version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 338
start: 4 17 118 8 59 37
data:
$ID,626
$MISSION,2
$DIVE,338
$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,2595
$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,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2280
$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
$GPS1,170418,085048,2216.1113,-15651.8945,40,0.8,40,9.9,0.7,256.7,10,17.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.0
$GPS2,170418,085855,2216.1621,-15651.9111,15,0.9,15,9.9,0.9,314.4,9,18.3
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,E5
$TGT_LATLONG,2206.000,-15724.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,212.8,58189,-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,16,-0.53,-87.6,186,2196,768,715,0.0,0.0,0,73,0.00,0.00,-55.58,0.000,16386,0.000,0.000,186,2196,2608,2640,2577,0,0,0,0,0,0,14.94,28.83,14.95
$GC,76,-0.53,-87.6,186,2195,2640,2577,3.6,-6.5,7,95,7.40,2.28,-0.55,0.000,18948,0.439,0.063,2419,809,2639,2680,2599,0,0,0,0,0,0,14.33,13.83,14.70
$GC,204,-0.53,-87.6,2419,808,2680,2598,43.5,-21.6,22,210,0.00,2.30,0.00,0.000,3078,0.000,0.044,2414,2214,2639,2680,2598,0,0,0,0,0,0,14.80,14.69,14.81
$GC,460,-0.53,-87.6,2413,2216,2680,2598,100.4,-20.7,47,466,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2216,2639,2680,2598,0,0,0,0,0,0,15.05,15.05,15.05
$GC,708,-0.53,-87.6,2413,2216,2682,2598,149.2,-19.1,72,713,0.00,2.30,0.00,0.000,2308,0.000,0.054,2412,3636,2639,2681,2598,0,0,0,0,0,0,15.09,14.76,15.10
$GC,772,-0.53,-87.6,2411,3636,2681,2598,160.8,-17.5,78,777,0.00,2.28,0.00,0.000,3078,0.000,0.041,2412,2222,2639,2681,2598,0,0,0,0,0,0,14.90,14.79,14.91
$GC,1035,-0.53,-87.6,2411,2221,2682,2598,207.6,-17.5,101,1036,0.00,0.00,0.00,0.000,2054,0.000,0.000,2411,2221,2640,2683,2598,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1275,-0.53,-87.6,2411,2221,2683,2598,244.9,-15.3,107,1281,0.00,2.30,0.00,0.000,2564,0.000,0.061,2412,808,2640,2683,2598,0,0,0,0,0,0,15.18,14.82,15.18
$GC,1337,-0.53,-87.6,2411,808,2683,2597,252.1,-15.6,108,1344,0.05,2.28,0.00,0.000,3078,0.431,0.039,2421,2237,2640,2683,2598,0,0,0,0,0,0,14.55,14.87,14.82
$GC,1601,-0.53,-87.6,2420,2238,2683,2599,291.4,-13.7,115,1602,0.00,0.00,0.00,0.000,2054,0.000,0.000,2421,2238,2640,2683,2598,0,0,0,0,0,0,15.20,15.21,15.21
$GC,1841,-0.53,-87.6,2420,2238,2683,2598,324.1,-13.5,121,1842,0.00,0.00,0.00,0.000,2054,0.000,0.000,2421,2238,2640,2683,2598,0,0,0,0,0,0,15.21,15.22,15.22
$GC,2081,-0.53,-87.6,2420,2238,2683,2596,354.4,-12.4,127,2086,0.00,2.25,0.00,0.000,2308,0.000,0.061,2414,3621,2639,2683,2596,0,0,0,0,0,0,15.23,14.84,15.23
$GC,2142,-0.53,-87.6,2414,3622,2684,2596,359.7,-12.4,128,2148,0.00,2.25,0.00,0.000,3078,0.000,0.044,2414,2212,2639,2683,2596,0,0,0,0,0,0,15.00,14.89,15.02
$GC,2405,-0.53,-87.6,2414,2211,2683,2593,397.4,-13.5,135,2411,0.00,2.28,0.00,0.000,2564,0.000,0.060,2414,808,2637,2683,2592,0,0,0,0,0,0,15.23,14.87,15.23
$GC,2462,-0.53,-87.6,2414,808,2683,2592,403.7,-13.8,136,2467,0.00,2.28,0.00,0.000,3078,0.000,0.043,2414,2225,2636,2682,2591,0,0,0,0,0,0,15.00,14.90,15.02
$GC,2729,-0.53,-87.6,2413,2226,2683,2588,440.0,-12.6,143,2735,0.00,2.28,0.00,0.000,2308,0.000,0.056,2414,3633,2635,2683,2588,0,0,0,0,0,0,15.24,14.86,15.24
$GC,2756,-0.53,-87.6,2413,3633,2683,2588,440.0,-12.6,143,2761,0.00,2.25,0.00,0.000,3078,0.000,0.040,2414,2218,2635,2683,2588,0,0,0,0,0,0,15.01,14.90,15.02
$GC,3013,-0.53,-87.6,2413,2217,2683,2585,475.0,-12.3,150,3019,0.00,2.28,0.00,0.000,2564,0.000,0.059,2413,817,2634,2683,2585,0,0,0,0,0,0,15.24,14.86,15.24
$GC,3111,-0.53,-87.6,2413,817,2683,2583,486.1,-12.7,152,3116,0.00,2.25,0.00,0.000,3078,0.000,0.041,2414,2221,2633,2683,2583,0,0,0,0,0,0,15.00,14.90,15.02
$GC,3378,-0.53,-87.6,2413,2222,2682,2579,521.2,-12.3,159,3383,0.00,2.30,0.00,0.000,2308,0.000,0.062,2413,3626,2631,2683,2579,0,0,0,0,0,0,15.23,14.83,15.24
$GC,3410,-0.53,-87.6,2413,3626,2683,2579,521.2,-12.3,159,3415,0.00,2.25,0.00,0.000,3078,0.000,0.042,2413,2219,2631,2684,2579,0,0,0,0,0,0,15.00,14.90,15.02
$GC,3663,-0.53,-87.6,2413,2218,2683,2572,554.3,-11.7,166,3669,0.00,2.28,0.00,0.000,2564,0.000,0.058,2413,815,2627,2683,2572,0,0,0,0,0,0,15.23,14.85,15.24
$GC,3680,-0.53,-87.6,2413,815,2683,2572,554.3,-11.7,166,3685,0.00,2.28,0.00,0.000,3078,0.000,0.041,2413,2229,2627,2683,2571,0,0,0,0,0,0,15.00,14.90,15.02
$GC,3947,-0.53,-87.6,2413,2230,2683,2569,587.5,-11.6,173,3952,0.00,2.33,0.00,0.000,2564,0.000,0.056,2413,815,2626,2683,2569,0,0,0,0,0,0,15.23,14.85,15.24
$GC,3969,-0.53,-87.6,2413,815,2683,2569,587.5,-11.6,173,3974,0.00,2.28,0.00,0.000,3078,0.000,0.042,2413,2226,2625,2683,2568,0,0,0,0,0,0,15.00,14.89,15.02
$STATE,4069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4069,begin apogee
$GC,4074,-0.13,0.0,2414,2228,2683,2567,602.4,-12.0,176,4145,0.38,0.00,68.50,1.649,10246,0.270,0.000,2551,2229,2279,2356,2202,0,0,0,0,0,0,14.58,14.52,13.85
$STATE,4146,end apogee,CONTROL_FINISHED_OK
$STATE,4146,begin climb
$GC,4148,0.53,87.6,2551,2229,2351,2201,605.0,0.0,177,4224,0.47,0.00,71.75,1.614,10758,0.183,0.000,2747,2229,1921,2012,1830,0,0,0,0,0,0,14.42,14.28,13.66
$GC,4431,0.64,180.0,2746,2229,2006,1816,598.1,4.2,185,4512,0.08,0.00,75.05,1.602,10758,0.193,0.000,2834,2229,1542,1651,1434,0,0,0,0,0,0,14.59,14.30,13.72
$GC,4754,0.64,180.0,2834,2229,1645,1423,552.2,16.7,193,4760,0.08,2.40,0.00,0.000,4612,0.415,0.057,2814,797,1533,1645,1422,0,0,0,0,0,0,14.33,14.62,14.52
$GC,4831,0.64,180.0,2814,797,1644,1422,544.2,17.0,194,4839,0.00,2.30,0.00,0.000,5126,0.000,0.037,2814,2220,1533,1644,1422,0,0,0,0,0,0,14.78,14.69,14.79
$GC,5077,0.64,180.0,2814,2220,1644,1419,499.1,15.7,201,5083,0.00,2.22,0.00,0.000,4356,0.000,0.047,2814,3601,1532,1644,1420,0,0,0,0,0,0,15.06,14.76,15.06
$GC,5099,0.64,180.0,2814,3601,1644,1420,499.1,15.7,201,5105,0.08,2.28,0.00,0.000,5126,0.418,0.042,2800,2195,1531,1643,1420,0,0,0,0,0,0,14.42,14.77,14.76
$GC,5362,0.64,180.0,2800,2190,1644,1418,456.8,14.8,208,5368,0.00,2.28,0.00,0.000,516,0.000,0.057,2811,793,1530,1644,1417,0,0,0,0,0,0,15.11,14.78,15.11
$GC,5500,0.64,180.0,2811,793,1643,1418,438.8,14.6,211,5506,0.00,2.25,0.00,0.000,5126,0.000,0.036,2811,2203,1530,1643,1418,0,0,0,0,0,0,14.91,14.83,14.93
$GC,5768,0.64,180.0,2811,2204,1642,1415,399.9,13.1,218,5773,0.00,2.25,0.00,0.000,4356,0.000,0.048,2811,3601,1528,1642,1415,0,0,0,0,0,0,15.15,14.82,15.16
$GC,5860,0.64,180.0,2810,3602,1642,1416,388.2,13.5,220,5866,0.05,2.28,0.00,0.000,5126,0.445,0.041,2805,2189,1528,1642,1415,0,0,0,0,0,0,14.49,14.83,14.81
$GC,6136,0.64,180.0,2805,2187,1643,1414,350.2,13.8,227,6141,0.00,2.28,0.00,0.000,4612,0.000,0.056,2815,785,1528,1642,1414,0,0,0,0,0,0,15.16,14.82,15.17
$GC,6152,0.64,180.0,2814,784,1642,1414,350.2,13.8,227,6158,0.00,2.28,0.00,0.000,5126,0.000,0.035,2815,2205,1528,1642,1414,0,0,0,0,0,0,14.95,14.86,14.97
$GC,6420,0.64,180.0,2815,2207,1642,1413,308.2,14.4,234,6425,0.00,2.33,0.00,0.000,4612,0.000,0.059,2826,796,1527,1642,1413,0,0,0,0,0,0,15.19,14.81,15.19
$GC,6462,0.64,180.0,2826,796,1642,1413,302.2,14.3,235,6469,0.08,2.25,0.00,0.000,5126,0.394,0.034,2800,2210,1527,1641,1413,0,0,0,0,0,0,14.47,14.88,14.81
$GC,6746,0.64,180.0,2800,2214,1641,1412,264.9,13.2,242,6752,0.00,2.33,0.00,0.000,516,0.000,0.054,2810,787,1526,1640,1412,0,0,0,0,0,0,15.19,14.83,15.19
$GC,6757,0.64,180.0,2810,786,1641,1412,264.9,13.2,242,6763,0.00,2.22,0.00,0.000,5126,0.000,0.033,2811,2198,1526,1641,1412,0,0,0,0,0,0,14.97,14.88,14.99
$GC,7030,0.64,180.0,2810,2204,1641,1411,229.2,12.4,249,7035,0.00,2.30,0.00,0.000,4612,0.000,0.052,2822,787,1526,1641,1412,0,0,0,0,0,0,15.21,14.83,15.20
$GC,7051,0.64,180.0,2820,786,1641,1412,229.2,12.4,249,7057,0.05,2.22,0.00,0.000,5126,0.431,0.033,2805,2203,1526,1641,1412,0,0,0,0,0,0,14.52,14.89,14.83
$GC,7315,0.64,180.0,2804,2208,1641,1411,196.5,11.3,256,7320,0.00,2.30,0.00,0.000,4612,0.000,0.054,2815,791,1526,1641,1411,0,0,0,0,0,0,15.21,14.83,15.21
$GC,7615,0.64,180.0,2814,791,1641,1411,165.5,10.4,284,7622,0.00,2.22,0.00,0.000,5126,0.000,0.033,2815,2197,1526,1641,1411,0,0,0,0,0,0,14.95,14.87,14.97
$GC,7865,0.64,180.0,2814,2201,1641,1411,140.2,8.5,309,7870,0.00,2.30,0.00,0.000,4612,0.000,0.051,2825,785,1526,1641,1412,0,0,0,0,0,0,15.15,14.81,15.15
$GC,7914,0.64,180.0,2825,784,1641,1412,136.0,9.1,313,7922,0.08,2.28,0.00,0.000,5126,0.386,0.032,2800,2217,1526,1641,1412,0,0,0,0,0,0,14.45,14.85,14.78
$GC,8161,0.67,208.4,2800,2218,1641,1413,116.1,6.8,338,8184,0.00,0.00,21.00,0.986,10246,0.000,0.000,2800,2218,1428,1540,1317,0,0,0,0,0,0,15.14,14.81,14.27
$GC,8422,0.68,216.1,2800,2219,1528,1316,94.0,7.7,364,8437,0.00,2.35,5.82,0.768,10756,0.000,0.053,2811,791,1396,1505,1288,0,0,0,0,0,0,15.07,14.64,14.23
$GC,8616,0.68,216.1,2810,791,1505,1294,74.8,10.7,381,8622,0.00,2.22,0.00,0.000,1030,0.000,0.031,2811,2195,1399,1505,1293,0,0,0,0,0,0,14.87,14.80,14.88
$GC,8872,0.68,216.1,2810,2199,1505,1296,48.9,8.9,406,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2199,1400,1505,1295,0,0,0,0,0,0,15.06,15.07,15.07
$GC,9130,0.68,216.1,2810,2202,1505,1298,25.3,8.5,435,9140,0.00,2.35,0.00,0.000,516,0.000,0.056,2821,802,1401,1505,1298,0,0,0,0,0,0,15.06,14.64,15.07
$GC,9279,0.68,216.1,2821,801,1505,1300,10.9,9.3,459,9289,0.00,2.28,0.00,0.000,5126,0.000,0.030,2821,2198,1402,1505,1300,0,0,0,0,0,0,14.71,14.66,14.73
$STATE,9366,end climb,SURFACE_DEPTH_REACHED
$STATE,9366,begin surface coast
$FINISH,0.4,1.023658
$STATE,9434,end surface coast,CONTROL_FINISHED_OK
$STATE,9434,begin surface
$SM_CCo,9448,97.40,0.116,0,0,727,380.21
$SM_GC,1.02,6.05,0.00,97.40,0.076,0.000,0.116,184,2208,727,-7.39,-0.31,380.21,0,0,0,0,0,0,14.79,15.04,14.62
$IRIDIUM_FIX,2204.37,-15653.59,170418,085215
$TT8_MAMPS,0.019474,0.264397
$HUMID,42.32
$INTERNAL_PRESSURE,9.47561
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,7.8
$24V_AH,13.66,78.943
$10V_AH,13.83,0.000
$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,14.825,100.275,242.125,97.400,0.000,26.995,41.306,290.131,0.500,0.000,16.361,1706.203,5773.731,475.515,1949.831,156.272,0.000,1142.218,0.000,1564.945,0.000,5.464,0.000
$DEVICE_MAMPS,445.230,63.495,1649.340,116.280,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,328.123,268.972,475.996,483.092,741.224,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343192
$DATA_FILE_SIZE,44234,484
$CAP_FILE_SIZE,98761,0
$CFSIZE,2097086464,2060484608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.046,340.69,1
$GPS,170418,113931,2215.658,-15652.814,13,1.6,13,9.9,0.6,71.5,6,39.4