version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 342
start: 4 17 118 20 56 57
data:
$ID,626
$MISSION,2
$DIVE,342
$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,39
$R_STBD_OVSHOOT,52
$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
$GPS1,170418,204800,2215.1404,-15657.1318,66,1.0,66,9.9,0.9,310.2,7,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.0
$GPS2,170418,205615,2215.2175,-15657.1816,6,0.8,6,9.9,0.0,0.0,10,65.6
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,E5
$TGT_LATLONG,2206.000,-15724.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,207.2,49082,-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,14,begin dive
$GC,16,-0.53,-87.6,185,2193,767,708,0.0,0.0,0,73,0.00,0.00,-55.45,0.000,16386,0.000,0.000,185,2192,2561,2592,2530,0,0,0,0,0,0,14.91,28.83,14.92
$GC,76,-0.53,-87.6,185,2193,2592,2530,3.1,-4.6,7,94,7.43,2.30,-1.38,0.000,18948,0.441,0.067,2421,800,2636,2679,2594,0,0,0,0,0,0,14.33,13.80,14.68
$GC,202,-0.53,-87.6,2420,800,2679,2592,41.0,-23.9,23,207,0.00,2.30,0.00,0.000,3078,0.000,0.044,2413,2206,2635,2679,2592,0,0,0,0,0,0,14.78,14.68,14.80
$GC,454,-0.53,-87.6,2413,2209,2679,2592,101.5,-23.0,48,456,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2209,2635,2679,2592,0,0,0,0,0,0,15.04,15.04,15.04
$GC,695,-0.53,-87.6,2413,2209,2680,2592,151.2,-20.3,72,701,0.00,2.33,0.00,0.000,2308,0.000,0.060,2413,3626,2636,2680,2592,0,0,0,0,0,0,15.09,14.73,15.08
$GC,709,-0.53,-87.6,2412,3626,2680,2593,153.6,-19.8,73,715,0.00,2.28,0.00,0.000,3078,0.000,0.045,2413,2221,2636,2680,2592,0,0,0,0,0,0,14.88,14.78,14.90
$GC,962,-0.53,-87.6,2412,2219,2681,2593,196.9,-17.4,98,968,0.00,2.30,0.00,0.000,2564,0.000,0.063,2413,815,2636,2681,2592,0,0,0,0,0,0,15.11,14.78,15.11
$GC,1020,-0.53,-87.6,2412,814,2681,2592,204.8,-17.8,101,1026,0.00,2.28,0.00,0.000,3078,0.000,0.043,2411,2230,2636,2681,2592,0,0,0,0,0,0,14.92,14.81,14.93
$GC,1288,-0.53,-87.6,2410,2231,2681,2592,246.3,-14.7,108,1293,0.00,2.25,0.00,0.000,2308,0.000,0.057,2400,3624,2637,2682,2592,0,0,0,0,0,0,15.17,14.81,15.17
$GC,1325,-0.53,-87.6,2400,3625,2681,2592,246.3,-14.7,108,1333,0.08,2.25,0.00,0.000,3078,0.343,0.044,2427,2217,2636,2681,2592,0,0,0,0,0,0,14.56,14.85,14.82
$GC,1570,-0.53,-87.6,2427,2213,2679,2593,287.5,-14.1,115,1576,0.00,2.25,0.00,0.000,516,0.000,0.060,2427,817,2637,2682,2592,0,0,0,0,0,0,15.19,14.83,15.20
$GC,1607,-0.53,-87.6,2427,816,2682,2592,287.5,-14.1,115,1614,0.00,2.25,0.00,0.000,1030,0.000,0.042,2427,2218,2637,2682,2592,0,0,0,0,0,0,14.96,14.88,14.98
$GC,1853,-0.53,-87.6,2427,2219,2682,2592,326.1,-13.4,122,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2219,2637,2682,2592,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2093,-0.53,-87.6,2427,2219,2682,2591,358.1,-13.2,128,2100,0.00,2.33,0.00,0.000,516,0.000,0.059,2427,806,2636,2682,2590,0,0,0,0,0,0,15.21,14.86,15.22
$GC,2121,-0.53,-87.6,2427,806,2681,2590,358.1,-13.2,128,2126,0.00,2.28,0.00,0.000,1030,0.000,0.041,2427,2227,2635,2682,2589,0,0,0,0,0,0,14.98,14.89,15.00
$GC,2378,-0.53,-87.6,2427,2228,2681,2587,392.5,-11.9,135,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2228,2634,2682,2587,0,0,0,0,0,0,15.22,15.23,15.23
$GC,2620,-0.53,-87.6,2427,2228,2682,2584,420.5,-11.6,141,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2228,2633,2682,2584,0,0,0,0,0,0,15.23,15.23,15.23
$GC,2859,-0.53,-87.6,2427,2228,2682,2582,449.5,-12.1,147,2864,0.00,2.30,0.00,0.000,516,0.000,0.059,2427,817,2631,2682,2581,0,0,0,0,0,0,15.23,14.86,15.24
$GC,2916,-0.53,-87.6,2427,816,2682,2579,454.9,-12.2,148,2921,0.00,2.25,0.00,0.000,1030,0.000,0.042,2427,2220,2630,2682,2579,0,0,0,0,0,0,14.99,14.90,15.01
$GC,3183,-0.53,-87.6,2427,2221,2682,2572,486.2,-10.8,155,3189,0.00,2.28,0.00,0.000,260,0.000,0.063,2427,3624,2627,2682,2572,0,0,0,0,0,0,15.24,14.83,15.24
$GC,3211,-0.53,-87.6,2427,3625,2681,2572,486.2,-10.8,155,3216,0.00,2.25,0.00,0.000,1030,0.000,0.041,2427,2215,2627,2682,2572,0,0,0,0,0,0,15.00,14.90,15.01
$GC,3468,-0.53,-87.6,2427,2214,2682,2569,516.9,-10.9,162,3473,0.00,2.25,0.00,0.000,516,0.000,0.057,2427,812,2625,2681,2569,0,0,0,0,0,0,15.23,14.85,15.24
$GC,3559,-0.53,-87.6,2426,812,2682,2568,526.6,-11.3,164,3565,0.00,2.28,0.00,0.000,1030,0.000,0.042,2427,2225,2624,2682,2567,0,0,0,0,0,0,14.98,14.88,15.00
$GC,3834,-0.53,-87.6,2426,2226,2681,2563,557.4,-10.7,171,3840,0.00,2.30,0.00,0.000,516,0.000,0.057,2427,815,2622,2681,2563,0,0,0,0,0,0,15.23,14.85,15.23
$GC,3877,-0.53,-87.6,2427,815,2681,2562,562.5,-11.0,172,3883,0.00,2.30,0.00,0.000,1030,0.000,0.042,2427,2228,2622,2682,2562,0,0,0,0,0,0,14.97,14.88,15.00
$GC,4161,-0.53,-87.6,2427,2229,2682,2559,592.0,-10.3,179,4166,0.00,2.30,0.00,0.000,516,0.000,0.057,2427,818,2620,2681,2559,0,0,0,0,0,0,15.23,14.84,15.23
$GC,4203,-0.53,-87.6,2427,817,2681,2559,596.9,-10.7,180,4208,0.00,2.28,0.00,0.000,1030,0.000,0.041,2427,2222,2620,2682,2558,0,0,0,0,0,0,14.97,14.88,15.00
$STATE,4243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4244,begin apogee
$GC,4248,-0.13,0.0,2427,2222,2681,2558,601.4,-10.9,181,4319,0.32,0.00,67.88,1.680,10246,0.259,0.000,2548,2223,2279,2357,2201,0,0,0,0,0,0,14.59,14.51,13.85
$STATE,4320,end apogee,CONTROL_FINISHED_OK
$STATE,4320,begin climb
$GC,4322,0.53,87.6,2549,2223,2349,2199,603.8,0.0,182,4396,0.47,0.00,71.40,1.620,10246,0.180,0.000,2745,2223,1921,2012,1830,0,0,0,0,0,0,14.42,14.26,13.66
$GC,4605,0.64,179.2,2745,2223,2007,1818,596.7,4.2,190,4687,0.08,2.38,74.60,1.610,10500,0.194,0.047,2829,3615,1544,1652,1436,0,0,0,0,0,0,14.59,14.31,13.70
$GC,4723,0.69,221.0,2829,3616,1643,1436,590.0,6.3,192,4764,0.08,2.35,34.35,1.545,13318,0.420,0.041,2817,2197,1377,1486,1269,0,0,0,0,0,0,14.21,14.44,13.72
$GC,5012,0.69,221.0,2816,2197,1482,1266,531.8,17.8,200,5017,0.00,2.30,0.00,0.000,516,0.000,0.058,2827,796,1374,1482,1266,0,0,0,0,0,0,14.92,14.64,14.92
$GC,5078,0.69,221.0,2827,796,1482,1266,523.9,17.9,201,5084,0.00,2.28,0.00,0.000,5126,0.000,0.035,2827,2210,1374,1482,1266,0,0,0,0,0,0,14.78,14.70,14.79
$GC,5336,0.69,221.0,2827,2214,1482,1263,468.7,19.9,208,5341,0.00,2.35,0.00,0.000,4612,0.000,0.057,2838,796,1372,1482,1263,0,0,0,0,0,0,15.05,14.74,15.05
$GC,5422,0.69,221.0,2837,796,1482,1263,451.9,20.7,210,5429,0.05,2.25,0.00,0.000,5126,0.461,0.034,2823,2208,1371,1482,1261,0,0,0,0,0,0,14.45,14.79,14.73
$GC,5702,0.69,221.0,2822,2212,1482,1260,399.4,18.6,217,5707,0.00,2.33,0.00,0.000,4612,0.000,0.055,2833,796,1371,1482,1260,0,0,0,0,0,0,15.12,14.78,15.11
$GC,5768,0.69,221.0,2832,795,1482,1260,391.7,18.2,218,5774,0.05,2.22,0.00,0.000,5126,0.452,0.034,2817,2198,1371,1482,1260,0,0,0,0,0,0,14.48,14.84,14.77
$GC,6026,0.69,221.0,2816,2203,1482,1257,342.5,17.7,225,6031,0.00,2.30,0.00,0.000,516,0.000,0.056,2827,796,1369,1482,1257,0,0,0,0,0,0,15.14,14.81,15.15
$GC,6083,0.69,221.0,2827,794,1482,1257,334.9,17.6,226,6088,0.00,2.22,0.00,0.000,5126,0.000,0.034,2826,2198,1369,1482,1257,0,0,0,0,0,0,14.94,14.85,14.96
$GC,6351,0.69,221.0,2826,2202,1482,1255,282.8,18.7,233,6352,0.00,0.00,0.00,0.000,4102,0.000,0.000,2827,2202,1368,1482,1255,0,0,0,0,0,0,15.16,15.17,15.17
$GC,6590,0.69,221.0,2826,2202,1481,1255,243.6,16.0,239,6595,0.00,2.30,0.00,0.000,4612,0.000,0.055,2837,794,1368,1482,1255,0,0,0,0,0,0,15.19,14.83,15.19
$GC,6651,0.69,221.0,2837,794,1482,1255,236.3,16.3,240,6657,0.05,2.22,0.00,0.000,5126,0.447,0.034,2822,2203,1368,1481,1255,0,0,0,0,0,0,14.50,14.88,14.82
$GC,6905,0.69,221.0,2822,2209,1481,1254,192.2,15.4,249,6910,0.00,2.25,0.00,0.000,4356,0.000,0.045,2822,3605,1368,1481,1255,0,0,0,0,0,0,15.19,14.85,15.19
$GC,6919,0.69,221.0,2822,3606,1481,1255,190.4,15.5,250,6925,0.00,2.28,0.00,0.000,5126,0.000,0.039,2832,2186,1368,1481,1255,0,0,0,0,0,0,14.96,14.87,14.98
$GC,7173,0.69,221.0,2831,2186,1481,1254,153.1,16.4,275,7179,0.05,2.25,0.00,0.000,4612,0.461,0.054,2826,798,1367,1481,1254,0,0,0,0,0,0,14.56,14.81,14.77
$GC,7329,0.69,221.0,2826,798,1481,1254,132.2,13.0,289,7337,0.00,2.22,0.00,0.000,5126,0.000,0.033,2826,2201,1367,1481,1254,0,0,0,0,0,0,14.94,14.85,14.95
$GC,7579,0.69,221.0,2826,2203,1480,1254,97.2,12.3,314,7587,0.00,0.00,0.00,0.000,4102,0.000,0.000,2826,2204,1367,1480,1254,0,0,0,0,0,0,15.14,15.14,15.14
$GC,7828,0.69,221.0,2825,2204,1481,1255,68.3,11.3,339,7833,0.00,2.30,0.00,0.000,4612,0.000,0.054,2836,795,1368,1481,1256,0,0,0,0,0,0,15.12,14.78,15.13
$GC,7853,0.69,221.0,2836,794,1481,1256,65.4,11.3,341,7859,0.05,2.25,0.00,0.000,5126,0.448,0.033,2820,2212,1368,1481,1256,0,0,0,0,0,0,14.46,14.83,14.78
$GC,8108,0.69,221.0,2820,2214,1481,1257,39.5,8.6,366,8114,0.00,2.33,0.00,0.000,4612,0.000,0.054,2831,797,1369,1481,1258,0,0,0,0,0,0,15.11,14.78,15.11
$GC,8339,0.69,221.0,2830,797,1481,1261,16.2,10.1,397,8348,0.03,2.30,0.00,0.000,5126,0.457,0.033,2822,2201,1371,1481,1261,0,0,0,0,0,0,14.43,14.67,14.54
$STATE,8467,end climb,SURFACE_DEPTH_REACHED
$STATE,8467,begin surface coast
$FINISH,0.3,1.000304
$STATE,8500,end surface coast,CONTROL_FINISHED_OK
$STATE,8500,begin surface
$SM_CCo,8514,101.10,0.871,1,0,728,380.21
$SM_GC,1.36,6.07,0.00,101.10,0.081,0.000,0.871,185,2209,728,-7.38,-0.31,380.21,0,0,0,0,1,0,14.80,15.06,14.05
$IRIDIUM_FIX,2204.37,-15656.65,170418,204930
$TT8_MAMPS,0.018725,0.265895
$HUMID,43.97
$INTERNAL_PRESSURE,9.45608
$TCM_TEMP,21.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.9,7.2
$24V_AH,13.66,79.738
$10V_AH,13.78,0.000
$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,14.800,95.825,248.225,101.100,0.000,26.745,46.691,293.443,0.500,0.000,7.336,1506.057,5252.872,482.038,1753.938,145.939,0.000,1071.546,0.000,1364.426,0.000,5.464,0.000
$DEVICE_MAMPS,461.295,67.320,1679.940,870.570,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,286.796,227.942,406.004,420.831,645.707,0.000,0.000,0.000,0.000,0.000
$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,37283,423
$CAP_FILE_SIZE,91443,0
$CFSIZE,2097086464,2060124160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.060,358.64,1
$GPS,170418,232126,2214.708,-15657.989,13,1.1,13,9.8,0.5,113.8,7,26.1