version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 219
start: 4 3 118 0 42 57
data:
$ID,626
$MISSION,2
$DIVE,219
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,950
$D_NO_BLEED,60
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,1
$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,2560
$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,43
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2210
$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
$GPS1,030418,003448,2226.8604,-15643.8701,38,0.8,38,9.9,0.0,0.0,9,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-72.2
$GPS2,030418,004215,2226.8472,-15643.8770,8,0.8,8,9.9,0.8,324.4,10,45.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,M8
$TGT_LATLONG,2226.000,-15700.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,250.2,27645,-16.4,-10.000,-19.35,2738
$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,-0.62,-87.6,188,2426,681,638,0.0,0.0,0,80,0.00,0.00,-59.10,0.000,16390,0.000,0.000,189,2427,2568,2602,2534,0,0,0,0,0,0,14.97,14.00,14.92
$GC,83,-0.62,-87.6,189,2426,2602,2533,3.9,-7.8,8,101,7.07,2.35,0.00,0.000,2564,0.441,0.047,2351,1007,2567,2602,2532,0,0,0,0,0,0,14.45,14.66,14.74
$GC,133,-0.62,-87.6,2350,1007,2602,2531,24.1,-34.5,15,141,0.00,2.35,0.00,0.000,3078,0.000,0.041,2346,2403,2566,2602,2531,0,0,0,0,0,0,14.77,14.68,14.76
$GC,386,-0.62,-87.6,2345,2403,2602,2531,94.8,-25.2,41,392,0.00,2.35,0.00,0.000,2308,0.000,0.061,2346,3831,2566,2602,2531,0,0,0,0,0,0,15.06,14.78,15.06
$GC,476,-0.62,-87.6,2345,3831,2602,2531,115.6,-22.7,49,482,0.00,2.30,0.00,0.000,3078,0.000,0.049,2345,2422,2566,2602,2531,0,0,0,0,0,0,14.92,14.83,14.93
$GC,729,-0.62,-87.6,2345,2422,2603,2531,167.8,-20.1,74,735,0.00,2.33,0.00,0.000,2564,0.000,0.060,2345,1004,2566,2602,2531,0,0,0,0,0,0,15.12,14.85,15.12
$GC,746,-0.62,-87.6,2345,1005,2604,2531,170.4,-20.3,75,755,0.00,2.38,0.00,0.000,3078,0.000,0.050,2344,2422,2567,2604,2531,0,0,0,0,0,0,14.86,14.81,14.88
$GC,1012,-0.62,-87.6,2344,2424,2605,2531,224.2,-19.4,93,1017,0.00,2.30,0.00,0.000,2308,0.000,0.061,2344,3837,2568,2605,2532,0,0,0,0,0,0,15.17,14.88,15.17
$GC,1043,-0.62,-87.6,2344,3837,2605,2531,224.2,-19.4,93,1049,0.00,2.28,0.00,0.000,3078,0.000,0.044,2344,2419,2568,2605,2531,0,0,0,0,0,0,15.01,14.91,15.02
$GC,1296,-0.62,-87.6,2344,2418,2606,2531,274.1,-17.1,100,1301,0.00,2.35,0.00,0.000,2308,0.000,0.067,2340,3834,2568,2606,2531,0,0,0,0,0,0,15.20,14.91,15.21
$GC,1362,-0.62,-87.6,2340,3834,2606,2531,281.2,-16.7,101,1368,0.05,2.28,0.00,0.000,3078,0.433,0.045,2356,2419,2568,2606,2531,0,0,0,0,0,0,14.73,14.95,14.96
$GC,1620,-0.62,-87.6,2356,2418,2607,2531,325.4,-15.6,108,1625,0.00,2.28,0.00,0.000,2564,0.000,0.059,2357,1012,2568,2606,2531,0,0,0,0,0,0,15.23,14.95,15.23
$GC,1702,-0.62,-87.6,2356,1012,2605,2531,338.9,-16.1,110,1708,0.00,2.33,0.00,0.000,3078,0.000,0.055,2349,2422,2568,2606,2531,0,0,0,0,0,0,15.06,14.96,15.07
$GC,1985,-0.62,-87.6,2348,2422,2606,2531,381.3,-14.6,117,1986,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2422,2568,2606,2531,0,0,0,0,0,0,15.25,15.25,15.25
$GC,2225,-0.62,-87.6,2348,2422,2606,2529,415.6,-14.4,123,2230,0.00,2.33,0.00,0.000,2564,0.000,0.059,2349,1011,2567,2606,2528,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2267,-0.62,-87.6,2348,1010,2606,2528,421.8,-14.3,124,2272,0.00,2.33,0.00,0.000,3078,0.000,0.054,2346,2428,2567,2607,2527,0,0,0,0,0,0,15.08,14.97,15.09
$GC,2550,-0.62,-87.6,2345,2428,2606,2525,462.4,-14.4,131,2555,0.00,2.35,0.00,0.000,2564,0.000,0.059,2346,1001,2565,2606,2525,0,0,0,0,0,0,15.26,14.98,15.26
$GC,2593,-0.62,-87.6,2346,1001,2606,2525,469.1,-14.6,132,2598,0.00,2.33,0.00,0.000,3078,0.000,0.052,2346,2420,2565,2606,2525,0,0,0,0,0,0,15.09,14.97,15.10
$GC,2875,-0.62,-87.6,2345,2421,2606,2521,511.9,-14.9,139,2880,0.00,2.33,0.00,0.000,2564,0.000,0.058,2346,1009,2564,2607,2521,0,0,0,0,0,0,15.26,14.98,15.27
$GC,2921,-0.62,-87.6,2345,1009,2606,2521,518.5,-15.0,140,2927,0.00,2.33,0.00,0.000,3078,0.000,0.054,2345,2429,2562,2606,2519,0,0,0,0,0,0,15.09,14.98,15.10
$GC,3200,-0.62,-87.6,2345,2429,2606,2517,560.2,-14.6,147,3205,0.00,2.28,0.00,0.000,2308,0.000,0.061,2345,3828,2561,2606,2517,0,0,0,0,0,0,15.26,14.97,15.26
$GC,3226,-0.62,-87.6,2344,3829,2606,2517,560.2,-14.6,147,3232,0.00,2.28,0.00,0.000,3078,0.000,0.040,2345,2416,2561,2606,2516,0,0,0,0,0,0,15.09,15.00,15.11
$STATE,3482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3482,begin apogee
$GC,3487,-0.16,0.0,2345,2174,2606,2512,602.6,-15.1,154,3557,0.45,0.00,66.90,1.643,10246,0.291,0.000,2510,2171,2209,2277,2141,0,0,0,0,0,0,14.77,14.57,13.97
$STATE,3558,end apogee,CONTROL_FINISHED_OK
$STATE,3558,begin climb
$GC,3559,0.62,87.6,2510,2171,2277,2141,606.1,0.0,155,3641,0.60,2.53,71.72,2.085,10500,0.208,0.054,2745,3617,1851,1946,1757,0,0,0,0,0,0,14.46,14.23,13.54
$GC,3687,0.62,87.6,2745,3617,1945,1756,603.6,5.1,158,3692,0.00,2.35,0.00,0.000,1030,0.000,0.043,2756,2219,1850,1945,1756,0,0,0,0,0,0,14.54,14.47,14.54
$GC,3950,0.66,116.0,2756,2218,1945,1752,579.5,8.9,165,3979,0.00,2.35,23.08,1.617,10500,0.000,0.051,2756,3617,1735,1838,1633,0,0,0,0,0,0,14.98,14.50,14.00
$GC,3985,0.69,144.5,2756,3617,1838,1635,579.5,8.9,165,4016,0.00,2.35,24.15,1.933,11270,0.000,0.044,2767,2196,1619,1727,1512,0,0,0,0,0,0,14.69,14.62,13.67
$GC,4273,0.69,144.5,2766,2196,1727,1510,538.1,13.6,173,4279,0.00,2.33,0.00,0.000,2564,0.000,0.057,2778,789,1619,1727,1511,0,0,0,0,0,0,14.98,14.73,14.98
$GC,4299,0.69,144.5,2777,788,1727,1511,538.1,13.6,173,4305,0.00,2.33,0.00,0.000,1030,0.000,0.036,2778,2212,1618,1727,1510,0,0,0,0,0,0,14.83,14.77,14.84
$GC,4557,0.69,144.5,2778,2214,1727,1508,499.5,13.6,180,4562,0.00,2.35,0.00,0.000,516,0.000,0.056,2789,786,1618,1727,1509,0,0,0,0,0,0,15.08,14.83,15.09
$GC,4618,0.69,144.5,2789,785,1727,1508,493.6,13.7,181,4623,0.00,2.30,0.00,0.000,5126,0.000,0.036,2789,2212,1617,1727,1508,0,0,0,0,0,0,14.94,14.87,14.95
$GC,4881,0.69,144.5,2789,2213,1726,1506,454.2,14.1,188,4886,0.00,2.38,0.00,0.000,4612,0.000,0.056,2800,790,1616,1726,1506,0,0,0,0,0,0,15.14,14.89,15.14
$GC,4907,0.69,144.5,2800,788,1726,1506,454.2,14.1,188,4913,0.05,2.28,0.00,0.000,5126,0.431,0.037,2783,2210,1615,1726,1505,0,0,0,0,0,0,14.69,14.91,14.92
$GC,5165,0.69,144.5,2782,2212,1726,1502,412.0,14.6,195,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2212,1614,1726,1503,0,0,0,0,0,0,15.17,15.18,15.18
$GC,5407,0.69,144.5,2782,2212,1726,1501,378.9,13.7,201,5412,0.00,2.33,0.00,0.000,516,0.000,0.062,2793,797,1613,1725,1501,0,0,0,0,0,0,15.19,14.92,15.19
$GC,5429,0.69,144.5,2793,796,1725,1501,378.9,13.7,201,5434,0.00,2.25,0.00,0.000,5126,0.000,0.043,2793,2191,1613,1725,1501,0,0,0,0,0,0,15.04,14.95,15.04
$GC,5691,0.69,144.5,2794,2192,1726,1500,340.0,13.5,208,5696,0.00,2.30,0.00,0.000,4612,0.000,0.056,2804,787,1612,1725,1500,0,0,0,0,0,0,15.21,14.95,15.21
$GC,5707,0.69,144.5,2803,786,1725,1500,340.0,13.5,208,5713,0.05,2.28,0.00,0.000,5126,0.433,0.037,2787,2213,1612,1725,1499,0,0,0,0,0,0,14.73,14.97,14.98
$GC,5976,0.69,144.5,2787,2216,1724,1499,302.8,13.1,215,5981,0.00,2.22,0.00,0.000,4356,0.000,0.051,2787,3599,1611,1724,1499,0,0,0,0,0,0,15.22,14.96,15.22
$GC,6021,0.69,144.5,2786,3599,1723,1500,297.4,12.9,216,6027,0.00,2.28,0.00,0.000,5126,0.000,0.044,2797,2189,1611,1724,1499,0,0,0,0,0,0,15.05,14.97,15.07
$GC,6298,0.69,144.5,2797,2189,1723,1499,262.7,12.4,223,6304,0.00,2.25,0.00,0.000,4612,0.000,0.056,2808,793,1610,1723,1498,0,0,0,0,0,0,15.23,14.96,15.23
$GC,6390,0.69,144.5,2808,792,1724,1499,251.9,12.7,225,6396,0.08,2.25,0.00,0.000,5126,0.390,0.037,2782,2204,1611,1723,1499,0,0,0,0,0,0,14.72,14.98,15.00
$GC,6664,0.69,144.5,2781,2207,1723,1499,218.7,11.3,232,6669,0.00,2.25,0.00,0.000,260,0.000,0.051,2782,3604,1611,1723,1499,0,0,0,0,0,0,15.23,14.97,15.23
$GC,6755,0.69,144.5,2781,3604,1723,1499,209.1,11.3,234,6760,0.00,2.28,0.00,0.000,5126,0.000,0.043,2792,2198,1610,1722,1499,0,0,0,0,0,0,15.07,14.98,15.08
$GC,7008,0.70,150.8,2792,2198,1722,1499,183.7,9.8,251,7020,0.00,2.28,4.82,0.909,12804,0.000,0.054,2803,789,1594,1707,1482,0,0,0,0,0,0,15.22,14.82,14.38
$GC,7184,0.72,166.0,2802,788,1706,1482,166.8,9.4,267,7204,0.00,2.30,12.65,1.034,13318,0.000,0.036,2803,2195,1531,1642,1421,0,0,0,0,0,0,14.93,14.89,14.39
$GC,7443,0.72,166.0,2803,2195,1642,1423,140.1,10.1,293,7448,0.00,2.28,0.00,0.000,4356,0.000,0.051,2803,3598,1533,1642,1424,0,0,0,0,0,0,15.14,14.88,15.14
$GC,7468,0.72,166.0,2803,3599,1642,1424,137.4,10.5,295,7474,0.08,2.28,0.00,0.000,5126,0.411,0.042,2789,2194,1533,1642,1424,0,0,0,0,0,0,14.65,14.90,14.90
$GC,7721,0.75,192.8,2789,2193,1642,1425,112.0,9.0,320,7748,0.00,2.30,21.02,0.990,10500,0.000,0.049,2789,3599,1422,1527,1318,0,0,0,0,0,0,15.14,14.81,14.35
$GC,7826,0.75,192.8,2788,3599,1527,1326,100.5,12.7,329,7833,0.00,2.28,0.00,0.000,1030,0.000,0.044,2799,2204,1427,1527,1327,0,0,0,0,0,0,14.90,14.83,14.90
$GC,8076,0.75,192.8,2799,2203,1527,1329,70.4,10.9,354,8081,0.00,2.33,0.00,0.000,260,0.000,0.059,2799,3597,1428,1527,1329,0,0,0,0,0,0,15.08,14.83,15.08
$GC,8171,0.75,192.8,2799,3597,1526,1330,58.9,11.7,362,8176,0.00,2.28,0.00,0.000,5126,0.000,0.042,2810,2193,1429,1528,1330,0,0,0,0,0,0,14.94,14.86,14.95
$GC,8427,0.75,192.8,2809,2193,1527,1332,30.9,10.7,387,8432,0.00,2.28,0.00,0.000,4612,0.000,0.055,2821,796,1429,1527,1332,0,0,0,0,0,0,15.09,14.85,15.09
$GC,8452,0.75,192.8,2820,796,1527,1332,28.0,11.1,390,8461,0.05,2.33,0.00,0.000,5126,0.373,0.041,2802,2200,1429,1527,1332,0,0,0,0,0,0,14.58,14.80,14.75
$STATE,8676,end climb,SURFACE_DEPTH_REACHED
$STATE,8676,begin surface coast
$FINISH,0.2,1.023892
$STATE,8701,end surface coast,CONTROL_FINISHED_OK
$STATE,8701,begin surface
$SM_CCo,8715,108.45,0.116,0,0,658,380.21
$SM_GC,1.25,6.00,0.32,108.45,0.076,0.073,0.116,186,2429,658,-7.31,-1.36,380.21,0,0,0,0,0,0,14.88,14.85,14.73
$IRIDIUM_FIX,2216.01,-15646.55,030418,003600
$TT8_MAMPS,0.019474,0.326564
$HUMID,41.25
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.2,6.4
$24V_AH,13.54,54.677
$10V_AH,13.83,0.000
$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,14.475,116.125,224.350,108.450,0.000,32.658,43.969,260.280,0.500,0.000,9.343,1568.629,5367.987,456.772,1790.068,118.033,0.000,1105.853,0.000,1420.212,0.000,5.460,0.000
$DEVICE_MAMPS,440.640,73.440,2084.625,115.515,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,292.466,235.289,415.017,410.090,629.229,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343100
$DATA_FILE_SIZE,37140,431
$CAP_FILE_SIZE,97396,0
$CFSIZE,2097086464,2072477696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.118,282.83,1
$GPS,030418,031049,2226.776,-15645.472,14,1.4,14,9.9,0.9,239.0,5,42.0