version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 471
start: 5 3 118 16 41 2
data:
$ID,626
$MISSION,2
$DIVE,471
$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,39
$R_STBD_OVSHOOT,80
$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
$GPS1,030518,163231,2217.7256,-15750.7930,43,1.1,43,9.8,0.4,327.4,7,71.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-75.6
$GPS2,030518,164020,2217.7998,-15750.8760,13,0.9,13,9.8,1.1,287.9,8,66.9
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,EE
$TGT_LATLONG,2218.000,-15730.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,94.4,35772,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.52,-87.6,182,2162,678,634,0.0,0.0,0,73,0.00,0.00,-55.55,0.000,16386,0.000,0.000,182,2161,2525,2556,2494,0,0,0,0,0,0,14.90,28.83,14.90
$GC,77,-0.52,-87.6,182,2161,2557,2493,3.7,-6.9,7,95,7.62,2.17,-1.92,0.000,19204,0.444,0.062,2429,3507,2639,2682,2597,0,0,0,0,0,0,14.22,13.69,14.63
$GC,290,-0.52,-87.6,2427,3507,2682,2594,53.9,-18.0,31,296,0.05,2.28,0.00,0.000,3078,0.409,0.045,2445,2128,2638,2682,2594,0,0,0,0,0,0,14.34,14.65,14.60
$GC,544,-0.52,-87.6,2445,2121,2682,2593,104.1,-20.9,56,550,0.00,2.30,0.00,0.000,516,0.000,0.060,2445,722,2637,2682,2593,0,0,0,0,0,0,15.03,14.64,15.04
$GC,568,-0.52,-87.6,2445,722,2682,2592,109.5,-21.3,58,574,0.00,2.25,0.00,0.000,3078,0.000,0.048,2442,2082,2637,2683,2592,0,0,0,0,0,0,14.81,14.69,14.82
$GC,823,-0.52,-87.6,2441,2084,2683,2593,158.8,-18.2,83,828,0.00,2.38,0.00,0.000,2308,0.000,0.054,2441,3534,2637,2682,2593,0,0,0,0,0,0,15.07,14.68,15.07
$GC,871,-0.52,-87.6,2441,3534,2683,2592,165.2,-13.6,87,880,0.00,2.38,0.00,0.000,3078,0.000,0.040,2441,2120,2638,2683,2593,0,0,0,0,0,0,14.64,14.59,14.66
$GC,1149,-0.52,-87.6,2441,2120,2684,2592,206.7,-14.4,112,1154,0.00,2.33,0.00,0.000,2564,0.000,0.063,2441,718,2638,2684,2593,0,0,0,0,0,0,15.11,14.69,15.11
$GC,1202,-0.52,-87.6,2441,717,2683,2593,213.7,-15.1,113,1207,0.00,2.33,0.00,0.000,3078,0.000,0.048,2441,2134,2638,2684,2593,0,0,0,0,0,0,14.86,14.74,14.88
$GC,1475,-0.52,-87.6,2441,2136,2684,2592,251.8,-13.0,120,1480,0.00,2.30,0.00,0.000,2308,0.000,0.056,2441,3544,2638,2684,2593,0,0,0,0,0,0,15.16,14.74,15.16
$GC,1586,-0.52,-87.6,2441,3544,2684,2593,262.2,-12.7,122,1592,0.00,2.30,0.00,0.000,3078,0.000,0.040,2441,2121,2638,2684,2593,0,0,0,0,0,0,14.90,14.78,14.92
$GC,1839,-0.52,-87.6,2441,2120,2684,2592,297.5,-12.7,129,1844,0.00,2.33,0.00,0.000,2564,0.000,0.063,2441,714,2638,2684,2592,0,0,0,0,0,0,15.19,14.74,15.19
$GC,1871,-0.52,-87.6,2441,713,2684,2593,297.5,-12.7,129,1876,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2136,2638,2684,2592,0,0,0,0,0,0,14.92,14.82,14.93
$GC,2124,-0.52,-87.6,2440,2137,2684,2592,336.3,-13.5,136,2129,0.00,2.28,0.00,0.000,2308,0.000,0.058,2441,3522,2638,2684,2592,0,0,0,0,0,0,15.19,14.76,15.20
$GC,2156,-0.52,-87.6,2440,3523,2684,2592,336.3,-13.5,136,2161,0.00,2.25,0.00,0.000,3078,0.000,0.037,2441,2116,2638,2684,2592,0,0,0,0,0,0,14.93,14.83,14.95
$GC,2409,-0.52,-87.6,2440,2115,2684,2592,369.3,-11.5,143,2410,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2114,2638,2684,2592,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2649,-0.52,-87.6,2440,2115,2684,2589,397.2,-11.8,149,2654,0.00,2.28,0.00,0.000,2564,0.000,0.055,2440,724,2636,2684,2589,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2676,-0.52,-87.6,2441,723,2684,2589,397.2,-11.8,149,2681,0.00,2.25,0.00,0.000,3078,0.000,0.037,2441,2126,2636,2684,2588,0,0,0,0,0,0,14.94,14.83,14.95
$GC,2933,-0.52,-87.6,2441,2128,2684,2586,429.0,-10.9,156,2939,0.00,2.30,0.00,0.000,2308,0.000,0.057,2441,3526,2635,2684,2586,0,0,0,0,0,0,15.21,14.76,15.22
$GC,3005,-0.52,-87.6,2441,3526,2684,2586,433.4,-10.8,157,3011,0.00,2.25,0.00,0.000,3078,0.000,0.037,2441,2122,2634,2684,2585,0,0,0,0,0,0,14.93,14.83,14.95
$GC,3259,-0.52,-87.6,2440,2121,2684,2582,464.6,-11.3,164,3264,0.00,2.28,0.00,0.000,2564,0.000,0.055,2441,731,2633,2684,2583,0,0,0,0,0,0,15.21,14.76,15.22
$GC,3331,-0.52,-87.6,2440,730,2684,2579,469.9,-11.3,165,3336,0.00,2.25,0.00,0.000,3078,0.000,0.037,2441,2128,2631,2684,2579,0,0,0,0,0,0,14.92,14.82,14.94
$GC,3583,-0.52,-87.6,2440,2131,2684,2573,501.7,-11.0,172,3585,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2131,2629,2684,2574,0,0,0,0,0,0,15.21,15.22,15.21
$GC,3824,-0.52,-87.6,2440,2131,2684,2570,525.8,-9.7,178,3825,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2131,2627,2684,2570,0,0,0,0,0,0,15.22,15.22,15.22
$GC,4063,-0.52,-87.6,2441,2132,2684,2567,548.0,-9.0,184,4064,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2132,2625,2684,2567,0,0,0,0,0,0,15.22,15.23,15.22
$GC,4304,-0.52,-87.6,2440,2132,2684,2563,569.4,-9.1,190,4305,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2132,2623,2684,2563,0,0,0,0,0,0,15.22,15.22,15.22
$GC,4545,-0.52,-87.6,2441,2131,2684,2561,591.8,-9.4,196,4550,0.00,2.35,0.00,0.000,2564,0.000,0.054,2441,725,2622,2684,2560,0,0,0,0,0,0,15.21,14.73,15.21
$GC,4572,-0.52,-87.6,2440,724,2684,2560,591.8,-9.4,196,4577,0.00,2.28,0.00,0.000,3078,0.000,0.038,2441,2129,2622,2684,2560,0,0,0,0,0,0,14.90,14.80,14.92
$STATE,4628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4628,begin apogee
$GC,4634,-0.13,0.0,2441,1924,2684,2560,600.1,-9.6,198,4703,0.35,0.00,66.53,1.859,10246,0.245,0.000,2571,1924,2279,2360,2199,0,0,0,0,0,0,14.38,14.44,13.64
$STATE,4704,end apogee,CONTROL_FINISHED_OK
$STATE,4704,begin climb
$GC,4706,0.52,87.6,2571,1924,2360,2205,601.8,0.0,199,4787,0.45,2.33,73.70,2.205,10756,0.161,0.057,2772,577,1925,2014,1837,0,0,0,0,0,0,14.37,14.00,13.30
$GC,4944,0.71,249.1,2771,577,2013,1836,601.0,1.4,205,5098,0.12,2.28,141.57,2.604,11270,0.133,0.034,2870,1976,1267,1372,1162,0,0,0,0,0,0,14.50,14.54,13.08
$GC,5335,0.71,249.1,2869,1977,1372,1162,530.5,23.2,215,5341,0.08,2.25,0.00,0.000,4356,0.412,0.044,2839,3334,1267,1372,1163,0,0,0,0,0,0,14.22,14.54,14.41
$GC,5352,0.71,249.1,2839,3333,1372,1162,530.5,23.2,215,5358,0.00,2.25,0.00,0.000,5126,0.000,0.045,2849,1984,1267,1372,1162,0,0,0,0,0,0,14.67,14.57,14.69
$GC,5621,0.71,249.1,2848,1984,1372,1160,473.4,20.2,222,5626,0.00,2.42,0.00,0.000,4612,0.000,0.060,2860,539,1265,1371,1160,0,0,0,0,0,0,15.00,14.65,15.00
$GC,5643,0.71,249.1,2859,538,1371,1160,473.4,20.2,222,5649,0.05,2.28,0.00,0.000,5126,0.432,0.034,2844,1944,1266,1372,1160,0,0,0,0,0,0,14.38,14.73,14.65
$GC,5906,0.71,249.1,2844,1959,1372,1157,417.8,19.4,229,5911,0.00,2.30,0.00,0.000,4356,0.000,0.046,2844,3354,1264,1372,1157,0,0,0,0,0,0,15.07,14.73,15.07
$GC,5973,0.71,249.1,2844,3354,1371,1156,409.2,19.7,230,5979,0.00,2.33,0.00,0.000,5126,0.000,0.046,2854,1947,1263,1371,1156,0,0,0,0,0,0,14.84,14.73,14.85
$GC,6232,0.71,249.1,2853,1946,1371,1155,353.5,19.6,237,6233,0.00,0.00,0.00,0.000,4102,0.000,0.000,2854,1946,1263,1371,1155,0,0,0,0,0,0,15.11,15.11,15.11
$GC,6471,0.71,249.1,2854,1946,1371,1152,310.6,17.6,243,6477,0.00,2.33,0.00,0.000,4356,0.000,0.045,2854,3348,1260,1369,1152,0,0,0,0,0,0,15.14,14.76,15.14
$GC,6548,0.71,249.1,2854,3349,1371,1152,302.1,18.2,244,6556,0.08,2.33,0.00,0.000,5126,0.388,0.045,2840,1938,1261,1371,1152,0,0,0,0,0,0,14.34,14.76,14.66
$GC,6795,0.71,249.1,2840,1936,1371,1150,250.6,18.1,251,6800,0.00,2.30,0.00,0.000,516,0.000,0.060,2850,541,1260,1370,1150,0,0,0,0,0,0,15.15,14.71,15.15
$GC,6806,0.71,249.1,2850,541,1370,1151,250.6,18.1,251,6811,0.00,2.28,0.00,0.000,5126,0.000,0.033,2850,1949,1260,1371,1150,0,0,0,0,0,0,14.90,14.81,14.91
$GC,7079,0.71,249.1,2850,1959,1371,1150,202.3,16.3,258,7084,0.00,2.28,0.00,0.000,4356,0.000,0.044,2850,3350,1260,1371,1150,0,0,0,0,0,0,15.16,14.76,15.16
$GC,7301,0.71,249.1,2850,3350,1370,1149,164.7,14.8,276,7307,0.05,2.33,0.00,0.000,5126,0.446,0.044,2845,1950,1260,1370,1150,0,0,0,0,0,0,14.38,14.75,14.65
$GC,7558,0.71,249.1,2844,1948,1370,1150,129.3,13.0,301,7563,0.00,2.30,0.00,0.000,4356,0.000,0.044,2845,3350,1260,1370,1150,0,0,0,0,0,0,15.12,14.74,15.12
$GC,7668,0.71,249.1,2845,3350,1370,1151,113.7,13.7,311,7673,0.00,2.30,0.00,0.000,5126,0.000,0.044,2854,1950,1260,1370,1151,0,0,0,0,0,0,14.85,14.74,14.87
$GC,7922,0.71,249.1,2854,1949,1370,1152,78.5,15.5,336,7927,0.00,2.33,0.00,0.000,4612,0.000,0.059,2865,545,1261,1370,1152,0,0,0,0,0,0,15.11,14.68,15.10
$GC,7948,0.71,249.1,2865,544,1370,1153,74.4,15.8,338,7954,0.08,2.28,0.00,0.000,5126,0.376,0.031,2841,1962,1261,1370,1153,0,0,0,0,0,0,14.32,14.78,14.62
$GC,8203,0.71,249.1,2841,1970,1370,1156,40.2,11.9,363,8209,0.00,2.22,0.00,0.000,260,0.000,0.045,2841,3348,1263,1370,1156,0,0,0,0,0,0,15.08,14.71,15.09
$GC,8264,0.71,249.1,2841,3348,1370,1157,33.2,11.4,368,8269,0.00,2.30,0.00,0.000,5126,0.000,0.044,2851,1950,1263,1370,1157,0,0,0,0,0,0,14.83,14.72,14.84
$STATE,8533,end climb,SURFACE_DEPTH_REACHED
$STATE,8533,begin surface coast
$FINISH,0.3,1.023687
$STATE,8564,end surface coast,CONTROL_FINISHED_OK
$STATE,8565,begin surface
$SM_CCo,8580,97.88,0.108,0,0,646,400.08
$SM_GC,1.39,6.15,0.25,97.88,0.076,0.057,0.108,184,2153,646,-7.43,-1.75,400.08,0,0,0,0,0,0,14.76,14.78,14.56
$IRIDIUM_FIX,2211.35,-15751.14,030518,163403
$TT8_MAMPS,0.018725,0.326564
$HUMID,44.76
$INTERNAL_PRESSURE,9.44631
$TCM_TEMP,21.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.5,6.4
$24V_AH,13.08,107.903
$10V_AH,13.01,0.000
$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,15.075,96.875,281.800,97.875,0.000,26.348,45.502,263.074,0.500,0.000,14.317,1498.369,5303.625,463.441,1738.170,171.976,0.000,1085.310,0.000,1376.563,0.000,5.460,0.000
$DEVICE_MAMPS,445.995,63.495,2604.060,107.865,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,282.238,219.015,392.923,399.336,612.733,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343104
$DATA_FILE_SIZE,37370,416
$CAP_FILE_SIZE,90611,0
$CFSIZE,2097086464,2047115264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.111,300.51,1
$GPS,030518,190632,2217.806,-15750.206,15,1.2,15,9.8,0.5,288.8,6,39.2