version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 491
start: 5 6 118 1 55 45
data:
$ID,626
$MISSION,2
$DIVE,491
$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,57
$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
$GPS1,060518,014624,2218.0066,-15731.8965,41,0.7,41,9.8,0.0,0.0,11,79.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.8
$GPS2,060518,015501,2218.0063,-15731.8936,19,0.7,19,9.8,0.0,0.0,11,18.2
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,EE
$TGT_LATLONG,2218.000,-15730.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,74.1,3244,-16.8,-8.000,-20.00,2264
$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,-0.54,-87.6,184,2141,681,631,0.0,0.0,0,73,0.00,0.00,-55.08,0.000,16386,0.000,0.000,184,2141,2542,2573,2511,0,0,0,0,0,0,14.92,28.83,14.92
$GC,76,-0.54,-87.6,184,2141,2574,2511,3.9,-7.2,7,94,7.62,2.35,-1.58,0.000,18948,0.448,0.060,2431,698,2639,2681,2597,0,0,0,0,0,0,14.22,13.70,14.64
$GC,189,-0.54,-87.6,2431,699,2681,2592,42.7,-24.9,21,195,0.00,2.35,0.00,0.000,3078,0.000,0.050,2428,2107,2636,2681,2592,0,0,0,0,0,0,14.75,14.64,14.76
$GC,443,-0.54,-87.6,2427,2110,2681,2591,100.6,-21.5,46,448,0.00,2.38,0.00,0.000,2308,0.000,0.062,2427,3534,2636,2681,2591,0,0,0,0,0,0,15.03,14.64,15.03
$GC,608,-0.54,-87.6,2427,3535,2681,2592,129.6,-17.1,61,614,0.00,2.33,0.00,0.000,3078,0.000,0.049,2428,2130,2636,2681,2591,0,0,0,0,0,0,14.82,14.70,14.83
$GC,864,-0.54,-87.6,2427,2129,2682,2592,177.9,-17.6,86,870,0.00,2.35,0.00,0.000,2564,0.000,0.068,2428,718,2636,2681,2592,0,0,0,0,0,0,15.08,14.68,15.09
$GC,922,-0.54,-87.6,2427,718,2682,2592,188.2,-18.1,91,928,0.00,2.33,0.00,0.000,3078,0.000,0.048,2427,2126,2637,2682,2592,0,0,0,0,0,0,14.85,14.73,14.87
$GC,1196,-0.54,-87.6,2427,2128,2682,2592,231.9,-15.0,103,1202,0.00,2.33,0.00,0.000,2308,0.000,0.060,2427,3535,2637,2682,2592,0,0,0,0,0,0,15.14,14.72,15.15
$GC,1258,-0.54,-87.6,2427,3535,2683,2592,237.5,-14.2,104,1264,0.00,2.30,0.00,0.000,3078,0.000,0.045,2427,2119,2637,2683,2592,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1521,-0.54,-87.6,2427,2117,2683,2592,273.6,-13.0,111,1522,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2117,2637,2683,2591,0,0,0,0,0,0,15.18,15.19,15.19
$GC,1762,-0.54,-87.6,2427,2117,2682,2591,303.8,-12.5,117,1763,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2118,2637,2683,2591,0,0,0,0,0,0,15.20,15.20,15.19
$GC,2001,-0.54,-87.6,2427,2117,2683,2591,334.9,-12.9,123,2006,0.00,2.30,0.00,0.000,2564,0.000,0.059,2427,715,2636,2683,2590,0,0,0,0,0,0,15.21,14.77,15.21
$GC,2033,-0.54,-87.6,2427,715,2683,2589,334.9,-12.9,123,2039,0.00,2.30,0.00,0.000,3078,0.000,0.041,2427,2136,2636,2683,2589,0,0,0,0,0,0,14.93,14.82,14.95
$GC,2287,-0.54,-87.6,2427,2137,2683,2587,371.5,-12.8,130,2288,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2137,2635,2683,2587,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2528,-0.54,-87.6,2427,2137,2683,2585,402.4,-12.6,136,2529,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2137,2634,2683,2585,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2767,-0.54,-87.6,2427,2137,2683,2582,430.6,-11.5,142,2768,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2137,2632,2683,2582,0,0,0,0,0,0,15.22,15.22,15.22
$GC,3006,-0.54,-87.6,2427,2137,2683,2578,457.8,-11.1,148,3007,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2137,2631,2683,2579,0,0,0,0,0,0,15.22,15.22,15.22
$GC,3247,-0.54,-87.6,2427,2137,2683,2574,484.6,-11.4,154,3248,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2137,2628,2683,2573,0,0,0,0,0,0,15.22,15.22,15.22
$GC,3486,-0.54,-87.6,2426,2137,2683,2569,513.7,-12.2,160,3491,0.00,2.33,0.00,0.000,2308,0.000,0.062,2427,3534,2626,2683,2569,0,0,0,0,0,0,15.22,14.73,15.21
$GC,3563,-0.54,-87.6,2427,3534,2683,2568,518.7,-12.1,161,3570,0.00,2.33,0.00,0.000,3078,0.000,0.046,2427,2119,2624,2682,2566,0,0,0,0,0,0,14.91,14.78,14.92
$GC,3809,-0.54,-87.6,2427,2118,2683,2564,549.9,-11.1,168,3815,0.00,2.33,0.00,0.000,2564,0.000,0.059,2427,713,2622,2682,2563,0,0,0,0,0,0,15.21,14.72,15.22
$GC,3841,-0.54,-87.6,2427,712,2683,2563,549.9,-11.1,168,3847,0.00,2.30,0.00,0.000,3078,0.000,0.036,2427,2138,2623,2683,2563,0,0,0,0,0,0,14.91,14.81,14.93
$GC,4094,-0.54,-87.6,2427,2139,2682,2560,581.3,-11.0,175,4099,0.00,2.30,0.00,0.000,2308,0.000,0.057,2427,3528,2621,2683,2560,0,0,0,0,0,0,15.21,14.71,15.22
$GC,4151,-0.54,-87.6,2427,3528,2682,2560,586.0,-11.0,176,4156,0.00,2.30,0.00,0.000,3078,0.000,0.039,2427,2109,2621,2683,2559,0,0,0,0,0,0,14.90,14.79,14.92
$STATE,4296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4296,begin apogee
$GC,4302,-0.13,0.0,2427,1930,2682,2556,603.8,-11.0,180,4378,0.38,0.00,69.68,1.678,10246,0.246,0.000,2565,1930,2272,2350,2195,0,0,0,0,0,0,14.33,14.31,13.75
$STATE,4379,end apogee,CONTROL_FINISHED_OK
$STATE,4379,begin climb
$GC,4382,0.54,87.6,2565,1930,2348,2195,607.6,0.0,182,4459,0.52,0.00,72.88,1.633,10246,0.160,0.000,2779,1931,1917,2007,1827,0,0,0,0,0,0,14.39,14.23,13.56
$GC,4699,0.67,195.2,2778,1930,2006,1819,602.8,3.1,190,4797,0.08,2.38,87.93,1.623,10756,0.194,0.057,2880,575,1475,1579,1371,0,0,0,0,0,0,14.57,14.26,13.59
$GC,4833,0.67,195.2,2880,574,1570,1370,588.5,9.5,193,4839,0.15,2.30,0.00,0.000,5126,0.379,0.039,2834,1944,1470,1571,1369,0,0,0,0,0,0,14.07,14.40,14.40
$GC,5102,0.67,195.2,2833,1950,1571,1364,537.1,18.1,200,5107,0.00,2.30,0.00,0.000,4356,0.000,0.046,2834,3357,1467,1571,1364,0,0,0,0,0,0,14.95,14.64,14.95
$GC,5174,0.67,195.2,2833,3357,1571,1364,528.9,18.3,201,5180,0.05,2.28,0.00,0.000,5126,0.484,0.043,2828,1979,1467,1570,1364,0,0,0,0,0,0,14.29,14.66,14.62
$GC,5427,0.67,195.2,2828,1979,1571,1362,482.0,16.1,208,5433,0.00,2.28,0.00,0.000,260,0.000,0.045,2828,3358,1466,1570,1362,0,0,0,0,0,0,15.06,14.71,15.06
$GC,5470,0.67,195.2,2828,3359,1570,1362,474.7,16.2,209,5475,0.00,2.35,0.00,0.000,5126,0.000,0.044,2838,1943,1466,1571,1362,0,0,0,0,0,0,14.82,14.71,14.84
$GC,5753,0.67,195.2,2838,1943,1570,1358,428.9,15.6,216,5755,0.00,0.00,0.00,0.000,4102,0.000,0.000,2838,1944,1464,1571,1358,0,0,0,0,0,0,15.10,15.11,15.11
$GC,5993,0.67,195.2,2838,1943,1570,1357,391.5,15.5,222,5998,0.00,2.33,0.00,0.000,4356,0.000,0.044,2839,3359,1463,1570,1357,0,0,0,0,0,0,15.13,14.75,15.13
$GC,6095,0.67,195.2,2838,3358,1569,1357,378.5,15.8,224,6100,0.08,2.33,0.00,0.000,5126,0.422,0.044,2826,1946,1463,1569,1357,0,0,0,0,0,0,14.26,14.74,14.65
$GC,6359,0.67,195.2,2826,1945,1569,1355,339.3,13.9,231,6364,0.00,2.33,0.00,0.000,516,0.000,0.058,2836,539,1462,1569,1355,0,0,0,0,0,0,15.14,14.71,15.15
$GC,6415,0.67,195.2,2836,539,1568,1355,332.7,14.1,232,6421,0.00,2.30,0.00,0.000,5126,0.000,0.033,2836,1961,1461,1568,1355,0,0,0,0,0,0,14.88,14.79,14.90
$GC,6684,0.67,195.2,2836,1962,1568,1354,292.8,14.1,239,6689,0.00,2.38,0.00,0.000,4612,0.000,0.055,2847,539,1461,1568,1354,0,0,0,0,0,0,15.16,14.71,15.16
$GC,6751,0.67,195.2,2847,539,1568,1354,286.7,14.2,240,6758,0.05,2.28,0.00,0.000,5126,0.456,0.034,2832,1953,1461,1568,1354,0,0,0,0,0,0,14.35,14.79,14.66
$GC,7011,0.67,195.2,2832,1955,1568,1353,248.7,13.4,247,7016,0.00,2.25,0.00,0.000,4356,0.000,0.046,2832,3346,1460,1568,1352,0,0,0,0,0,0,15.16,14.74,15.17
$GC,7317,0.67,195.2,2831,3346,1567,1352,214.3,11.6,254,7323,0.00,2.30,0.00,0.000,5126,0.000,0.044,2842,1944,1459,1567,1352,0,0,0,0,0,0,14.85,14.74,14.88
$GC,7565,0.67,195.2,2842,1945,1567,1353,185.6,9.3,269,7570,0.00,2.30,0.00,0.000,4612,0.000,0.056,2853,543,1460,1567,1353,0,0,0,0,0,0,15.16,14.70,15.16
$GC,7602,0.67,195.2,2853,542,1566,1353,182.0,10.2,272,7610,0.08,2.28,0.00,0.000,5126,0.400,0.031,2829,1953,1459,1566,1353,0,0,0,0,0,0,14.26,14.78,14.62
$GC,7849,0.67,195.2,2828,1954,1566,1352,156.3,10.1,297,7855,0.00,2.38,0.00,0.000,516,0.000,0.056,2839,543,1459,1565,1353,0,0,0,0,0,0,15.13,14.69,15.14
$GC,7971,0.67,195.2,2839,542,1566,1354,144.1,10.0,308,7980,0.00,2.35,0.00,0.000,5126,0.000,0.034,2839,1942,1460,1566,1354,0,0,0,0,0,0,14.62,14.57,14.65
$GC,8221,0.68,199.7,2839,1942,1566,1354,121.4,7.8,333,8226,0.00,2.30,0.00,0.000,4356,0.000,0.046,2839,3354,1461,1567,1355,0,0,0,0,0,0,15.11,14.71,15.11
$GC,8452,0.68,199.7,2839,3354,1566,1357,101.9,8.8,354,8462,0.05,2.40,0.00,0.000,5126,0.389,0.044,2833,1953,1461,1566,1357,0,0,0,0,0,0,14.13,14.54,14.33
$GC,8703,0.72,235.7,2833,1953,1567,1358,82.9,6.4,379,8741,0.00,2.33,30.02,0.956,10500,0.000,0.044,2833,3350,1311,1417,1205,0,0,0,0,0,0,15.10,14.73,14.18
$GC,8789,0.72,235.7,2833,3350,1416,1205,76.0,9.3,386,8797,0.00,2.40,0.00,0.000,1030,0.000,0.044,2843,1945,1310,1416,1205,0,0,0,0,0,0,14.59,14.55,14.62
$GC,9037,0.72,235.7,2843,1944,1417,1206,51.7,9.0,411,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1944,1311,1416,1207,0,0,0,0,0,0,15.01,15.02,15.02
$GC,9287,0.72,237.9,2842,1945,1415,1209,30.4,7.9,436,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1944,1312,1416,1209,0,0,0,0,0,0,15.04,15.04,15.04
$GC,9582,0.73,245.6,2843,1943,1416,1213,6.4,7.7,485,9599,0.00,2.38,8.50,0.760,10756,0.000,0.057,2855,534,1275,1385,1165,0,0,0,0,0,0,15.02,14.49,14.07
$STATE,9624,end climb,SURFACE_DEPTH_REACHED
$STATE,9624,begin surface coast
$FINISH,0.4,1.023009
$STATE,9661,end surface coast,CONTROL_FINISHED_OK
$STATE,9662,begin surface
$SM_CCo,9679,94.32,0.111,0,0,647,400.08
$SM_GC,1.17,6.20,2.67,94.32,0.083,0.035,0.111,184,2122,647,-7.44,-1.19,400.08,0,0,0,0,0,0,14.73,14.69,14.54
$IRIDIUM_FIX,2209.02,-15729.08,060518,014810
$TT8_MAMPS,0.019474,0.330309
$HUMID,42.71
$INTERNAL_PRESSURE,9.49514
$TCM_TEMP,23.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.2,6.7
$24V_AH,13.56,112.234
$10V_AH,12.96,0.000
$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,15.250,93.525,269.000,94.325,0.000,35.635,42.093,294.666,0.500,0.000,20.371,1739.628,5892.018,488.285,2010.469,188.943,0.000,1168.719,0.000,1610.258,0.000,5.461,0.000
$DEVICE_MAMPS,484.245,68.085,1678.410,110.925,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,335.898,290.567,487.669,498.120,764.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343116
$DATA_FILE_SIZE,43997,497
$CAP_FILE_SIZE,97271,0
$CFSIZE,2097086464,2045149184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$CURRENT,0.032,307.26,1
$GPS,060518,043933,2218.204,-15730.877,17,1.4,17,9.8,0.8,316.1,5,114.3