version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 422
start: 4 27 118 16 53 2
data:
$ID,626
$MISSION,2
$DIVE,422
$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,43
$R_STBD_OVSHOOT,59
$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
$GPS1,270418,164340,2204.7397,-15747.7461,32,1.3,33,9.8,0.7,300.1,5,64.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-74.6
$GPS2,270418,165217,2204.8115,-15747.7832,21,1.3,21,9.8,0.7,286.2,5,86.6
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,ED
$TGT_LATLONG,2211.000,-15811.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,254.8,41432,-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,-87.6,184,2107,678,636,0.0,0.0,0,73,0.00,0.00,-55.42,0.000,16386,0.000,0.000,185,2105,2479,2509,2449,0,0,0,0,0,0,14.92,28.83,14.93
$GC,76,-0.52,-87.6,184,2107,2509,2450,3.0,-4.8,7,95,7.50,2.30,-2.80,0.000,18692,0.436,0.063,2430,3520,2640,2683,2597,0,0,0,0,0,0,14.26,13.74,14.66
$GC,133,-0.52,-87.6,2430,3522,2685,2597,23.0,-23.4,15,142,0.00,2.40,0.00,0.000,3078,0.000,0.053,2430,2131,2640,2684,2597,0,0,0,0,0,0,14.59,14.54,14.62
$GC,391,-0.52,-87.6,2429,2131,2685,2597,81.8,-19.1,42,396,0.00,2.33,0.00,0.000,2308,0.000,0.060,2428,3512,2641,2685,2597,0,0,0,0,0,0,15.01,14.65,15.02
$GC,461,-0.52,-87.6,2427,3513,2685,2596,93.7,-16.8,48,471,0.03,2.38,0.00,0.000,3078,0.441,0.049,2437,2116,2641,2685,2597,0,0,0,0,0,0,14.33,14.58,14.45
$GC,711,-0.52,-87.6,2436,2116,2686,2596,137.4,-16.8,73,717,0.00,2.30,0.00,0.000,2564,0.000,0.062,2437,722,2641,2686,2596,0,0,0,0,0,0,15.06,14.69,15.07
$GC,771,-0.52,-87.6,2436,722,2687,2596,147.8,-17.8,78,780,0.03,2.33,0.00,0.000,3078,0.479,0.045,2437,2101,2641,2686,2596,0,0,0,0,0,0,14.33,14.61,14.47
$GC,1021,-0.52,-87.6,2436,2102,2687,2596,186.9,-15.2,103,1027,0.00,2.38,0.00,0.000,2308,0.000,0.062,2428,3534,2641,2687,2596,0,0,0,0,0,0,15.09,14.71,15.09
$GC,1071,-0.52,-87.6,2428,3538,2687,2597,194.0,-14.6,107,1078,0.05,2.33,0.00,0.000,3078,0.413,0.047,2445,2118,2642,2687,2597,0,0,0,0,0,0,14.45,14.77,14.71
$GC,1316,-0.52,-87.6,2445,2116,2688,2596,226.3,-12.8,117,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2116,2642,2688,2596,0,0,0,0,0,0,15.15,15.16,15.15
$GC,1557,-0.52,-87.6,2445,2116,2688,2596,255.9,-12.4,123,1562,0.00,2.30,0.00,0.000,516,0.000,0.063,2445,722,2642,2688,2596,0,0,0,0,0,0,15.17,14.76,15.18
$GC,1615,-0.52,-87.6,2445,722,2688,2596,261.6,-12.6,124,1621,0.00,2.30,0.00,0.000,3078,0.000,0.048,2442,2132,2642,2688,2596,0,0,0,0,0,0,14.92,14.82,14.95
$GC,1884,-0.52,-87.6,2442,2133,2688,2596,296.7,-12.5,131,1889,0.00,2.33,0.00,0.000,2308,0.000,0.067,2442,3530,2642,2688,2596,0,0,0,0,0,0,15.19,14.76,15.20
$GC,1936,-0.52,-87.6,2441,3530,2688,2596,301.7,-12.2,132,1941,0.00,2.30,0.00,0.000,3078,0.000,0.048,2442,2121,2642,2688,2596,0,0,0,0,0,0,14.94,14.83,14.96
$GC,2209,-0.52,-87.6,2441,2121,2688,2595,334.4,-11.4,139,2214,0.00,2.30,0.00,0.000,2564,0.000,0.063,2442,722,2641,2688,2595,0,0,0,0,0,0,15.21,14.78,15.21
$GC,2295,-0.52,-87.6,2441,722,2688,2594,344.1,-11.4,141,2300,0.00,2.30,0.00,0.000,3078,0.000,0.048,2440,2128,2640,2688,2593,0,0,0,0,0,0,14.94,14.83,14.96
$GC,2573,-0.52,-87.6,2441,2129,2688,2590,373.5,-10.5,148,2578,0.00,2.30,0.00,0.000,2308,0.000,0.057,2441,3534,2639,2688,2591,0,0,0,0,0,0,15.21,14.80,15.21
$GC,2599,-0.52,-87.6,2441,3535,2688,2591,373.5,-10.5,148,2605,0.00,2.28,0.00,0.000,3078,0.000,0.041,2441,2124,2639,2688,2590,0,0,0,0,0,0,14.95,14.83,14.97
$GC,2858,-0.52,-87.6,2441,2123,2689,2587,404.6,-11.0,155,2859,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,2123,2637,2688,2587,0,0,0,0,0,0,15.21,15.22,15.22
$GC,3099,-0.52,-87.6,2441,2123,2687,2583,430.1,-10.7,161,3105,0.00,2.30,0.00,0.000,2564,0.000,0.055,2441,715,2635,2688,2582,0,0,0,0,0,0,15.21,14.80,15.22
$GC,3121,-0.52,-87.6,2440,713,2688,2581,430.1,-10.7,161,3126,0.00,2.28,0.00,0.000,3078,0.000,0.036,2441,2130,2634,2688,2581,0,0,0,0,0,0,14.95,14.85,14.97
$GC,3384,-0.52,-87.6,2440,2132,2688,2570,459.9,-10.2,168,3389,0.00,2.30,0.00,0.000,2308,0.000,0.057,2441,3534,2629,2688,2571,0,0,0,0,0,0,15.22,14.79,15.22
$GC,3411,-0.52,-87.6,2440,3535,2688,2572,459.9,-10.2,168,3416,0.00,2.28,0.00,0.000,3078,0.000,0.038,2441,2124,2629,2688,2571,0,0,0,0,0,0,14.95,14.85,14.97
$GC,3668,-0.52,-87.6,2440,2123,2688,2568,488.5,-10.1,175,3670,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2123,2628,2688,2568,0,0,0,0,0,0,15.22,15.23,15.22
$GC,3909,-0.52,-87.6,2441,2123,2687,2564,512.5,-9.9,181,3914,0.00,2.30,0.00,0.000,2564,0.000,0.054,2441,714,2626,2688,2564,0,0,0,0,0,0,15.22,14.79,15.23
$GC,3941,-0.52,-87.6,2441,714,2688,2562,512.5,-9.9,181,3946,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2127,2625,2688,2563,0,0,0,0,0,0,14.95,14.83,14.96
$GC,4193,-0.52,-87.6,2441,2128,2688,2555,540.7,-9.8,188,4198,0.00,2.30,0.00,0.000,2308,0.000,0.056,2441,3529,2621,2688,2555,0,0,0,0,0,0,15.22,14.78,15.23
$GC,4236,-0.52,-87.6,2441,3530,2688,2554,544.9,-9.9,189,4241,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2125,2621,2688,2554,0,0,0,0,0,0,14.94,14.83,14.95
$GC,4519,-0.52,-87.6,2441,2124,2688,2551,573.1,-10.0,196,4524,0.00,2.30,0.00,0.000,2564,0.000,0.052,2441,715,2619,2688,2551,0,0,0,0,0,0,15.22,14.78,15.22
$GC,4556,-0.52,-87.6,2441,715,2688,2550,573.1,-10.0,196,4563,0.00,2.30,0.00,0.000,3078,0.000,0.037,2441,2134,2618,2687,2550,0,0,0,0,0,0,14.93,14.83,14.95
$STATE,4799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4800,begin apogee
$GC,4805,-0.13,0.0,2441,1920,2688,2543,600.0,-9.3,203,4882,0.35,0.00,68.43,1.685,10246,0.246,0.000,2571,1920,2273,2350,2197,0,0,0,0,0,0,14.45,14.48,13.78
$STATE,4883,end apogee,CONTROL_FINISHED_OK
$STATE,4883,begin climb
$GC,4885,0.52,87.6,2572,1919,2348,2196,602.7,0.0,205,4967,0.45,2.35,73.10,1.645,10756,0.163,0.055,2772,567,1915,2005,1826,0,0,0,0,0,0,14.39,14.24,13.58
$GC,5094,0.67,214.1,2772,567,2001,1821,598.1,2.8,210,5200,0.10,2.33,98.60,1.834,11270,0.155,0.032,2856,1966,1406,1514,1298,0,0,0,0,0,0,14.46,14.52,13.43
$GC,5448,0.67,214.1,2857,1967,1514,1323,537.3,19.6,219,5459,0.08,2.30,2.53,0.517,12548,0.399,0.047,2826,3346,1409,1507,1311,0,0,0,0,0,0,14.24,14.59,13.69
$GC,5496,0.67,214.1,2825,3346,1508,1322,529.0,19.3,220,5502,0.00,2.28,0.00,0.000,5126,0.000,0.046,2835,1980,1414,1507,1321,0,0,0,0,0,0,14.71,14.60,14.72
$GC,5775,0.67,214.1,2835,1980,1507,1321,477.7,18.2,227,5776,0.00,0.00,0.00,0.000,4102,0.000,0.000,2835,1979,1414,1507,1321,0,0,0,0,0,0,15.02,15.02,15.02
$GC,6014,0.67,214.1,2835,1979,1507,1318,435.1,17.7,233,6015,0.00,0.00,0.00,0.000,4102,0.000,0.000,2836,1980,1412,1507,1317,0,0,0,0,0,0,15.08,15.08,15.08
$GC,6255,0.67,214.1,2835,1979,1507,1316,395.7,16.2,239,6260,0.00,2.28,0.00,0.000,4356,0.000,0.045,2836,3358,1411,1507,1316,0,0,0,0,0,0,15.11,14.74,15.11
$GC,6317,0.67,214.1,2835,3358,1507,1316,388.3,16.5,240,6323,0.05,2.33,0.00,0.000,5126,0.466,0.044,2831,1948,1411,1507,1316,0,0,0,0,0,0,14.35,14.73,14.65
$GC,6580,0.67,214.1,2831,1947,1507,1314,344.6,15.6,247,6581,0.00,0.00,0.00,0.000,4102,0.000,0.000,2831,1947,1410,1507,1314,0,0,0,0,0,0,15.14,15.14,15.14
$GC,6820,0.67,214.1,2831,1947,1507,1312,309.0,14.6,253,6826,0.00,2.35,0.00,0.000,4612,0.000,0.057,2841,529,1410,1507,1313,0,0,0,0,0,0,15.14,14.73,15.15
$GC,6844,0.67,214.1,2841,529,1505,1313,309.0,14.6,253,6849,0.00,2.30,0.00,0.000,5126,0.000,0.033,2841,1954,1410,1507,1313,0,0,0,0,0,0,14.89,14.81,14.90
$GC,7107,0.67,214.1,2841,1958,1507,1311,262.3,16.6,260,7112,0.00,2.28,0.00,0.000,4356,0.000,0.046,2841,3349,1409,1507,1312,0,0,0,0,0,0,15.16,14.76,15.16
$GC,7262,0.67,214.1,2841,3350,1507,1311,241.9,16.8,263,7270,0.08,2.33,0.00,0.000,5126,0.390,0.044,2827,1942,1409,1507,1311,0,0,0,0,0,0,14.32,14.76,14.64
$GC,7510,0.67,214.1,2827,1941,1507,1311,202.8,13.4,270,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1941,1409,1507,1311,0,0,0,0,0,0,15.16,15.17,15.17
$GC,7749,0.67,214.1,2827,1941,1507,1310,172.5,12.9,291,7755,0.00,2.35,0.00,0.000,260,0.000,0.044,2827,3358,1408,1507,1310,0,0,0,0,0,0,15.15,14.76,15.16
$GC,7826,0.67,214.1,2826,3358,1507,1311,162.3,13.0,298,7832,0.00,2.33,0.00,0.000,5126,0.000,0.044,2837,1951,1408,1507,1310,0,0,0,0,0,0,14.87,14.76,14.89
$GC,8083,0.67,214.1,2837,1950,1507,1311,132.4,12.3,323,8088,0.00,2.33,0.00,0.000,4612,0.000,0.056,2848,541,1408,1507,1310,0,0,0,0,0,0,15.12,14.71,15.12
$GC,8324,0.67,214.1,2848,541,1507,1312,100.9,13.0,345,8332,0.05,2.28,0.00,0.000,5126,0.443,0.031,2833,1956,1409,1507,1312,0,0,0,0,0,0,14.35,14.78,14.64
$GC,8573,0.67,214.1,2832,1959,1507,1313,72.4,10.0,370,8579,0.00,2.25,0.00,0.000,4356,0.000,0.044,2833,3346,1410,1507,1313,0,0,0,0,0,0,15.10,14.74,15.10
$GC,8670,0.67,214.1,2832,3347,1507,1315,62.8,10.0,378,8679,0.00,2.38,0.00,0.000,5126,0.000,0.043,2842,1951,1411,1507,1315,0,0,0,0,0,0,14.66,14.62,14.68
$GC,8919,0.67,214.1,2843,1950,1507,1316,37.7,10.3,403,8925,0.00,2.35,0.00,0.000,4612,0.000,0.055,2854,534,1411,1507,1316,0,0,0,0,0,0,15.07,14.71,15.08
$GC,9038,0.67,214.1,2853,533,1507,1318,26.3,8.5,416,9047,0.08,2.35,0.00,0.000,5126,0.353,0.030,2828,1950,1412,1506,1318,0,0,0,0,0,0,14.26,14.64,14.45
$GC,9333,0.69,227.8,2828,1949,1507,1321,6.7,7.4,465,9351,0.00,2.30,11.40,0.896,10500,0.000,0.044,2828,3354,1351,1452,1251,0,0,0,0,0,0,15.03,14.76,14.17
$STATE,9382,end climb,SURFACE_DEPTH_REACHED
$STATE,9382,begin surface coast
$FINISH,0.3,1.007270
$STATE,9419,end surface coast,CONTROL_FINISHED_OK
$STATE,9419,begin surface
$SM_CCo,9436,99.70,0.115,0,0,646,400.08
$SM_GC,1.29,6.05,2.08,99.70,0.070,0.044,0.115,183,2120,646,-7.41,0.90,400.08,0,0,0,0,0,0,14.71,14.69,14.56
$IRIDIUM_FIX,2152.74,-15748.58,270418,164515
$TT8_MAMPS,0.019474,0.328811
$HUMID,43.46
$INTERNAL_PRESSURE,9.43654
$TCM_TEMP,22.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.3,9.2
$24V_AH,13.43,96.842
$10V_AH,12.96,0.000
$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,14.875,106.425,254.050,99.700,0.000,27.989,46.417,300.436,1.500,0.000,22.636,1677.104,5774.697,474.494,1978.714,175.769,0.000,1154.658,0.000,1563.670,0.000,13.956,0.000
$DEVICE_MAMPS,478.890,66.555,1833.705,114.750,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,323.973,273.381,464.089,487.390,747.838,0.000,0.000,0.000,0.000,0.000
$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,44049,478
$CAP_FILE_SIZE,99609,0
$CFSIZE,2097086464,2051997696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.024,322.27,1
$GPS,270418,193300,2204.690,-15749.080,27,1.3,27,9.8,1.0,300.8,5,27.1