version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 410
start: 4 26 118 5 48 32
data:
$ID,626
$MISSION,2
$DIVE,410
$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,37
$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
$GPS1,260418,053931,2159.1936,-15732.3174,14,1.3,14,9.8,0.5,346.1,6,43.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.7
$GPS2,260418,054749,2159.2812,-15732.4375,15,1.3,15,9.8,1.2,277.1,6,55.4
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,ED
$TGT_LATLONG,2211.000,-15811.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,264.3,69602,-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,-87.6,183,2243,766,698,0.0,0.0,0,72,0.00,0.00,-54.20,0.000,16386,0.000,0.000,183,2241,2568,2597,2539,0,0,0,0,0,0,14.92,28.83,14.93
$GC,75,-0.51,-87.6,183,2243,2597,2538,3.9,-7.2,7,94,7.50,2.33,-1.25,0.000,18692,0.441,0.068,2418,3644,2639,2680,2598,0,0,0,0,0,0,14.27,13.53,14.67
$GC,296,-0.51,-87.6,2418,3644,2680,2593,59.0,-17.9,31,303,0.05,2.35,0.00,0.000,3078,0.427,0.054,2434,2230,2636,2680,2593,0,0,0,0,0,0,14.37,14.66,14.64
$GC,551,-0.51,-87.6,2433,2229,2680,2593,109.3,-19.9,56,557,0.00,2.35,0.00,0.000,2564,0.000,0.067,2434,819,2636,2681,2592,0,0,0,0,0,0,15.05,14.67,15.06
$GC,651,-0.51,-87.6,2433,818,2680,2593,127.9,-18.5,65,657,0.00,2.30,0.00,0.000,3078,0.000,0.045,2428,2225,2636,2680,2592,0,0,0,0,0,0,14.84,14.73,14.86
$GC,906,-0.51,-87.6,2428,2227,2681,2593,174.0,-15.9,90,911,0.00,2.38,0.00,0.000,2564,0.000,0.064,2428,811,2637,2681,2593,0,0,0,0,0,0,15.10,14.71,15.10
$GC,982,-0.51,-87.6,2428,811,2680,2593,187.7,-18.5,97,989,0.00,2.33,0.00,0.000,3078,0.000,0.048,2428,2226,2636,2681,2592,0,0,0,0,0,0,14.88,14.76,14.89
$GC,1256,-0.51,-87.6,2427,2228,2681,2593,230.5,-15.1,109,1258,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2228,2637,2682,2592,0,0,0,0,0,0,15.15,15.16,15.16
$GC,1496,-0.51,-87.6,2428,2228,2682,2593,264.2,-13.9,115,1497,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2228,2637,2682,2593,0,0,0,0,0,0,15.18,15.19,15.18
$GC,1736,-0.51,-87.6,2427,2228,2683,2592,296.0,-12.9,121,1742,0.00,2.38,0.00,0.000,2564,0.000,0.064,2428,809,2637,2683,2592,0,0,0,0,0,0,15.20,14.78,15.20
$GC,1798,-0.51,-87.6,2427,808,2682,2593,302.1,-13.0,122,1804,0.00,2.33,0.00,0.000,3078,0.000,0.050,2428,2226,2637,2682,2592,0,0,0,0,0,0,14.94,14.81,14.95
$GC,2061,-0.51,-87.6,2427,2227,2682,2592,340.3,-13.8,129,2062,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2227,2637,2682,2592,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2301,-0.51,-87.6,2427,2228,2682,2591,372.3,-13.1,135,2307,0.00,2.35,0.00,0.000,2564,0.000,0.063,2428,817,2636,2682,2590,0,0,0,0,0,0,15.21,14.80,15.22
$GC,2403,-0.51,-87.6,2427,817,2682,2590,384.0,-13.7,137,2409,0.00,2.33,0.00,0.000,3078,0.000,0.049,2428,2238,2635,2682,2589,0,0,0,0,0,0,14.95,14.83,14.97
$GC,2666,-0.51,-87.6,2427,2240,2682,2586,419.4,-12.4,144,2671,0.00,2.38,0.00,0.000,2564,0.000,0.062,2428,817,2634,2682,2586,0,0,0,0,0,0,15.22,14.79,15.22
$GC,2698,-0.51,-87.6,2427,816,2682,2586,419.4,-12.4,144,2703,0.00,2.30,0.00,0.000,3078,0.000,0.047,2428,2230,2634,2682,2586,0,0,0,0,0,0,14.95,14.83,14.97
$GC,2951,-0.51,-87.6,2428,2230,2682,2583,454.3,-11.9,151,2952,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2230,2633,2683,2583,0,0,0,0,0,0,15.22,15.22,15.23
$GC,3191,-0.51,-87.6,2427,2230,2682,2580,483.3,-12.0,157,3192,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2230,2630,2682,2579,0,0,0,0,0,0,15.23,15.23,15.23
$GC,3431,-0.51,-87.6,2428,2230,2682,2577,509.7,-10.8,163,3432,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2231,2629,2682,2577,0,0,0,0,0,0,15.22,15.23,15.23
$GC,3671,-0.51,-87.6,2427,2231,2682,2573,535.6,-11.1,169,3676,0.00,2.38,0.00,0.000,2564,0.000,0.062,2428,815,2627,2682,2572,0,0,0,0,0,0,15.23,14.78,15.23
$GC,3737,-0.51,-87.6,2427,815,2682,2572,540.7,-11.3,170,3743,0.00,2.33,0.00,0.000,3078,0.000,0.046,2428,2236,2626,2682,2571,0,0,0,0,0,0,14.94,14.81,14.96
$GC,3996,-0.51,-87.6,2427,2236,2682,2569,573.8,-12.0,177,4001,0.00,2.30,0.00,0.000,2308,0.000,0.055,2428,3639,2625,2682,2569,0,0,0,0,0,0,15.23,14.76,15.23
$GC,4013,-0.51,-87.6,2427,3639,2681,2569,573.8,-12.0,177,4019,0.00,2.28,0.00,0.000,3078,0.000,0.037,2428,2216,2625,2682,2569,0,0,0,0,0,0,14.95,14.83,14.97
$STATE,4239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4239,begin apogee
$GC,4245,-0.12,0.0,2427,2071,2682,2564,600.3,-10.6,183,4315,0.35,0.00,67.60,1.709,10246,0.252,0.000,2557,2071,2278,2356,2200,0,0,0,0,0,0,14.45,14.49,13.76
$STATE,4316,end apogee,CONTROL_FINISHED_OK
$STATE,4316,begin climb
$GC,4318,0.51,87.6,2556,2071,2357,2203,602.6,0.0,184,4399,0.45,2.50,71.35,1.779,10500,0.177,0.047,2744,3518,1924,2012,1837,0,0,0,0,0,0,14.40,14.25,13.54
$GC,4548,0.64,195.2,2744,3518,2012,1839,598.3,3.6,190,4642,0.08,2.30,87.35,1.755,11270,0.194,0.039,2835,2125,1483,1595,1372,0,0,0,0,0,0,14.46,14.54,13.49
$GC,4909,0.64,195.2,2835,2125,1593,1382,545.5,16.4,199,4915,0.08,2.38,0.00,0.000,4612,0.405,0.055,2815,694,1487,1593,1382,0,0,0,0,0,0,14.26,14.57,14.47
$GC,4952,0.64,195.2,2815,693,1593,1382,538.2,16.6,200,4957,0.00,2.33,0.00,0.000,5126,0.000,0.034,2815,2119,1487,1593,1382,0,0,0,0,0,0,14.75,14.66,14.76
$GC,5235,0.64,195.2,2814,2120,1593,1378,494.5,15.9,207,5237,0.00,0.00,0.00,0.000,4102,0.000,0.000,2815,2120,1485,1593,1378,0,0,0,0,0,0,15.04,15.04,15.04
$GC,5475,0.64,195.2,2814,2120,1593,1376,458.4,14.7,213,5476,0.00,0.00,0.00,0.000,4102,0.000,0.000,2815,2120,1484,1593,1376,0,0,0,0,0,0,15.09,15.09,15.09
$GC,5715,0.64,195.2,2814,2120,1593,1374,425.0,14.0,219,5716,0.00,0.00,0.00,0.000,4102,0.000,0.000,2815,2120,1483,1593,1374,0,0,0,0,0,0,15.12,15.13,15.12
$GC,5955,0.64,195.2,2815,2120,1593,1372,391.1,14.1,225,5960,0.00,2.25,0.00,0.000,4356,0.000,0.047,2815,3509,1482,1593,1372,0,0,0,0,0,0,15.15,14.77,15.15
$GC,5987,0.64,195.2,2814,3510,1591,1373,391.1,14.1,225,5993,0.05,2.30,0.00,0.000,5126,0.437,0.043,2809,2101,1482,1593,1372,0,0,0,0,0,0,14.42,14.78,14.70
$GC,6241,0.64,195.2,2808,2099,1592,1370,351.9,13.4,232,6246,0.00,2.33,0.00,0.000,4612,0.000,0.056,2819,687,1481,1593,1370,0,0,0,0,0,0,15.16,14.76,15.16
$GC,6317,0.64,195.2,2819,686,1593,1371,345.6,13.8,233,6325,0.00,2.30,0.00,0.000,5126,0.000,0.033,2819,2117,1481,1592,1370,0,0,0,0,0,0,14.90,14.81,14.92
$GC,6563,0.64,195.2,2819,2118,1592,1369,306.1,13.8,240,6568,0.00,2.38,0.00,0.000,4612,0.000,0.054,2829,693,1480,1592,1369,0,0,0,0,0,0,15.17,14.76,15.18
$GC,6590,0.64,195.2,2829,692,1592,1369,306.1,13.8,240,6597,0.08,2.25,0.00,0.000,5126,0.388,0.034,2804,2103,1480,1592,1369,0,0,0,0,0,0,14.36,14.82,14.68
$GC,6849,0.64,195.2,2804,2107,1592,1369,269.4,12.7,247,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2107,1480,1592,1369,0,0,0,0,0,0,15.17,15.18,15.18
$GC,7089,0.64,195.2,2804,2107,1592,1369,241.4,11.7,253,7094,0.00,2.22,0.00,0.000,260,0.000,0.045,2804,3498,1480,1592,1369,0,0,0,0,0,0,15.19,14.78,15.19
$GC,7155,0.64,195.2,2804,3497,1592,1369,236.0,12.0,254,7162,0.00,2.30,0.00,0.000,5126,0.000,0.042,2814,2099,1480,1592,1369,0,0,0,0,0,0,14.90,14.80,14.92
$GC,7414,0.64,195.2,2814,2098,1592,1369,204.6,10.5,261,7420,0.00,2.30,0.00,0.000,4356,0.000,0.046,2814,3503,1480,1592,1369,0,0,0,0,0,0,15.19,14.78,15.19
$GC,7489,0.64,195.2,2814,3502,1592,1369,195.7,12.0,265,7495,0.05,2.30,0.00,0.000,5126,0.435,0.042,2808,2095,1480,1592,1369,0,0,0,0,0,0,14.42,14.80,14.70
$GC,7743,0.64,195.2,2808,2093,1592,1369,170.8,8.8,290,7748,0.00,2.30,0.00,0.000,4612,0.000,0.055,2819,691,1480,1592,1369,0,0,0,0,0,0,15.16,14.74,15.16
$GC,7904,0.64,195.2,2818,690,1592,1369,155.0,9.8,305,7909,0.00,2.28,0.00,0.000,5126,0.000,0.032,2819,2102,1480,1592,1369,0,0,0,0,0,0,14.89,14.81,14.90
$GC,8158,0.64,195.2,2819,2102,1591,1369,131.5,8.1,330,8159,0.00,0.00,0.00,0.000,4102,0.000,0.000,2819,2103,1480,1592,1369,0,0,0,0,0,0,15.13,15.13,15.13
$GC,8398,0.64,196.2,2819,2103,1592,1371,113.9,8.0,354,8403,0.00,2.35,0.00,0.000,4612,0.000,0.053,2829,691,1481,1592,1371,0,0,0,0,0,0,15.13,14.73,15.13
$GC,8585,0.64,199.7,2829,691,1592,1373,99.6,7.9,371,8599,0.08,2.28,5.07,0.814,13318,0.376,0.033,2803,2113,1463,1576,1351,0,0,0,0,0,0,14.34,14.78,14.14
$GC,8848,0.64,199.7,2803,2113,1576,1355,77.9,9.1,397,8853,0.00,2.22,0.00,0.000,260,0.000,0.045,2803,3504,1466,1576,1356,0,0,0,0,0,0,15.10,14.76,15.10
$GC,8886,0.64,199.7,2803,3505,1576,1356,74.2,9.5,400,8892,0.00,2.30,0.00,0.000,5126,0.000,0.041,2813,2092,1466,1576,1356,0,0,0,0,0,0,14.88,14.77,14.89
$GC,9143,0.64,199.7,2813,2092,1576,1358,53.0,8.3,425,9149,0.00,2.30,0.00,0.000,4612,0.000,0.054,2825,691,1467,1576,1358,0,0,0,0,0,0,15.08,14.73,15.09
$GC,9169,0.65,202.2,2824,690,1576,1358,50.7,7.9,427,9184,0.05,2.28,4.22,0.687,13318,0.421,0.033,2807,2111,1454,1565,1343,0,0,0,0,0,0,14.42,14.78,14.14
$GC,9424,0.74,279.5,2806,2112,1565,1345,37.5,4.8,452,9491,0.03,2.35,59.35,0.984,10756,0.501,0.055,2874,696,1139,1235,1043,0,0,0,0,0,0,14.73,14.59,14.10
$GC,9536,0.74,279.5,2873,696,1234,1044,27.0,13.6,462,9545,0.10,2.35,0.00,0.000,5126,0.311,0.034,2839,2101,1139,1234,1044,0,0,0,0,0,0,14.26,14.53,14.42
$STATE,9718,end climb,SURFACE_DEPTH_REACHED
$STATE,9718,begin surface coast
$FINISH,0.4,1.007765
$STATE,9750,end surface coast,CONTROL_FINISHED_OK
$STATE,9750,begin surface
$SM_CCo,9765,58.28,0.119,0,0,727,380.21
$SM_GC,1.06,6.07,0.15,58.28,0.068,0.095,0.119,185,2246,727,-7.39,-1.61,380.21,0,0,0,0,0,0,14.70,14.67,14.54
$IRIDIUM_FIX,2150.42,-15734.79,260418,054102
$TT8_MAMPS,0.019474,0.268891
$HUMID,43.34
$INTERNAL_PRESSURE,9.47561
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,6.5
$24V_AH,13.49,94.225
$10V_AH,13.10,0.000
$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,15.000,93.075,294.950,58.275,0.000,26.372,46.498,289.020,0.500,0.000,16.326,1703.388,6072.792,429.399,1969.381,172.448,0.000,1115.497,0.000,1579.919,0.000,5.461,0.000
$DEVICE_MAMPS,501.075,94.860,1779.390,118.575,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,337.063,275.666,490.519,491.685,754.401,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343160
$DATA_FILE_SIZE,43946,497
$CAP_FILE_SIZE,98731,0
$CFSIZE,2097086464,2053242880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.111,338.10,1
$GPS,260418,083330,2159.795,-15733.844,38,1.0,38,9.8,0.0,0.0,7,20.5