version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 269
start: 4 8 118 18 17 17
data:
$ID,626
$MISSION,2
$DIVE,269
$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,2587
$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,2280
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,64
$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
$GPS1,080418,180819,2217.7878,-15658.6221,21,1.3,21,9.9,0.0,0.0,5,117.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-75.0
$GPS2,080418,181635,2217.7141,-15658.6670,26,1.9,26,9.9,0.0,0.0,4,120.1
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,E3
$TGT_LATLONG,2218.000,-15639.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,69.1,33704,-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,-0.53,-87.6,184,2293,777,735,0.0,0.0,0,75,0.00,0.00,-56.92,0.000,16386,0.000,0.000,184,2293,2628,2663,2594,0,0,0,0,0,0,14.96,28.83,14.97
$GC,78,-0.53,-87.6,183,2293,2663,2594,3.2,-4.8,7,97,7.32,2.35,-0.52,0.000,18948,0.441,0.063,2410,878,2660,2696,2624,0,0,0,0,0,0,14.40,13.91,14.73
$GC,158,-0.53,-87.6,2409,878,2698,2623,32.5,-28.5,19,164,0.05,2.25,0.00,0.000,3078,0.457,0.043,2416,2250,2659,2697,2622,0,0,0,0,0,0,14.45,14.73,14.73
$GC,412,-0.53,-87.6,2416,2251,2699,2623,87.1,-17.4,44,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2251,2660,2698,2623,0,0,0,0,0,0,15.05,15.06,15.06
$GC,652,-0.53,-87.6,2416,2250,2699,2623,129.8,-18.5,68,657,0.00,2.25,0.00,0.000,516,0.000,0.058,2416,877,2661,2700,2623,0,0,0,0,0,0,15.09,14.81,15.10
$GC,668,-0.53,-87.6,2416,877,2700,2623,132.1,-18.5,69,676,0.00,2.30,0.00,0.000,3078,0.000,0.047,2414,2280,2661,2700,2623,0,0,0,0,0,0,14.92,14.83,14.94
$GC,917,-0.53,-87.6,2414,2280,2701,2623,176.3,-17.0,94,922,0.00,2.33,0.00,0.000,2564,0.000,0.060,2414,878,2662,2701,2623,0,0,0,0,0,0,15.13,14.83,15.13
$GC,964,-0.53,-87.6,2414,876,2701,2623,184.0,-16.7,98,971,0.00,2.30,0.00,0.000,3078,0.000,0.050,2413,2279,2662,2701,2623,0,0,0,0,0,0,14.95,14.85,14.97
$GC,1221,-0.53,-87.6,2413,2280,2702,2622,224.5,-15.1,112,1227,0.00,2.33,0.00,0.000,2308,0.000,0.066,2414,3690,2662,2702,2623,0,0,0,0,0,0,15.18,14.85,15.18
$GC,1318,-0.53,-87.6,2413,3690,2702,2623,236.0,-14.5,114,1323,0.00,2.25,0.00,0.000,3078,0.000,0.045,2414,2285,2662,2702,2623,0,0,0,0,0,0,15.00,14.90,15.02
$GC,1585,-0.53,-87.6,2413,2284,2703,2623,271.6,-12.5,121,1590,0.00,2.30,0.00,0.000,2564,0.000,0.061,2414,872,2663,2703,2623,0,0,0,0,0,0,15.21,14.90,15.21
$GC,1686,-0.53,-87.6,2413,872,2703,2623,282.7,-13.0,123,1692,0.00,2.25,0.00,0.000,3078,0.000,0.038,2413,2283,2663,2703,2623,0,0,0,0,0,0,15.03,14.93,15.04
$GC,1949,-0.53,-87.6,2413,2284,2703,2622,317.7,-12.3,130,1955,0.00,2.33,0.00,0.000,2564,0.000,0.054,2414,868,2662,2703,2622,0,0,0,0,0,0,15.23,14.92,15.23
$GC,1981,-0.53,-87.6,2413,867,2703,2622,317.7,-12.3,130,1986,0.00,2.28,0.00,0.000,3078,0.000,0.044,2414,2280,2662,2703,2622,0,0,0,0,0,0,15.04,14.95,15.06
$GC,2233,-0.53,-87.6,2413,2281,2703,2622,352.7,-12.5,137,2239,0.00,2.28,0.00,0.000,2308,0.000,0.055,2413,3686,2663,2703,2623,0,0,0,0,0,0,15.24,14.92,15.24
$GC,2275,-0.53,-87.6,2413,3687,2703,2622,357.7,-12.5,138,2281,0.00,2.28,0.00,0.000,3078,0.000,0.036,2414,2265,2662,2703,2622,0,0,0,0,0,0,15.05,14.97,15.07
$GC,2558,-0.53,-87.6,2413,2264,2703,2620,392.0,-12.3,145,2564,0.00,2.25,0.00,0.000,2564,0.000,0.057,2412,875,2661,2703,2619,0,0,0,0,0,0,15.25,14.93,15.25
$GC,2605,-0.53,-87.6,2414,874,2703,2619,397.6,-12.6,146,2610,0.00,2.28,0.00,0.000,3078,0.000,0.047,2414,2280,2660,2702,2619,0,0,0,0,0,0,15.05,14.96,15.07
$GC,2882,-0.53,-87.6,2413,2280,2703,2617,431.9,-12.0,153,2887,0.00,2.30,0.00,0.000,2564,0.000,0.057,2413,877,2659,2703,2616,0,0,0,0,0,0,15.26,14.94,15.25
$GC,2939,-0.53,-87.6,2413,876,2703,2615,437.3,-12.2,154,2944,0.00,2.25,0.00,0.000,3078,0.000,0.041,2414,2279,2660,2704,2616,0,0,0,0,0,0,15.06,14.96,15.07
$GC,3206,-0.53,-87.6,2413,2279,2703,2612,470.9,-11.7,161,3207,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2280,2657,2703,2612,0,0,0,0,0,0,15.26,15.26,15.26
$GC,3446,-0.53,-87.6,2413,2279,2703,2609,498.7,-11.6,167,3451,0.00,2.30,0.00,0.000,2564,0.000,0.056,2414,876,2656,2703,2609,0,0,0,0,0,0,15.26,14.95,15.26
$GC,3488,-0.53,-87.6,2413,876,2702,2608,503.7,-11.5,168,3494,0.00,2.28,0.00,0.000,3078,0.000,0.041,2414,2281,2655,2703,2608,0,0,0,0,0,0,15.06,14.96,15.07
$GC,3771,-0.53,-87.6,2413,2281,2703,2605,535.0,-11.1,175,3772,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2281,2654,2703,2605,0,0,0,0,0,0,15.26,15.26,15.26
$GC,4011,-0.53,-87.6,2413,2281,2703,2602,562.0,-11.3,181,4016,0.00,2.30,0.00,0.000,2564,0.000,0.055,2414,876,2652,2703,2602,0,0,0,0,0,0,15.26,14.94,15.26
$GC,4053,-0.53,-87.6,2413,876,2703,2600,567.4,-11.6,182,4059,0.00,2.28,0.00,0.000,3078,0.000,0.041,2414,2280,2651,2703,2600,0,0,0,0,0,0,15.06,14.96,15.07
$GC,4336,-0.53,-87.6,2413,2280,2703,2589,599.8,-11.4,189,4337,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2280,2646,2703,2589,0,0,0,0,0,0,15.26,15.26,15.26
$STATE,4375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4375,begin apogee
$GC,4380,-0.13,0.0,2414,2130,2703,2587,604.3,-11.4,190,4448,0.35,0.00,65.38,1.719,10246,0.265,0.000,2545,2127,2299,2378,2221,0,0,0,0,0,0,14.69,14.54,13.91
$STATE,4449,end apogee,CONTROL_FINISHED_OK
$STATE,4449,begin climb
$GC,4451,0.53,87.6,2544,2126,2377,2224,606.8,0.0,191,4529,0.47,2.47,71.05,1.623,10500,0.177,0.047,2741,3573,1941,2029,1853,0,0,0,0,0,0,14.47,14.19,13.70
$GC,4580,0.53,87.6,2741,3574,2028,1857,606.4,1.8,194,4586,0.00,2.30,0.00,0.000,3078,0.000,0.040,2751,2188,1942,2028,1856,0,0,0,0,0,0,14.57,14.50,14.57
$GC,4843,0.60,149.7,2751,2187,2028,1853,591.4,5.4,201,4897,0.00,2.42,48.70,1.929,10756,0.000,0.056,2762,757,1692,1792,1593,0,0,0,0,0,0,14.98,14.28,13.69
$GC,4928,0.66,195.9,2762,756,1793,1598,585.4,6.1,203,4975,0.05,2.35,38.90,2.225,11270,0.270,0.037,2826,2181,1505,1608,1402,0,0,0,0,0,0,14.42,14.50,13.49
$GC,5249,0.66,195.9,2825,2181,1608,1403,530.3,18.4,211,5251,0.08,0.00,0.00,0.000,4102,0.424,0.000,2801,2187,1505,1608,1403,0,0,0,0,0,0,14.45,14.74,14.70
$GC,5487,0.66,195.9,2801,2187,1609,1400,488.4,17.4,217,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2186,1504,1608,1400,0,0,0,0,0,0,15.04,15.05,15.05
$GC,5728,0.66,195.9,2801,2186,1608,1398,449.0,16.5,223,5733,0.00,2.35,0.00,0.000,516,0.000,0.056,2812,753,1503,1609,1397,0,0,0,0,0,0,15.10,14.83,15.11
$GC,5759,0.66,195.9,2812,751,1608,1397,449.0,16.5,223,5764,0.00,2.28,0.00,0.000,5126,0.000,0.035,2812,2162,1502,1608,1397,0,0,0,0,0,0,14.94,14.87,14.95
$GC,6011,0.66,195.9,2812,2166,1608,1396,404.9,15.4,230,6016,0.00,2.35,0.00,0.000,4612,0.000,0.056,2823,748,1502,1608,1396,0,0,0,0,0,0,15.14,14.86,15.15
$GC,6067,0.66,195.9,2822,747,1608,1396,398.1,15.6,231,6073,0.08,2.28,0.00,0.000,5126,0.399,0.035,2797,2173,1502,1608,1396,0,0,0,0,0,0,14.60,14.90,14.87
$GC,6336,0.66,195.9,2796,2179,1608,1394,355.4,15.4,238,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2179,1501,1608,1394,0,0,0,0,0,0,15.16,15.18,15.17
$GC,6575,0.66,195.9,2797,2178,1608,1392,321.5,14.0,244,6580,0.00,2.20,0.00,0.000,260,0.000,0.048,2797,3556,1501,1609,1393,0,0,0,0,0,0,15.19,14.91,15.19
$GC,6737,0.66,195.9,2797,3558,1608,1398,296.1,15.7,248,6742,0.00,2.28,0.00,0.000,5126,0.000,0.041,2807,2153,1503,1608,1398,0,0,0,0,0,0,15.01,14.92,15.02
$GC,7020,0.66,195.9,2807,2152,1608,1398,255.0,14.4,255,7025,0.00,2.30,0.00,0.000,4612,0.000,0.057,2819,750,1503,1608,1398,0,0,0,0,0,0,15.20,14.90,15.21
$GC,7071,0.66,195.9,2818,749,1608,1398,248.8,14.1,256,7077,0.05,2.25,0.00,0.000,5126,0.445,0.035,2802,2160,1503,1608,1398,0,0,0,0,0,0,14.63,14.94,14.90
$GC,7344,0.66,195.9,2802,2164,1608,1398,209.2,12.8,263,7349,0.00,2.33,0.00,0.000,4612,0.000,0.056,2812,754,1503,1608,1398,0,0,0,0,0,0,15.21,14.91,15.22
$GC,7361,0.66,195.9,2812,753,1608,1398,209.2,12.8,263,7366,0.00,2.25,0.00,0.000,5126,0.000,0.034,2812,2170,1503,1608,1398,0,0,0,0,0,0,15.02,14.95,15.04
$GC,7610,0.66,195.9,2812,2172,1608,1397,176.3,11.7,283,7611,0.00,0.00,0.00,0.000,4102,0.000,0.000,2812,2172,1502,1608,1397,0,0,0,0,0,0,15.19,15.20,15.20
$GC,7850,0.66,195.9,2812,2173,1608,1397,146.1,12.2,307,7851,0.00,0.00,0.00,0.000,4102,0.000,0.000,2812,2173,1502,1608,1397,0,0,0,0,0,0,15.18,15.18,15.19
$GC,8090,0.66,195.9,2812,2172,1608,1398,117.1,12.7,331,8091,0.00,0.00,0.00,0.000,4102,0.000,0.000,2812,2173,1503,1608,1398,0,0,0,0,0,0,15.16,15.17,15.17
$GC,8330,0.66,195.9,2812,2173,1608,1399,85.6,12.6,355,8335,0.00,2.35,0.00,0.000,4612,0.000,0.055,2823,749,1504,1608,1400,0,0,0,0,0,0,15.16,14.86,15.16
$GC,8661,0.66,195.9,2823,749,1608,1402,45.8,10.4,384,8668,0.08,2.25,0.00,0.000,5126,0.395,0.034,2797,2162,1505,1608,1402,0,0,0,0,0,0,14.54,14.88,14.83
$GC,8930,0.67,202.4,2797,2164,1608,1405,20.8,7.7,417,8947,0.00,2.35,6.75,0.798,10756,0.000,0.055,2808,755,1475,1580,1371,0,0,0,0,0,0,15.11,14.76,14.32
$GC,9050,0.67,202.4,2807,756,1580,1375,10.9,8.4,436,9059,0.00,2.30,0.00,0.000,5126,0.000,0.033,2807,2154,1477,1580,1375,0,0,0,0,0,0,14.79,14.76,14.82
$STATE,9141,end climb,SURFACE_DEPTH_REACHED
$STATE,9141,begin surface coast
$FINISH,0.2,1.011857
$STATE,9180,end surface coast,CONTROL_FINISHED_OK
$STATE,9180,begin surface
$SM_CCo,9194,101.05,0.119,0,0,748,380.21
$SM_GC,1.38,6.03,0.15,101.05,0.080,0.086,0.119,185,2313,748,-7.35,-1.58,380.21,0,0,0,0,0,0,14.83,14.84,14.68
$IRIDIUM_FIX,2209.02,-15657.88,080418,180944
$TT8_MAMPS,0.018725,0.265146
$HUMID,42.32
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,6.4
$24V_AH,13.49,64.982
$10V_AH,13.37,0.000
$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,14.550,92.250,230.775,101.050,0.000,32.231,42.347,286.684,0.500,0.000,27.359,1636.317,5710.676,430.605,1910.542,130.462,0.000,1081.808,0.000,1502.948,0.000,5.462,0.000
$DEVICE_MAMPS,457.470,85.680,2224.620,118.575,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,310.713,246.167,437.733,446.578,685.214,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343136
$DATA_FILE_SIZE,40707,457
$CAP_FILE_SIZE,95165,0
$CFSIZE,2097086464,2067496960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.076,256.44,1
$GPS,080418,205324,2217.825,-15657.893,38,0.8,38,9.9,0.6,187.4,10,17.3