version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 467
start: 5 3 118 5 16 8
data:
$ID,626
$MISSION,2
$DIVE,467
$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,36
$R_STBD_OVSHOOT,70
$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
$GPS1,030518,050708,2217.2007,-15753.2607,19,1.3,19,9.8,0.5,354.1,6,39.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-73.7
$GPS2,030518,051525,2217.3142,-15753.4023,17,1.3,17,9.8,0.5,309.4,6,44.6
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,EE
$TGT_LATLONG,2218.000,-15730.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,108.0,40120,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.52,-87.6,184,2162,675,629,0.0,0.0,0,73,0.00,0.00,-55.05,0.000,16386,0.000,0.000,184,2162,2503,2534,2472,0,0,0,0,0,0,14.94,28.83,14.94
$GC,76,-0.52,-87.6,184,2164,2534,2472,3.5,-6.0,7,95,7.60,2.40,-2.35,0.000,18948,0.444,0.067,2437,707,2640,2684,2596,0,0,0,0,0,0,14.23,13.69,14.66
$GC,110,-0.52,-87.6,2436,709,2684,2595,18.2,-39.9,11,119,0.03,2.35,0.00,0.000,3078,0.508,0.044,2435,2086,2638,2683,2593,0,0,0,0,0,0,14.26,14.54,14.40
$GC,368,-0.52,-87.6,2435,2088,2684,2593,77.9,-20.6,39,374,0.00,2.40,0.00,0.000,2308,0.000,0.057,2428,3537,2638,2684,2593,0,0,0,0,0,0,15.00,14.63,15.01
$GC,416,-0.52,-87.6,2427,3538,2684,2593,87.6,-20.5,43,421,0.05,2.35,0.00,0.000,3078,0.421,0.050,2444,2120,2638,2684,2593,0,0,0,0,0,0,14.36,14.68,14.63
$GC,672,-0.52,-87.6,2444,2115,2684,2593,133.4,-17.0,68,677,0.00,2.30,0.00,0.000,516,0.000,0.063,2444,721,2638,2684,2593,0,0,0,0,0,0,15.07,14.67,15.07
$GC,721,-0.52,-87.6,2443,719,2684,2593,141.6,-17.3,72,729,0.00,2.40,0.00,0.000,3078,0.000,0.047,2441,2130,2638,2684,2593,0,0,0,0,0,0,14.64,14.59,14.66
$GC,971,-0.52,-87.6,2441,2131,2684,2593,176.0,-14.1,97,976,0.00,2.33,0.00,0.000,2308,0.000,0.064,2441,3529,2638,2684,2593,0,0,0,0,0,0,15.10,14.69,15.10
$GC,1006,-0.52,-87.6,2441,3530,2684,2593,180.8,-13.4,100,1011,0.00,2.33,0.00,0.000,3078,0.000,0.050,2441,2122,2638,2684,2593,0,0,0,0,0,0,14.86,14.74,14.88
$GC,1259,-0.52,-87.6,2441,2121,2685,2593,218.3,-14.6,116,1264,0.00,2.33,0.00,0.000,2564,0.000,0.067,2442,721,2639,2685,2593,0,0,0,0,0,0,15.14,14.71,15.15
$GC,1291,-0.52,-87.6,2441,720,2685,2593,218.3,-14.6,116,1297,0.00,2.33,0.00,0.000,3078,0.000,0.052,2441,2133,2639,2685,2593,0,0,0,0,0,0,14.89,14.76,14.90
$GC,1544,-0.52,-87.6,2441,2134,2685,2593,262.7,-16.7,123,1550,0.00,2.33,0.00,0.000,2308,0.000,0.067,2441,3533,2639,2685,2593,0,0,0,0,0,0,15.18,14.72,15.18
$GC,1561,-0.52,-87.6,2441,3533,2685,2593,262.7,-16.7,123,1567,0.00,2.30,0.00,0.000,3078,0.000,0.050,2441,2128,2639,2686,2593,0,0,0,0,0,0,14.91,14.79,14.93
$GC,1830,-0.52,-87.6,2441,2128,2686,2593,302.9,-14.3,130,1835,0.00,2.35,0.00,0.000,2564,0.000,0.068,2441,712,2639,2685,2593,0,0,0,0,0,0,15.20,14.75,15.20
$GC,1907,-0.52,-87.6,2440,712,2685,2593,308.5,-14.0,131,1914,0.00,2.33,0.00,0.000,3078,0.000,0.051,2441,2124,2639,2686,2593,0,0,0,0,0,0,14.92,14.79,14.94
$GC,2152,-0.52,-87.6,2441,2125,2685,2592,340.5,-10.9,138,2158,0.00,2.35,0.00,0.000,2308,0.000,0.071,2441,3532,2639,2685,2593,0,0,0,0,0,0,15.21,14.74,15.21
$GC,2237,-0.52,-87.6,2441,3532,2685,2592,348.4,-10.1,140,2244,0.00,2.33,0.00,0.000,3078,0.000,0.051,2440,2122,2638,2685,2592,0,0,0,0,0,0,14.92,14.78,14.95
$GC,2523,-0.52,-87.6,2441,2122,2685,2591,375.8,-9.6,147,2528,0.00,2.30,0.00,0.000,2564,0.000,0.060,2441,715,2638,2685,2591,0,0,0,0,0,0,15.21,14.78,15.21
$GC,2594,-0.52,-87.6,2440,715,2685,2589,380.6,-9.9,148,2600,0.00,2.30,0.00,0.000,3078,0.000,0.040,2441,2138,2637,2685,2590,0,0,0,0,0,0,14.93,14.82,14.95
$GC,2847,-0.52,-87.6,2439,2139,2685,2588,413.2,-12.0,155,2854,0.00,2.40,0.00,0.000,2564,0.000,0.065,2441,713,2636,2685,2587,0,0,0,0,0,0,15.22,14.75,15.22
$GC,2870,-0.52,-87.6,2441,712,2685,2587,413.2,-12.0,155,2876,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2134,2636,2685,2587,0,0,0,0,0,0,14.95,14.85,14.96
$GC,3133,-0.52,-87.6,2440,2136,2685,2584,446.3,-11.2,162,3139,0.00,2.28,0.00,0.000,2308,0.000,0.057,2441,3520,2634,2685,2584,0,0,0,0,0,0,15.22,14.76,15.22
$GC,3160,-0.52,-87.6,2441,3520,2685,2584,446.3,-11.2,162,3165,0.00,2.30,0.00,0.000,3078,0.000,0.051,2441,2125,2634,2685,2584,0,0,0,0,0,0,14.92,14.80,14.95
$GC,3418,-0.52,-87.6,2440,2123,2685,2580,480.4,-12.1,169,3424,0.00,2.35,0.00,0.000,2308,0.000,0.064,2441,3518,2632,2685,2580,0,0,0,0,0,0,15.21,14.74,15.22
$GC,3455,-0.52,-87.6,2440,3518,2685,2580,480.4,-12.1,169,3462,0.00,2.30,0.00,0.000,3078,0.000,0.047,2441,2114,2632,2685,2580,0,0,0,0,0,0,14.92,14.81,14.95
$GC,3701,-0.52,-87.6,2441,2113,2685,2575,512.3,-11.1,176,3706,0.00,2.28,0.00,0.000,2564,0.000,0.054,2441,717,2630,2685,2575,0,0,0,0,0,0,15.22,14.78,15.22
$GC,3753,-0.52,-87.6,2441,717,2685,2574,517.4,-11.2,177,3759,0.00,2.28,0.00,0.000,3078,0.000,0.040,2441,2117,2629,2685,2573,0,0,0,0,0,0,14.92,14.80,14.94
$GC,4026,-0.52,-87.6,2440,2118,2685,2570,547.5,-10.5,184,4032,0.00,2.33,0.00,0.000,2308,0.000,0.058,2441,3532,2627,2685,2570,0,0,0,0,0,0,15.22,14.75,15.22
$GC,4050,-0.52,-87.6,2441,3533,2685,2570,547.5,-10.5,184,4056,0.00,2.28,0.00,0.000,3078,0.000,0.039,2441,2123,2627,2685,2570,0,0,0,0,0,0,14.92,14.82,14.95
$GC,4314,-0.52,-87.6,2441,2122,2685,2567,576.0,-9.9,191,4319,0.00,2.30,0.00,0.000,2564,0.000,0.054,2441,715,2625,2685,2566,0,0,0,0,0,0,15.21,14.76,15.21
$GC,4345,-0.52,-87.6,2440,715,2685,2566,576.0,-9.9,191,4351,0.00,2.30,0.00,0.000,3078,0.000,0.039,2441,2132,2625,2685,2565,0,0,0,0,0,0,14.92,14.80,14.93
$STATE,4597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4597,begin apogee
$GC,4603,-0.13,0.0,2441,1937,2685,2562,603.4,-9.4,198,4679,0.35,0.00,69.72,1.670,10246,0.244,0.000,2571,1937,2277,2356,2199,0,0,0,0,0,0,14.40,14.32,13.74
$STATE,4680,end apogee,CONTROL_FINISHED_OK
$STATE,4680,begin climb
$GC,4682,0.52,87.6,2571,1937,2356,2199,606.2,0.0,200,4761,0.45,2.45,71.80,1.773,10756,0.159,0.068,2773,553,1923,2013,1834,0,0,0,0,0,0,14.38,14.23,13.47
$GC,4885,0.73,264.4,2773,553,2013,1837,605.1,0.7,205,5047,0.15,2.35,148.75,2.075,11270,0.119,0.042,2883,1955,1205,1303,1108,0,0,0,0,0,0,14.49,14.50,13.31
$GC,5284,0.73,264.4,2883,1955,1304,1111,523.3,25.4,215,5290,0.08,2.33,0.00,0.000,4356,0.428,0.051,2853,3355,1207,1304,1110,0,0,0,0,0,0,14.21,14.53,14.42
$GC,5331,0.73,264.4,2853,3355,1303,1110,512.9,25.2,216,5338,0.03,2.35,0.00,0.000,5126,0.634,0.047,2853,1960,1206,1303,1110,0,0,0,0,0,0,14.31,14.61,14.57
$GC,5611,0.73,264.4,2853,1958,1304,1108,446.7,23.5,223,5616,0.00,2.33,0.00,0.000,4356,0.000,0.047,2853,3359,1206,1304,1108,0,0,0,0,0,0,15.02,14.69,15.03
$GC,5648,0.73,264.4,2853,3358,1303,1107,446.7,23.5,223,5655,0.00,2.35,0.00,0.000,5126,0.000,0.046,2862,1941,1205,1303,1107,0,0,0,0,0,0,14.81,14.71,14.83
$GC,5894,0.73,264.4,2862,1940,1303,1105,377.5,23.6,230,5896,0.03,0.00,0.00,0.000,4102,0.626,0.000,2853,1938,1203,1303,1104,0,0,0,0,0,0,14.57,14.78,14.72
$GC,6136,0.73,264.4,2852,1938,1303,1103,324.2,21.9,236,6137,0.00,0.00,0.00,0.000,4102,0.000,0.000,2853,1938,1203,1303,1103,0,0,0,0,0,0,15.11,15.11,15.11
$GC,6374,0.73,264.4,2853,1938,1303,1102,275.5,20.0,242,6375,0.00,0.00,0.00,0.000,4102,0.000,0.000,2853,1938,1202,1303,1102,0,0,0,0,0,0,15.14,15.14,15.14
$GC,6614,0.73,264.4,2852,1935,1303,1102,232.3,17.7,248,6616,0.00,0.00,0.00,0.000,4102,0.000,0.000,2853,1935,1202,1303,1102,0,0,0,0,0,0,15.15,15.16,15.15
$GC,6854,0.73,264.4,2852,1936,1303,1102,191.1,16.2,257,6855,0.00,0.00,0.00,0.000,4102,0.000,0.000,2853,1935,1202,1303,1102,0,0,0,0,0,0,15.16,15.16,15.16
$GC,7094,0.73,264.4,2853,1935,1303,1101,149.9,16.7,281,7099,0.00,2.35,0.00,0.000,4356,0.000,0.046,2853,3366,1202,1303,1101,0,0,0,0,0,0,15.14,14.75,15.14
$GC,7305,0.73,264.4,2852,3366,1304,1101,115.3,16.6,300,7314,0.03,2.42,0.00,0.000,5126,0.474,0.049,2855,1954,1202,1303,1102,0,0,0,0,0,0,14.31,14.59,14.42
$GC,7554,0.73,264.4,2855,1953,1303,1102,75.3,15.2,325,7562,0.00,0.00,0.00,0.000,4102,0.000,0.000,2855,1954,1202,1303,1102,0,0,0,0,0,0,15.11,15.11,15.11
$GC,7804,0.73,264.4,2855,1953,1304,1102,40.1,13.6,350,7809,0.00,2.33,0.00,0.000,4356,0.000,0.048,2855,3354,1202,1303,1102,0,0,0,0,0,0,15.09,14.71,15.09
$GC,7883,0.73,264.4,2855,3354,1303,1104,29.0,14.4,357,7893,0.05,2.42,0.00,0.000,5126,0.386,0.047,2848,1942,1203,1303,1104,0,0,0,0,0,0,14.21,14.59,14.40
$STATE,8071,end climb,SURFACE_DEPTH_REACHED
$STATE,8071,begin surface coast
$FINISH,0.3,1.004077
$STATE,8096,end surface coast,CONTROL_FINISHED_OK
$STATE,8096,begin surface
$SM_CCo,8112,81.40,0.117,0,0,648,400.08
$SM_GC,1.26,6.05,0.32,81.40,0.054,0.054,0.117,184,2162,648,-7.48,-1.19,400.08,0,0,0,0,0,0,14.78,14.77,14.57
$IRIDIUM_FIX,2209.02,-15754.18,030518,050844
$TT8_MAMPS,0.018725,0.328811
$HUMID,45.98
$INTERNAL_PRESSURE,9.43654
$TCM_TEMP,21.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.7,10.3
$24V_AH,13.31,107.011
$10V_AH,12.97,0.000
$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,14.875,94.050,290.275,81.400,0.000,29.006,48.304,277.557,2.500,0.000,18.333,1381.663,5044.534,475.728,1646.864,169.143,0.000,1063.851,0.000,1258.011,0.000,21.489,0.000
$DEVICE_MAMPS,634.185,71.145,2074.680,117.045,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,264.884,207.864,370.206,365.008,560.027,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343160
$DATA_FILE_SIZE,33999,392
$CAP_FILE_SIZE,87213,0
$CFSIZE,2097086464,2047508480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.089,306.76,1
$GPS,030518,073400,2217.063,-15752.636,42,0.7,42,9.8,0.0,0.0,11,147.8