version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 493
start: 5 6 118 7 57 51
data:
$ID,626
$MISSION,2
$DIVE,493
$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,68
$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
$GPS1,060518,074830,2218.1448,-15729.7578,38,0.8,38,9.8,0.0,0.0,10,20.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-75.0
$GPS2,060518,075707,2218.1487,-15729.7471,15,0.8,15,9.8,0.0,0.0,10,21.0
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,EE
$TGT_LATLONG,2218.000,-15730.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,218.8,513,-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,16,-0.54,-87.6,184,2153,684,637,0.0,0.0,0,72,0.00,0.00,-53.78,0.000,16386,0.000,0.000,184,2151,2478,2511,2446,0,0,0,0,0,0,14.93,28.83,14.94
$GC,75,-0.54,-87.6,184,2149,2511,2446,3.6,-6.5,7,94,7.62,2.25,-2.62,0.000,18692,0.446,0.071,2425,3511,2637,2683,2592,0,0,0,0,0,0,14.21,13.71,14.64
$GC,323,-0.54,-87.6,2425,3513,2683,2588,63.0,-18.8,33,328,0.00,2.30,0.00,0.000,3078,0.000,0.052,2425,2132,2635,2683,2588,0,0,0,0,0,0,14.78,14.66,14.80
$GC,579,-0.54,-87.6,2425,2131,2683,2587,116.7,-21.1,58,587,0.00,0.00,0.00,0.000,2054,0.000,0.000,2425,2131,2635,2683,2587,0,0,0,0,0,0,15.06,15.07,15.06
$GC,827,-0.54,-87.6,2424,2131,2683,2587,167.1,-20.7,83,832,0.00,2.35,0.00,0.000,2564,0.000,0.068,2425,719,2634,2683,2586,0,0,0,0,0,0,15.09,14.67,15.09
$GC,862,-0.54,-87.6,2424,718,2683,2587,174.2,-19.9,86,869,0.08,2.28,0.00,0.000,3078,0.382,0.044,2439,2109,2634,2683,2586,0,0,0,0,0,0,14.35,14.73,14.65
$GC,1116,-0.54,-87.6,2439,2110,2682,2586,213.1,-14.6,105,1122,0.00,2.33,0.00,0.000,260,0.000,0.063,2439,3525,2634,2683,2586,0,0,0,0,0,0,15.13,14.70,15.14
$GC,1280,-0.54,-87.6,2439,3525,2683,2586,232.7,-11.9,109,1287,0.00,2.33,0.00,0.000,1030,0.000,0.049,2439,2115,2634,2683,2586,0,0,0,0,0,0,14.87,14.77,14.89
$GC,1565,-0.54,-87.6,2439,2114,2683,2586,268.0,-12.7,116,1570,0.00,2.28,0.00,0.000,516,0.000,0.063,2439,720,2634,2682,2586,0,0,0,0,0,0,15.18,14.75,15.19
$GC,1626,-0.54,-87.6,2439,720,2683,2586,273.7,-12.9,117,1632,0.00,2.28,0.00,0.000,1030,0.000,0.043,2439,2121,2634,2682,2586,0,0,0,0,0,0,14.90,14.80,14.92
$GC,1889,-0.54,-87.6,2439,2121,2683,2586,308.5,-12.2,124,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2122,2634,2683,2586,0,0,0,0,0,0,15.19,15.20,15.20
$GC,2129,-0.54,-87.6,2439,2122,2683,2584,336.6,-11.6,130,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2122,2633,2683,2584,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2369,-0.54,-87.6,2439,2122,2683,2582,364.5,-11.7,136,2375,0.00,2.30,0.00,0.000,260,0.000,0.055,2440,3533,2632,2683,2582,0,0,0,0,0,0,15.21,14.77,15.22
$GC,2407,-0.54,-87.6,2439,3533,2683,2582,364.5,-11.7,136,2413,0.00,2.28,0.00,0.000,1030,0.000,0.038,2439,2125,2632,2683,2582,0,0,0,0,0,0,14.92,14.83,14.94
$GC,2653,-0.54,-87.6,2439,2124,2683,2578,395.8,-11.3,143,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2124,2631,2683,2579,0,0,0,0,0,0,15.21,15.22,15.22
$GC,2893,-0.54,-87.6,2439,2123,2682,2576,422.2,-11.1,149,2899,0.00,2.30,0.00,0.000,516,0.000,0.057,2439,709,2629,2683,2576,0,0,0,0,0,0,15.22,14.77,15.22
$GC,2925,-0.54,-87.6,2439,709,2683,2573,422.2,-11.1,149,2931,0.00,2.30,0.00,0.000,1030,0.000,0.039,2439,2133,2627,2683,2572,0,0,0,0,0,0,14.91,14.82,14.94
$GC,3179,-0.54,-87.6,2439,2133,2683,2567,455.6,-11.5,156,3184,0.00,2.25,0.00,0.000,260,0.000,0.054,2439,3526,2625,2683,2567,0,0,0,0,0,0,15.22,14.76,15.22
$GC,3250,-0.54,-87.6,2439,3527,2683,2566,460.4,-11.4,157,3256,0.00,2.28,0.00,0.000,1030,0.000,0.037,2439,2112,2624,2682,2566,0,0,0,0,0,0,14.91,14.82,14.93
$GC,3504,-0.54,-87.6,2439,2112,2682,2562,489.5,-10.3,164,3510,0.00,2.25,0.00,0.000,516,0.000,0.055,2439,723,2622,2682,2562,0,0,0,0,0,0,15.21,14.76,15.22
$GC,3576,-0.54,-87.6,2439,722,2682,2561,494.3,-10.6,165,3582,0.00,2.30,0.00,0.000,1030,0.000,0.039,2439,2129,2621,2682,2561,0,0,0,0,0,0,14.90,14.81,14.92
$GC,3829,-0.54,-87.6,2439,2130,2682,2557,523.2,-10.2,172,3835,0.00,2.28,0.00,0.000,260,0.000,0.054,2439,3531,2620,2683,2558,0,0,0,0,0,0,15.21,14.75,15.22
$GC,3921,-0.54,-87.6,2439,3532,2683,2557,531.1,-9.7,174,3928,0.00,2.28,0.00,0.000,1030,0.000,0.037,2439,2123,2619,2682,2556,0,0,0,0,0,0,14.89,14.80,14.92
$GC,4195,-0.54,-87.6,2439,2122,2682,2553,557.9,-9.4,181,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2122,2617,2682,2553,0,0,0,0,0,0,15.21,15.21,15.21
$GC,4435,-0.54,-87.6,2439,2122,2682,2550,580.8,-9.6,187,4441,0.00,2.28,0.00,0.000,516,0.000,0.054,2439,722,2616,2682,2550,0,0,0,0,0,0,15.21,14.73,15.21
$GC,4467,-0.54,-87.6,2439,722,2682,2549,580.8,-9.6,187,4473,0.00,2.28,0.00,0.000,1030,0.000,0.040,2439,2125,2615,2682,2549,0,0,0,0,0,0,14.88,14.78,14.90
$STATE,4638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4638,begin apogee
$GC,4644,-0.13,0.0,2440,1925,2683,2547,601.2,-9.9,192,4711,0.35,0.00,63.60,1.890,10246,0.243,0.000,2570,1925,2279,2362,2196,0,0,0,0,0,0,14.34,14.45,13.63
$STATE,4712,end apogee,CONTROL_FINISHED_OK
$STATE,4712,begin climb
$GC,4714,0.54,87.6,2570,1925,2363,2205,603.3,0.0,193,4795,0.47,2.35,73.75,2.254,10756,0.158,0.056,2781,571,1925,2014,1836,0,0,0,0,0,0,14.38,13.99,13.26
$GC,4932,0.76,266.2,2780,571,2013,1838,604.3,-0.1,198,5098,0.15,2.30,154.30,2.135,11270,0.119,0.035,2894,1973,1196,1292,1101,0,0,0,0,0,0,14.50,14.52,13.25
$GC,5346,0.76,266.2,2893,1973,1292,1100,516.8,25.9,209,5352,0.08,2.25,0.00,0.000,4356,0.425,0.042,2863,3345,1196,1292,1100,0,0,0,0,0,0,14.23,14.54,14.42
$GC,5419,0.76,266.2,2862,3346,1291,1100,507.0,24.9,210,5425,0.05,2.28,0.00,0.000,5126,0.473,0.044,2858,1975,1195,1291,1100,0,0,0,0,0,0,14.30,14.63,14.59
$GC,5673,0.76,266.2,2858,1975,1290,1096,443.1,22.7,217,5678,0.00,2.42,0.00,0.000,4612,0.000,0.059,2868,536,1194,1292,1097,0,0,0,0,0,0,15.03,14.67,15.03
$GC,5690,0.76,266.2,2868,536,1291,1097,443.1,22.7,217,5696,0.00,2.30,0.00,0.000,5126,0.000,0.034,2868,1945,1194,1292,1097,0,0,0,0,0,0,14.83,14.74,14.84
$GC,5958,0.76,266.2,2868,1952,1291,1093,377.4,23.2,224,5959,0.00,0.00,0.00,0.000,4102,0.000,0.000,2868,1951,1192,1292,1093,0,0,0,0,0,0,15.09,15.09,15.09
$GC,6199,0.76,266.2,2868,1952,1291,1091,323.5,22.3,230,6204,0.00,2.30,0.00,0.000,4356,0.000,0.044,2868,3361,1191,1291,1091,0,0,0,0,0,0,15.12,14.77,15.12
$GC,6226,0.76,266.2,2868,3362,1291,1091,323.5,22.3,230,6232,0.08,2.33,0.00,0.000,5126,0.411,0.044,2854,1948,1191,1292,1091,0,0,0,0,0,0,14.32,14.76,14.66
$GC,6484,0.76,266.2,2855,1946,1291,1089,265.8,19.6,237,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1946,1190,1291,1089,0,0,0,0,0,0,15.14,15.14,15.14
$GC,6725,0.76,266.2,2855,1946,1290,1088,216.6,20.7,243,6730,0.00,2.33,0.00,0.000,516,0.000,0.058,2865,533,1189,1291,1088,0,0,0,0,0,0,15.15,14.73,15.16
$GC,6756,0.76,266.2,2865,533,1291,1088,216.6,20.7,243,6762,0.00,2.33,0.00,0.000,5126,0.000,0.033,2865,1959,1189,1291,1088,0,0,0,0,0,0,14.90,14.81,14.91
$GC,7012,0.76,266.2,2865,1965,1291,1087,165.6,18.4,262,7017,0.00,2.25,0.00,0.000,4356,0.000,0.044,2865,3353,1189,1291,1087,0,0,0,0,0,0,15.14,14.76,15.14
$GC,7056,0.76,266.2,2865,3354,1291,1087,157.2,17.9,266,7062,0.08,2.33,0.00,0.000,5126,0.396,0.044,2852,1944,1189,1291,1087,0,0,0,0,0,0,14.31,14.76,14.64
$GC,7312,0.76,266.2,2852,1943,1291,1087,115.3,16.5,291,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1943,1189,1291,1087,0,0,0,0,0,0,15.11,15.12,15.12
$GC,7562,0.76,266.2,2851,1943,1291,1088,75.5,14.3,316,7567,0.00,2.33,0.00,0.000,260,0.000,0.043,2852,3357,1189,1291,1088,0,0,0,0,0,0,15.11,14.74,15.11
$GC,7727,0.76,266.2,2852,3358,1291,1089,51.9,14.2,330,7736,0.00,2.40,0.00,0.000,5126,0.000,0.042,2861,1949,1190,1291,1089,0,0,0,0,0,0,14.62,14.57,14.65
$GC,7991,0.76,266.2,2861,1949,1291,1091,19.3,11.1,363,8000,0.00,2.42,0.00,0.000,4612,0.000,0.059,2872,541,1191,1291,1091,0,0,0,0,0,0,15.05,14.55,15.07
$GC,8080,0.76,266.2,2872,540,1291,1093,9.5,10.5,377,8089,0.05,2.35,0.00,0.000,5126,0.346,0.031,2855,1950,1191,1291,1092,0,0,0,0,0,0,14.23,14.59,14.41
$STATE,8145,end climb,SURFACE_DEPTH_REACHED
$STATE,8145,begin surface coast
$FINISH,0.2,1.003002
$STATE,8178,end surface coast,CONTROL_FINISHED_OK
$STATE,8178,begin surface
$SM_CCo,8193,104.35,0.802,1,0,648,400.08
$SM_GC,1.33,6.20,0.25,104.35,0.086,0.060,0.802,185,2149,648,-7.42,-1.53,400.08,0,0,0,0,1,0,14.76,14.79,14.04
$IRIDIUM_FIX,2209.02,-15738.59,060518,075009
$TT8_MAMPS,0.019474,0.264397
$HUMID,45.23
$INTERNAL_PRESSURE,9.46584
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.4,6.5
$24V_AH,13.25,112.703
$10V_AH,12.92,0.000
$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,15.200,83.525,291.650,104.350,0.000,28.330,41.199,308.261,0.500,0.000,16.352,1410.194,5048.425,482.133,1732.560,175.385,0.000,1083.388,0.000,1307.214,0.000,5.464,0.000
$DEVICE_MAMPS,472.770,71.145,2254.455,802.485,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,265.022,313.296,367.499,380.020,583.099,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343144
$DATA_FILE_SIZE,33924,392
$CAP_FILE_SIZE,86258,0
$CFSIZE,2097086464,2044952576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,1
$CURRENT,0.059,358.96,1
$GPS,060518,101708,2217.733,-15730.611,17,1.4,17,9.8,0.0,0.0,7,85.9