version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 196
start: 3 31 118 18 37 44
data:
$ID,626
$MISSION,2
$DIVE,196
$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,39
$R_STBD_OVSHOOT,24
$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
$GPS1,310318,183237,2222.2173,-15627.6826,19,1.3,19,9.9,1.1,314.9,6,105.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.4
$GPS2,310318,183720,2222.2915,-15627.7471,7,1.3,7,9.9,1.9,293.4,6,142.0
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,M7
$TGT_LATLONG,2227.000,-15642.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,271.7,25908,-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,-107.1,186,2410,710,671,0.0,0.0,0,73,0.00,0.00,-55.92,0.000,16386,0.000,0.000,186,2410,2517,2547,2487,0,0,0,0,0,0,14.91,28.83,14.92
$GC,76,-0.80,-107.1,186,2410,2546,2487,3.1,-5.4,7,95,6.88,2.33,-2.95,0.000,18948,0.434,0.073,2306,1008,2677,2711,2644,0,0,0,0,0,0,14.43,13.97,14.73
$GC,237,-0.80,-107.1,2306,1007,2711,2637,56.6,-33.3,25,247,0.00,2.40,0.00,0.000,3078,0.000,0.049,2295,2429,2673,2711,2636,0,0,0,0,0,0,14.72,14.67,14.74
$GC,484,-0.80,-107.1,2296,2430,2711,2637,138.5,-29.0,50,489,0.00,2.30,0.00,0.000,2308,0.000,0.060,2287,3833,2673,2711,2636,0,0,0,0,0,0,15.06,14.79,15.07
$GC,500,-0.80,-107.1,2287,3833,2711,2636,141.9,-27.9,51,509,0.08,2.30,0.00,0.000,3078,0.410,0.050,2311,2426,2673,2711,2636,0,0,0,0,0,0,14.61,14.82,14.84
$GC,768,-0.80,-107.1,2310,2425,2712,2637,210.4,-23.7,75,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2425,2674,2712,2637,0,0,0,0,0,0,15.11,15.12,15.12
$GC,1007,-0.80,-107.1,2310,2425,2714,2636,262.8,-21.9,81,1013,0.00,2.30,0.00,0.000,260,0.000,0.064,2304,3828,2676,2715,2637,0,0,0,0,0,0,15.16,14.88,15.17
$GC,1054,-0.80,-107.1,2303,3828,2714,2637,271.8,-21.8,82,1060,0.00,2.28,0.00,0.000,3078,0.000,0.049,2304,2418,2675,2714,2637,0,0,0,0,0,0,15.01,14.92,15.02
$GC,1332,-0.80,-107.1,2303,2417,2715,2637,330.3,-20.6,89,1333,0.00,0.00,0.00,0.000,2054,0.000,0.000,2304,2418,2676,2715,2637,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1572,-0.80,-107.1,2303,2417,2716,2637,378.8,-20.1,95,1577,0.00,2.33,0.00,0.000,2564,0.000,0.062,2304,1000,2676,2715,2637,0,0,0,0,0,0,15.23,14.96,15.23
$GC,1629,-0.80,-107.1,2303,1000,2715,2637,387.2,-19.8,96,1634,0.00,2.35,0.00,0.000,3078,0.000,0.056,2303,2434,2675,2715,2636,0,0,0,0,0,0,15.06,14.95,15.07
$GC,1896,-0.80,-107.1,2303,2435,2715,2636,444.4,-20.7,103,1902,0.00,2.28,0.00,0.000,2308,0.000,0.067,2293,3825,2675,2715,2636,0,0,0,0,0,0,15.24,14.95,15.24
$GC,1923,-0.80,-107.1,2292,3826,2715,2636,444.4,-20.7,103,1929,0.05,2.25,0.00,0.000,3078,0.441,0.046,2309,2417,2675,2715,2636,0,0,0,0,0,0,14.77,14.99,15.00
$GC,2181,-0.80,-107.1,2309,2416,2715,2635,498.5,-18.6,110,2186,0.00,2.28,0.00,0.000,2564,0.000,0.060,2309,1014,2675,2715,2635,0,0,0,0,0,0,15.25,14.98,15.25
$GC,2278,-0.80,-107.1,2309,1013,2715,2634,514.2,-18.7,112,2283,0.00,2.30,0.00,0.000,3078,0.000,0.054,2305,2421,2674,2715,2633,0,0,0,0,0,0,15.08,14.97,15.09
$GC,2545,-0.80,-107.1,2304,2421,2715,2631,566.0,-17.8,119,2551,0.00,2.30,0.00,0.000,2308,0.000,0.068,2304,3824,2672,2715,2630,0,0,0,0,0,0,15.26,14.96,15.26
$GC,2612,-0.80,-107.1,2304,3825,2715,2630,573.6,-17.6,120,2618,0.00,2.25,0.00,0.000,3078,0.000,0.047,2304,2424,2672,2715,2630,0,0,0,0,0,0,15.09,15.00,15.10
$STATE,2748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2748,begin apogee
$GC,2752,-0.16,0.0,2304,2168,2715,2627,601.0,-17.0,124,2838,0.57,0.00,81.75,1.626,10246,0.305,0.000,2512,2164,2239,2307,2172,0,0,0,0,0,0,14.78,14.48,13.90
$STATE,2838,end apogee,CONTROL_FINISHED_OK
$STATE,2839,begin climb
$GC,2840,0.80,107.1,2512,2165,2305,2172,606.6,0.0,126,2935,0.77,2.55,87.45,2.218,10500,0.198,0.057,2811,3618,1803,1900,1706,0,0,0,0,0,0,14.39,14.04,13.40
$GC,2945,0.80,107.1,2811,3618,1900,1707,604.4,4.6,128,2953,0.00,2.40,0.00,0.000,3078,0.000,0.048,2822,2213,1803,1900,1707,0,0,0,0,0,0,14.35,14.28,14.37
$GC,3192,0.80,107.1,2821,2214,1900,1702,568.9,13.4,135,3197,0.00,2.38,0.00,0.000,260,0.000,0.060,2822,3616,1801,1900,1702,0,0,0,0,0,0,14.92,14.67,14.92
$GC,3318,0.80,107.1,2821,3617,1899,1703,552.2,13.4,138,3324,0.00,2.35,0.00,0.000,5126,0.000,0.050,2832,2190,1800,1899,1702,0,0,0,0,0,0,14.85,14.76,14.85
$GC,3596,0.80,107.1,2832,2190,1899,1699,516.1,12.5,145,3602,0.00,2.38,0.00,0.000,4356,0.000,0.058,2832,3612,1799,1899,1699,0,0,0,0,0,0,15.09,14.83,15.09
$GC,3688,0.80,107.1,2832,3612,1898,1699,505.3,12.7,147,3694,0.05,2.33,0.00,0.000,5126,0.500,0.049,2828,2186,1798,1898,1699,0,0,0,0,0,0,14.64,14.87,14.88
$GC,3960,0.80,107.1,2828,2184,1898,1696,470.4,11.9,154,3966,0.00,2.25,0.00,0.000,516,0.000,0.057,2839,790,1797,1898,1696,0,0,0,0,0,0,15.14,14.90,15.15
$GC,4021,0.80,107.1,2839,790,1897,1696,465.3,11.9,155,4027,0.00,2.30,0.00,0.000,5126,0.000,0.039,2839,2221,1796,1897,1696,0,0,0,0,0,0,15.00,14.92,15.01
$GC,4284,0.80,107.1,2839,2223,1897,1694,431.5,11.8,162,4285,0.00,0.00,0.00,0.000,4102,0.000,0.000,2839,2222,1795,1896,1694,0,0,0,0,0,0,15.19,15.19,15.19
$GC,4524,0.80,107.1,2839,2223,1896,1692,401.6,12.2,168,4525,0.00,0.00,0.00,0.000,4102,0.000,0.000,2839,2223,1794,1896,1692,0,0,0,0,0,0,15.20,15.21,15.21
$GC,4764,0.80,107.1,2839,2223,1895,1691,371.4,12.0,174,4769,0.00,2.22,0.00,0.000,4356,0.000,0.050,2839,3611,1792,1894,1691,0,0,0,0,0,0,15.21,14.96,15.22
$GC,4946,0.80,107.1,2838,3611,1892,1691,352.2,11.8,178,4952,0.08,2.28,0.00,0.000,5126,0.447,0.042,2826,2190,1791,1892,1691,0,0,0,0,0,0,14.71,14.97,15.00
$GC,5209,0.84,139.7,2826,2189,1892,1690,328.9,8.0,185,5239,0.00,2.28,23.67,1.296,10756,0.000,0.054,2837,790,1667,1765,1570,0,0,0,0,0,0,15.23,14.76,14.31
$GC,5261,0.88,171.5,2837,790,1763,1570,325.2,8.0,186,5292,0.00,2.28,24.77,1.272,11270,0.000,0.039,2837,2206,1537,1627,1447,0,0,0,0,0,0,14.93,14.87,14.21
$GC,5531,0.88,171.5,2837,2206,1626,1445,278.3,18.3,193,5537,0.00,2.28,0.00,0.000,2308,0.000,0.050,2837,3599,1536,1627,1445,0,0,0,0,0,0,15.05,14.81,15.06
$GC,5558,0.88,171.5,2836,3599,1626,1445,278.3,18.3,193,5563,0.00,2.28,0.00,0.000,3078,0.000,0.044,2847,2199,1535,1626,1445,0,0,0,0,0,0,14.91,14.83,14.92
$GC,5815,0.88,171.5,2847,2199,1626,1444,229.0,16.4,200,5820,0.00,2.33,0.00,0.000,2308,0.000,0.050,2847,3608,1535,1626,1444,0,0,0,0,0,0,15.13,14.88,15.12
$GC,5907,0.88,171.5,2847,3608,1627,1444,216.0,15.9,202,5912,0.00,2.28,0.00,0.000,5126,0.000,0.044,2858,2199,1535,1626,1444,0,0,0,0,0,0,14.98,14.90,14.99
$GC,6159,0.88,171.5,2858,2198,1626,1443,176.7,14.2,219,6164,0.00,2.30,0.00,0.000,4612,0.000,0.056,2869,784,1534,1626,1443,0,0,0,0,0,0,15.15,14.90,15.16
$GC,6217,0.88,171.5,2869,784,1626,1443,168.7,14.6,224,6225,0.05,2.28,0.00,0.000,5126,0.441,0.039,2853,2201,1534,1626,1443,0,0,0,0,0,0,14.69,14.92,14.92
$GC,6466,0.88,171.5,2852,2202,1626,1443,137.4,11.2,249,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2202,1534,1625,1443,0,0,0,0,0,0,15.14,15.14,15.15
$GC,6714,0.88,171.5,2852,2203,1626,1443,105.8,11.3,274,6720,0.00,2.30,0.00,0.000,516,0.000,0.054,2863,784,1534,1626,1443,0,0,0,0,0,0,15.14,14.90,15.16
$GC,6835,0.88,171.5,2862,784,1626,1443,90.7,12.6,285,6840,0.00,2.28,0.00,0.000,5126,0.000,0.037,2862,2205,1534,1626,1443,0,0,0,0,0,0,15.00,14.92,15.01
$GC,7090,0.88,171.5,2862,2207,1626,1444,64.0,10.2,310,7096,0.00,2.33,0.00,0.000,4612,0.000,0.054,2873,788,1535,1626,1445,0,0,0,0,0,0,15.13,14.90,15.14
$GC,7139,0.88,171.5,2873,789,1626,1445,58.7,10.6,314,7146,0.08,2.28,0.00,0.000,5126,0.405,0.037,2848,2216,1535,1626,1445,0,0,0,0,0,0,14.66,14.91,14.90
$GC,7396,0.88,171.5,2849,2217,1626,1447,30.7,10.6,339,7401,0.00,2.33,0.00,0.000,516,0.000,0.052,2859,781,1536,1626,1447,0,0,0,0,0,0,15.12,14.88,15.13
$STATE,7662,end climb,SURFACE_DEPTH_REACHED
$STATE,7662,begin surface coast
$FINISH,2.1,1.023759
$STATE,7669,end surface coast,CONTROL_FINISHED_OK
$STATE,7670,begin surface
$SM_CCo,7686,121.45,0.117,0,0,690,380.21
$SM_GC,1.18,6.78,2.67,121.45,0.203,0.037,0.117,185,2404,690,-7.30,-1.67,380.21,0,0,0,0,0,0,14.88,14.85,14.73
$IRIDIUM_FIX,2211.35,-15625.44,310318,183354
$TT8_MAMPS,0.019474,0.265895
$HUMID,41.37
$INTERNAL_PRESSURE,9.40725
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,56.6,6.8
$24V_AH,13.40,50.604
$10V_AH,13.71,0.000
$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,15.375,88.450,217.650,121.450,0.000,32.910,48.124,105.780,1.000,0.000,8.117,1401.846,4642.789,460.661,1513.374,83.873,0.000,1016.987,0.000,1293.878,0.000,9.768,0.000
$DEVICE_MAMPS,500.310,72.675,2217.735,117.045,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,260.867,206.176,368.938,384.330,589.697,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343104
$DATA_FILE_SIZE,34005,384
$CAP_FILE_SIZE,81804,0
$CFSIZE,2097086464,2074738688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.151,301.65,1
$GPS,310318,204901,2222.747,-15629.185,24,1.0,36,9.9,0.0,330.8,8,14.7