version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 443
start: 4 30 118 7 11 14
data:
$ID,626
$MISSION,2
$DIVE,443
$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,41
$R_STBD_OVSHOOT,53
$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
$GPS1,300418,070230,2211.7051,-15811.4043,36,1.7,36,9.8,0.9,284.9,5,33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.9
$GPS2,300418,071032,2211.7004,-15811.5361,6,1.2,6,9.8,3.4,278.6,7,348.2
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,EE
$TGT_LATLONG,2218.000,-15730.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,70.0,72122,-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,-87.6,184,2105,680,632,0.0,0.0,0,73,0.00,0.00,-55.20,0.000,16386,0.000,0.000,184,2107,2512,2545,2480,0,0,0,0,0,0,14.89,28.83,14.90
$GC,76,-0.52,-87.6,184,2107,2545,2480,3.6,-6.6,7,94,7.60,2.28,-2.08,0.000,18948,0.444,0.063,2442,710,2636,2680,2592,0,0,0,0,0,0,14.23,13.69,14.63
$GC,159,-0.52,-87.6,2441,709,2680,2591,31.5,-24.2,19,167,0.00,2.40,0.00,0.000,3078,0.000,0.053,2441,2106,2635,2680,2591,0,0,0,0,0,0,14.57,14.52,14.59
$GC,407,-0.52,-87.6,2441,2107,2680,2591,82.5,-20.0,44,408,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2107,2635,2680,2591,0,0,0,0,0,0,15.00,15.00,15.00
$GC,646,-0.52,-87.6,2441,2107,2680,2591,129.3,-19.7,68,651,0.00,2.38,0.00,0.000,2308,0.000,0.064,2441,3535,2635,2680,2591,0,0,0,0,0,0,15.05,14.67,15.06
$GC,696,-0.52,-87.6,2440,3536,2680,2591,137.2,-17.1,72,705,0.00,2.40,0.00,0.000,3078,0.000,0.054,2441,2134,2636,2681,2591,0,0,0,0,0,0,14.63,14.58,14.66
$GC,944,-0.52,-87.6,2441,2134,2682,2591,177.3,-15.4,97,949,0.00,2.35,0.00,0.000,2564,0.000,0.066,2441,718,2637,2682,2592,0,0,0,0,0,0,15.07,14.69,15.09
$GC,979,-0.52,-87.6,2441,717,2681,2591,182.9,-16.0,100,985,0.00,2.35,0.00,0.000,3078,0.000,0.052,2441,2136,2636,2681,2591,0,0,0,0,0,0,14.85,14.73,14.87
$GC,1263,-0.52,-87.6,2440,2137,2682,2591,222.4,-13.2,116,1268,0.00,2.30,0.00,0.000,2308,0.000,0.063,2441,3532,2636,2682,2591,0,0,0,0,0,0,15.14,14.73,15.14
$GC,1289,-0.52,-87.6,2440,3532,2683,2591,222.4,-13.2,116,1295,0.00,2.33,0.00,0.000,3078,0.000,0.050,2441,2115,2636,2682,2591,0,0,0,0,0,0,14.88,14.76,14.90
$GC,1547,-0.52,-87.6,2441,2114,2683,2591,259.5,-12.9,123,1548,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2114,2637,2683,2591,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1788,-0.52,-87.6,2440,2114,2683,2591,289.3,-12.2,129,1793,0.00,2.35,0.00,0.000,2308,0.000,0.054,2441,3533,2637,2683,2591,0,0,0,0,0,0,15.19,14.78,15.19
$GC,1846,-0.52,-87.6,2440,3534,2683,2591,294.0,-11.7,130,1852,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2115,2637,2683,2591,0,0,0,0,0,0,14.93,14.83,14.95
$GC,2114,-0.52,-87.6,2441,2113,2682,2591,325.6,-11.6,137,2116,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2113,2637,2683,2591,0,0,0,0,0,0,15.20,15.20,15.20
$GC,2355,-0.52,-87.6,2441,2113,2682,2588,353.1,-11.5,143,2360,0.00,2.28,0.00,0.000,2564,0.000,0.057,2440,722,2635,2683,2588,0,0,0,0,0,0,15.21,14.79,15.21
$GC,2441,-0.52,-87.6,2440,721,2683,2587,362.9,-11.6,145,2446,0.00,2.28,0.00,0.000,3078,0.000,0.040,2441,2132,2634,2682,2587,0,0,0,0,0,0,14.93,14.83,14.95
$GC,2719,-0.52,-87.6,2440,2133,2682,2584,396.4,-11.6,152,2724,0.00,2.28,0.00,0.000,2308,0.000,0.055,2441,3526,2633,2683,2584,0,0,0,0,0,0,15.21,14.78,15.21
$GC,2872,-0.52,-87.6,2440,3525,2683,2583,410.2,-11.3,155,2877,0.00,2.25,0.00,0.000,3078,0.000,0.037,2441,2122,2633,2683,2583,0,0,0,0,0,0,14.93,14.83,14.95
$GC,3125,-0.52,-87.6,2440,2121,2683,2578,443.8,-12.1,162,3130,0.00,2.28,0.00,0.000,2564,0.000,0.055,2441,726,2630,2683,2577,0,0,0,0,0,0,15.21,14.78,15.21
$GC,3152,-0.52,-87.6,2441,725,2682,2576,443.8,-12.1,162,3157,0.00,2.28,0.00,0.000,3078,0.000,0.039,2441,2135,2629,2683,2576,0,0,0,0,0,0,14.93,14.83,14.95
$GC,3409,-0.52,-87.6,2440,2136,2683,2570,477.9,-11.4,169,3415,0.00,2.28,0.00,0.000,2308,0.000,0.054,2441,3527,2626,2683,2570,0,0,0,0,0,0,15.21,14.77,15.21
$GC,3441,-0.52,-87.6,2440,3528,2683,2570,477.9,-11.4,169,3447,0.00,2.28,0.00,0.000,3078,0.000,0.035,2441,2120,2626,2683,2570,0,0,0,0,0,0,14.94,14.84,14.95
$GC,3695,-0.52,-87.6,2441,2119,2683,2567,509.8,-11.2,176,3696,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2119,2624,2683,2566,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3934,-0.52,-87.6,2440,2119,2682,2563,536.2,-10.8,182,3935,0.00,0.00,0.00,0.000,2054,0.000,0.000,2440,2119,2623,2683,2563,0,0,0,0,0,0,15.21,15.22,15.21
$GC,4175,-0.52,-87.6,2440,2119,2683,2561,563.0,-11.3,188,4180,0.00,2.28,0.00,0.000,2564,0.000,0.054,2441,727,2621,2683,2560,0,0,0,0,0,0,15.22,14.77,15.21
$GC,4241,-0.52,-87.6,2441,726,2683,2560,568.2,-11.4,189,4247,0.00,2.28,0.00,0.000,3078,0.000,0.042,2441,2125,2621,2683,2560,0,0,0,0,0,0,14.92,14.80,14.94
$GC,4499,-0.52,-87.6,2441,2126,2682,2555,599.7,-10.9,196,4504,0.00,2.30,0.00,0.000,2308,0.000,0.055,2441,3527,2619,2683,2556,0,0,0,0,0,0,15.21,14.74,15.22
$STATE,4540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4540,begin apogee
$GC,4548,-0.13,0.0,2441,1951,2682,2555,604.2,-10.8,197,4623,0.35,0.00,69.80,1.711,10246,0.242,0.000,2571,1949,2274,2352,2196,0,0,0,0,0,0,14.43,14.46,13.74
$STATE,4624,end apogee,CONTROL_FINISHED_OK
$STATE,4624,begin climb
$GC,4626,0.52,87.6,2571,1949,2351,2196,608.0,0.0,199,4704,0.45,0.00,73.57,1.663,10502,0.162,0.000,2762,1949,1921,2013,1830,0,0,0,0,0,0,14.38,14.21,13.55
$GC,4942,0.66,207.0,2761,1950,2007,1818,602.9,3.1,207,5051,0.08,2.50,97.90,1.643,10756,0.194,0.060,2860,541,1427,1534,1321,0,0,0,0,0,0,14.55,14.22,13.58
$GC,5059,0.75,274.6,2859,540,1534,1321,596.7,5.2,209,5123,0.00,2.38,57.40,1.598,13318,0.000,0.036,2860,1954,1158,1262,1054,0,0,0,0,0,0,14.39,14.32,13.54
$GC,5387,0.75,274.6,2859,1956,1262,1055,515.5,24.9,218,5393,0.00,2.42,0.00,0.000,4612,0.000,0.060,2870,540,1158,1261,1055,0,0,0,0,0,0,14.88,14.57,14.88
$GC,5409,0.75,274.6,2870,539,1262,1054,515.5,24.9,218,5415,0.05,2.33,0.00,0.000,5126,0.438,0.034,2855,1965,1158,1262,1054,0,0,0,0,0,0,14.31,14.64,14.59
$GC,5673,0.75,274.6,2855,1976,1262,1051,445.3,23.9,225,5674,0.00,0.00,0.00,0.000,4102,0.000,0.000,2855,1977,1156,1262,1050,0,0,0,0,0,0,15.01,15.02,15.02
$GC,5913,0.75,274.6,2855,1977,1262,1048,391.7,21.9,231,5919,0.00,2.25,0.00,0.000,4356,0.000,0.044,2855,3352,1155,1262,1048,0,0,0,0,0,0,15.07,14.73,15.07
$GC,5975,0.75,274.6,2855,3353,1262,1049,382.1,22.0,232,5981,0.00,2.33,0.00,0.000,5126,0.000,0.046,2865,1947,1155,1262,1049,0,0,0,0,0,0,14.84,14.73,14.85
$GC,6238,0.75,274.6,2864,1946,1262,1047,319.4,22.0,239,6243,0.00,2.35,0.00,0.000,4612,0.000,0.062,2876,538,1154,1262,1047,0,0,0,0,0,0,15.11,14.71,15.11
$GC,6365,0.75,274.6,2875,536,1261,1047,291.5,22.7,242,6371,0.08,2.28,0.00,0.000,5126,0.369,0.034,2851,1952,1154,1261,1047,0,0,0,0,0,0,14.37,14.78,14.67
$GC,6644,0.75,274.6,2851,1961,1261,1045,234.9,20.2,249,6649,0.00,2.22,0.00,0.000,260,0.000,0.042,2850,3350,1153,1261,1045,0,0,0,0,0,0,15.13,14.77,15.14
$GC,6727,0.75,274.6,2850,3350,1260,1046,218.6,19.9,251,6732,0.00,2.33,0.00,0.000,5126,0.000,0.045,2860,1946,1153,1260,1046,0,0,0,0,0,0,14.87,14.76,14.89
$GC,6980,0.75,274.6,2860,1945,1260,1044,170.7,18.5,267,6986,0.00,2.33,0.00,0.000,4356,0.000,0.042,2860,3358,1152,1260,1045,0,0,0,0,0,0,15.14,14.76,15.14
$GC,7018,0.75,274.6,2860,3359,1260,1045,164.2,18.9,270,7027,0.05,2.40,0.00,0.000,5126,0.369,0.045,2854,1951,1152,1260,1045,0,0,0,0,0,0,14.26,14.61,14.44
$GC,7268,0.75,274.6,2854,1951,1260,1044,120.7,16.4,295,7274,0.00,2.35,0.00,0.000,4612,0.000,0.060,2864,532,1152,1260,1044,0,0,0,0,0,0,15.11,14.71,15.11
$GC,7307,0.75,274.6,2864,532,1259,1044,114.4,16.6,298,7315,0.00,2.35,0.00,0.000,5126,0.000,0.033,2864,1943,1151,1259,1044,0,0,0,0,0,0,14.68,14.64,14.70
$GC,7556,0.75,274.6,2863,1947,1259,1044,72.1,16.5,323,7562,0.00,2.25,0.00,0.000,4356,0.000,0.041,2864,3349,1151,1259,1044,0,0,0,0,0,0,15.10,14.74,15.10
$GC,7627,0.75,274.6,2864,3350,1259,1044,59.5,17.7,329,7634,0.08,2.33,0.00,0.000,5126,0.396,0.046,2850,1948,1151,1259,1044,0,0,0,0,0,0,14.31,14.72,14.66
$GC,7888,0.75,274.6,2850,1945,1259,1044,22.5,12.7,358,7896,0.00,2.38,0.00,0.000,260,0.000,0.043,2850,3349,1151,1259,1044,0,0,0,0,0,0,15.06,14.59,15.07
$STATE,8032,end climb,SURFACE_DEPTH_REACHED
$STATE,8033,begin surface coast
$FINISH,1.2,1.023328
$STATE,8041,end surface coast,CONTROL_FINISHED_OK
$STATE,8041,begin surface
$SM_CCo,8058,73.90,0.119,0,0,646,400.08
$SM_GC,1.42,6.18,2.08,73.90,0.080,0.047,0.119,184,2118,646,-7.44,0.85,400.08,0,0,0,0,0,0,14.76,14.69,14.57
$IRIDIUM_FIX,2202.04,-15812.78,300418,070412
$TT8_MAMPS,0.018725,0.325066
$HUMID,47.48
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.3,10.1
$24V_AH,13.54,101.760
$10V_AH,13.71,0.000
$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,14.900,92.875,298.675,73.900,0.000,36.185,42.452,277.438,0.500,0.000,7.126,1366.223,5023.188,470.014,1621.801,160.987,0.000,1048.538,0.000,1239.361,0.000,5.475,0.000
$DEVICE_MAMPS,443.700,65.790,1711.305,119.340,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,259.388,273.966,355.601,352.112,540.269,0.000,0.000,0.000,0.000,0.000
$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,34127,383
$CAP_FILE_SIZE,84645,0
$CFSIZE,2097086464,2049900544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.059,297.85,1
$GPS,300418,092737,2212.031,-15810.603,15,1.2,15,9.8,0.0,0.0,6,32.3