version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 1041
start: 6 27 118 15 1 22
data:
$ID,626
$MISSION,2
$DIVE,1041
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$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,2630
$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,34
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2100
$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,0
$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
$GPS1,270618,145225,2245.2942,-15758.5811,38,1.2,38,9.8,1.3,245.8,6,42.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.2
$GPS2,270618,150039,2245.3020,-15758.6318,8,1.1,8,9.8,1.2,297.4,7,149.9
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,A10
$TGT_LATLONG,2245.785,-15757.885
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,47.6,1558,-21.5,-10.000,-24.01,1630
$D_GRID,360
$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,-0.66,-63.3,180,2211,705,609,0.0,0.0,0,66,0.00,0.00,-47.28,0.000,16386,0.000,0.000,180,2210,2254,2283,2225,0,0,0,0,0,0,15.00,28.83,15.00
$GC,71,-0.66,-63.3,181,2210,2283,2225,3.2,-5.8,7,87,7.68,2.38,-1.83,0.000,18692,0.441,0.067,2397,3621,2361,2397,2325,0,0,0,0,0,0,13.87,13.11,14.16
$GC,106,-0.66,-63.3,2397,3621,2397,2325,17.5,-39.2,12,114,0.05,2.47,0.00,0.000,3078,0.390,0.046,2414,2190,2361,2397,2325,0,0,0,0,0,0,14.18,14.58,14.38
$GC,364,-0.66,-63.3,2413,2189,2397,2324,72.7,-18.1,41,370,0.00,2.42,0.00,0.000,2308,0.000,0.060,2413,3609,2359,2396,2322,0,0,0,0,0,0,15.08,14.64,15.08
$GC,459,-0.66,-63.3,2413,3609,2397,2323,87.4,-13.3,50,465,0.00,2.35,0.00,0.000,3078,0.000,0.042,2413,2190,2359,2397,2321,0,0,0,0,0,0,14.83,14.71,14.84
$GC,716,-0.66,-63.3,2413,2190,2397,2323,123.2,-14.1,75,722,0.00,2.35,0.00,0.000,2564,0.000,0.059,2412,793,2360,2398,2323,0,0,0,0,0,0,15.11,14.69,15.11
$GC,755,-0.66,-63.3,2413,793,2397,2323,128.9,-14.7,78,762,0.00,2.35,0.00,0.000,3078,0.000,0.044,2414,2211,2360,2397,2323,0,0,0,0,0,0,14.84,14.73,14.86
$GC,1001,-0.66,-63.3,2413,2213,2397,2323,164.8,-14.7,103,1007,0.00,2.33,0.00,0.000,2308,0.000,0.060,2413,3607,2360,2397,2323,0,0,0,0,0,0,15.14,14.69,15.14
$GC,1020,-0.66,-63.3,2413,3608,2397,2323,167.0,-15.1,104,1027,0.00,2.33,0.00,0.000,3078,0.000,0.041,2413,2196,2360,2397,2323,0,0,0,0,0,0,14.84,14.74,14.87
$GC,1268,-0.66,-63.3,2413,2194,2397,2323,200.4,-12.2,129,1274,0.00,2.33,0.00,0.000,2564,0.000,0.058,2414,797,2360,2397,2323,0,0,0,0,0,0,15.14,14.71,15.14
$GC,1347,-0.66,-63.3,2413,796,2397,2321,206.2,-12.2,130,1354,0.00,2.33,0.00,0.000,3078,0.000,0.043,2413,2209,2360,2397,2323,0,0,0,0,0,0,14.86,14.76,14.88
$GC,1593,-0.66,-63.3,2413,2209,2397,2323,236.2,-10.0,137,1599,0.00,2.33,0.00,0.000,2308,0.000,0.060,2413,3607,2360,2397,2323,0,0,0,0,0,0,15.17,14.71,15.17
$GC,1679,-0.66,-63.3,2413,3607,2397,2323,244.4,-10.1,139,1684,0.00,2.33,0.00,0.000,3078,0.000,0.040,2413,2189,2360,2397,2323,0,0,0,0,0,0,14.88,14.78,14.89
$GC,1964,-0.66,-63.3,2413,2188,2397,2323,272.1,-10.0,146,1970,0.00,2.33,0.00,0.000,2564,0.000,0.057,2413,792,2360,2397,2323,0,0,0,0,0,0,15.17,14.72,15.17
$GC,1988,-0.66,-63.3,2413,790,2397,2323,272.1,-10.0,146,1994,0.00,2.30,0.00,0.000,3078,0.000,0.041,2413,2201,2360,2397,2323,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2253,-0.66,-63.3,2413,2203,2396,2323,301.0,-9.8,153,2258,0.00,2.35,0.00,0.000,2308,0.000,0.059,2413,3612,2359,2396,2323,0,0,0,0,0,0,15.18,14.71,15.18
$GC,2288,-0.66,-63.3,2413,3612,2396,2323,301.0,-9.8,153,2293,0.00,2.30,0.00,0.000,3078,0.000,0.038,2414,2200,2359,2397,2322,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2542,-0.66,-63.3,2413,2200,2397,2321,328.6,-9.7,160,2548,0.00,2.35,0.00,0.000,2564,0.000,0.057,2413,792,2359,2397,2321,0,0,0,0,0,0,15.18,14.71,15.18
$GC,2596,-0.66,-63.3,2413,792,2396,2321,333.2,-10.0,161,2602,0.00,2.33,0.00,0.000,3078,0.000,0.041,2413,2206,2358,2397,2320,0,0,0,0,0,0,14.88,14.77,14.89
$GC,2871,-0.66,-63.3,2413,2206,2396,2317,359.8,-9.0,168,2876,0.00,2.33,0.00,0.000,2308,0.000,0.059,2413,3599,2357,2397,2317,0,0,0,0,0,0,15.17,14.70,15.18
$STATE,2911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2911,begin apogee
$GC,2921,-0.14,0.0,2413,2197,2396,2317,363.9,-9.1,169,2977,0.47,0.00,53.03,1.333,10246,0.253,0.000,2587,2196,2098,2181,2015,0,0,0,0,0,0,14.28,14.46,13.57
$STATE,2978,end apogee,CONTROL_FINISHED_OK
$STATE,2978,begin climb
$GC,2981,0.66,63.3,2587,2196,2177,2010,365.9,0.0,170,3040,0.57,2.38,50.50,1.310,10756,0.148,0.058,2843,795,1836,1934,1738,0,0,0,0,0,0,14.44,14.38,13.51
$GC,3215,0.78,162.0,2843,795,1927,1736,358.8,3.8,176,3304,0.05,2.33,78.68,1.307,11270,0.272,0.035,2909,2210,1431,1540,1323,0,0,0,0,0,0,14.50,14.68,13.57
$GC,3578,0.78,162.0,2909,2210,1536,1316,308.7,15.1,185,3580,0.08,0.00,0.00,0.000,4102,0.428,0.000,2885,2213,1426,1536,1316,0,0,0,0,0,0,14.32,14.72,14.65
$GC,3819,0.78,162.0,2885,2213,1536,1313,275.9,13.2,191,3824,0.00,2.42,0.00,0.000,4612,0.000,0.057,2896,790,1425,1536,1314,0,0,0,0,0,0,15.11,14.70,15.11
$GC,3932,0.78,162.0,2895,790,1535,1313,264.1,13.5,193,3938,0.05,2.30,0.00,0.000,5126,0.443,0.036,2880,2192,1423,1534,1313,0,0,0,0,0,0,14.38,14.77,14.69
$GC,4186,0.78,162.0,2880,2194,1534,1311,227.0,12.7,200,4192,0.00,2.40,0.00,0.000,516,0.000,0.057,2890,793,1422,1534,1311,0,0,0,0,0,0,15.15,14.71,15.15
$GC,4274,0.78,162.0,2889,793,1534,1311,217.5,12.1,202,4280,0.00,2.33,0.00,0.000,5126,0.000,0.036,2890,2210,1422,1534,1311,0,0,0,0,0,0,14.87,14.77,14.89
$GC,4523,0.82,191.8,2889,2210,1534,1309,193.8,8.1,212,4555,0.00,2.47,22.88,1.102,8708,0.000,0.057,2901,791,1308,1419,1198,0,0,0,0,0,0,15.14,14.64,13.84
$GC,4710,0.82,191.8,2900,790,1416,1198,172.5,12.4,230,4716,0.00,2.35,0.00,0.000,5126,0.000,0.037,2901,2209,1307,1416,1198,0,0,0,0,0,0,14.83,14.73,14.85
$GC,4967,0.82,191.8,2900,2209,1416,1196,143.3,12.2,255,4973,0.00,2.42,0.00,0.000,4612,0.000,0.056,2912,794,1306,1416,1196,0,0,0,0,0,0,15.10,14.68,15.10
$GC,5081,0.82,191.8,2911,794,1416,1196,129.6,11.1,266,5088,0.05,2.33,0.00,0.000,5126,0.440,0.037,2895,2203,1305,1416,1195,0,0,0,0,0,0,14.35,14.76,14.66
$GC,5337,0.83,199.4,2895,2204,1416,1194,104.0,9.5,291,5348,0.00,2.40,5.07,0.768,8708,0.000,0.055,2906,796,1286,1399,1174,0,0,0,0,0,0,15.13,14.31,13.71
$GC,5584,0.86,230.0,2905,796,1398,1176,80.4,8.1,315,5617,0.00,2.33,27.20,0.952,9222,0.000,0.036,2906,2209,1159,1266,1053,0,0,0,0,0,0,14.83,14.76,13.88
$GC,5857,0.86,230.0,2905,2209,1262,1051,52.3,11.5,342,5863,0.00,2.30,0.00,0.000,260,0.000,0.053,2905,3599,1156,1262,1051,0,0,0,0,0,0,15.07,14.66,15.07
$GC,5882,0.86,230.0,2905,3599,1262,1052,49.6,10.9,344,5888,0.00,2.35,0.00,0.000,5126,0.000,0.044,2916,2201,1157,1262,1052,0,0,0,0,0,0,14.80,14.69,14.81
$GC,6135,0.91,270.1,2916,2201,1262,1052,26.8,7.5,372,6177,0.00,2.40,34.55,0.883,10756,0.000,0.060,2927,796,989,1087,892,0,0,0,0,0,0,15.09,14.33,13.85
$GC,6234,0.91,270.1,2927,796,1085,889,15.1,14.3,388,6242,0.00,2.40,0.00,0.000,5126,0.000,0.037,2927,2220,986,1085,888,0,0,0,0,0,0,14.73,14.62,14.76
$STATE,6321,end climb,SURFACE_DEPTH_REACHED
$STATE,6321,begin surface coast
$FINISH,0.2,1.022820
$STATE,6345,end surface coast,CONTROL_FINISHED_OK
$STATE,6345,begin surface
$SM_CCo,6364,68.78,0.780,1,0,646,356.17
$SM_CCo,6442,-0.30,0.000,0,0,650,355.92
$SM_CCo,6447,0.17,0.471,0,0,647,355.92
$SM_GC,1.56,6.22,0.00,0.17,0.055,0.000,0.471,177,2225,647,-7.53,0.71,355.92,0,0,0,0,0,0,14.69,15.02,14.54
$IRIDIUM_FIX,2234.68,-15749.78,270618,145430
$TT8_MAMPS,0.018725,0.23968
$HUMID,50.94
$INTERNAL_PRESSURE,9.51467
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,13.11,218.121
$10V_AH,12.14,0.000
$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,15.225,84.800,271.900,68.950,0.000,38.931,40.331,260.371,0.000,0.000,9.115,1414.885,3435.997,426.691,1416.376,275.691,0.000,1004.260,0.000,1084.494,0.000,0.550,0.000
$DEVICE_MAMPS,442.935,67.320,1332.630,779.535,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,273.343,254.107,461.559,0.000,296.329,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,0.000,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343000
$DATA_FILE_SIZE,33925,408
$CAP_FILE_SIZE,82577,0
$CFSIZE,2097086464,1986101248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.020,312.11,1
$GPS,270618,164951,2245.549,-15758.041,20,2.0,21,9.8,0.0,0.0,4,28.1