version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 244
start: 4 5 118 16 8 13
data:
$ID,626
$MISSION,2
$DIVE,244
$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,39
$R_STBD_OVSHOOT,72
$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
$GPS1,050418,155800,2222.6707,-15716.6523,25,0.9,25,9.8,0.0,0.0,6,24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-73.7
$GPS2,050418,160731,2222.5793,-15716.6992,19,1.1,19,9.8,1.0,238.8,6,23.3
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,M10
$TGT_LATLONG,2218.000,-157.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,35.2,15969192,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.56,-87.6,186,2427,783,729,0.0,0.0,0,75,0.00,0.00,-56.50,0.000,16386,0.000,0.000,186,2429,2600,2631,2570,0,0,0,0,0,0,14.94,28.83,14.95
$GC,77,-0.56,-87.6,186,2429,2631,2570,3.2,-5.2,7,96,7.22,2.22,-1.02,0.000,19204,0.438,0.067,2385,3774,2657,2695,2620,0,0,0,0,0,0,14.42,13.95,14.73
$GC,331,-0.56,-87.6,2385,3774,2696,2620,71.1,-21.9,33,337,0.00,2.25,0.00,0.000,3078,0.000,0.049,2386,2403,2657,2695,2620,0,0,0,0,0,0,14.87,14.77,14.88
$GC,585,-0.56,-87.6,2385,2402,2696,2620,133.7,-23.7,58,590,0.00,2.33,0.00,0.000,2564,0.000,0.064,2385,991,2658,2696,2620,0,0,0,0,0,0,15.08,14.81,15.09
$GC,611,-0.56,-87.6,2385,990,2696,2620,139.4,-23.2,60,620,0.00,2.30,0.00,0.000,3078,0.000,0.049,2385,2350,2658,2697,2620,0,0,0,0,0,0,14.80,14.73,14.82
$GC,860,-0.56,-87.6,2384,2350,2698,2620,190.8,-19.6,85,866,0.00,2.40,0.00,0.000,2308,0.000,0.063,2375,3819,2658,2698,2619,0,0,0,0,0,0,15.12,14.83,15.12
$GC,883,-0.56,-87.6,2375,3819,2698,2620,195.5,-19.3,87,889,0.05,2.30,0.00,0.000,3078,0.418,0.046,2393,2397,2659,2698,2620,0,0,0,0,0,0,14.66,14.87,14.88
$GC,1156,-0.56,-87.6,2393,2395,2700,2620,237.1,-14.6,96,1161,0.00,2.30,0.00,0.000,2564,0.000,0.063,2393,987,2660,2700,2620,0,0,0,0,0,0,15.18,14.90,15.18
$GC,1212,-0.56,-87.6,2393,988,2700,2620,244.2,-15.2,97,1218,0.00,2.33,0.00,0.000,3078,0.000,0.047,2386,2414,2659,2700,2619,0,0,0,0,0,0,15.02,14.91,15.02
$GC,1480,-0.56,-87.6,2386,2415,2700,2620,287.4,-15.1,104,1486,0.00,2.35,0.00,0.000,2564,0.000,0.059,2386,988,2660,2700,2620,0,0,0,0,0,0,15.21,14.93,15.21
$GC,1512,-0.56,-87.6,2386,987,2700,2620,287.4,-15.1,104,1518,0.00,2.30,0.00,0.000,3078,0.000,0.048,2386,2399,2660,2700,2620,0,0,0,0,0,0,15.04,14.93,15.05
$GC,1765,-0.56,-87.6,2386,2400,2700,2620,329.7,-14.8,111,1770,0.00,2.33,0.00,0.000,2564,0.000,0.060,2386,989,2660,2700,2620,0,0,0,0,0,0,15.23,14.95,15.23
$GC,1831,-0.56,-87.6,2386,989,2700,2620,336.3,-15.0,112,1836,0.00,2.30,0.00,0.000,3078,0.000,0.047,2386,2409,2660,2700,2620,0,0,0,0,0,0,15.06,14.95,15.07
$GC,2088,-0.56,-87.6,2384,2409,2700,2620,378.1,-14.6,119,2090,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2409,2660,2700,2620,0,0,0,0,0,0,15.24,15.24,15.25
$GC,2329,-0.56,-87.6,2386,2409,2700,2619,415.8,-15.6,125,2334,0.00,2.35,0.00,0.000,2564,0.000,0.059,2386,984,2659,2700,2618,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2395,-0.56,-87.6,2385,983,2700,2618,423.1,-16.0,126,2400,0.00,2.30,0.00,0.000,3078,0.000,0.048,2386,2397,2659,2700,2618,0,0,0,0,0,0,15.07,14.96,15.09
$GC,2652,-0.56,-87.6,2385,2398,2700,2615,468.6,-15.9,133,2658,0.00,2.33,0.00,0.000,2564,0.000,0.059,2386,989,2657,2700,2614,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2679,-0.56,-87.6,2385,988,2700,2614,468.6,-15.9,133,2685,0.00,2.30,0.00,0.000,3078,0.000,0.048,2385,2403,2657,2700,2614,0,0,0,0,0,0,15.08,14.97,15.09
$GC,2937,-0.56,-87.6,2385,2403,2700,2610,510.8,-14.2,140,2942,0.00,2.33,0.00,0.000,2564,0.000,0.058,2386,991,2655,2700,2610,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2980,-0.56,-87.6,2386,991,2700,2610,516.8,-14.1,141,2985,0.00,2.30,0.00,0.000,3078,0.000,0.047,2386,2402,2654,2699,2609,0,0,0,0,0,0,15.07,14.96,15.09
$GC,3264,-0.56,-87.6,2385,2402,2700,2606,551.9,-11.9,148,3269,0.00,2.33,0.00,0.000,2564,0.000,0.059,2386,991,2653,2700,2606,0,0,0,0,0,0,15.26,14.97,15.26
$GC,3330,-0.56,-87.6,2386,991,2700,2605,557.5,-12.1,149,3336,0.00,2.30,0.00,0.000,3078,0.000,0.047,2386,2401,2652,2700,2605,0,0,0,0,0,0,15.07,14.96,15.09
$GC,3588,-0.56,-87.6,2386,2401,2699,2601,590.2,-11.5,156,3590,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2401,2650,2699,2601,0,0,0,0,0,0,15.26,15.26,15.26
$STATE,3706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3706,begin apogee
$GC,3711,-0.14,0.0,2385,2185,2700,2599,604.3,-11.7,159,3782,0.40,0.00,68.15,1.620,10246,0.272,0.000,2535,2185,2299,2377,2221,0,0,0,0,0,0,14.75,14.57,14.00
$STATE,3783,end apogee,CONTROL_FINISHED_OK
$STATE,3783,begin climb
$GC,3785,0.56,87.6,2535,2185,2373,2219,606.9,0.0,160,3863,0.52,2.45,70.03,1.593,10500,0.188,0.057,2748,3616,1940,2030,1850,0,0,0,0,0,0,14.45,14.31,13.76
$GC,3884,0.56,87.6,2748,3616,2029,1850,606.1,2.9,163,3889,0.00,2.35,0.00,0.000,1030,0.000,0.043,2759,2209,1939,2029,1849,0,0,0,0,0,0,14.50,14.44,14.52
$GC,4152,0.61,124.3,2758,2208,2029,1845,588.6,6.5,170,4185,0.00,2.38,27.70,1.609,10500,0.000,0.054,2759,3612,1794,1893,1695,0,0,0,0,0,0,14.98,14.45,13.93
$GC,4197,0.65,161.0,2758,3612,1893,1698,585.6,6.5,171,4234,0.00,2.35,30.05,1.880,11270,0.000,0.045,2770,2195,1644,1751,1538,0,0,0,0,0,0,14.67,14.59,13.72
$GC,4472,0.65,161.0,2769,2195,1751,1539,552.4,12.4,178,4478,0.00,2.40,0.00,0.000,2308,0.000,0.057,2769,3616,1645,1751,1539,0,0,0,0,0,0,14.95,14.70,14.95
$GC,4499,0.65,161.0,2769,3616,1751,1539,552.4,12.4,178,4505,0.00,2.33,0.00,0.000,3078,0.000,0.046,2781,2202,1645,1751,1539,0,0,0,0,0,0,14.82,14.74,14.83
$GC,4757,0.65,161.0,2780,2201,1751,1536,515.2,13.0,185,4763,0.00,2.33,0.00,0.000,2564,0.000,0.060,2792,794,1643,1751,1536,0,0,0,0,0,0,15.07,14.81,15.07
$GC,4829,0.65,161.0,2791,793,1751,1536,509.5,13.0,186,4834,0.00,2.30,0.00,0.000,5126,0.000,0.040,2792,2211,1643,1751,1535,0,0,0,0,0,0,14.93,14.85,14.94
$GC,5081,0.65,161.0,2792,2212,1751,1532,470.3,14.0,193,5082,0.00,0.00,0.00,0.000,4102,0.000,0.000,2792,2211,1641,1751,1532,0,0,0,0,0,0,15.14,15.14,15.14
$GC,5322,0.65,161.0,2791,2211,1751,1529,437.0,13.9,199,5323,0.00,0.00,0.00,0.000,4102,0.000,0.000,2792,2211,1640,1750,1530,0,0,0,0,0,0,15.17,15.16,15.16
$GC,5561,0.65,161.0,2791,2211,1750,1528,404.9,13.3,205,5562,0.00,0.00,0.00,0.000,4102,0.000,0.000,2792,2212,1639,1751,1528,0,0,0,0,0,0,15.19,15.19,15.19
$GC,5803,0.65,161.0,2791,2212,1750,1526,374.4,12.3,211,5805,0.00,0.00,0.00,0.000,4102,0.000,0.000,2792,2211,1638,1750,1526,0,0,0,0,0,0,15.20,15.21,15.21
$GC,6041,0.65,161.0,2791,2212,1749,1525,343.7,13.1,217,6046,0.00,2.35,0.00,0.000,4612,0.000,0.060,2803,793,1638,1750,1526,0,0,0,0,0,0,15.22,14.94,15.22
$GC,6133,0.65,161.0,2803,792,1749,1525,333.5,12.6,219,6138,0.00,2.28,0.00,0.000,5126,0.000,0.040,2803,2208,1637,1749,1526,0,0,0,0,0,0,15.04,14.96,15.06
$GC,6406,0.65,161.0,2802,2210,1749,1524,299.9,11.4,226,6411,0.00,2.35,0.00,0.000,4612,0.000,0.060,2813,791,1636,1749,1524,0,0,0,0,0,0,15.22,14.95,15.23
$GC,6489,0.65,161.0,2813,791,1748,1525,290.3,11.5,228,6495,0.08,2.28,0.00,0.000,5126,0.394,0.041,2787,2204,1636,1748,1525,0,0,0,0,0,0,14.69,14.97,14.95
$GC,6771,0.65,161.0,2787,2207,1748,1524,261.8,10.0,235,6777,0.00,2.28,0.00,0.000,260,0.000,0.050,2788,3613,1636,1748,1524,0,0,0,0,0,0,15.22,14.95,15.23
$GC,6833,0.65,161.0,2787,3613,1748,1527,257.5,10.1,236,6838,0.00,2.28,0.00,0.000,5126,0.000,0.043,2797,2195,1637,1748,1527,0,0,0,0,0,0,15.05,14.97,15.07
$GC,7095,0.65,161.0,2797,2194,1748,1529,228.6,10.7,243,7101,0.00,2.30,0.00,0.000,4356,0.000,0.050,2798,3605,1638,1748,1529,0,0,0,0,0,0,15.23,14.96,15.23
$GC,7147,0.65,161.0,2797,3605,1748,1530,223.9,10.5,244,7152,0.05,2.25,0.00,0.000,5126,0.470,0.044,2792,2200,1639,1748,1530,0,0,0,0,0,0,14.67,14.97,14.95
$GC,7399,0.65,161.0,2792,2198,1748,1530,197.0,10.2,252,7405,0.00,2.28,0.00,0.000,4612,0.000,0.054,2803,790,1639,1748,1530,0,0,0,0,0,0,15.23,14.95,15.23
$GC,7634,0.65,161.1,2803,790,1748,1530,175.9,8.0,274,7640,0.00,2.25,0.00,0.000,5126,0.000,0.033,2803,2208,1638,1748,1529,0,0,0,0,0,0,15.04,14.97,15.04
$GC,7888,0.69,191.7,2803,2208,1748,1530,156.7,6.7,299,7921,0.00,2.35,24.52,1.029,8708,0.000,0.054,2814,797,1511,1616,1407,0,0,0,0,0,0,15.19,14.85,14.36
$GC,8178,0.69,191.7,2813,797,1614,1407,123.3,11.9,326,8184,0.00,2.25,0.00,0.000,5126,0.000,0.033,2814,2204,1510,1614,1407,0,0,0,0,0,0,14.94,14.86,14.95
$GC,8434,0.69,191.7,2813,2204,1614,1408,94.9,9.2,351,8439,0.00,2.30,0.00,0.000,4612,0.000,0.053,2825,794,1511,1615,1408,0,0,0,0,0,0,15.11,14.86,15.11
$GC,8472,0.69,191.7,2824,793,1614,1408,91.6,9.1,354,8481,0.05,2.28,0.00,0.000,5126,0.376,0.034,2806,2194,1511,1615,1408,0,0,0,0,0,0,14.55,14.81,14.73
$GC,8721,0.69,191.7,2806,2194,1614,1410,69.1,9.0,379,8726,0.00,2.28,0.00,0.000,4356,0.000,0.048,2806,3602,1512,1614,1411,0,0,0,0,0,0,15.11,14.86,15.11
$GC,8814,0.69,191.7,2806,3602,1614,1412,59.9,9.9,387,8820,0.05,2.28,0.00,0.000,5126,0.459,0.041,2800,2193,1512,1614,1411,0,0,0,0,0,0,14.59,14.88,14.86
$GC,9070,0.69,191.7,2800,2192,1614,1413,35.1,9.7,412,9076,0.00,2.25,0.00,0.000,516,0.000,0.053,2811,794,1514,1614,1414,0,0,0,0,0,0,15.11,14.85,15.11
$GC,9159,0.69,191.7,2811,793,1614,1414,26.3,9.3,422,9168,0.00,2.30,0.00,0.000,5126,0.000,0.033,2810,2198,1514,1614,1415,0,0,0,0,0,0,14.84,14.81,14.85
$STATE,9434,end climb,SURFACE_DEPTH_REACHED
$STATE,9434,begin surface coast
$FINISH,0.3,1.004750
$STATE,9476,end surface coast,CONTROL_FINISHED_OK
$STATE,9477,begin surface
$SM_CCo,9491,116.38,0.844,1,0,749,380.21
$SM_GC,1.15,5.97,0.30,116.38,0.076,0.076,0.844,184,2401,749,-7.31,-1.27,380.21,0,0,0,0,1,0,14.85,14.82,14.10
$IRIDIUM_FIX,2213.68,-15715.64,050418,155918
$TT8_MAMPS,0.018725,0.326564
$HUMID,41.29
$INTERNAL_PRESSURE,9.44631
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,67.5,7.6
$24V_AH,13.72,60.085
$10V_AH,13.51,0.000
$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,14.400,106.875,220.450,116.375,0.000,27.049,41.919,374.587,1.750,0.000,20.365,1700.220,5868.897,473.688,2018.846,150.331,0.000,1136.610,0.000,1548.818,0.000,15.610,0.000
$DEVICE_MAMPS,470.475,76.500,1879.605,843.795,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,322.639,259.417,458.911,463.758,711.576,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343264
$DATA_FILE_SIZE,40686,475
$CAP_FILE_SIZE,100550,0
$CFSIZE,2097086464,2069987328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.179,238.57,1
$GPS,050418,184931,2222.808,-15716.737,31,0.9,31,9.8,0.0,0.0,9,30.9