version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 394
start: 4 24 118 7 46 14
data:
$ID,626
$MISSION,2
$DIVE,394
$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,45
$R_STBD_OVSHOOT,57
$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
$GPS1,240418,073644,2153.6401,-15713.7793,19,1.5,20,9.8,0.6,30.1,5,76.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.8
$GPS2,240418,074531,2153.6821,-15713.8154,21,0.8,44,9.8,0.0,39.7,10,9.6
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,ED
$TGT_LATLONG,2211.000,-15811.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,278.1,103178,-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,15,-0.51,-87.6,184,2259,764,701,0.0,0.0,0,74,0.00,0.00,-56.47,0.000,16390,0.000,0.000,184,2259,2638,2677,2600,0,0,0,0,0,0,14.95,13.31,14.89
$GC,77,-0.51,-87.6,184,2259,2677,2600,4.1,-7.8,7,96,7.47,2.25,0.00,0.000,2308,0.440,0.042,2420,3636,2637,2678,2596,0,0,0,0,0,0,14.31,14.57,14.66
$GC,269,-0.51,-87.6,2420,3636,2678,2591,56.0,-18.5,27,275,0.05,2.30,0.00,0.000,3078,0.427,0.049,2436,2236,2634,2678,2591,0,0,0,0,0,0,14.39,14.69,14.66
$GC,523,-0.51,-87.6,2436,2235,2678,2590,110.1,-21.1,52,528,0.00,2.33,0.00,0.000,516,0.000,0.063,2437,814,2634,2678,2590,0,0,0,0,0,0,15.05,14.69,15.06
$GC,569,-0.51,-87.6,2436,814,2678,2589,120.5,-22.2,56,574,0.00,2.28,0.00,0.000,3078,0.000,0.041,2428,2219,2633,2678,2589,0,0,0,0,0,0,14.85,14.75,14.87
$GC,823,-0.51,-87.6,2428,2220,2678,2589,169.3,-19.0,81,828,0.00,2.33,0.00,0.000,2564,0.000,0.061,2428,820,2633,2678,2589,0,0,0,0,0,0,15.09,14.73,15.10
$GC,857,-0.51,-87.6,2428,819,2678,2589,176.2,-19.7,84,862,0.00,2.28,0.00,0.000,3078,0.000,0.039,2428,2230,2633,2678,2589,0,0,0,0,0,0,14.88,14.78,14.90
$GC,1109,-0.51,-87.6,2427,2232,2679,2590,212.7,-14.4,103,1111,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2232,2635,2680,2590,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1350,-0.51,-87.6,2427,2232,2680,2589,247.4,-13.7,109,1351,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2232,2635,2681,2589,0,0,0,0,0,0,15.18,15.18,15.18
$GC,1589,-0.51,-87.6,2427,2232,2681,2589,279.2,-13.1,115,1595,0.00,2.33,0.00,0.000,2564,0.000,0.054,2428,815,2635,2681,2589,0,0,0,0,0,0,15.20,14.81,15.20
$GC,1672,-0.51,-87.6,2427,814,2681,2589,290.5,-13.6,117,1677,0.00,2.28,0.00,0.000,3078,0.000,0.038,2428,2231,2635,2681,2589,0,0,0,0,0,0,14.96,14.85,14.97
$GC,1955,-0.51,-87.6,2427,2234,2681,2589,324.7,-11.7,124,1960,0.00,2.33,0.00,0.000,2564,0.000,0.054,2428,817,2635,2681,2589,0,0,0,0,0,0,15.21,14.82,15.21
$GC,2002,-0.51,-87.6,2427,816,2681,2589,330.1,-11.9,125,2008,0.00,2.25,0.00,0.000,3078,0.000,0.037,2428,2230,2635,2681,2589,0,0,0,0,0,0,14.97,14.87,14.98
$GC,2280,-0.51,-87.6,2428,2232,2681,2586,364.1,-12.1,132,2285,0.00,2.30,0.00,0.000,2308,0.000,0.060,2427,3638,2633,2681,2586,0,0,0,0,0,0,15.22,14.80,15.22
$GC,2306,-0.51,-87.6,2427,3639,2681,2586,364.1,-12.1,132,2312,0.00,2.25,0.00,0.000,3078,0.000,0.037,2428,2214,2633,2681,2586,0,0,0,0,0,0,14.97,14.88,14.99
$GC,2565,-0.51,-87.6,2427,2213,2681,2583,397.8,-12.1,139,2570,0.00,2.25,0.00,0.000,2564,0.000,0.053,2428,821,2632,2681,2583,0,0,0,0,0,0,15.22,14.83,15.23
$GC,2617,-0.51,-87.6,2427,819,2681,2583,402.9,-12.0,140,2622,0.00,2.25,0.00,0.000,3078,0.000,0.037,2427,2230,2632,2681,2583,0,0,0,0,0,0,14.97,14.88,14.99
$GC,2889,-0.51,-87.6,2427,2232,2681,2579,436.0,-12.1,147,2891,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2232,2630,2681,2579,0,0,0,0,0,0,15.23,15.23,15.23
$GC,3130,-0.51,-87.6,2427,2232,2681,2577,465.2,-12.4,153,3131,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2232,2629,2681,2577,0,0,0,0,0,0,15.23,15.23,15.23
$GC,3369,-0.51,-87.6,2427,2232,2681,2573,494.2,-11.9,159,3374,0.00,2.30,0.00,0.000,2564,0.000,0.052,2428,828,2626,2681,2572,0,0,0,0,0,0,15.23,14.82,15.23
$GC,3431,-0.51,-87.6,2427,828,2681,2572,499.2,-11.8,160,3436,0.00,2.25,0.00,0.000,3078,0.000,0.038,2428,2233,2626,2681,2572,0,0,0,0,0,0,14.97,14.87,14.99
$GC,3694,-0.51,-87.6,2427,2235,2681,2569,529.3,-10.7,167,3695,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2234,2624,2680,2569,0,0,0,0,0,0,15.23,15.23,15.23
$GC,3933,-0.51,-87.6,2428,2234,2681,2566,554.3,-10.3,173,3938,0.00,2.30,0.00,0.000,2564,0.000,0.051,2428,831,2623,2681,2565,0,0,0,0,0,0,15.23,14.81,15.23
$GC,3970,-0.51,-87.6,2428,830,2681,2565,554.3,-10.3,173,3976,0.00,2.25,0.00,0.000,3078,0.000,0.039,2428,2230,2623,2682,2564,0,0,0,0,0,0,14.96,14.85,14.98
$GC,4216,-0.51,-87.6,2427,2230,2681,2562,584.8,-11.0,180,4217,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2230,2621,2681,2562,0,0,0,0,0,0,15.23,15.23,15.23
$STATE,4374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4374,begin apogee
$GC,4380,-0.12,0.0,2428,2076,2681,2560,602.6,-11.1,184,4450,0.35,0.00,67.45,1.758,10246,0.257,0.000,2557,2076,2279,2357,2201,0,0,0,0,0,0,14.48,14.49,13.77
$STATE,4451,end apogee,CONTROL_FINISHED_OK
$STATE,4451,begin climb
$GC,4453,0.51,87.6,2557,2076,2356,2204,605.2,0.0,185,4534,0.45,2.42,72.43,1.967,10500,0.174,0.050,2745,3505,1924,2012,1836,0,0,0,0,0,0,14.40,14.21,13.45
$GC,4651,0.70,242.6,2744,3506,2011,1835,604.0,1.6,190,4796,0.12,2.28,133.65,2.400,11270,0.132,0.038,2856,2111,1292,1395,1190,0,0,0,0,0,0,14.49,14.52,13.25
$GC,5044,0.70,242.6,2856,2110,1395,1190,528.0,23.4,200,5050,0.08,2.33,0.00,0.000,4612,0.410,0.057,2835,712,1292,1395,1189,0,0,0,0,0,0,14.28,14.56,14.46
$GC,5127,0.70,242.6,2835,712,1395,1189,509.4,22.8,202,5132,0.00,2.28,0.00,0.000,5126,0.000,0.034,2835,2117,1292,1395,1189,0,0,0,0,0,0,14.74,14.66,14.76
$GC,5410,0.70,242.6,2835,2127,1395,1185,452.2,19.5,209,5415,0.00,2.38,0.00,0.000,4612,0.000,0.058,2846,704,1290,1395,1185,0,0,0,0,0,0,15.04,14.70,15.04
$GC,5432,0.70,242.6,2846,703,1395,1185,452.2,19.5,209,5438,0.08,2.25,0.00,0.000,5126,0.416,0.034,2823,2112,1290,1395,1185,0,0,0,0,0,0,14.36,14.76,14.68
$GC,5695,0.70,242.6,2823,2124,1395,1182,400.1,17.8,216,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2124,1288,1395,1182,0,0,0,0,0,0,15.09,15.10,15.09
$GC,5936,0.70,242.6,2823,2124,1395,1181,358.1,17.2,222,5941,0.00,2.22,0.00,0.000,260,0.000,0.046,2823,3498,1288,1395,1181,0,0,0,0,0,0,15.12,14.78,15.13
$GC,5962,0.70,242.6,2823,3499,1394,1181,358.1,17.2,222,5968,0.00,2.25,0.00,0.000,5126,0.000,0.044,2833,2117,1287,1394,1181,0,0,0,0,0,0,14.90,14.79,14.91
$GC,6220,0.70,242.6,2832,2115,1394,1180,304.7,18.6,229,6226,0.00,2.35,0.00,0.000,4612,0.000,0.059,2843,694,1287,1394,1180,0,0,0,0,0,0,15.15,14.76,15.16
$GC,6266,0.70,242.6,2843,694,1394,1180,296.8,18.5,230,6273,0.05,2.25,0.00,0.000,5126,0.453,0.033,2828,2112,1286,1394,1179,0,0,0,0,0,0,14.44,14.83,14.73
$GC,6546,0.70,242.6,2828,2123,1394,1179,250.9,15.4,237,6551,0.00,2.38,0.00,0.000,4612,0.000,0.058,2838,694,1286,1394,1179,0,0,0,0,0,0,15.16,14.76,15.16
$GC,6638,0.70,242.6,2838,693,1394,1178,236.5,16.3,239,6643,0.00,2.25,0.00,0.000,5126,0.000,0.032,2838,2112,1286,1394,1178,0,0,0,0,0,0,14.92,14.84,14.94
$GC,6893,0.70,242.6,2838,2121,1394,1177,192.5,15.9,247,6899,0.00,2.22,0.00,0.000,4356,0.000,0.046,2838,3500,1285,1394,1177,0,0,0,0,0,0,15.16,14.79,15.16
$GC,6972,0.70,242.6,2838,3501,1393,1179,178.7,18.0,254,6980,0.08,2.30,0.00,0.000,5126,0.389,0.044,2824,2094,1286,1394,1179,0,0,0,0,0,0,14.40,14.81,14.71
$GC,7222,0.70,242.6,2823,2088,1393,1178,144.1,12.4,279,7228,0.00,2.28,0.00,0.000,516,0.000,0.059,2834,696,1285,1393,1178,0,0,0,0,0,0,15.13,14.73,15.14
$GC,7355,0.70,242.6,2834,695,1393,1178,126.3,13.6,291,7361,0.00,2.25,0.00,0.000,5126,0.000,0.031,2834,2107,1286,1394,1179,0,0,0,0,0,0,14.90,14.82,14.92
$GC,7609,0.70,242.6,2833,2113,1393,1179,93.8,13.1,316,7614,0.00,2.22,0.00,0.000,4356,0.000,0.045,2834,3493,1286,1393,1179,0,0,0,0,0,0,15.12,14.76,15.13
$GC,7687,0.70,242.6,2834,3494,1394,1180,83.0,14.3,323,7694,0.05,2.28,0.00,0.000,5126,0.444,0.041,2828,2093,1286,1393,1180,0,0,0,0,0,0,14.41,14.78,14.69
$GC,7943,0.70,242.6,2827,2091,1393,1181,48.2,14.3,348,7948,0.00,2.30,0.00,0.000,4612,0.000,0.059,2838,697,1287,1393,1182,0,0,0,0,0,0,15.10,14.72,15.11
$GC,7980,0.70,242.6,2838,696,1393,1182,42.7,14.9,351,7986,0.00,2.25,0.00,0.000,5126,0.000,0.031,2839,2112,1287,1393,1182,0,0,0,0,0,0,14.88,14.81,14.90
$GC,8259,0.70,242.6,2838,2121,1393,1186,11.8,11.8,391,8268,0.05,2.42,0.00,0.000,4612,0.488,0.051,2834,696,1289,1393,1186,0,0,0,0,0,0,14.44,14.59,14.58
$GC,8283,0.70,242.6,2833,695,1393,1186,8.9,12.1,394,8293,0.00,2.30,0.00,0.000,5126,0.000,0.030,2833,2104,1289,1393,1186,0,0,0,0,0,0,14.69,14.64,14.71
$STATE,8346,end climb,SURFACE_DEPTH_REACHED
$STATE,8346,begin surface coast
$FINISH,0.3,1.003829
$STATE,8390,end surface coast,CONTROL_FINISHED_OK
$STATE,8390,begin surface
$SM_CCo,8405,89.32,0.891,1,0,729,380.21
$SM_GC,1.03,6.20,0.15,89.32,0.095,0.089,0.891,180,2248,729,-7.42,-1.61,380.21,0,0,0,0,1,0,14.76,14.78,14.04
$IRIDIUM_FIX,2143.45,-15712.80,240418,073815
$TT8_MAMPS,0.018725,0.264397
$HUMID,44.80
$INTERNAL_PRESSURE,9.45608
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,6.4
$24V_AH,13.25,90.632
$10V_AH,13.13,0.000
$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,15.025,91.850,273.525,89.325,0.000,30.703,49.589,283.782,0.500,0.000,45.490,1471.374,5191.168,457.613,1779.100,154.977,0.000,1069.622,0.000,1359.446,0.000,6.530,0.000
$DEVICE_MAMPS,488.070,88.740,2399.805,891.225,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,278.794,216.014,390.156,399.370,612.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343156
$DATA_FILE_SIZE,37307,411
$CAP_FILE_SIZE,89862,0
$CFSIZE,2097086464,2054881280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.031,350.70,1
$GPS,240418,100849,2154.104,-15714.950,21,1.8,21,9.8,1.1,253.1,5,59.7