version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 260
start: 4 7 118 15 23 49
data:
$ID,626
$MISSION,2
$DIVE,260
$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,2582
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,38
$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,2300
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,42
$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
$GPS1,070418,151430,2219.0620,-15705.6777,28,1.2,28,9.8,0.7,192.4,6,27.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.9
$GPS2,070418,152307,2218.9724,-15705.7334,19,0.8,19,9.8,0.0,0.0,11,17.5
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,E2
$TGT_LATLONG,2218.000,-15700.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,60.7,9987,-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,-0.53,-87.6,186,2304,778,728,0.0,0.0,0,75,0.00,0.00,-57.35,0.000,16386,0.000,0.000,186,2304,2655,2689,2621,0,0,0,0,0,0,14.95,28.83,14.96
$GC,77,-0.53,-87.6,186,2305,2689,2621,3.4,-5.6,7,95,7.32,2.30,0.00,0.000,2308,0.441,0.042,2398,3709,2653,2689,2618,0,0,0,0,0,0,14.40,14.63,14.71
$GC,171,-0.53,-87.6,2398,3709,2689,2614,33.4,-22.9,20,180,0.00,2.35,0.00,0.000,3078,0.000,0.050,2398,2313,2651,2689,2613,0,0,0,0,0,0,14.72,14.66,14.74
$GC,422,-0.53,-87.6,2398,2312,2689,2613,89.6,-19.7,45,427,0.00,2.35,0.00,0.000,2564,0.000,0.063,2398,887,2651,2689,2613,0,0,0,0,0,0,15.05,14.77,15.05
$GC,515,-0.53,-87.6,2398,886,2689,2613,109.7,-23.0,53,522,0.08,2.30,0.00,0.000,3078,0.396,0.046,2413,2292,2651,2689,2613,0,0,0,0,0,0,14.56,14.81,14.81
$GC,762,-0.53,-87.6,2413,2292,2689,2613,155.7,-17.6,78,768,0.00,2.33,0.00,0.000,260,0.000,0.063,2407,3705,2651,2689,2613,0,0,0,0,0,0,15.11,14.81,15.11
$GC,831,-0.53,-87.6,2407,3705,2689,2613,165.4,-14.0,84,841,0.00,2.35,0.00,0.000,3078,0.000,0.047,2407,2288,2651,2689,2613,0,0,0,0,0,0,14.84,14.79,14.86
$GC,1088,-0.53,-87.6,2407,2287,2690,2613,207.0,-15.4,107,1093,0.00,2.28,0.00,0.000,2564,0.000,0.061,2407,895,2651,2690,2613,0,0,0,0,0,0,15.16,14.85,15.16
$GC,1134,-0.53,-87.6,2407,895,2690,2613,213.7,-15.4,108,1140,0.00,2.30,0.00,0.000,3078,0.000,0.050,2400,2306,2651,2690,2613,0,0,0,0,0,0,14.98,14.88,15.00
$GC,1413,-0.53,-87.6,2399,2307,2691,2613,259.0,-16.1,115,1418,0.00,2.30,0.00,0.000,2308,0.000,0.064,2400,3710,2652,2691,2613,0,0,0,0,0,0,15.19,14.88,15.20
$GC,1489,-0.53,-87.6,2399,3711,2691,2613,265.7,-15.9,116,1497,0.00,2.28,0.00,0.000,3078,0.000,0.046,2400,2292,2652,2691,2613,0,0,0,0,0,0,15.02,14.92,15.03
$GC,1735,-0.53,-87.6,2399,2291,2692,2613,307.7,-15.6,123,1740,0.00,2.28,0.00,0.000,2564,0.000,0.063,2399,895,2652,2691,2613,0,0,0,0,0,0,15.23,14.92,15.23
$GC,1831,-0.53,-87.6,2399,894,2691,2613,320.9,-15.8,125,1836,0.00,2.30,0.00,0.000,3078,0.000,0.050,2400,2301,2652,2691,2613,0,0,0,0,0,0,15.04,14.92,15.05
$GC,2099,-0.53,-87.6,2399,2302,2691,2613,360.7,-13.7,132,2104,0.00,2.33,0.00,0.000,2308,0.000,0.068,2399,3715,2652,2691,2613,0,0,0,0,0,0,15.23,14.90,15.23
$GC,2150,-0.53,-87.6,2398,3715,2691,2613,366.3,-13.3,133,2155,0.00,2.28,0.00,0.000,3078,0.000,0.047,2399,2301,2652,2691,2613,0,0,0,0,0,0,15.06,14.95,15.07
$GC,2422,-0.53,-87.6,2398,2301,2690,2611,404.4,-13.5,140,2428,0.00,2.30,0.00,0.000,2564,0.000,0.063,2399,892,2651,2691,2611,0,0,0,0,0,0,15.25,14.94,15.25
$GC,2484,-0.53,-87.6,2399,891,2691,2610,410.6,-13.7,141,2489,0.00,2.33,0.00,0.000,3078,0.000,0.052,2399,2311,2650,2691,2610,0,0,0,0,0,0,15.05,14.94,15.07
$GC,2746,-0.53,-87.6,2398,2311,2691,2607,448.2,-13.2,148,2752,0.00,2.35,0.00,0.000,2564,0.000,0.061,2399,889,2648,2691,2605,0,0,0,0,0,0,15.26,14.94,15.26
$GC,2829,-0.53,-87.6,2399,889,2691,2606,459.5,-13.6,150,2834,0.00,2.33,0.00,0.000,3078,0.000,0.047,2399,2310,2648,2691,2606,0,0,0,0,0,0,15.06,14.94,15.07
$GC,3111,-0.53,-87.6,2398,2310,2690,2602,495.1,-12.5,157,3117,0.00,2.35,0.00,0.000,2564,0.000,0.061,2399,891,2646,2691,2602,0,0,0,0,0,0,15.26,14.94,15.26
$GC,3153,-0.53,-87.6,2398,890,2691,2601,500.7,-12.8,158,3159,0.00,2.30,0.00,0.000,3078,0.000,0.047,2399,2302,2646,2691,2601,0,0,0,0,0,0,15.06,14.95,15.07
$GC,3436,-0.53,-87.6,2399,2302,2691,2598,535.0,-11.9,165,3437,0.00,0.00,0.00,0.000,2054,0.000,0.000,2399,2302,2644,2691,2597,0,0,0,0,0,0,15.26,15.26,15.26
$GC,3676,-0.53,-87.6,2398,2302,2690,2595,563.8,-12.0,171,3681,0.00,2.35,0.00,0.000,2564,0.000,0.060,2399,882,2642,2690,2594,0,0,0,0,0,0,15.26,14.94,15.26
$GC,3697,-0.53,-87.6,2398,882,2691,2594,563.8,-12.0,171,3702,0.00,2.33,0.00,0.000,3078,0.000,0.048,2399,2307,2642,2691,2594,0,0,0,0,0,0,15.06,14.95,15.08
$GC,3960,-0.53,-87.6,2399,2307,2690,2590,598.4,-12.2,178,3961,0.00,0.00,0.00,0.000,2054,0.000,0.000,2398,2307,2640,2691,2590,0,0,0,0,0,0,15.25,15.26,15.26
$STATE,3998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3998,begin apogee
$GC,4002,-0.13,0.0,2399,2147,2690,2589,603.4,-12.2,179,4072,0.38,0.00,66.78,1.640,10246,0.272,0.000,2538,2146,2298,2375,2222,0,0,0,0,0,0,14.71,14.57,13.97
$STATE,4073,end apogee,CONTROL_FINISHED_OK
$STATE,4073,begin climb
$GC,4075,0.53,87.6,2539,2146,2372,2220,606.3,0.0,180,4149,0.47,0.00,70.93,1.609,10246,0.187,0.000,2734,2146,1941,2031,1852,0,0,0,0,0,0,14.45,14.31,13.74
$GC,4360,0.66,199.6,2733,2146,2027,1843,601.4,3.4,188,4454,0.08,2.45,87.43,1.862,10500,0.196,0.047,2820,3578,1487,1596,1379,0,0,0,0,0,0,14.66,14.13,13.56
$GC,4531,0.66,199.6,2820,3580,1596,1392,581.4,12.6,192,4537,0.10,2.35,0.00,0.000,5126,0.394,0.043,2799,2173,1494,1596,1392,0,0,0,0,0,0,14.31,14.51,14.53
$GC,4805,0.66,199.6,2799,2173,1596,1389,535.8,16.0,199,4806,0.00,0.00,0.00,0.000,4102,0.000,0.000,2799,2173,1492,1596,1389,0,0,0,0,0,0,14.99,14.99,14.99
$GC,5044,0.66,199.6,2799,2173,1596,1386,494.0,17.5,205,5050,0.00,2.35,0.00,0.000,4612,0.000,0.058,2810,752,1491,1596,1386,0,0,0,0,0,0,15.07,14.81,15.08
$GC,5101,0.66,199.6,2810,751,1596,1386,486.0,17.9,206,5106,0.00,2.30,0.00,0.000,5126,0.000,0.036,2809,2181,1491,1596,1386,0,0,0,0,0,0,14.92,14.85,14.93
$GC,5369,0.66,199.6,2809,2184,1596,1383,435.3,17.7,213,5374,0.00,2.38,0.00,0.000,4612,0.000,0.055,2821,750,1489,1596,1383,0,0,0,0,0,0,15.14,14.86,15.14
$GC,5480,0.66,199.6,2821,750,1596,1383,420.3,17.9,215,5486,0.08,2.28,0.00,0.000,5126,0.399,0.035,2795,2173,1489,1596,1383,0,0,0,0,0,0,14.62,14.90,14.88
$GC,5733,0.66,199.6,2795,2176,1596,1379,373.5,16.2,222,5738,0.00,2.33,0.00,0.000,516,0.000,0.056,2806,752,1487,1596,1379,0,0,0,0,0,0,15.16,14.89,15.17
$GC,5769,0.66,199.6,2806,752,1596,1379,373.5,16.2,222,5776,0.00,2.28,0.00,0.000,5126,0.000,0.035,2806,2168,1487,1596,1379,0,0,0,0,0,0,15.00,14.92,15.01
$GC,6016,0.66,199.6,2806,2168,1596,1378,326.4,16.3,229,6017,0.00,0.00,0.00,0.000,4102,0.000,0.000,2806,2169,1486,1595,1378,0,0,0,0,0,0,15.19,15.19,15.19
$GC,6255,0.66,199.6,2806,2169,1596,1377,289.4,15.2,235,6260,0.00,2.35,0.00,0.000,4612,0.000,0.054,2817,744,1486,1596,1377,0,0,0,0,0,0,15.21,14.92,15.21
$GC,6277,0.66,199.6,2816,744,1595,1377,289.4,15.2,235,6282,0.05,2.25,0.00,0.000,5126,0.441,0.034,2800,2161,1486,1595,1377,0,0,0,0,0,0,14.66,14.95,14.92
$GC,6540,0.66,199.6,2800,2165,1595,1376,249.3,13.5,242,6545,0.00,2.33,0.00,0.000,4612,0.000,0.055,2811,750,1486,1596,1376,0,0,0,0,0,0,15.21,14.92,15.21
$GC,6626,0.66,199.6,2810,749,1595,1376,238.7,12.8,244,6631,0.00,2.25,0.00,0.000,5126,0.000,0.035,2811,2158,1485,1595,1375,0,0,0,0,0,0,15.04,14.96,15.04
$GC,6903,0.66,199.6,2811,2159,1595,1375,202.0,13.1,251,6909,0.05,2.25,0.00,0.000,4356,0.483,0.046,2794,3564,1485,1595,1376,0,0,0,0,0,0,14.68,14.94,14.92
$GC,7253,0.66,199.6,2794,3564,1594,1376,157.1,11.2,281,7258,0.00,2.28,0.00,0.000,5126,0.000,0.041,2805,2154,1485,1594,1376,0,0,0,0,0,0,15.01,14.93,15.02
$GC,7506,0.66,199.6,2805,2153,1594,1376,130.2,11.1,306,7511,0.00,2.30,0.00,0.000,4356,0.000,0.046,2805,3568,1485,1594,1376,0,0,0,0,0,0,15.17,14.90,15.17
$GC,7586,0.66,199.6,2805,3567,1594,1376,121.7,10.7,313,7592,0.05,2.28,0.00,0.000,5126,0.468,0.041,2799,2159,1485,1594,1376,0,0,0,0,0,0,14.59,14.90,14.88
$GC,7839,0.66,199.6,2799,2157,1594,1377,95.2,10.3,338,7845,0.00,2.28,0.00,0.000,4612,0.000,0.055,2810,756,1486,1595,1377,0,0,0,0,0,0,15.16,14.88,15.16
$GC,8104,0.66,199.6,2810,756,1594,1379,66.9,10.6,361,8109,0.00,2.25,0.00,0.000,5126,0.000,0.033,2810,2169,1486,1594,1379,0,0,0,0,0,0,14.98,14.90,14.99
$GC,8359,0.66,199.6,2810,2169,1594,1382,38.9,10.1,386,8364,0.00,2.33,0.00,0.000,4612,0.000,0.053,2821,752,1488,1594,1382,0,0,0,0,0,0,15.13,14.85,15.13
$GC,8408,0.66,199.6,2821,751,1594,1382,33.6,10.6,390,8414,0.08,2.25,0.00,0.000,5126,0.386,0.033,2795,2166,1488,1594,1382,0,0,0,0,0,0,14.57,14.88,14.85
$GC,8695,0.69,224.8,2795,2167,1594,1385,10.9,7.0,435,8720,0.00,0.00,21.92,0.817,10246,0.000,0.000,2794,2168,1380,1492,1269,0,0,0,0,0,0,15.09,14.78,14.36
$STATE,8780,end climb,SURFACE_DEPTH_REACHED
$STATE,8780,begin surface coast
$FINISH,0.5,1.023885
$STATE,8811,end surface coast,CONTROL_FINISHED_OK
$STATE,8811,begin surface
$SM_CCo,8825,98.55,0.855,1,0,747,380.21
$SM_GC,1.37,5.97,0.17,98.55,0.077,0.079,0.855,186,2313,747,-7.32,-1.41,380.21,0,0,0,0,1,0,14.81,14.81,14.08
$IRIDIUM_FIX,2206.70,-15706.14,070418,151553
$TT8_MAMPS,0.019474,0.326564
$HUMID,41.61
$INTERNAL_PRESSURE,9.43654
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.5,6.3
$24V_AH,13.56,63.266
$10V_AH,13.31,0.000
$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,14.700,97.400,247.050,98.550,0.000,28.893,43.091,316.506,0.500,0.000,20.392,1675.993,5223.130,469.012,1972.953,133.025,0.000,1123.478,0.000,1548.481,0.000,5.465,0.000
$DEVICE_MAMPS,482.715,78.795,1862.010,854.505,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,307.555,250.953,444.412,461.618,708.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343156
$DATA_FILE_SIZE,40683,453
$CAP_FILE_SIZE,95634,0
$CFSIZE,2097086464,2068381696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.118,230.89,1
$GPS,070418,175331,2218.966,-15705.170,18,1.3,18,9.9,0.0,0.0,5,124.1