version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 273
start: 4 9 118 6 12 7
data:
$ID,626
$MISSION,2
$DIVE,273
$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,47
$R_STBD_OVSHOOT,43
$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
$GPS1,090418,060302,2218.0103,-15656.0635,19,1.4,19,9.9,0.9,206.4,5,29.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.9
$GPS2,090418,061125,2217.9844,-15656.1797,20,1.4,20,9.9,0.7,325.1,5,53.1
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,E3
$TGT_LATLONG,2218.000,-15639.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,83.9,29438,-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,-87.6,186,2278,780,726,0.0,0.0,0,75,0.00,0.00,-57.85,0.000,16386,0.000,0.000,186,2279,2656,2690,2622,0,0,0,0,0,0,14.95,28.83,14.95
$GC,78,-0.53,-87.6,186,2278,2690,2621,3.3,-4.7,7,95,7.30,2.30,0.00,0.000,2564,0.438,0.036,2408,860,2654,2690,2619,0,0,0,0,0,0,14.37,14.62,14.70
$GC,122,-0.53,-87.6,2407,860,2690,2616,22.4,-40.3,13,132,0.03,2.35,0.00,0.000,3078,0.516,0.036,2408,2269,2653,2690,2616,0,0,0,0,0,0,14.39,14.64,14.55
$GC,381,-0.53,-87.6,2407,2270,2690,2616,84.2,-22.8,40,387,0.00,2.30,0.00,0.000,2564,0.000,0.051,2408,872,2652,2690,2615,0,0,0,0,0,0,15.04,14.76,15.04
$GC,398,-0.53,-87.6,2407,872,2691,2616,86.6,-21.8,41,406,0.05,2.30,0.00,0.000,3078,0.459,0.037,2417,2289,2653,2690,2616,0,0,0,0,0,0,14.50,14.77,14.76
$GC,646,-0.53,-87.6,2417,2290,2690,2616,131.0,-17.4,66,651,0.00,2.28,0.00,0.000,260,0.000,0.054,2414,3687,2653,2690,2616,0,0,0,0,0,0,15.08,14.78,15.09
$GC,682,-0.53,-87.6,2414,3687,2690,2616,137.3,-17.8,69,687,0.00,2.25,0.00,0.000,3078,0.000,0.037,2414,2280,2653,2690,2616,0,0,0,0,0,0,14.92,14.83,14.92
$GC,936,-0.53,-87.6,2414,2278,2692,2616,179.9,-16.0,94,942,0.00,2.28,0.00,0.000,2564,0.000,0.054,2414,874,2654,2692,2616,0,0,0,0,0,0,15.12,14.83,15.12
$GC,1012,-0.53,-87.6,2413,873,2692,2617,193.8,-18.1,101,1018,0.00,2.28,0.00,0.000,3078,0.000,0.039,2414,2281,2654,2692,2616,0,0,0,0,0,0,14.95,14.85,14.96
$GC,1296,-0.53,-87.6,2413,2282,2693,2616,239.9,-15.6,111,1302,0.00,2.28,0.00,0.000,2308,0.000,0.056,2414,3686,2654,2692,2616,0,0,0,0,0,0,15.18,14.85,15.18
$GC,1349,-0.53,-87.6,2413,3685,2692,2617,246.3,-15.0,112,1354,0.00,2.22,0.00,0.000,3078,0.000,0.034,2414,2270,2654,2692,2616,0,0,0,0,0,0,15.00,14.91,15.01
$GC,1621,-0.53,-87.6,2413,2268,2693,2616,282.7,-12.7,119,1626,0.00,2.25,0.00,0.000,2564,0.000,0.054,2414,872,2654,2693,2616,0,0,0,0,0,0,15.21,14.90,15.21
$GC,1712,-0.53,-87.6,2413,871,2693,2616,293.9,-13.1,121,1718,0.00,2.28,0.00,0.000,3078,0.000,0.039,2414,2290,2654,2692,2616,0,0,0,0,0,0,15.02,14.92,15.03
$GC,1985,-0.53,-87.6,2414,2290,2693,2616,329.0,-12.5,128,1992,0.00,2.30,0.00,0.000,2564,0.000,0.052,2413,881,2654,2692,2616,0,0,0,0,0,0,15.23,14.92,15.23
$GC,2018,-0.53,-87.6,2413,880,2693,2616,329.0,-12.5,128,2023,0.00,2.25,0.00,0.000,3078,0.000,0.039,2414,2285,2654,2692,2616,0,0,0,0,0,0,15.04,14.94,15.04
$GC,2270,-0.53,-87.6,2413,2285,2692,2616,364.0,-12.3,135,2275,0.00,2.30,0.00,0.000,2564,0.000,0.052,2414,877,2654,2692,2616,0,0,0,0,0,0,15.24,14.93,15.24
$GC,2301,-0.53,-87.6,2413,876,2692,2615,364.0,-12.3,135,2307,0.00,2.25,0.00,0.000,3078,0.000,0.039,2414,2279,2653,2692,2615,0,0,0,0,0,0,15.04,14.95,15.06
$GC,2554,-0.53,-87.6,2413,2280,2692,2612,401.7,-13.4,142,2555,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2280,2652,2692,2612,0,0,0,0,0,0,15.24,15.25,15.25
$GC,2794,-0.53,-87.6,2413,2280,2692,2609,434.1,-13.5,148,2795,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2280,2650,2692,2609,0,0,0,0,0,0,15.25,15.26,15.25
$GC,3034,-0.53,-87.6,2414,2279,2692,2606,463.0,-11.8,154,3040,0.00,2.30,0.00,0.000,2564,0.000,0.052,2414,875,2649,2692,2606,0,0,0,0,0,0,15.26,14.94,15.26
$GC,3093,-0.53,-87.6,2413,873,2692,2606,468.2,-11.8,155,3098,0.00,2.28,0.00,0.000,3078,0.000,0.040,2413,2289,2649,2692,2606,0,0,0,0,0,0,15.05,14.95,15.07
$GC,3360,-0.53,-87.6,2413,2289,2692,2602,498.1,-10.3,162,3361,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2289,2647,2692,2602,0,0,0,0,0,0,15.26,15.26,15.26
$GC,3600,-0.53,-87.6,2413,2289,2692,2599,524.8,-11.3,168,3606,0.00,2.30,0.00,0.000,2564,0.000,0.052,2413,879,2645,2692,2599,0,0,0,0,0,0,15.26,14.93,15.26
$GC,3647,-0.53,-87.6,2413,879,2692,2599,530.1,-11.6,169,3652,0.00,2.28,0.00,0.000,3078,0.000,0.041,2414,2290,2645,2692,2599,0,0,0,0,0,0,15.05,14.95,15.07
$GC,3924,-0.53,-87.6,2414,2290,2692,2595,562.1,-11.3,176,3926,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2290,2643,2692,2595,0,0,0,0,0,0,15.26,15.26,15.26
$GC,4164,-0.53,-87.6,2413,2290,2692,2592,591.3,-12.5,182,4171,0.00,2.33,0.00,0.000,2564,0.000,0.052,2414,870,2642,2692,2592,0,0,0,0,0,0,15.26,14.93,15.26
$GC,4208,-0.53,-87.6,2413,869,2692,2591,596.9,-12.7,183,4214,0.00,2.30,0.00,0.000,3078,0.000,0.041,2414,2288,2641,2692,2591,0,0,0,0,0,0,15.05,14.95,15.07
$STATE,4249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4249,begin apogee
$GC,4254,-0.13,0.0,2414,2131,2692,2590,602.1,-12.6,184,4324,0.35,0.00,67.47,1.645,10246,0.263,0.000,2545,2129,2299,2376,2222,0,0,0,0,0,0,14.68,14.54,13.93
$STATE,4325,end apogee,CONTROL_FINISHED_OK
$STATE,4325,begin climb
$GC,4327,0.53,87.6,2544,2129,2372,2220,605.1,0.0,185,4402,0.47,0.00,71.65,1.607,10246,0.177,0.000,2741,2127,1941,2030,1853,0,0,0,0,0,0,14.44,14.29,13.72
$GC,4611,0.64,177.9,2741,2127,2025,1844,599.2,4.3,193,4693,0.08,2.50,72.97,1.598,10500,0.195,0.046,2825,3573,1568,1675,1461,0,0,0,0,0,0,14.64,14.33,13.74
$GC,4706,0.68,209.6,2824,3574,1670,1461,591.9,6.7,195,4739,0.10,2.30,26.95,1.518,13318,0.399,0.041,2804,2196,1444,1557,1332,0,0,0,0,0,0,14.23,14.40,13.73
$GC,4975,0.68,209.6,2803,2196,1552,1332,542.7,17.8,202,4981,0.00,2.38,0.00,0.000,516,0.000,0.056,2814,757,1442,1552,1333,0,0,0,0,0,0,14.91,14.66,14.92
$GC,5027,0.68,209.6,2814,756,1552,1332,534.6,18.0,203,5033,0.00,2.30,0.00,0.000,5126,0.000,0.034,2814,2176,1441,1551,1332,0,0,0,0,0,0,14.79,14.72,14.80
$GC,5301,0.68,209.6,2814,2181,1552,1328,483.4,18.2,210,5306,0.00,2.38,0.00,0.000,4612,0.000,0.054,2825,753,1440,1552,1328,0,0,0,0,0,0,15.06,14.78,15.06
$GC,5322,0.68,209.6,2825,753,1552,1328,483.4,18.2,210,5328,0.05,2.28,0.00,0.000,5126,0.454,0.035,2809,2169,1440,1552,1329,0,0,0,0,0,0,14.53,14.82,14.79
$GC,5585,0.68,209.6,2808,2174,1552,1325,432.5,17.8,217,5591,0.00,2.35,0.00,0.000,4612,0.000,0.054,2820,756,1438,1551,1325,0,0,0,0,0,0,15.11,14.83,15.11
$GC,5631,0.68,209.6,2819,755,1552,1325,424.7,18.0,218,5637,0.00,2.25,0.00,0.000,5126,0.000,0.034,2819,2159,1438,1552,1325,0,0,0,0,0,0,14.95,14.88,14.96
$GC,5910,0.68,209.6,2819,2165,1552,1324,374.1,17.8,225,5911,0.00,0.00,0.00,0.000,4102,0.000,0.000,2820,2165,1438,1552,1324,0,0,0,0,0,0,15.15,15.15,15.15
$GC,6149,0.68,209.6,2819,2165,1551,1322,330.2,18.4,231,6155,0.00,2.30,0.00,0.000,4612,0.000,0.054,2830,757,1436,1551,1322,0,0,0,0,0,0,15.18,14.88,15.18
$GC,6211,0.68,209.6,2829,757,1551,1322,322.5,18.5,232,6217,0.08,2.25,0.00,0.000,5126,0.402,0.034,2805,2164,1436,1551,1322,0,0,0,0,0,0,14.59,14.92,14.90
$GC,6474,0.68,209.6,2805,2169,1550,1321,276.1,16.4,239,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2170,1435,1550,1321,0,0,0,0,0,0,15.19,15.19,15.19
$GC,6714,0.68,209.6,2805,2169,1550,1320,239.0,15.7,245,6719,0.00,2.33,0.00,0.000,516,0.000,0.054,2815,748,1435,1550,1321,0,0,0,0,0,0,15.19,14.90,15.21
$GC,6800,0.68,209.6,2815,747,1550,1320,225.1,16.1,247,6806,0.00,2.25,0.00,0.000,5126,0.000,0.034,2815,2164,1435,1550,1320,0,0,0,0,0,0,15.02,14.93,15.02
$GC,7048,0.68,209.6,2815,2170,1550,1320,188.1,14.8,257,7054,0.00,2.22,0.00,0.000,4356,0.000,0.046,2815,3555,1435,1550,1320,0,0,0,0,0,0,15.20,14.91,15.20
$GC,7073,0.68,209.6,2816,3556,1549,1321,184.7,14.5,259,7080,0.05,2.28,0.00,0.000,5126,0.451,0.041,2809,2148,1435,1549,1321,0,0,0,0,0,0,14.61,14.92,14.91
$GC,7327,0.68,209.6,2809,2146,1550,1320,147.6,13.7,284,7333,0.00,2.25,0.00,0.000,4612,0.000,0.056,2820,759,1434,1549,1320,0,0,0,0,0,0,15.18,14.88,15.19
$GC,7430,0.68,209.6,2819,759,1550,1320,134.4,13.8,293,7437,0.05,2.22,0.00,0.000,5126,0.440,0.033,2803,2163,1435,1550,1320,0,0,0,0,0,0,14.59,14.92,14.89
$GC,7676,0.68,209.6,2803,2167,1549,1321,103.6,12.1,318,7681,0.00,2.22,0.00,0.000,260,0.000,0.044,2802,3555,1435,1549,1321,0,0,0,0,0,0,15.16,14.87,15.16
$GC,7711,0.68,209.6,2803,3556,1549,1321,99.4,12.3,321,7717,0.00,2.25,0.00,0.000,5126,0.000,0.040,2813,2159,1435,1549,1321,0,0,0,0,0,0,14.97,14.88,14.99
$GC,7967,0.68,209.6,2813,2156,1549,1321,67.1,11.3,346,7975,0.00,0.00,0.00,0.000,4102,0.000,0.000,2813,2157,1435,1549,1322,0,0,0,0,0,0,15.14,15.14,15.14
$GC,8218,0.68,209.6,2813,2157,1549,1324,39.6,12.1,371,8223,0.00,2.28,0.00,0.000,4612,0.000,0.054,2824,755,1437,1550,1324,0,0,0,0,0,0,15.12,14.83,15.13
$GC,8255,0.68,209.6,2824,753,1549,1324,34.7,12.9,374,8261,0.05,2.25,0.00,0.000,5126,0.442,0.032,2807,2170,1436,1549,1324,0,0,0,0,0,0,14.54,14.88,14.84
$GC,8543,0.68,209.6,2807,2175,1550,1326,3.2,11.2,419,8552,0.00,2.40,0.00,0.000,4612,0.000,0.056,2818,759,1438,1549,1327,0,0,0,0,0,0,15.08,14.70,15.09
$STATE,8560,end climb,SURFACE_DEPTH_REACHED
$STATE,8560,begin surface coast
$FINISH,0.3,1.008370
$STATE,8596,end surface coast,CONTROL_FINISHED_OK
$STATE,8597,begin surface
$SM_CCo,8613,106.95,0.864,1,0,747,380.21
$SM_GC,1.24,6.00,2.47,106.95,0.073,0.035,0.864,189,2267,747,-7.34,-1.78,380.21,0,0,0,0,1,0,14.85,14.83,14.08
$IRIDIUM_FIX,2211.35,-15604.62,090418,060438
$TT8_MAMPS,0.019474,0.262899
$HUMID,42.28
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.7,6.4
$24V_AH,13.72,65.792
$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,14.650,101.100,239.050,106.950,0.000,32.964,65.974,275.738,0.500,0.000,21.322,1479.270,5414.924,491.535,1738.085,132.911,0.000,1072.397,0.000,1330.701,0.000,5.462,0.000
$DEVICE_MAMPS,516.375,78.795,1644.750,863.685,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,290.174,228.975,409.910,416.516,639.103,0.000,0.000,0.000,0.000,0.000
$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,37353,427
$CAP_FILE_SIZE,91684,0
$CFSIZE,2097086464,2067103744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.101,292.53,1
$GPS,090418,083848,2218.099,-15655.432,41,0.8,41,9.9,0.6,298.7,10,20.3