692,418.7,10.8,166,4504,0.00,2.28,0.00,0.000,260,0.000,0.057,2827,3615,1795,1898,1692,0,0,0,0,0,0,15.19,14.93,15.19
$GC,4971,0.80,107.1,2826,3615,1894,1692,369.8,10.3,177,4976,0.00,2.28,0.00,0.000,5126,0.000,0.046,2837,2198,1793,1894,1692,0,0,0,0,0,0,15.04,14.96,15.06
$GC,5224,0.80,108.7,2837,2197,1894,1692,341.3,9.9,184,5229,0.00,2.33,0.00,0.000,4356,0.000,0.053,2837,3614,1792,1894,1691,0,0,0,0,0,0,15.22,14.95,15.22
$GC,5326,0.82,119.4,2836,3614,1891,1691,333.5,9.3,186,5341,0.05,2.28,9.68,1.162,13318,0.501,0.044,2833,2193,1752,1856,1649,0,0,0,0,0,0,14.69,14.98,14.39
$GC,5588,0.82,119.4,2833,2193,1850,1650,303.4,10.8,193,5593,0.00,2.25,0.00,0.000,516,0.000,0.054,2843,790,1750,1850,1650,0,0,0,0,0,0,15.19,14.94,15.19
$GC,5710,0.82,119.4,2843,790,1850,1650,291.3,10.1,196,5715,0.00,2.28,0.00,0.000,5126,0.000,0.037,2844,2212,1750,1850,1650,0,0,0,0,0,0,15.04,14.96,15.05
$GC,5993,0.82,125.0,2843,2212,1850,1649,265.3,9.6,203,6003,0.00,2.33,5.10,0.914,12804,0.000,0.050,2854,788,1730,1832,1629,0,0,0,0,0,0,15.21,14.84,14.38
$GC,6015,0.83,130.6,2854,788,1831,1629,265.3,9.6,203,6030,0.05,2.25,6.62,0.995,13318,0.469,0.036,2839,2210,1704,1803,1605,0,0,0,0,0,0,14.72,14.97,14.38
$GC,6277,0.83,130.6,2838,2210,1802,1604,234.1,11.8,210,6283,0.00,2.25,0.00,0.000,4356,0.000,0.053,2839,3594,1703,1802,1604,0,0,0,0,0,0,15.19,14.93,15.19
$GC,6403,0.83,130.6,2838,3594,1802,1605,219.8,11.6,213,6409,0.00,2.25,0.00,0.000,5126,0.000,0.044,2849,2201,1703,1801,1605,0,0,0,0,0,0,15.03,14.95,15.04
$GC,6654,0.84,141.4,2849,2201,1802,1604,195.1,9.3,223,6670,0.00,2.30,9.35,0.999,12804,0.000,0.054,2860,796,1658,1757,1560,0,0,0,0,0,0,15.19,14.91,14.41
$GC,6815,0.84,141.4,2859,796,1755,1560,178.6,10.8,238,6821,0.05,2.25,0.00,0.000,5126,0.454,0.036,2844,2204,1657,1755,1560,0,0,0,0,0,0,14.68,14.92,14.92
$GC,7068,0.88,173.2,2843,2206,1755,1560,156.8,8.0,263,7102,0.00,2.30,24.62,1.017,10500,0.000,0.050,2844,3599,1527,1618,1436,0,0,0,0,0,0,15.16,14.77,14.35
$GC,7288,0.88,173.2,2843,3599,1617,1441,128.6,14.1,283,7295,0.00,2.28,0.00,0.000,1030,0.000,0.044,2854,2199,1529,1617,1441,0,0,0,0,0,0,14.90,14.84,14.92
$GC,7535,0.88,173.2,2853,2197,1617,1441,95.9,10.9,308,7541,0.00,2.25,0.00,0.000,516,0.000,0.053,2865,793,1529,1617,1441,0,0,0,0,0,0,15.09,14.85,15.09
$GC,7601,0.88,173.2,2864,791,1617,1442,87.2,13.4,314,7607,0.00,2.25,0.00,0.000,5126,0.000,0.035,2865,2198,1530,1618,1442,0,0,0,0,0,0,14.95,14.88,14.96
$GC,7856,0.88,173.2,2864,2199,1617,1443,60.8,10.9,339,7862,0.00,2.28,0.00,0.000,4356,0.000,0.051,2865,3600,1530,1617,1443,0,0,0,0,0,0,15.10,14.86,15.10
$GC,7896,0.88,173.2,2865,3600,1617,1444,56.5,11.2,342,7905,0.05,2.33,0.00,0.000,5126,0.438,0.044,2859,2200,1531,1618,1444,0,0,0,0,0,0,14.55,14.80,14.75
$GC,8147,0.88,173.2,2859,2199,1617,1445,28.5,12.5,368,8156,0.00,2.35,0.00,0.000,4612,0.000,0.054,2869,787,1532,1618,1446,0,0,0,0,0,0,15.09,14.81,15.10
$GC,8276,0.88,173.2,2869,787,1617,1447,13.0,11.8,389,8286,0.03,2.33,0.00,0.000,5126,0.459,0.034,2861,2207,1531,1617,1446,0,0,0,0,0,0,14.61,14.81,14.76
$STATE,8375,end climb,SURFACE_DEPTH_REACHED
$STATE,8375,begin surface coast
$FINISH,0.4,1.023782
$STATE,8407,end surface coast,CONTROL_FINISHED_OK
$STATE,8407,begin surface
$SM_CCo,8421,131.73,0.868,1,0,687,380.21
$SM_GC,1.28,6.12,0.30,131.73,0.083,0.062,0.868,199,2446,687,-7.29,-1.44,380.21,0,0,0,0,1,0,14.88,14.88,14.04
$IRIDIUM_FIX,2213.68,-15622.37,310318,062310
$TT8_MAMPS,0.018725,0.274134
$HUMID,40.90
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,6.4
$24V_AH,13.65,49.653
$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,14.725,92.475,222.275,131.725,0.000,27.969,44.710,103.847,0.500,0.000,18.205,1591.094,5004.530,480.967,1682.858,96.096,0.000,1132.550,0.000,1459.656,0.000,5.460,0.000
$DEVICE_MAMPS,501.075,64.260,1611.855,867.510,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,277.824,218.122,387.101,386.488,593.009,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343124
$DATA_FILE_SIZE,37443,410
$CAP_FILE_SIZE,91486,0
$CFSIZE,2097086464,2075230208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.195,298.46,1
$GPS,310318,085101,2220.934,-15622.322,21,0.8,34,9.9,0.0,274.1,9,38.1