version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 501
start: 5 7 118 6 31 55
data:
$ID,626
$MISSION,2
$DIVE,501
$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,37
$R_STBD_OVSHOOT,76
$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
$GPS1,070518,062332,2217.9805,-15729.5918,16,1.1,16,9.8,0.0,0.0,8,91.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.7
$GPS2,070518,063109,2218.0171,-15729.6133,21,1.6,21,9.8,0.0,0.0,6,99.0
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,EE
$TGT_LATLONG,2218.000,-15730.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,250.4,663,-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,-87.6,187,2163,683,623,0.0,0.0,0,75,0.00,0.00,-57.17,0.000,16386,0.000,0.000,187,2166,2624,2664,2584,0,0,0,0,0,0,14.92,28.83,14.93
$GC,78,-0.54,-87.6,186,2166,2664,2583,4.1,-7.4,7,96,7.60,2.22,-0.32,0.000,18692,0.446,0.064,2420,3508,2639,2682,2596,0,0,0,0,0,0,14.21,13.71,14.64
$GC,298,-0.54,-87.6,2419,3508,2683,2591,61.3,-20.5,30,308,0.03,2.38,0.00,0.000,3078,0.436,0.050,2429,2125,2636,2682,2591,0,0,0,0,0,0,14.28,14.52,14.40
$GC,549,-0.54,-87.6,2428,2124,2682,2591,113.4,-19.3,55,555,0.00,2.35,0.00,0.000,2564,0.000,0.064,2428,714,2636,2682,2591,0,0,0,0,0,0,15.04,14.66,15.04
$GC,562,-0.54,-87.6,2428,713,2682,2590,116.9,-20.3,56,567,0.00,2.25,0.00,0.000,3078,0.000,0.040,2428,2090,2636,2682,2590,0,0,0,0,0,0,14.82,14.72,14.84
$GC,816,-0.54,-87.6,2428,2091,2682,2591,164.2,-17.4,81,822,0.00,2.30,0.00,0.000,2564,0.000,0.063,2428,721,2636,2682,2590,0,0,0,0,0,0,15.09,14.69,15.09
$GC,864,-0.54,-87.6,2427,721,2682,2591,172.1,-17.2,85,870,0.00,2.30,0.00,0.000,3078,0.000,0.043,2428,2123,2636,2682,2591,0,0,0,0,0,0,14.85,14.73,14.87
$GC,1148,-0.54,-87.6,2427,2125,2683,2591,218.7,-14.7,104,1154,0.00,2.33,0.00,0.000,2308,0.000,0.063,2428,3530,2637,2684,2590,0,0,0,0,0,0,15.14,14.70,15.14
$GC,1260,-0.54,-87.6,2427,3531,2684,2590,229.7,-13.8,106,1266,0.00,2.30,0.00,0.000,3078,0.000,0.045,2428,2115,2637,2684,2591,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1513,-0.54,-87.6,2427,2114,2684,2591,270.1,-14.9,113,1518,0.00,2.28,0.00,0.000,2564,0.000,0.060,2428,724,2637,2685,2590,0,0,0,0,0,0,15.17,14.75,15.18
$GC,1620,-0.54,-87.6,2427,724,2685,2590,282.3,-15.0,115,1625,0.00,2.28,0.00,0.000,3078,0.000,0.041,2428,2131,2638,2685,2591,0,0,0,0,0,0,14.91,14.81,14.92
$GC,1878,-0.54,-87.6,2427,2133,2685,2590,320.1,-13.2,122,1884,0.00,2.35,0.00,0.000,2564,0.000,0.058,2428,724,2637,2684,2590,0,0,0,0,0,0,15.19,14.76,15.20
$GC,1906,-0.54,-87.6,2427,724,2684,2590,320.1,-13.2,122,1911,0.00,2.28,0.00,0.000,3078,0.000,0.041,2428,2129,2637,2685,2590,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2164,-0.54,-87.6,2427,2130,2684,2590,357.6,-13.1,129,2169,0.00,2.33,0.00,0.000,2308,0.000,0.063,2428,3534,2637,2685,2590,0,0,0,0,0,0,15.21,14.75,15.21
$GC,2215,-0.54,-87.6,2427,3535,2684,2588,362.9,-13.1,130,2221,0.00,2.28,0.00,0.000,3078,0.000,0.044,2428,2126,2637,2684,2590,0,0,0,0,0,0,14.92,14.82,14.95
$GC,2489,-0.54,-87.6,2427,2126,2684,2588,397.9,-12.5,137,2495,0.00,2.35,0.00,0.000,2308,0.000,0.060,2428,3530,2636,2684,2588,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2537,-0.54,-87.6,2427,3530,2684,2587,403.2,-12.2,138,2542,0.00,2.28,0.00,0.000,3078,0.000,0.044,2428,2129,2635,2684,2587,0,0,0,0,0,0,14.92,14.81,14.95
$GC,2815,-0.54,-87.6,2427,2128,2685,2585,438.9,-12.7,145,2820,0.00,2.33,0.00,0.000,2564,0.000,0.059,2428,712,2634,2684,2584,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2852,-0.54,-87.6,2427,712,2685,2584,438.9,-12.7,145,2859,0.00,2.33,0.00,0.000,3078,0.000,0.041,2428,2134,2634,2684,2584,0,0,0,0,0,0,14.92,14.81,14.94
$GC,3097,-0.54,-87.6,2427,2134,2684,2580,473.3,-11.9,152,3103,0.00,2.33,0.00,0.000,2308,0.000,0.061,2428,3538,2632,2684,2580,0,0,0,0,0,0,15.21,14.75,15.22
$GC,3145,-0.54,-87.6,2427,3540,2684,2580,478.1,-11.8,153,3151,0.00,2.30,0.00,0.000,3078,0.000,0.044,2427,2124,2632,2685,2580,0,0,0,0,0,0,14.92,14.81,14.94
$GC,3423,-0.54,-87.6,2427,2123,2684,2577,508.8,-10.9,160,3429,0.00,2.30,0.00,0.000,2564,0.000,0.059,2428,724,2630,2684,2577,0,0,0,0,0,0,15.21,14.74,15.22
$GC,3495,-0.54,-87.6,2427,724,2684,2576,513.7,-11.2,161,3501,0.00,2.30,0.00,0.000,3078,0.000,0.041,2428,2137,2630,2684,2576,0,0,0,0,0,0,14.90,14.79,14.93
$GC,3748,-0.54,-87.6,2427,2137,2684,2572,544.6,-10.8,168,3754,0.00,2.30,0.00,0.000,2308,0.000,0.060,2427,3529,2628,2685,2572,0,0,0,0,0,0,15.21,14.73,15.22
$GC,3781,-0.54,-87.6,2427,3530,2684,2571,544.6,-10.8,168,3786,0.00,2.30,0.00,0.000,3078,0.000,0.044,2428,2120,2627,2684,2571,0,0,0,0,0,0,14.90,14.78,14.92
$GC,4034,-0.54,-87.6,2427,2119,2684,2569,576.4,-11.0,175,4039,0.00,2.30,0.00,0.000,2564,0.000,0.058,2428,723,2626,2684,2569,0,0,0,0,0,0,15.21,14.73,15.21
$GC,4055,-0.54,-87.6,2427,723,2684,2568,576.4,-11.0,175,4061,0.00,2.30,0.00,0.000,3078,0.000,0.041,2428,2134,2626,2684,2568,0,0,0,0,0,0,14.90,14.78,14.92
$STATE,4276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4276,begin apogee
$GC,4282,-0.13,0.0,2428,1931,2684,2564,602.5,-10.3,181,4359,0.38,0.00,70.47,1.672,10246,0.248,0.000,2566,1930,2274,2351,2197,0,0,0,0,0,0,14.35,14.47,13.74
$STATE,4360,end apogee,CONTROL_FINISHED_OK
$STATE,4360,begin climb
$GC,4362,0.54,87.6,2566,1930,2349,2197,605.3,0.0,183,4444,0.50,2.33,72.80,1.620,10756,0.160,0.059,2785,560,1915,2004,1826,0,0,0,0,0,0,14.38,14.26,13.56
$GC,4586,0.70,223.1,2785,561,2000,1822,602.2,1.9,188,4702,0.10,2.30,106.07,1.739,11270,0.166,0.035,2858,1961,1375,1476,1275,0,0,0,0,0,0,14.48,14.55,13.44
$GC,4965,0.70,223.1,2858,1960,1476,1279,536.7,18.9,198,4971,0.05,2.30,0.00,0.000,4356,0.462,0.048,2844,3354,1377,1476,1279,0,0,0,0,0,0,14.36,14.60,14.57
$GC,5073,0.70,223.1,2843,3354,1475,1279,520.8,18.6,200,5079,0.00,2.30,0.00,0.000,5126,0.000,0.050,2853,1972,1376,1475,1278,0,0,0,0,0,0,14.76,14.65,14.77
$GC,5332,0.70,223.1,2853,1971,1475,1276,469.9,18.1,207,5337,0.00,2.40,0.00,0.000,4612,0.000,0.062,2864,539,1375,1475,1276,0,0,0,0,0,0,15.06,14.68,15.06
$GC,5375,0.70,223.1,2864,539,1475,1276,461.7,18.4,208,5381,0.08,2.30,0.00,0.000,5126,0.389,0.037,2840,1947,1375,1475,1276,0,0,0,0,0,0,14.33,14.74,14.64
$GC,5658,0.70,223.1,2840,1962,1475,1275,411.4,17.1,215,5664,0.00,2.30,0.00,0.000,260,0.000,0.044,2840,3366,1375,1475,1275,0,0,0,0,0,0,15.10,14.75,15.11
$GC,5705,0.70,223.1,2840,3366,1475,1274,404.5,16.8,216,5711,0.00,2.33,0.00,0.000,5126,0.000,0.044,2850,1947,1374,1475,1274,0,0,0,0,0,0,14.85,14.74,14.87
$GC,5984,0.70,223.1,2850,1947,1475,1271,356.1,17.3,223,5989,0.00,2.33,0.00,0.000,4356,0.000,0.044,2850,3360,1372,1475,1270,0,0,0,0,0,0,15.14,14.76,15.14
$GC,6156,0.70,223.1,2850,3360,1475,1269,327.2,17.8,227,6162,0.08,2.33,0.00,0.000,5126,0.393,0.044,2837,1946,1372,1475,1269,0,0,0,0,0,0,14.32,14.74,14.63
$GC,6429,0.70,223.1,2836,1945,1475,1268,284.4,14.8,234,6434,0.00,2.30,0.00,0.000,516,0.000,0.057,2846,540,1371,1474,1268,0,0,0,0,0,0,15.16,14.71,15.16
$GC,6512,0.70,223.1,2847,539,1474,1268,272.0,14.7,236,6517,0.00,2.30,0.00,0.000,5126,0.000,0.034,2847,1955,1371,1474,1268,0,0,0,0,0,0,14.88,14.79,14.90
$GC,6795,0.70,223.1,2846,1959,1474,1267,228.0,15.2,243,6800,0.00,2.38,0.00,0.000,4612,0.000,0.055,2857,539,1370,1474,1267,0,0,0,0,0,0,15.17,14.72,15.17
$GC,6878,0.70,223.1,2857,539,1474,1267,214.9,15.2,245,6884,0.05,2.30,0.00,0.000,5126,0.428,0.034,2842,1965,1370,1474,1267,0,0,0,0,0,0,14.40,14.80,14.65
$GC,7133,0.70,223.1,2842,1971,1474,1266,182.2,13.7,261,7139,0.00,2.25,0.00,0.000,4356,0.000,0.044,2842,3357,1370,1474,1267,0,0,0,0,0,0,15.15,14.75,15.15
$GC,7339,0.70,223.1,2842,3357,1474,1267,156.2,13.6,280,7346,0.00,2.33,0.00,0.000,5126,0.000,0.043,2852,1947,1370,1474,1267,0,0,0,0,0,0,14.85,14.73,14.87
$GC,7589,0.70,223.1,2851,1946,1474,1267,125.7,11.0,305,7595,0.00,2.33,0.00,0.000,4612,0.000,0.057,2863,539,1370,1474,1267,0,0,0,0,0,0,15.11,14.69,15.11
$GC,7688,0.70,223.1,2863,539,1474,1268,113.6,11.8,314,7694,0.08,2.28,0.00,0.000,5126,0.366,0.033,2838,1952,1371,1474,1268,0,0,0,0,0,0,14.30,14.76,14.59
$GC,7944,0.70,223.1,2838,1956,1474,1269,88.5,11.3,339,7950,0.00,2.25,0.00,0.000,260,0.000,0.044,2838,3353,1372,1474,1270,0,0,0,0,0,0,15.11,14.72,15.11
$GC,8057,0.70,223.1,2838,3354,1474,1271,75.6,10.2,349,8063,0.00,2.33,0.00,0.000,5126,0.000,0.041,2848,1940,1372,1474,1271,0,0,0,0,0,0,14.83,14.72,14.85
$GC,8314,0.74,252.4,2848,1940,1474,1275,55.5,6.7,374,8344,0.00,2.30,24.27,1.043,8452,0.000,0.041,2848,3351,1252,1355,1150,0,0,0,0,0,0,15.07,14.59,14.09
$GC,8569,0.74,252.4,2848,3351,1355,1165,29.7,11.4,396,8578,0.00,2.40,1.80,0.151,13318,0.000,0.044,2859,1949,1253,1350,1157,0,0,0,0,0,0,14.59,14.54,14.41
$GC,8864,0.74,252.4,2859,1948,1352,1171,3.7,9.2,445,8873,0.00,0.00,1.83,0.171,12294,0.000,0.000,2859,1948,1249,1347,1152,0,0,0,0,0,0,15.00,14.45,14.37
$STATE,8880,end climb,SURFACE_DEPTH_REACHED
$STATE,8881,begin surface coast
$FINISH,0.3,1.023199
$STATE,8911,end surface coast,CONTROL_FINISHED_OK
$STATE,8912,begin surface
$SM_CCo,8927,83.62,0.117,0,0,646,400.08
$SM_GC,2.12,6.15,0.30,83.62,0.072,0.070,0.117,182,2130,646,-7.43,-1.55,400.08,0,0,0,0,0,0,14.71,14.69,14.53
$IRIDIUM_FIX,2209.02,-15729.08,070518,062503
$TT8_MAMPS,0.018725,0.263648
$HUMID,44.25
$INTERNAL_PRESSURE,9.48537
$TCM_TEMP,23.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.4,6.5
$24V_AH,13.44,114.509
$10V_AH,12.85,0.000
$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,15.075,111.450,277.250,83.625,0.000,29.855,44.241,244.881,0.500,0.000,23.244,1762.189,5059.912,476.044,2021.478,182.550,0.000,1209.970,0.000,1661.651,0.000,5.461,0.000
$DEVICE_MAMPS,462.060,69.615,1738.845,117.045,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,305.607,250.929,441.551,457.332,701.683,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343184
$DATA_FILE_SIZE,40581,452
$CAP_FILE_SIZE,100460,0
$CFSIZE,2097086464,2044100608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.071,351.69,1
$GPS,070518,090354,2218.091,-15730.698,72,1.1,72,9.8,0.0,0.0,8,23.7