version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 510
start: 5 8 118 8 33 12
data:
$ID,626
$MISSION,2
$DIVE,510
$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,38
$R_STBD_OVSHOOT,44
$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
$GPS1,080518,082344,2218.1726,-15729.9111,17,1.8,17,9.8,0.0,0.0,4,101.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.2
$GPS2,080518,083227,2218.1870,-15729.9668,8,1.5,8,9.8,1.3,181.7,6,225.0
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,EE
$TGT_LATLONG,2218.000,-15730.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,170.3,351,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.54,-87.6,183,2094,681,620,0.0,0.0,0,75,0.00,0.00,-56.20,0.000,16386,0.000,0.000,183,2095,2611,2642,2581,0,0,0,0,0,0,14.92,28.83,14.93
$GC,77,-0.54,-87.6,183,2098,2642,2581,4.4,-8.6,7,95,7.62,2.33,-0.47,0.000,18948,0.447,0.064,2429,706,2641,2682,2601,0,0,0,0,0,0,14.21,13.69,14.64
$GC,191,-0.54,-87.6,2428,706,2681,2586,42.3,-24.2,21,198,0.00,2.35,0.00,0.000,3078,0.000,0.047,2428,2116,2634,2681,2587,0,0,0,0,0,0,14.75,14.64,14.77
$GC,445,-0.54,-87.6,2427,2119,2682,2581,105.7,-21.9,46,450,0.00,2.35,0.00,0.000,2308,0.000,0.058,2428,3538,2631,2682,2581,0,0,0,0,0,0,15.04,14.66,15.04
$GC,533,-0.54,-87.6,2427,3538,2682,2581,121.3,-16.7,54,538,0.00,2.35,0.00,0.000,3078,0.000,0.048,2428,2119,2631,2682,2581,0,0,0,0,0,0,14.82,14.70,14.83
$GC,789,-0.54,-87.6,2427,2117,2682,2581,166.7,-16.7,79,795,0.00,2.33,0.00,0.000,2564,0.000,0.063,2427,717,2631,2682,2581,0,0,0,0,0,0,15.08,14.69,15.09
$GC,825,-0.54,-87.6,2427,716,2681,2581,173.1,-17.1,82,830,0.00,2.33,0.00,0.000,3078,0.000,0.043,2427,2134,2631,2681,2581,0,0,0,0,0,0,14.85,14.73,14.87
$GC,1088,-0.54,-87.6,2427,2136,2682,2581,212.5,-14.3,102,1089,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2136,2631,2681,2581,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1328,-0.54,-87.6,2427,2135,2682,2581,246.4,-14.1,108,1334,0.00,2.30,0.00,0.000,2308,0.000,0.062,2427,3530,2630,2681,2580,0,0,0,0,0,0,15.16,14.73,15.16
$GC,1405,-0.54,-87.6,2427,3531,2681,2581,252.9,-14.4,109,1413,0.00,2.33,0.00,0.000,3078,0.000,0.047,2427,2114,2631,2682,2580,0,0,0,0,0,0,14.90,14.78,14.92
$GC,1651,-0.54,-87.6,2427,2114,2682,2581,291.2,-13.8,116,1656,0.00,2.30,0.00,0.000,2564,0.000,0.063,2427,718,2631,2682,2581,0,0,0,0,0,0,15.19,14.76,15.19
$GC,1708,-0.54,-87.6,2427,718,2681,2580,297.4,-13.5,117,1713,0.00,2.30,0.00,0.000,3078,0.000,0.042,2427,2135,2630,2681,2580,0,0,0,0,0,0,14.92,14.81,14.94
$GC,1976,-0.54,-87.6,2427,2136,2681,2579,336.5,-14.1,124,1982,0.00,2.30,0.00,0.000,2308,0.000,0.060,2427,3531,2630,2681,2579,0,0,0,0,0,0,15.20,14.76,15.21
$GC,2020,-0.54,-87.6,2427,3531,2681,2580,341.8,-13.6,125,2025,0.00,2.30,0.00,0.000,3078,0.000,0.046,2427,2127,2630,2681,2579,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2303,-0.54,-87.6,2427,2126,2681,2578,379.7,-13.7,132,2308,0.00,2.38,0.00,0.000,2308,0.000,0.063,2427,3539,2629,2681,2577,0,0,0,0,0,0,15.21,14.75,15.21
$GC,2345,-0.54,-87.6,2427,3542,2681,2577,385.0,-13.2,133,2350,0.00,2.33,0.00,0.000,3078,0.000,0.047,2427,2126,2629,2681,2577,0,0,0,0,0,0,14.92,14.80,14.94
$GC,2628,-0.54,-87.6,2427,2125,2681,2573,419.5,-12.2,140,2634,0.00,2.38,0.00,0.000,2308,0.000,0.062,2427,3538,2627,2681,2573,0,0,0,0,0,0,15.21,14.75,15.21
$GC,2660,-0.54,-87.6,2427,3538,2682,2573,419.5,-12.2,140,2665,0.00,2.30,0.00,0.000,3078,0.000,0.045,2427,2125,2627,2681,2573,0,0,0,0,0,0,14.92,14.80,14.94
$GC,2913,-0.54,-87.6,2427,2125,2681,2570,450.3,-11.1,147,2918,0.00,2.33,0.00,0.000,2564,0.000,0.063,2427,717,2626,2681,2571,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2949,-0.54,-87.6,2427,716,2681,2569,450.3,-11.1,147,2956,0.00,2.30,0.00,0.000,3078,0.000,0.042,2427,2128,2625,2682,2569,0,0,0,0,0,0,14.92,14.79,14.94
$GC,3196,-0.54,-87.6,2427,2128,2681,2564,483.0,-11.7,154,3201,0.00,2.33,0.00,0.000,2308,0.000,0.063,2427,3528,2622,2681,2564,0,0,0,0,0,0,15.21,14.73,15.22
$GC,3233,-0.54,-87.6,2427,3529,2681,2564,483.0,-11.7,154,3240,0.00,2.30,0.00,0.000,3078,0.000,0.046,2427,2123,2622,2681,2564,0,0,0,0,0,0,14.92,14.79,14.93
$GC,3479,-0.54,-87.6,2427,2123,2681,2561,517.1,-12.1,161,3484,0.00,2.33,0.00,0.000,2564,0.000,0.060,2427,713,2621,2681,2561,0,0,0,0,0,0,15.21,14.75,15.21
$GC,3521,-0.54,-87.6,2427,712,2681,2561,522.5,-12.2,162,3527,0.00,2.33,0.00,0.000,3078,0.000,0.041,2427,2134,2620,2681,2560,0,0,0,0,0,0,14.91,14.79,14.93
$GC,3805,-0.54,-87.6,2427,2136,2681,2556,556.2,-11.9,169,3810,0.00,2.30,0.00,0.000,2308,0.000,0.056,2427,3533,2618,2681,2556,0,0,0,0,0,0,15.21,14.74,15.21
$GC,3848,-0.54,-87.6,2428,3534,2681,2556,561.4,-12.0,170,3853,0.00,2.30,0.00,0.000,3078,0.000,0.040,2428,2123,2618,2681,2555,0,0,0,0,0,0,14.90,14.79,14.92
$GC,4130,-0.54,-87.6,2427,2122,2682,2552,595.8,-12.1,177,4132,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2122,2617,2681,2553,0,0,0,0,0,0,15.21,15.22,15.21
$STATE,4168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4168,begin apogee
$GC,4174,-0.13,0.0,2427,1921,2681,2552,600.4,-11.9,178,4244,0.38,0.00,67.07,1.734,10246,0.249,0.000,2565,1921,2279,2361,2197,0,0,0,0,0,0,14.34,14.46,13.62
$STATE,4245,end apogee,CONTROL_FINISHED_OK
$STATE,4245,begin climb
$GC,4247,0.54,87.6,2565,1921,2360,2200,603.0,0.0,179,4328,0.50,2.33,71.62,1.698,10756,0.164,0.057,2783,548,1923,2012,1834,0,0,0,0,0,0,14.38,14.25,13.49
$GC,4440,0.75,263.6,2783,548,2011,1833,604.6,0.0,184,4598,0.12,2.35,144.00,1.694,11270,0.135,0.035,2885,1971,1208,1305,1112,0,0,0,0,0,0,14.49,14.52,13.45
$GC,4835,0.75,263.6,2885,1970,1305,1116,523.9,24.7,194,4841,0.08,2.28,0.00,0.000,4356,0.422,0.044,2855,3348,1211,1305,1117,0,0,0,0,0,0,14.23,14.54,14.43
$GC,4983,0.75,263.6,2855,3350,1305,1115,495.8,23.4,197,4989,0.00,2.28,0.00,0.000,5126,0.000,0.046,2865,1975,1210,1305,1115,0,0,0,0,0,0,14.77,14.66,14.78
$GC,5242,0.75,263.6,2864,1975,1305,1112,432.8,22.5,204,5243,0.00,0.00,0.00,0.000,4102,0.000,0.000,2864,1975,1208,1305,1112,0,0,0,0,0,0,15.06,15.06,15.06
$GC,5482,0.75,263.6,2864,1975,1305,1109,380.4,21.2,210,5483,0.00,0.00,0.00,0.000,4102,0.000,0.000,2864,1975,1207,1305,1109,0,0,0,0,0,0,15.10,15.11,15.10
$GC,5724,0.75,263.6,2864,1975,1305,1106,330.5,20.8,216,5729,0.00,2.28,0.00,0.000,4356,0.000,0.045,2865,3355,1205,1305,1106,0,0,0,0,0,0,15.12,14.76,15.13
$GC,5816,0.75,263.6,2864,3354,1305,1106,313.7,20.3,218,5821,0.08,2.33,0.00,0.000,5126,0.408,0.046,2852,1947,1205,1305,1105,0,0,0,0,0,0,14.32,14.75,14.65
$GC,6089,0.75,263.6,2851,1946,1304,1104,259.0,19.0,225,6094,0.00,2.33,0.00,0.000,516,0.000,0.060,2862,534,1205,1305,1105,0,0,0,0,0,0,15.14,14.73,15.15
$GC,6151,0.75,263.6,2861,533,1305,1105,251.3,18.5,226,6156,0.00,2.30,0.00,0.000,5126,0.000,0.034,2861,1954,1204,1304,1104,0,0,0,0,0,0,14.89,14.80,14.90
$GC,6414,0.75,263.6,2861,1958,1304,1102,199.0,18.3,233,6420,0.00,2.28,0.00,0.000,4356,0.000,0.047,2861,3355,1203,1304,1103,0,0,0,0,0,0,15.16,14.77,15.16
$GC,6600,0.75,263.6,2861,3355,1304,1109,166.6,17.1,250,6609,0.05,2.33,0.00,0.000,5126,0.448,0.045,2858,1947,1206,1304,1108,0,0,0,0,0,0,14.37,14.74,14.65
$GC,6849,0.75,263.6,2857,1947,1304,1109,125.9,13.7,275,6855,0.00,2.33,0.00,0.000,4356,0.000,0.045,2857,3354,1206,1304,1109,0,0,0,0,0,0,15.12,14.74,15.12
$GC,6906,0.75,263.6,2857,3355,1304,1110,117.3,14.6,280,6911,0.00,2.33,0.00,0.000,5126,0.000,0.044,2866,1950,1207,1304,1110,0,0,0,0,0,0,14.85,14.73,14.88
$GC,7163,0.75,263.6,2866,1950,1304,1110,84.0,12.4,305,7168,0.00,2.35,0.00,0.000,4612,0.000,0.058,2878,533,1207,1304,1110,0,0,0,0,0,0,15.10,14.70,15.11
$GC,7257,0.75,263.6,2877,533,1304,1111,70.3,15.4,313,7263,0.08,2.33,0.00,0.000,5126,0.369,0.033,2852,1953,1207,1304,1111,0,0,0,0,0,0,14.31,14.76,14.62
$GC,7514,0.75,263.6,2852,1964,1304,1113,41.4,10.2,338,7519,0.00,2.38,0.00,0.000,516,0.000,0.064,2862,545,1209,1304,1114,0,0,0,0,0,0,15.09,14.66,15.09
$GC,7529,0.75,263.6,2862,545,1304,1115,39.8,10.3,339,7534,0.00,2.30,0.00,0.000,5126,0.000,0.035,2862,1954,1209,1304,1114,0,0,0,0,0,0,14.84,14.75,14.86
$GC,7808,0.75,263.6,2862,1956,1305,1116,7.4,12.5,379,7815,0.00,0.00,0.00,0.000,4102,0.000,0.000,2862,1956,1210,1305,1116,0,0,0,0,0,0,15.05,15.05,15.05
$STATE,7846,end climb,SURFACE_DEPTH_REACHED
$STATE,7846,begin surface coast
$FINISH,0.3,1.010473
$STATE,7878,end surface coast,CONTROL_FINISHED_OK
$STATE,7878,begin surface
$SM_CCo,7894,91.82,0.881,1,0,647,400.08
$SM_GC,1.34,6.22,0.25,91.82,0.083,0.068,0.881,183,2140,647,-7.44,-1.44,400.08,0,0,0,0,1,0,14.75,14.74,14.00
$IRIDIUM_FIX,2206.70,-15729.08,080518,082525
$TT8_MAMPS,0.019474,0.265146
$HUMID,45.55
$INTERNAL_PRESSURE,9.46584
$TCM_TEMP,21.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,6.5
$24V_AH,13.45,116.596
$10V_AH,12.91,0.000
$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,15.125,93.300,282.700,91.825,0.000,28.635,47.955,311.059,0.500,0.000,9.320,1439.777,4707.621,470.804,1741.690,180.807,0.000,1079.034,0.000,1337.785,0.000,5.462,0.000
$DEVICE_MAMPS,448.290,68.085,1734.255,880.515,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,263.751,214.085,375.553,380.028,583.077,0.000,0.000,0.000,0.000,0.000
$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,34058,390
$CAP_FILE_SIZE,87717,0
$CFSIZE,2097086464,2043215872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,1
$CURRENT,0.047,356.23,1
$GPS,080518,104730,2217.398,-15729.899,31,1.1,31,9.8,0.7,260.4,9,25.0