version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 507
start: 5 7 118 23 55 5
data:
$ID,626
$MISSION,2
$DIVE,507
$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,47
$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
$GPS1,070518,234525,2218.3181,-15730.0117,21,1.0,38,9.8,0.8,287.9,7,10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.6
$GPS2,070518,235420,2218.3442,-15730.0732,7,1.0,7,9.8,1.3,68.1,7,356.3
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,EE
$TGT_LATLONG,2218.000,-15730.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,159.9,650,-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,-87.6,182,2109,679,626,0.0,0.0,0,73,0.00,0.00,-55.40,0.000,16386,0.000,0.000,183,2108,2542,2574,2511,0,0,0,0,0,0,14.93,28.83,14.94
$GC,76,-0.54,-87.6,182,2109,2574,2511,3.9,-7.1,7,95,7.62,2.30,-1.55,0.000,18948,0.447,0.065,2428,704,2637,2680,2594,0,0,0,0,0,0,14.22,13.69,14.64
$GC,169,-0.54,-87.6,2428,703,2681,2592,35.7,-22.0,19,174,0.00,2.35,0.00,0.000,3078,0.000,0.044,2428,2123,2635,2679,2591,0,0,0,0,0,0,14.75,14.64,14.76
$GC,422,-0.54,-87.6,2427,2125,2680,2591,92.9,-20.7,44,427,0.00,2.33,0.00,0.000,2308,0.000,0.060,2428,3531,2635,2680,2591,0,0,0,0,0,0,15.03,14.64,15.04
$GC,568,-0.54,-87.6,2427,3533,2680,2591,117.2,-15.2,57,574,0.00,2.33,0.00,0.000,3078,0.000,0.047,2428,2121,2636,2680,2592,0,0,0,0,0,0,14.82,14.71,14.83
$GC,826,-0.54,-87.6,2427,2119,2680,2592,163.0,-16.8,82,831,0.00,2.33,0.00,0.000,2564,0.000,0.061,2427,712,2636,2680,2592,0,0,0,0,0,0,15.08,14.69,15.08
$GC,852,-0.54,-87.6,2427,714,2680,2591,167.5,-16.3,84,862,0.00,2.38,0.00,0.000,3078,0.000,0.042,2427,2120,2635,2680,2591,0,0,0,0,0,0,14.64,14.59,14.67
$GC,1129,-0.54,-87.6,2427,2121,2680,2592,212.1,-14.5,106,1135,0.00,2.35,0.00,0.000,2564,0.000,0.062,2427,720,2636,2681,2591,0,0,0,0,0,0,15.14,14.71,15.14
$GC,1156,-0.54,-87.6,2427,720,2681,2591,212.1,-14.5,106,1161,0.00,2.30,0.00,0.000,3078,0.000,0.041,2427,2136,2636,2681,2591,0,0,0,0,0,0,14.88,14.76,14.89
$GC,1414,-0.54,-87.6,2427,2137,2681,2591,252.1,-13.8,113,1420,0.00,2.30,0.00,0.000,2308,0.000,0.061,2427,3530,2636,2681,2591,0,0,0,0,0,0,15.17,14.73,15.17
$GC,1492,-0.54,-87.6,2427,3531,2681,2591,257.9,-13.8,114,1499,0.00,2.30,0.00,0.000,3078,0.000,0.046,2427,2119,2635,2680,2591,0,0,0,0,0,0,14.90,14.79,14.92
$GC,1738,-0.54,-87.6,2427,2118,2681,2591,294.8,-13.7,121,1743,0.00,2.30,0.00,0.000,2564,0.000,0.062,2427,720,2636,2681,2591,0,0,0,0,0,0,15.19,14.76,15.19
$GC,1815,-0.54,-87.6,2427,719,2681,2591,301.1,-14.0,122,1821,0.00,2.30,0.00,0.000,3078,0.000,0.042,2426,2132,2636,2681,2591,0,0,0,0,0,0,14.91,14.80,14.93
$GC,2060,-0.54,-87.6,2427,2133,2681,2591,337.5,-12.5,129,2061,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2133,2635,2681,2590,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2300,-0.54,-87.6,2427,2133,2681,2588,367.3,-12.4,135,2305,0.00,2.33,0.00,0.000,2308,0.000,0.062,2427,3538,2634,2681,2588,0,0,0,0,0,0,15.21,14.75,15.21
$GC,2332,-0.54,-87.6,2427,3538,2681,2587,367.3,-12.4,135,2338,0.00,2.30,0.00,0.000,3078,0.000,0.046,2427,2126,2634,2681,2588,0,0,0,0,0,0,14.92,14.81,14.95
$GC,2585,-0.54,-87.6,2427,2125,2681,2585,398.7,-10.9,142,2591,0.00,2.35,0.00,0.000,2308,0.000,0.060,2427,3530,2633,2681,2585,0,0,0,0,0,0,15.22,14.76,15.21
$GC,2618,-0.54,-87.6,2427,3530,2681,2584,398.7,-10.9,142,2623,0.00,2.30,0.00,0.000,3078,0.000,0.046,2427,2122,2632,2681,2584,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2871,-0.54,-87.6,2427,2120,2682,2581,429.7,-11.0,149,2872,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2121,2631,2681,2581,0,0,0,0,0,0,15.22,15.22,15.21
$GC,3111,-0.54,-87.6,2427,2120,2681,2578,458.2,-12.1,155,3117,0.00,2.33,0.00,0.000,2564,0.000,0.060,2427,713,2629,2681,2578,0,0,0,0,0,0,15.22,14.75,15.22
$GC,3155,-0.54,-87.6,2427,712,2681,2578,463.9,-12.5,156,3161,0.00,2.33,0.00,0.000,3078,0.000,0.043,2427,2129,2629,2681,2577,0,0,0,0,0,0,14.92,14.79,14.93
$GC,3438,-0.54,-87.6,2427,2131,2681,2573,498.5,-12.0,163,3443,0.00,2.33,0.00,0.000,2308,0.000,0.062,2427,3533,2627,2681,2573,0,0,0,0,0,0,15.22,14.73,15.22
$GC,3516,-0.54,-87.6,2427,3534,2681,2572,503.2,-11.6,164,3523,0.00,2.30,0.00,0.000,3078,0.000,0.044,2427,2124,2626,2681,2572,0,0,0,0,0,0,14.90,14.78,14.92
$GC,3761,-0.54,-87.6,2427,2123,2681,2569,531.6,-10.2,171,3767,0.00,2.33,0.00,0.000,2564,0.000,0.060,2427,718,2625,2681,2569,0,0,0,0,0,0,15.21,14.73,15.21
$GC,3794,-0.54,-87.6,2427,718,2681,2568,531.6,-10.2,171,3799,0.00,2.30,0.00,0.000,3078,0.000,0.042,2427,2127,2624,2681,2568,0,0,0,0,0,0,14.90,14.78,14.92
$GC,4047,-0.54,-87.6,2427,2127,2681,2563,559.9,-9.7,178,4048,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2128,2622,2681,2563,0,0,0,0,0,0,15.21,15.21,15.21
$GC,4287,-0.54,-87.6,2427,2128,2681,2561,584.1,-10.2,184,4293,0.00,2.38,0.00,0.000,2564,0.000,0.058,2427,716,2621,2681,2561,0,0,0,0,0,0,15.21,14.71,15.22
$GC,4315,-0.54,-87.6,2427,716,2681,2561,584.1,-10.2,184,4320,0.00,2.30,0.00,0.000,3078,0.000,0.042,2427,2128,2621,2681,2561,0,0,0,0,0,0,14.89,14.77,14.91
$STATE,4450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4450,begin apogee
$GC,4456,-0.13,0.0,2427,1929,2681,2559,602.2,-10.9,188,4534,0.38,0.00,68.62,1.861,10246,0.249,0.000,2565,1927,2281,2360,2202,0,0,0,0,0,0,14.33,14.42,13.62
$STATE,4535,end apogee,CONTROL_FINISHED_OK
$STATE,4535,begin climb
$GC,4537,0.54,87.6,2565,1928,2359,2203,606.2,0.0,190,4618,0.50,2.38,74.72,2.011,10756,0.160,0.059,2783,551,1922,2011,1834,0,0,0,0,0,0,14.34,14.02,13.35
$GC,4737,0.79,288.8,2782,549,2010,1834,608.6,-1.1,195,4922,0.15,2.35,173.68,2.136,11270,0.126,0.036,2882,1969,1102,1196,1008,0,0,0,0,0,0,14.47,14.51,13.24
$GC,5180,0.79,288.8,2882,1969,1196,1005,516.8,25.5,206,5185,0.05,2.28,0.00,0.000,4356,0.464,0.047,2868,3344,1100,1196,1005,0,0,0,0,0,0,14.34,14.59,14.56
$GC,5237,0.79,288.8,2867,3344,1195,1004,505.9,25.6,207,5242,0.00,2.33,0.00,0.000,5126,0.000,0.053,2876,1966,1099,1195,1004,0,0,0,0,0,0,14.72,14.62,14.73
$GC,5505,0.79,288.8,2876,1965,1195,1001,437.0,24.4,214,5506,0.00,0.00,0.00,0.000,4102,0.000,0.000,2877,1965,1098,1196,1001,0,0,0,0,0,0,15.02,15.03,15.03
$GC,5745,0.79,288.8,2876,1964,1195,1000,378.7,24.0,220,5750,0.00,2.30,0.00,0.000,4356,0.000,0.049,2877,3341,1098,1196,1000,0,0,0,0,0,0,15.09,14.73,15.09
$GC,5788,0.79,288.8,2876,3341,1195,1000,368.3,23.8,221,5794,0.08,2.35,0.00,0.000,5126,0.400,0.052,2864,1939,1097,1195,1000,0,0,0,0,0,0,14.35,14.73,14.67
$GC,6072,0.79,288.8,2863,1939,1195,997,304.4,22.5,228,6077,0.00,2.33,0.00,0.000,260,0.000,0.048,2864,3343,1096,1195,997,0,0,0,0,0,0,15.11,14.76,15.12
$GC,6134,0.79,288.8,2864,3343,1194,997,295.2,22.0,229,6139,0.00,2.33,0.00,0.000,5126,0.000,0.050,2873,1946,1096,1195,997,0,0,0,0,0,0,14.87,14.74,14.88
$GC,6397,0.79,288.8,2873,1946,1195,995,235.5,21.1,236,6402,0.00,2.35,0.00,0.000,4612,0.000,0.062,2884,534,1095,1195,995,0,0,0,0,0,0,15.14,14.73,15.14
$GC,6414,0.79,288.8,2884,533,1195,995,235.5,21.1,236,6420,0.05,2.28,0.00,0.000,5126,0.421,0.033,2868,1949,1095,1195,995,0,0,0,0,0,0,14.43,14.81,14.73
$GC,6664,0.79,288.8,2868,1961,1194,994,177.6,21.2,250,6670,0.00,2.25,0.00,0.000,4356,0.000,0.041,2868,3351,1094,1194,994,0,0,0,0,0,0,15.13,14.77,15.13
$GC,6700,0.79,288.8,2868,3350,1194,994,170.2,20.8,253,6705,0.00,2.33,0.00,0.000,5126,0.000,0.045,2878,1947,1094,1195,994,0,0,0,0,0,0,14.88,14.76,14.90
$GC,6954,0.79,288.8,2877,1946,1194,993,121.8,16.3,278,6960,0.00,2.33,0.00,0.000,4612,0.000,0.059,2889,539,1093,1194,993,0,0,0,0,0,0,15.11,14.71,15.12
$GC,6990,0.79,288.8,2889,539,1194,993,115.1,18.6,281,6996,0.08,2.28,0.00,0.000,5126,0.370,0.033,2864,1950,1093,1194,993,0,0,0,0,0,0,14.35,14.79,14.69
$GC,7247,0.79,288.8,2863,1959,1194,993,74.6,14.6,306,7253,0.00,2.25,0.00,0.000,260,0.000,0.043,2864,3349,1093,1194,993,0,0,0,0,0,0,15.09,14.74,15.10
$GC,7319,0.79,288.8,2864,3349,1195,994,64.9,12.9,312,7325,0.00,2.30,0.00,0.000,5126,0.000,0.041,2873,1944,1094,1194,994,0,0,0,0,0,0,14.85,14.74,14.87
$GC,7577,0.79,288.8,2873,1944,1194,995,31.1,12.2,337,7582,0.00,2.30,0.00,0.000,4356,0.000,0.042,2873,3354,1094,1194,995,0,0,0,0,0,0,15.08,14.73,15.08
$STATE,7761,end climb,SURFACE_DEPTH_REACHED
$STATE,7761,begin surface coast
$FINISH,0.8,1.023177
$STATE,7782,end surface coast,CONTROL_FINISHED_OK
$STATE,7782,begin surface
$SM_CCo,7799,63.75,0.116,0,0,646,400.32
$SM_GC,1.40,6.20,2.05,63.75,0.076,0.043,0.116,185,2124,646,-7.43,1.19,400.32,0,0,0,0,0,0,14.76,14.71,14.55
$IRIDIUM_FIX,2209.02,-15713.49,070518,234722
$TT8_MAMPS,0.019474,0.328062
$HUMID,48.42
$INTERNAL_PRESSURE,9.44631
$TCM_TEMP,21.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,6.6
$24V_AH,13.24,115.922
$10V_AH,12.95,0.000
$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,15.100,97.350,317.025,63.750,0.000,32.973,59.038,306.975,0.500,0.000,8.327,1328.537,4812.261,470.217,1634.968,180.255,0.000,1047.501,0.000,1223.305,0.000,5.463,0.000
$DEVICE_MAMPS,463.590,65.025,2135.880,115.515,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,250.252,192.096,345.113,347.822,533.697,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343136
$DATA_FILE_SIZE,33915,370
$CAP_FILE_SIZE,85005,0
$CFSIZE,2097086464,2043510784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.004,230.16,1
$GPS,080518,020702,2217.365,-15729.796,16,1.1,16,9.8,0.7,16.0,5,135.1