version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 232
start: 4 4 118 10 33 41
data:
$ID,626
$MISSION,2
$DIVE,232
$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,35
$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,45
$R_STBD_OVSHOOT,55
$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
$GPS1,040418,102518,2224.5227,-15704.9717,40,0.8,40,9.9,0.0,0.0,9,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.1
$GPS2,040418,103259,2224.4927,-15704.9736,8,0.9,8,9.9,0.7,219.3,9,60.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,M9
$TGT_LATLONG,2224.000,-15718.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,265.3,22323,-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,-0.58,-87.6,184,2433,681,649,0.0,0.0,0,80,0.00,0.00,-58.15,0.000,16390,0.000,0.000,184,2433,2569,2601,2537,0,0,0,0,0,0,14.93,13.98,14.89
$GC,83,-0.58,-87.6,184,2433,2600,2537,4.5,-9.2,8,101,7.18,2.35,0.00,0.000,2564,0.438,0.043,2381,1012,2568,2601,2536,0,0,0,0,0,0,14.42,14.63,14.71
$GC,151,-0.58,-87.6,2381,1012,2602,2537,31.1,-28.7,18,156,0.00,2.28,0.00,0.000,3078,0.000,0.038,2372,2406,2569,2602,2537,0,0,0,0,0,0,14.81,14.72,14.83
$GC,406,-0.58,-87.6,2372,2406,2603,2537,97.8,-26.1,43,407,0.00,0.00,0.00,0.000,2054,0.000,0.000,2373,2406,2570,2603,2537,0,0,0,0,0,0,15.04,15.04,15.05
$GC,646,-0.58,-87.6,2372,2406,2605,2537,147.5,-18.9,67,651,0.00,2.30,0.00,0.000,2564,0.000,0.059,2373,1018,2570,2605,2536,0,0,0,0,0,0,15.09,14.83,15.09
$GC,672,-0.58,-87.6,2372,1018,2604,2537,152.5,-19.7,69,682,0.00,2.33,0.00,0.000,3078,0.000,0.044,2372,2413,2571,2605,2537,0,0,0,0,0,0,14.84,14.79,14.85
$GC,924,-0.58,-87.6,2372,2414,2606,2537,197.6,-17.0,94,929,0.00,2.30,0.00,0.000,2564,0.000,0.055,2372,1013,2571,2606,2537,0,0,0,0,0,0,15.13,14.86,15.13
$GC,955,-0.58,-87.6,2372,1013,2606,2536,200.5,-16.9,95,960,0.00,2.28,0.00,0.000,3078,0.000,0.041,2372,2429,2571,2606,2537,0,0,0,0,0,0,14.97,14.88,14.99
$GC,1207,-0.58,-87.6,2371,2429,2608,2537,245.1,-16.8,102,1208,0.00,0.00,0.00,0.000,2054,0.000,0.000,2372,2429,2572,2608,2537,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1448,-0.58,-87.6,2372,2429,2608,2536,281.3,-15.0,108,1453,0.00,2.30,0.00,0.000,2564,0.000,0.049,2372,1010,2572,2608,2537,0,0,0,0,0,0,15.21,14.95,15.21
$GC,1534,-0.58,-87.6,2372,1009,2608,2536,294.8,-15.7,110,1539,0.00,2.28,0.00,0.000,3078,0.000,0.041,2372,2429,2572,2608,2536,0,0,0,0,0,0,15.04,14.95,15.06
$GC,1811,-0.58,-87.6,2372,2429,2608,2537,338.2,-15.3,117,1816,0.00,2.28,0.00,0.000,2308,0.000,0.060,2372,3830,2572,2608,2537,0,0,0,0,0,0,15.23,14.94,15.23
$GC,1917,-0.58,-87.6,2372,3831,2608,2537,350.3,-14.7,119,1923,0.00,2.22,0.00,0.000,3078,0.000,0.034,2372,2405,2572,2608,2537,0,0,0,0,0,0,15.07,14.99,15.08
$GC,2176,-0.58,-87.6,2371,2404,2608,2536,389.5,-13.9,126,2181,0.00,2.22,0.00,0.000,2564,0.000,0.048,2372,1011,2572,2608,2536,0,0,0,0,0,0,15.24,14.97,15.25
$GC,2272,-0.58,-87.6,2372,1010,2608,2535,401.1,-14.1,128,2278,0.00,2.25,0.00,0.000,3078,0.000,0.040,2372,2419,2571,2608,2535,0,0,0,0,0,0,15.07,14.97,15.09
$GC,2540,-0.58,-87.6,2372,2420,2607,2531,440.7,-14.0,135,2545,0.00,2.28,0.00,0.000,2564,0.000,0.050,2372,1022,2569,2608,2531,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2592,-0.58,-87.6,2371,1022,2607,2531,446.8,-14.1,136,2597,0.00,2.28,0.00,0.000,3078,0.000,0.041,2372,2426,2569,2608,2530,0,0,0,0,0,0,15.08,14.98,15.09
$GC,2865,-0.58,-87.6,2372,2426,2607,2527,486.7,-13.9,143,2870,0.00,2.28,0.00,0.000,2564,0.000,0.050,2372,1022,2567,2608,2527,0,0,0,0,0,0,15.26,14.98,15.26
$GC,2947,-0.58,-87.6,2371,1022,2607,2526,498.8,-14.4,145,2952,0.00,2.25,0.00,0.000,3078,0.000,0.041,2372,2419,2567,2608,2526,0,0,0,0,0,0,15.08,14.98,15.09
$GC,3229,-0.58,-87.6,2372,2419,2608,2522,533.3,-11.8,152,3235,0.00,2.28,0.00,0.000,2564,0.000,0.050,2372,1022,2565,2608,2522,0,0,0,0,0,0,15.26,14.98,15.26
$GC,3256,-0.58,-87.6,2371,1022,2608,2520,533.3,-11.8,152,3262,0.00,2.25,0.00,0.000,3078,0.000,0.042,2372,2419,2564,2608,2520,0,0,0,0,0,0,15.08,14.98,15.09
$GC,3514,-0.58,-87.6,2372,2419,2608,2509,565.8,-11.4,159,3520,0.00,2.30,0.00,0.000,2308,0.000,0.060,2372,3827,2558,2607,2509,0,0,0,0,0,0,15.26,14.95,15.26
$GC,3551,-0.58,-87.6,2372,3827,2608,2509,565.8,-11.4,159,3558,0.00,2.22,0.00,0.000,3078,0.000,0.035,2372,2416,2559,2608,2510,0,0,0,0,0,0,15.09,15.01,15.09
$GC,3798,-0.58,-87.6,2371,2415,2607,2503,599.3,-11.6,166,3804,0.00,2.25,0.00,0.000,2564,0.000,0.049,2371,1012,2555,2607,2503,0,0,0,0,0,0,15.26,14.97,15.26
$STATE,3839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3839,begin apogee
$GC,3846,-0.14,0.0,2372,2217,2608,2501,605.0,-12.0,167,3915,0.40,0.00,66.55,1.628,10246,0.288,0.000,2519,2218,2209,2277,2141,0,0,0,0,0,0,14.74,14.57,14.00
$STATE,3916,end apogee,CONTROL_FINISHED_OK
$STATE,3916,begin climb
$GC,3918,0.58,87.6,2519,2218,2274,2140,608.0,0.0,168,3995,0.55,2.35,69.50,1.602,10500,0.203,0.050,2737,3603,1848,1943,1754,0,0,0,0,0,0,14.47,14.21,13.76
$GC,4096,0.58,87.6,2737,3604,1944,1755,602.2,5.9,172,4101,0.00,2.30,0.00,0.000,3078,0.000,0.041,2747,2202,1849,1944,1755,0,0,0,0,0,0,14.66,14.59,14.67
$GC,4348,0.64,142.5,2747,2202,1944,1752,580.1,7.9,179,4398,0.00,2.38,44.03,1.563,10756,0.000,0.054,2758,793,1625,1734,1517,0,0,0,0,0,0,15.01,14.40,13.93
$GC,4455,0.69,175.6,2758,793,1732,1517,572.2,8.8,181,4491,0.05,2.30,27.20,1.506,11270,0.273,0.034,2826,2210,1490,1600,1380,0,0,0,0,0,0,14.53,14.62,13.89
$GC,4754,0.69,175.6,2825,2210,1600,1388,513.9,19.5,189,4760,0.08,2.28,0.00,0.000,4356,0.405,0.047,2793,3599,1494,1600,1388,0,0,0,0,0,0,14.53,14.73,14.69
$GC,4816,0.69,175.6,2793,3599,1600,1389,505.5,19.6,190,4821,0.00,2.28,0.00,0.000,5126,0.000,0.042,2803,2202,1494,1600,1389,0,0,0,0,0,0,14.85,14.78,14.86
$GC,5078,0.69,175.6,2803,2202,1600,1386,456.4,17.1,197,5083,0.00,2.30,0.00,0.000,4612,0.000,0.056,2814,796,1493,1600,1386,0,0,0,0,0,0,15.09,14.84,15.09
$GC,5134,0.69,175.6,2814,796,1600,1386,449.0,17.3,198,5140,0.08,2.25,0.00,0.000,5126,0.392,0.035,2789,2204,1493,1600,1386,0,0,0,0,0,0,14.63,14.87,14.87
$GC,5403,0.69,175.6,2789,2209,1600,1384,405.2,15.0,205,5408,0.00,2.33,0.00,0.000,516,0.000,0.056,2799,788,1492,1600,1384,0,0,0,0,0,0,15.14,14.88,15.15
$GC,5488,0.69,175.6,2799,788,1600,1383,392.0,15.6,207,5494,0.00,2.25,0.00,0.000,5126,0.000,0.034,2799,2198,1491,1600,1383,0,0,0,0,0,0,14.99,14.92,15.00
$GC,5766,0.69,175.6,2799,2201,1600,1380,346.7,16.1,214,5771,0.00,2.33,0.00,0.000,4612,0.000,0.054,2810,788,1490,1600,1380,0,0,0,0,0,0,15.19,14.91,15.18
$GC,5782,0.69,175.6,2810,789,1600,1380,346.7,16.1,214,5788,0.05,2.25,0.00,0.000,5126,0.439,0.035,2793,2204,1490,1600,1380,0,0,0,0,0,0,14.69,14.94,14.93
$GC,6050,0.69,175.6,2793,2208,1600,1379,304.0,14.8,221,6056,0.00,2.25,0.00,0.000,4356,0.000,0.049,2793,3596,1489,1600,1379,0,0,0,0,0,0,15.20,14.94,15.20
$GC,6127,0.69,175.6,2793,3596,1599,1379,297.2,15.2,222,6134,0.00,2.25,0.00,0.000,5126,0.000,0.042,2803,2197,1489,1600,1379,0,0,0,0,0,0,15.03,14.95,15.04
$GC,6373,0.69,175.6,2803,2196,1599,1379,255.8,15.0,229,6378,0.00,2.30,0.00,0.000,4612,0.000,0.055,2814,786,1489,1600,1378,0,0,0,0,0,0,15.21,14.94,15.21
$GC,6539,0.69,175.6,2814,786,1598,1379,229.7,16.0,233,6546,0.08,2.25,0.00,0.000,5126,0.381,0.034,2788,2208,1488,1598,1378,0,0,0,0,0,0,14.70,14.97,14.95
$GC,6788,0.69,175.6,2788,2210,1599,1378,196.2,12.9,240,6794,0.00,2.25,0.00,0.000,260,0.000,0.049,2788,3602,1488,1599,1378,0,0,0,0,0,0,15.21,14.95,15.22
$GC,6907,0.69,175.6,2787,3602,1598,1378,181.1,12.8,251,6912,0.00,2.28,0.00,0.000,5126,0.000,0.041,2798,2191,1488,1598,1378,0,0,0,0,0,0,15.04,14.95,15.04
$GC,7160,0.69,175.6,2798,2189,1598,1378,150.6,13.1,276,7165,0.00,2.28,0.00,0.000,4612,0.000,0.054,2810,788,1488,1598,1378,0,0,0,0,0,0,15.19,14.92,15.19
$GC,7186,0.69,175.6,2809,788,1598,1378,147.2,13.6,278,7196,0.05,2.30,0.00,0.000,5126,0.366,0.034,2791,2201,1488,1599,1378,0,0,0,0,0,0,14.61,14.85,14.80
$GC,7435,0.69,175.6,2790,2202,1598,1378,118.9,11.1,303,7440,0.00,2.30,0.00,0.000,516,0.000,0.052,2802,785,1488,1598,1378,0,0,0,0,0,0,15.16,14.90,15.18
$GC,7459,0.69,175.6,2801,784,1598,1378,116.3,10.7,305,7464,0.00,2.25,0.00,0.000,5126,0.000,0.032,2802,2202,1488,1598,1378,0,0,0,0,0,0,15.01,14.94,15.02
$GC,7713,0.70,188.7,2801,2205,1598,1380,87.2,9.5,330,7730,0.00,2.22,11.27,0.883,12548,0.000,0.047,2801,3596,1435,1546,1325,0,0,0,0,0,0,15.16,14.88,14.42
$GC,7781,0.70,188.7,2801,3596,1543,1326,79.9,10.9,336,7787,0.05,2.25,0.00,0.000,5126,0.460,0.040,2795,2196,1434,1543,1326,0,0,0,0,0,0,14.64,14.89,14.89
$GC,8036,0.70,188.7,2795,2196,1543,1327,52.2,11.2,361,8041,0.00,2.25,0.00,0.000,516,0.000,0.053,2806,796,1434,1544,1325,0,0,0,0,0,0,15.11,14.85,15.11
$GC,8108,0.70,188.7,2805,796,1543,1328,44.7,10.5,367,8113,0.00,2.22,0.00,0.000,5126,0.000,0.032,2806,2198,1435,1543,1328,0,0,0,0,0,0,14.96,14.89,14.97
$GC,8376,0.70,188.7,2805,2200,1543,1331,16.9,10.3,402,8384,0.00,0.00,0.00,0.000,4102,0.000,0.000,2806,2201,1437,1543,1331,0,0,0,0,0,0,15.09,15.09,15.09
$STATE,8514,end climb,SURFACE_DEPTH_REACHED
$STATE,8514,begin surface coast
$FINISH,0.5,1.023748
$STATE,8551,end surface coast,CONTROL_FINISHED_OK
$STATE,8552,begin surface
$SM_CCo,8565,119.88,0.841,1,0,658,380.21
$SM_GC,1.12,5.90,0.32,119.88,0.061,0.063,0.841,185,2432,658,-7.30,-1.30,380.21,0,0,0,0,1,0,14.87,14.86,14.09
$IRIDIUM_FIX,2216.01,-15707.38,040418,102634
$TT8_MAMPS,0.019474,0.322819
$HUMID,41.57
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,6.4
$24V_AH,13.76,57.139
$10V_AH,13.88,0.000
$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,14.450,109.275,218.550,119.875,0.000,24.809,47.408,275.769,0.500,0.000,9.349,1630.914,5079.960,468.148,1881.762,119.281,0.000,1137.572,0.000,1499.283,0.000,5.460,0.000
$DEVICE_MAMPS,459.765,62.730,1627.920,840.735,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,292.547,233.266,417.976,425.118,652.269,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343076
$DATA_FILE_SIZE,37401,431
$CAP_FILE_SIZE,97799,0
$CFSIZE,2097086464,2071199744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.124,195.91,1
$GPS,040418,125925,2223.992,-15706.217,19,1.0,19,9.9,0.0,0.0,8,24.7