version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 234
start: 4 4 118 15 53 25
data:
$ID,626
$MISSION,2
$DIVE,234
$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,85
$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
$GPS1,040418,154448,2223.6780,-15707.8350,39,0.9,39,9.9,0.0,0.0,7,33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-71.2
$GPS2,040418,155243,2223.6704,-15707.8750,18,0.8,18,9.9,0.8,49.2,10,19.5
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,M9
$TGT_LATLONG,2224.000,-15718.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,288.8,17347,-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,-87.6,191,2452,686,640,0.0,0.0,0,79,0.00,0.00,-59.38,0.000,16390,0.000,0.000,192,2452,2568,2601,2535,0,0,0,0,0,0,14.97,13.63,14.91
$GC,82,-0.58,-87.6,192,2452,2601,2536,3.4,-5.3,8,99,7.15,2.35,0.00,0.000,2564,0.438,0.038,2381,1012,2567,2601,2534,0,0,0,0,0,0,14.42,14.66,14.73
$GC,221,-0.58,-87.6,2381,1012,2601,2534,45.2,-27.8,26,230,0.00,2.25,0.00,0.000,3078,0.000,0.038,2373,2367,2567,2601,2534,0,0,0,0,0,0,14.75,14.69,14.78
$GC,470,-0.58,-87.6,2372,2366,2601,2533,109.3,-25.9,51,475,0.00,2.22,0.00,0.000,2564,0.000,0.050,2372,1011,2567,2601,2534,0,0,0,0,0,0,15.07,14.81,15.07
$GC,487,-0.58,-87.6,2372,1010,2601,2534,112.8,-25.3,52,495,0.00,2.25,0.00,0.000,3078,0.000,0.040,2372,2365,2567,2601,2534,0,0,0,0,0,0,14.81,14.76,14.83
$GC,732,-0.58,-87.6,2372,2366,2602,2534,168.7,-23.0,77,737,0.00,2.30,0.00,0.000,2308,0.000,0.057,2372,3783,2568,2602,2534,0,0,0,0,0,0,15.12,14.83,15.12
$GC,779,-0.58,-87.6,2372,3782,2602,2534,177.6,-20.3,81,788,0.00,2.22,0.00,0.000,3078,0.000,0.037,2372,2422,2568,2602,2534,0,0,0,0,0,0,14.83,14.79,14.83
$GC,1026,-0.58,-87.6,2372,2421,2604,2534,219.6,-16.1,97,1027,0.00,0.00,0.00,0.000,2054,0.000,0.000,2372,2420,2569,2604,2534,0,0,0,0,0,0,15.16,15.16,15.17
$GC,1266,-0.58,-87.6,2372,2421,2605,2534,257.7,-16.1,103,1271,0.00,2.25,0.00,0.000,2564,0.000,0.052,2372,1016,2569,2605,2533,0,0,0,0,0,0,15.21,14.92,15.20
$GC,1309,-0.58,-87.6,2372,1016,2605,2534,264.5,-16.0,104,1314,0.00,2.17,0.00,0.000,3078,0.000,0.040,2372,2369,2569,2605,2534,0,0,0,0,0,0,15.03,14.94,15.04
$GC,1591,-0.58,-87.6,2372,2369,2605,2534,310.3,-16.3,111,1596,0.00,2.20,0.00,0.000,2564,0.000,0.050,2372,1012,2569,2605,2534,0,0,0,0,0,0,15.23,14.95,15.23
$GC,1677,-0.58,-87.6,2371,1011,2605,2534,323.8,-16.5,113,1683,0.00,2.17,0.00,0.000,3078,0.000,0.039,2372,2372,2569,2605,2534,0,0,0,0,0,0,15.06,14.96,15.07
$GC,1956,-0.58,-87.6,2372,2373,2605,2534,365.8,-14.5,120,1961,0.00,2.20,0.00,0.000,2564,0.000,0.050,2372,1014,2569,2605,2533,0,0,0,0,0,0,15.24,14.97,15.25
$GC,2012,-0.58,-87.6,2372,1014,2605,2533,372.2,-14.4,121,2018,0.00,2.25,0.00,0.000,3078,0.000,0.041,2372,2419,2569,2605,2534,0,0,0,0,0,0,15.07,14.97,15.08
$GC,2280,-0.58,-87.6,2372,2420,2605,2531,410.4,-13.1,128,2281,0.00,0.00,0.00,0.000,2054,0.000,0.000,2372,2420,2568,2605,2531,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2520,-0.58,-87.6,2371,2421,2605,2528,442.9,-13.5,134,2525,0.00,2.30,0.00,0.000,2564,0.000,0.050,2372,1004,2566,2605,2528,0,0,0,0,0,0,15.26,14.98,15.26
$GC,2586,-0.58,-87.6,2371,1003,2605,2527,448.9,-13.4,135,2592,0.00,2.28,0.00,0.000,3078,0.000,0.041,2372,2422,2565,2604,2527,0,0,0,0,0,0,15.08,14.99,15.09
$GC,2844,-0.58,-87.6,2372,2422,2605,2524,485.1,-12.8,142,2849,0.00,2.30,0.00,0.000,2564,0.000,0.049,2372,1009,2564,2604,2524,0,0,0,0,0,0,15.26,14.98,15.26
$GC,2926,-0.58,-87.6,2372,1008,2605,2523,496.5,-13.3,144,2931,0.00,2.28,0.00,0.000,3078,0.000,0.041,2372,2420,2564,2605,2523,0,0,0,0,0,0,15.08,14.98,15.09
$GC,3209,-0.58,-87.6,2371,2421,2604,2519,535.7,-14.0,151,3214,0.00,2.30,0.00,0.000,2564,0.000,0.049,2372,1004,2561,2604,2519,0,0,0,0,0,0,15.26,14.98,15.26
$GC,3235,-0.58,-87.6,2371,1004,2604,2518,535.7,-14.0,151,3240,0.00,2.28,0.00,0.000,3078,0.000,0.042,2372,2419,2561,2605,2518,0,0,0,0,0,0,15.08,14.98,15.09
$GC,3492,-0.58,-87.6,2371,2419,2604,2514,575.9,-14.0,158,3493,0.00,0.00,0.00,0.000,2054,0.000,0.000,2372,2419,2559,2605,2514,0,0,0,0,0,0,15.26,15.27,15.27
$STATE,3690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3690,begin apogee
$GC,3695,-0.14,0.0,2372,2163,2605,2510,600.8,-12.3,163,3765,0.40,0.00,66.93,1.626,10246,0.278,0.000,2521,2161,2209,2277,2141,0,0,0,0,0,0,14.76,14.57,13.99
$STATE,3766,end apogee,CONTROL_FINISHED_OK
$STATE,3766,begin climb
$GC,3768,0.58,87.6,2521,2161,2276,2141,603.5,0.0,164,3845,0.55,2.47,68.78,1.744,10500,0.200,0.050,2740,3611,1853,1948,1758,0,0,0,0,0,0,14.47,14.26,13.65
$GC,3966,0.67,162.5,2739,3610,1946,1757,593.0,7.2,169,4039,0.05,2.28,61.92,2.338,11270,0.273,0.040,2819,2217,1548,1659,1438,0,0,0,0,0,0,14.53,14.62,13.46
$GC,4279,0.67,162.5,2819,2217,1658,1439,543.7,16.6,177,4285,0.08,2.33,0.00,0.000,4612,0.411,0.053,2798,805,1548,1658,1439,0,0,0,0,0,0,14.48,14.69,14.64
$GC,4316,0.67,162.5,2797,805,1658,1438,543.7,16.6,177,4323,0.00,2.30,0.00,0.000,5126,0.000,0.035,2798,2218,1548,1658,1438,0,0,0,0,0,0,14.81,14.73,14.81
$GC,4563,0.67,162.5,2798,2220,1658,1436,499.9,15.1,184,4568,0.00,2.38,0.00,0.000,4612,0.000,0.055,2809,797,1547,1658,1436,0,0,0,0,0,0,15.06,14.81,15.07
$GC,4614,0.67,162.5,2808,797,1658,1435,493.0,15.2,185,4621,0.08,2.25,0.00,0.000,5126,0.388,0.034,2783,2209,1546,1658,1435,0,0,0,0,0,0,14.61,14.85,14.84
$GC,4888,0.67,162.5,2783,2212,1658,1433,448.4,15.8,192,4893,0.00,2.30,0.00,0.000,516,0.000,0.054,2793,802,1545,1658,1433,0,0,0,0,0,0,15.13,14.87,15.13
$GC,4979,0.67,162.5,2793,802,1658,1432,435.4,15.6,194,4985,0.00,2.22,0.00,0.000,5126,0.000,0.035,2793,2198,1545,1658,1432,0,0,0,0,0,0,14.98,14.91,15.00
$GC,5254,0.67,162.5,2793,2201,1657,1430,392.9,15.1,201,5255,0.00,0.00,0.00,0.000,4102,0.000,0.000,2794,2201,1544,1658,1430,0,0,0,0,0,0,15.16,15.17,15.17
$GC,5492,0.67,162.5,2793,2201,1658,1428,357.4,14.3,207,5497,0.00,2.28,0.00,0.000,4356,0.000,0.049,2794,3601,1543,1658,1428,0,0,0,0,0,0,15.19,14.93,15.19
$GC,5513,0.67,162.5,2793,3602,1657,1429,357.4,14.3,207,5519,0.05,2.25,0.00,0.000,5126,0.464,0.041,2788,2199,1542,1657,1428,0,0,0,0,0,0,14.68,14.95,14.95
$GC,5776,0.67,162.5,2787,2198,1657,1426,317.4,14.2,214,5781,0.00,2.28,0.00,0.000,4612,0.000,0.057,2798,800,1542,1657,1427,0,0,0,0,0,0,15.21,14.94,15.21
$GC,5827,0.67,162.5,2797,799,1657,1426,310.9,14.8,215,5832,0.00,2.22,0.00,0.000,5126,0.000,0.035,2798,2201,1541,1657,1426,0,0,0,0,0,0,15.04,14.97,15.05
$GC,6099,0.67,162.5,2798,2204,1657,1425,271.8,13.7,222,6105,0.00,2.33,0.00,0.000,4612,0.000,0.054,2808,798,1540,1656,1425,0,0,0,0,0,0,15.22,14.95,15.22
$GC,6196,0.67,162.5,2808,797,1656,1425,260.7,13.4,224,6202,0.08,2.22,0.00,0.000,5126,0.375,0.035,2782,2203,1540,1656,1425,0,0,0,0,0,0,14.71,14.98,14.96
$GC,6465,0.67,162.5,2782,2206,1656,1424,228.0,11.1,231,6470,0.00,2.22,0.00,0.000,260,0.000,0.047,2783,3597,1540,1656,1425,0,0,0,0,0,0,15.23,14.96,15.23
$GC,6521,0.67,162.5,2782,3599,1655,1425,223.2,11.0,232,6527,0.00,2.25,0.00,0.000,5126,0.000,0.041,2793,2193,1540,1655,1425,0,0,0,0,0,0,15.06,14.97,15.07
$GC,6769,0.67,162.5,2792,2193,1654,1425,194.0,11.6,240,6775,0.00,2.28,0.00,0.000,4356,0.000,0.047,2793,3593,1540,1655,1425,0,0,0,0,0,0,15.23,14.96,15.23
$GC,6796,0.67,162.5,2792,3593,1655,1425,191.0,12.7,242,6804,0.05,2.25,0.00,0.000,5126,0.457,0.041,2786,2189,1540,1655,1425,0,0,0,0,0,0,14.69,14.97,14.96
$GC,7043,0.67,162.5,2786,2187,1655,1424,163.2,10.9,267,7048,0.00,2.25,0.00,0.000,516,0.000,0.055,2797,794,1540,1655,1425,0,0,0,0,0,0,15.20,14.93,15.21
$GC,7091,0.67,162.5,2797,793,1655,1424,158.6,10.6,271,7098,0.00,2.22,0.00,0.000,5126,0.000,0.034,2797,2200,1539,1653,1425,0,0,0,0,0,0,15.04,14.97,15.05
$GC,7339,0.71,198.2,2797,2201,1655,1425,135.6,8.7,296,7375,0.00,2.35,26.50,1.011,8708,0.000,0.053,2807,803,1398,1508,1288,0,0,0,0,0,0,15.18,14.71,14.35
$GC,7465,0.71,198.2,2807,803,1507,1292,121.0,13.3,307,7470,0.00,2.25,0.00,0.000,5126,0.000,0.035,2807,2205,1400,1508,1293,0,0,0,0,0,0,14.92,14.85,14.93
$GC,7718,0.71,198.2,2807,2208,1507,1297,91.7,10.4,332,7724,0.00,2.33,0.00,0.000,4612,0.000,0.052,2818,793,1402,1508,1297,0,0,0,0,0,0,15.11,14.85,15.11
$GC,7757,0.71,198.2,2818,793,1508,1298,87.8,11.0,335,7764,0.05,2.25,0.00,0.000,5126,0.431,0.034,2801,2205,1402,1508,1297,0,0,0,0,0,0,14.62,14.88,14.87
$GC,8005,0.71,198.2,2800,2208,1507,1300,57.1,12.2,360,8011,0.00,2.33,0.00,0.000,516,0.000,0.054,2811,792,1404,1508,1301,0,0,0,0,0,0,15.11,14.85,15.11
$GC,8099,0.71,198.2,2811,791,1507,1302,45.2,12.6,368,8106,0.00,2.25,0.00,0.000,5126,0.000,0.032,2811,2206,1404,1507,1302,0,0,0,0,0,0,14.95,14.89,14.97
$GC,8371,0.71,198.2,2811,2211,1508,1305,13.2,12.3,404,8379,0.00,2.38,0.00,0.000,4612,0.000,0.054,2822,801,1406,1508,1305,0,0,0,0,0,0,15.09,14.78,15.09
$STATE,8451,end climb,SURFACE_DEPTH_REACHED
$STATE,8451,begin surface coast
$FINISH,0.3,1.023744
$STATE,8476,end surface coast,CONTROL_FINISHED_OK
$STATE,8477,begin surface
$SM_CCo,8493,113.05,0.846,1,0,657,380.21
$SM_GC,1.23,6.07,2.62,113.05,0.090,0.032,0.846,186,2405,657,-7.29,-1.64,380.21,0,0,0,0,1,0,14.88,14.84,14.12
$IRIDIUM_FIX,2216.01,-15707.38,040418,154605
$TT8_MAMPS,0.019474,0.326564
$HUMID,41.21
$INTERNAL_PRESSURE,9.42678
$TCM_TEMP,21.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,6.4
$24V_AH,13.46,57.528
$10V_AH,13.47,0.000
$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,14.600,105.250,224.125,113.050,0.000,28.263,42.106,280.724,0.500,0.000,19.372,1534.924,5198.249,467.850,1791.808,123.008,0.000,1103.422,0.000,1401.844,0.000,5.460,0.000
$DEVICE_MAMPS,464.355,57.375,2337.840,846.090,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,284.776,226.518,404.322,403.626,619.338,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343044
$DATA_FILE_SIZE,37167,421
$CAP_FILE_SIZE,93476,0
$CFSIZE,2097086464,2071003136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.165,242.30,1
$GPS,040418,181752,2223.739,-15709.604,22,1.3,22,9.9,0.0,0.0,6,123.4