version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 419
start: 4 27 118 8 32 30
data:
$ID,626
$MISSION,2
$DIVE,419
$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,400
$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,2612
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,39
$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,2126
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,92
$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
$GPS1,270418,082248,2203.5110,-15744.4160,34,1.7,34,9.8,1.1,338.5,5,118.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.7
$GPS2,270418,083148,2203.6450,-15744.4990,37,1.1,37,9.8,0.5,300.6,7,55.3
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,ED
$TGT_LATLONG,2211.000,-15811.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,260.0,47444,-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,16,-0.52,-87.6,184,2174,681,636,0.0,0.0,0,75,0.00,0.00,-56.92,0.000,16386,0.000,0.000,185,2174,2569,2601,2538,0,0,0,0,0,0,14.92,28.83,14.93
$GC,78,-0.52,-87.6,184,2174,2601,2538,3.5,-5.6,7,97,7.53,2.17,-1.15,0.000,19204,0.441,0.064,2429,3489,2639,2680,2599,0,0,0,0,0,0,14.27,13.75,14.66
$GC,358,-0.52,-87.6,2429,3490,2682,2599,71.5,-19.4,36,364,0.03,2.25,0.00,0.000,3078,0.566,0.047,2439,2126,2640,2682,2599,0,0,0,0,0,0,14.43,14.68,14.65
$GC,615,-0.52,-87.6,2439,2125,2682,2599,120.9,-18.6,61,620,0.00,2.35,0.00,0.000,2564,0.000,0.063,2439,712,2640,2682,2599,0,0,0,0,0,0,15.05,14.68,15.06
$GC,644,-0.52,-87.6,2439,712,2682,2598,125.4,-17.5,63,651,0.00,2.22,0.00,0.000,3078,0.000,0.044,2440,2074,2641,2683,2599,0,0,0,0,0,0,14.84,14.73,14.85
$GC,892,-0.52,-87.6,2439,2074,2683,2599,168.5,-15.3,88,897,0.00,2.33,0.00,0.000,2308,0.000,0.062,2439,3481,2640,2683,2598,0,0,0,0,0,0,15.09,14.70,15.09
$GC,1075,-0.52,-87.6,2439,3484,2684,2599,191.9,-13.0,105,1080,0.00,2.22,0.00,0.000,3078,0.000,0.045,2439,2119,2641,2684,2599,0,0,0,0,0,0,14.88,14.76,14.89
$GC,1338,-0.52,-87.6,2439,2118,2684,2599,227.5,-13.1,116,1343,0.00,2.30,0.00,0.000,2564,0.000,0.063,2440,723,2641,2684,2599,0,0,0,0,0,0,15.15,14.74,15.16
$GC,1394,-0.52,-87.6,2439,722,2684,2599,233.6,-13.4,117,1399,0.00,2.20,0.00,0.000,3078,0.000,0.046,2439,2077,2642,2685,2599,0,0,0,0,0,0,14.91,14.81,14.92
$GC,1662,-0.52,-87.6,2439,2078,2685,2598,270.0,-12.8,124,1668,0.00,2.40,0.00,0.000,2308,0.000,0.064,2439,3530,2642,2685,2599,0,0,0,0,0,0,15.18,14.76,15.18
$GC,1739,-0.52,-87.6,2439,3530,2685,2599,275.2,-12.7,125,1747,0.00,2.30,0.00,0.000,3078,0.000,0.047,2439,2119,2641,2685,2598,0,0,0,0,0,0,14.93,14.82,14.95
$GC,1985,-0.52,-87.6,2439,2118,2684,2598,308.9,-12.1,132,1990,0.00,2.30,0.00,0.000,2564,0.000,0.061,2440,721,2641,2685,2598,0,0,0,0,0,0,15.19,14.78,15.20
$GC,2071,-0.52,-87.6,2439,721,2684,2598,319.5,-12.3,134,2077,0.00,2.28,0.00,0.000,3078,0.000,0.045,2440,2128,2641,2685,2598,0,0,0,0,0,0,14.94,14.83,14.95
$GC,2350,-0.52,-87.6,2439,2129,2684,2596,353.6,-12.4,141,2355,0.00,2.30,0.00,0.000,2308,0.000,0.057,2440,3539,2640,2685,2596,0,0,0,0,0,0,15.21,14.80,15.21
$GC,2417,-0.52,-87.6,2439,3540,2685,2596,358.7,-12.2,142,2422,0.00,2.28,0.00,0.000,3078,0.000,0.041,2439,2124,2640,2684,2596,0,0,0,0,0,0,14.95,14.85,14.97
$GC,2674,-0.52,-87.6,2439,2123,2685,2592,393.7,-12.6,149,2680,0.00,2.35,0.00,0.000,2308,0.000,0.054,2439,3543,2638,2684,2593,0,0,0,0,0,0,15.22,14.80,15.22
$GC,2727,-0.52,-87.6,2439,3545,2684,2592,398.6,-12.3,150,2732,0.00,2.30,0.00,0.000,3078,0.000,0.041,2440,2120,2638,2684,2592,0,0,0,0,0,0,14.95,14.85,14.97
$GC,3000,-0.52,-87.6,2439,2120,2684,2588,429.7,-11.0,157,3005,0.00,2.28,0.00,0.000,2564,0.000,0.054,2439,720,2636,2685,2588,0,0,0,0,0,0,15.21,14.80,15.22
$GC,3036,-0.52,-87.6,2439,720,2685,2587,429.7,-11.0,157,3044,0.00,2.28,0.00,0.000,3078,0.000,0.036,2439,2138,2635,2684,2587,0,0,0,0,0,0,14.95,14.85,14.97
$GC,3282,-0.52,-87.6,2439,2139,2684,2579,459.2,-10.2,164,3284,0.00,0.00,0.00,0.000,2054,0.000,0.000,2439,2139,2631,2684,2579,0,0,0,0,0,0,15.22,15.23,15.22
$GC,3523,-0.52,-87.6,2439,2139,2684,2572,485.6,-11.0,170,3528,0.00,2.28,0.00,0.000,2308,0.000,0.057,2440,3525,2628,2684,2572,0,0,0,0,0,0,15.22,14.79,15.23
$GC,3545,-0.52,-87.6,2439,3526,2684,2571,485.6,-11.0,170,3551,0.00,2.25,0.00,0.000,3078,0.000,0.040,2440,2124,2627,2684,2571,0,0,0,0,0,0,14.95,14.85,14.97
$GC,3808,-0.52,-87.6,2438,2122,2684,2569,517.3,-11.1,177,3813,0.00,2.28,0.00,0.000,2564,0.000,0.052,2440,724,2626,2684,2568,0,0,0,0,0,0,15.22,14.80,15.22
$GC,3869,-0.52,-87.6,2439,723,2684,2568,522.4,-11.2,178,3875,0.00,2.25,0.00,0.000,3078,0.000,0.035,2439,2128,2625,2684,2567,0,0,0,0,0,0,14.95,14.84,14.96
$GC,4133,-0.52,-87.6,2439,2129,2684,2563,552.7,-10.7,185,4138,0.00,2.33,0.00,0.000,2564,0.000,0.051,2439,721,2623,2684,2563,0,0,0,0,0,0,15.22,14.78,15.22
$GC,4155,-0.52,-87.6,2439,720,2684,2563,552.7,-10.7,185,4160,0.00,2.25,0.00,0.000,3078,0.000,0.036,2440,2125,2623,2684,2563,0,0,0,0,0,0,14.95,14.84,14.96
$GC,4417,-0.52,-87.6,2439,2126,2684,2561,580.1,-9.3,192,4422,0.00,2.33,0.00,0.000,2564,0.000,0.051,2439,720,2622,2684,2561,0,0,0,0,0,0,15.22,14.78,15.23
$GC,4438,-0.52,-87.6,2439,719,2684,2560,580.1,-9.3,192,4444,0.00,2.28,0.00,0.000,3078,0.000,0.037,2439,2135,2622,2684,2560,0,0,0,0,0,0,14.94,14.84,14.96
$STATE,4619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4619,begin apogee
$GC,4624,-0.13,0.0,2440,1927,2684,2554,601.0,-10.3,197,4693,0.35,0.00,65.50,1.732,10246,0.245,0.000,2571,1927,2279,2359,2200,0,0,0,0,0,0,14.47,14.49,13.75
$STATE,4694,end apogee,CONTROL_FINISHED_OK
$STATE,4694,begin climb
$GC,4696,0.52,87.6,2571,1926,2358,2206,603.2,0.0,198,4776,0.45,2.35,71.40,1.903,10756,0.166,0.054,2771,568,1924,2013,1836,0,0,0,0,0,0,14.40,14.21,13.45
$GC,4894,0.72,254.2,2770,568,2012,1837,602.3,1.2,203,5048,0.12,2.28,141.98,2.387,11270,0.134,0.031,2868,1968,1247,1347,1147,0,0,0,0,0,0,14.47,14.51,13.19
$GC,5284,0.72,254.2,2868,1970,1347,1149,525.2,23.6,213,5290,0.08,2.28,0.00,0.000,4356,0.411,0.044,2837,3351,1248,1347,1149,0,0,0,0,0,0,14.24,14.53,14.42
$GC,5337,0.72,254.2,2837,3352,1347,1148,515.6,23.0,214,5343,0.00,2.30,0.00,0.000,5126,0.000,0.047,2846,1976,1248,1348,1148,0,0,0,0,0,0,14.69,14.59,14.71
$GC,5611,0.72,254.2,2846,1976,1347,1145,457.9,20.0,221,5616,0.00,2.40,0.00,0.000,4612,0.000,0.057,2859,535,1246,1347,1145,0,0,0,0,0,0,15.02,14.67,15.02
$GC,5627,0.72,254.2,2858,534,1347,1145,457.9,20.0,221,5633,0.00,2.28,0.00,0.000,5126,0.000,0.031,2858,1951,1246,1347,1145,0,0,0,0,0,0,14.82,14.75,14.83
$GC,5896,0.72,254.2,2858,1957,1347,1143,396.7,21.8,228,5901,0.00,2.28,0.00,0.000,4356,0.000,0.046,2858,3354,1245,1347,1143,0,0,0,0,0,0,15.08,14.74,15.08
$GC,5992,0.72,254.2,2858,3354,1347,1143,378.3,22.2,230,5998,0.08,2.33,0.00,0.000,5126,0.402,0.045,2844,1941,1245,1347,1143,0,0,0,0,0,0,14.35,14.75,14.68
$GC,6261,0.72,254.2,2844,1940,1347,1140,322.6,19.8,237,6266,0.00,2.33,0.00,0.000,260,0.000,0.044,2844,3357,1243,1347,1140,0,0,0,0,0,0,15.11,14.77,15.12
$GC,6367,0.72,254.2,2844,3358,1347,1139,306.1,19.7,239,6373,0.00,2.33,0.00,0.000,5126,0.000,0.047,2854,1946,1243,1346,1140,0,0,0,0,0,0,14.88,14.76,14.90
$GC,6625,0.72,254.2,2853,1945,1347,1138,252.6,18.8,246,6630,0.00,2.30,0.00,0.000,4356,0.000,0.044,2854,3350,1242,1347,1138,0,0,0,0,0,0,15.14,14.78,15.15
$GC,6652,0.72,254.2,2854,3350,1346,1139,252.6,18.8,246,6658,0.05,2.30,0.00,0.000,5126,0.440,0.047,2849,1950,1242,1346,1138,0,0,0,0,0,0,14.42,14.77,14.70
$GC,6911,0.72,254.2,2848,1949,1346,1137,199.3,18.3,253,6916,0.00,2.33,0.00,0.000,4612,0.000,0.059,2858,540,1241,1346,1137,0,0,0,0,0,0,15.16,14.73,15.16
$GC,6958,0.72,254.2,2858,539,1346,1137,191.2,18.3,257,6965,0.00,2.28,0.00,0.000,5126,0.000,0.031,2858,1958,1241,1346,1137,0,0,0,0,0,0,14.91,14.83,14.92
$GC,7206,0.72,254.2,2858,1964,1346,1137,148.3,15.6,282,7211,0.00,2.28,0.00,0.000,4356,0.000,0.046,2858,3354,1242,1347,1137,0,0,0,0,0,0,15.13,14.77,15.13
$GC,7223,0.72,254.2,2858,3354,1346,1137,146.2,15.1,283,7231,0.08,2.33,0.00,0.000,5126,0.390,0.045,2844,1941,1241,1346,1137,0,0,0,0,0,0,14.37,14.77,14.69
$GC,7470,0.72,254.2,2844,1941,1346,1137,108.1,15.0,308,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1941,1241,1345,1137,0,0,0,0,0,0,15.11,15.13,15.12
$GC,7712,0.72,254.2,2844,1941,1346,1138,72.5,15.3,332,7717,0.00,2.28,0.00,0.000,516,0.000,0.057,2854,543,1241,1346,1136,0,0,0,0,0,0,15.11,14.71,15.11
$GC,7773,0.72,254.2,2854,542,1346,1138,63.3,15.3,337,7778,0.00,2.25,0.00,0.000,5126,0.000,0.030,2854,1951,1242,1345,1139,0,0,0,0,0,0,14.88,14.80,14.89
$GC,8029,0.72,254.2,2854,1956,1346,1140,29.6,9.9,362,8037,0.00,0.00,0.00,0.000,4102,0.000,0.000,2854,1956,1243,1346,1140,0,0,0,0,0,0,15.08,15.09,15.09
$STATE,8274,end climb,SURFACE_DEPTH_REACHED
$STATE,8274,begin surface coast
$FINISH,0.3,1.003160
$STATE,8306,end surface coast,CONTROL_FINISHED_OK
$STATE,8306,begin surface
$SM_CCo,8321,96.93,0.900,1,0,648,400.08
$SM_GC,1.36,6.18,0.22,96.93,0.083,0.065,0.900,184,2157,648,-7.43,-1.44,400.08,0,0,0,0,1,0,14.76,14.78,14.00
$IRIDIUM_FIX,2155.06,-15746.43,270418,082424
$TT8_MAMPS,0.018725,0.267393
$HUMID,44.88
$INTERNAL_PRESSURE,9.43654
$TCM_TEMP,21.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.6,6.4
$24V_AH,13.19,96.206
$10V_AH,13.03,0.000
$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,14.925,101.300,278.875,96.925,0.000,32.127,42.184,307.012,0.500,0.000,38.162,1514.713,4996.682,481.099,1833.605,162.326,0.000,1120.466,0.000,1400.842,0.000,5.461,0.000
$DEVICE_MAMPS,566.100,65.025,2386.800,899.640,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,276.382,214.222,388.699,390.779,599.566,0.000,0.000,0.000,0.000,0.000
$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,37268,408
$CAP_FILE_SIZE,92220,0
$CFSIZE,2097086464,2052325376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.142,11.11,1
$GPS,270418,105343,2204.284,-15745.454,14,1.8,14,9.8,1.2,283.3,6,64.6