version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 525
start: 5 10 118 2 41 58
data:
$ID,626
$MISSION,2
$DIVE,525
$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,34
$R_STBD_OVSHOOT,49
$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
$GPS1,100518,023325,2223.9224,-15735.5859,41,1.0,41,9.8,0.4,100.8,8,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-73.2
$GPS2,100518,024115,2223.9150,-15735.6309,9,1.1,9,9.8,1.2,244.6,7,98.3
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,ALO
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,302.5,57072,-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,-87.6,181,2146,680,624,0.0,0.0,0,72,0.00,0.00,-54.17,0.000,16386,0.000,0.000,181,2144,2499,2530,2468,0,0,0,0,0,0,14.94,28.83,14.95
$GC,75,-0.52,-87.6,181,2141,2530,2467,3.6,-6.6,7,93,7.62,2.28,-2.30,0.000,18692,0.443,0.064,2429,3538,2637,2681,2594,0,0,0,0,0,0,14.20,13.71,14.64
$GC,215,-0.52,-87.6,2429,3538,2680,2592,44.8,-21.5,24,221,0.05,2.35,0.00,0.000,3078,0.431,0.050,2445,2126,2636,2680,2592,0,0,0,0,0,0,14.31,14.63,14.59
$GC,471,-0.52,-87.6,2444,2122,2680,2592,99.7,-20.3,49,476,0.00,2.30,0.00,0.000,260,0.000,0.056,2442,3520,2635,2680,2591,0,0,0,0,0,0,15.04,14.66,15.04
$GC,488,-0.52,-87.6,2441,3521,2680,2591,102.4,-19.6,50,497,0.00,2.38,0.00,0.000,3078,0.000,0.046,2442,2124,2635,2680,2591,0,0,0,0,0,0,14.61,14.54,14.64
$GC,738,-0.52,-87.6,2441,2123,2680,2591,149.5,-18.7,75,743,0.00,2.33,0.00,0.000,2564,0.000,0.062,2442,720,2635,2680,2591,0,0,0,0,0,0,15.07,14.68,15.07
$GC,827,-0.52,-87.6,2441,720,2680,2591,164.9,-17.1,83,834,0.00,2.30,0.00,0.000,3078,0.000,0.043,2441,2126,2635,2680,2591,0,0,0,0,0,0,14.84,14.73,14.86
$GC,1086,-0.52,-87.6,2441,2127,2680,2591,206.2,-15.1,106,1091,0.00,2.33,0.00,0.000,2308,0.000,0.061,2441,3535,2635,2680,2591,0,0,0,0,0,0,15.12,14.69,15.12
$GC,1137,-0.52,-87.6,2440,3535,2680,2591,212.6,-14.9,107,1144,0.00,2.30,0.00,0.000,3078,0.000,0.047,2441,2123,2635,2680,2590,0,0,0,0,0,0,14.87,14.76,14.89
$GC,1411,-0.52,-87.6,2441,2122,2681,2591,253.0,-14.0,114,1417,0.00,2.30,0.00,0.000,2564,0.000,0.060,2441,723,2636,2681,2591,0,0,0,0,0,0,15.17,14.73,15.17
$GC,1434,-0.52,-87.6,2440,722,2681,2589,253.0,-14.0,114,1440,0.00,2.28,0.00,0.000,3078,0.000,0.042,2441,2128,2635,2680,2591,0,0,0,0,0,0,14.90,14.79,14.92
$GC,1697,-0.52,-87.6,2441,2129,2681,2591,291.1,-12.9,121,1702,0.00,2.33,0.00,0.000,2308,0.000,0.061,2441,3539,2636,2681,2591,0,0,0,0,0,0,15.19,14.75,15.19
$GC,1731,-0.52,-87.6,2441,3539,2681,2591,291.1,-12.9,121,1737,0.00,2.30,0.00,0.000,3078,0.000,0.044,2441,2121,2636,2681,2591,0,0,0,0,0,0,14.92,14.80,14.93
$GC,1984,-0.52,-87.6,2440,2120,2680,2591,325.7,-11.9,128,1990,0.00,2.30,0.00,0.000,2564,0.000,0.059,2441,717,2636,2681,2591,0,0,0,0,0,0,15.20,14.76,15.21
$GC,2017,-0.52,-87.6,2440,717,2681,2590,325.7,-11.9,128,2022,0.00,2.30,0.00,0.000,3078,0.000,0.043,2441,2134,2636,2681,2591,0,0,0,0,0,0,14.92,14.81,14.93
$GC,2269,-0.52,-87.6,2440,2136,2681,2589,360.7,-12.8,135,2274,0.00,2.30,0.00,0.000,2308,0.000,0.060,2441,3532,2635,2681,2589,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2327,-0.52,-87.6,2440,3533,2681,2590,365.9,-12.8,136,2332,0.00,2.28,0.00,0.000,3078,0.000,0.043,2441,2126,2635,2681,2589,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2594,-0.52,-87.6,2441,2125,2681,2586,399.3,-11.9,143,2600,0.00,2.30,0.00,0.000,2564,0.000,0.059,2441,723,2633,2681,2586,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2632,-0.52,-87.6,2441,722,2681,2586,399.3,-11.9,143,2639,0.00,2.30,0.00,0.000,3078,0.000,0.043,2441,2136,2633,2681,2586,0,0,0,0,0,0,14.92,14.80,14.94
$GC,2878,-0.52,-87.6,2440,2136,2680,2583,431.6,-10.9,150,2883,0.00,2.30,0.00,0.000,2308,0.000,0.060,2441,3530,2632,2681,2583,0,0,0,0,0,0,15.21,14.75,15.22
$GC,2910,-0.52,-87.6,2441,3530,2681,2583,431.6,-10.9,150,2915,0.00,2.28,0.00,0.000,3078,0.000,0.042,2441,2126,2631,2680,2583,0,0,0,0,0,0,14.92,14.81,14.94
$GC,3163,-0.52,-87.6,2441,2126,2681,2579,463.0,-11.3,157,3169,0.00,2.33,0.00,0.000,2564,0.000,0.059,2441,714,2630,2681,2579,0,0,0,0,0,0,15.21,14.75,15.22
$GC,3186,-0.52,-87.6,2440,714,2680,2579,463.0,-11.3,157,3191,0.00,2.33,0.00,0.000,3078,0.000,0.043,2441,2133,2630,2681,2579,0,0,0,0,0,0,14.91,14.79,14.93
$GC,3449,-0.52,-87.6,2441,2135,2681,2575,496.1,-11.5,164,3450,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2135,2627,2681,2574,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3689,-0.52,-87.6,2441,2135,2680,2571,522.2,-10.7,170,3690,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2135,2625,2680,2571,0,0,0,0,0,0,15.22,15.22,15.22
$GC,3929,-0.52,-87.6,2440,2135,2681,2568,546.9,-10.2,176,3930,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2135,2624,2680,2569,0,0,0,0,0,0,15.21,15.22,15.22
$GC,4169,-0.52,-87.6,2441,2135,2680,2564,571.6,-10.3,182,4170,0.00,0.00,0.00,0.000,2054,0.000,0.000,2440,2135,2622,2681,2564,0,0,0,0,0,0,15.21,15.22,15.22
$GC,4409,-0.52,-87.6,2441,2135,2680,2561,596.1,-10.1,188,4410,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2135,2621,2680,2562,0,0,0,0,0,0,15.21,15.22,15.22
$STATE,4447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4447,begin apogee
$GC,4453,-0.13,0.0,2441,1932,2681,2561,600.0,-10.0,189,4530,0.35,0.00,69.38,1.667,10246,0.247,0.000,2570,1930,2278,2356,2200,0,0,0,0,0,0,14.32,14.30,13.71
$STATE,4531,end apogee,CONTROL_FINISHED_OK
$STATE,4531,begin climb
$GC,4533,0.52,87.6,2570,1930,2356,2200,603.0,0.0,191,4615,0.45,2.38,71.30,1.740,10756,0.164,0.060,2770,565,1924,2011,1837,0,0,0,0,0,0,14.37,14.23,13.47
$GC,4947,0.70,238.7,2770,565,2011,1832,599.9,1.8,201,5083,0.12,2.28,125.30,2.011,11270,0.138,0.036,2859,1963,1306,1409,1203,0,0,0,0,0,0,14.62,14.67,13.35
$GC,5336,0.70,238.7,2859,1963,1409,1202,536.0,20.1,211,5342,0.08,2.28,0.00,0.000,4356,0.412,0.044,2827,3350,1306,1410,1202,0,0,0,0,0,0,14.24,14.56,14.44
$GC,5461,0.70,238.7,2827,3350,1409,1202,513.1,18.7,214,5466,0.00,2.30,0.00,0.000,1030,0.000,0.045,2837,1969,1305,1409,1202,0,0,0,0,0,0,14.74,14.65,14.76
$GC,5744,0.70,238.7,2837,1969,1409,1201,459.4,18.9,221,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1969,1304,1409,1200,0,0,0,0,0,0,15.05,15.06,15.06
$GC,5984,0.70,238.7,2837,1969,1409,1198,415.1,18.2,227,5989,0.00,2.25,0.00,0.000,260,0.000,0.044,2838,3349,1303,1409,1198,0,0,0,0,0,0,15.09,14.74,15.10
$GC,6020,0.70,238.7,2837,3349,1409,1199,415.1,18.2,227,6027,0.00,2.33,0.00,0.000,5126,0.000,0.045,2847,1944,1304,1409,1199,0,0,0,0,0,0,14.85,14.73,14.87
$GC,6267,0.70,238.7,2848,1943,1409,1198,362.6,18.6,234,6268,0.00,0.00,0.00,0.000,4102,0.000,0.000,2848,1943,1302,1408,1197,0,0,0,0,0,0,15.13,15.13,15.13
$GC,6506,0.70,238.7,2847,1944,1409,1195,321.0,17.0,240,6507,0.00,0.00,0.00,0.000,4102,0.000,0.000,2848,1944,1302,1409,1195,0,0,0,0,0,0,15.16,15.15,15.15
$GC,6749,0.70,238.7,2848,1944,1409,1194,281.5,16.0,246,6754,0.00,2.33,0.00,0.000,4356,0.000,0.044,2848,3355,1301,1409,1193,0,0,0,0,0,0,15.16,14.77,15.16
$GC,6771,0.70,238.7,2847,3356,1409,1194,281.5,16.0,246,6777,0.08,2.33,0.00,0.000,5126,0.386,0.044,2834,1944,1301,1409,1193,0,0,0,0,0,0,14.33,14.75,14.64
$GC,7034,0.70,238.7,2833,1944,1408,1193,237.4,15.1,253,7039,0.00,2.30,0.00,0.000,516,0.000,0.057,2844,539,1301,1409,1193,0,0,0,0,0,0,15.16,14.72,15.17
$GC,7051,0.70,238.7,2844,539,1409,1193,237.4,15.1,253,7056,0.00,2.28,0.00,0.000,5126,0.000,0.033,2844,1950,1301,1409,1193,0,0,0,0,0,0,14.90,14.81,14.91
$GC,7319,0.70,238.7,2844,1954,1409,1192,195.3,14.3,260,7324,0.00,2.28,0.00,0.000,4356,0.000,0.045,2843,3357,1300,1409,1192,0,0,0,0,0,0,15.17,14.76,15.18
$GC,7367,0.70,238.7,2844,3357,1409,1193,189.1,13.8,264,7377,0.05,2.42,0.00,0.000,5126,0.376,0.044,2838,1945,1300,1409,1192,0,0,0,0,0,0,14.18,14.58,14.38
$GC,7618,0.70,238.7,2837,1944,1409,1192,158.0,11.2,289,7623,0.00,2.30,0.00,0.000,516,0.000,0.057,2848,539,1300,1409,1192,0,0,0,0,0,0,15.13,14.70,15.14
$GC,7698,0.70,238.7,2848,538,1408,1192,148.8,11.9,296,7706,0.00,2.35,0.00,0.000,5126,0.000,0.032,2848,1943,1300,1408,1192,0,0,0,0,0,0,14.62,14.59,14.65
$GC,7948,0.70,238.7,2848,1944,1408,1192,119.1,12.9,321,7953,0.00,2.30,0.00,0.000,4356,0.000,0.045,2848,3360,1301,1409,1193,0,0,0,0,0,0,15.11,14.72,15.11
$GC,8079,0.70,238.7,2848,3360,1407,1194,101.5,13.2,333,8085,0.08,2.33,0.00,0.000,5126,0.390,0.043,2834,1947,1301,1408,1194,0,0,0,0,0,0,14.26,14.71,14.58
$GC,8335,0.70,238.7,2834,1946,1408,1196,72.4,12.3,358,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1947,1301,1408,1195,0,0,0,0,0,0,15.10,15.11,15.11
$GC,8585,0.71,245.3,2833,1947,1409,1199,47.7,7.7,383,8598,0.00,2.30,6.47,0.782,10500,0.000,0.042,2834,3353,1278,1390,1166,0,0,0,0,0,0,15.09,14.54,14.06
$GC,8824,0.72,250.9,2833,3353,1389,1170,28.0,7.8,405,8842,0.00,2.40,6.47,0.744,9222,0.000,0.043,2843,1947,1254,1368,1140,0,0,0,0,0,0,14.62,14.59,14.04
$STATE,9096,end climb,SURFACE_DEPTH_REACHED
$STATE,9096,begin surface coast
$FINISH,0.4,1.023428
$STATE,9134,end surface coast,CONTROL_FINISHED_OK
$STATE,9134,begin surface
$SM_CCo,9150,97.47,0.870,1,0,647,400.08
$SM_GC,1.27,6.03,0.30,97.47,0.057,0.063,0.870,182,2130,647,-7.44,-1.53,400.08,0,0,0,0,1,0,14.72,14.73,13.97
$IRIDIUM_FIX,2213.68,-15737.70,100518,023458
$TT8_MAMPS,0.019474,0.32956
$HUMID,44.44
$INTERNAL_PRESSURE,9.48537
$TCM_TEMP,22.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,7.0
$24V_AH,13.35,119.993
$10V_AH,13.61,0.000
$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,14.900,93.075,278.925,97.475,0.000,27.669,43.737,267.921,0.500,0.000,9.314,1599.840,5623.439,485.733,1855.064,187.045,0.000,1143.958,0.000,1491.122,0.000,5.463,0.000
$DEVICE_MAMPS,442.935,64.260,2011.185,869.805,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,308.072,249.777,438.855,453.021,695.107,0.000,0.000,0.000,0.000,0.000
$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,40693,456
$CAP_FILE_SIZE,93572,0
$CFSIZE,2097086464,2041741312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,1
$CURRENT,0.016,230.76,1
$GPS,100518,051702,2224.598,-15736.686,15,1.3,15,9.8,0.5,351.9,6,63.7