version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 472
start: 5 3 118 19 14 43
data:
$ID,626
$MISSION,2
$DIVE,472
$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,38
$R_STBD_OVSHOOT,85
$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
$GPS1,030518,190632,2217.8059,-15750.2061,15,1.2,15,9.8,0.5,288.8,6,39.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-74.3
$GPS2,030518,191401,2217.8630,-15750.2617,14,1.2,14,9.8,0.6,322.5,6,50.1
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,EE
$TGT_LATLONG,2218.000,-15730.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,94.2,34719,-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,-87.6,184,2159,675,626,0.0,0.0,0,73,0.00,0.00,-54.60,0.000,16386,0.000,0.000,185,2158,2469,2502,2437,0,0,0,0,0,0,14.93,28.83,14.94
$GC,76,-0.52,-87.6,184,2158,2502,2437,3.3,-5.4,7,95,7.57,2.40,-2.88,0.000,18948,0.441,0.074,2439,720,2638,2684,2592,0,0,0,0,0,0,14.23,13.71,14.65
$GC,225,-0.52,-87.6,2438,719,2684,2589,45.9,-21.1,25,230,0.00,2.22,0.00,0.000,3078,0.000,0.038,2429,2080,2636,2684,2588,0,0,0,0,0,0,14.76,14.66,14.77
$GC,479,-0.52,-87.6,2429,2083,2684,2589,98.9,-20.7,50,485,0.05,2.38,0.00,0.000,2308,0.462,0.049,2441,3532,2636,2684,2588,0,0,0,0,0,0,14.43,14.66,14.62
$GC,537,-0.52,-87.6,2441,3533,2684,2589,109.7,-17.8,55,542,0.00,2.30,0.00,0.000,3078,0.000,0.042,2442,2129,2636,2684,2589,0,0,0,0,0,0,14.81,14.69,14.83
$GC,791,-0.52,-87.6,2441,2128,2684,2589,157.3,-17.0,80,797,0.00,2.33,0.00,0.000,2564,0.000,0.060,2441,718,2636,2684,2589,0,0,0,0,0,0,15.07,14.69,15.08
$GC,840,-0.52,-87.6,2441,718,2684,2589,165.3,-17.5,84,849,0.00,2.38,0.00,0.000,3078,0.000,0.041,2441,2127,2636,2684,2588,0,0,0,0,0,0,14.64,14.59,14.67
$GC,1097,-0.52,-87.6,2441,2128,2685,2589,206.8,-15.5,107,1098,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2128,2637,2685,2589,0,0,0,0,0,0,15.12,15.12,15.12
$GC,1337,-0.52,-87.6,2441,2129,2687,2588,237.6,-12.6,113,1342,0.00,2.30,0.00,0.000,2308,0.000,0.057,2441,3538,2637,2687,2588,0,0,0,0,0,0,15.16,14.74,15.16
$GC,1443,-0.52,-87.6,2440,3539,2687,2589,247.7,-12.3,115,1449,0.00,2.28,0.00,0.000,3078,0.000,0.038,2441,2120,2637,2687,2588,0,0,0,0,0,0,14.90,14.79,14.92
$GC,1702,-0.52,-87.6,2441,2119,2687,2589,283.3,-12.6,122,1707,0.00,2.28,0.00,0.000,2564,0.000,0.057,2441,723,2638,2687,2589,0,0,0,0,0,0,15.19,14.76,15.18
$GC,1764,-0.52,-87.6,2440,722,2687,2589,289.2,-12.9,123,1770,0.00,2.28,0.00,0.000,3078,0.000,0.040,2441,2134,2637,2687,2588,0,0,0,0,0,0,14.91,14.81,14.93
$GC,2027,-0.52,-87.6,2441,2134,2687,2589,324.2,-12.8,130,2028,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2134,2637,2687,2588,0,0,0,0,0,0,15.19,15.20,15.20
$GC,2269,-0.52,-87.6,2441,2135,2687,2588,353.1,-11.6,136,2274,0.00,2.28,0.00,0.000,2308,0.000,0.057,2441,3528,2637,2687,2588,0,0,0,0,0,0,15.20,14.78,15.21
$GC,2336,-0.52,-87.6,2440,3529,2688,2588,357.9,-11.2,137,2341,0.00,2.25,0.00,0.000,3078,0.000,0.036,2441,2120,2637,2687,2588,0,0,0,0,0,0,14.93,14.83,14.95
$GC,2594,-0.52,-87.6,2441,2119,2687,2587,389.3,-11.6,144,2599,0.00,2.28,0.00,0.000,2564,0.000,0.054,2441,720,2637,2687,2587,0,0,0,0,0,0,15.21,14.78,15.21
$GC,2615,-0.52,-87.6,2440,720,2687,2586,389.3,-11.6,144,2620,0.00,2.28,0.00,0.000,3078,0.000,0.040,2441,2129,2636,2687,2586,0,0,0,0,0,0,14.93,14.82,14.95
$GC,2878,-0.52,-87.6,2440,2130,2687,2584,423.2,-12.0,151,2884,0.00,2.30,0.00,0.000,2308,0.000,0.057,2441,3533,2635,2687,2584,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2955,-0.52,-87.6,2441,3535,2687,2584,428.2,-11.9,152,2963,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2118,2635,2687,2583,0,0,0,0,0,0,14.93,14.83,14.95
$GC,3201,-0.52,-87.6,2441,2117,2687,2580,458.2,-10.6,159,3206,0.00,2.28,0.00,0.000,2564,0.000,0.054,2441,721,2633,2687,2580,0,0,0,0,0,0,15.21,14.77,15.21
$GC,3273,-0.52,-87.6,2441,721,2687,2578,463.1,-10.8,160,3278,0.00,2.28,0.00,0.000,3078,0.000,0.040,2441,2126,2632,2687,2578,0,0,0,0,0,0,14.92,14.81,14.94
$GC,3526,-0.52,-87.6,2441,2127,2687,2572,493.1,-10.5,167,3531,0.00,2.33,0.00,0.000,2564,0.000,0.054,2441,726,2629,2687,2572,0,0,0,0,0,0,15.21,14.76,15.21
$GC,3543,-0.52,-87.6,2439,725,2687,2572,493.1,-10.5,167,3549,0.00,2.28,0.00,0.000,3078,0.000,0.041,2441,2128,2629,2687,2572,0,0,0,0,0,0,14.92,14.81,14.94
$GC,3811,-0.52,-87.6,2440,2129,2687,2569,521.3,-9.6,174,3816,0.00,2.33,0.00,0.000,2564,0.000,0.053,2441,725,2628,2687,2569,0,0,0,0,0,0,15.21,14.76,15.22
$GC,3838,-0.52,-87.6,2440,724,2687,2569,521.3,-9.6,174,3844,0.00,2.28,0.00,0.000,3078,0.000,0.040,2441,2129,2628,2687,2569,0,0,0,0,0,0,14.92,14.81,14.93
$GC,4096,-0.52,-87.6,2441,2130,2687,2564,546.7,-8.8,181,4102,0.00,2.30,0.00,0.000,2308,0.000,0.057,2441,3528,2625,2687,2564,0,0,0,0,0,0,15.21,14.74,15.21
$GC,4130,-0.52,-87.6,2441,3529,2687,2564,546.7,-8.8,181,4135,0.00,2.25,0.00,0.000,3078,0.000,0.036,2441,2124,2625,2687,2564,0,0,0,0,0,0,14.92,14.81,14.94
$GC,4382,-0.52,-87.6,2441,2123,2687,2561,571.5,-8.7,188,4384,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2123,2624,2687,2561,0,0,0,0,0,0,15.21,15.22,15.21
$GC,4623,-0.52,-87.6,2441,2123,2687,2559,593.4,-9.2,194,4628,0.00,2.30,0.00,0.000,2564,0.000,0.053,2441,720,2622,2687,2558,0,0,0,0,0,0,15.21,14.74,15.21
$STATE,4704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4704,begin apogee
$GC,4711,-0.13,0.0,2441,1952,2687,2557,601.4,-9.3,196,4786,0.35,0.00,70.30,1.672,10246,0.245,0.000,2571,1953,2276,2356,2197,0,0,0,0,0,0,14.38,14.46,13.72
$STATE,4787,end apogee,CONTROL_FINISHED_OK
$STATE,4787,begin climb
$GC,4789,0.52,87.6,2571,1953,2352,2197,604.3,0.0,198,4871,0.47,2.45,74.72,1.618,10756,0.158,0.056,2778,544,1916,2006,1826,0,0,0,0,0,0,14.39,14.24,13.56
$GC,4950,0.52,87.6,2777,543,2002,1823,603.9,0.4,202,4955,0.00,2.35,0.00,0.000,1030,0.000,0.035,2778,1958,1912,2003,1822,0,0,0,0,0,0,14.52,14.45,14.54
$GC,5233,0.64,188.6,2778,1958,2002,1818,593.1,3.9,209,5326,0.05,2.47,83.78,1.602,10756,0.272,0.057,2855,554,1502,1608,1396,0,0,0,0,0,0,14.59,14.29,13.64
$GC,5349,0.73,258.5,2855,554,1603,1396,587.6,5.1,211,5412,0.00,2.33,54.72,1.580,13318,0.000,0.034,2855,1956,1227,1326,1129,0,0,0,0,0,0,14.47,14.40,13.56
$GC,5676,0.73,258.5,2855,1957,1326,1143,514.3,21.6,220,5681,0.00,2.30,0.00,0.000,4356,0.000,0.045,2855,3354,1235,1327,1143,0,0,0,0,0,0,14.90,14.62,14.90
$GC,5733,0.73,258.5,2855,3354,1326,1143,504.9,21.4,221,5739,0.05,2.33,0.00,0.000,5126,0.459,0.045,2851,1955,1234,1326,1143,0,0,0,0,0,0,14.30,14.63,14.59
$GC,6002,0.73,258.5,2850,1954,1326,1139,449.0,19.6,228,6008,0.00,2.35,0.00,0.000,4612,0.000,0.058,2860,539,1233,1326,1140,0,0,0,0,0,0,15.04,14.66,15.04
$GC,6039,0.73,258.5,2860,539,1326,1140,449.0,19.6,228,6046,0.00,2.30,0.00,0.000,5126,0.000,0.034,2861,1955,1232,1326,1139,0,0,0,0,0,0,14.83,14.73,14.83
$GC,6285,0.73,258.5,2860,1964,1326,1137,388.6,21.5,235,6291,0.00,2.28,0.00,0.000,4356,0.000,0.047,2860,3352,1231,1326,1137,0,0,0,0,0,0,15.09,14.73,15.09
$GC,6408,0.73,258.5,2860,3353,1326,1136,361.4,22.0,238,6414,0.08,2.33,0.00,0.000,5126,0.393,0.045,2847,1948,1231,1326,1136,0,0,0,0,0,0,14.32,14.73,14.64
$GC,6691,0.73,258.5,2847,1946,1326,1133,304.4,19.4,245,6698,0.00,2.35,0.00,0.000,516,0.000,0.059,2857,536,1229,1326,1133,0,0,0,0,0,0,15.12,14.71,15.13
$GC,6703,0.73,258.5,2857,536,1327,1133,304.4,19.4,245,6709,0.00,2.28,0.00,0.000,5126,0.000,0.033,2857,1952,1230,1326,1134,0,0,0,0,0,0,14.88,14.79,14.90
$GC,6976,0.73,258.5,2857,1962,1326,1132,247.7,20.0,252,6981,0.00,2.28,0.00,0.000,4356,0.000,0.045,2857,3355,1229,1326,1132,0,0,0,0,0,0,15.14,14.76,15.14
$GC,7093,0.73,258.5,2857,3356,1326,1132,233.8,18.3,254,7101,0.08,2.33,0.00,0.000,5126,0.393,0.044,2843,1942,1228,1326,1131,0,0,0,0,0,0,14.31,14.75,14.63
$GC,7339,0.73,258.5,2843,1941,1326,1131,187.1,18.0,264,7344,0.00,2.30,0.00,0.000,260,0.000,0.044,2844,3357,1228,1326,1131,0,0,0,0,0,0,15.14,14.76,15.15
$GC,7404,0.73,258.5,2843,3357,1326,1131,175.4,18.0,270,7409,0.00,2.33,0.00,0.000,5126,0.000,0.045,2853,1950,1228,1326,1131,0,0,0,0,0,0,14.87,14.75,14.89
$GC,7661,0.73,258.5,2853,1949,1327,1130,132.5,18.7,295,7666,0.00,2.30,0.00,0.000,4356,0.000,0.044,2853,3353,1228,1326,1131,0,0,0,0,0,0,15.11,14.74,15.11
$GC,7695,0.73,258.5,2853,3353,1326,1131,126.0,17.7,298,7701,0.05,2.33,0.00,0.000,5126,0.436,0.044,2848,1944,1228,1326,1131,0,0,0,0,0,0,14.38,14.73,14.64
$GC,7951,0.73,258.5,2847,1943,1326,1131,91.1,13.2,323,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1943,1228,1326,1131,0,0,0,0,0,0,15.11,15.11,15.11
$GC,8201,0.73,258.5,2847,1943,1327,1133,57.8,13.6,348,8206,0.00,2.33,0.00,0.000,260,0.000,0.044,2847,3357,1230,1327,1133,0,0,0,0,0,0,15.09,14.72,15.09
$GC,8238,0.73,258.5,2847,3358,1326,1135,52.4,14.4,351,8244,0.00,2.33,0.00,0.000,5126,0.000,0.044,2857,1948,1231,1327,1135,0,0,0,0,0,0,14.83,14.72,14.85
$GC,8506,0.73,258.5,2857,1947,1327,1138,17.1,12.8,384,8515,0.00,2.40,0.00,0.000,4612,0.000,0.057,2868,549,1232,1327,1138,0,0,0,0,0,0,15.06,14.54,15.07
$GC,8554,0.73,258.5,2868,549,1326,1139,10.5,14.5,391,8563,0.05,2.35,0.00,0.000,5126,0.350,0.033,2851,1956,1232,1326,1139,0,0,0,0,0,0,14.24,14.59,14.42
$STATE,8618,end climb,SURFACE_DEPTH_REACHED
$STATE,8618,begin surface coast
$FINISH,0.2,1.021673
$STATE,8650,end surface coast,CONTROL_FINISHED_OK
$STATE,8651,begin surface
$SM_CCo,8666,87.40,0.115,0,0,647,400.08
$SM_GC,1.26,6.20,0.22,87.40,0.086,0.064,0.115,184,2141,647,-7.44,-1.72,400.08,0,0,0,0,0,0,14.76,14.78,14.56
$IRIDIUM_FIX,2209.02,-15752.02,030518,190759
$TT8_MAMPS,0.019474,0.334803
$HUMID,46.10
$INTERNAL_PRESSURE,9.43654
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,10.3
$24V_AH,13.56,108.104
$10V_AH,13.69,0.000
$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,15.000,110.975,283.525,87.400,0.000,26.575,40.667,252.320,0.500,0.000,15.345,1510.620,5349.632,514.479,1688.325,169.793,0.000,1127.050,0.000,1342.170,0.000,5.474,0.000
$DEVICE_MAMPS,462.060,74.205,1671.525,114.750,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,274.806,207.980,372.908,371.436,569.912,0.000,0.000,0.000,0.000,0.000
$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,37341,406
$CAP_FILE_SIZE,93213,0
$CFSIZE,2097086464,2047016960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.076,284.93,1
$GPS,030518,214154,2217.792,-15749.449,41,0.8,41,9.8,0.0,0.0,10,210.3