version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 392
start: 4 24 118 2 8 56
data:
$ID,626
$MISSION,2
$DIVE,392
$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,2600
$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,90
$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
$GPS1,240418,020007,2153.1201,-15711.5723,16,1.4,16,9.8,1.1,248.7,5,38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.4
$GPS2,240418,020814,2153.1768,-15711.6318,15,1.4,15,9.8,0.0,0.0,5,51.7
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,ED
$TGT_LATLONG,2211.000,-15811.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,274.1,107029,-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,-87.6,184,2269,763,706,0.0,0.0,0,74,0.00,0.00,-55.65,0.000,16390,0.000,0.000,183,2269,2639,2679,2600,0,0,0,0,0,0,14.94,13.31,14.88
$GC,77,-0.51,-87.6,184,2269,2679,2600,4.5,-9.7,7,94,7.47,2.17,0.00,0.000,2308,0.438,0.040,2422,3599,2639,2679,2599,0,0,0,0,0,0,14.29,14.57,14.65
$GC,307,-0.51,-87.6,2423,3600,2679,2593,60.3,-18.4,32,313,0.00,2.22,0.00,0.000,3078,0.000,0.041,2423,2222,2636,2679,2593,0,0,0,0,0,0,14.80,14.70,14.82
$GC,562,-0.51,-87.6,2422,2221,2679,2593,114.6,-20.2,57,567,0.00,2.28,0.00,0.000,2564,0.000,0.057,2422,828,2635,2679,2592,0,0,0,0,0,0,15.06,14.70,15.07
$GC,600,-0.51,-87.6,2422,828,2679,2592,121.8,-20.2,60,609,0.05,2.28,0.00,0.000,3078,0.385,0.050,2431,2176,2635,2679,2592,0,0,0,0,0,0,14.28,14.61,14.48
$GC,850,-0.51,-87.6,2431,2178,2680,2592,171.3,-18.6,85,855,0.00,2.30,0.00,0.000,2308,0.000,0.056,2428,3582,2636,2681,2592,0,0,0,0,0,0,15.09,14.74,15.09
$GC,925,-0.51,-87.6,2427,3582,2681,2592,184.9,-16.4,92,932,0.00,2.17,0.00,0.000,3078,0.000,0.041,2428,2232,2636,2681,2592,0,0,0,0,0,0,14.88,14.76,14.90
$GC,1189,-0.51,-87.6,2427,2230,2682,2592,226.5,-15.7,106,1194,0.00,2.30,0.00,0.000,2564,0.000,0.062,2428,824,2637,2682,2592,0,0,0,0,0,0,15.15,14.76,15.15
$GC,1255,-0.51,-87.6,2427,823,2682,2592,233.5,-15.9,107,1262,0.00,2.20,0.00,0.000,3078,0.000,0.048,2428,2178,2636,2681,2592,0,0,0,0,0,0,14.92,14.81,14.93
$GC,1514,-0.51,-87.6,2427,2179,2682,2592,272.6,-13.1,114,1516,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2179,2636,2682,2591,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1754,-0.51,-87.6,2428,2180,2682,2592,304.9,-13.8,120,1759,0.00,2.25,0.00,0.000,2564,0.000,0.060,2427,821,2637,2682,2592,0,0,0,0,0,0,15.21,14.81,15.21
$GC,1796,-0.51,-87.6,2427,821,2683,2593,310.7,-13.7,121,1802,0.00,2.28,0.00,0.000,3078,0.000,0.045,2428,2223,2637,2682,2592,0,0,0,0,0,0,14.95,14.84,14.97
$GC,2079,-0.51,-87.6,2428,2225,2682,2592,346.2,-12.5,128,2085,0.00,2.33,0.00,0.000,2564,0.000,0.060,2427,821,2637,2682,2592,0,0,0,0,0,0,15.21,14.81,15.21
$GC,2106,-0.51,-87.6,2427,821,2682,2592,346.2,-12.5,128,2111,0.00,2.30,0.00,0.000,3078,0.000,0.047,2428,2230,2636,2682,2591,0,0,0,0,0,0,14.97,14.85,14.98
$GC,2363,-0.51,-87.6,2428,2230,2682,2589,383.1,-12.6,135,2369,0.00,2.33,0.00,0.000,2564,0.000,0.060,2428,823,2635,2682,2589,0,0,0,0,0,0,15.23,14.81,15.23
$GC,2385,-0.51,-87.6,2427,822,2682,2589,383.1,-12.6,135,2390,0.00,2.28,0.00,0.000,3078,0.000,0.043,2427,2231,2635,2682,2589,0,0,0,0,0,0,14.97,14.85,14.99
$GC,2648,-0.51,-87.6,2427,2233,2682,2586,419.1,-12.7,142,2649,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2233,2634,2682,2586,0,0,0,0,0,0,15.22,15.23,15.23
$GC,2887,-0.51,-87.6,2427,2233,2682,2584,448.3,-12.2,148,2893,0.00,2.33,0.00,0.000,2308,0.000,0.064,2428,3642,2632,2682,2583,0,0,0,0,0,0,15.23,14.78,15.23
$GC,2909,-0.51,-87.6,2427,3642,2682,2583,448.3,-12.2,148,2914,0.00,2.28,0.00,0.000,3078,0.000,0.046,2427,2228,2632,2682,2583,0,0,0,0,0,0,14.97,14.85,15.00
$GC,3172,-0.51,-87.6,2427,2228,2682,2579,480.8,-11.3,155,3177,0.00,2.30,0.00,0.000,2564,0.000,0.060,2428,820,2630,2682,2579,0,0,0,0,0,0,15.23,14.81,15.23
$GC,3218,-0.51,-87.6,2427,819,2682,2579,485.8,-11.4,156,3223,0.00,2.28,0.00,0.000,3078,0.000,0.039,2427,2241,2630,2682,2578,0,0,0,0,0,0,14.97,14.87,14.98
$GC,3495,-0.51,-87.6,2427,2242,2682,2576,516.3,-11.0,163,3501,0.00,2.33,0.00,0.000,2564,0.000,0.052,2428,821,2629,2682,2576,0,0,0,0,0,0,15.23,14.81,15.23
$GC,3547,-0.51,-87.6,2427,819,2682,2575,521.2,-11.0,164,3553,0.00,2.25,0.00,0.000,3078,0.000,0.038,2427,2228,2628,2682,2575,0,0,0,0,0,0,14.97,14.87,14.99
$GC,3822,-0.51,-87.6,2427,2230,2682,2571,551.3,-10.4,171,3827,0.00,2.33,0.00,0.000,2564,0.000,0.053,2427,815,2626,2682,2571,0,0,0,0,0,0,15.22,14.81,15.22
$GC,3854,-0.51,-87.6,2427,814,2682,2570,551.3,-10.4,171,3859,0.00,2.28,0.00,0.000,3078,0.000,0.038,2428,2236,2626,2682,2570,0,0,0,0,0,0,14.97,14.86,14.99
$GC,4106,-0.51,-87.6,2427,2237,2682,2567,580.2,-10.0,178,4111,0.00,2.33,0.00,0.000,2564,0.000,0.052,2428,820,2625,2682,2568,0,0,0,0,0,0,15.23,14.81,15.23
$GC,4133,-0.51,-87.6,2427,819,2682,2568,580.2,-10.0,178,4139,0.00,2.25,0.00,0.000,3078,0.000,0.038,2428,2229,2624,2681,2568,0,0,0,0,0,0,14.97,14.86,14.98
$STATE,4309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4309,begin apogee
$GC,4314,-0.12,0.0,2427,2068,2682,2564,601.7,-10.4,183,4384,0.35,0.00,66.82,1.753,10246,0.259,0.000,2557,2068,2279,2357,2201,0,0,0,0,0,0,14.51,14.49,13.76
$STATE,4385,end apogee,CONTROL_FINISHED_OK
$STATE,4385,begin climb
$GC,4387,0.51,87.6,2557,2068,2357,2206,604.1,0.0,184,4464,0.43,0.00,74.10,1.991,10246,0.174,0.000,2738,2067,1921,2013,1829,0,0,0,0,0,0,14.40,14.19,13.44
$GC,4673,0.66,210.0,2737,2067,2014,1834,600.2,3.0,192,4786,0.12,2.50,103.88,2.464,10500,0.129,0.047,2839,3501,1425,1530,1321,0,0,0,0,0,0,14.59,14.10,13.26
$GC,4809,0.66,210.0,2839,3503,1530,1325,587.5,8.6,195,4815,0.12,2.33,0.00,0.000,5126,0.375,0.043,2811,2124,1427,1530,1325,0,0,0,0,0,0,14.07,14.28,14.29
$GC,5077,0.66,210.0,2810,2123,1530,1323,538.6,17.1,202,5082,0.00,2.35,0.00,0.000,516,0.000,0.058,2821,698,1426,1529,1323,0,0,0,0,0,0,14.90,14.59,14.91
$GC,5134,0.66,210.0,2821,697,1530,1323,531.1,17.1,203,5139,0.00,2.28,0.00,0.000,5126,0.000,0.033,2822,2112,1426,1529,1323,0,0,0,0,0,0,14.76,14.68,14.77
$GC,5402,0.66,210.0,2821,2119,1530,1320,484.2,16.6,210,5407,0.00,2.38,0.00,0.000,4612,0.000,0.057,2832,697,1425,1530,1320,0,0,0,0,0,0,15.04,14.69,15.04
$GC,5474,0.66,210.0,2832,697,1530,1320,477.2,16.4,211,5480,0.05,2.25,0.00,0.000,5126,0.457,0.033,2816,2106,1425,1530,1320,0,0,0,0,0,0,14.40,14.78,14.69
$GC,5727,0.66,210.0,2816,2116,1530,1317,434.2,15.1,218,5733,0.00,2.25,0.00,0.000,4356,0.000,0.046,2816,3499,1423,1530,1317,0,0,0,0,0,0,15.10,14.76,15.11
$GC,5853,0.66,210.0,2816,3501,1529,1317,414.4,15.9,221,5859,0.00,2.28,0.00,0.000,5126,0.000,0.043,2826,2099,1422,1529,1316,0,0,0,0,0,0,14.88,14.78,14.90
$GC,6131,0.66,210.0,2825,2098,1529,1315,370.7,15.4,228,6133,0.05,0.00,0.00,0.000,4102,0.454,0.000,2809,2098,1422,1529,1315,0,0,0,0,0,0,14.53,14.82,14.75
$GC,6371,0.66,210.0,2809,2097,1529,1313,335.6,14.6,234,6376,0.00,2.30,0.00,0.000,516,0.000,0.060,2820,692,1420,1528,1313,0,0,0,0,0,0,15.16,14.76,15.16
$GC,6408,0.66,210.0,2819,691,1529,1314,335.6,14.6,234,6414,0.00,2.28,0.00,0.000,5126,0.000,0.033,2820,2117,1421,1529,1313,0,0,0,0,0,0,14.92,14.83,14.93
$GC,6653,0.66,210.0,2819,2125,1529,1312,293.4,14.9,241,6659,0.00,2.22,0.00,0.000,4356,0.000,0.046,2820,3499,1420,1529,1312,0,0,0,0,0,0,15.17,14.79,15.17
$GC,6691,0.66,210.0,2819,3501,1529,1313,293.4,14.9,241,6698,0.05,2.28,0.00,0.000,5126,0.443,0.042,2813,2096,1420,1528,1312,0,0,0,0,0,0,14.45,14.81,14.73
$GC,6937,0.66,210.0,2813,2095,1528,1312,253.2,13.8,248,6942,0.00,2.30,0.00,0.000,4612,0.000,0.060,2824,700,1420,1529,1312,0,0,0,0,0,0,15.18,14.76,15.18
$GC,7008,0.66,210.0,2823,699,1528,1312,246.9,14.0,249,7015,0.00,2.22,0.00,0.000,5126,0.000,0.033,2824,2103,1420,1528,1312,0,0,0,0,0,0,14.92,14.84,14.95
$GC,7262,0.66,210.0,2824,2111,1528,1311,208.5,12.6,256,7268,0.00,2.22,0.00,0.000,4356,0.000,0.045,2824,3492,1419,1528,1311,0,0,0,0,0,0,15.19,14.80,15.19
$GC,7392,0.66,210.0,2824,3493,1528,1312,190.7,13.6,262,7400,0.08,2.28,0.00,0.000,5126,0.401,0.042,2810,2092,1420,1528,1312,0,0,0,0,0,0,14.38,14.81,14.70
$GC,7639,0.66,210.0,2809,2093,1528,1311,164.7,9.8,287,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2093,1419,1528,1311,0,0,0,0,0,0,15.15,15.16,15.15
$GC,7880,0.66,210.0,2809,2093,1528,1312,139.0,10.0,311,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2093,1420,1528,1312,0,0,0,0,0,0,15.14,15.14,15.14
$GC,8128,0.66,210.0,2809,2093,1528,1313,113.5,11.0,336,8134,0.00,2.28,0.00,0.000,516,0.000,0.059,2820,699,1420,1528,1313,0,0,0,0,0,0,15.14,14.72,15.14
$GC,8288,0.66,210.0,2820,699,1528,1314,96.4,10.4,350,8298,0.00,2.33,0.00,0.000,5126,0.000,0.035,2820,2103,1421,1528,1314,0,0,0,0,0,0,14.70,14.64,14.71
$GC,8538,0.66,210.0,2820,2104,1528,1317,72.0,9.0,375,8546,0.00,0.00,0.00,0.000,4102,0.000,0.000,2820,2104,1422,1528,1317,0,0,0,0,0,0,15.11,15.11,15.11
$GC,8787,0.66,210.0,2820,2104,1528,1320,48.1,10.2,400,8788,0.00,0.00,0.00,0.000,4102,0.000,0.000,2821,2104,1424,1528,1320,0,0,0,0,0,0,15.09,15.10,15.10
$GC,9030,0.75,284.5,2820,2104,1528,1322,29.0,4.9,425,9094,0.00,2.38,58.03,0.987,10756,0.000,0.057,2831,698,1117,1216,1019,0,0,0,0,0,0,15.09,14.50,14.12
$GC,9152,0.75,284.5,2830,697,1216,1020,17.9,12.6,442,9161,0.00,2.35,0.00,0.000,3078,0.000,0.042,2831,2077,1117,1216,1019,0,0,0,0,0,0,14.56,14.51,14.58
$STATE,9256,end climb,SURFACE_DEPTH_REACHED
$STATE,9257,begin surface coast
$FINISH,0.5,1.023533
$STATE,9283,end surface coast,CONTROL_FINISHED_OK
$STATE,9283,begin surface
$SM_CCo,9298,56.15,0.115,0,0,727,380.21
$SM_GC,1.40,6.10,0.22,56.15,0.074,0.072,0.115,184,2244,727,-7.39,-1.02,380.21,0,0,0,0,0,0,14.68,14.67,14.53
$IRIDIUM_FIX,2145.77,-15712.80,240418,020135
$TT8_MAMPS,0.018725,0.325066
$HUMID,43.46
$INTERNAL_PRESSURE,9.46584
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.6,6.4
$24V_AH,13.26,90.139
$10V_AH,13.09,0.000
$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,14.875,101.050,302.825,56.150,0.000,26.361,46.057,281.810,0.500,0.000,16.318,1613.592,5758.596,484.432,1850.926,161.071,0.000,1133.065,0.000,1469.284,0.000,5.461,0.000
$DEVICE_MAMPS,456.705,71.910,2464.065,114.750,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,313.009,248.033,446.697,450.904,691.869,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343132
$DATA_FILE_SIZE,40787,463
$CAP_FILE_SIZE,95392,0
$CFSIZE,2097086464,2055077888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.025,79.41,1
$GPS,240418,044600,2153.435,-15712.643,34,1.0,34,9.8,0.0,0.0,7,24.3