version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 241
start: 4 5 118 7 5 3
data:
$ID,626
$MISSION,2
$DIVE,241
$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,46
$R_STBD_OVSHOOT,73
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2300
$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
$GPS1,050418,065500,2223.7654,-15716.7070,39,0.8,39,9.8,0.6,176.5,10,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.1
$GPS2,050418,070419,2223.7522,-15716.6592,17,0.8,17,9.8,0.6,105.2,10,19.9
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,M9
$TGT_LATLONG,2224.000,-15718.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,287.7,2342,-16.8,-8.000,-20.00,2264
$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,-0.59,-87.6,184,2426,784,725,0.0,0.0,0,74,0.00,0.00,-56.30,0.000,16386,0.000,0.000,184,2426,2593,2625,2562,0,0,0,0,0,0,14.95,28.83,14.96
$GC,77,-0.59,-87.6,184,2426,2625,2562,3.1,-5.1,7,94,7.15,2.38,-1.20,0.000,18948,0.438,0.063,2381,993,2658,2698,2619,0,0,0,0,0,0,14.43,13.96,14.76
$GC,103,-0.59,-87.6,2381,993,2698,2619,15.0,-33.3,10,113,0.03,2.28,0.00,0.000,3078,0.527,0.037,2380,2354,2658,2698,2619,0,0,0,0,0,0,14.45,14.67,14.62
$GC,366,-0.59,-87.6,2380,2355,2697,2616,87.8,-25.3,39,368,0.00,0.00,0.00,0.000,2054,0.000,0.000,2380,2355,2657,2698,2617,0,0,0,0,0,0,15.05,15.05,15.05
$GC,606,-0.59,-87.6,2380,2355,2698,2616,142.7,-20.1,63,608,0.00,0.00,0.00,0.000,2054,0.000,0.000,2380,2355,2656,2697,2616,0,0,0,0,0,0,15.10,15.10,15.10
$GC,844,-0.59,-87.6,2380,2355,2698,2616,192.0,-20.4,87,850,0.00,2.22,0.00,0.000,2564,0.000,0.056,2380,1000,2657,2698,2616,0,0,0,0,0,0,15.14,14.88,15.14
$GC,889,-0.59,-87.6,2380,1000,2698,2616,201.0,-21.1,91,895,0.05,2.28,0.00,0.000,3078,0.450,0.044,2390,2402,2657,2698,2616,0,0,0,0,0,0,14.66,14.88,14.90
$GC,1172,-0.59,-87.6,2390,2403,2698,2616,248.8,-15.7,98,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2403,2657,2698,2617,0,0,0,0,0,0,15.19,15.19,15.20
$GC,1412,-0.59,-87.6,2390,2403,2698,2616,290.7,-17.4,104,1417,0.00,2.28,0.00,0.000,516,0.000,0.055,2389,997,2657,2698,2616,0,0,0,0,0,0,15.21,14.95,15.23
$GC,1440,-0.59,-87.6,2390,997,2698,2616,290.7,-17.4,104,1445,0.00,2.28,0.00,0.000,3078,0.000,0.045,2387,2405,2657,2698,2616,0,0,0,0,0,0,15.05,14.95,15.07
$GC,1697,-0.59,-87.6,2386,2407,2698,2617,335.0,-14.7,111,1703,0.00,2.30,0.00,0.000,2564,0.000,0.057,2387,1000,2657,2698,2616,0,0,0,0,0,0,15.24,14.96,15.24
$GC,1754,-0.59,-87.6,2386,1000,2698,2616,341.6,-14.7,112,1759,0.00,2.28,0.00,0.000,3078,0.000,0.046,2386,2410,2657,2698,2616,0,0,0,0,0,0,15.07,14.97,15.08
$GC,2021,-0.59,-87.6,2386,2410,2698,2616,380.9,-13.7,119,2027,0.00,2.30,0.00,0.000,2564,0.000,0.056,2387,1000,2657,2698,2616,0,0,0,0,0,0,15.25,14.97,15.26
$GC,2092,-0.59,-87.6,2386,1000,2698,2616,386.9,-13.9,120,2098,0.00,2.28,0.00,0.000,3078,0.000,0.046,2386,2407,2657,2698,2616,0,0,0,0,0,0,15.07,14.97,15.09
$GC,2345,-0.59,-87.6,2386,2408,2698,2613,426.4,-14.0,127,2346,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2408,2655,2698,2613,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2585,-0.59,-87.6,2385,2408,2698,2610,460.1,-14.0,133,2590,0.00,2.33,0.00,0.000,2564,0.000,0.057,2386,991,2653,2698,2609,0,0,0,0,0,0,15.26,14.98,15.26
$GC,2642,-0.59,-87.6,2386,990,2698,2609,466.2,-14.1,134,2647,0.00,2.28,0.00,0.000,3078,0.000,0.040,2385,2412,2653,2698,2609,0,0,0,0,0,0,15.09,15.00,15.11
$GC,2911,-0.59,-87.6,2385,2412,2698,2604,505.5,-13.8,141,2912,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2412,2652,2698,2606,0,0,0,0,0,0,15.26,15.27,15.27
$GC,3149,-0.59,-87.6,2385,2412,2698,2603,538.3,-13.4,147,3154,0.00,2.30,0.00,0.000,2564,0.000,0.050,2386,997,2650,2698,2603,0,0,0,0,0,0,15.27,15.00,15.27
$GC,3255,-0.59,-87.6,2386,997,2698,2601,549.7,-13.5,149,3261,0.00,2.25,0.00,0.000,3078,0.000,0.041,2386,2398,2649,2698,2601,0,0,0,0,0,0,15.09,14.99,15.10
$GC,3513,-0.59,-87.6,2385,2398,2698,2597,585.7,-12.6,156,3514,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2398,2647,2698,2597,0,0,0,0,0,0,15.27,15.27,15.27
$STATE,3631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3631,begin apogee
$GC,3636,-0.14,0.0,2386,2169,2698,2595,600.7,-12.5,159,3706,0.38,0.00,67.50,1.594,10246,0.276,0.000,2527,2166,2298,2377,2220,0,0,0,0,0,0,14.78,14.59,14.01
$STATE,3707,end apogee,CONTROL_FINISHED_OK
$STATE,3707,begin climb
$GC,3709,0.59,87.6,2526,2166,2373,2218,603.5,0.0,160,3787,0.55,2.47,69.65,1.566,10500,0.196,0.049,2749,3615,1938,2029,1847,0,0,0,0,0,0,14.49,14.23,13.78
$GC,3838,0.59,87.6,2749,3615,2026,1846,601.6,3.5,163,3843,0.00,2.28,0.00,0.000,3078,0.000,0.038,2759,2229,1935,2025,1846,0,0,0,0,0,0,14.60,14.54,14.61
$GC,4101,0.63,118.5,2759,2228,2026,1842,583.1,6.6,170,4131,0.00,2.42,24.90,1.505,10756,0.000,0.053,2770,791,1812,1913,1711,0,0,0,0,0,0,15.00,14.62,14.01
$GC,4167,0.66,148.0,2770,790,1910,1711,580.1,6.7,171,4201,0.00,2.33,25.73,1.488,11270,0.000,0.035,2770,2223,1690,1797,1584,0,0,0,0,0,0,14.75,14.68,13.97
$GC,4464,0.66,148.0,2770,2224,1795,1579,543.4,11.6,179,4469,0.00,2.25,0.00,0.000,2308,0.000,0.049,2770,3603,1687,1795,1579,0,0,0,0,0,0,15.00,14.76,15.01
$GC,4492,0.66,148.0,2770,3603,1794,1579,543.4,11.6,179,4497,0.00,2.28,0.00,0.000,3078,0.000,0.041,2781,2200,1686,1794,1579,0,0,0,0,0,0,14.87,14.79,14.88
$GC,4749,0.66,148.0,2781,2199,1794,1576,510.2,11.6,186,4754,0.00,2.28,0.00,0.000,2564,0.000,0.053,2792,796,1685,1794,1576,0,0,0,0,0,0,15.10,14.85,15.10
$GC,4841,0.66,148.0,2792,795,1793,1575,500.0,12.0,188,4846,0.00,2.25,0.00,0.000,1030,0.000,0.034,2792,2205,1684,1793,1575,0,0,0,0,0,0,14.95,14.89,14.97
$GC,5114,0.66,148.0,2792,2208,1793,1573,464.5,12.7,195,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2208,1683,1793,1573,0,0,0,0,0,0,15.16,15.16,15.16
$GC,5355,0.66,148.0,2792,2208,1793,1571,434.4,12.5,201,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2208,1682,1793,1571,0,0,0,0,0,0,15.18,15.19,15.19
$GC,5594,0.66,148.0,2792,2209,1792,1569,405.2,12.2,207,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2208,1680,1792,1569,0,0,0,0,0,0,15.20,15.21,15.20
$GC,5833,0.66,148.0,2792,2209,1790,1568,376.6,11.7,213,5838,0.00,2.30,0.00,0.000,516,0.000,0.053,2803,796,1679,1790,1568,0,0,0,0,0,0,15.21,14.95,15.22
$GC,5975,0.66,148.0,2803,796,1790,1568,361.4,12.4,216,5980,0.00,2.22,0.00,0.000,5126,0.000,0.035,2803,2203,1678,1789,1568,0,0,0,0,0,0,15.05,14.98,15.07
$GC,6238,0.66,148.0,2803,2204,1789,1568,330.5,10.9,223,6243,0.00,2.30,0.00,0.000,4612,0.000,0.052,2814,790,1678,1789,1568,0,0,0,0,0,0,15.23,14.95,15.23
$GC,6460,0.66,148.0,2813,789,1788,1568,307.9,10.9,228,6466,0.08,2.25,0.00,0.000,5126,0.399,0.034,2789,2213,1678,1788,1568,0,0,0,0,0,0,14.69,14.99,14.98
$GC,6723,0.66,148.0,2788,2214,1788,1567,278.7,10.7,235,6728,0.00,2.20,0.00,0.000,260,0.000,0.047,2788,3590,1677,1788,1567,0,0,0,0,0,0,15.23,14.97,15.23
$GC,6779,0.66,148.0,2787,3590,1788,1568,274.0,11.1,236,6784,0.00,2.22,0.00,0.000,5126,0.000,0.040,2797,2195,1678,1788,1568,0,0,0,0,0,0,15.06,14.99,15.07
$GC,7047,0.66,148.0,2797,2194,1788,1568,245.9,9.6,243,7052,0.00,2.25,0.00,0.000,4612,0.000,0.052,2809,797,1678,1788,1568,0,0,0,0,0,0,15.24,14.97,15.24
$GC,7153,0.66,148.0,2809,796,1788,1568,236.8,10.1,245,7159,0.05,2.22,0.00,0.000,5126,0.450,0.034,2792,2209,1677,1787,1567,0,0,0,0,0,0,14.70,15.00,14.99
$GC,7411,0.66,148.0,2792,2210,1787,1568,208.9,9.1,252,7416,0.00,2.30,0.00,0.000,516,0.000,0.050,2804,788,1678,1788,1568,0,0,0,0,0,0,15.24,14.97,15.24
$GC,7437,0.66,148.0,2802,788,1788,1568,208.9,9.1,252,7443,0.00,2.22,0.00,0.000,5126,0.000,0.033,2803,2204,1678,1788,1568,0,0,0,0,0,0,15.07,15.00,15.09
$GC,7685,0.69,173.8,2802,2205,1787,1568,187.2,6.8,270,7709,0.00,2.30,18.65,1.038,8452,0.000,0.048,2803,3598,1584,1692,1477,0,0,0,0,0,0,15.22,14.90,14.40
$GC,7757,0.69,173.8,2802,3599,1685,1477,181.2,9.4,276,7766,0.00,2.30,0.00,0.000,5126,0.000,0.041,2813,2200,1580,1684,1476,0,0,0,0,0,0,14.90,14.85,14.91
$GC,8007,0.69,173.8,2813,2199,1685,1477,155.5,10.8,301,8012,0.00,2.28,0.00,0.000,4356,0.000,0.047,2813,3598,1581,1685,1477,0,0,0,0,0,0,15.14,14.88,15.14
$GC,8066,0.69,173.8,2813,3597,1685,1477,149.1,11.0,306,8075,0.05,2.33,0.00,0.000,5126,0.402,0.041,2806,2195,1580,1685,1476,0,0,0,0,0,0,14.58,14.84,14.77
$GC,8315,0.69,173.8,2806,2195,1685,1477,123.5,10.8,331,8320,0.00,2.25,0.00,0.000,4612,0.000,0.052,2817,797,1581,1685,1477,0,0,0,0,0,0,15.14,14.88,15.14
$GC,8672,0.69,173.8,2817,797,1684,1479,87.4,8.4,364,8682,0.03,2.28,0.00,0.000,5126,0.487,0.033,2809,2204,1582,1685,1479,0,0,0,0,0,0,14.61,14.85,14.78
$GC,8921,0.69,173.8,2808,2204,1685,1481,67.8,8.8,389,8926,0.00,2.22,0.00,0.000,4356,0.000,0.047,2808,3590,1583,1685,1482,0,0,0,0,0,0,15.14,14.88,15.14
$GC,9508,0.76,231.9,2808,3591,1684,1486,23.9,5.4,447,9558,0.00,2.30,42.78,0.828,11270,0.000,0.037,2819,2192,1348,1450,1246,0,0,0,0,0,0,14.85,14.83,14.32
$STATE,9713,end climb,SURFACE_DEPTH_REACHED
$STATE,9713,begin surface coast
$FINISH,0.2,1.023564
$STATE,9738,end surface coast,CONTROL_FINISHED_OK
$STATE,9738,begin surface
$SM_CCo,9752,85.12,0.114,0,0,750,380.21
$SM_GC,1.40,5.88,0.30,85.12,0.044,0.068,0.114,184,2389,750,-7.35,-1.89,380.21,0,0,0,0,0,0,14.80,14.77,14.68
$IRIDIUM_FIX,2216.01,-15717.79,050418,065619
$TT8_MAMPS,0.019474,0.324317
$HUMID,41.37
$INTERNAL_PRESSURE,9.44631
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,6.4
$24V_AH,13.78,59.461
$10V_AH,13.94,0.000
$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,14.225,91.900,249.200,85.125,0.000,28.332,50.101,357.673,0.500,0.000,18.359,1803.660,5931.248,420.012,2124.384,147.714,0.000,1142.095,0.000,1667.773,0.000,5.464,0.000
$DEVICE_MAMPS,527.085,68.085,1594.260,113.985,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,327.473,259.450,463.970,472.343,724.741,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343260
$DATA_FILE_SIZE,43942,483
$CAP_FILE_SIZE,101017,0
$CFSIZE,2097086464,2070282240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.082,185.44,1
$GPS,050418,095000,2223.674,-15717.668,26,0.9,26,9.8,1.1,129.0,8,24.4