version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 480
start: 5 4 118 18 29 33
data:
$ID,626
$MISSION,2
$DIVE,480
$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,21
$R_STBD_OVSHOOT,103
$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
$GPS1,040518,181937,2218.7988,-15744.3115,19,1.3,19,9.8,0.7,328.3,6,73.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-73.3
$GPS2,040518,182850,2218.9397,-15744.3799,14,1.4,14,9.8,0.0,0.0,5,116.8
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,EE
$TGT_LATLONG,2218.000,-15730.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,94.1,24702,-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,15,-0.52,-87.6,184,2135,682,632,0.0,0.0,0,72,0.00,0.00,-54.38,0.000,16386,0.000,0.000,184,2135,2470,2501,2439,0,0,0,0,0,0,14.92,28.83,14.92
$GC,75,-0.52,-87.6,184,2135,2501,2438,3.3,-5.1,7,94,7.60,2.38,-2.90,0.000,18948,0.442,0.072,2438,692,2639,2683,2595,0,0,0,0,0,0,14.22,13.71,14.64
$GC,121,-0.52,-87.6,2437,692,2683,2593,22.1,-38.1,13,130,0.03,2.35,0.00,0.000,3078,0.476,0.050,2437,2053,2637,2683,2592,0,0,0,0,0,0,14.26,14.52,14.40
$GC,377,-0.52,-87.6,2437,2054,2683,2592,77.5,-20.1,40,383,0.00,2.35,0.00,0.000,2308,0.000,0.059,2428,3473,2637,2683,2592,0,0,0,0,0,0,15.01,14.64,15.02
$GC,487,-0.52,-87.6,2428,3473,2683,2592,97.8,-17.5,50,494,0.05,2.28,0.00,0.000,3078,0.425,0.052,2444,2106,2637,2683,2592,0,0,0,0,0,0,14.36,14.69,14.64
$GC,744,-0.52,-87.6,2444,2105,2683,2592,145.7,-17.3,75,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2105,2637,2683,2592,0,0,0,0,0,0,15.07,15.07,15.07
$GC,994,-0.52,-87.6,2443,2104,2683,2592,187.4,-15.7,100,999,0.00,2.28,0.00,0.000,260,0.000,0.063,2442,3472,2637,2683,2592,0,0,0,0,0,0,15.10,14.69,15.10
$GC,1031,-0.52,-87.6,2442,3473,2683,2592,192.6,-15.1,103,1038,0.00,2.22,0.00,0.000,3078,0.000,0.052,2442,2125,2637,2683,2592,0,0,0,0,0,0,14.86,14.75,14.88
$GC,1289,-0.52,-87.6,2441,2122,2684,2592,229.2,-13.7,114,1294,0.00,2.33,0.00,0.000,2564,0.000,0.067,2442,720,2638,2684,2592,0,0,0,0,0,0,15.16,14.73,15.16
$GC,1325,-0.52,-87.6,2441,719,2684,2592,229.2,-13.7,114,1333,0.00,2.22,0.00,0.000,3078,0.000,0.055,2441,2062,2638,2684,2592,0,0,0,0,0,0,14.89,14.77,14.91
$GC,1571,-0.52,-87.6,2441,2063,2684,2592,266.2,-13.1,121,1577,0.00,2.30,0.00,0.000,2308,0.000,0.056,2441,3473,2638,2684,2592,0,0,0,0,0,0,15.18,14.76,15.19
$GC,1673,-0.52,-87.6,2441,3473,2684,2591,275.7,-12.2,123,1678,0.00,2.20,0.00,0.000,3078,0.000,0.041,2441,2118,2638,2684,2592,0,0,0,0,0,0,14.91,14.80,14.93
$GC,1936,-0.52,-87.6,2441,2118,2684,2592,307.6,-10.9,130,1942,0.00,2.30,0.00,0.000,2564,0.000,0.061,2441,718,2637,2683,2592,0,0,0,0,0,0,15.19,14.77,15.20
$GC,1963,-0.52,-87.6,2441,717,2684,2591,307.6,-10.9,130,1969,0.00,2.17,0.00,0.000,3078,0.000,0.040,2441,2064,2637,2684,2591,0,0,0,0,0,0,14.93,14.82,14.95
$GC,2221,-0.52,-87.6,2441,2065,2684,2590,340.3,-11.4,137,2226,0.00,2.30,0.00,0.000,2308,0.000,0.056,2441,3473,2636,2683,2590,0,0,0,0,0,0,15.21,14.77,15.21
$GC,2308,-0.52,-87.6,2441,3473,2684,2589,349.0,-10.9,139,2314,0.00,2.17,0.00,0.000,3078,0.000,0.039,2441,2121,2636,2684,2589,0,0,0,0,0,0,14.93,14.82,14.95
$GC,2587,-0.52,-87.6,2440,2121,2684,2586,380.2,-11.3,146,2592,0.00,2.30,0.00,0.000,2564,0.000,0.059,2441,716,2635,2684,2586,0,0,0,0,0,0,15.21,14.78,15.21
$GC,2614,-0.52,-87.6,2441,715,2684,2586,380.2,-11.3,146,2619,0.00,2.17,0.00,0.000,3078,0.000,0.040,2441,2060,2635,2684,2586,0,0,0,0,0,0,14.93,14.82,14.95
$GC,2871,-0.52,-87.6,2440,2062,2684,2583,414.7,-12.4,153,2873,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2062,2633,2684,2582,0,0,0,0,0,0,15.22,15.22,15.22
$GC,3112,-0.52,-87.6,2441,2061,2683,2579,443.1,-12.0,159,3117,0.00,2.30,0.00,0.000,2308,0.000,0.055,2441,3468,2631,2684,2579,0,0,0,0,0,0,15.22,14.77,15.22
$GC,3179,-0.52,-87.6,2440,3468,2684,2579,448.0,-12.1,160,3184,0.00,2.20,0.00,0.000,3078,0.000,0.038,2441,2112,2631,2684,2579,0,0,0,0,0,0,14.93,14.83,14.95
$GC,3437,-0.52,-87.6,2441,2111,2684,2575,479.4,-11.3,167,3442,0.00,2.28,0.00,0.000,2564,0.000,0.055,2441,720,2629,2684,2574,0,0,0,0,0,0,15.22,14.77,15.22
$GC,3460,-0.52,-87.6,2441,719,2684,2574,479.4,-11.3,167,3465,0.00,2.17,0.00,0.000,3078,0.000,0.040,2441,2062,2628,2683,2573,0,0,0,0,0,0,14.92,14.82,14.95
$GC,3723,-0.52,-87.6,2441,2062,2684,2569,508.8,-9.7,174,3728,0.00,2.30,0.00,0.000,2308,0.000,0.054,2441,3467,2626,2684,2569,0,0,0,0,0,0,15.22,14.76,15.22
$GC,3760,-0.52,-87.6,2441,3468,2685,2569,508.8,-9.7,174,3767,0.00,2.17,0.00,0.000,3078,0.000,0.038,2441,2118,2626,2684,2569,0,0,0,0,0,0,14.92,14.82,14.94
$GC,4006,-0.52,-87.6,2441,2117,2684,2564,533.8,-8.9,181,4007,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2118,2624,2684,2564,0,0,0,0,0,0,15.21,15.22,15.22
$GC,4248,-0.52,-87.6,2441,2117,2684,2562,555.4,-9.1,187,4253,0.00,2.30,0.00,0.000,2564,0.000,0.055,2441,715,2623,2684,2562,0,0,0,0,0,0,15.21,14.75,15.21
$GC,4291,-0.52,-87.6,2441,715,2684,2561,559.9,-9.4,188,4297,0.00,2.20,0.00,0.000,3078,0.000,0.041,2441,2060,2622,2684,2561,0,0,0,0,0,0,14.91,14.79,14.92
$GC,4574,-0.52,-87.6,2441,2061,2684,2557,588.2,-10.2,195,4575,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2061,2620,2684,2557,0,0,0,0,0,0,15.21,15.21,15.21
$STATE,4692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4692,begin apogee
$GC,4698,-0.13,0.0,2441,1924,2684,2555,600.9,-10.5,198,4774,0.35,0.00,68.95,1.675,10246,0.244,0.000,2571,1923,2276,2354,2198,0,0,0,0,0,0,14.35,14.31,13.73
$STATE,4775,end apogee,CONTROL_FINISHED_OK
$STATE,4775,begin climb
$GC,4777,0.52,87.6,2571,1923,2353,2198,604.6,0.0,200,4860,0.45,2.35,73.68,1.627,10756,0.163,0.058,2772,566,1916,2006,1826,0,0,0,0,0,0,14.38,14.26,13.57
$GC,4978,0.73,263.9,2771,566,2003,1824,603.9,0.8,205,5128,0.15,2.20,139.10,1.715,11270,0.117,0.037,2885,1898,1205,1305,1106,0,0,0,0,0,0,14.50,14.52,13.47
$GC,5380,0.73,263.9,2885,1901,1306,1121,520.7,25.2,215,5391,0.08,2.33,2.00,0.101,12548,0.412,0.044,2855,3301,1207,1302,1113,0,0,0,0,0,0,14.22,14.56,12.71
$GC,5453,0.73,263.9,2854,3301,1302,1121,510.3,24.8,216,5459,0.05,2.20,0.00,0.000,5126,0.465,0.047,2849,1978,1211,1302,1121,0,0,0,0,0,0,14.30,14.62,14.59
$GC,5707,0.73,263.9,2848,1977,1302,1120,447.9,21.8,223,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1977,1211,1302,1120,0,0,0,0,0,0,15.03,15.04,15.03
$GC,5947,0.73,263.9,2848,1977,1302,1118,396.3,21.4,229,5952,0.00,2.40,0.00,0.000,516,0.000,0.060,2859,537,1210,1302,1118,0,0,0,0,0,0,15.08,14.69,15.09
$GC,5974,0.73,263.9,2858,537,1301,1118,396.3,21.4,229,5979,0.00,2.20,0.00,0.000,5126,0.000,0.034,2858,1898,1210,1302,1118,0,0,0,0,0,0,14.85,14.77,14.87
$GC,6232,0.73,263.9,2858,1903,1302,1116,334.6,21.8,236,6234,0.00,0.00,0.00,0.000,4102,0.000,0.000,2858,1903,1209,1302,1116,0,0,0,0,0,0,15.11,15.12,15.12
$GC,6472,0.73,263.9,2859,1903,1302,1114,282.0,21.5,242,6477,0.00,2.28,0.00,0.000,4356,0.000,0.044,2859,3302,1208,1302,1114,0,0,0,0,0,0,15.14,14.76,15.14
$GC,6594,0.73,263.9,2858,3303,1302,1113,257.8,19.9,245,6601,0.08,2.25,0.00,0.000,5126,0.402,0.045,2845,1942,1207,1302,1113,0,0,0,0,0,0,14.30,14.74,14.62
$GC,6879,0.73,263.9,2844,1941,1302,1111,206.7,18.0,252,6884,0.00,2.20,0.00,0.000,260,0.000,0.044,2845,3300,1206,1301,1111,0,0,0,0,0,0,15.15,14.76,15.16
$GC,7083,0.73,263.9,2845,3300,1302,1111,171.0,16.2,268,7091,0.00,2.22,0.00,0.000,5126,0.000,0.044,2854,1950,1207,1302,1112,0,0,0,0,0,0,14.86,14.74,14.88
$GC,7334,0.73,263.9,2854,1949,1302,1113,129.8,16.5,293,7340,0.00,0.00,0.00,0.000,4102,0.000,0.000,2854,1949,1207,1302,1113,0,0,0,0,0,0,15.11,15.11,15.11
$GC,7580,0.73,263.9,2854,1949,1301,1113,89.9,16.4,318,7585,0.00,2.22,0.00,0.000,4356,0.000,0.044,2854,3306,1208,1302,1114,0,0,0,0,0,0,15.12,14.73,15.12
$GC,7646,0.73,263.9,2854,3306,1302,1115,79.0,16.1,324,7652,0.05,2.25,0.00,0.000,5126,0.443,0.044,2849,1941,1208,1302,1115,0,0,0,0,0,0,14.34,14.71,14.62
$GC,7903,0.73,263.9,2849,1941,1302,1117,41.7,13.5,349,7909,0.00,2.25,0.00,0.000,260,0.000,0.044,2849,3308,1210,1303,1117,0,0,0,0,0,0,15.08,14.72,15.09
$GC,8020,0.73,263.9,2849,3308,1302,1119,27.1,12.8,360,8029,0.00,2.33,0.00,0.000,5126,0.000,0.044,2858,1951,1210,1302,1119,0,0,0,0,0,0,14.61,14.54,14.64
$STATE,8219,end climb,SURFACE_DEPTH_REACHED
$STATE,8219,begin surface coast
$FINISH,0.2,1.012771
$STATE,8251,end surface coast,CONTROL_FINISHED_OK
$STATE,8251,begin surface
$SM_CCo,8266,91.05,0.107,0,0,646,400.08
$SM_GC,1.45,6.10,0.20,91.05,0.057,0.068,0.107,184,2090,646,-7.48,-2.94,400.08,0,0,0,0,0,0,14.77,14.77,14.56
$IRIDIUM_FIX,2211.35,-15743.78,040518,182111
$TT8_MAMPS,0.018725,0.265895
$HUMID,45.98
$INTERNAL_PRESSURE,9.45608
$TCM_TEMP,21.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,56.0,7.8
$24V_AH,12.71,109.869
$10V_AH,12.88,0.000
$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,14.975,86.400,283.725,91.050,0.000,24.110,41.905,347.607,1.000,0.000,15.315,1435.350,5094.772,473.760,1741.504,192.085,0.000,1077.664,0.000,1321.831,0.000,9.775,0.000
$DEVICE_MAMPS,475.830,139.995,1715.130,107.100,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,269.170,207.924,374.054,373.573,573.221,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343284
$DATA_FILE_SIZE,33922,398
$CAP_FILE_SIZE,87952,0
$CFSIZE,2097086464,2046230528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.035,319.00,1
$GPS,040518,205000,2218.880,-15743.363,33,0.8,34,9.8,0.0,0.0,11,86.6