version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 431
start: 4 28 118 19 55 13
data:
$ID,626
$MISSION,2
$DIVE,431
$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,42
$R_STBD_OVSHOOT,54
$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
$GPS1,280418,194348,2207.1743,-15800.0127,39,0.9,39,9.8,1.5,157.8,8,19.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-71.7
$GPS2,280418,195430,2207.1179,-15800.1299,8,0.9,8,9.8,2.7,261.0,8,56.0
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,ED
$TGT_LATLONG,2211.000,-15811.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,293.2,19980,-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,14,begin dive
$GC,16,-0.52,-87.6,183,2100,677,626,0.0,0.0,0,73,0.00,0.00,-55.30,0.000,16386,0.000,0.000,184,2104,2483,2515,2452,0,0,0,0,0,0,14.91,28.83,14.92
$GC,77,-0.52,-87.6,184,2106,2515,2452,3.3,-5.7,7,94,7.60,2.35,-2.65,0.000,18692,0.446,0.070,2428,3528,2638,2684,2593,0,0,0,0,0,0,14.26,13.72,14.64
$GC,152,-0.52,-87.6,2428,3529,2685,2592,28.1,-24.3,18,162,0.03,2.40,0.00,0.000,3078,0.461,0.052,2436,2132,2638,2683,2593,0,0,0,0,0,0,14.27,14.53,14.42
$GC,401,-0.52,-87.6,2436,2130,2684,2593,81.9,-19.5,43,406,0.00,2.33,0.00,0.000,2308,0.000,0.057,2428,3523,2638,2685,2592,0,0,0,0,0,0,15.00,14.65,15.01
$GC,435,-0.52,-87.6,2427,3524,2684,2592,88.5,-18.8,46,442,0.05,2.33,0.00,0.000,3078,0.430,0.048,2443,2117,2638,2685,2592,0,0,0,0,0,0,14.37,14.69,14.64
$GC,692,-0.52,-87.6,2444,2115,2684,2593,134.3,-18.0,71,697,0.00,2.30,0.00,0.000,516,0.000,0.063,2444,714,2638,2684,2592,0,0,0,0,0,0,15.05,14.67,15.05
$GC,792,-0.52,-87.6,2444,714,2685,2593,151.3,-16.0,80,798,0.00,2.30,0.00,0.000,3078,0.000,0.046,2442,2117,2638,2685,2592,0,0,0,0,0,0,14.85,14.74,14.86
$GC,1047,-0.52,-87.6,2441,2118,2685,2592,190.6,-15.1,105,1052,0.00,2.33,0.00,0.000,2308,0.000,0.057,2442,3536,2639,2686,2592,0,0,0,0,0,0,15.09,14.73,15.10
$GC,1080,-0.52,-87.6,2441,3537,2685,2592,195.3,-13.6,108,1086,0.00,2.30,0.00,0.000,3078,0.000,0.044,2442,2124,2639,2686,2592,0,0,0,0,0,0,14.87,14.76,14.89
$GC,1364,-0.52,-87.6,2441,2123,2687,2592,233.6,-13.5,118,1369,0.00,2.33,0.00,0.000,2564,0.000,0.062,2442,715,2639,2687,2592,0,0,0,0,0,0,15.15,14.74,15.16
$GC,1460,-0.52,-87.6,2440,715,2686,2592,245.1,-13.9,120,1466,0.00,2.30,0.00,0.000,3078,0.000,0.045,2441,2127,2639,2687,2592,0,0,0,0,0,0,14.90,14.78,14.92
$GC,1728,-0.52,-87.6,2441,2128,2686,2592,281.0,-12.7,127,1734,0.00,2.30,0.00,0.000,2308,0.000,0.055,2441,3539,2639,2687,2592,0,0,0,0,0,0,15.18,14.77,15.19
$GC,1790,-0.52,-87.6,2441,3539,2687,2593,286.2,-12.6,128,1796,0.00,2.28,0.00,0.000,3078,0.000,0.040,2441,2125,2639,2687,2592,0,0,0,0,0,0,14.92,14.82,14.95
$GC,2053,-0.52,-87.6,2441,2124,2686,2592,321.0,-12.8,135,2058,0.00,2.33,0.00,0.000,2564,0.000,0.063,2441,717,2639,2687,2592,0,0,0,0,0,0,15.20,14.77,15.20
$GC,2099,-0.52,-87.6,2441,716,2687,2592,327.0,-13.2,136,2106,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2134,2639,2686,2592,0,0,0,0,0,0,14.95,14.84,14.96
$GC,2379,-0.52,-87.6,2441,2135,2686,2589,363.3,-12.9,143,2380,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2135,2637,2686,2589,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2618,-0.52,-87.6,2440,2135,2686,2587,392.5,-12.0,149,2623,0.00,2.35,0.00,0.000,2564,0.000,0.054,2441,715,2636,2686,2587,0,0,0,0,0,0,15.22,14.79,15.22
$GC,2655,-0.52,-87.6,2441,715,2687,2586,392.5,-12.0,149,2661,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2126,2636,2686,2586,0,0,0,0,0,0,14.95,14.85,14.97
$GC,2901,-0.52,-87.6,2441,2128,2686,2584,425.4,-11.7,156,2906,0.00,2.30,0.00,0.000,2308,0.000,0.057,2441,3528,2635,2687,2584,0,0,0,0,0,0,15.21,14.78,15.21
$GC,2953,-0.52,-87.6,2441,3528,2686,2584,430.2,-11.5,157,2958,0.00,2.25,0.00,0.000,3078,0.000,0.037,2441,2115,2635,2686,2584,0,0,0,0,0,0,14.95,14.85,14.97
$GC,3225,-0.52,-87.6,2440,2113,2686,2579,459.5,-10.1,164,3227,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2113,2632,2686,2579,0,0,0,0,0,0,15.22,15.21,15.22
$GC,3466,-0.52,-87.6,2441,2113,2687,2571,482.2,-9.3,170,3467,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2113,2628,2686,2571,0,0,0,0,0,0,15.22,15.22,15.22
$GC,3705,-0.52,-87.6,2441,2113,2686,2569,506.8,-10.6,176,3711,0.00,2.28,0.00,0.000,2564,0.000,0.054,2441,720,2627,2686,2569,0,0,0,0,0,0,15.22,14.78,15.22
$GC,3737,-0.52,-87.6,2440,719,2686,2569,506.8,-10.6,176,3743,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2135,2627,2686,2568,0,0,0,0,0,0,14.95,14.84,14.96
$GC,3991,-0.52,-87.6,2441,2136,2687,2564,538.3,-10.8,183,3996,0.00,2.35,0.00,0.000,2564,0.000,0.054,2441,721,2625,2686,2564,0,0,0,0,0,0,15.21,14.77,15.22
$GC,4013,-0.52,-87.6,2441,720,2686,2563,538.3,-10.8,183,4018,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2134,2624,2686,2563,0,0,0,0,0,0,14.94,14.83,14.96
$GC,4275,-0.52,-87.6,2441,2135,2686,2561,567.2,-9.7,190,4276,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2135,2624,2687,2561,0,0,0,0,0,0,15.22,15.22,15.22
$GC,4517,-0.52,-87.6,2440,2135,2687,2558,592.1,-10.6,196,4523,0.00,2.28,0.00,0.000,2308,0.000,0.057,2441,3521,2622,2686,2558,0,0,0,0,0,0,15.21,14.75,15.21
$GC,4560,-0.52,-87.6,2441,3521,2686,2558,596.7,-10.5,197,4566,0.00,2.25,0.00,0.000,3078,0.000,0.037,2441,2126,2622,2686,2558,0,0,0,0,0,0,14.93,14.83,14.95
$STATE,4602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4602,begin apogee
$GC,4607,-0.13,0.0,2441,1924,2686,2556,601.1,-10.3,198,4683,0.35,0.00,68.72,1.924,10246,0.248,0.000,2571,1924,2280,2361,2200,0,0,0,0,0,0,14.45,14.26,13.64
$STATE,4684,end apogee,CONTROL_FINISHED_OK
$STATE,4684,begin climb
$GC,4686,0.52,87.6,2571,1924,2361,2201,604.9,0.0,200,4765,0.45,0.00,75.47,2.053,10502,0.164,0.000,2761,1924,1921,2014,1829,0,0,0,0,0,0,14.33,14.14,13.40
$GC,5003,0.68,217.8,2760,1923,2014,1829,601.3,2.6,208,5118,0.10,2.30,107.18,1.988,10756,0.154,0.057,2874,584,1391,1496,1286,0,0,0,0,0,0,14.56,14.02,13.43
$GC,5171,0.68,217.8,2873,584,1496,1290,579.6,13.3,212,5178,0.12,2.28,0.00,0.000,5126,0.365,0.032,2834,1959,1393,1496,1290,0,0,0,0,0,0,14.07,14.38,14.34
$GC,5451,0.68,217.8,2834,1972,1496,1289,527.6,18.0,219,5456,0.00,2.28,0.00,0.000,4356,0.000,0.046,2834,3347,1392,1496,1289,0,0,0,0,0,0,14.93,14.63,14.93
$GC,5467,0.68,217.8,2834,3347,1496,1289,527.6,18.0,219,5473,0.00,2.25,0.00,0.000,5126,0.000,0.044,2843,1986,1392,1496,1289,0,0,0,0,0,0,14.73,14.64,14.75
$GC,5736,0.68,217.8,2843,1985,1496,1288,473.9,19.0,226,5741,0.00,2.42,0.00,0.000,4612,0.000,0.060,2854,535,1392,1496,1288,0,0,0,0,0,0,15.04,14.67,15.04
$GC,5792,0.68,217.8,2854,536,1496,1288,465.2,19.6,227,5798,0.08,2.28,0.00,0.000,5126,0.402,0.031,2831,1956,1392,1496,1288,0,0,0,0,0,0,14.32,14.76,14.64
$GC,6061,0.68,217.8,2831,1967,1496,1286,415.8,17.1,234,6066,0.00,2.22,0.00,0.000,260,0.000,0.044,2832,3341,1391,1496,1286,0,0,0,0,0,0,15.09,14.73,15.09
$GC,6144,0.68,217.8,2831,3342,1495,1286,401.4,17.3,236,6149,0.00,2.30,0.00,0.000,5126,0.000,0.044,2841,1947,1390,1495,1286,0,0,0,0,0,0,14.85,14.74,14.88
$GC,6427,0.68,217.8,2841,1947,1495,1283,351.3,17.3,243,6432,0.00,2.33,0.00,0.000,4612,0.000,0.058,2852,542,1389,1495,1283,0,0,0,0,0,0,15.12,14.72,15.13
$GC,6473,0.68,217.8,2852,542,1495,1282,344.0,17.1,244,6480,0.08,2.25,0.00,0.000,5126,0.406,0.031,2828,1953,1389,1495,1283,0,0,0,0,0,0,14.33,14.81,14.66
$GC,6753,0.68,217.8,2828,1964,1495,1282,298.9,15.2,251,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1963,1388,1495,1282,0,0,0,0,0,0,15.14,15.14,15.14
$GC,6992,0.68,217.8,2828,1963,1495,1280,264.8,13.9,257,6998,0.00,2.25,0.00,0.000,260,0.000,0.045,2828,3341,1388,1495,1281,0,0,0,0,0,0,15.16,14.77,15.16
$GC,7118,0.68,217.8,2828,3341,1495,1281,246.3,15.0,260,7124,0.00,2.28,0.00,0.000,5126,0.000,0.044,2838,1950,1388,1495,1281,0,0,0,0,0,0,14.88,14.77,14.90
$GC,7397,0.68,217.8,2838,1949,1495,1280,203.9,15.5,267,7398,0.00,0.00,0.00,0.000,4102,0.000,0.000,2838,1949,1387,1495,1280,0,0,0,0,0,0,15.16,15.17,15.17
$GC,7637,0.68,217.8,2837,1949,1495,1280,171.3,13.1,288,7642,0.00,2.30,0.00,0.000,4356,0.000,0.044,2838,3350,1387,1494,1280,0,0,0,0,0,0,15.16,14.76,15.16
$GC,7860,0.68,217.8,2838,3350,1495,1280,141.6,12.2,309,7867,0.05,2.30,0.00,0.000,5126,0.456,0.043,2833,1945,1387,1494,1280,0,0,0,0,0,0,14.36,14.75,14.64
$GC,8114,0.68,217.8,2832,1944,1495,1280,114.8,10.8,334,8120,0.00,2.33,0.00,0.000,4612,0.000,0.058,2843,538,1387,1494,1281,0,0,0,0,0,0,15.12,14.69,15.12
$GC,8321,0.68,217.8,2843,539,1494,1282,90.8,11.9,353,8328,0.00,2.25,0.00,0.000,5126,0.000,0.031,2843,1943,1388,1494,1282,0,0,0,0,0,0,14.87,14.78,14.88
$GC,8578,0.68,217.8,2843,1952,1494,1283,61.1,12.1,378,8583,0.00,2.28,0.00,0.000,4356,0.000,0.044,2843,3348,1389,1494,1284,0,0,0,0,0,0,15.09,14.72,15.09
$GC,8823,0.68,217.8,2843,3349,1495,1288,35.0,8.5,399,8830,0.08,2.30,0.00,0.000,5126,0.388,0.042,2828,1941,1390,1494,1287,0,0,0,0,0,0,14.32,14.73,14.63
$GC,9106,0.73,264.6,2828,1940,1496,1289,16.1,6.1,441,9148,0.00,2.35,35.03,1.040,10500,0.000,0.044,2828,3354,1201,1309,1094,0,0,0,0,0,0,15.04,14.51,14.10
$STATE,9232,end climb,SURFACE_DEPTH_REACHED
$STATE,9232,begin surface coast
$FINISH,0.3,1.023469
$STATE,9260,end surface coast,CONTROL_FINISHED_OK
$STATE,9260,begin surface
$SM_CCo,9277,79.15,0.116,0,0,647,400.08
$SM_GC,1.22,6.03,2.05,79.15,0.054,0.045,0.116,187,2131,647,-7.46,1.44,400.08,0,0,0,0,0,0,14.69,14.61,14.51
$IRIDIUM_FIX,2159.71,-15801.11,280418,194750
$TT8_MAMPS,0.019474,0.325815
$HUMID,44.36
$INTERNAL_PRESSURE,9.44631
$TCM_TEMP,22.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,6.8
$24V_AH,13.40,98.949
$10V_AH,13.00,0.000
$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,15.000,101.125,286.400,79.150,0.000,56.733,85.927,296.520,0.500,0.000,9.134,1677.318,5662.880,469.862,2044.531,170.448,0.000,1143.930,0.000,1550.843,0.000,6.569,0.000
$DEVICE_MAMPS,461.295,69.615,2053.260,116.280,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,314.762,315.487,448.360,459.476,705.001,0.000,0.000,0.000,0.000,0.000
$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,40450,464
$CAP_FILE_SIZE,98276,0
$CFSIZE,2097086464,2051145728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.065,345.49,1
$GPS,280418,223225,2207.948,-15801.263,39,0.9,39,9.8,0.0,0.0,9,21.7