version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 300
start: 4 12 118 15 37 49
data:
$ID,626
$MISSION,2
$DIVE,300
$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,43
$R_STBD_OVSHOOT,28
$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
$GPS1,120418,152649,2220.1370,-15647.7959,22,1.0,22,9.9,0.8,46.4,8,31.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.8
$GPS2,120418,153707,2220.1792,-15647.8848,8,1.0,8,9.9,0.0,0.0,8,103.4
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,E3
$TGT_LATLONG,2218.000,-15639.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,115.1,15751,-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,-87.6,187,2212,783,723,0.0,0.0,0,75,0.00,0.00,-57.03,0.000,16386,0.000,0.000,187,2211,2650,2682,2618,0,0,0,0,0,0,14.95,28.83,14.95
$GC,77,-0.53,-87.6,187,2211,2682,2618,3.7,-7.1,7,94,7.32,2.30,0.00,0.000,2564,0.438,0.041,2411,805,2648,2682,2614,0,0,0,0,0,0,14.35,14.61,14.69
$GC,115,-0.53,-87.6,2410,805,2682,2610,21.4,-46.4,12,125,0.03,2.40,-0.17,0.000,19462,0.504,0.041,2409,2232,2660,2699,2622,0,0,0,0,0,0,14.37,14.63,14.54
$GC,377,-0.53,-87.6,2408,2235,2699,2622,91.5,-23.4,39,378,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2235,2660,2699,2622,0,0,0,0,0,0,15.03,15.04,15.04
$GC,618,-0.53,-87.6,2408,2235,2699,2622,140.9,-19.6,63,619,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2235,2660,2699,2622,0,0,0,0,0,0,15.08,15.09,15.08
$GC,856,-0.53,-87.6,2408,2235,2700,2622,184.0,-16.8,87,861,0.00,2.28,0.00,0.000,2308,0.000,0.060,2399,3624,2661,2700,2622,0,0,0,0,0,0,15.12,14.79,15.12
$GC,869,-0.53,-87.6,2399,3624,2700,2621,185.9,-16.1,88,876,0.05,2.28,0.00,0.000,3078,0.410,0.045,2418,2223,2661,2700,2622,0,0,0,0,0,0,14.57,14.83,14.82
$GC,1123,-0.53,-87.6,2418,2220,2702,2622,225.7,-15.5,101,1128,0.00,2.30,0.00,0.000,516,0.000,0.065,2417,812,2662,2702,2622,0,0,0,0,0,0,15.16,14.83,15.16
$GC,1160,-0.53,-87.6,2418,811,2702,2622,225.7,-15.5,101,1167,0.00,2.30,0.00,0.000,3078,0.000,0.048,2414,2225,2662,2702,2622,0,0,0,0,0,0,14.97,14.87,14.98
$GC,1406,-0.53,-87.6,2414,2226,2702,2622,268.5,-14.6,108,1407,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2226,2662,2702,2622,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1646,-0.53,-87.6,2414,2227,2702,2622,301.2,-13.2,114,1651,0.00,2.33,0.00,0.000,2308,0.000,0.067,2414,3624,2661,2702,2621,0,0,0,0,0,0,15.21,14.87,15.22
$GC,1692,-0.53,-87.6,2413,3624,2701,2622,306.6,-13.0,115,1697,0.00,2.28,0.00,0.000,3078,0.000,0.046,2414,2212,2662,2702,2622,0,0,0,0,0,0,15.02,14.91,15.02
$GC,1969,-0.53,-87.6,2413,2210,2702,2622,343.8,-13.4,122,1971,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2209,2662,2702,2622,0,0,0,0,0,0,15.23,15.23,15.23
$GC,2209,-0.53,-87.6,2413,2211,2702,2621,375.7,-13.2,128,2211,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2210,2662,2702,2622,0,0,0,0,0,0,15.24,15.24,15.24
$GC,2449,-0.53,-87.6,2413,2211,2702,2619,407.0,-13.0,134,2455,0.00,2.30,0.00,0.000,2564,0.000,0.064,2414,811,2660,2701,2619,0,0,0,0,0,0,15.24,14.90,15.25
$GC,2521,-0.53,-87.6,2413,810,2701,2618,412.7,-13.0,135,2527,0.00,2.28,0.00,0.000,3078,0.000,0.044,2413,2225,2659,2701,2618,0,0,0,0,0,0,15.04,14.94,15.05
$GC,2774,-0.53,-87.6,2413,2226,2702,2616,445.9,-11.6,142,2775,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2226,2659,2702,2616,0,0,0,0,0,0,15.25,15.24,15.25
$GC,3014,-0.53,-87.6,2413,2226,2701,2613,473.0,-11.3,148,3020,0.00,2.28,0.00,0.000,2308,0.000,0.054,2413,3628,2657,2702,2613,0,0,0,0,0,0,15.26,14.90,15.26
$GC,3046,-0.53,-87.6,2413,3628,2702,2613,473.0,-11.3,148,3052,0.00,2.25,0.00,0.000,3078,0.000,0.036,2413,2212,2657,2702,2612,0,0,0,0,0,0,15.04,14.95,15.06
$GC,3299,-0.53,-87.6,2413,2211,2702,2609,505.9,-12.0,155,3304,0.00,2.28,0.00,0.000,2564,0.000,0.056,2414,808,2655,2701,2609,0,0,0,0,0,0,15.25,14.91,15.25
$GC,3421,-0.53,-87.6,2413,807,2701,2608,521.8,-12.9,158,3426,0.00,2.28,0.00,0.000,3078,0.000,0.038,2413,2220,2654,2701,2607,0,0,0,0,0,0,15.03,14.94,15.04
$GC,3703,-0.53,-87.6,2413,2221,2702,2605,559.0,-13.3,165,3709,0.00,2.33,0.00,0.000,2564,0.000,0.054,2414,808,2653,2702,2604,0,0,0,0,0,0,15.25,14.91,15.25
$GC,3736,-0.53,-87.6,2413,807,2701,2604,559.0,-13.3,165,3741,0.00,2.28,0.00,0.000,3078,0.000,0.039,2413,2223,2652,2701,2604,0,0,0,0,0,0,15.03,14.94,15.04
$GC,3988,-0.53,-87.6,2413,2225,2701,2600,596.5,-13.1,172,3993,0.00,2.28,0.00,0.000,2308,0.000,0.055,2413,3622,2650,2701,2600,0,0,0,0,0,0,15.25,14.88,15.25
$STATE,4028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4029,begin apogee
$GC,4035,-0.13,0.0,2414,2195,2701,2600,601.9,-12.9,173,4111,0.35,0.00,68.95,1.654,10246,0.254,0.000,2545,2194,2296,2372,2221,0,0,0,0,0,0,14.64,14.40,13.88
$STATE,4112,end apogee,CONTROL_FINISHED_OK
$STATE,4112,begin climb
$GC,4113,0.53,87.6,2545,2194,2372,2221,606.9,0.0,175,4191,0.50,0.00,70.10,1.805,10246,0.174,0.000,2748,2189,1943,2028,1858,0,0,0,0,0,0,14.45,14.13,13.58
$GC,4430,0.64,180.1,2747,2189,2028,1854,598.6,4.2,183,4511,0.08,0.00,75.97,2.028,10758,0.194,0.000,2829,2189,1566,1670,1462,0,0,0,0,0,0,14.64,14.23,13.56
$GC,4751,0.64,180.1,2829,2188,1670,1462,548.0,18.4,191,4752,0.10,0.00,0.00,0.000,4102,0.400,0.000,2797,2189,1566,1670,1462,0,0,0,0,0,0,14.38,14.71,14.66
$GC,4990,0.64,180.1,2797,2189,1670,1459,508.6,16.0,197,4996,0.00,2.30,0.00,0.000,4612,0.000,0.057,2807,801,1564,1670,1458,0,0,0,0,0,0,15.03,14.75,15.04
$GC,5113,0.64,180.1,2807,800,1668,1458,489.8,15.2,200,5120,0.00,2.30,0.00,0.000,5126,0.000,0.037,2807,2213,1564,1670,1458,0,0,0,0,0,0,14.88,14.80,14.90
$GC,5397,0.64,180.1,2807,2214,1670,1456,448.3,14.1,207,5402,0.00,2.28,0.00,0.000,4356,0.000,0.050,2807,3610,1562,1669,1456,0,0,0,0,0,0,15.11,14.82,15.11
$GC,5453,0.64,180.1,2807,3611,1669,1456,442.2,14.0,208,5460,0.08,2.28,0.00,0.000,5126,0.415,0.041,2793,2202,1562,1669,1456,0,0,0,0,0,0,14.52,14.85,14.81
$GC,5722,0.64,180.1,2793,2200,1669,1453,404.2,13.3,215,5728,0.00,2.30,0.00,0.000,516,0.000,0.054,2804,791,1561,1669,1453,0,0,0,0,0,0,15.15,14.85,15.16
$GC,5845,0.64,180.1,2803,790,1669,1453,387.9,13.1,218,5851,0.00,2.28,0.00,0.000,5126,0.000,0.034,2803,2209,1561,1669,1453,0,0,0,0,0,0,14.97,14.89,14.97
$GC,6128,0.64,180.1,2803,2210,1669,1451,348.2,14.2,225,6129,0.00,0.00,0.00,0.000,4102,0.000,0.000,2803,2210,1560,1669,1451,0,0,0,0,0,0,15.18,15.19,15.19
$GC,6368,0.64,180.1,2803,2210,1669,1450,312.2,15.3,231,6370,0.00,0.00,0.00,0.000,4102,0.000,0.000,2804,2210,1559,1669,1450,0,0,0,0,0,0,15.19,15.19,15.19
$GC,6608,0.64,180.1,2803,2210,1669,1449,277.7,14.1,237,6613,0.00,2.25,0.00,0.000,4356,0.000,0.047,2804,3602,1559,1669,1449,0,0,0,0,0,0,15.21,14.89,15.21
$GC,6625,0.64,180.1,2803,3602,1668,1450,277.7,14.1,237,6631,0.05,2.25,0.00,0.000,5126,0.477,0.039,2799,2196,1559,1669,1449,0,0,0,0,0,0,14.54,14.91,14.85
$GC,6893,0.64,180.1,2798,2194,1669,1449,244.0,11.7,244,6894,0.00,0.00,0.00,0.000,4102,0.000,0.000,2798,2194,1559,1669,1449,0,0,0,0,0,0,15.21,15.21,15.21
$GC,7133,0.64,180.1,2799,2194,1669,1448,215.9,11.5,250,7138,0.00,2.28,0.00,0.000,4612,0.000,0.053,2810,791,1558,1669,1448,0,0,0,0,0,0,15.22,14.90,15.22
$GC,7275,0.64,180.1,2809,791,1669,1449,200.8,12.2,253,7281,0.00,2.25,0.00,0.000,5126,0.000,0.034,2809,2203,1559,1669,1449,0,0,0,0,0,0,15.01,14.92,15.02
$GC,7531,0.64,180.1,2809,2204,1669,1448,169.3,10.5,277,7538,0.03,0.00,0.00,0.000,4102,0.630,0.000,2800,2207,1559,1669,1449,0,0,0,0,0,0,14.73,14.84,14.83
$GC,7779,0.64,180.1,2799,2207,1669,1449,147.9,8.4,302,7784,0.00,2.33,0.00,0.000,4612,0.000,0.054,2810,791,1559,1669,1449,0,0,0,0,0,0,15.17,14.85,15.18
$GC,7878,0.64,180.1,2810,791,1669,1449,139.5,8.9,311,7885,0.05,2.25,0.00,0.000,5126,0.435,0.034,2793,2204,1559,1670,1449,0,0,0,0,0,0,14.54,14.89,14.82
$GC,8132,0.64,180.1,2793,2204,1669,1450,116.9,9.5,336,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2205,1559,1669,1450,0,0,0,0,0,0,15.16,15.16,15.16
$GC,8373,0.67,202.1,2793,2205,1669,1451,96.9,7.1,360,8397,0.00,2.25,16.35,1.124,10500,0.000,0.044,2793,3597,1478,1585,1371,0,0,0,0,0,0,15.15,14.70,14.26
$GC,8521,0.67,202.1,2793,3597,1585,1380,85.4,8.2,373,8528,0.00,2.25,0.00,0.000,1030,0.000,0.038,2803,2202,1482,1584,1380,0,0,0,0,0,0,14.88,14.81,14.90
$GC,8770,0.67,202.1,2803,2202,1585,1382,66.7,8.1,398,8775,0.00,2.28,0.00,0.000,516,0.000,0.054,2814,791,1483,1585,1382,0,0,0,0,0,0,15.07,14.79,15.08
$GC,8868,0.67,202.1,2814,791,1584,1383,57.4,10.3,406,8877,0.00,2.30,0.00,0.000,5126,0.000,0.033,2814,2195,1484,1585,1383,0,0,0,0,0,0,14.77,14.72,14.78
$GC,9117,0.68,209.3,2814,2195,1584,1385,34.6,7.7,431,9132,0.00,2.30,7.45,0.939,12804,0.000,0.052,2825,787,1448,1552,1344,0,0,0,0,0,0,15.09,14.69,14.25
$GC,9316,0.68,209.3,2825,786,1552,1347,15.8,9.7,459,9325,0.05,2.33,0.00,0.000,5126,0.383,0.033,2807,2204,1449,1552,1347,0,0,0,0,0,0,14.42,14.73,14.62
$STATE,9434,end climb,SURFACE_DEPTH_REACHED
$STATE,9434,begin surface coast
$FINISH,0.4,1.023833
$STATE,9460,end surface coast,CONTROL_FINISHED_OK
$STATE,9460,begin surface
$SM_CCo,9473,97.80,0.116,0,0,748,380.21
$SM_GC,1.43,5.97,0.00,97.80,0.067,0.000,0.116,188,2214,748,-7.38,-0.17,380.21,0,0,0,0,0,0,14.83,15.05,14.66
$IRIDIUM_FIX,2211.35,-15657.88,120418,153057
$TT8_MAMPS,0.018725,0.325066
$HUMID,41.37
$INTERNAL_PRESSURE,9.44631
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,56.8,6.6
$24V_AH,13.56,71.030
$10V_AH,13.73,0.000
$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,14.650,82.325,238.825,97.800,0.000,65.842,114.442,260.257,1.000,0.000,9.123,1646.785,6006.163,475.304,1950.567,138.474,0.000,1088.330,0.000,1484.683,0.000,10.561,0.000
$DEVICE_MAMPS,630.360,66.555,2028.015,116.280,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,326.942,263.709,470.776,468.067,718.176,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343120
$DATA_FILE_SIZE,44038,482
$CAP_FILE_SIZE,93725,0
$CFSIZE,2097086464,2064351232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.166,317.93,1
$GPS,120418,181830,2220.142,-15647.578,34,1.0,34,9.9,0.0,0.0,8,24.7