version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 225
start: 4 3 118 15 56 49
data:
$ID,626
$MISSION,2
$DIVE,225
$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,2570
$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,46
$R_STBD_OVSHOOT,40
$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
$GPS1,030418,154832,2225.7473,-15653.7451,15,1.2,15,9.9,0.5,157.4,7,32.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-72.5
$GPS2,030418,155608,2225.7170,-15653.8525,15,1.2,15,9.9,0.6,277.3,6,32.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,M8
$TGT_LATLONG,2226.000,-15700.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,279.8,10537,-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,14,begin dive
$GC,15,-0.62,-87.6,187,2412,683,645,0.0,0.0,0,79,0.00,0.00,-58.88,0.000,16390,0.000,0.000,187,2412,2568,2600,2536,0,0,0,0,0,0,14.94,13.68,14.90
$GC,81,-0.62,-87.6,187,2412,2601,2532,3.5,-6.3,8,100,7.10,2.30,0.00,0.000,2564,0.439,0.041,2362,1005,2562,2601,2523,0,0,0,0,0,0,14.44,14.67,14.72
$GC,157,-0.62,-87.6,2361,1006,2601,2521,32.0,-33.3,19,165,0.00,2.38,0.00,0.000,3078,0.000,0.045,2359,2409,2561,2602,2521,0,0,0,0,0,0,14.72,14.67,14.75
$GC,403,-0.62,-87.6,2358,2409,2602,2521,99.3,-24.1,44,408,0.00,2.35,0.00,0.000,2308,0.000,0.063,2359,3834,2560,2601,2520,0,0,0,0,0,0,15.05,14.77,15.05
$GC,461,-0.62,-87.6,2358,3834,2602,2521,111.2,-20.9,49,466,0.00,2.30,0.00,0.000,3078,0.000,0.046,2358,2422,2561,2602,2521,0,0,0,0,0,0,14.90,14.82,14.92
$GC,714,-0.62,-87.6,2358,2422,2602,2521,164.7,-18.2,74,719,0.00,2.30,0.00,0.000,2564,0.000,0.060,2359,1013,2561,2601,2521,0,0,0,0,0,0,15.11,14.84,15.11
$GC,801,-0.62,-87.6,2358,1013,2601,2521,181.0,-18.1,82,807,0.00,2.33,0.00,0.000,3078,0.000,0.050,2358,2429,2560,2601,2520,0,0,0,0,0,0,14.96,14.85,14.97
$GC,1073,-0.62,-87.6,2358,2429,2602,2521,227.7,-16.6,97,1079,0.00,2.28,0.00,0.000,2308,0.000,0.063,2358,3825,2561,2601,2521,0,0,0,0,0,0,15.17,14.88,15.17
$GC,1236,-0.62,-87.6,2358,3825,2602,2521,254.5,-16.6,101,1241,0.00,2.25,0.00,0.000,3078,0.000,0.042,2358,2422,2561,2601,2521,0,0,0,0,0,0,15.02,14.94,15.04
$GC,1520,-0.62,-87.6,2358,2421,2602,2521,302.5,-17.0,108,1526,0.00,2.30,0.00,0.000,2564,0.000,0.060,2358,1004,2560,2601,2520,0,0,0,0,0,0,15.21,14.94,15.21
$GC,1563,-0.62,-87.6,2358,1003,2601,2521,309.8,-16.9,109,1568,0.00,2.33,0.00,0.000,3078,0.000,0.048,2358,2429,2561,2601,2521,0,0,0,0,0,0,15.04,14.94,15.06
$GC,1845,-0.62,-87.6,2358,2429,2601,2521,351.9,-14.5,116,1850,0.00,2.28,0.00,0.000,2308,0.000,0.065,2358,3825,2561,2601,2521,0,0,0,0,0,0,15.23,14.93,15.24
$GC,1922,-0.62,-87.6,2358,3826,2601,2521,358.2,-14.4,117,1928,0.00,2.25,0.00,0.000,3078,0.000,0.043,2358,2419,2561,2602,2520,0,0,0,0,0,0,15.07,14.97,15.08
$GC,2168,-0.62,-87.6,2357,2418,2601,2518,400.3,-15.0,124,2173,0.00,2.28,0.00,0.000,2564,0.000,0.058,2358,1007,2559,2601,2518,0,0,0,0,0,0,15.24,14.97,15.25
$GC,2204,-0.62,-87.6,2358,1007,2601,2518,400.3,-15.0,124,2212,0.00,2.30,0.00,0.000,3078,0.000,0.049,2358,2422,2559,2601,2517,0,0,0,0,0,0,15.07,14.97,15.09
$GC,2450,-0.62,-87.6,2358,2422,2601,2515,444.4,-15.2,131,2455,0.00,2.33,0.00,0.000,2564,0.000,0.059,2358,1007,2558,2601,2515,0,0,0,0,0,0,15.25,14.97,15.26
$GC,2482,-0.62,-87.6,2357,1007,2601,2515,444.4,-15.2,131,2487,0.00,2.30,0.00,0.000,3078,0.000,0.049,2358,2421,2558,2601,2515,0,0,0,0,0,0,15.08,14.97,15.09
$GC,2734,-0.62,-87.6,2357,2422,2601,2511,484.8,-13.8,138,2740,0.00,2.33,0.00,0.000,2564,0.000,0.057,2358,1007,2556,2601,2511,0,0,0,0,0,0,15.26,14.98,15.26
$GC,2761,-0.62,-87.6,2358,1007,2601,2511,484.8,-13.8,138,2766,0.00,2.30,0.00,0.000,3078,0.000,0.049,2358,2419,2555,2601,2510,0,0,0,0,0,0,15.08,14.97,15.09
$GC,3018,-0.62,-87.6,2358,2420,2601,2508,524.3,-13.8,145,3023,0.00,2.33,0.00,0.000,2564,0.000,0.058,2358,1006,2554,2601,2508,0,0,0,0,0,0,15.26,14.98,15.26
$GC,3054,-0.62,-87.6,2358,1006,2601,2508,524.3,-13.8,145,3061,0.00,2.33,0.00,0.000,3078,0.000,0.049,2358,2430,2554,2601,2508,0,0,0,0,0,0,15.09,14.97,15.09
$GC,3301,-0.62,-87.6,2358,2431,2601,2505,564.9,-14.1,152,3306,0.00,2.35,0.00,0.000,2564,0.000,0.057,2358,1003,2553,2601,2505,0,0,0,0,0,0,15.26,14.98,15.26
$GC,3426,-0.62,-87.6,2358,1002,2601,2503,582.7,-14.5,155,3432,0.00,2.33,0.00,0.000,3078,0.000,0.050,2358,2421,2552,2601,2503,0,0,0,0,0,0,15.08,14.97,15.09
$STATE,3583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3584,begin apogee
$GC,3588,-0.16,0.0,2358,2171,2601,2501,603.4,-12.9,159,3658,0.45,0.00,66.45,1.611,10246,0.295,0.000,2522,2168,2209,2277,2141,0,0,0,0,0,0,14.75,14.57,14.01
$STATE,3659,end apogee,CONTROL_FINISHED_OK
$STATE,3659,begin climb
$GC,3660,0.62,87.6,2522,2168,2274,2138,606.3,0.0,160,3734,0.57,0.00,69.22,1.590,10758,0.203,0.000,2750,2168,1851,1943,1759,0,0,0,0,0,0,14.47,14.32,13.78
$GC,3946,0.67,125.6,2750,2168,1940,1759,587.4,8.6,168,3985,0.05,2.45,31.55,1.538,10500,0.275,0.050,2812,3624,1691,1789,1594,0,0,0,0,0,0,14.63,14.42,13.95
$GC,4077,0.67,125.6,2812,3624,1787,1596,571.4,11.9,171,4083,0.10,2.33,0.00,0.000,5126,0.407,0.044,2791,2215,1691,1787,1596,0,0,0,0,0,0,14.45,14.65,14.66
$GC,4350,0.67,125.6,2791,2215,1787,1593,534.9,12.6,178,4356,0.00,2.35,0.00,0.000,4612,0.000,0.057,2802,787,1690,1787,1593,0,0,0,0,0,0,15.04,14.79,15.04
$GC,4462,0.67,125.6,2801,787,1787,1592,524.1,12.9,180,4468,0.05,2.30,0.00,0.000,5126,0.464,0.037,2786,2214,1689,1786,1592,0,0,0,0,0,0,14.59,14.84,14.85
$GC,4715,0.67,125.6,2785,2217,1786,1590,485.8,13.8,187,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2217,1688,1787,1590,0,0,0,0,0,0,15.12,15.13,15.13
$GC,4955,0.67,125.6,2786,2217,1785,1587,453.2,13.6,193,4960,0.00,2.25,0.00,0.000,260,0.000,0.050,2786,3609,1687,1787,1588,0,0,0,0,0,0,15.16,14.90,15.16
$GC,5057,0.67,125.6,2786,3609,1785,1588,441.8,13.5,195,5062,0.00,2.28,0.00,0.000,5126,0.000,0.044,2796,2197,1685,1784,1587,0,0,0,0,0,0,15.01,14.92,15.02
$GC,5319,0.67,125.6,2796,2196,1785,1585,406.0,12.8,202,5320,0.00,0.00,0.00,0.000,4102,0.000,0.000,2796,2195,1685,1785,1585,0,0,0,0,0,0,15.19,15.20,15.19
$GC,5559,0.67,125.6,2796,2196,1785,1583,376.6,12.3,208,5565,0.00,2.30,0.00,0.000,4356,0.000,0.049,2796,3606,1684,1785,1583,0,0,0,0,0,0,15.21,14.95,15.21
$GC,5707,0.67,125.6,2796,3606,1784,1584,359.8,13.5,211,5713,0.08,2.28,0.00,0.000,5126,0.428,0.043,2783,2193,1683,1784,1583,0,0,0,0,0,0,14.68,14.96,14.97
$GC,5965,0.67,125.6,2782,2192,1784,1582,326.6,11.4,218,5970,0.00,2.30,0.00,0.000,260,0.000,0.050,2782,3606,1683,1784,1582,0,0,0,0,0,0,15.21,14.96,15.23
$GC,6007,0.67,125.6,2782,3606,1784,1582,321.8,11.2,219,6012,0.00,2.28,0.00,0.000,5126,0.000,0.043,2793,2198,1683,1784,1582,0,0,0,0,0,0,15.05,14.97,15.07
$GC,6290,0.67,128.9,2792,2197,1784,1581,294.4,9.9,226,6296,0.00,2.28,0.00,0.000,4612,0.000,0.055,2804,792,1682,1784,1581,0,0,0,0,0,0,15.23,14.96,15.23
$GC,6456,0.67,128.9,2803,791,1783,1581,276.5,11.0,230,6462,0.05,2.25,0.00,0.000,5126,0.428,0.036,2786,2207,1682,1783,1581,0,0,0,0,0,0,14.71,14.98,14.96
$GC,6734,0.67,128.9,2786,2210,1783,1581,245.0,11.2,237,6739,0.00,2.22,0.00,0.000,260,0.000,0.049,2786,3602,1682,1783,1581,0,0,0,0,0,0,15.23,14.97,15.23
$GC,7220,0.75,196.2,2786,3603,1782,1581,200.6,7.5,249,7281,0.00,2.25,52.67,1.101,11270,0.000,0.042,2797,2199,1403,1496,1311,0,0,0,0,0,0,15.06,14.97,14.27
$GC,7531,0.75,196.2,2796,2199,1495,1306,160.5,14.5,277,7536,0.00,2.30,0.00,0.000,2564,0.000,0.057,2808,794,1401,1495,1307,0,0,0,0,0,0,15.04,14.78,15.04
$GC,7666,0.75,196.2,2807,793,1494,1307,139.6,14.1,289,7672,0.00,2.28,0.00,0.000,3078,0.000,0.035,2808,2201,1400,1494,1307,0,0,0,0,0,0,14.91,14.83,14.92
$GC,7913,0.75,196.2,2807,2204,1494,1307,105.9,13.2,314,7918,0.00,2.28,0.00,0.000,2308,0.000,0.050,2808,3606,1400,1494,1307,0,0,0,0,0,0,15.09,14.83,15.09
$GC,8037,0.75,196.2,2808,3606,1494,1308,89.4,14.0,325,8042,0.00,2.28,0.00,0.000,5126,0.000,0.043,2818,2202,1401,1494,1308,0,0,0,0,0,0,14.94,14.85,14.95
$GC,8292,0.75,196.2,2818,2202,1494,1309,57.1,12.8,350,8297,0.00,2.30,0.00,0.000,4612,0.000,0.055,2829,783,1401,1494,1309,0,0,0,0,0,0,15.10,14.85,15.10
$GC,8510,0.75,196.2,2829,784,1495,1310,26.8,12.7,370,8520,0.03,2.33,0.00,0.000,5126,0.474,0.034,2820,2203,1402,1495,1310,0,0,0,0,0,0,14.57,14.81,14.73
$STATE,8703,end climb,SURFACE_DEPTH_REACHED
$STATE,8703,begin surface coast
$FINISH,0.2,1.012373
$STATE,8729,end surface coast,CONTROL_FINISHED_OK
$STATE,8729,begin surface
$SM_CCo,8743,116.85,0.836,1,0,659,380.21
$SM_GC,1.10,5.90,0.30,116.85,0.051,0.060,0.836,184,2433,659,-7.30,-1.55,380.21,0,0,0,0,1,0,14.85,14.85,14.10
$IRIDIUM_FIX,2216.01,-15654.82,030418,155002
$TT8_MAMPS,0.019474,0.263648
$HUMID,42.47
$INTERNAL_PRESSURE,9.40725
$TCM_TEMP,20.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.3,6.5
$24V_AH,13.68,55.808
$10V_AH,13.97,0.000
$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,14.375,97.300,219.900,116.850,0.000,33.549,53.982,250.801,0.500,0.000,17.352,1710.037,5135.911,453.382,1932.492,118.048,0.000,1150.740,0.000,1552.382,0.000,5.460,0.000
$DEVICE_MAMPS,474.300,65.025,1611.090,836.145,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,275.411,208.057,370.129,362.852,556.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343080
$DATA_FILE_SIZE,37268,406
$CAP_FILE_SIZE,96030,0
$CFSIZE,2097086464,2071887872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.160,260.89,1
$GPS,030418,182548,2225.842,-15655.606,41,0.8,41,9.9,0.0,0.0,9,17.0