version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 364
start: 4 20 118 15 5 44
data:
$ID,626
$MISSION,2
$DIVE,364
$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,2597
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,40
$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,2228
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,86
$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
$GPS1,200418,145630,2207.1113,-15719.3242,31,0.8,31,9.8,0.0,0.0,9,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.2
$GPS2,200418,150502,2207.1465,-15719.3457,18,0.9,18,9.8,0.8,24.2,9,18.5
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,E5
$TGT_LATLONG,2206.000,-15724.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,242.8,8263,-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,-0.51,-87.6,183,2274,765,702,0.0,0.0,0,73,0.00,0.00,-55.65,0.000,16386,0.000,0.000,183,2273,2607,2638,2576,0,0,0,0,0,0,14.94,28.83,14.95
$GC,76,-0.51,-87.6,183,2273,2637,2576,3.9,-8.2,7,94,7.45,2.42,-0.55,0.000,18948,0.438,0.062,2428,807,2638,2677,2599,0,0,0,0,0,0,14.32,13.82,14.69
$GC,227,-0.51,-87.6,2427,807,2677,2598,52.3,-26.0,24,233,0.00,2.25,0.00,0.000,3078,0.000,0.044,2427,2184,2638,2678,2598,0,0,0,0,0,0,14.81,14.71,14.82
$GC,483,-0.51,-87.6,2427,2186,2679,2599,111.0,-19.5,49,489,0.00,2.40,0.00,0.000,2308,0.000,0.063,2427,3638,2638,2679,2598,0,0,0,0,0,0,15.05,14.71,15.05
$GC,517,-0.51,-87.6,2427,3638,2679,2599,117.8,-18.3,52,523,0.00,2.30,0.00,0.000,3078,0.000,0.046,2427,2221,2639,2679,2599,0,0,0,0,0,0,14.87,14.76,14.88
$GC,771,-0.51,-87.6,2427,2220,2680,2598,163.4,-17.3,77,777,0.00,2.30,0.00,0.000,2564,0.000,0.062,2427,819,2639,2680,2599,0,0,0,0,0,0,15.09,14.76,15.10
$GC,847,-0.51,-87.6,2427,818,2680,2598,175.2,-14.6,84,852,0.00,2.30,0.00,0.000,3078,0.000,0.045,2427,2233,2639,2681,2598,0,0,0,0,0,0,14.90,14.81,14.92
$GC,1129,-0.51,-87.6,2426,2234,2681,2599,219.3,-15.5,103,1130,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2235,2639,2681,2598,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1369,-0.51,-87.6,2427,2235,2682,2598,252.6,-13.7,109,1375,0.00,2.33,0.00,0.000,2564,0.000,0.060,2427,825,2640,2682,2599,0,0,0,0,0,0,15.19,14.82,15.19
$GC,1467,-0.51,-87.6,2427,825,2682,2598,264.9,-14.4,111,1472,0.00,2.28,0.00,0.000,3078,0.000,0.043,2427,2240,2640,2682,2598,0,0,0,0,0,0,14.97,14.87,14.98
$GC,1734,-0.51,-87.6,2427,2241,2682,2598,301.9,-13.2,118,1739,0.00,2.28,0.00,0.000,2308,0.000,0.063,2427,3630,2640,2682,2598,0,0,0,0,0,0,15.21,14.81,15.21
$GC,1766,-0.51,-87.6,2427,3630,2682,2598,301.9,-13.2,118,1772,0.00,2.25,0.00,0.000,3078,0.000,0.044,2427,2227,2640,2682,2598,0,0,0,0,0,0,14.98,14.88,15.00
$GC,2019,-0.51,-87.6,2427,2226,2682,2597,338.8,-13.1,125,2025,0.00,2.30,0.00,0.000,2564,0.000,0.060,2427,815,2639,2682,2597,0,0,0,0,0,0,15.22,14.84,15.22
$GC,2056,-0.51,-87.6,2426,815,2681,2596,338.8,-13.1,125,2063,0.00,2.30,0.00,0.000,3078,0.000,0.044,2427,2237,2639,2682,2596,0,0,0,0,0,0,15.00,14.88,15.01
$GC,2302,-0.51,-87.6,2427,2237,2682,2594,372.9,-11.9,132,2307,0.00,2.28,0.00,0.000,2308,0.000,0.059,2427,3632,2638,2682,2594,0,0,0,0,0,0,15.23,14.84,15.23
$GC,2328,-0.51,-87.6,2427,3633,2682,2594,372.9,-11.9,132,2334,0.00,2.25,0.00,0.000,3078,0.000,0.043,2427,2226,2638,2682,2594,0,0,0,0,0,0,15.00,14.89,15.01
$GC,2586,-0.51,-87.6,2427,2226,2681,2590,406.3,-11.8,139,2592,0.00,2.28,0.00,0.000,2564,0.000,0.056,2428,819,2636,2682,2590,0,0,0,0,0,0,15.23,14.86,15.23
$GC,2643,-0.51,-87.6,2427,819,2682,2590,411.7,-11.9,140,2648,0.00,2.28,0.00,0.000,3078,0.000,0.044,2427,2227,2635,2682,2589,0,0,0,0,0,0,15.00,14.89,15.01
$GC,2911,-0.51,-87.6,2427,2228,2682,2586,445.2,-11.9,147,2916,0.00,2.33,0.00,0.000,2564,0.000,0.060,2427,822,2634,2682,2586,0,0,0,0,0,0,15.23,14.84,15.23
$GC,2948,-0.51,-87.6,2427,822,2682,2586,445.2,-11.9,147,2955,0.00,2.28,0.00,0.000,3078,0.000,0.043,2427,2233,2634,2682,2586,0,0,0,0,0,0,15.00,14.88,15.01
$GC,3193,-0.51,-87.6,2427,2233,2682,2583,475.5,-10.1,154,3199,0.00,2.33,0.00,0.000,2564,0.000,0.059,2427,825,2632,2682,2582,0,0,0,0,0,0,15.23,14.84,15.24
$GC,3230,-0.51,-87.6,2427,824,2682,2581,475.5,-10.1,154,3237,0.00,2.28,0.00,0.000,3078,0.000,0.042,2427,2234,2631,2682,2580,0,0,0,0,0,0,15.00,14.88,15.01
$GC,3477,-0.51,-87.6,2427,2235,2681,2573,506.7,-11.2,161,3482,0.00,2.28,0.00,0.000,2308,0.000,0.057,2427,3635,2627,2681,2574,0,0,0,0,0,0,15.23,14.83,15.24
$GC,3528,-0.51,-87.6,2427,3636,2681,2573,511.4,-11.2,162,3534,0.00,2.25,0.00,0.000,3078,0.000,0.039,2427,2221,2626,2681,2572,0,0,0,0,0,0,15.00,14.89,15.01
$GC,3801,-0.51,-87.6,2427,2220,2681,2569,541.5,-10.6,169,3807,0.00,2.25,0.00,0.000,2564,0.000,0.052,2427,824,2625,2681,2569,0,0,0,0,0,0,15.23,14.85,15.23
$GC,3879,-0.51,-87.6,2427,824,2681,2567,546.2,-10.6,170,3886,0.00,2.28,0.00,0.000,3078,0.000,0.037,2427,2240,2625,2682,2568,0,0,0,0,0,0,14.99,14.88,15.01
$GC,4125,-0.51,-87.6,2426,2241,2681,2563,573.7,-9.8,177,4126,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2240,2622,2681,2563,0,0,0,0,0,0,15.23,15.23,15.23
$GC,4365,-0.51,-87.6,2427,2240,2681,2561,597.8,-10.2,183,4371,0.00,2.33,0.00,0.000,2564,0.000,0.052,2427,822,2621,2681,2561,0,0,0,0,0,0,15.23,14.83,15.23
$STATE,4407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4407,begin apogee
$GC,4414,-0.12,0.0,2427,2112,2681,2561,602.7,-10.6,184,4483,0.35,0.00,66.12,1.845,10246,0.251,0.000,2557,2113,2279,2357,2202,0,0,0,0,0,0,14.56,14.47,13.71
$STATE,4484,end apogee,CONTROL_FINISHED_OK
$STATE,4484,begin climb
$GC,4486,0.51,87.6,2558,2112,2357,2206,605.3,0.0,185,4560,0.45,0.00,71.60,1.727,10246,0.170,0.000,2745,2112,1921,2013,1830,0,0,0,0,0,0,14.37,14.23,13.57
$GC,4769,0.64,201.3,2744,2112,2012,1834,601.1,3.3,193,4873,0.08,2.38,93.80,2.211,10500,0.192,0.049,2830,3495,1462,1567,1357,0,0,0,0,0,0,14.58,14.16,13.34
$GC,4941,0.64,201.3,2830,3496,1565,1366,580.7,12.6,197,4947,0.10,2.33,0.00,0.000,5126,0.386,0.044,2809,2106,1465,1565,1366,0,0,0,0,0,0,14.16,14.42,14.41
$GC,5214,0.64,201.3,2809,2105,1567,1364,533.2,16.8,204,5219,0.00,2.35,0.00,0.000,4612,0.000,0.057,2820,689,1465,1567,1363,0,0,0,0,0,0,14.95,14.64,14.95
$GC,5260,0.64,201.3,2819,688,1566,1363,525.8,16.9,205,5267,0.00,2.28,0.00,0.000,5126,0.000,0.033,2820,2104,1464,1566,1363,0,0,0,0,0,0,14.79,14.71,14.80
$GC,5539,0.64,201.3,2819,2107,1566,1361,478.4,16.6,212,5541,0.05,0.00,0.00,0.000,4102,0.477,0.000,2804,2110,1463,1566,1361,0,0,0,0,0,0,14.49,14.79,14.73
$GC,5779,0.64,201.3,2803,2110,1567,1358,440.5,15.5,218,5784,0.00,2.33,0.00,0.000,516,0.000,0.054,2815,693,1462,1567,1357,0,0,0,0,0,0,15.10,14.76,15.11
$GC,5800,0.64,201.3,2814,693,1566,1358,440.5,15.5,218,5805,0.00,2.28,0.00,0.000,5126,0.000,0.033,2814,2102,1462,1567,1358,0,0,0,0,0,0,14.90,14.81,14.91
$GC,6063,0.64,201.3,2814,2105,1566,1357,399.9,14.2,225,6068,0.00,2.35,0.00,0.000,4612,0.000,0.054,2825,686,1461,1567,1356,0,0,0,0,0,0,15.14,14.78,15.14
$GC,6079,0.64,201.3,2825,685,1567,1357,399.9,14.2,225,6086,0.05,2.25,0.00,0.000,5126,0.435,0.033,2808,2106,1461,1566,1356,0,0,0,0,0,0,14.48,14.83,14.76
$GC,6348,0.64,201.3,2808,2107,1566,1355,360.9,13.0,232,6350,0.00,0.00,0.00,0.000,4102,0.000,0.000,2808,2107,1461,1567,1355,0,0,0,0,0,0,15.16,15.16,15.16
$GC,6589,0.64,201.3,2808,2108,1566,1354,326.6,14.7,238,6590,0.00,0.00,0.00,0.000,4102,0.000,0.000,2808,2108,1460,1566,1354,0,0,0,0,0,0,15.17,15.18,15.17
$GC,6828,0.64,201.3,2807,2108,1566,1353,292.1,14.0,244,6834,0.00,2.25,0.00,0.000,4356,0.000,0.047,2808,3500,1460,1567,1353,0,0,0,0,0,0,15.19,14.83,15.19
$GC,6871,0.64,201.3,2807,3500,1566,1353,285.8,14.2,245,6876,0.00,2.28,0.00,0.000,5126,0.000,0.043,2818,2096,1459,1566,1353,0,0,0,0,0,0,14.95,14.84,14.96
$GC,7154,0.64,201.3,2818,2096,1566,1352,249.0,13.4,252,7155,0.00,0.00,0.00,0.000,4102,0.000,0.000,2818,2096,1459,1566,1352,0,0,0,0,0,0,15.19,15.19,15.19
$GC,7393,0.64,201.3,2818,2096,1566,1352,216.1,13.7,258,7399,0.00,2.28,0.00,0.000,4612,0.000,0.055,2829,696,1459,1566,1352,0,0,0,0,0,0,15.20,14.81,15.21
$GC,7490,0.64,201.3,2829,695,1566,1352,205.0,13.9,260,7496,0.08,2.22,0.00,0.000,5126,0.383,0.032,2804,2098,1459,1566,1352,0,0,0,0,0,0,14.43,14.86,14.74
$GC,7741,0.64,201.3,2803,2104,1566,1351,176.7,9.3,283,7746,0.00,2.30,0.00,0.000,516,0.000,0.053,2814,693,1458,1566,1351,0,0,0,0,0,0,15.16,14.80,15.17
$GC,7794,0.64,201.3,2813,693,1566,1351,170.8,10.9,288,7799,0.00,2.25,0.00,0.000,5126,0.000,0.032,2813,2105,1458,1566,1351,0,0,0,0,0,0,14.93,14.84,14.95
$GC,8050,0.64,201.3,2813,2107,1566,1352,143.4,9.5,313,8056,0.00,0.00,0.00,0.000,4102,0.000,0.000,2814,2107,1459,1566,1352,0,0,0,0,0,0,15.14,15.14,15.14
$GC,8297,0.64,201.3,2813,2107,1566,1352,121.2,9.2,338,8302,0.00,2.35,0.00,0.000,4612,0.000,0.054,2824,688,1459,1566,1352,0,0,0,0,0,0,15.14,14.76,15.14
$GC,8555,0.64,201.3,2824,687,1566,1354,93.8,10.5,362,8561,0.05,2.25,0.00,0.000,5126,0.424,0.031,2806,2102,1460,1566,1354,0,0,0,0,0,0,14.44,14.81,14.71
$GC,8811,0.65,208.1,2806,2106,1566,1356,70.5,7.7,387,8825,0.00,2.33,8.00,0.861,8708,0.000,0.050,2818,688,1427,1536,1319,0,0,0,0,0,0,15.11,14.69,14.27
$GC,9022,0.71,253.7,2817,688,1536,1321,55.8,6.1,405,9065,0.00,2.25,35.53,0.934,11270,0.000,0.031,2818,2103,1241,1347,1135,0,0,0,0,0,0,14.89,14.81,14.25
$GC,9312,0.74,275.7,2817,2107,1347,1138,28.1,7.1,434,9336,0.00,0.00,19.42,0.868,10502,0.000,0.000,2818,2106,1150,1257,1044,0,0,0,0,0,0,15.00,14.69,14.22
$STATE,9520,end climb,SURFACE_DEPTH_REACHED
$STATE,9520,begin surface coast
$FINISH,0.3,0.999498
$STATE,9546,end surface coast,CONTROL_FINISHED_OK
$STATE,9546,begin surface
$SM_CCo,9561,66.75,0.857,1,0,727,380.21
$SM_GC,1.17,6.05,0.15,66.75,0.073,0.090,0.857,185,2241,727,-7.39,-1.61,380.21,0,0,0,0,1,0,14.74,14.71,14.07
$IRIDIUM_FIX,2157.39,-15718.33,200418,145808
$TT8_MAMPS,0.019474,0.268891
$HUMID,43.54
$INTERNAL_PRESSURE,9.47561
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.3,6.6
$24V_AH,13.34,84.234
$10V_AH,13.34,0.000
$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,14.700,100.875,294.475,66.750,0.000,32.961,55.192,289.908,0.500,0.000,18.364,1658.962,5956.621,480.730,1917.101,158.292,0.000,1143.589,0.000,1505.520,0.000,5.463,0.000
$DEVICE_MAMPS,477.360,90.270,2210.850,856.800,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,319.701,254.451,454.771,446.588,685.220,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343188
$DATA_FILE_SIZE,40577,472
$CAP_FILE_SIZE,97795,0
$CFSIZE,2097086464,2057863168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.056,329.91,1
$GPS,200418,174708,2206.980,-15720.622,16,1.5,16,9.8,0.5,354.0,5,69.9