version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 950
start: 6 15 118 14 4 20
data:
$ID,626
$MISSION,2
$DIVE,950
$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,39
$R_STBD_OVSHOOT,48
$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
$GPS1,150618,135400,2244.8870,-15802.3691,39,0.9,39,9.8,0.5,28.7,9,19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-73.9
$GPS2,150618,140337,2244.9224,-15802.4229,15,0.9,15,9.8,0.7,286.7,9,22.7
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,76.2,12677,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.64,-63.3,179,2196,704,611,0.0,0.0,0,67,0.00,0.00,-47.72,0.000,16386,0.000,0.000,178,2196,2254,2280,2228,0,0,0,0,0,0,14.93,28.83,14.94
$GC,71,-0.64,-63.3,179,2196,2279,2228,3.0,-5.5,7,95,7.68,2.35,-3.58,0.000,18692,0.438,0.067,2397,3608,2457,2492,2422,0,0,0,0,0,0,13.87,13.09,14.16
$GC,146,-0.64,-63.3,2397,3608,2490,2422,26.4,-23.7,19,155,0.05,2.40,0.00,0.000,3078,0.438,0.046,2413,2178,2456,2491,2422,0,0,0,0,0,0,14.21,14.54,14.49
$GC,404,-0.64,-63.3,2413,2175,2491,2422,87.3,-22.2,45,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2175,2456,2490,2422,0,0,0,0,0,0,15.04,15.04,15.04
$GC,644,-0.64,-63.3,2413,2175,2491,2422,135.2,-18.7,69,651,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2175,2456,2491,2422,0,0,0,0,0,0,15.09,15.09,15.09
$GC,895,-0.64,-63.3,2413,2175,2491,2422,174.2,-14.6,94,900,0.00,2.35,0.00,0.000,2308,0.000,0.055,2413,3593,2456,2491,2422,0,0,0,0,0,0,15.11,14.65,15.11
$GC,939,-0.64,-63.3,2412,3593,2491,2422,180.5,-14.2,98,945,0.00,2.28,0.00,0.000,3078,0.000,0.038,2413,2185,2456,2491,2422,0,0,0,0,0,0,14.81,14.71,14.83
$GC,1203,-0.64,-63.3,2412,2185,2491,2422,217.6,-14.1,115,1208,0.00,2.35,0.00,0.000,2308,0.000,0.054,2413,3602,2456,2490,2422,0,0,0,0,0,0,15.14,14.67,15.14
$GC,1261,-0.64,-63.3,2412,3603,2491,2422,223.4,-13.9,116,1266,0.00,2.25,0.00,0.000,3078,0.000,0.037,2413,2193,2456,2491,2422,0,0,0,0,0,0,14.84,14.73,14.85
$GC,1530,-0.64,-63.3,2412,2192,2490,2422,261.8,-13.6,123,1531,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2192,2456,2490,2422,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1769,-0.64,-63.3,2413,2192,2491,2419,290.2,-11.5,129,1771,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2192,2455,2491,2420,0,0,0,0,0,0,15.17,15.17,15.17
$GC,2010,-0.64,-63.3,2412,2192,2490,2417,316.1,-10.8,135,2011,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2192,2453,2490,2417,0,0,0,0,0,0,15.17,15.18,15.18
$GC,2249,-0.64,-63.3,2412,2191,2490,2416,341.2,-10.4,141,2251,0.00,0.00,0.00,0.000,2054,0.000,0.000,2412,2192,2453,2490,2416,0,0,0,0,0,0,15.17,15.18,15.18
$GC,2490,-0.64,-63.3,2412,2191,2490,2412,366.1,-10.5,147,2491,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2191,2451,2490,2412,0,0,0,0,0,0,15.18,15.18,15.18
$GC,2729,-0.64,-63.3,2412,2191,2490,2410,391.8,-10.7,153,2735,0.00,2.35,0.00,0.000,2308,0.000,0.055,2413,3593,2450,2490,2410,0,0,0,0,0,0,15.17,14.68,15.18
$GC,2752,-0.64,-63.3,2412,3592,2490,2410,391.8,-10.7,153,2758,0.00,2.22,0.00,0.000,3078,0.000,0.037,2413,2201,2450,2490,2410,0,0,0,0,0,0,14.85,14.75,14.88
$GC,3016,-0.64,-63.3,2412,2200,2490,2407,420.2,-9.9,160,3022,0.00,2.30,0.00,0.000,2564,0.000,0.057,2413,799,2448,2490,2407,0,0,0,0,0,0,15.17,14.67,15.17
$GC,3134,-0.64,-63.3,2412,799,2490,2405,429.4,-10.4,162,3142,0.00,2.25,0.00,0.000,3078,0.000,0.039,2413,2195,2447,2490,2405,0,0,0,0,0,0,14.84,14.73,14.86
$GC,3380,-0.64,-63.3,2412,2196,2490,2402,458.7,-10.5,169,3385,0.00,2.33,0.00,0.000,2308,0.000,0.058,2412,3604,2446,2490,2402,0,0,0,0,0,0,15.17,14.66,15.17
$GC,3415,-0.64,-63.3,2410,3604,2490,2402,458.7,-10.5,169,3420,0.00,2.25,0.00,0.000,3078,0.000,0.038,2411,2200,2445,2490,2401,0,0,0,0,0,0,14.84,14.73,14.85
$GC,3669,-0.64,-63.3,2410,2198,2490,2397,487.8,-10.0,176,3674,0.00,2.30,0.00,0.000,2564,0.000,0.054,2410,795,2443,2490,2397,0,0,0,0,0,0,15.16,14.66,15.16
$GC,3767,-0.64,-63.3,2411,795,2490,2396,496.6,-10.2,178,3773,0.00,2.28,0.00,0.000,3078,0.000,0.037,2402,2207,2442,2490,2395,0,0,0,0,0,0,14.83,14.73,14.85
$GC,4036,-0.64,-63.3,2401,2209,2490,2393,525.5,-10.4,185,4041,0.00,2.30,0.00,0.000,2308,0.000,0.055,2398,3604,2441,2490,2393,0,0,0,0,0,0,15.16,14.65,15.16
$GC,4054,-0.64,-63.3,2397,3605,2490,2392,525.5,-10.4,185,4060,0.05,2.28,0.00,0.000,3078,0.388,0.037,2416,2191,2441,2490,2393,0,0,0,0,0,0,14.38,14.72,14.61
$GC,4324,-0.64,-63.3,2416,2190,2490,2388,554.2,-10.2,192,4329,0.00,2.25,0.00,0.000,516,0.000,0.053,2417,799,2439,2490,2388,0,0,0,0,0,0,15.16,14.64,15.16
$GC,4391,-0.64,-63.3,2416,799,2490,2386,559.1,-10.4,193,4397,0.00,2.30,0.00,0.000,1030,0.000,0.038,2414,2208,2438,2490,2387,0,0,0,0,0,0,14.79,14.70,14.82
$GC,4650,-0.64,-63.3,2414,2208,2490,2383,589.4,-10.7,200,4655,0.00,2.28,0.00,0.000,260,0.000,0.055,2414,3600,2437,2490,2384,0,0,0,0,0,0,15.16,14.62,15.16
$GC,4697,-0.64,-63.3,2414,3600,2490,2383,593.9,-10.5,201,4703,0.00,2.25,0.00,0.000,1030,0.000,0.037,2414,2199,2436,2489,2383,0,0,0,0,0,0,14.79,14.70,14.81
$STATE,4774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4774,begin apogee
$GC,4781,-0.14,0.0,2414,2199,2490,2381,602.5,-10.4,203,4832,0.45,0.00,48.60,1.715,10246,0.244,0.000,2578,2198,2193,2271,2116,0,0,0,0,0,0,14.16,14.40,13.35
$STATE,4833,end apogee,CONTROL_FINISHED_OK
$STATE,4833,begin climb
$GC,4836,0.64,63.3,2578,2197,2270,2123,604.7,0.0,204,4896,0.57,0.00,54.47,1.752,10246,0.135,0.000,2822,2198,1937,2026,1849,0,0,0,0,0,0,14.42,14.19,13.22
$GC,5137,0.81,196.9,2822,2198,2024,1856,609.2,-1.2,212,5258,0.08,2.38,111.30,1.863,10756,0.191,0.055,2924,802,1396,1500,1293,0,0,0,0,0,0,14.60,13.94,13.18
$GC,5427,0.81,196.9,2924,801,1499,1298,565.8,20.8,219,5433,0.12,2.28,0.00,0.000,5126,0.394,0.036,2885,2204,1399,1500,1299,0,0,0,0,0,0,14.09,14.59,14.47
$GC,5707,0.81,196.9,2885,2208,1500,1296,510.2,19.4,226,5712,0.00,2.35,0.00,0.000,4612,0.000,0.055,2895,799,1398,1500,1296,0,0,0,0,0,0,15.03,14.62,15.03
$GC,5760,0.81,196.9,2895,799,1500,1296,501.7,19.5,227,5765,0.00,2.25,0.00,0.000,5126,0.000,0.035,2895,2202,1397,1499,1296,0,0,0,0,0,0,14.78,14.70,14.81
$GC,6034,0.81,196.9,2896,2203,1499,1294,451.0,17.4,234,6039,0.00,2.33,0.00,0.000,4612,0.000,0.054,2906,804,1396,1499,1294,0,0,0,0,0,0,15.09,14.64,15.09
$GC,6087,0.81,196.9,2906,804,1500,1293,443.2,17.5,235,6093,0.08,2.25,0.00,0.000,5126,0.392,0.034,2882,2203,1397,1500,1294,0,0,0,0,0,0,14.23,14.72,14.55
$GC,6361,0.81,196.9,2881,2206,1499,1291,398.2,15.3,242,6366,0.00,2.30,0.00,0.000,516,0.000,0.054,2892,804,1395,1500,1291,0,0,0,0,0,0,15.11,14.65,15.11
$GC,6488,0.81,196.9,2891,803,1499,1291,379.0,15.4,245,6494,0.00,2.25,0.00,0.000,5126,0.000,0.034,2891,2210,1395,1500,1291,0,0,0,0,0,0,14.82,14.72,14.83
$GC,6768,0.81,196.9,2892,2210,1500,1289,336.0,15.1,252,6773,0.00,2.35,0.00,0.000,4612,0.000,0.054,2903,800,1394,1499,1289,0,0,0,0,0,0,15.13,14.64,15.13
$GC,6836,0.81,196.9,2903,799,1499,1289,329.6,14.9,253,6842,0.05,2.25,0.00,0.000,5126,0.428,0.034,2886,2209,1394,1500,1289,0,0,0,0,0,0,14.31,14.72,14.57
$GC,7095,0.81,196.9,2886,2210,1500,1288,291.5,13.2,260,7096,0.00,0.00,0.00,0.000,4102,0.000,0.000,2886,2210,1393,1499,1288,0,0,0,0,0,0,15.14,15.14,15.14
$GC,7337,0.81,196.9,2886,2210,1500,1287,260.8,12.7,266,7339,0.00,0.00,0.00,0.000,4102,0.000,0.000,2886,2210,1393,1500,1287,0,0,0,0,0,0,15.13,15.14,15.14
$GC,7575,0.81,196.9,2886,2210,1500,1287,235.7,9.8,272,7580,0.00,2.35,0.00,0.000,4612,0.000,0.054,2897,801,1393,1500,1287,0,0,0,0,0,0,15.15,14.62,15.15
$GC,7633,0.81,196.9,2896,801,1499,1287,231.5,9.5,273,7639,0.03,2.22,0.00,0.000,5126,0.556,0.033,2887,2198,1393,1500,1287,0,0,0,0,0,0,14.43,14.71,14.59
$GC,7903,0.81,196.9,2886,2199,1499,1287,204.0,9.8,280,7908,0.00,2.30,0.00,0.000,4356,0.000,0.047,2887,3598,1393,1499,1287,0,0,0,0,0,0,15.14,14.64,15.14
$GC,8381,0.82,209.6,2887,3599,1499,1288,162.6,7.1,323,8400,0.00,2.30,10.88,1.047,13318,0.000,0.041,2897,2194,1340,1447,1233,0,0,0,0,0,0,14.74,14.63,13.70
$GC,8639,0.82,209.6,2897,2194,1448,1247,138.4,8.5,349,8645,0.00,0.00,0.00,0.000,4102,0.000,0.000,2897,2194,1347,1448,1247,0,0,0,0,0,0,15.07,15.08,15.07
$GC,8888,0.83,216.3,2897,2194,1447,1249,120.1,7.5,374,8901,0.00,2.28,7.40,0.950,12804,0.000,0.054,2908,799,1314,1418,1211,0,0,0,0,0,0,15.09,14.60,13.71
$GC,9265,0.85,229.3,2908,799,1419,1222,93.9,7.1,410,9284,0.00,2.33,11.50,1.021,13318,0.000,0.033,2908,2204,1262,1366,1159,0,0,0,0,0,0,14.61,14.57,13.77
$GC,9524,0.86,241.6,2907,2204,1366,1169,73.2,7.2,436,9541,0.00,2.33,11.25,1.037,12804,0.000,0.050,2919,791,1213,1315,1112,0,0,0,0,0,0,15.06,14.35,13.76
$GC,9683,0.88,252.5,2919,791,1315,1119,63.3,7.2,451,9701,0.05,2.28,9.82,1.057,13318,0.432,0.033,2902,2212,1167,1269,1066,0,0,0,0,0,0,14.29,14.69,13.73
$GC,9950,0.88,252.5,2902,2213,1269,1080,40.4,9.3,477,9960,0.00,0.00,1.65,0.210,8198,0.000,0.000,2902,2213,1169,1264,1075,0,0,0,0,0,0,15.04,14.14,13.97
$GC,10204,0.88,252.5,2902,2213,1265,1084,15.6,9.0,516,10212,0.00,0.00,1.67,0.197,8198,0.000,0.000,2902,2213,1168,1263,1073,0,0,0,0,0,0,15.04,14.30,14.17
$STATE,10347,end climb,SURFACE_DEPTH_REACHED
$STATE,10347,begin surface coast
$FINISH,0.3,1.007045
$STATE,10380,end surface coast,CONTROL_FINISHED_OK
$STATE,10380,begin surface
$SM_CCo,10398,72.18,0.116,0,0,648,379.23
$SM_CCo,10474,-0.08,0.000,0,0,650,379.23
$SM_CCo,10479,0.43,0.330,0,0,647,379.23
$SM_GC,1.26,6.12,0.00,0.43,0.053,0.000,0.330,181,2217,647,-7.46,0.48,379.23,0,0,0,0,0,0,14.73,15.04,14.54
$IRIDIUM_FIX,2234.68,-15754.99,150618,135616
$TT8_MAMPS,0.018725,0.278628
$HUMID,47.91
$INTERNAL_PRESSURE,9.5049
$TCM_TEMP,24.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.5,10.7
$24V_AH,13.02,199.893
$10V_AH,13.29,0.000
$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,15.325,87.250,268.550,72.600,0.000,34.106,43.354,327.527,1.000,0.000,16.137,1952.744,6407.734,458.933,1943.122,318.520,0.000,1200.772,0.000,1532.239,0.000,8.525,0.000
$DEVICE_MAMPS,556.155,66.555,1862.775,330.480,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,369.993,308.539,550.291,0.000,551.559,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,0.000,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342952
$DATA_FILE_SIZE,47195,549
$CAP_FILE_SIZE,108382,0
$CFSIZE,2097086464,1997275136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.142,288.21,1
$GPS,150618,170019,2245.211,-15802.136,39,0.8,39,9.8,0.0,0.0,9,15.4