version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 372
start: 4 21 118 14 47 14
data:
$ID,626
$MISSION,2
$DIVE,372
$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,39
$R_STBD_OVSHOOT,48
$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
$GPS1,210418,143818,2203.4199,-15719.9277,41,0.8,41,9.8,0.7,29.6,10,17.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.5
$GPS2,210418,144631,2203.4341,-15719.9453,13,0.8,13,9.8,0.0,0.0,10,21.6
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,E6
$TGT_LATLONG,2154.000,-15712.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,141.9,22174,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.51,-87.6,186,2235,764,705,0.0,0.0,0,73,0.00,0.00,-55.28,0.000,16386,0.000,0.000,186,2234,2574,2606,2542,0,0,0,0,0,0,14.92,28.83,14.92
$GC,76,-0.51,-87.6,187,2234,2606,2542,3.6,-6.3,7,94,7.50,2.35,-1.12,0.000,18948,0.444,0.063,2427,803,2637,2680,2595,0,0,0,0,0,0,14.32,13.80,14.69
$GC,126,-0.51,-87.6,2427,803,2680,2591,24.5,-35.5,14,135,0.00,2.40,0.00,0.000,3078,0.000,0.050,2427,2212,2635,2680,2590,0,0,0,0,0,0,14.62,14.58,14.65
$GC,378,-0.51,-87.6,2427,2213,2680,2590,86.9,-21.9,40,380,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2213,2635,2680,2590,0,0,0,0,0,0,15.02,15.02,15.02
$GC,619,-0.51,-87.6,2427,2214,2680,2590,138.7,-20.3,64,624,0.00,2.35,0.00,0.000,2308,0.000,0.064,2427,3634,2635,2680,2590,0,0,0,0,0,0,15.07,14.71,15.07
$GC,677,-0.51,-87.6,2427,3635,2680,2590,148.1,-15.6,69,683,0.00,2.30,0.00,0.000,3078,0.000,0.048,2427,2225,2635,2680,2590,0,0,0,0,0,0,14.87,14.76,14.88
$GC,933,-0.51,-87.6,2426,2223,2681,2590,190.1,-18.5,94,939,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2223,2635,2681,2590,0,0,0,0,0,0,15.10,15.10,15.10
$GC,1190,-0.51,-87.6,2427,2223,2682,2591,231.4,-15.3,105,1195,0.00,2.30,0.00,0.000,2564,0.000,0.062,2427,818,2636,2682,2591,0,0,0,0,0,0,15.15,14.78,15.16
$GC,1267,-0.51,-87.6,2427,818,2682,2590,237.4,-15.0,106,1274,0.00,2.30,0.00,0.000,3078,0.000,0.050,2427,2231,2636,2682,2590,0,0,0,0,0,0,14.94,14.83,14.95
$GC,1512,-0.51,-87.6,2427,2231,2682,2590,274.4,-12.9,113,1513,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2232,2636,2682,2590,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1752,-0.51,-87.6,2427,2232,2682,2590,306.1,-13.3,119,1753,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2231,2636,2682,2590,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1992,-0.51,-87.6,2427,2232,2682,2589,336.8,-12.9,125,1993,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2231,2636,2682,2590,0,0,0,0,0,0,15.22,15.22,15.22
$GC,2233,-0.51,-87.6,2427,2232,2682,2588,368.4,-13.0,131,2234,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2232,2635,2682,2588,0,0,0,0,0,0,15.22,15.23,15.23
$GC,2472,-0.51,-87.6,2427,2232,2682,2586,396.6,-11.4,137,2478,0.00,2.35,0.00,0.000,2564,0.000,0.062,2427,817,2634,2682,2586,0,0,0,0,0,0,15.23,14.83,15.23
$GC,2530,-0.51,-87.6,2427,817,2682,2585,401.8,-11.4,138,2535,0.00,2.30,0.00,0.000,3078,0.000,0.052,2427,2223,2633,2682,2585,0,0,0,0,0,0,14.98,14.85,15.00
$GC,2797,-0.51,-87.6,2427,2224,2682,2582,433.2,-11.3,145,2798,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2225,2632,2682,2582,0,0,0,0,0,0,15.23,15.23,15.23
$GC,3038,-0.51,-87.6,2427,2225,2682,2579,459.8,-11.1,151,3043,0.00,2.35,0.00,0.000,2564,0.000,0.062,2427,812,2630,2682,2579,0,0,0,0,0,0,15.23,14.82,15.23
$GC,3090,-0.51,-87.6,2427,812,2682,2578,464.9,-11.1,152,3095,0.00,2.33,0.00,0.000,3078,0.000,0.049,2427,2234,2630,2682,2578,0,0,0,0,0,0,14.97,14.85,15.00
$GC,3362,-0.51,-87.6,2427,2234,2682,2574,498.1,-11.9,159,3363,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2235,2628,2682,2574,0,0,0,0,0,0,15.23,15.23,15.24
$GC,3602,-0.51,-87.6,2427,2234,2682,2571,526.0,-11.4,165,3608,0.00,2.38,0.00,0.000,2564,0.000,0.062,2427,817,2626,2682,2571,0,0,0,0,0,0,15.23,14.81,15.24
$GC,3630,-0.51,-87.6,2427,816,2682,2571,526.0,-11.4,165,3635,0.00,2.30,0.00,0.000,3078,0.000,0.048,2427,2228,2626,2682,2571,0,0,0,0,0,0,14.97,14.84,15.00
$GC,3888,-0.51,-87.6,2427,2229,2682,2568,556.2,-10.2,172,3889,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2229,2624,2681,2568,0,0,0,0,0,0,15.23,15.24,15.23
$GC,4128,-0.51,-87.6,2427,2229,2682,2564,579.5,-9.7,178,4129,0.00,0.00,0.00,0.000,2054,0.000,0.000,2426,2229,2623,2682,2564,0,0,0,0,0,0,15.23,15.23,15.23
$STATE,4326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4326,begin apogee
$GC,4332,-0.12,0.0,2428,2081,2682,2561,600.2,-10.5,183,4408,0.35,0.00,69.05,1.691,10246,0.249,0.000,2557,2081,2274,2349,2199,0,0,0,0,0,0,14.52,14.36,13.83
$STATE,4409,end apogee,CONTROL_FINISHED_OK
$STATE,4409,begin climb
$GC,4411,0.51,87.6,2557,2080,2348,2199,604.1,0.0,185,4489,0.47,0.00,72.35,1.638,10246,0.169,0.000,2750,2081,1917,2007,1828,0,0,0,0,0,0,14.42,14.26,13.64
$GC,4728,0.63,192.7,2750,2081,2004,1819,597.2,3.7,193,4819,0.08,2.38,84.30,1.629,10756,0.192,0.057,2849,705,1488,1594,1382,0,0,0,0,0,0,14.59,14.28,13.66
$GC,4837,0.69,238.1,2849,703,1589,1382,590.3,6.1,195,4876,0.10,2.35,33.08,1.641,13318,0.399,0.034,2819,2129,1308,1417,1200,0,0,0,0,0,0,14.16,14.38,13.57
$GC,5135,0.69,238.1,2818,2130,1417,1224,532.3,17.9,203,5139,0.00,0.00,2.60,0.547,8198,0.000,0.000,2818,2130,1308,1412,1205,0,0,0,0,0,0,14.90,14.64,13.83
$GC,5373,0.69,238.1,2818,2131,1412,1220,489.3,17.7,209,5379,0.00,2.38,0.00,0.000,516,0.000,0.057,2828,704,1315,1411,1220,0,0,0,0,0,0,15.02,14.70,15.02
$GC,5395,0.69,238.1,2828,703,1411,1220,489.3,17.7,209,5400,0.00,2.25,0.00,0.000,5126,0.000,0.034,2828,2104,1315,1411,1220,0,0,0,0,0,0,14.83,14.75,14.85
$GC,5660,0.69,238.1,2828,2107,1411,1217,437.3,18.4,216,5665,0.00,2.35,0.00,0.000,4612,0.000,0.057,2839,699,1314,1411,1217,0,0,0,0,0,0,15.09,14.75,15.09
$GC,5682,0.69,238.1,2838,697,1411,1217,437.3,18.4,216,5688,0.05,2.25,0.00,0.000,5126,0.448,0.033,2824,2105,1314,1411,1217,0,0,0,0,0,0,14.45,14.80,14.73
$GC,5945,0.69,238.1,2823,2110,1411,1215,386.6,17.4,223,5950,0.00,2.25,0.00,0.000,4356,0.000,0.046,2824,3505,1312,1410,1215,0,0,0,0,0,0,15.12,14.79,15.12
$GC,5961,0.69,238.1,2824,3505,1411,1216,386.6,17.4,223,5967,0.03,2.28,0.00,0.000,5126,0.591,0.043,2823,2105,1313,1411,1215,0,0,0,0,0,0,14.52,14.81,14.76
$GC,6230,0.69,238.1,2823,2103,1411,1213,337.5,17.2,230,6231,0.00,0.00,0.00,0.000,4102,0.000,0.000,2823,2103,1312,1411,1213,0,0,0,0,0,0,15.15,15.15,15.15
$GC,6470,0.69,238.1,2823,2103,1411,1212,297.1,17.0,236,6475,0.00,2.33,0.00,0.000,4612,0.000,0.058,2833,688,1311,1411,1212,0,0,0,0,0,0,15.16,14.78,15.16
$GC,6531,0.69,238.1,2833,688,1411,1212,289.3,17.5,237,6536,0.00,2.25,0.00,0.000,5126,0.000,0.032,2833,2101,1311,1411,1212,0,0,0,0,0,0,14.94,14.85,14.95
$GC,6794,0.69,238.1,2833,2104,1411,1211,241.6,16.5,244,6795,0.00,0.00,0.00,0.000,4102,0.000,0.000,2834,2104,1311,1411,1211,0,0,0,0,0,0,15.18,15.18,15.18
$GC,7034,0.69,238.1,2833,2104,1411,1210,202.1,16.9,250,7039,0.00,2.35,0.00,0.000,4612,0.000,0.056,2844,690,1310,1411,1210,0,0,0,0,0,0,15.19,14.80,15.19
$GC,7098,0.69,238.1,2844,690,1411,1210,191.5,16.8,253,7104,0.08,2.25,0.00,0.000,5126,0.402,0.033,2820,2103,1310,1411,1210,0,0,0,0,0,0,14.40,14.86,14.73
$GC,7352,0.69,238.1,2820,2105,1411,1209,157.0,13.6,278,7357,0.00,2.22,0.00,0.000,260,0.000,0.044,2820,3506,1310,1411,1210,0,0,0,0,0,0,15.16,14.81,15.16
$GC,7368,0.69,238.1,2819,3506,1411,1210,155.1,14.3,279,7378,0.00,2.38,0.00,0.000,5126,0.000,0.044,2830,2094,1310,1411,1210,0,0,0,0,0,0,14.76,14.71,14.77
$GC,7617,0.69,238.1,2830,2094,1411,1210,119.0,13.5,304,7618,0.00,0.00,0.00,0.000,4102,0.000,0.000,2829,2094,1310,1411,1210,0,0,0,0,0,0,15.14,15.14,15.14
$GC,7856,0.69,238.1,2830,2094,1411,1211,89.0,12.1,328,7861,0.00,2.30,0.00,0.000,4356,0.000,0.045,2830,3505,1311,1411,1212,0,0,0,0,0,0,15.14,14.78,15.14
$GC,7960,0.69,238.1,2829,3506,1411,1212,75.1,14.3,337,7970,0.05,2.38,0.00,0.000,5126,0.383,0.044,2823,2093,1311,1411,1212,0,0,0,0,0,0,14.31,14.66,14.51
$GC,8210,0.69,238.1,2823,2093,1411,1214,44.8,9.6,362,8215,0.00,2.30,0.00,0.000,4612,0.000,0.056,2834,688,1313,1411,1215,0,0,0,0,0,0,15.11,14.74,15.11
$GC,8342,0.69,238.1,2834,687,1411,1216,32.5,8.9,373,8352,0.03,2.33,0.00,0.000,5126,0.454,0.033,2825,2099,1313,1411,1216,0,0,0,0,0,0,14.39,14.66,14.51
$STATE,8623,end climb,SURFACE_DEPTH_REACHED
$STATE,8623,begin surface coast
$FINISH,0.5,1.023483
$STATE,8649,end surface coast,CONTROL_FINISHED_OK
$STATE,8649,begin surface
$SM_CCo,8664,86.20,0.115,0,0,728,380.21
$SM_GC,1.09,6.07,0.15,86.20,0.080,0.088,0.115,185,2263,728,-7.37,-1.55,380.21,0,0,0,0,0,0,14.78,14.78,14.62
$IRIDIUM_FIX,2155.06,-15446.32,210418,143958
$TT8_MAMPS,0.019474,0.316827
$HUMID,44.21
$INTERNAL_PRESSURE,9.45608
$TCM_TEMP,21.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.3,6.4
$24V_AH,13.57,85.894
$10V_AH,13.79,0.000
$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,14.800,69.925,261.375,86.200,0.000,32.941,73.892,259.399,0.500,0.000,14.373,1366.210,5704.451,450.038,1607.312,144.501,0.000,974.715,0.000,1218.732,0.000,5.462,0.000
$DEVICE_MAMPS,590.580,87.975,1690.650,114.750,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,286.528,231.563,400.645,403.635,619.359,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343180
$DATA_FILE_SIZE,37354,423
$CAP_FILE_SIZE,82120,0
$CFSIZE,2097086464,2057076736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.016,320.19,1
$GPS,210418,171355,2202.486,-15719.331,15,1.3,15,9.8,0.0,0.0,6,123.0