version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 528
start: 5 10 118 11 6 39
data:
$ID,626
$MISSION,2
$DIVE,528
$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,66
$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
$GPS1,100518,105732,2226.5042,-15738.6357,17,1.6,17,9.8,1.9,286.5,7,152.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.8
$GPS2,100518,110555,2226.5415,-15738.6670,15,1.6,15,9.8,0.5,164.4,7,35.6
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,ALO
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,293.7,49961,-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,15,-0.52,-87.6,182,2154,687,626,0.0,0.0,0,72,0.00,0.00,-54.12,0.000,16386,0.000,0.000,182,2159,2540,2571,2510,0,0,0,0,0,0,14.92,28.83,14.92
$GC,75,-0.52,-87.6,182,2159,2569,2510,4.2,-9.0,7,92,7.65,2.22,-1.58,0.000,18692,0.445,0.070,2427,3508,2639,2681,2597,0,0,0,0,0,0,14.19,13.66,14.62
$GC,245,-0.52,-87.6,2427,3510,2682,2591,49.5,-19.9,27,251,0.05,2.33,0.00,0.000,3078,0.422,0.051,2443,2117,2636,2682,2590,0,0,0,0,0,0,14.32,14.63,14.59
$GC,498,-0.52,-87.6,2443,2115,2682,2571,102.6,-19.6,52,504,0.00,2.33,0.00,0.000,2564,0.000,0.063,2443,713,2626,2681,2571,0,0,0,0,0,0,15.04,14.65,15.04
$GC,544,-0.52,-87.6,2443,713,2681,2571,111.7,-20.3,56,550,0.00,2.28,0.00,0.000,3078,0.000,0.042,2441,2101,2625,2681,2570,0,0,0,0,0,0,14.81,14.70,14.83
$GC,800,-0.52,-87.6,2441,2102,2681,2570,159.3,-18.5,81,808,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2102,2625,2681,2570,0,0,0,0,0,0,15.08,15.08,15.08
$GC,1050,-0.52,-87.6,2441,2102,2681,2571,200.0,-15.4,106,1055,0.00,2.38,0.00,0.000,2308,0.000,0.062,2442,3538,2625,2681,2570,0,0,0,0,0,0,15.11,14.69,15.11
$GC,1127,-0.52,-87.6,2440,3538,2682,2570,206.5,-14.8,108,1134,0.00,2.33,0.00,0.000,3078,0.000,0.044,2441,2109,2626,2682,2571,0,0,0,0,0,0,14.87,14.76,14.88
$GC,1375,-0.52,-87.6,2441,2107,2682,2570,242.3,-12.8,115,1376,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2108,2626,2681,2571,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1613,-0.52,-87.6,2441,2107,2682,2571,273.5,-13.1,121,1614,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2107,2626,2682,2570,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1853,-0.52,-87.6,2441,2107,2682,2570,303.9,-12.2,127,1854,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2107,2626,2682,2570,0,0,0,0,0,0,15.19,15.20,15.20
$GC,2093,-0.52,-87.6,2441,2107,2681,2570,332.0,-11.6,133,2098,0.00,2.38,0.00,0.000,2308,0.000,0.061,2441,3529,2625,2681,2570,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2145,-0.52,-87.6,2440,3530,2681,2570,336.5,-11.2,134,2151,0.00,2.28,0.00,0.000,3078,0.000,0.042,2441,2119,2625,2681,2570,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2419,-0.52,-87.6,2441,2117,2681,2570,367.7,-11.1,141,2424,0.00,2.28,0.00,0.000,2564,0.000,0.059,2441,726,2625,2681,2569,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2490,-0.52,-87.6,2441,725,2680,2569,373.1,-11.5,142,2496,0.00,2.25,0.00,0.000,3078,0.000,0.037,2441,2133,2625,2681,2569,0,0,0,0,0,0,14.92,14.83,14.95
$GC,2743,-0.52,-87.6,2440,2134,2681,2564,406.0,-11.6,149,2749,0.00,2.33,0.00,0.000,2308,0.000,0.060,2441,3530,2623,2681,2565,0,0,0,0,0,0,15.21,14.74,15.22
$GC,2786,-0.52,-87.6,2441,3530,2681,2564,410.9,-11.5,150,2792,0.00,2.28,0.00,0.000,3078,0.000,0.043,2441,2130,2622,2681,2564,0,0,0,0,0,0,14.92,14.81,14.94
$GC,3070,-0.52,-87.6,2440,2130,2681,2561,443.3,-11.3,157,3075,0.00,2.33,0.00,0.000,2564,0.000,0.061,2441,722,2620,2681,2560,0,0,0,0,0,0,15.21,14.73,15.21
$GC,3132,-0.52,-87.6,2441,722,2681,2560,448.4,-11.3,158,3137,0.00,2.30,0.00,0.000,3078,0.000,0.044,2441,2123,2620,2681,2559,0,0,0,0,0,0,14.90,14.78,14.92
$GC,3395,-0.52,-87.6,2441,2125,2681,2555,479.0,-10.9,165,3396,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2125,2618,2681,2555,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3636,-0.52,-87.6,2441,2125,2681,2553,505.3,-11.0,171,3641,0.00,2.33,0.00,0.000,2308,0.000,0.058,2441,3535,2617,2682,2553,0,0,0,0,0,0,15.21,14.74,15.21
$GC,3662,-0.52,-87.6,2441,3536,2681,2553,505.3,-11.0,171,3668,0.00,2.30,0.00,0.000,3078,0.000,0.041,2441,2119,2616,2681,2552,0,0,0,0,0,0,14.90,14.78,14.92
$GC,3920,-0.52,-87.6,2441,2119,2681,2549,534.4,-9.9,178,3925,0.00,2.30,0.00,0.000,2564,0.000,0.056,2441,718,2615,2681,2549,0,0,0,0,0,0,15.21,14.73,15.21
$GC,3947,-0.52,-87.6,2440,718,2681,2548,534.4,-9.9,178,3953,0.00,2.30,0.00,0.000,3078,0.000,0.037,2441,2136,2614,2681,2548,0,0,0,0,0,0,14.90,14.78,14.92
$GC,4206,-0.52,-87.6,2441,2137,2681,2545,562.2,-9.8,185,4211,0.00,2.30,0.00,0.000,2308,0.000,0.058,2441,3533,2613,2681,2545,0,0,0,0,0,0,15.21,14.72,15.21
$GC,4283,-0.52,-87.6,2441,3534,2681,2545,566.4,-9.9,186,4290,0.00,2.30,0.00,0.000,3078,0.000,0.039,2440,2120,2612,2681,2544,0,0,0,0,0,0,14.89,14.78,14.90
$GC,4529,-0.52,-87.6,2441,2120,2681,2541,594.2,-10.1,193,4534,0.00,2.30,0.00,0.000,2564,0.000,0.054,2440,718,2611,2681,2541,0,0,0,0,0,0,15.21,14.71,15.21
$GC,4566,-0.52,-87.6,2441,716,2681,2540,594.2,-10.1,193,4572,0.00,2.33,0.00,0.000,3078,0.000,0.037,2441,2140,2610,2681,2540,0,0,0,0,0,0,14.88,14.76,14.90
$STATE,4609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4609,begin apogee
$GC,4615,-0.13,0.0,2441,1927,2681,2540,603.0,-10.4,195,4691,0.35,0.00,68.35,1.678,10246,0.249,0.000,2570,1926,2273,2352,2195,0,0,0,0,0,0,14.31,14.47,13.72
$STATE,4692,end apogee,CONTROL_FINISHED_OK
$STATE,4692,begin climb
$GC,4695,0.52,87.6,2570,1927,2350,2196,606.7,0.0,197,4773,0.47,2.30,69.40,1.672,10756,0.164,0.052,2778,566,1924,2009,1840,0,0,0,0,0,0,14.35,14.09,13.48
$GC,4938,0.72,254.6,2778,565,2009,1840,606.1,1.1,203,5087,0.12,2.30,137.43,1.921,11270,0.132,0.033,2880,1970,1244,1341,1147,0,0,0,0,0,0,14.54,14.57,13.36
$GC,5340,0.72,254.6,2880,1970,1341,1150,529.5,22.8,213,5346,0.08,2.28,0.00,0.000,4356,0.414,0.046,2850,3354,1245,1341,1150,0,0,0,0,0,0,14.24,14.55,14.43
$GC,5383,0.72,254.6,2849,3354,1341,1149,519.7,22.7,214,5389,0.00,2.30,0.00,0.000,5126,0.000,0.047,2859,1978,1245,1341,1149,0,0,0,0,0,0,14.72,14.62,14.74
$GC,5668,0.72,254.6,2858,1978,1341,1146,461.4,20.1,221,5670,0.05,0.00,0.00,0.000,4102,0.475,0.000,2844,1977,1243,1341,1146,0,0,0,0,0,0,14.42,14.74,14.66
$GC,5906,0.72,254.6,2843,1977,1341,1144,416.2,18.6,227,5911,0.00,2.38,0.00,0.000,516,0.000,0.057,2854,536,1242,1341,1144,0,0,0,0,0,0,15.08,14.71,15.09
$GC,5968,0.72,254.6,2854,536,1341,1144,408.0,18.7,228,5973,0.00,2.28,0.00,0.000,5126,0.000,0.033,2854,1944,1242,1341,1144,0,0,0,0,0,0,14.85,14.78,14.88
$GC,6231,0.72,254.6,2853,1949,1341,1141,353.3,19.2,235,6237,0.00,2.33,0.00,0.000,4356,0.000,0.046,2854,3361,1241,1341,1142,0,0,0,0,0,0,15.12,14.75,15.12
$GC,6289,0.72,254.6,2854,3363,1341,1142,344.4,19.5,236,6295,0.08,2.33,0.00,0.000,5126,0.392,0.046,2840,1948,1241,1341,1142,0,0,0,0,0,0,14.33,14.74,14.64
$GC,6558,0.72,254.6,2840,1948,1340,1140,292.0,17.7,243,6563,0.00,2.30,0.00,0.000,260,0.000,0.046,2841,3357,1240,1340,1140,0,0,0,0,0,0,15.14,14.76,15.14
$GC,6590,0.72,254.6,2840,3355,1340,1140,292.0,17.7,243,6595,0.00,2.33,0.00,0.000,5126,0.000,0.047,2850,1947,1240,1340,1140,0,0,0,0,0,0,14.87,14.75,14.89
$GC,6843,0.72,254.6,2850,1947,1340,1139,244.9,16.4,250,6844,0.00,0.00,0.00,0.000,4102,0.000,0.000,2850,1947,1239,1340,1139,0,0,0,0,0,0,15.16,15.16,15.16
$GC,7084,0.72,254.6,2850,1947,1340,1137,207.3,15.6,256,7090,0.00,2.33,0.00,0.000,4356,0.000,0.046,2850,3358,1238,1340,1137,0,0,0,0,0,0,15.16,14.76,15.16
$GC,7137,0.72,254.6,2850,3358,1341,1137,200.4,15.1,257,7143,0.05,2.33,0.00,0.000,5126,0.443,0.045,2845,1943,1238,1340,1137,0,0,0,0,0,0,14.38,14.76,14.65
$GC,7393,0.72,254.6,2844,1943,1340,1137,162.7,13.4,280,7398,0.00,2.30,0.00,0.000,516,0.000,0.058,2855,540,1238,1340,1137,0,0,0,0,0,0,15.14,14.70,15.14
$GC,7430,0.72,254.6,2855,540,1340,1137,158.1,13.2,283,7438,0.00,2.30,0.00,0.000,5126,0.000,0.031,2855,1960,1238,1339,1137,0,0,0,0,0,0,14.87,14.78,14.89
$GC,7679,0.72,254.6,2855,1964,1340,1137,123.1,14.6,308,7684,0.00,2.40,0.00,0.000,4612,0.000,0.056,2866,536,1238,1340,1137,0,0,0,0,0,0,15.11,14.69,15.11
$GC,7727,0.72,254.6,2865,536,1340,1137,116.0,15.1,312,7737,0.05,2.35,0.00,0.000,5126,0.347,0.031,2849,1946,1238,1340,1137,0,0,0,0,0,0,14.21,14.58,14.38
$GC,7978,0.72,254.6,2848,1947,1340,1138,83.4,11.9,337,7983,0.00,2.30,0.00,0.000,4356,0.000,0.047,2849,3357,1239,1340,1139,0,0,0,0,0,0,15.10,14.71,15.11
$GC,8062,0.72,254.6,2848,3357,1340,1140,73.9,11.2,344,8071,0.00,2.40,0.00,0.000,5126,0.000,0.044,2858,1951,1239,1340,1139,0,0,0,0,0,0,14.60,14.54,14.63
$GC,8312,0.72,254.6,2858,1950,1340,1142,49.1,9.0,369,8317,0.00,2.33,0.00,0.000,4612,0.000,0.054,2869,539,1241,1340,1142,0,0,0,0,0,0,15.07,14.68,15.07
$GC,8361,0.72,254.6,2869,538,1340,1143,44.8,8.3,373,8367,0.08,2.30,0.00,0.000,5126,0.370,0.031,2845,1962,1241,1340,1143,0,0,0,0,0,0,14.28,14.74,14.59
$GC,8629,0.73,258.3,2845,1974,1340,1145,20.7,7.8,406,8638,0.00,0.00,5.20,0.679,8198,0.000,0.000,2845,1974,1223,1329,1118,0,0,0,0,0,0,15.05,14.71,14.06
$STATE,8816,end climb,SURFACE_DEPTH_REACHED
$STATE,8816,begin surface coast
$FINISH,0.3,1.010246
$STATE,8848,end surface coast,CONTROL_FINISHED_OK
$STATE,8848,begin surface
$SM_CCo,8864,92.78,0.854,1,0,646,400.08
$SM_GC,1.24,6.10,0.25,92.78,0.073,0.068,0.854,184,2143,646,-7.41,-1.19,400.08,0,0,0,0,1,0,14.74,14.74,13.98
$IRIDIUM_FIX,2216.01,-15739.86,100518,105911
$TT8_MAMPS,0.019474,0.324317
$HUMID,45.55
$INTERNAL_PRESSURE,9.47561
$TCM_TEMP,22.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.2,6.7
$24V_AH,13.36,120.661
$10V_AH,12.84,0.000
$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,15.125,97.700,280.375,92.775,0.000,28.638,44.617,289.022,0.500,0.000,16.325,1566.035,5397.499,481.168,1853.766,194.996,0.000,1126.152,0.000,1451.938,0.000,5.463,0.000
$DEVICE_MAMPS,475.065,70.380,1920.915,853.740,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,298.755,321.113,424.442,442.296,678.629,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343120
$DATA_FILE_SIZE,40659,442
$CAP_FILE_SIZE,94418,0
$CFSIZE,2097086464,2041446400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.051,32.99,1
$GPS,100518,133719,2227.366,-15739.552,33,0.8,41,9.8,0.5,190.7,10,36.5