version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 420
start: 4 27 118 11 2 8
data:
$ID,626
$MISSION,2
$DIVE,420
$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,38
$R_STBD_OVSHOOT,78
$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
$GPS1,270418,105343,2204.2844,-15745.4541,14,1.8,14,9.8,1.2,283.3,6,64.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.9
$GPS2,270418,110126,2204.4182,-15745.5010,15,1.9,15,9.8,1.3,309.8,6,74.0
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,ED
$TGT_LATLONG,2211.000,-15811.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,237.6,45396,-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,-0.52,-87.6,184,2164,678,630,0.0,0.0,0,79,0.00,0.00,-58.80,0.000,16390,0.000,0.000,184,2165,2639,2677,2602,0,0,0,0,0,0,14.90,13.24,14.85
$GC,81,-0.52,-87.6,184,2165,2677,2603,4.4,-8.1,8,100,7.60,2.40,0.00,0.000,2820,0.448,0.041,2437,708,2638,2677,2600,0,0,0,0,0,0,14.26,14.54,14.62
$GC,220,-0.52,-87.6,2437,709,2677,2598,48.1,-23.5,24,226,0.05,2.28,0.00,0.000,3078,0.462,0.044,2443,2085,2637,2678,2597,0,0,0,0,0,0,14.32,14.66,14.61
$GC,476,-0.52,-87.6,2443,2086,2678,2597,98.2,-18.1,49,481,0.00,2.40,0.00,0.000,2308,0.000,0.060,2442,3529,2637,2678,2597,0,0,0,0,0,0,15.02,14.66,15.02
$GC,523,-0.52,-87.6,2441,3531,2679,2598,106.0,-17.0,53,529,0.00,2.33,0.00,0.000,3078,0.000,0.047,2442,2125,2638,2679,2598,0,0,0,0,0,0,14.81,14.71,14.83
$GC,778,-0.52,-87.6,2441,2124,2680,2597,149.4,-16.0,78,783,0.00,2.35,0.00,0.000,2564,0.000,0.063,2441,712,2638,2680,2597,0,0,0,0,0,0,15.07,14.69,15.07
$GC,878,-0.52,-87.6,2441,711,2680,2598,167.4,-18.1,87,888,0.00,2.40,0.00,0.000,3078,0.000,0.047,2441,2128,2639,2680,2598,0,0,0,0,0,0,14.68,14.63,14.73
$GC,1135,-0.52,-87.6,2441,2129,2682,2598,207.3,-14.9,110,1140,0.00,2.30,0.00,0.000,2308,0.000,0.058,2441,3530,2640,2682,2598,0,0,0,0,0,0,15.12,14.73,15.12
$GC,1171,-0.52,-87.6,2441,3531,2682,2598,207.3,-14.9,110,1178,0.00,2.33,0.00,0.000,3078,0.000,0.047,2441,2123,2640,2682,2598,0,0,0,0,0,0,14.88,14.77,14.90
$GC,1418,-0.52,-87.6,2441,2122,2683,2598,245.6,-13.7,117,1419,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2122,2640,2683,2598,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1657,-0.52,-87.6,2441,2121,2683,2598,275.7,-12.6,123,1663,0.00,2.33,0.00,0.000,2564,0.000,0.066,2441,720,2640,2683,2597,0,0,0,0,0,0,15.19,14.76,15.19
$GC,1709,-0.52,-87.6,2440,719,2683,2598,281.4,-12.7,124,1715,0.00,2.30,0.00,0.000,3078,0.000,0.047,2441,2131,2640,2683,2597,0,0,0,0,0,0,14.92,14.81,14.95
$GC,1983,-0.52,-87.6,2440,2132,2683,2597,316.9,-12.5,131,1984,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2132,2640,2683,2598,0,0,0,0,0,0,15.20,15.20,15.20
$GC,2222,-0.52,-87.6,2440,2132,2683,2597,347.8,-13.0,137,2227,0.00,2.30,0.00,0.000,2308,0.000,0.057,2441,3540,2640,2683,2597,0,0,0,0,0,0,15.21,14.81,15.21
$GC,2284,-0.52,-87.6,2441,3541,2683,2597,353.2,-12.9,138,2289,0.00,2.30,0.00,0.000,3078,0.000,0.040,2441,2116,2640,2683,2597,0,0,0,0,0,0,14.95,14.84,14.97
$GC,2546,-0.52,-87.6,2440,2115,2682,2593,386.9,-11.8,145,2552,0.00,2.28,0.00,0.000,2564,0.000,0.054,2440,716,2638,2683,2593,0,0,0,0,0,0,15.21,14.81,15.21
$GC,2578,-0.52,-87.6,2440,715,2682,2592,386.9,-11.8,145,2584,0.00,2.28,0.00,0.000,3078,0.000,0.037,2440,2131,2638,2683,2593,0,0,0,0,0,0,14.95,14.85,14.97
$GC,2831,-0.52,-87.6,2440,2132,2683,2591,419.9,-11.8,152,2836,0.00,2.30,0.00,0.000,2308,0.000,0.056,2441,3538,2636,2682,2591,0,0,0,0,0,0,15.21,14.81,15.22
$GC,2864,-0.52,-87.6,2440,3538,2682,2591,419.9,-11.8,152,2870,0.00,2.28,0.00,0.000,3078,0.000,0.038,2441,2122,2636,2683,2590,0,0,0,0,0,0,14.95,14.85,14.97
$GC,3118,-0.52,-87.6,2440,2121,2683,2587,450.9,-10.7,159,3123,0.00,2.33,0.00,0.000,2308,0.000,0.051,2441,3531,2634,2682,2587,0,0,0,0,0,0,15.22,14.81,15.22
$GC,3149,-0.52,-87.6,2440,3532,2683,2587,450.9,-10.7,159,3154,0.00,2.28,0.00,0.000,3078,0.000,0.038,2440,2120,2634,2682,2587,0,0,0,0,0,0,14.95,14.85,14.97
$GC,3402,-0.52,-87.6,2440,2119,2682,2585,479.9,-10.3,166,3407,0.00,2.28,0.00,0.000,2564,0.000,0.054,2441,719,2633,2683,2584,0,0,0,0,0,0,15.22,14.81,15.22
$GC,3444,-0.52,-87.6,2440,719,2682,2583,484.5,-10.3,167,3449,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2126,2633,2683,2583,0,0,0,0,0,0,14.95,14.85,14.97
$GC,3727,-0.52,-87.6,2440,2128,2682,2576,512.2,-9.9,174,3732,0.00,2.35,0.00,0.000,2564,0.000,0.053,2440,717,2629,2682,2576,0,0,0,0,0,0,15.22,14.80,15.22
$GC,3744,-0.52,-87.6,2440,716,2682,2576,512.2,-9.9,174,3750,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2128,2629,2682,2576,0,0,0,0,0,0,14.95,14.84,14.97
$GC,4012,-0.52,-87.6,2440,2128,2683,2572,540.1,-9.9,181,4017,0.00,2.30,0.00,0.000,2308,0.000,0.055,2441,3528,2627,2683,2572,0,0,0,0,0,0,15.22,14.78,15.22
$GC,4054,-0.52,-87.6,2440,3529,2683,2572,544.3,-10.0,182,4060,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2124,2627,2682,2572,0,0,0,0,0,0,14.95,14.84,14.96
$GC,4337,-0.52,-87.6,2440,2123,2683,2569,572.9,-10.1,189,4343,0.00,2.30,0.00,0.000,2564,0.000,0.052,2441,717,2625,2682,2569,0,0,0,0,0,0,15.21,14.79,15.22
$GC,4381,-0.52,-87.6,2441,716,2682,2569,577.6,-10.4,190,4386,0.00,2.30,0.00,0.000,3078,0.000,0.037,2441,2131,2625,2682,2569,0,0,0,0,0,0,14.94,14.83,14.95
$STATE,4621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4621,begin apogee
$GC,4627,-0.13,0.0,2441,1925,2682,2564,602.4,-10.1,196,4703,0.35,0.00,69.22,1.683,10246,0.248,0.000,2571,1924,2277,2353,2201,0,0,0,0,0,0,14.46,14.33,13.75
$STATE,4704,end apogee,CONTROL_FINISHED_OK
$STATE,4704,begin climb
$GC,4706,0.52,87.6,2571,1925,2353,2201,605.4,0.0,198,4785,0.45,2.38,70.82,1.841,10756,0.162,0.054,2772,565,1923,2011,1836,0,0,0,0,0,0,14.40,14.22,13.45
$GC,4922,0.69,228.4,2772,565,2011,1837,601.8,2.2,203,5054,0.10,2.30,120.35,2.430,11270,0.158,0.033,2857,1960,1351,1458,1244,0,0,0,0,0,0,14.47,14.53,13.16
$GC,5311,0.69,228.4,2856,1960,1458,1247,531.4,21.6,213,5317,0.08,2.30,0.00,0.000,4356,0.414,0.044,2825,3357,1352,1458,1247,0,0,0,0,0,0,14.25,14.54,14.43
$GC,5344,0.69,228.4,2825,3358,1458,1247,531.4,21.6,213,5349,0.00,2.30,0.00,0.000,1030,0.000,0.046,2835,1984,1352,1457,1247,0,0,0,0,0,0,14.69,14.59,14.70
$GC,5597,0.69,228.4,2835,1983,1457,1244,475.4,19.3,220,5602,0.00,2.40,0.00,0.000,516,0.000,0.057,2846,535,1351,1458,1244,0,0,0,0,0,0,15.00,14.66,15.01
$GC,5619,0.69,228.4,2846,535,1458,1244,475.4,19.3,220,5625,0.00,2.33,0.00,0.000,5126,0.000,0.032,2846,1952,1351,1458,1244,0,0,0,0,0,0,14.81,14.73,14.83
$GC,5882,0.69,228.4,2846,1957,1458,1242,422.1,18.2,227,5883,0.00,0.00,0.00,0.000,4102,0.000,0.000,2846,1957,1350,1458,1242,0,0,0,0,0,0,15.07,15.07,15.07
$GC,6122,0.69,228.4,2846,1957,1458,1240,378.4,18.3,233,6128,0.00,2.28,0.00,0.000,4356,0.000,0.044,2846,3354,1349,1458,1240,0,0,0,0,0,0,15.11,14.76,15.11
$GC,6266,0.69,228.4,2846,3354,1458,1244,354.6,19.2,236,6272,0.08,2.33,0.00,0.000,5126,0.392,0.045,2833,1945,1350,1458,1243,0,0,0,0,0,0,14.36,14.76,14.67
$GC,6529,0.69,228.4,2832,1945,1458,1244,304.8,17.3,243,6534,0.00,2.30,0.00,0.000,260,0.000,0.044,2832,3357,1351,1458,1244,0,0,0,0,0,0,15.14,14.78,15.14
$GC,6626,0.69,228.4,2832,3356,1458,1244,290.0,17.9,245,6631,0.00,2.33,0.00,0.000,5126,0.000,0.045,2842,1950,1351,1458,1244,0,0,0,0,0,0,14.88,14.76,14.90
$GC,6894,0.69,228.4,2842,1950,1457,1244,243.7,15.9,252,6899,0.00,2.35,0.00,0.000,4612,0.000,0.057,2853,535,1351,1458,1244,0,0,0,0,0,0,15.16,14.74,15.16
$GC,6945,0.69,228.4,2853,535,1458,1244,236.4,16.2,253,6952,0.05,2.30,0.00,0.000,5126,0.453,0.032,2837,1959,1351,1458,1244,0,0,0,0,0,0,14.40,14.82,14.69
$GC,7199,0.69,228.4,2837,1967,1458,1244,194.9,15.0,261,7205,0.00,2.25,0.00,0.000,4356,0.000,0.044,2838,3349,1351,1458,1244,0,0,0,0,0,0,15.16,14.78,15.16
$GC,7308,0.69,228.4,2838,3350,1458,1245,178.6,14.3,271,7314,0.00,2.33,0.00,0.000,5126,0.000,0.044,2848,1942,1351,1457,1245,0,0,0,0,0,0,14.89,14.77,14.90
$GC,7562,0.69,228.4,2847,1942,1456,1245,144.3,13.1,296,7567,0.00,2.33,0.00,0.000,4612,0.000,0.056,2859,536,1351,1458,1245,0,0,0,0,0,0,15.13,14.73,15.13
$GC,7705,0.69,228.4,2858,536,1458,1245,124.4,12.7,309,7712,0.08,2.28,0.00,0.000,5126,0.387,0.031,2834,1955,1351,1458,1245,0,0,0,0,0,0,14.33,14.80,14.64
$GC,7960,0.69,228.4,2834,1958,1457,1245,93.6,12.1,334,7965,0.00,2.25,0.00,0.000,260,0.000,0.044,2834,3345,1352,1458,1246,0,0,0,0,0,0,15.11,14.76,15.12
$GC,8231,0.69,228.4,2834,3344,1457,1249,61.1,11.3,358,8236,0.00,2.30,0.00,0.000,5126,0.000,0.043,2844,1948,1353,1457,1249,0,0,0,0,0,0,14.85,14.73,14.87
$GC,8487,0.69,228.4,2844,1948,1458,1250,31.0,10.0,383,8495,0.00,0.00,0.00,0.000,4102,0.000,0.000,2844,1948,1353,1457,1250,0,0,0,0,0,0,15.08,15.08,15.08
$GC,8777,0.72,253.5,2844,1947,1458,1254,7.4,7.0,431,8802,0.00,2.35,17.23,0.968,8708,0.000,0.055,2855,542,1245,1353,1137,0,0,0,0,0,0,15.04,14.56,14.16
$STATE,8832,end climb,SURFACE_DEPTH_REACHED
$STATE,8833,begin surface coast
$FINISH,0.2,0.999837
$STATE,8864,end surface coast,CONTROL_FINISHED_OK
$STATE,8864,begin surface
$SM_CCo,8881,83.85,0.121,0,0,647,400.08
$SM_GC,1.06,6.20,2.62,83.85,0.084,0.033,0.121,184,2115,647,-7.44,-1.78,400.08,0,0,0,0,0,0,14.73,14.70,14.55
$IRIDIUM_FIX,2155.06,-15743.39,270418,105514
$TT8_MAMPS,0.019474,0.327313
$HUMID,44.29
$INTERNAL_PRESSURE,9.44631
$TCM_TEMP,21.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.6,8.9
$24V_AH,13.16,96.439
$10V_AH,13.04,0.000
$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,15.025,106.950,277.625,83.850,0.000,35.512,49.681,249.972,2.500,0.000,16.119,1630.675,5304.496,468.494,1893.758,160.783,0.000,1145.939,0.000,1522.941,0.000,20.253,0.000
$DEVICE_MAMPS,462.060,65.790,2430.405,120.870,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,300.952,240.229,428.330,444.466,681.940,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343120
$DATA_FILE_SIZE,40728,444
$CAP_FILE_SIZE,95516,0
$CFSIZE,2097086464,2052227072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.144,3.09,1
$GPS,270418,133248,2204.585,-15746.473,40,0.8,40,9.8,0.8,337.1,11,23.8