version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 299
start: 4 12 118 12 44 38
data:
$ID,626
$MISSION,2
$DIVE,299
$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,2589
$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,2220
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,49
$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
$GPS1,120418,123318,2220.0227,-15647.8838,38,0.9,38,9.9,0.9,30.6,11,21.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.4
$GPS2,120418,124355,2220.0752,-15647.9893,18,0.9,18,9.9,0.6,325.2,11,22.9
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,E3
$TGT_LATLONG,2218.000,-15639.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,108.9,15876,-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,-87.6,186,2190,780,724,0.0,0.0,0,75,0.00,0.00,-57.45,0.000,16390,0.000,0.000,187,2189,2659,2689,2630,0,0,0,0,0,0,14.95,13.46,14.91
$GC,78,-0.53,-87.6,186,2189,2689,2630,3.4,-5.3,7,95,7.30,2.30,0.00,0.000,2564,0.433,0.050,2414,802,2659,2689,2630,0,0,0,0,0,0,14.37,14.62,14.70
$GC,109,-0.53,-87.6,2414,802,2689,2630,18.7,-43.2,11,118,0.00,2.38,0.00,0.000,3078,0.000,0.044,2413,2209,2659,2688,2630,0,0,0,0,0,0,14.69,14.64,14.71
$GC,365,-0.53,-87.6,2413,2211,2689,2630,86.2,-24.1,38,370,0.00,2.33,0.00,0.000,2308,0.000,0.058,2409,3624,2659,2689,2630,0,0,0,0,0,0,15.04,14.73,15.04
$GC,383,-0.53,-87.6,2409,3626,2690,2630,89.0,-23.9,39,391,0.00,2.30,0.00,0.000,3078,0.000,0.049,2409,2223,2659,2689,2630,0,0,0,0,0,0,14.85,14.76,14.88
$GC,629,-0.53,-87.6,2409,2223,2690,2630,141.9,-19.6,64,634,0.00,2.33,0.00,0.000,2564,0.000,0.061,2409,806,2660,2690,2630,0,0,0,0,0,0,15.09,14.78,15.09
$GC,643,-0.53,-87.6,2408,806,2690,2630,144.4,-19.8,65,649,0.05,2.30,0.00,0.000,3078,0.458,0.042,2417,2222,2660,2690,2630,0,0,0,0,0,0,14.52,14.81,14.80
$GC,897,-0.53,-87.6,2417,2224,2691,2630,187.7,-14.7,90,898,0.00,0.00,0.00,0.000,2054,0.000,0.000,2417,2224,2660,2691,2630,0,0,0,0,0,0,15.12,15.13,15.12
$GC,1146,-0.53,-87.6,2417,2225,2692,2630,223.9,-14.5,103,1147,0.00,0.00,0.00,0.000,2054,0.000,0.000,2417,2225,2661,2692,2630,0,0,0,0,0,0,15.17,15.17,15.16
$GC,1386,-0.53,-87.6,2417,2225,2692,2630,260.2,-15.3,109,1387,0.00,0.00,0.00,0.000,2054,0.000,0.000,2417,2225,2661,2692,2630,0,0,0,0,0,0,15.20,15.20,15.20
$GC,1626,-0.53,-87.6,2417,2224,2692,2630,299.0,-16.1,115,1627,0.00,0.00,0.00,0.000,2054,0.000,0.000,2417,2225,2661,2692,2630,0,0,0,0,0,0,15.22,15.22,15.22
$GC,1867,-0.53,-87.6,2417,2225,2692,2630,333.6,-14.1,121,1869,0.00,0.00,0.00,0.000,2054,0.000,0.000,2417,2225,2661,2692,2630,0,0,0,0,0,0,15.23,15.23,15.23
$GC,2106,-0.53,-87.6,2417,2224,2692,2630,365.5,-13.2,127,2111,0.00,2.35,0.00,0.000,2564,0.000,0.062,2417,808,2660,2691,2629,0,0,0,0,0,0,15.24,14.90,15.25
$GC,2132,-0.53,-87.6,2417,808,2692,2629,365.5,-13.2,127,2137,0.00,2.30,0.00,0.000,3078,0.000,0.048,2414,2225,2660,2692,2629,0,0,0,0,0,0,15.04,14.94,15.05
$GC,2389,-0.53,-87.6,2414,2225,2692,2626,401.6,-12.6,134,2396,0.00,2.35,0.00,0.000,2564,0.000,0.063,2414,808,2659,2692,2626,0,0,0,0,0,0,15.25,14.91,15.25
$GC,2432,-0.53,-87.6,2414,808,2692,2625,406.9,-12.4,135,2439,0.00,2.30,0.00,0.000,3078,0.000,0.049,2414,2216,2658,2691,2625,0,0,0,0,0,0,15.04,14.92,15.05
$GC,2716,-0.53,-87.6,2414,2216,2692,2622,438.2,-10.9,142,2721,0.00,2.35,0.00,0.000,2564,0.000,0.063,2414,806,2657,2692,2622,0,0,0,0,0,0,15.25,14.90,15.25
$GC,2758,-0.53,-87.6,2414,805,2692,2621,443.1,-10.9,143,2763,0.00,2.33,0.00,0.000,3078,0.000,0.048,2414,2225,2656,2692,2620,0,0,0,0,0,0,15.04,14.92,15.05
$GC,3041,-0.53,-87.6,2414,2225,2692,2618,475.2,-11.6,150,3047,0.00,2.30,0.00,0.000,2308,0.000,0.058,2414,3636,2655,2692,2618,0,0,0,0,0,0,15.24,14.90,15.25
$GC,3103,-0.53,-87.6,2414,3635,2692,2618,480.3,-11.7,151,3109,0.00,2.30,0.00,0.000,3078,0.000,0.039,2414,2203,2654,2692,2617,0,0,0,0,0,0,15.04,14.95,15.06
$GC,3366,-0.53,-87.6,2413,2202,2691,2613,515.7,-12.9,158,3371,0.00,2.25,0.00,0.000,2564,0.000,0.054,2414,809,2652,2692,2613,0,0,0,0,0,0,15.25,14.92,15.26
$GC,3498,-0.53,-87.6,2413,809,2692,2611,533.0,-13.9,161,3504,0.00,2.28,0.00,0.000,3078,0.000,0.037,2414,2229,2651,2692,2611,0,0,0,0,0,0,15.04,14.94,15.05
$GC,3771,-0.53,-87.6,2413,2229,2692,2607,568.7,-12.3,168,3777,0.00,2.33,0.00,0.000,2564,0.000,0.052,2414,812,2650,2693,2607,0,0,0,0,0,0,15.25,14.92,15.25
$GC,3814,-0.53,-87.6,2414,812,2691,2607,574.1,-12.3,169,3820,0.00,2.28,0.00,0.000,3078,0.000,0.037,2414,2223,2649,2692,2606,0,0,0,0,0,0,15.03,14.94,15.04
$STATE,4056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4056,begin apogee
$GC,4060,-0.13,0.0,2414,2223,2692,2604,601.7,-11.3,175,4130,0.35,0.00,67.03,1.685,10246,0.265,0.000,2544,2223,2298,2374,2223,0,0,0,0,0,0,14.63,14.53,13.88
$STATE,4131,end apogee,CONTROL_FINISHED_OK
$STATE,4132,begin climb
$GC,4133,0.53,87.6,2544,2223,2373,2225,604.0,0.0,176,4208,0.47,0.00,70.78,2.013,10758,0.181,0.000,2741,2223,1942,2031,1853,0,0,0,0,0,0,14.45,14.22,13.49
$GC,4420,0.60,150.0,2740,2223,2031,1853,593.7,5.4,184,4482,0.08,2.40,52.03,2.502,10500,0.194,0.050,2827,3614,1690,1791,1589,0,0,0,0,0,0,14.62,14.26,13.42
$GC,4504,0.61,158.2,2827,3614,1790,1589,585.5,7.7,186,4519,0.15,2.38,8.57,2.173,13318,0.392,0.041,2791,2193,1654,1761,1548,0,0,0,0,0,0,14.19,14.39,13.50
$GC,4782,0.61,158.2,2791,2193,1762,1548,545.0,14.4,193,4783,0.00,0.00,0.00,0.000,4102,0.000,0.000,2791,2193,1654,1761,1548,0,0,0,0,0,0,14.94,14.95,14.95
$GC,5021,0.61,158.2,2791,2193,1762,1546,510.9,14.2,199,5027,0.00,2.30,0.00,0.000,4612,0.000,0.053,2801,789,1653,1762,1545,0,0,0,0,0,0,15.05,14.78,15.05
$GC,5073,0.61,158.2,2801,788,1762,1545,505.0,14.0,200,5079,0.03,2.28,0.00,0.000,5126,0.572,0.033,2792,2212,1653,1762,1545,0,0,0,0,0,0,14.58,14.81,14.79
$GC,5347,0.61,158.2,2792,2213,1761,1543,467.9,13.0,207,5352,0.00,2.35,0.00,0.000,4612,0.000,0.052,2803,791,1652,1761,1543,0,0,0,0,0,0,15.11,14.83,15.12
$GC,5430,0.61,158.2,2803,791,1760,1543,456.1,13.6,209,5436,0.05,2.28,0.00,0.000,5126,0.431,0.034,2786,2204,1652,1761,1543,0,0,0,0,0,0,14.57,14.86,14.83
$GC,5713,0.61,158.2,2786,2205,1761,1541,420.8,12.3,216,5718,0.00,2.28,0.00,0.000,260,0.000,0.049,2786,3606,1651,1761,1541,0,0,0,0,0,0,15.15,14.86,15.16
$GC,5825,0.61,158.2,2786,3606,1761,1544,410.2,12.4,218,5830,0.00,2.28,0.00,0.000,5126,0.000,0.041,2797,2199,1652,1761,1544,0,0,0,0,0,0,14.97,14.88,14.98
$GC,6079,0.61,158.2,2796,2197,1761,1545,377.6,11.2,225,6084,0.00,2.30,0.00,0.000,4612,0.000,0.053,2808,783,1653,1761,1545,0,0,0,0,0,0,15.18,14.88,15.18
$GC,6136,0.61,158.2,2807,782,1761,1545,372.8,10.8,226,6142,0.05,2.28,0.00,0.000,5126,0.437,0.034,2791,2211,1653,1761,1545,0,0,0,0,0,0,14.59,14.91,14.85
$GC,6404,0.61,158.2,2791,2212,1761,1545,339.7,12.1,233,6405,0.00,0.00,0.00,0.000,4102,0.000,0.000,2791,2212,1652,1761,1544,0,0,0,0,0,0,15.19,15.19,15.19
$GC,6645,0.61,158.2,2790,2212,1761,1545,310.7,12.1,239,6650,0.00,2.35,0.00,0.000,4612,0.000,0.052,2802,791,1653,1761,1545,0,0,0,0,0,0,15.21,14.90,15.21
$GC,6931,0.61,158.2,2801,790,1761,1545,276.8,12.0,246,6936,0.00,2.25,0.00,0.000,5126,0.000,0.034,2801,2202,1652,1761,1544,0,0,0,0,0,0,15.00,14.92,15.02
$GC,7208,0.61,158.2,2801,2202,1760,1544,247.3,9.7,253,7214,0.05,2.25,0.00,0.000,4356,0.467,0.046,2784,3599,1652,1761,1544,0,0,0,0,0,0,14.64,14.90,14.85
$GC,7232,0.61,158.2,2784,3600,1761,1544,247.3,9.7,253,7237,0.00,2.25,0.00,0.000,5126,0.000,0.040,2795,2198,1652,1761,1544,0,0,0,0,0,0,15.01,14.92,15.02
$GC,7494,0.61,158.2,2794,2198,1761,1544,223.3,8.3,260,7496,0.00,0.00,0.00,0.000,4102,0.000,0.000,2795,2198,1652,1761,1544,0,0,0,0,0,0,15.22,15.22,15.22
$GC,7734,0.61,158.2,2794,2197,1761,1544,201.6,9.3,266,7739,0.00,2.28,0.00,0.000,4612,0.000,0.052,2805,791,1652,1761,1544,0,0,0,0,0,0,15.23,14.90,15.23
$GC,7770,0.61,158.2,2805,790,1761,1543,201.6,9.3,266,7778,0.05,2.25,0.00,0.000,5126,0.438,0.032,2789,2212,1652,1761,1544,0,0,0,0,0,0,14.59,14.94,14.87
$GC,8016,0.61,158.2,2789,2212,1761,1544,176.4,8.3,291,8021,0.00,2.22,0.00,0.000,4356,0.000,0.047,2789,3595,1652,1761,1544,0,0,0,0,0,0,15.20,14.89,15.20
$GC,8040,0.61,158.2,2788,3595,1761,1544,174.3,8.8,293,8045,0.00,2.25,0.00,0.000,5126,0.000,0.040,2799,2197,1652,1761,1544,0,0,0,0,0,0,14.99,14.90,15.01
$GC,8294,0.69,223.1,2799,2197,1761,1545,158.0,5.3,318,8349,0.00,2.35,48.70,1.367,10500,0.000,0.045,2799,3593,1391,1489,1293,0,0,0,0,0,0,15.18,14.65,14.09
$GC,8373,0.69,223.1,2799,3593,1488,1296,151.8,9.4,325,8378,0.00,2.28,0.00,0.000,1030,0.000,0.040,2810,2204,1392,1488,1296,0,0,0,0,0,0,14.73,14.66,14.75
$GC,8629,0.69,223.1,2809,2204,1488,1298,117.7,13.1,350,8634,0.00,2.30,0.00,0.000,516,0.000,0.053,2820,787,1393,1489,1298,0,0,0,0,0,0,15.00,14.72,15.00
$GC,8752,0.69,223.1,2821,787,1489,1299,99.9,16.1,361,8759,0.00,2.28,0.00,0.000,5126,0.000,0.033,2821,2201,1393,1489,1298,0,0,0,0,0,0,14.85,14.77,14.86
$GC,9002,0.69,223.1,2820,2201,1489,1300,65.5,12.0,386,9010,0.00,0.00,0.00,0.000,4102,0.000,0.000,2821,2202,1394,1489,1300,0,0,0,0,0,0,15.05,15.06,15.05
$GC,9250,0.69,223.1,2820,2202,1489,1302,34.9,11.1,411,9251,0.00,0.00,0.00,0.000,4102,0.000,0.000,2820,2202,1395,1489,1302,0,0,0,0,0,0,15.07,15.07,15.07
$GC,9525,0.69,223.1,2820,2207,1489,1305,3.2,13.7,454,9534,0.00,2.40,0.00,0.000,4612,0.000,0.050,2831,788,1397,1489,1305,0,0,0,0,0,0,15.04,14.68,15.05
$STATE,9540,end climb,SURFACE_DEPTH_REACHED
$STATE,9541,begin surface coast
$FINISH,0.3,1.011257
$STATE,9567,end surface coast,CONTROL_FINISHED_OK
$STATE,9568,begin surface
$SM_CCo,9584,91.20,0.117,0,0,748,380.21
$SM_GC,1.19,6.05,2.35,91.20,0.076,0.034,0.117,186,2200,748,-7.34,-1.44,380.21,0,0,0,0,0,0,14.81,14.76,14.65
$IRIDIUM_FIX,2211.35,-15648.39,120418,123703
$TT8_MAMPS,0.019474,0.325066
$HUMID,42.55
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,56.7,6.4
$24V_AH,13.42,70.828
$10V_AH,13.74,0.000
$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,14.675,96.775,247.100,91.200,0.000,58.287,92.517,292.107,1.000,0.000,19.167,1653.755,6133.051,447.902,1960.464,144.188,0.000,1111.301,0.000,1477.786,0.000,9.767,0.000
$DEVICE_MAMPS,572.220,62.730,2502.315,117.045,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,312.023,242.036,430.916,410.108,629.212,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343132
$DATA_FILE_SIZE,40548,460
$CAP_FILE_SIZE,98577,0
$CFSIZE,2097086464,2064416768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.187,309.82,1
$GPS,120418,152649,2220.137,-15647.796,22,1.0,22,9.9,0.8,46.4,8,31.5