version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 957
start: 6 16 118 11 34 38
data:
$ID,626
$MISSION,2
$DIVE,957
$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,45
$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
$GPS1,160618,112425,2245.1040,-15800.3672,13,1.4,13,9.8,0.0,0.0,4,41.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.4
$GPS2,160618,113355,2245.1177,-15800.4531,7,1.1,7,9.8,0.0,0.0,6,120.6
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,100.5,9316,-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,-63.3,179,2207,700,606,0.0,0.0,0,70,0.00,0.00,-51.22,0.000,16386,0.000,0.000,179,2205,2394,2423,2366,0,0,0,0,0,0,14.93,28.83,14.94
$GC,74,-0.64,-63.3,179,2205,2423,2367,3.6,-7.0,8,89,7.65,0.00,-1.00,0.000,18438,0.438,0.000,2403,2201,2454,2486,2423,0,0,0,0,0,0,13.87,13.62,14.16
$GC,334,-0.64,-63.3,2402,2201,2487,2421,74.9,-22.2,40,339,0.00,2.33,0.00,0.000,2308,0.000,0.057,2393,3602,2453,2487,2420,0,0,0,0,0,0,15.03,14.59,15.03
$GC,388,-0.64,-63.3,2393,3602,2487,2420,86.3,-20.5,45,395,0.05,2.28,0.00,0.000,3078,0.418,0.042,2410,2203,2453,2487,2420,0,0,0,0,0,0,14.30,14.65,14.56
$GC,648,-0.64,-63.3,2410,2203,2487,2420,134.3,-17.6,70,653,0.00,2.33,0.00,0.000,2564,0.000,0.058,2410,789,2453,2487,2420,0,0,0,0,0,0,15.08,14.64,15.08
$GC,666,-0.64,-63.3,2410,789,2487,2420,137.4,-17.8,71,673,0.00,2.28,0.00,0.000,3078,0.000,0.039,2401,2196,2453,2487,2420,0,0,0,0,0,0,14.79,14.69,14.81
$GC,914,-0.64,-63.3,2400,2196,2487,2420,180.2,-16.0,96,919,0.00,2.33,0.00,0.000,2308,0.000,0.058,2399,3611,2453,2487,2420,0,0,0,0,0,0,15.09,14.64,15.10
$GC,982,-0.64,-63.3,2399,3612,2488,2420,190.3,-14.6,102,989,0.00,2.35,0.00,0.000,3078,0.000,0.041,2400,2202,2453,2487,2420,0,0,0,0,0,0,14.77,14.59,14.79
$GC,1247,-0.64,-63.3,2399,2200,2488,2420,226.2,-12.4,114,1249,0.00,0.00,0.00,0.000,2054,0.000,0.000,2399,2200,2454,2488,2420,0,0,0,0,0,0,15.15,15.15,15.15
$GC,1488,-0.64,-63.3,2399,2200,2490,2420,255.3,-12.4,120,1494,0.00,2.33,0.00,0.000,2564,0.000,0.057,2400,788,2455,2490,2420,0,0,0,0,0,0,15.16,14.69,15.16
$GC,1541,-0.64,-63.3,2399,787,2489,2420,261.1,-12.5,121,1546,0.00,2.30,0.00,0.000,3078,0.000,0.041,2399,2207,2455,2490,2420,0,0,0,0,0,0,14.85,14.73,14.87
$GC,1815,-0.64,-63.3,2399,2208,2490,2420,296.5,-12.8,128,1820,0.00,2.30,0.00,0.000,2308,0.000,0.059,2399,3607,2454,2489,2420,0,0,0,0,0,0,15.17,14.68,15.17
$GC,1908,-0.64,-63.3,2398,3607,2490,2420,306.6,-12.4,130,1913,0.00,2.25,0.00,0.000,3078,0.000,0.038,2399,2192,2454,2489,2420,0,0,0,0,0,0,14.85,14.74,14.88
$GC,2182,-0.64,-63.3,2399,2192,2489,2420,340.1,-11.5,137,2184,0.00,0.00,0.00,0.000,2054,0.000,0.000,2399,2192,2454,2489,2420,0,0,0,0,0,0,15.17,15.17,15.17
$GC,2422,-0.64,-63.3,2398,2191,2489,2418,369.1,-12.4,143,2427,0.00,2.28,0.00,0.000,2564,0.000,0.054,2399,796,2453,2489,2418,0,0,0,0,0,0,15.17,14.70,15.17
$GC,2444,-0.64,-63.3,2398,795,2489,2418,369.1,-12.4,143,2450,0.00,2.28,0.00,0.000,3078,0.000,0.041,2398,2205,2453,2489,2418,0,0,0,0,0,0,14.85,14.74,14.88
$GC,2709,-0.64,-63.3,2398,2206,2489,2415,402.5,-11.5,150,2714,0.00,2.28,0.00,0.000,2308,0.000,0.053,2392,3605,2452,2489,2415,0,0,0,0,0,0,15.16,14.71,15.17
$GC,2849,-0.64,-63.3,2391,3605,2489,2413,416.7,-11.4,153,2855,0.08,2.25,0.00,0.000,3078,0.332,0.038,2419,2205,2451,2489,2413,0,0,0,0,0,0,14.35,14.73,14.62
$GC,3119,-0.64,-63.3,2418,2205,2489,2410,445.2,-9.7,160,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2205,2449,2489,2410,0,0,0,0,0,0,15.16,15.17,15.16
$GC,3359,-0.64,-63.3,2419,2205,2489,2407,468.7,-9.9,166,3365,0.00,2.33,0.00,0.000,516,0.000,0.056,2419,786,2448,2489,2407,0,0,0,0,0,0,15.16,14.67,15.17
$GC,3407,-0.64,-63.3,2419,786,2489,2406,473.4,-10.2,167,3412,0.00,2.30,0.00,0.000,1030,0.000,0.039,2415,2208,2447,2489,2406,0,0,0,0,0,0,14.82,14.73,14.84
$GC,3685,-0.64,-63.3,2415,2209,2489,2402,504.0,-11.0,174,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2209,2445,2489,2402,0,0,0,0,0,0,15.16,15.16,15.16
$GC,3926,-0.64,-63.3,2415,2209,2489,2399,530.1,-10.8,180,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2209,2444,2489,2399,0,0,0,0,0,0,15.16,15.16,15.16
$GC,4165,-0.64,-63.3,2415,2209,2489,2395,555.4,-10.5,186,4170,0.00,2.28,0.00,0.000,260,0.000,0.053,2414,3607,2442,2489,2395,0,0,0,0,0,0,15.16,14.64,15.16
$GC,4209,-0.64,-63.3,2413,3607,2489,2395,559.9,-10.3,187,4214,0.00,2.28,0.00,0.000,1030,0.000,0.036,2414,2195,2442,2489,2395,0,0,0,0,0,0,14.81,14.71,14.82
$GC,4493,-0.64,-63.3,2413,2195,2489,2391,586.6,-9.2,194,4498,0.00,2.28,0.00,0.000,516,0.000,0.051,2414,789,2440,2489,2391,0,0,0,0,0,0,15.15,14.65,15.16
$GC,4526,-0.64,-63.3,2413,789,2488,2390,586.6,-9.2,194,4531,0.00,2.30,0.00,0.000,1030,0.000,0.041,2413,2201,2439,2488,2390,0,0,0,0,0,0,14.78,14.69,14.81
$STATE,4656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4656,begin apogee
$GC,4663,-0.14,0.0,2414,2202,2489,2388,601.1,-8.8,198,4717,0.45,0.00,51.20,1.698,10246,0.243,0.000,2578,2203,2193,2270,2117,0,0,0,0,0,0,14.17,14.39,13.35
$STATE,4718,end apogee,CONTROL_FINISHED_OK
$STATE,4719,begin climb
$GC,4722,0.64,63.3,2578,2203,2269,2117,602.7,0.0,199,4780,0.57,0.00,54.72,1.710,10246,0.135,0.000,2821,2202,1936,2027,1845,0,0,0,0,0,0,14.42,14.20,13.24
$GC,5020,0.77,164.2,2821,2202,2026,1842,600.2,1.1,207,5113,0.08,2.40,83.72,1.825,10500,0.194,0.048,2912,3609,1526,1638,1414,0,0,0,0,0,0,14.59,14.23,13.24
$GC,5123,0.86,239.2,2911,3609,1637,1414,596.0,2.8,209,5195,0.08,2.35,64.53,1.994,13318,0.432,0.042,2900,2203,1219,1321,1117,0,0,0,0,0,0,14.02,14.36,13.13
$GC,5463,0.86,239.2,2900,2203,1321,1122,519.8,21.7,218,5468,0.00,2.33,0.00,0.000,516,0.000,0.058,2911,787,1221,1321,1122,0,0,0,0,0,0,14.95,14.59,14.96
$GC,5556,0.86,239.2,2910,787,1321,1123,501.6,21.7,220,5562,0.00,2.30,0.00,0.000,5126,0.000,0.035,2911,2207,1222,1321,1123,0,0,0,0,0,0,14.76,14.66,14.78
$GC,5830,0.86,239.2,2910,2209,1321,1123,446.1,19.0,227,5836,0.00,2.38,0.00,0.000,4612,0.000,0.057,2922,792,1222,1321,1123,0,0,0,0,0,0,15.07,14.64,15.07
$GC,5883,0.86,239.2,2921,791,1321,1123,437.7,18.7,228,5890,0.08,2.28,0.00,0.000,5126,0.400,0.035,2897,2204,1222,1321,1123,0,0,0,0,0,0,14.23,14.71,14.57
$GC,6158,0.86,239.2,2897,2206,1321,1121,389.4,16.8,235,6163,0.00,2.35,0.00,0.000,516,0.000,0.055,2907,786,1221,1321,1121,0,0,0,0,0,0,15.10,14.66,15.10
$GC,6181,0.86,239.2,2907,785,1321,1120,389.4,16.8,235,6186,0.00,2.28,0.00,0.000,5126,0.000,0.034,2907,2201,1221,1321,1121,0,0,0,0,0,0,14.82,14.73,14.83
$GC,6445,0.86,239.2,2907,2203,1321,1118,340.0,17.2,242,6450,0.00,2.38,0.00,0.000,4612,0.000,0.056,2918,784,1220,1321,1119,0,0,0,0,0,0,15.11,14.65,15.12
$GC,6517,0.86,239.2,2918,784,1321,1119,331.7,17.7,243,6524,0.05,2.28,0.00,0.000,5126,0.447,0.034,2903,2203,1220,1321,1119,0,0,0,0,0,0,14.31,14.72,14.57
$GC,6772,0.86,239.2,2902,2204,1321,1118,281.0,17.5,250,6773,0.00,0.00,0.00,0.000,4102,0.000,0.000,2902,2204,1219,1321,1118,0,0,0,0,0,0,15.13,15.14,15.13
$GC,7012,0.86,239.2,2902,2205,1321,1117,241.4,16.0,256,7018,0.00,2.38,0.00,0.000,4612,0.000,0.054,2913,783,1218,1320,1117,0,0,0,0,0,0,15.13,14.64,15.14
$GC,7105,0.86,239.2,2913,783,1321,1117,228.0,15.7,258,7111,0.05,2.28,0.00,0.000,5126,0.435,0.033,2896,2203,1219,1321,1117,0,0,0,0,0,0,14.30,14.72,14.56
$GC,7359,0.86,239.2,2896,2204,1320,1115,191.4,12.1,269,7365,0.00,2.25,0.00,0.000,260,0.000,0.044,2897,3602,1218,1321,1116,0,0,0,0,0,0,15.12,14.66,15.12
$GC,7530,0.86,239.2,2896,3603,1320,1116,168.6,13.6,285,7538,0.00,2.38,0.00,0.000,5126,0.000,0.041,2907,2180,1218,1320,1116,0,0,0,0,0,0,14.71,14.57,14.73
$GC,7780,0.86,239.2,2907,2179,1320,1116,139.2,11.4,310,7785,0.00,2.30,0.00,0.000,4612,0.000,0.054,2918,784,1218,1320,1116,0,0,0,0,0,0,15.09,14.60,15.09
$GC,7887,0.86,239.2,2917,784,1320,1116,127.3,11.8,320,7895,0.05,2.35,0.00,0.000,5126,0.431,0.034,2902,2197,1218,1320,1116,0,0,0,0,0,0,14.21,14.54,14.47
$GC,8135,0.86,239.2,2902,2198,1320,1116,99.1,11.1,345,8140,0.00,2.35,0.00,0.000,4612,0.000,0.055,2913,791,1219,1321,1117,0,0,0,0,0,0,15.09,14.59,15.09
$GC,8272,0.86,239.2,2912,791,1320,1118,84.4,9.9,358,8278,0.00,2.28,0.00,0.000,5126,0.000,0.033,2912,2201,1219,1320,1118,0,0,0,0,0,0,14.76,14.67,14.78
$GC,8529,0.86,239.2,2912,2201,1320,1119,61.2,9.0,383,8535,0.05,2.35,0.00,0.000,4612,0.467,0.050,2907,789,1219,1320,1119,0,0,0,0,0,0,14.40,14.59,14.56
$GC,8828,0.89,261.2,2906,789,1320,1123,37.8,6.5,411,8852,0.00,2.28,19.25,0.993,9222,0.000,0.034,2907,2201,1130,1235,1025,0,0,0,0,0,0,14.75,14.68,13.79
$GC,9094,0.89,261.2,2906,2201,1233,1029,11.8,11.2,454,9102,0.00,2.33,0.00,0.000,260,0.000,0.046,2907,3595,1131,1233,1029,0,0,0,0,0,0,15.01,14.52,15.02
$GC,9136,0.89,261.2,2906,3595,1233,1030,7.3,10.5,461,9144,0.00,2.38,0.00,0.000,5126,0.000,0.041,2917,2194,1131,1233,1030,0,0,0,0,0,0,14.71,14.51,14.72
$STATE,9174,end climb,SURFACE_DEPTH_REACHED
$STATE,9174,begin surface coast
$FINISH,0.3,1.022888
$STATE,9204,end surface coast,CONTROL_FINISHED_OK
$STATE,9204,begin surface
$SM_CCo,9221,68.95,0.115,0,0,646,379.23
$SM_CCo,9295,-0.12,0.000,0,0,651,378.98
$SM_CCo,9299,0.47,0.319,0,0,647,379.23
$SM_GC,1.09,6.22,0.00,0.47,0.058,0.000,0.319,179,2189,647,-7.46,-0.31,379.23,0,0,0,0,0,0,14.66,15.02,14.51
$IRIDIUM_FIX,2234.68,-15802.37,160618,112636
$TT8_MAMPS,0.019474,0.277879
$HUMID,50.78
$INTERNAL_PRESSURE,9.46584
$TCM_TEMP,22.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.0,6.4
$24V_AH,13.02,201.405
$10V_AH,11.50,0.000
$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,15.450,97.050,273.425,69.425,0.000,25.449,51.355,325.730,0.500,0.000,8.107,1691.575,5718.441,449.762,1720.570,311.487,0.000,1114.760,0.000,1319.314,0.000,5.463,0.000
$DEVICE_MAMPS,466.650,58.905,1993.590,319.005,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,319.178,259.883,464.654,0.000,482.886,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,0.000,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342956
$DATA_FILE_SIZE,40715,473
$CAP_FILE_SIZE,100111,0
$CFSIZE,2097086464,1996554240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.149,263.74,1
$GPS,160618,141100,2244.495,-15800.293,42,1.0,42,9.8,0.7,288.1,7,22.5