version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 949
start: 6 15 118 11 0 25
data:
$ID,626
$MISSION,2
$DIVE,949
$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,65
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,1
$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,2622
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,37
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2195
$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
$GPS1,150618,104911,2245.4529,-15802.4902,18,1.8,18,9.8,0.0,0.0,6,121.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.3
$GPS2,150618,105939,2245.4658,-15802.5869,26,1.9,26,9.8,0.8,259.2,6,123.1
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,103.8,12987,-20.9,-8.000,-23.78,1494
$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,17,-0.64,-63.3,180,2204,705,608,0.0,0.0,0,72,0.00,0.00,-52.65,0.000,16390,0.000,0.000,180,2203,2454,2482,2426,0,0,0,0,0,0,14.95,12.69,14.85
$GC,76,-0.64,-63.3,180,2203,2482,2426,4.2,-8.8,8,90,7.65,0.00,0.00,0.000,2054,0.440,0.000,2402,2200,2454,2483,2426,0,0,0,0,0,0,13.87,14.29,14.14
$GC,340,-0.64,-63.3,2402,2200,2483,2423,78.6,-22.4,40,345,0.00,2.33,0.00,0.000,2308,0.000,0.056,2392,3608,2453,2483,2423,0,0,0,0,0,0,15.04,14.60,15.04
$GC,374,-0.64,-63.3,2391,3609,2483,2423,86.1,-21.7,43,381,0.08,2.30,0.00,0.000,3078,0.371,0.042,2417,2197,2453,2483,2423,0,0,0,0,0,0,14.23,14.64,14.53
$GC,633,-0.64,-63.3,2417,2196,2483,2424,135.5,-18.2,68,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2196,2453,2483,2423,0,0,0,0,0,0,15.08,15.09,15.08
$GC,879,-0.64,-63.3,2417,2196,2483,2424,173.8,-13.8,93,885,0.00,2.28,0.00,0.000,516,0.000,0.057,2417,792,2453,2483,2423,0,0,0,0,0,0,15.11,14.65,15.12
$GC,947,-0.64,-63.3,2417,792,2483,2423,182.8,-14.0,99,956,0.00,2.35,0.00,0.000,3078,0.000,0.041,2414,2199,2453,2483,2423,0,0,0,0,0,0,14.77,14.59,14.79
$GC,1224,-0.64,-63.3,2413,2200,2483,2423,214.4,-11.3,118,1229,0.00,2.33,0.00,0.000,260,0.000,0.060,2413,3613,2453,2483,2423,0,0,0,0,0,0,15.14,14.65,15.14
$GC,1297,-0.64,-63.3,2413,3613,2483,2423,220.0,-11.7,119,1302,0.00,2.28,0.00,0.000,3078,0.000,0.041,2413,2196,2453,2483,2424,0,0,0,0,0,0,14.83,14.72,14.85
$GC,1553,-0.64,-63.3,2413,2195,2484,2423,253.7,-11.8,126,1558,0.00,2.33,0.00,0.000,260,0.000,0.057,2413,3612,2453,2483,2423,0,0,0,0,0,0,15.16,14.68,15.16
$GC,1656,-0.64,-63.3,2413,3612,2484,2423,263.2,-11.1,128,1661,0.00,2.28,0.00,0.000,3078,0.000,0.039,2413,2191,2453,2484,2423,0,0,0,0,0,0,14.84,14.74,14.86
$GC,1920,-0.64,-63.3,2413,2190,2484,2423,294.0,-11.1,135,1921,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2190,2453,2483,2423,0,0,0,0,0,0,15.17,15.18,15.18
$GC,2160,-0.64,-63.3,2413,2190,2484,2423,321.3,-11.5,141,2165,0.00,2.35,0.00,0.000,2308,0.000,0.057,2413,3604,2453,2483,2423,0,0,0,0,0,0,15.17,14.69,15.18
$GC,2198,-0.64,-63.3,2413,3604,2483,2423,321.3,-11.5,141,2205,0.00,2.25,0.00,0.000,3078,0.000,0.038,2413,2200,2453,2484,2422,0,0,0,0,0,0,14.85,14.74,14.87
$GC,2444,-0.64,-63.3,2413,2199,2483,2420,352.3,-10.9,148,2449,0.00,2.30,0.00,0.000,2564,0.000,0.055,2413,787,2451,2483,2420,0,0,0,0,0,0,15.18,14.70,15.18
$GC,2481,-0.64,-63.3,2413,787,2483,2419,352.3,-10.9,148,2488,0.00,2.30,0.00,0.000,3078,0.000,0.039,2413,2208,2451,2483,2419,0,0,0,0,0,0,14.84,14.73,14.87
$GC,2728,-0.64,-63.3,2413,2209,2483,2411,381.7,-10.1,155,2729,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2209,2447,2483,2411,0,0,0,0,0,0,15.17,15.18,15.18
$GC,2969,-0.64,-63.3,2413,2209,2482,2409,404.7,-9.6,161,2974,0.00,2.30,0.00,0.000,2308,0.000,0.059,2413,3607,2446,2483,2409,0,0,0,0,0,0,15.17,14.66,15.17
$GC,3017,-0.64,-63.3,2413,3607,2483,2408,408.9,-9.6,162,3023,0.00,2.28,0.00,0.000,3078,0.000,0.039,2413,2193,2445,2483,2408,0,0,0,0,0,0,14.84,14.73,14.86
$GC,3297,-0.64,-63.3,2413,2193,2483,2404,436.8,-10.1,169,3298,0.00,0.00,0.00,0.000,2054,0.000,0.000,2412,2193,2443,2483,2404,0,0,0,0,0,0,15.17,15.18,15.18
$GC,3536,-0.64,-63.3,2413,2193,2483,2401,462.7,-11.1,175,3542,0.00,2.28,0.00,0.000,2564,0.000,0.050,2413,792,2442,2483,2401,0,0,0,0,0,0,15.18,14.69,15.18
$GC,3559,-0.64,-63.3,2413,792,2483,2400,462.7,-11.1,175,3564,0.00,2.30,0.00,0.000,3078,0.000,0.037,2413,2210,2441,2483,2400,0,0,0,0,0,0,14.83,14.71,14.85
$GC,3823,-0.64,-63.3,2413,2211,2483,2396,495.1,-11.2,182,3829,0.00,2.33,0.00,0.000,2308,0.000,0.062,2413,3612,2439,2483,2396,0,0,0,0,0,0,15.16,14.64,15.17
$GC,3886,-0.64,-63.3,2413,3612,2483,2396,499.9,-11.1,183,3892,0.00,2.28,0.00,0.000,3078,0.000,0.041,2413,2197,2439,2483,2395,0,0,0,0,0,0,14.83,14.72,14.84
$GC,4150,-0.64,-63.3,2413,2196,2484,2392,529.0,-10.2,190,4156,0.00,2.28,0.00,0.000,2564,0.000,0.050,2413,795,2437,2483,2392,0,0,0,0,0,0,15.16,14.66,15.17
$GC,4194,-0.64,-63.3,2413,795,2483,2391,533.6,-10.2,191,4199,0.00,2.30,0.00,0.000,3078,0.000,0.037,2413,2208,2437,2483,2391,0,0,0,0,0,0,14.82,14.71,14.83
$GC,4478,-0.64,-63.3,2413,2209,2483,2387,559.9,-9.1,198,4480,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2209,2435,2483,2387,0,0,0,0,0,0,15.16,15.16,15.16
$GC,4718,-0.64,-63.3,2413,2209,2482,2382,581.0,-8.7,204,4719,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2209,2432,2483,2382,0,0,0,0,0,0,15.16,15.16,15.16
$STATE,4955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4955,begin apogee
$GC,4962,-0.14,0.0,2413,2209,2483,2379,602.2,-8.7,210,5015,0.45,0.00,49.62,1.695,10246,0.246,0.000,2577,2209,2193,2269,2118,0,0,0,0,0,0,14.16,14.38,13.33
$STATE,5016,end apogee,CONTROL_FINISHED_OK
$STATE,5016,begin climb
$GC,5019,0.64,63.3,2577,2209,2268,2120,603.8,0.0,211,5082,0.55,2.40,53.60,1.655,10500,0.135,0.055,2816,3612,1936,2023,1849,0,0,0,0,0,0,14.41,14.25,13.26
$GC,5587,0.83,214.6,2816,3612,2022,1850,611.0,-2.4,225,5723,0.10,2.30,124.03,1.707,11270,0.159,0.044,2915,2204,1322,1429,1216,0,0,0,0,0,0,14.58,14.65,13.25
$GC,5977,0.83,214.6,2915,2204,1429,1232,551.6,19.9,235,5988,0.08,2.30,3.42,0.839,12548,0.437,0.045,2885,3611,1321,1425,1218,0,0,0,0,0,0,14.14,14.47,13.38
$GC,6056,0.83,214.6,2885,3610,1424,1223,542.7,19.9,236,6062,0.00,2.30,0.00,0.000,5126,0.000,0.044,2895,2203,1323,1424,1223,0,0,0,0,0,0,14.73,14.63,14.75
$GC,6302,0.83,214.6,2895,2202,1424,1222,489.4,19.0,243,6307,0.00,2.35,0.00,0.000,4612,0.000,0.059,2907,784,1323,1424,1222,0,0,0,0,0,0,15.05,14.62,15.06
$GC,6374,0.83,214.6,2907,784,1424,1222,480.6,19.1,244,6380,0.05,2.30,0.00,0.000,5126,0.446,0.037,2891,2209,1323,1424,1222,0,0,0,0,0,0,14.29,14.69,14.57
$GC,6629,0.83,214.6,2890,2210,1424,1221,427.3,18.9,251,6634,0.00,2.38,0.00,0.000,4612,0.000,0.057,2901,790,1322,1424,1221,0,0,0,0,0,0,15.09,14.64,15.10
$GC,6662,0.83,214.6,2901,789,1424,1221,427.3,18.9,251,6667,0.00,2.30,0.00,0.000,5126,0.000,0.036,2901,2209,1322,1424,1221,0,0,0,0,0,0,14.80,14.70,14.82
$GC,6916,0.83,214.6,2901,2210,1424,1221,373.8,18.5,258,6921,0.00,2.38,0.00,0.000,4612,0.000,0.056,2912,788,1322,1424,1220,0,0,0,0,0,0,15.11,14.64,15.11
$GC,6984,0.83,214.6,2912,789,1424,1220,365.3,18.8,259,6990,0.08,2.28,0.00,0.000,5126,0.396,0.037,2888,2203,1322,1424,1220,0,0,0,0,0,0,14.19,14.71,14.52
$GC,7243,0.83,214.6,2887,2204,1424,1218,320.6,14.7,266,7248,0.00,2.35,0.00,0.000,516,0.000,0.056,2898,784,1321,1424,1218,0,0,0,0,0,0,15.12,14.63,15.13
$GC,7301,0.83,214.6,2898,784,1424,1218,314.2,14.4,267,7306,0.00,2.28,0.00,0.000,5126,0.000,0.035,2898,2200,1321,1424,1218,0,0,0,0,0,0,14.80,14.71,14.82
$GC,7570,0.83,214.6,2898,2201,1424,1217,276.0,13.5,274,7571,0.00,0.00,0.00,0.000,4102,0.000,0.000,2898,2201,1320,1424,1217,0,0,0,0,0,0,15.14,15.14,15.14
$GC,7809,0.83,214.6,2897,2201,1424,1216,245.8,12.4,280,7810,0.00,0.00,0.00,0.000,4102,0.000,0.000,2898,2201,1320,1424,1216,0,0,0,0,0,0,15.14,15.14,15.14
$GC,8051,0.83,214.6,2898,2201,1424,1216,216.8,12.2,286,8057,0.00,2.28,0.00,0.000,4356,0.000,0.047,2897,3597,1320,1424,1216,0,0,0,0,0,0,15.14,14.64,15.14
$GC,8286,0.83,214.6,2898,3597,1424,1216,185.3,13.5,297,8292,0.05,2.30,0.00,0.000,5126,0.462,0.042,2893,2193,1320,1424,1216,0,0,0,0,0,0,14.21,14.64,14.49
$GC,8542,0.83,214.6,2893,2193,1424,1216,157.8,11.0,322,8548,0.00,2.33,0.00,0.000,4612,0.000,0.059,2904,796,1320,1424,1216,0,0,0,0,0,0,15.11,14.57,15.11
$GC,8922,0.83,214.6,2903,795,1424,1217,116.3,9.7,359,8928,0.05,2.28,0.00,0.000,5126,0.426,0.034,2887,2207,1320,1424,1217,0,0,0,0,0,0,14.23,14.66,14.48
$GC,9178,0.87,246.1,2886,2207,1424,1219,98.8,5.8,384,9211,0.00,2.40,27.30,0.983,10756,0.000,0.057,2898,795,1185,1295,1076,0,0,0,0,0,0,15.09,14.60,13.83
$GC,9346,0.87,246.1,2897,794,1292,1076,84.2,9.4,400,9351,0.00,2.28,0.00,0.000,1030,0.000,0.034,2898,2201,1184,1292,1076,0,0,0,0,0,0,14.73,14.65,14.75
$GC,9603,0.87,246.1,2897,2202,1292,1077,57.4,10.5,425,9608,0.00,2.35,0.00,0.000,516,0.000,0.056,2908,787,1185,1292,1078,0,0,0,0,0,0,15.02,14.59,15.03
$GC,9683,0.88,254.1,2908,787,1292,1078,51.2,7.4,432,9696,0.00,2.35,7.35,0.778,13318,0.000,0.036,2908,2197,1158,1272,1044,0,0,0,0,0,0,14.71,14.54,13.78
$GC,9943,0.88,254.1,2908,2197,1269,1046,27.1,10.0,460,9950,0.00,2.35,0.00,0.000,4356,0.000,0.047,2908,3593,1159,1271,1047,0,0,0,0,0,0,15.04,14.52,15.03
$GC,9995,0.88,254.1,2908,3593,1271,1049,21.5,11.0,469,10003,0.03,2.35,0.00,0.000,5126,0.285,0.041,2897,2207,1160,1271,1049,0,0,0,0,0,0,14.13,14.53,14.46
$STATE,10174,end climb,SURFACE_DEPTH_REACHED
$STATE,10174,begin surface coast
$FINISH,0.3,1.022944
$STATE,10204,end surface coast,CONTROL_FINISHED_OK
$STATE,10204,begin surface
$SM_CCo,10221,100.18,0.789,1,0,647,379.23
$SM_CCo,10331,-0.17,0.000,0,0,651,379.23
$SM_CCo,10336,0.50,0.230,0,0,647,379.23
$SM_GC,1.27,6.25,0.00,0.50,0.066,0.000,0.230,179,2205,647,-7.51,0.17,379.23,0,0,0,0,0,0,14.69,15.02,14.33
$IRIDIUM_FIX,2234.68,-15802.37,150618,105128
$TT8_MAMPS,0.019474,0.280126
$HUMID,49.09
$INTERNAL_PRESSURE,9.47561
$TCM_TEMP,23.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.6,6.5
$24V_AH,12.69,199.691
$10V_AH,13.47,0.000
$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,15.400,97.125,265.325,100.675,0.000,31.918,43.452,362.424,0.500,0.000,27.533,1894.885,6332.949,471.054,1961.982,327.364,0.000,1226.135,0.000,1510.164,0.000,7.649,0.000
$DEVICE_MAMPS,462.060,61.965,1706.715,789.480,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,342.924,273.720,493.648,0.000,489.626,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,0.000,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342960
$DATA_FILE_SIZE,43837,508
$CAP_FILE_SIZE,108325,0
$CFSIZE,2097086464,1997373440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.133,264.83,1
$GPS,150618,135400,2244.887,-15802.369,39,0.9,39,9.8,0.5,28.7,9,19.8