version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 535
start: 5 11 118 6 57 19
data:
$ID,626
$MISSION,2
$DIVE,535
$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,36
$R_STBD_OVSHOOT,55
$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
$GPS1,110518,064825,2231.9558,-15745.3916,16,0.9,39,9.8,0.4,235.1,9,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.6
$GPS2,110518,065636,2231.9556,-15745.3496,8,0.9,8,9.8,0.6,284.7,8,97.4
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,ALO
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,308.8,34781,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.52,-87.6,182,2148,686,629,0.0,0.0,0,74,0.00,0.00,-54.95,0.000,16386,0.000,0.000,184,2149,2545,2576,2514,0,0,0,0,0,0,14.91,28.83,14.92
$GC,77,-0.52,-87.6,184,2149,2576,2513,3.8,-7.0,7,95,7.68,2.25,-1.55,0.000,18692,0.448,0.064,2430,3526,2639,2681,2597,0,0,0,0,0,0,14.19,13.65,14.62
$GC,257,-0.52,-87.6,2430,3527,2681,2597,51.5,-19.1,26,266,0.00,2.38,0.00,0.000,3078,0.000,0.047,2430,2129,2638,2681,2596,0,0,0,0,0,0,14.57,14.52,14.59
$GC,507,-0.52,-87.6,2429,2128,2681,2595,105.0,-21.4,51,512,0.00,2.35,0.00,0.000,2564,0.000,0.063,2430,715,2638,2681,2595,0,0,0,0,0,0,15.03,14.64,15.04
$GC,545,-0.52,-87.6,2429,715,2681,2595,113.6,-22.4,54,555,0.03,2.38,0.00,0.000,3078,0.490,0.044,2436,2110,2637,2681,2594,0,0,0,0,0,0,14.28,14.54,14.40
$GC,797,-0.52,-87.6,2435,2112,2681,2594,160.1,-17.7,79,802,0.00,2.35,0.00,0.000,2308,0.000,0.057,2428,3538,2637,2681,2594,0,0,0,0,0,0,15.07,14.68,15.07
$GC,868,-0.52,-87.6,2427,3539,2681,2594,171.3,-15.1,85,874,0.05,2.33,0.00,0.000,3078,0.412,0.044,2445,2118,2637,2681,2594,0,0,0,0,0,0,14.40,14.73,14.66
$GC,1143,-0.52,-87.6,2444,2112,2681,2594,212.2,-15.2,106,1148,0.00,2.33,0.00,0.000,260,0.000,0.058,2442,3532,2638,2682,2594,0,0,0,0,0,0,15.11,14.71,15.12
$GC,1175,-0.52,-87.6,2441,3533,2681,2594,212.2,-15.2,106,1180,0.00,2.30,0.00,0.000,3078,0.000,0.044,2442,2117,2637,2681,2594,0,0,0,0,0,0,14.87,14.76,14.89
$GC,1428,-0.52,-87.6,2441,2116,2682,2594,251.3,-13.5,113,1429,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,2116,2638,2682,2594,0,0,0,0,0,0,15.16,15.17,15.17
$GC,1668,-0.52,-87.6,2441,2115,2682,2594,282.3,-12.5,119,1669,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2115,2638,2682,2594,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1908,-0.52,-87.6,2441,2115,2681,2594,311.5,-12.2,125,1909,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,2115,2638,2682,2594,0,0,0,0,0,0,15.20,15.21,15.20
$GC,2149,-0.52,-87.6,2441,2115,2682,2594,340.9,-12.2,131,2154,0.00,2.30,0.00,0.000,2564,0.000,0.060,2442,716,2637,2682,2593,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2205,-0.52,-87.6,2441,716,2682,2593,346.8,-12.4,132,2211,0.00,2.30,0.00,0.000,3078,0.000,0.044,2441,2129,2637,2682,2592,0,0,0,0,0,0,14.92,14.80,14.94
$GC,2474,-0.52,-87.6,2441,2131,2682,2589,380.2,-11.7,139,2479,0.00,2.33,0.00,0.000,2308,0.000,0.063,2441,3535,2636,2682,2590,0,0,0,0,0,0,15.21,14.74,15.21
$GC,2520,-0.52,-87.6,2441,3535,2682,2589,384.9,-11.5,140,2525,0.00,2.30,0.00,0.000,3078,0.000,0.044,2441,2118,2636,2682,2590,0,0,0,0,0,0,14.92,14.80,14.94
$GC,2798,-0.52,-87.6,2441,2119,2682,2586,416.7,-11.7,147,2803,0.00,2.30,0.00,0.000,2564,0.000,0.057,2441,715,2633,2681,2585,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2875,-0.52,-87.6,2441,715,2682,2584,421.9,-11.8,148,2881,0.00,2.30,0.00,0.000,3078,0.000,0.039,2441,2131,2633,2682,2584,0,0,0,0,0,0,14.91,14.79,14.93
$GC,3121,-0.52,-87.6,2441,2131,2682,2581,454.7,-11.7,155,3126,0.00,2.30,0.00,0.000,2308,0.000,0.058,2441,3532,2631,2682,2581,0,0,0,0,0,0,15.21,14.75,15.21
$GC,3167,-0.52,-87.6,2441,3532,2682,2581,459.5,-11.6,156,3172,0.00,2.30,0.00,0.000,3078,0.000,0.040,2441,2117,2631,2682,2580,0,0,0,0,0,0,14.91,14.80,14.93
$GC,3445,-0.52,-87.6,2441,2116,2681,2577,491.9,-11.5,163,3450,0.00,2.28,0.00,0.000,2564,0.000,0.055,2441,723,2629,2682,2577,0,0,0,0,0,0,15.21,14.75,15.21
$GC,3482,-0.52,-87.6,2441,722,2682,2576,491.9,-11.5,163,3488,0.00,2.28,0.00,0.000,3078,0.000,0.038,2441,2125,2629,2682,2577,0,0,0,0,0,0,14.90,14.78,14.92
$GC,3728,-0.52,-87.6,2441,2126,2682,2573,524.9,-11.6,170,3729,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2126,2627,2682,2573,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3969,-0.52,-87.6,2441,2126,2682,2570,551.2,-10.6,176,3975,0.00,2.33,0.00,0.000,2308,0.000,0.057,2441,3538,2626,2682,2570,0,0,0,0,0,0,15.21,14.73,15.21
$GC,4026,-0.52,-87.6,2440,3538,2682,2569,555.6,-10.3,177,4031,0.00,2.30,0.00,0.000,3078,0.000,0.039,2441,2119,2625,2682,2569,0,0,0,0,0,0,14.90,14.78,14.92
$GC,4294,-0.52,-87.6,2441,2118,2682,2565,581.8,-9.2,184,4299,0.00,2.30,0.00,0.000,2564,0.000,0.053,2441,712,2623,2682,2565,0,0,0,0,0,0,15.21,14.73,15.21
$GC,4366,-0.52,-87.6,2441,712,2682,2564,586.1,-9.2,185,4371,0.00,2.30,0.00,0.000,3078,0.000,0.039,2441,2125,2623,2682,2564,0,0,0,0,0,0,14.88,14.76,14.90
$STATE,4496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4496,begin apogee
$GC,4502,-0.13,0.0,2441,1943,2682,2562,600.8,-9.1,189,4579,0.35,0.00,69.60,1.697,10246,0.246,0.000,2569,1942,2276,2354,2199,0,0,0,0,0,0,14.30,14.28,13.69
$STATE,4580,end apogee,CONTROL_FINISHED_OK
$STATE,4580,begin climb
$GC,4582,0.52,87.6,2570,1942,2354,2200,603.7,0.0,191,4660,0.45,2.42,70.10,1.738,10756,0.165,0.063,2770,558,1924,2011,1837,0,0,0,0,0,0,14.35,14.23,13.47
$GC,5083,0.69,232.3,2770,558,2011,1834,598.0,2.1,203,5209,0.12,2.30,117.35,1.893,11270,0.134,0.037,2870,1970,1332,1434,1231,0,0,0,0,0,0,14.64,14.69,13.40
$GC,5467,0.69,232.3,2870,1970,1434,1240,534.9,20.0,213,5469,0.10,0.00,0.00,0.000,4102,0.390,0.000,2838,1973,1337,1435,1240,0,0,0,0,0,0,14.25,14.63,14.56
$GC,5708,0.69,232.3,2838,1974,1434,1237,490.9,18.1,219,5713,0.00,2.25,0.00,0.000,4356,0.000,0.047,2839,3350,1336,1435,1237,0,0,0,0,0,0,15.02,14.69,15.02
$GC,5765,0.69,232.3,2838,3350,1434,1237,482.8,18.3,220,5771,0.00,2.30,0.00,0.000,5126,0.000,0.046,2848,1958,1335,1434,1236,0,0,0,0,0,0,14.81,14.69,14.82
$GC,6033,0.69,232.3,2848,1957,1434,1233,432.1,17.8,227,6038,0.00,2.30,0.00,0.000,4356,0.000,0.046,2848,3350,1333,1434,1233,0,0,0,0,0,0,15.09,14.73,15.09
$GC,6120,0.69,232.3,2848,3350,1434,1233,417.1,18.2,229,6126,0.08,2.30,0.00,0.000,5126,0.396,0.046,2835,1950,1333,1434,1233,0,0,0,0,0,0,14.31,14.72,14.64
$GC,6399,0.69,232.3,2834,1950,1434,1232,370.5,16.0,236,6405,0.00,2.35,0.00,0.000,516,0.000,0.058,2845,533,1332,1434,1231,0,0,0,0,0,0,15.11,14.71,15.12
$GC,6466,0.69,232.3,2845,533,1434,1231,363.1,16.2,237,6472,0.00,2.30,0.00,0.000,5126,0.000,0.034,2845,1954,1332,1434,1231,0,0,0,0,0,0,14.87,14.78,14.88
$GC,6724,0.69,232.3,2845,1959,1434,1229,317.5,16.0,244,6725,0.00,0.00,0.00,0.000,4102,0.000,0.000,2845,1959,1331,1434,1229,0,0,0,0,0,0,15.14,15.15,15.14
$GC,6965,0.69,232.3,2845,1959,1434,1228,280.1,15.2,250,6970,0.00,2.28,0.00,0.000,4356,0.000,0.047,2845,3355,1330,1432,1228,0,0,0,0,0,0,15.16,14.75,15.16
$GC,7081,0.69,232.3,2844,3354,1433,1228,266.7,15.8,252,7089,0.08,2.33,0.00,0.000,5126,0.396,0.045,2831,1944,1330,1433,1228,0,0,0,0,0,0,14.29,14.73,14.61
$GC,7327,0.69,232.3,2831,1944,1433,1227,227.1,13.9,259,7333,0.00,2.33,0.00,0.000,260,0.000,0.046,2831,3360,1329,1433,1226,0,0,0,0,0,0,15.16,14.75,15.17
$GC,7370,0.69,232.3,2832,3360,1433,1227,221.1,14.2,260,7376,0.00,2.33,0.00,0.000,5126,0.000,0.045,2841,1952,1330,1433,1227,0,0,0,0,0,0,14.86,14.74,14.88
$GC,7623,0.69,232.3,2840,1951,1434,1226,187.5,13.4,273,7628,0.00,2.33,0.00,0.000,4356,0.000,0.045,2841,3363,1330,1434,1227,0,0,0,0,0,0,15.16,14.74,15.16
$GC,7805,0.69,232.3,2840,3363,1433,1227,161.0,14.9,290,7811,0.05,2.33,0.00,0.000,5126,0.435,0.044,2836,1949,1330,1433,1227,0,0,0,0,0,0,14.35,14.72,14.62
$GC,8061,0.69,232.3,2835,1947,1434,1227,130.0,12.0,315,8066,0.00,2.33,0.00,0.000,516,0.000,0.056,2845,532,1329,1432,1227,0,0,0,0,0,0,15.11,14.68,15.12
$GC,8160,0.69,232.3,2845,532,1433,1228,118.0,12.6,324,8165,0.00,2.30,0.00,0.000,5126,0.000,0.031,2846,1955,1330,1433,1227,0,0,0,0,0,0,14.85,14.76,14.86
$GC,8416,0.69,232.3,2845,1957,1434,1229,91.6,9.8,349,8422,0.00,2.30,0.00,0.000,4356,0.000,0.045,2846,3361,1331,1433,1229,0,0,0,0,0,0,15.09,14.71,15.10
$GC,8484,0.69,232.3,2845,3362,1433,1230,84.6,10.2,355,8490,0.08,2.33,0.00,0.000,5126,0.387,0.042,2831,1946,1331,1433,1230,0,0,0,0,0,0,14.26,14.71,14.57
$GC,8742,0.69,232.3,2831,1946,1433,1232,61.5,9.1,380,8747,0.00,2.30,0.00,0.000,516,0.000,0.057,2842,543,1332,1433,1232,0,0,0,0,0,0,15.08,14.66,15.09
$GC,8814,0.69,232.3,2842,542,1433,1233,53.7,10.9,386,8819,0.00,2.28,0.00,0.000,5126,0.000,0.031,2842,1951,1333,1433,1233,0,0,0,0,0,0,14.83,14.74,14.84
$GC,9070,0.69,232.3,2842,1952,1434,1236,32.2,8.4,411,9075,0.00,2.28,0.00,0.000,4356,0.000,0.047,2842,3350,1335,1433,1237,0,0,0,0,0,0,15.07,14.69,15.07
$GC,9217,0.70,236.3,2841,3350,1433,1239,20.7,7.8,433,9236,0.03,2.40,5.70,0.719,13318,0.463,0.044,2843,1949,1313,1418,1209,0,0,0,0,0,0,14.23,14.53,13.97
$STATE,9479,end climb,SURFACE_DEPTH_REACHED
$STATE,9479,begin surface coast
$FINISH,0.3,0.999352
$STATE,9528,end surface coast,CONTROL_FINISHED_OK
$STATE,9528,begin surface
$SM_CCo,9544,96.55,0.113,0,0,648,400.08
$SM_GC,1.10,6.18,0.30,96.55,0.085,0.070,0.113,182,2131,648,-7.44,-1.53,400.08,0,0,0,0,0,0,14.71,14.70,14.53
$IRIDIUM_FIX,2223.01,-15746.34,110518,065005
$TT8_MAMPS,0.019474,0.326564
$HUMID,44.01
$INTERNAL_PRESSURE,9.47561
$TCM_TEMP,23.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,55.8,7.1
$24V_AH,13.40,122.223
$10V_AH,12.81,0.000
$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,15.250,102.375,262.750,96.550,0.000,27.966,48.491,277.882,1.000,0.000,9.132,1800.378,5607.709,466.803,2080.063,203.855,0.000,1186.290,0.000,1689.944,0.000,9.779,0.000
$DEVICE_MAMPS,489.600,69.615,1892.610,113.220,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,327.744,384.366,470.774,500.257,767.565,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343104
$DATA_FILE_SIZE,43967,484
$CAP_FILE_SIZE,101188,0
$CFSIZE,2097086464,2040725504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.026,286.87,1
$GPS,110518,093857,2232.763,-15746.368,20,1.7,21,9.8,0.0,0.0,5,56.4