version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 236
start: 4 4 118 20 5 19
data:
$ID,626
$MISSION,2
$DIVE,236
$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,250
$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,2579
$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,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2720
$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
$GPS1,040418,195849,2223.7837,-15710.9238,40,0.8,40,9.9,0.0,0.0,9,125.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.2
$GPS2,040418,200436,2223.7661,-15710.9160,8,0.8,8,9.9,0.6,87.8,10,65.0
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,M9
$TGT_LATLONG,2224.000,-15718.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,268.1,12138,-15.9,-8.000,-19.19,2501
$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,-0.56,-87.6,186,2412,678,607,0.0,0.0,0,81,0.00,0.00,-63.53,0.000,16386,0.000,0.000,186,2412,2734,2766,2703,0,0,0,0,0,0,15.00,28.83,15.01
$GC,84,-0.56,-87.6,185,2412,2766,2703,3.9,-7.1,8,103,7.15,2.38,-5.43,0.000,18948,0.437,0.061,2396,970,3081,3117,3046,0,0,0,0,0,0,14.47,13.75,14.78
$GC,153,-0.56,-87.6,2395,969,3120,3046,35.1,-35.8,17,158,0.00,2.30,0.00,0.000,3078,0.000,0.041,2386,2374,3083,3120,3046,0,0,0,0,0,0,14.86,14.76,14.88
$GC,405,-0.56,-87.6,2386,2375,3121,3046,110.0,-27.2,42,410,0.00,2.30,0.00,0.000,2564,0.000,0.055,2386,986,3083,3121,3046,0,0,0,0,0,0,15.07,14.82,15.07
$GC,441,-0.56,-87.6,2386,985,3121,3046,119.9,-29.0,45,447,0.00,2.33,0.00,0.000,3078,0.000,0.043,2386,2407,3083,3121,3046,0,0,0,0,0,0,14.92,14.83,14.93
$GC,696,-0.56,-87.6,2386,2407,3123,3046,187.3,-24.4,70,701,0.00,2.35,0.00,0.000,2564,0.000,0.057,2386,984,3084,3123,3046,0,0,0,0,0,0,15.11,14.87,15.11
$GC,731,-0.56,-87.6,2386,983,3123,3046,195.4,-23.4,73,736,0.00,2.30,0.00,0.000,3078,0.000,0.042,2386,2403,3084,3123,3046,0,0,0,0,0,0,14.96,14.87,14.97
$GC,993,-0.56,-87.6,2386,2403,3126,3046,248.3,-18.8,81,998,0.00,2.33,0.00,0.000,2564,0.000,0.053,2386,983,3086,3126,3046,0,0,0,0,0,0,15.18,14.91,15.18
$GC,1059,-0.56,-87.6,2386,982,3126,3046,256.5,-18.6,82,1064,0.00,2.28,0.00,0.000,3078,0.000,0.041,2386,2399,3086,3126,3046,0,0,0,0,0,0,15.02,14.92,15.03
$GC,1316,-0.56,-87.6,2386,2400,3128,3046,305.3,-17.2,89,1323,0.00,2.33,0.00,0.000,2564,0.000,0.053,2386,989,3087,3128,3046,0,0,0,0,0,0,15.21,14.95,15.21
$GC,1389,-0.56,-87.6,2386,989,3128,3046,313.4,-17.5,90,1394,0.00,2.28,0.00,0.000,3078,0.000,0.041,2386,2403,3087,3128,3046,0,0,0,0,0,0,15.04,14.95,15.06
$GC,1641,-0.56,-87.6,2386,2404,3128,3046,361.9,-17.1,97,1646,0.00,2.33,0.00,0.000,2564,0.000,0.052,2386,979,3087,3128,3046,0,0,0,0,0,0,15.23,14.96,15.23
$GC,1717,-0.56,-87.6,2385,979,3128,3046,369.2,-17.1,98,1724,0.00,2.30,0.00,0.000,3078,0.000,0.041,2386,2409,3087,3128,3046,0,0,0,0,0,0,15.06,14.97,15.07
$GC,1963,-0.56,-87.6,2386,2409,3128,3046,416.2,-17.0,105,1969,0.00,2.33,0.00,0.000,2564,0.000,0.054,2386,987,3086,3127,3045,0,0,0,0,0,0,15.24,14.97,15.24
$GC,2030,-0.56,-87.6,2386,985,3128,3046,423.5,-16.9,106,2036,0.00,2.28,0.00,0.000,3078,0.000,0.041,2386,2400,3086,3128,3045,0,0,0,0,0,0,15.07,14.97,15.08
$GC,2287,-0.56,-87.6,2385,2400,3127,3045,466.5,-15.1,113,2293,0.00,2.33,0.00,0.000,2564,0.000,0.054,2385,982,3087,3128,3046,0,0,0,0,0,0,15.25,14.97,15.25
$GC,2334,-0.56,-87.6,2386,982,3127,3045,473.4,-15.3,114,2339,0.00,2.28,0.00,0.000,3078,0.000,0.041,2386,2400,3086,3127,3046,0,0,0,0,0,0,15.08,14.98,15.09
$GC,2611,-0.56,-87.6,2386,2400,3128,3043,517.1,-15.6,121,2617,0.00,2.33,0.00,0.000,2564,0.000,0.054,2386,981,3085,3127,3043,0,0,0,0,0,0,15.25,14.98,15.26
$GC,2679,-0.56,-87.6,2385,980,3127,3042,523.8,-15.6,122,2684,0.00,2.30,0.00,0.000,3078,0.000,0.042,2386,2406,3084,3128,3041,0,0,0,0,0,0,15.08,14.98,15.09
$GC,2936,-0.56,-87.6,2386,2407,3127,3038,566.0,-14.7,129,2941,0.00,2.33,0.00,0.000,2564,0.000,0.054,2386,987,3082,3127,3038,0,0,0,0,0,0,15.26,14.98,15.26
$GC,3022,-0.56,-87.6,2386,987,3127,3037,578.3,-14.7,131,3027,0.00,2.28,0.00,0.000,3078,0.000,0.042,2386,2398,3082,3127,3037,0,0,0,0,0,0,15.08,14.98,15.09
$STATE,3178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3178,begin apogee
$GC,3183,-0.14,0.0,2386,2160,3127,3035,602.3,-14.9,135,3260,0.38,0.00,69.55,1.635,10246,0.256,0.000,2529,2160,2718,2800,2637,0,0,0,0,0,0,14.80,14.42,13.95
$STATE,3261,end apogee,CONTROL_FINISHED_OK
$STATE,3261,begin climb
$GC,3263,0.56,87.6,2529,2160,2800,2637,607.5,0.0,137,3342,0.52,2.58,71.15,1.991,10500,0.165,0.056,2747,3614,2362,2446,2278,0,0,0,0,0,0,14.47,14.24,13.59
$GC,3368,0.56,87.6,2747,3614,2446,2277,611.9,-8.0,139,3374,0.00,2.30,0.00,0.000,1030,0.000,0.037,2758,2224,2361,2446,2277,0,0,0,0,0,0,14.48,14.42,14.49
$GC,3626,1.10,525.6,2758,2222,2445,2274,639.8,-10.0,146,4001,0.32,2.42,362.80,2.582,10500,0.099,0.046,2936,3619,649,695,604,0,0,0,0,0,0,14.71,13.92,13.14
$GC,4129,1.10,525.6,2935,3619,693,602,524.7,42.5,158,4134,0.00,2.40,0.00,0.000,5126,0.000,0.050,2946,2208,647,693,602,0,0,0,0,0,0,14.51,14.42,14.52
$GC,4392,1.10,525.6,2946,2207,694,599,395.9,46.1,165,4397,0.00,2.35,0.00,0.000,4612,0.000,0.061,2957,788,645,693,598,0,0,0,0,0,0,14.94,14.70,14.95
$GC,4434,1.10,525.6,2956,787,694,598,374.4,46.7,166,4441,0.08,2.30,0.00,0.000,5126,0.440,0.030,2935,2224,645,693,598,0,0,0,0,0,0,14.54,14.76,14.77
$GC,4717,1.10,525.6,2935,2229,693,595,250.0,43.3,173,4723,0.00,2.42,0.00,0.000,4612,0.000,0.067,2945,782,644,693,595,0,0,0,0,0,0,15.07,14.82,15.07
$GC,4764,1.10,525.6,2945,781,693,595,231.0,43.4,174,4770,0.00,2.28,0.00,0.000,5126,0.000,0.037,2945,2194,643,693,594,0,0,0,0,0,0,14.93,14.86,14.95
$GC,5015,1.10,525.6,2944,2202,692,592,127.0,39.5,193,5021,0.00,0.00,0.00,0.000,4102,0.000,0.000,2944,2202,642,692,592,0,0,0,0,0,0,15.10,15.10,15.10
$GC,5266,1.10,525.6,2945,2202,691,589,30.2,37.1,218,5271,0.00,2.35,0.00,0.000,4612,0.000,0.067,2955,790,640,691,589,0,0,0,0,0,0,15.10,14.85,15.11
$GC,5285,1.10,525.6,2955,788,691,589,22.0,36.8,220,5295,0.05,2.30,0.00,0.000,5126,0.418,0.028,2939,2217,640,691,589,0,0,0,0,0,0,14.65,14.85,14.79
$STATE,5331,end climb,SURFACE_DEPTH_REACHED
$STATE,5331,begin surface coast
$FINISH,0.4,1.023683
$STATE,5339,end surface coast,CONTROL_FINISHED_OK
$STATE,5339,begin surface
$SM_CCo,5413,0.00,0.000,0,0,639,510.46
$SM_GC,1.13,6.28,0.22,0.00,0.073,0.063,0.000,192,2431,639,-7.33,-1.78,510.46,0,0,0,0,0,0,14.90,14.91,14.94
$IRIDIUM_FIX,2213.68,-15712.58,040418,195955
$TT8_MAMPS,0.018725,0.323568
$HUMID,50.78
$INTERNAL_PRESSURE,9.33889
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.6,6.6
$24V_AH,13.14,58.258
$10V_AH,13.44,0.000
$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,14.775,70.450,503.500,0.000,0.000,28.246,41.836,176.687,0.500,0.000,9.330,912.008,3133.261,508.073,1157.587,83.210,0.000,1012.546,0.000,880.818,0.000,5.455,0.000
$DEVICE_MAMPS,439.875,66.555,2581.875,0.000,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,153.346,110.276,195.385,184.656,283.321,0.000,0.000,0.000,0.000,0.000
$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,20665,228
$CAP_FILE_SIZE,62816,0
$CFSIZE,2097086464,2070872064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.068,250.00,1
$GPS,040418,213611,2223.609,-15712.027,8,1.3,8,9.9,0.5,218.2,6,87.3