version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 407
start: 4 25 118 21 12 34
data:
$ID,626
$MISSION,2
$DIVE,407
$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,42
$R_STBD_OVSHOOT,76
$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
$GPS1,250418,210000,2158.0051,-15728.5166,28,0.9,28,9.8,1.2,245.2,9,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.6
$GPS2,250418,211151,2158.0312,-15728.5479,7,0.8,7,9.8,1.0,296.0,10,62.6
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,ED
$TGT_LATLONG,2211.000,-15811.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,271.6,76661,-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,-87.6,184,2269,764,715,0.0,0.0,0,75,0.00,0.00,-56.22,0.000,16390,0.000,0.000,183,2270,2639,2678,2600,0,0,0,0,0,0,14.92,13.29,14.88
$GC,78,-0.51,-87.6,183,2270,2677,2600,4.1,-6.9,7,95,7.47,2.40,0.00,0.000,2564,0.438,0.047,2429,821,2637,2678,2596,0,0,0,0,0,0,14.28,14.55,14.64
$GC,227,-0.51,-87.6,2428,821,2678,2591,49.9,-23.4,24,233,0.00,2.28,0.00,0.000,3078,0.000,0.050,2428,2194,2634,2678,2591,0,0,0,0,0,0,14.78,14.66,14.79
$GC,482,-0.51,-87.6,2427,2196,2678,2590,102.6,-20.7,49,488,0.00,2.38,0.00,0.000,2308,0.000,0.057,2427,3641,2634,2678,2590,0,0,0,0,0,0,15.04,14.68,15.05
$GC,563,-0.51,-87.6,2427,3641,2678,2591,117.1,-16.7,56,572,0.00,2.35,0.00,0.000,3078,0.000,0.041,2427,2236,2634,2678,2591,0,0,0,0,0,0,14.66,14.60,14.69
$GC,810,-0.51,-87.6,2427,2236,2678,2591,162.2,-17.7,81,817,0.00,2.35,0.00,0.000,2564,0.000,0.063,2426,814,2634,2678,2591,0,0,0,0,0,0,15.09,14.71,15.09
$GC,869,-0.51,-87.6,2427,812,2678,2591,171.8,-16.8,86,876,0.00,2.33,0.00,0.000,3078,0.000,0.050,2427,2230,2634,2678,2591,0,0,0,0,0,0,14.87,14.76,14.89
$GC,1146,-0.51,-87.6,2427,2230,2678,2591,220.3,-16.3,105,1151,0.00,2.38,0.00,0.000,2564,0.000,0.063,2427,811,2634,2678,2591,0,0,0,0,0,0,15.14,14.75,15.15
$GC,1177,-0.51,-87.6,2427,809,2678,2591,220.3,-16.3,105,1183,0.00,2.33,0.00,0.000,3078,0.000,0.047,2427,2229,2634,2678,2591,0,0,0,0,0,0,14.90,14.79,14.92
$GC,1431,-0.51,-87.6,2427,2230,2679,2591,263.7,-14.4,112,1432,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2230,2635,2679,2591,0,0,0,0,0,0,15.16,15.19,15.18
$GC,1671,-0.51,-87.6,2427,2230,2679,2590,299.1,-14.9,118,1676,0.00,2.35,0.00,0.000,2564,0.000,0.060,2427,815,2634,2679,2590,0,0,0,0,0,0,15.20,14.79,15.20
$GC,1702,-0.51,-87.6,2427,815,2679,2590,299.1,-14.9,118,1708,0.00,2.30,0.00,0.000,3078,0.000,0.047,2427,2230,2634,2679,2590,0,0,0,0,0,0,14.95,14.83,14.97
$GC,1955,-0.51,-87.6,2426,2228,2679,2590,337.6,-13.3,125,1956,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2228,2635,2680,2590,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2196,-0.51,-87.6,2427,2227,2678,2588,368.4,-12.7,131,2201,0.00,2.35,0.00,0.000,2564,0.000,0.060,2427,817,2633,2679,2587,0,0,0,0,0,0,15.22,14.80,15.22
$GC,2244,-0.51,-87.6,2427,817,2679,2587,374.3,-12.8,132,2249,0.00,2.30,0.00,0.000,3078,0.000,0.047,2427,2230,2633,2679,2587,0,0,0,0,0,0,14.96,14.84,14.97
$GC,2521,-0.51,-87.6,2427,2231,2679,2584,409.3,-12.1,139,2522,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2231,2632,2679,2585,0,0,0,0,0,0,15.23,15.23,15.23
$GC,2761,-0.51,-87.6,2427,2231,2679,2580,437.4,-11.7,145,2767,0.00,2.35,0.00,0.000,2564,0.000,0.059,2427,817,2629,2679,2580,0,0,0,0,0,0,15.23,14.81,15.23
$GC,2815,-0.51,-87.6,2427,817,2679,2579,442.4,-11.6,146,2820,0.00,2.30,0.00,0.000,3078,0.000,0.045,2427,2230,2629,2679,2579,0,0,0,0,0,0,14.95,14.83,14.98
$GC,3088,-0.51,-87.6,2427,2230,2679,2576,476.1,-11.9,153,3089,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2230,2627,2679,2576,0,0,0,0,0,0,15.23,15.23,15.23
$GC,3328,-0.51,-87.6,2427,2230,2679,2572,503.4,-11.3,159,3333,0.00,2.35,0.00,0.000,2564,0.000,0.057,2427,817,2625,2679,2572,0,0,0,0,0,0,15.23,14.80,15.23
$GC,3360,-0.51,-87.6,2427,816,2679,2571,503.4,-11.3,159,3366,0.00,2.30,0.00,0.000,3078,0.000,0.044,2427,2227,2625,2679,2571,0,0,0,0,0,0,14.95,14.83,14.97
$GC,3615,-0.51,-87.6,2427,2228,2678,2569,536.3,-11.4,166,3616,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2228,2623,2679,2568,0,0,0,0,0,0,15.22,15.23,15.23
$GC,3853,-0.51,-87.6,2427,2228,2679,2564,562.1,-10.7,172,3858,0.00,2.38,0.00,0.000,2564,0.000,0.060,2427,807,2621,2679,2564,0,0,0,0,0,0,15.23,14.78,15.23
$GC,3890,-0.51,-87.6,2427,806,2679,2564,562.1,-10.7,172,3897,0.00,2.33,0.00,0.000,3078,0.000,0.044,2427,2230,2621,2679,2563,0,0,0,0,0,0,14.95,14.82,14.97
$GC,4136,-0.51,-87.6,2427,2230,2679,2561,593.8,-11.2,179,4142,0.00,2.35,0.00,0.000,2564,0.000,0.057,2427,816,2620,2679,2561,0,0,0,0,0,0,15.23,14.78,15.23
$GC,4195,-0.51,-87.6,2427,815,2679,2560,598.9,-11.3,180,4200,0.00,2.30,0.00,0.000,3078,0.000,0.044,2427,2230,2619,2679,2560,0,0,0,0,0,0,14.93,14.82,14.96
$STATE,4220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4220,begin apogee
$GC,4226,-0.12,0.0,2427,2081,2679,2559,603.7,-11.3,181,4302,0.35,0.00,68.38,1.681,10246,0.261,0.000,2556,2079,2275,2351,2199,0,0,0,0,0,0,14.49,14.50,13.79
$STATE,4303,end apogee,CONTROL_FINISHED_OK
$STATE,4303,begin climb
$GC,4305,0.51,87.6,2556,2081,2350,2199,607.7,0.0,183,4383,0.45,0.00,71.93,1.648,10758,0.177,0.000,2743,2081,1918,2011,1825,0,0,0,0,0,0,14.40,14.25,13.60
$GC,4623,0.62,181.6,2742,2081,2010,1818,599.2,4.1,191,4708,0.10,2.33,76.80,1.634,10756,0.153,0.058,2844,701,1533,1645,1422,0,0,0,0,0,0,14.61,14.30,13.66
$GC,4741,0.68,226.7,2843,702,1641,1421,592.6,6.1,193,4787,0.08,2.35,37.85,1.573,13318,0.423,0.035,2821,2126,1351,1464,1238,0,0,0,0,0,0,14.14,14.43,13.67
$GC,5026,0.68,226.7,2821,2127,1461,1234,537.6,18.1,201,5032,0.00,2.40,0.00,0.000,4612,0.000,0.057,2831,698,1347,1461,1234,0,0,0,0,0,0,14.90,14.61,14.91
$GC,5074,0.68,226.7,2831,697,1460,1234,529.7,18.1,202,5079,0.00,2.28,0.00,0.000,5126,0.000,0.034,2831,2098,1347,1460,1234,0,0,0,0,0,0,14.76,14.67,14.77
$GC,5352,0.68,226.7,2831,2100,1461,1231,477.2,18.9,209,5358,0.00,2.28,0.00,0.000,4356,0.000,0.045,2831,3509,1345,1460,1231,0,0,0,0,0,0,15.04,14.73,15.05
$GC,5369,0.68,226.7,2831,3511,1460,1232,477.2,18.9,209,5375,0.08,2.30,0.00,0.000,5126,0.402,0.043,2817,2105,1346,1460,1232,0,0,0,0,0,0,14.37,14.73,14.71
$GC,5637,0.68,226.7,2817,2105,1460,1228,426.7,16.9,216,5642,0.00,2.33,0.00,0.000,516,0.000,0.059,2828,691,1344,1460,1228,0,0,0,0,0,0,15.09,14.73,15.10
$GC,5659,0.68,226.7,2827,691,1460,1228,426.7,16.9,216,5664,0.00,2.28,0.00,0.000,5126,0.000,0.034,2828,2105,1344,1460,1228,0,0,0,0,0,0,14.88,14.79,14.90
$GC,5921,0.68,226.7,2826,2107,1460,1227,378.9,16.4,223,5927,0.00,2.35,0.00,0.000,4612,0.000,0.055,2839,693,1343,1460,1226,0,0,0,0,0,0,15.13,14.76,15.14
$GC,5944,0.68,226.7,2838,692,1460,1226,378.9,16.4,223,5950,0.05,2.28,0.00,0.000,5126,0.451,0.034,2822,2112,1343,1460,1226,0,0,0,0,0,0,14.42,14.81,14.75
$GC,6208,0.68,226.7,2822,2117,1460,1224,333.4,15.9,230,6209,0.00,0.00,0.00,0.000,4102,0.000,0.000,2822,2117,1342,1460,1224,0,0,0,0,0,0,15.15,15.15,15.15
$GC,6449,0.68,226.7,2822,2117,1460,1223,295.2,15.7,236,6456,0.00,2.22,0.00,0.000,4356,0.000,0.046,2822,3498,1341,1460,1223,0,0,0,0,0,0,15.16,14.78,15.16
$GC,6512,0.68,226.7,2822,3498,1459,1224,288.0,15.7,237,6518,0.00,2.28,0.00,0.000,5126,0.000,0.044,2832,2102,1341,1459,1224,0,0,0,0,0,0,14.91,14.80,14.93
$GC,6775,0.68,226.7,2832,2101,1459,1225,242.4,16.5,244,6776,0.00,0.00,0.00,0.000,4102,0.000,0.000,2832,2101,1342,1459,1225,0,0,0,0,0,0,15.18,15.18,15.19
$GC,7015,0.68,226.7,2832,2101,1459,1224,205.8,14.7,250,7021,0.00,2.30,0.00,0.000,4612,0.000,0.057,2843,693,1341,1459,1224,0,0,0,0,0,0,15.19,14.76,15.19
$GC,7081,0.68,226.7,2842,693,1458,1224,195.9,15.0,253,7087,0.08,2.28,0.00,0.000,5126,0.395,0.034,2819,2110,1341,1459,1224,0,0,0,0,0,0,14.37,14.83,14.73
$GC,7335,0.68,226.7,2818,2113,1459,1223,163.8,12.9,278,7340,0.00,2.35,0.00,0.000,516,0.000,0.056,2829,693,1341,1459,1224,0,0,0,0,0,0,15.15,14.76,15.15
$GC,7410,0.68,226.7,2829,693,1458,1224,154.1,13.1,285,7416,0.00,2.25,0.00,0.000,5126,0.000,0.034,2829,2099,1341,1458,1224,0,0,0,0,0,0,14.91,14.82,14.92
$GC,7665,0.68,226.7,2829,2100,1458,1224,122.4,12.5,310,7670,0.00,2.28,0.00,0.000,4356,0.000,0.047,2829,3502,1342,1459,1225,0,0,0,0,0,0,15.14,14.76,15.13
$GC,7725,0.68,226.7,2829,3502,1458,1226,115.4,12.8,315,7733,0.08,2.33,0.00,0.000,5126,0.388,0.044,2813,2090,1342,1458,1226,0,0,0,0,0,0,14.36,14.77,14.71
$GC,7972,0.68,226.7,2814,2090,1458,1227,86.1,11.6,340,7978,0.00,2.28,0.00,0.000,2564,0.000,0.056,2824,693,1342,1458,1227,0,0,0,0,0,0,15.13,14.73,15.13
$GC,8057,0.68,226.7,2824,693,1458,1228,76.8,11.6,347,8065,0.00,2.33,0.00,0.000,5126,0.000,0.033,2825,2095,1343,1458,1228,0,0,0,0,0,0,14.69,14.65,14.71
$GC,8306,0.68,226.7,2824,2096,1458,1231,49.2,10.1,372,8311,0.00,2.28,0.00,0.000,4356,0.000,0.047,2825,3513,1345,1458,1232,0,0,0,0,0,0,15.09,14.73,15.09
$GC,8389,0.68,226.7,2824,3514,1458,1232,39.9,11.3,379,8395,0.05,2.33,0.00,0.000,5126,0.431,0.042,2817,2093,1345,1458,1232,0,0,0,0,0,0,14.40,14.76,14.71
$GC,8664,0.68,226.7,2817,2092,1458,1236,15.5,9.3,417,8673,0.00,2.38,0.00,0.000,516,0.000,0.057,2828,687,1346,1458,1235,0,0,0,0,0,0,15.06,14.60,15.06
$GC,8735,0.68,226.7,2828,687,1459,1237,8.9,9.4,428,8743,0.00,2.38,0.00,0.000,5126,0.000,0.034,2828,2113,1347,1458,1237,0,0,0,0,0,0,14.68,14.64,14.71
$STATE,8827,end climb,SURFACE_DEPTH_REACHED
$STATE,8827,begin surface coast
$FINISH,0.3,1.010141
$STATE,8883,end surface coast,CONTROL_FINISHED_OK
$STATE,8883,begin surface
$SM_CCo,8898,97.35,0.911,1,0,730,380.21
$SM_GC,1.38,6.18,0.15,97.35,0.096,0.093,0.911,184,2243,730,-7.38,-1.33,380.21,0,0,0,0,1,0,14.78,14.75,14.00
$IRIDIUM_FIX,2145.77,-15727.46,250418,210530
$TT8_MAMPS,0.018725,0.326564
$HUMID,43.42
$INTERNAL_PRESSURE,9.47561
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.6,8.7
$24V_AH,13.29,93.576
$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,14.950,102.475,254.950,97.350,0.000,54.323,94.833,330.975,1.500,0.000,8.349,1530.006,5599.500,502.997,1930.069,174.454,0.000,1102.791,0.000,1395.612,0.000,12.862,0.000
$DEVICE_MAMPS,450.585,92.565,1681.470,911.115,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,306.063,246.512,440.372,459.479,704.998,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343060
$DATA_FILE_SIZE,40657,452
$CAP_FILE_SIZE,95893,0
$CFSIZE,2097086464,2053570560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.076,355.70,1
$GPS,250418,234326,2158.641,-15729.756,16,1.3,16,9.8,0.6,325.6,7,32.6