version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 498
start: 5 6 118 22 9 51
data:
$ID,626
$MISSION,2
$DIVE,498
$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,29
$R_STBD_OVSHOOT,53
$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
$GPS1,060518,220000,2218.0188,-15730.5762,41,0.8,41,9.8,0.0,0.0,11,21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.9
$GPS2,060518,220907,2218.0015,-15730.5850,19,0.8,19,9.8,0.4,34.7,11,21.0
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,EE
$TGT_LATLONG,2218.000,-15730.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,89.5,1002,-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,-87.6,184,2138,686,629,0.0,0.0,0,72,0.00,0.00,-54.17,0.000,16386,0.000,0.000,184,2136,2525,2555,2495,0,0,0,0,0,0,14.92,28.83,14.92
$GC,75,-0.54,-87.6,184,2136,2556,2495,4.0,-8.0,7,93,7.57,2.38,-1.85,0.000,18948,0.442,0.072,2431,705,2639,2681,2597,0,0,0,0,0,0,14.22,13.70,14.64
$GC,102,-0.54,-87.6,2430,705,2681,2596,17.8,-38.2,10,111,0.00,2.40,0.00,0.000,3078,0.000,0.044,2427,2113,2638,2681,2595,0,0,0,0,0,0,14.59,14.54,14.61
$GC,362,-0.54,-87.6,2427,2115,2681,2581,86.8,-22.5,38,367,0.00,2.35,0.00,0.000,2308,0.000,0.062,2427,3527,2631,2681,2581,0,0,0,0,0,0,15.02,14.64,15.02
$GC,465,-0.54,-87.6,2427,3529,2681,2581,104.6,-16.2,47,472,0.00,2.35,0.00,0.000,3078,0.000,0.053,2427,2117,2631,2681,2581,0,0,0,0,0,0,14.81,14.69,14.82
$GC,711,-0.54,-87.6,2427,2117,2681,2581,151.7,-17.5,72,712,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2116,2631,2681,2581,0,0,0,0,0,0,15.08,15.09,15.08
$GC,951,-0.54,-87.6,2427,2116,2681,2581,191.1,-15.9,96,952,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2116,2630,2681,2580,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1211,-0.54,-87.6,2426,2116,2681,2581,232.0,-15.5,107,1217,0.00,2.38,0.00,0.000,2308,0.000,0.063,2426,3529,2630,2681,2580,0,0,0,0,0,0,15.15,14.72,15.16
$GC,1288,-0.54,-87.6,2426,3529,2681,2580,237.8,-14.9,108,1296,0.00,2.30,0.00,0.000,3078,0.000,0.049,2426,2122,2630,2681,2580,0,0,0,0,0,0,14.89,14.78,14.91
$GC,1534,-0.54,-87.6,2426,2121,2681,2580,274.2,-13.3,115,1539,0.00,2.33,0.00,0.000,2564,0.000,0.065,2426,717,2630,2681,2580,0,0,0,0,0,0,15.18,14.74,15.19
$GC,1596,-0.54,-87.6,2426,716,2681,2578,280.3,-13.5,116,1601,0.00,2.30,0.00,0.000,3078,0.000,0.049,2426,2123,2629,2681,2578,0,0,0,0,0,0,14.91,14.79,14.93
$GC,1859,-0.54,-87.6,2426,2123,2681,2577,319.2,-13.5,123,1860,0.00,0.00,0.00,0.000,2054,0.000,0.000,2426,2123,2629,2681,2577,0,0,0,0,0,0,15.20,15.20,15.20
$GC,2099,-0.54,-87.6,2426,2124,2681,2575,350.8,-13.3,129,2104,0.00,2.33,0.00,0.000,2308,0.000,0.063,2426,3531,2627,2681,2574,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2141,-0.54,-87.6,2426,3531,2681,2574,356.3,-13.3,130,2147,0.00,2.30,0.00,0.000,3078,0.000,0.047,2426,2123,2627,2681,2574,0,0,0,0,0,0,14.93,14.81,14.95
$GC,2425,-0.54,-87.6,2426,2122,2681,2571,391.8,-12.4,137,2430,0.00,2.38,0.00,0.000,2308,0.000,0.060,2426,3541,2625,2681,2570,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2481,-0.54,-87.6,2426,3542,2680,2569,397.1,-12.3,138,2487,0.00,2.30,0.00,0.000,3078,0.000,0.045,2426,2128,2625,2681,2569,0,0,0,0,0,0,14.92,14.81,14.95
$GC,2750,-0.54,-87.6,2426,2126,2681,2563,434.0,-13.0,145,2755,0.00,2.33,0.00,0.000,2564,0.000,0.062,2426,720,2622,2681,2563,0,0,0,0,0,0,15.21,14.76,15.22
$GC,2804,-0.54,-87.6,2426,720,2681,2563,440.1,-13.3,146,2809,0.00,2.30,0.00,0.000,3078,0.000,0.044,2426,2130,2621,2681,2562,0,0,0,0,0,0,14.92,14.81,14.95
$GC,3077,-0.54,-87.6,2426,2132,2681,2560,476.0,-12.3,153,3082,0.00,2.30,0.00,0.000,2308,0.000,0.060,2426,3529,2620,2681,2560,0,0,0,0,0,0,15.21,14.75,15.21
$GC,3099,-0.54,-87.6,2426,3529,2681,2560,476.0,-12.3,153,3105,0.00,2.30,0.00,0.000,3078,0.000,0.044,2426,2124,2620,2680,2560,0,0,0,0,0,0,14.92,14.80,14.94
$GC,3362,-0.54,-87.6,2426,2122,2681,2556,508.4,-11.0,160,3367,0.00,2.33,0.00,0.000,2564,0.000,0.060,2426,714,2618,2681,2555,0,0,0,0,0,0,15.22,14.75,15.22
$GC,3424,-0.54,-87.6,2426,713,2681,2554,513.4,-11.1,161,3429,0.00,2.30,0.00,0.000,3078,0.000,0.041,2426,2127,2617,2681,2554,0,0,0,0,0,0,14.92,14.80,14.93
$GC,3687,-0.54,-87.6,2426,2128,2681,2550,544.6,-11.1,168,3692,0.00,2.33,0.00,0.000,2308,0.000,0.059,2426,3535,2615,2681,2550,0,0,0,0,0,0,15.21,14.73,15.22
$GC,3759,-0.54,-87.6,2426,3536,2681,2549,549.3,-11.2,169,3764,0.00,2.30,0.00,0.000,3078,0.000,0.045,2426,2126,2615,2681,2549,0,0,0,0,0,0,14.90,14.78,14.92
$GC,4013,-0.54,-87.6,2426,2125,2680,2546,580.4,-11.0,176,4014,0.00,0.00,0.00,0.000,2054,0.000,0.000,2426,2125,2613,2681,2546,0,0,0,0,0,0,15.21,15.21,15.21
$STATE,4211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4211,begin apogee
$GC,4217,-0.13,0.0,2426,1924,2681,2542,602.7,-11.1,181,4291,0.40,0.00,68.82,1.657,10246,0.252,0.000,2572,1922,2273,2352,2194,0,0,0,0,0,0,14.33,14.48,13.74
$STATE,4292,end apogee,CONTROL_FINISHED_OK
$STATE,4293,begin climb
$GC,4295,0.54,87.6,2572,1922,2351,2193,606.3,0.0,183,4373,0.47,2.38,71.00,1.639,10756,0.158,0.061,2783,567,1919,2010,1828,0,0,0,0,0,0,14.40,14.26,13.56
$GC,4480,0.54,87.6,2783,567,2008,1827,605.7,0.5,187,4485,0.00,2.30,0.00,0.000,1030,0.000,0.037,2783,1956,1917,2008,1827,0,0,0,0,0,0,14.59,14.52,14.60
$GC,4738,0.63,166.0,2783,1956,2008,1823,594.3,4.4,194,4812,0.05,2.38,64.62,1.620,10500,0.278,0.053,2840,3343,1593,1700,1487,0,0,0,0,0,0,14.60,14.37,13.69
$GC,4919,0.63,166.0,2840,3343,1696,1489,576.1,11.5,198,4925,0.10,2.30,0.00,0.000,5126,0.386,0.050,2819,1975,1592,1696,1489,0,0,0,0,0,0,14.18,14.53,14.52
$GC,5183,0.63,166.0,2818,1973,1696,1488,535.1,13.8,205,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1973,1592,1697,1488,0,0,0,0,0,0,15.00,15.00,15.00
$GC,5422,0.63,166.0,2819,1973,1697,1485,503.7,12.9,211,5427,0.00,2.30,0.00,0.000,4356,0.000,0.050,2819,3357,1590,1696,1485,0,0,0,0,0,0,15.07,14.70,15.07
$GC,5577,0.63,166.0,2818,3358,1696,1485,487.1,13.5,214,5583,0.00,2.35,0.00,0.000,5126,0.000,0.049,2829,1945,1590,1696,1485,0,0,0,0,0,0,14.83,14.71,14.85
$GC,5831,0.63,166.0,2828,1945,1696,1482,451.3,12.6,221,5836,0.00,2.35,0.00,0.000,4612,0.000,0.061,2840,532,1589,1696,1482,0,0,0,0,0,0,15.11,14.69,15.12
$GC,5862,0.63,166.0,2840,532,1696,1482,451.3,12.6,221,5868,0.08,2.33,0.00,0.000,5126,0.420,0.037,2817,1957,1589,1696,1482,0,0,0,0,0,0,14.28,14.77,14.66
$GC,6116,0.63,166.0,2816,1968,1696,1481,416.0,12.1,228,6121,0.00,2.28,0.00,0.000,260,0.000,0.046,2817,3363,1588,1696,1481,0,0,0,0,0,0,15.14,14.75,15.14
$GC,6152,0.63,166.0,2816,3362,1695,1480,416.0,12.1,228,6159,0.00,2.33,0.00,0.000,5126,0.000,0.043,2826,1947,1588,1695,1481,0,0,0,0,0,0,14.86,14.74,14.88
$GC,6399,0.63,166.0,2826,1946,1696,1479,382.4,11.5,235,6400,0.00,0.00,0.00,0.000,4102,0.000,0.000,2826,1946,1587,1695,1479,0,0,0,0,0,0,15.16,15.16,15.16
$GC,6638,0.63,166.0,2827,1947,1695,1477,356.7,10.6,241,6644,0.00,2.33,0.00,0.000,4356,0.000,0.044,2827,3362,1586,1696,1477,0,0,0,0,0,0,15.16,14.76,15.17
$GC,6751,0.63,166.0,2826,3364,1694,1478,347.4,11.0,243,6757,0.08,2.33,0.00,0.000,5126,0.389,0.042,2813,1947,1586,1695,1477,0,0,0,0,0,0,14.28,14.75,14.64
$GC,7005,0.63,166.0,2811,1947,1694,1476,316.8,11.0,250,7006,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1947,1585,1694,1476,0,0,0,0,0,0,15.16,15.18,15.18
$GC,7244,0.63,166.0,2812,1947,1695,1475,291.1,10.6,256,7250,0.00,2.33,0.00,0.000,260,0.000,0.044,2812,3366,1585,1695,1476,0,0,0,0,0,0,15.18,14.75,15.19
$GC,7346,0.63,166.0,2812,3366,1695,1476,282.1,10.6,258,7352,0.00,2.33,0.00,0.000,5126,0.000,0.043,2823,1950,1585,1695,1476,0,0,0,0,0,0,14.86,14.73,14.88
$GC,7610,0.63,166.0,2822,1949,1695,1475,252.7,9.9,265,7615,0.00,2.33,0.00,0.000,4612,0.000,0.055,2834,538,1585,1695,1475,0,0,0,0,0,0,15.19,14.70,15.19
$GC,7946,0.63,166.0,2833,537,1694,1475,222.1,10.2,273,7953,0.05,2.30,0.00,0.000,5126,0.461,0.034,2819,1961,1584,1693,1475,0,0,0,0,0,0,14.31,14.77,14.62
$GC,8216,0.63,166.0,2818,1964,1694,1475,197.3,8.2,280,8221,0.00,2.25,0.00,0.000,4356,0.000,0.044,2818,3359,1585,1694,1476,0,0,0,0,0,0,15.19,14.73,15.19
$GC,8317,0.63,166.0,2818,3359,1694,1476,189.3,8.2,289,8323,0.00,2.33,0.00,0.000,5126,0.000,0.041,2828,1945,1584,1693,1476,0,0,0,0,0,0,14.85,14.74,14.88
$GC,8565,0.64,173.9,2828,1945,1694,1476,171.2,7.6,314,8577,0.00,2.28,4.12,0.744,12548,0.000,0.041,2828,3351,1570,1681,1460,0,0,0,0,0,0,15.14,14.52,13.93
$GC,9116,0.72,238.1,2828,3350,1681,1468,134.7,5.1,365,9176,0.00,2.30,53.10,1.030,11270,0.000,0.041,2839,1949,1302,1402,1203,0,0,0,0,0,0,14.83,14.72,14.06
$GC,9426,0.72,238.1,2839,1948,1397,1197,100.1,12.3,395,9431,0.00,2.30,0.00,0.000,2308,0.000,0.042,2839,3349,1297,1397,1198,0,0,0,0,0,0,14.97,14.63,14.97
$GC,9715,0.72,238.1,2839,3348,1397,1199,63.2,11.8,420,9724,0.00,2.38,0.00,0.000,5126,0.000,0.044,2850,1962,1298,1397,1199,0,0,0,0,0,0,14.56,14.50,14.59
$GC,9966,0.72,238.1,2849,1962,1398,1201,38.3,8.9,445,9974,0.00,0.00,0.00,0.000,4102,0.000,0.000,2849,1962,1299,1397,1201,0,0,0,0,0,0,15.02,15.03,15.02
$GC,10240,0.72,238.4,2849,1962,1397,1203,17.3,8.0,483,10248,0.00,2.38,0.00,0.000,4356,0.000,0.044,2849,3351,1300,1397,1204,0,0,0,0,0,0,15.02,14.51,15.02
$STATE,10379,end climb,SURFACE_DEPTH_REACHED
$STATE,10379,begin surface coast
$FINISH,0.3,1.022796
$STATE,10411,end surface coast,CONTROL_FINISHED_OK
$STATE,10411,begin surface
$SM_CCo,10428,102.85,0.896,1,0,648,400.08
$SM_GC,1.42,5.93,2.05,102.85,0.036,0.042,0.896,184,2122,648,-7.43,1.19,400.08,0,0,0,0,1,0,14.69,14.68,13.95
$IRIDIUM_FIX,2206.70,-15729.08,060518,220139
$TT8_MAMPS,0.019474,0.265895
$HUMID,43.34
$INTERNAL_PRESSURE,9.48537
$TCM_TEMP,22.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,6.3
$24V_AH,13.56,113.854
$10V_AH,12.93,0.000
$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,14.725,102.275,261.675,102.850,0.000,28.227,49.011,320.415,0.500,0.000,20.384,1950.768,6250.523,478.276,2231.771,200.745,0.000,1260.675,0.000,1794.150,0.000,5.462,0.000
$DEVICE_MAMPS,460.530,71.910,1656.990,895.815,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,345.751,271.296,486.385,470.221,721.510,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343152
$DATA_FILE_SIZE,43911,511
$CAP_FILE_SIZE,105595,0
$CFSIZE,2097086464,2044395520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.035,126.48,1
$GPS,070518,010619,2217.766,-15729.343,15,1.3,15,9.8,0.5,283.1,6,32.4