version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 519
start: 5 9 118 9 25 29
data:
$ID,626
$MISSION,2
$DIVE,519
$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,33
$R_STBD_OVSHOOT,59
$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
$GPS1,090518,091544,2219.6643,-15729.7783,16,2.0,17,9.8,0.0,0.0,5,39.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.6
$GPS2,090518,092446,2219.7046,-15729.7578,8,2.3,38,9.8,0.0,340.3,4,11.5
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,ALO
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,294.5,69732,-15.9,-8.000,-19.19,2501
$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,-0.52,-87.6,183,2154,687,626,0.0,0.0,0,73,0.00,0.00,-55.30,0.000,16386,0.000,0.000,183,2155,2537,2568,2507,0,0,0,0,0,0,14.93,28.83,14.94
$GC,76,-0.52,-87.6,183,2155,2568,2507,3.4,-5.6,7,95,7.62,2.25,-1.73,0.000,18692,0.442,0.068,2431,3522,2638,2680,2597,0,0,0,0,0,0,14.21,13.68,14.64
$GC,218,-0.52,-87.6,2430,3522,2680,2587,44.0,-21.4,24,223,0.00,2.33,0.00,0.000,3078,0.000,0.050,2431,2125,2632,2679,2586,0,0,0,0,0,0,14.76,14.64,14.77
$GC,475,-0.52,-87.6,2430,2123,2680,2568,103.6,-21.3,49,481,0.00,0.00,0.00,0.000,2054,0.000,0.000,2431,2123,2624,2680,2568,0,0,0,0,0,0,15.03,15.04,15.04
$GC,722,-0.52,-87.6,2430,2123,2680,2568,153.1,-17.8,74,723,0.00,0.00,0.00,0.000,2054,0.000,0.000,2431,2123,2624,2680,2568,0,0,0,0,0,0,15.08,15.09,15.09
$GC,962,-0.52,-87.6,2430,2123,2680,2568,193.8,-16.9,98,963,0.00,0.00,0.00,0.000,2054,0.000,0.000,2431,2123,2624,2681,2568,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1202,-0.52,-87.6,2430,2123,2680,2568,231.4,-15.1,107,1208,0.00,2.33,0.00,0.000,2564,0.000,0.063,2431,717,2624,2680,2568,0,0,0,0,0,0,15.15,14.72,15.15
$GC,1289,-0.52,-87.6,2430,715,2680,2568,244.7,-15.4,109,1295,0.05,2.28,0.00,0.000,3078,0.448,0.045,2444,2114,2624,2680,2568,0,0,0,0,0,0,14.41,14.77,14.69
$GC,1569,-0.52,-87.6,2444,2115,2680,2568,283.1,-13.4,116,1574,0.00,2.30,0.00,0.000,260,0.000,0.060,2441,3526,2624,2680,2568,0,0,0,0,0,0,15.17,14.74,15.18
$GC,1707,-0.52,-87.6,2441,3526,2680,2568,298.7,-12.7,119,1712,0.00,2.30,0.00,0.000,3078,0.000,0.044,2442,2107,2624,2681,2568,0,0,0,0,0,0,14.91,14.80,14.93
$GC,1975,-0.52,-87.6,2441,2107,2680,2568,334.4,-12.8,126,1981,0.00,2.28,0.00,0.000,2564,0.000,0.060,2442,723,2624,2680,2568,0,0,0,0,0,0,15.19,14.76,15.20
$GC,2022,-0.52,-87.6,2441,722,2680,2568,339.9,-12.9,127,2027,0.00,2.28,0.00,0.000,3078,0.000,0.044,2441,2122,2624,2680,2568,0,0,0,0,0,0,14.92,14.80,14.93
$GC,2300,-0.52,-87.6,2441,2124,2679,2565,373.7,-11.6,134,2305,0.00,2.35,0.00,0.000,2564,0.000,0.060,2441,719,2622,2680,2565,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2332,-0.52,-87.6,2441,719,2680,2565,373.7,-11.6,134,2337,0.00,2.30,0.00,0.000,3078,0.000,0.043,2441,2134,2622,2680,2564,0,0,0,0,0,0,14.92,14.80,14.94
$GC,2585,-0.52,-87.6,2441,2135,2680,2562,405.3,-11.0,141,2586,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2135,2621,2680,2562,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2825,-0.52,-87.6,2441,2135,2680,2560,432.3,-11.3,147,2826,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2135,2620,2680,2560,0,0,0,0,0,0,15.22,15.22,15.22
$GC,3065,-0.52,-87.6,2441,2135,2680,2557,459.1,-11.1,153,3066,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2135,2618,2680,2556,0,0,0,0,0,0,15.22,15.22,15.22
$GC,3305,-0.52,-87.6,2441,2135,2680,2553,484.4,-10.4,159,3310,0.00,2.33,0.00,0.000,2308,0.000,0.060,2441,3532,2616,2680,2553,0,0,0,0,0,0,15.22,14.73,15.22
$GC,3327,-0.52,-87.6,2441,3533,2680,2553,484.4,-10.4,159,3332,0.00,2.30,0.00,0.000,3078,0.000,0.045,2441,2121,2616,2680,2553,0,0,0,0,0,0,14.91,14.79,14.93
$GC,3591,-0.52,-87.6,2441,2121,2680,2550,512.7,-9.9,166,3593,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2121,2615,2680,2550,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3829,-0.52,-87.6,2441,2120,2680,2546,536.6,-10.1,172,3835,0.00,2.30,0.00,0.000,2564,0.000,0.060,2441,726,2613,2680,2546,0,0,0,0,0,0,15.22,14.73,15.22
$GC,3931,-0.52,-87.6,2441,725,2680,2545,545.5,-10.5,174,3937,0.00,2.30,0.00,0.000,3078,0.000,0.043,2441,2129,2612,2680,2544,0,0,0,0,0,0,14.89,14.78,14.92
$GC,4195,-0.52,-87.6,2441,2131,2680,2541,573.0,-9.7,181,4200,0.00,2.30,0.00,0.000,2308,0.000,0.054,2442,3533,2610,2680,2541,0,0,0,0,0,0,15.21,14.73,15.21
$GC,4232,-0.52,-87.6,2441,3533,2679,2541,573.0,-9.7,181,4239,0.00,2.30,0.00,0.000,3078,0.000,0.038,2441,2124,2610,2680,2540,0,0,0,0,0,0,14.90,14.78,14.91
$GC,4478,-0.52,-87.6,2441,2124,2680,2538,599.7,-9.4,188,4483,0.00,2.33,0.00,0.000,2564,0.000,0.057,2441,713,2608,2680,2537,0,0,0,0,0,0,15.21,14.71,15.21
$STATE,4518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4518,begin apogee
$GC,4526,-0.13,0.0,2441,1958,2680,2537,604.2,-9.7,189,4602,0.35,0.00,68.72,1.670,10246,0.248,0.000,2570,1958,2273,2352,2194,0,0,0,0,0,0,14.31,14.47,13.73
$STATE,4603,end apogee,CONTROL_FINISHED_OK
$STATE,4603,begin climb
$GC,4605,0.52,87.6,2570,1959,2349,2194,607.8,0.0,191,4686,0.47,2.47,73.65,1.633,10756,0.162,0.054,2776,538,1914,2004,1824,0,0,0,0,0,0,14.38,14.10,13.50
$GC,4732,0.52,87.6,2775,538,1999,1821,609.4,-1.5,194,4738,0.00,2.35,0.00,0.000,1030,0.000,0.034,2776,1956,1909,1998,1820,0,0,0,0,0,0,14.49,14.42,14.51
$GC,5006,0.69,227.4,2775,1959,1999,1816,603.7,2.3,201,5119,0.08,0.00,109.28,1.705,10758,0.193,0.000,2868,1959,1351,1450,1253,0,0,0,0,0,0,14.62,14.19,13.45
$GC,5330,0.69,227.4,2868,1960,1450,1269,555.5,18.7,209,5335,0.08,2.30,0.00,0.000,4356,0.400,0.044,2838,3359,1359,1450,1269,0,0,0,0,0,0,14.21,14.52,14.40
$GC,5357,0.69,227.4,2837,3358,1450,1269,555.5,18.7,209,5363,0.00,2.35,0.00,0.000,5126,0.000,0.046,2847,1954,1359,1450,1269,0,0,0,0,0,0,14.69,14.59,14.71
$GC,5616,0.69,227.4,2846,1954,1450,1267,503.5,18.1,216,5621,0.00,2.38,0.00,0.000,4612,0.000,0.060,2859,534,1358,1450,1267,0,0,0,0,0,0,15.02,14.66,15.02
$GC,5643,0.69,227.4,2858,534,1450,1267,503.5,18.1,216,5649,0.08,2.33,0.00,0.000,5126,0.390,0.034,2834,1952,1358,1450,1267,0,0,0,0,0,0,14.31,14.72,14.62
$GC,5902,0.69,227.4,2834,1957,1450,1264,453.5,17.0,223,5907,0.00,2.28,0.00,0.000,260,0.000,0.045,2834,3351,1357,1450,1264,0,0,0,0,0,0,15.08,14.73,15.08
$GC,6014,0.69,227.4,2834,3351,1450,1263,438.9,17.5,225,6019,0.00,2.33,0.00,0.000,5126,0.000,0.046,2844,1947,1356,1450,1263,0,0,0,0,0,0,14.83,14.71,14.85
$GC,6267,0.69,227.4,2844,1947,1449,1261,392.3,16.1,232,6268,0.00,0.00,0.00,0.000,4102,0.000,0.000,2844,1947,1355,1450,1261,0,0,0,0,0,0,15.12,15.12,15.12
$GC,6507,0.69,227.4,2844,1947,1450,1259,352.7,16.6,238,6508,0.00,0.00,0.00,0.000,4102,0.000,0.000,2844,1947,1354,1450,1259,0,0,0,0,0,0,15.14,15.15,15.15
$GC,6747,0.69,227.4,2844,1947,1450,1257,314.2,15.9,244,6748,0.00,0.00,0.00,0.000,4102,0.000,0.000,2844,1947,1353,1450,1257,0,0,0,0,0,0,15.16,15.16,15.16
$GC,6987,0.69,227.4,2844,1947,1450,1256,278.1,14.5,250,6992,0.00,2.35,0.00,0.000,4356,0.000,0.044,2844,3360,1353,1450,1256,0,0,0,0,0,0,15.16,14.76,15.17
$GC,7104,0.69,227.4,2844,3360,1450,1256,265.3,14.8,252,7111,0.08,2.33,0.00,0.000,5126,0.399,0.044,2831,1948,1352,1449,1256,0,0,0,0,0,0,14.27,14.73,14.60
$GC,7350,0.69,227.4,2830,1947,1450,1255,226.6,13.3,259,7355,0.00,2.33,0.00,0.000,516,0.000,0.057,2840,532,1353,1450,1256,0,0,0,0,0,0,15.16,14.71,15.17
$GC,7377,0.69,227.4,2840,532,1450,1256,226.6,13.3,259,7382,0.00,2.30,0.00,0.000,5126,0.000,0.033,2841,1958,1353,1450,1256,0,0,0,0,0,0,14.88,14.80,14.90
$GC,7627,0.69,227.4,2841,1962,1450,1255,190.5,13.1,271,7633,0.00,2.40,0.00,0.000,4612,0.000,0.057,2852,533,1353,1450,1256,0,0,0,0,0,0,15.16,14.71,15.16
$GC,7693,0.69,227.4,2852,533,1450,1256,180.7,15.4,277,7701,0.05,2.33,0.00,0.000,5126,0.447,0.033,2837,1960,1353,1450,1256,0,0,0,0,0,0,14.35,14.78,14.62
$GC,7948,0.69,227.4,2836,1966,1450,1256,148.5,12.5,302,7949,0.00,0.00,0.00,0.000,4102,0.000,0.000,2836,1966,1353,1450,1256,0,0,0,0,0,0,15.14,15.14,15.14
$GC,8188,0.69,227.4,2837,1967,1450,1256,122.3,10.3,326,8193,0.00,2.25,0.00,0.000,4356,0.000,0.044,2836,3350,1354,1450,1258,0,0,0,0,0,0,15.13,14.72,15.12
$GC,8352,0.69,227.4,2836,3350,1450,1258,105.8,10.4,341,8359,0.00,2.30,0.00,0.000,5126,0.000,0.041,2846,1949,1354,1450,1259,0,0,0,0,0,0,14.82,14.70,14.85
$GC,8608,0.69,227.4,2846,1949,1450,1262,82.0,8.2,366,8613,0.00,2.30,0.00,0.000,4356,0.000,0.044,2846,3350,1355,1450,1261,0,0,0,0,0,0,15.10,14.71,15.10
$GC,8872,0.69,227.4,2846,3351,1450,1264,61.1,8.8,389,8879,0.08,2.33,0.00,0.000,5126,0.392,0.042,2832,1940,1357,1450,1264,0,0,0,0,0,0,14.25,14.70,14.56
$GC,9130,0.75,277.0,2832,1939,1450,1266,41.8,6.0,414,9180,0.00,2.35,39.67,0.949,10756,0.000,0.059,2842,539,1152,1249,1056,0,0,0,0,0,0,15.08,14.59,14.11
$GC,9287,0.75,277.0,2842,539,1249,1065,26.6,11.9,429,9297,0.00,2.38,0.00,0.000,3078,0.000,0.033,2842,1949,1157,1249,1065,0,0,0,0,0,0,14.58,14.54,14.60
$STATE,9504,end climb,SURFACE_DEPTH_REACHED
$STATE,9504,begin surface coast
$FINISH,0.3,1.010722
$STATE,9536,end surface coast,CONTROL_FINISHED_OK
$STATE,9536,begin surface
$SM_CCo,9552,71.22,0.112,0,0,646,400.08
$SM_GC,1.58,6.12,0.28,71.22,0.067,0.067,0.112,180,2147,646,-7.48,-1.19,400.08,0,0,0,0,0,0,14.68,14.69,14.52
$IRIDIUM_FIX,2209.02,-15731.23,090518,091725
$TT8_MAMPS,0.019474,0.265895
$HUMID,43.93
$INTERNAL_PRESSURE,9.48537
$TCM_TEMP,23.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.9,6.6
$24V_AH,13.45,118.590
$10V_AH,13.64,0.000
$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,15.050,88.150,291.325,71.225,0.000,29.182,42.636,300.078,0.500,0.000,39.927,1655.406,5943.024,476.215,1923.949,193.708,0.000,1113.636,0.000,1499.119,0.000,5.463,0.000
$DEVICE_MAMPS,447.525,68.085,1705.185,112.455,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,317.976,265.702,449.620,457.311,701.686,0.000,0.000,0.000,0.000,0.000
$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,40662,470
$CAP_FILE_SIZE,93738,0
$CFSIZE,2097086464,2042331136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.043,45.38,1
$GPS,090518,120700,2220.390,-15730.696,31,1.1,31,9.8,0.5,301.9,8,24.4