version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 194
start: 3 31 118 13 49 49
data:
$ID,626
$MISSION,2
$DIVE,194
$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,41
$R_STBD_OVSHOOT,46
$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
$GPS1,310318,134430,2221.3059,-15624.5898,25,1.5,25,9.9,0.5,194.9,8,50.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.9
$GPS2,310318,134925,2221.3477,-15624.6562,17,1.5,17,9.9,0.6,278.0,8,32.4
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,M7
$TGT_LATLONG,2227.000,-15642.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,260.9,31478,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.80,-107.1,187,2416,710,674,0.0,0.0,0,80,0.00,0.00,-60.80,0.000,16390,0.000,0.000,187,2417,2677,2704,2651,0,0,0,0,0,0,14.92,13.73,14.89
$GC,83,-0.80,-107.1,187,2417,2704,2651,3.9,-6.5,8,101,6.88,2.33,0.00,0.000,2564,0.435,0.047,2304,1012,2675,2705,2646,0,0,0,0,0,0,14.43,14.64,14.71
$GC,214,-0.80,-107.1,2303,1012,2704,2644,55.9,-35.4,23,220,0.05,2.30,0.00,0.000,3078,0.489,0.047,2309,2407,2674,2705,2643,0,0,0,0,0,0,14.52,14.74,14.77
$GC,468,-0.80,-107.1,2308,2409,2705,2644,135.4,-28.5,48,473,0.00,2.33,0.00,0.000,2308,0.000,0.061,2299,3823,2674,2705,2644,0,0,0,0,0,0,15.06,14.79,15.06
$GC,644,-0.80,-107.1,2298,3824,2706,2644,176.4,-24.0,64,651,0.00,2.28,0.00,0.000,3078,0.000,0.049,2298,2425,2675,2706,2644,0,0,0,0,0,0,14.94,14.85,14.95
$GC,900,-0.80,-107.1,2298,2425,2708,2644,239.9,-24.3,78,906,0.00,2.30,0.00,0.000,2564,0.000,0.060,2299,1010,2676,2708,2644,0,0,0,0,0,0,15.15,14.88,15.15
$GC,983,-0.80,-107.1,2298,1010,2708,2644,258.8,-23.2,80,990,0.05,2.33,0.00,0.000,3078,0.490,0.050,2306,2421,2676,2708,2644,0,0,0,0,0,0,14.68,14.90,14.93
$GC,1267,-0.80,-107.1,2305,2422,2710,2644,318.7,-20.9,87,1268,0.00,0.00,0.00,0.000,2054,0.000,0.000,2305,2422,2677,2710,2644,0,0,0,0,0,0,15.19,15.20,15.19
$GC,1507,-0.80,-107.1,2305,2422,2710,2643,368.0,-21.2,93,1513,0.00,2.30,0.00,0.000,2308,0.000,0.062,2304,3828,2677,2710,2644,0,0,0,0,0,0,15.22,14.94,15.22
$GC,1584,-0.80,-107.1,2304,3828,2710,2643,377.1,-21.6,94,1591,0.00,2.25,0.00,0.000,3078,0.000,0.041,2304,2413,2676,2710,2643,0,0,0,0,0,0,15.07,14.97,15.07
$GC,1830,-0.80,-107.1,2304,2413,2710,2644,434.0,-19.9,101,1836,0.00,2.25,0.00,0.000,2564,0.000,0.053,2304,1009,2676,2710,2643,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1851,-0.80,-107.1,2303,1009,2710,2643,434.0,-19.9,101,1857,0.00,2.28,0.00,0.000,3078,0.000,0.044,2303,2419,2676,2710,2643,0,0,0,0,0,0,15.07,14.97,15.08
$GC,2113,-0.80,-107.1,2303,2419,2710,2641,489.7,-19.7,108,2119,0.00,2.33,0.00,0.000,2564,0.000,0.062,2303,1012,2675,2710,2641,0,0,0,0,0,0,15.24,14.97,15.25
$GC,2160,-0.80,-107.1,2303,1012,2710,2641,498.5,-19.9,109,2166,0.05,2.28,0.00,0.000,3078,0.464,0.045,2311,2423,2675,2710,2641,0,0,0,0,0,0,14.76,14.99,15.01
$GC,2438,-0.80,-107.1,2311,2423,2710,2637,549.5,-17.8,116,2443,0.00,2.25,0.00,0.000,260,0.000,0.057,2303,3826,2673,2710,2637,0,0,0,0,0,0,15.25,14.97,15.25
$GC,2480,-0.80,-107.1,2303,3824,2710,2637,556.6,-17.6,117,2485,0.00,2.25,0.00,0.000,3078,0.000,0.037,2304,2409,2673,2710,2637,0,0,0,0,0,0,15.09,15.01,15.10
$STATE,2761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2761,begin apogee
$GC,2766,-0.16,0.0,2304,2166,2709,2633,605.9,-17.5,124,2851,0.57,0.00,82.32,1.655,10246,0.303,0.000,2512,2163,2238,2305,2172,0,0,0,0,0,0,14.78,14.47,13.90
$STATE,2852,end apogee,CONTROL_FINISHED_OK
$STATE,2852,begin climb
$GC,2854,0.80,107.1,2512,2163,2303,2172,611.6,0.0,126,2951,0.75,2.55,86.50,2.133,10500,0.203,0.052,2806,3607,1803,1900,1706,0,0,0,0,0,0,14.38,14.17,13.42
$GC,3093,0.80,107.1,2805,3607,1899,1704,589.5,12.6,132,3098,0.00,2.28,0.00,0.000,3078,0.000,0.043,2816,2227,1801,1899,1704,0,0,0,0,0,0,14.67,14.59,14.69
$GC,3365,0.80,107.1,2815,2227,1899,1700,554.3,12.0,139,3366,0.00,0.00,0.00,0.000,2054,0.000,0.000,2816,2227,1799,1899,1700,0,0,0,0,0,0,15.02,15.02,15.02
$GC,3606,0.80,107.1,2815,2226,1899,1696,526.3,11.3,145,3611,0.00,2.30,0.00,0.000,2308,0.000,0.052,2816,3618,1797,1899,1696,0,0,0,0,0,0,15.09,14.84,15.09
$GC,3809,0.80,107.1,2815,3618,1897,1696,500.9,12.6,150,3814,0.00,2.30,0.00,0.000,1030,0.000,0.043,2826,2199,1797,1898,1696,0,0,0,0,0,0,14.97,14.90,14.97
$GC,4091,0.80,107.1,2826,2199,1897,1693,468.7,11.6,157,4096,0.00,2.28,0.00,0.000,516,0.000,0.057,2837,795,1795,1897,1694,0,0,0,0,0,0,15.16,14.92,15.16
$GC,4197,0.80,107.1,2837,794,1896,1694,458.9,11.7,159,4203,0.00,2.28,0.00,0.000,5126,0.000,0.040,2837,2213,1795,1896,1694,0,0,0,0,0,0,15.02,14.94,15.03
$GC,4455,0.80,107.1,2837,2214,1896,1691,425.6,11.5,166,4460,0.00,2.25,0.00,0.000,4356,0.000,0.051,2837,3611,1793,1896,1691,0,0,0,0,0,0,15.19,14.95,15.19
$GC,4766,0.80,107.1,2837,3611,1892,1691,391.8,12.3,173,4772,0.08,2.28,0.00,0.000,5126,0.461,0.043,2825,2197,1791,1892,1691,0,0,0,0,0,0,14.70,14.97,14.98
$GC,5020,0.80,107.7,2825,2197,1892,1690,362.7,10.0,180,5025,0.00,2.25,0.00,0.000,516,0.000,0.055,2835,796,1791,1892,1690,0,0,0,0,0,0,15.21,14.96,15.21
$GC,5096,0.80,109.5,2835,796,1891,1690,358.3,9.9,181,5103,0.00,2.25,0.00,0.000,5126,0.000,0.039,2836,2208,1790,1891,1690,0,0,0,0,0,0,15.06,14.98,15.07
$GC,5343,0.81,117.0,2835,2210,1891,1688,330.9,9.5,188,5357,0.00,2.22,7.40,1.138,12548,0.000,0.052,2836,3597,1758,1861,1656,0,0,0,0,0,0,15.22,14.95,14.38
$GC,5603,0.82,120.5,2835,3597,1860,1665,307.9,9.8,194,5614,0.00,2.25,4.80,0.986,13318,0.000,0.042,2846,2193,1746,1847,1645,0,0,0,0,0,0,15.04,14.95,14.35
$GC,5866,0.83,129.6,2846,2193,1845,1645,282.0,9.4,201,5881,0.00,2.25,8.27,1.101,12804,0.000,0.055,2857,797,1708,1808,1608,0,0,0,0,0,0,15.19,14.92,14.38
$GC,5937,0.84,138.7,2856,797,1807,1607,277.5,9.4,202,5953,0.05,2.25,8.40,1.091,13318,0.468,0.039,2841,2209,1670,1768,1572,0,0,0,0,0,0,14.69,14.93,14.35
$GC,6232,0.84,138.7,2841,2210,1767,1571,235.3,13.2,210,6237,0.00,2.25,0.00,0.000,4356,0.000,0.050,2842,3593,1669,1767,1572,0,0,0,0,0,0,15.15,14.91,15.16
$GC,6397,0.84,138.7,2841,3593,1767,1572,214.5,12.7,214,6403,0.00,2.25,0.00,0.000,5126,0.000,0.044,2852,2200,1669,1767,1572,0,0,0,0,0,0,15.02,14.94,15.02
$GC,6647,0.87,161.5,2851,2200,1767,1572,189.6,8.6,227,6671,0.00,2.35,18.02,1.067,12804,0.000,0.055,2863,797,1576,1671,1481,0,0,0,0,0,0,15.18,14.85,14.37
$GC,6809,0.87,161.5,2862,797,1669,1481,169.2,14.6,242,6815,0.00,2.25,0.00,0.000,5126,0.000,0.037,2862,2196,1575,1669,1481,0,0,0,0,0,0,14.95,14.88,14.96
$GC,7065,0.87,161.5,2862,2199,1669,1480,137.2,11.4,267,7070,0.00,2.28,0.00,0.000,4356,0.000,0.051,2862,3597,1575,1669,1481,0,0,0,0,0,0,15.11,14.88,15.11
$GC,7112,0.87,161.5,2862,3598,1669,1481,131.1,12.7,271,7118,0.08,2.25,0.00,0.000,5126,0.435,0.041,2849,2199,1575,1669,1481,0,0,0,0,0,0,14.64,14.90,14.90
$GC,7365,0.87,161.5,2849,2199,1669,1481,100.8,10.7,296,7370,0.00,2.25,0.00,0.000,516,0.000,0.054,2859,798,1575,1669,1481,0,0,0,0,0,0,15.13,14.89,15.13
$GC,7470,0.87,161.6,2859,796,1669,1481,90.5,10.0,305,7477,0.00,2.25,0.00,0.000,5126,0.000,0.037,2859,2208,1575,1669,1481,0,0,0,0,0,0,14.98,14.91,15.00
$GC,7719,0.92,205.9,2859,2209,1669,1483,68.2,7.2,330,7758,0.00,0.00,32.30,0.911,10246,0.000,0.000,2859,2209,1398,1487,1309,0,0,0,0,0,0,15.12,14.64,14.32
$GC,8001,0.92,205.9,2859,2210,1487,1310,26.7,16.9,359,8009,0.00,0.00,0.00,0.000,2054,0.000,0.000,2859,2210,1398,1486,1310,0,0,0,0,0,0,15.03,15.04,15.03
$STATE,8151,end climb,SURFACE_DEPTH_REACHED
$STATE,8152,begin surface coast
$FINISH,0.2,1.023882
$STATE,8178,end surface coast,CONTROL_FINISHED_OK
$STATE,8178,begin surface
$SM_CCo,8192,111.72,0.871,1,0,688,380.21
$SM_GC,1.38,6.22,0.30,111.72,0.102,0.076,0.871,190,2408,688,-7.28,-1.55,380.21,0,0,0,0,1,0,14.84,14.82,14.04
$IRIDIUM_FIX,2209.02,-15625.44,310318,134532
$TT8_MAMPS,0.018725,0.265895
$HUMID,41.84
$INTERNAL_PRESSURE,9.39748
$TCM_TEMP,20.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,7.1
$24V_AH,13.42,50.243
$10V_AH,13.54,0.000
$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,14.775,82.725,248.025,111.725,0.000,28.859,44.522,115.754,0.500,0.000,19.143,1611.091,4729.678,461.021,1726.981,89.224,0.000,1135.062,0.000,1485.614,0.000,5.462,0.000
$DEVICE_MAMPS,489.600,76.500,2132.820,871.335,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,262.873,202.488,360.719,352.126,540.301,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343176
$DATA_FILE_SIZE,34131,388
$CAP_FILE_SIZE,88774,0
$CFSIZE,2097086464,2074935296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.160,301.46,1
$GPS,310318,160930,2221.683,-15626.140,38,0.7,38,9.9,0.6,301.3,9,21.9