version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 538
start: 5 11 118 15 27 31
data:
$ID,626
$MISSION,2
$DIVE,538
$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,30
$R_STBD_OVSHOOT,71
$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
$GPS1,110518,151907,2234.6655,-15748.1973,15,1.3,15,9.8,0.0,0.0,5,37.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-73.3
$GPS2,110518,152649,2234.6665,-15748.1445,18,1.3,18,9.8,0.0,0.0,5,48.9
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,ALO
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,297.6,27861,-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,-87.6,184,2153,682,630,0.0,0.0,0,72,0.00,0.00,-53.58,0.000,16386,0.000,0.000,184,2158,2477,2509,2446,0,0,0,0,0,0,14.92,28.83,14.92
$GC,75,-0.52,-87.6,184,2158,2509,2446,3.6,-7.0,7,94,7.68,2.20,-2.70,0.000,18692,0.445,0.066,2434,3513,2638,2682,2595,0,0,0,0,0,0,14.19,13.66,14.62
$GC,225,-0.52,-87.6,2433,3514,2682,2592,44.1,-18.4,25,231,0.00,2.33,0.00,0.000,3078,0.000,0.049,2433,2117,2637,2682,2592,0,0,0,0,0,0,14.75,14.64,14.76
$GC,479,-0.52,-87.6,2433,2115,2682,2591,100.3,-21.5,50,480,0.00,0.00,0.00,0.000,2054,0.000,0.000,2434,2115,2637,2682,2592,0,0,0,0,0,0,15.04,15.04,15.04
$GC,719,-0.52,-87.6,2433,2115,2682,2591,148.8,-17.4,74,724,0.00,2.33,0.00,0.000,2564,0.000,0.061,2433,709,2637,2682,2592,0,0,0,0,0,0,15.08,14.67,15.08
$GC,745,-0.52,-87.6,2433,709,2682,2591,153.2,-17.8,76,751,0.05,2.28,0.00,0.000,3078,0.457,0.041,2444,2103,2636,2682,2591,0,0,0,0,0,0,14.35,14.71,14.63
$GC,1000,-0.52,-87.6,2443,2104,2682,2592,193.4,-14.9,101,1005,0.00,2.33,0.00,0.000,260,0.000,0.060,2442,3526,2636,2682,2590,0,0,0,0,0,0,15.09,14.69,15.10
$GC,1057,-0.52,-87.6,2442,3527,2682,2591,201.1,-13.6,106,1062,0.00,2.30,0.00,0.000,3078,0.000,0.044,2442,2120,2636,2682,2591,0,0,0,0,0,0,14.85,14.74,14.87
$GC,1331,-0.52,-87.6,2441,2119,2683,2591,239.1,-14.0,113,1336,0.00,2.30,0.00,0.000,2564,0.000,0.061,2441,722,2637,2683,2591,0,0,0,0,0,0,15.16,14.73,15.16
$GC,1422,-0.52,-87.6,2441,721,2683,2591,252.2,-15.0,115,1428,0.00,2.28,0.00,0.000,3078,0.000,0.042,2441,2122,2637,2684,2591,0,0,0,0,0,0,14.89,14.77,14.90
$GC,1695,-0.52,-87.6,2440,2123,2683,2591,292.9,-14.2,122,1696,0.00,0.00,0.00,0.000,2054,0.000,0.000,2440,2123,2637,2684,2591,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1936,-0.52,-87.6,2440,2123,2683,2590,326.1,-13.9,128,1941,0.00,2.33,0.00,0.000,2308,0.000,0.055,2441,3540,2637,2683,2591,0,0,0,0,0,0,15.20,14.76,15.20
$GC,2028,-0.52,-87.6,2441,3541,2683,2591,335.7,-12.6,130,2033,0.00,2.28,0.00,0.000,3078,0.000,0.039,2441,2125,2637,2684,2591,0,0,0,0,0,0,14.91,14.81,14.93
$GC,2301,-0.52,-87.6,2441,2124,2683,2590,366.7,-10.5,137,2306,0.00,2.33,0.00,0.000,2564,0.000,0.062,2441,714,2636,2683,2590,0,0,0,0,0,0,15.21,14.75,15.21
$GC,2338,-0.52,-87.6,2440,713,2683,2589,366.7,-10.5,137,2345,0.00,2.30,0.00,0.000,3078,0.000,0.043,2441,2128,2636,2683,2589,0,0,0,0,0,0,14.91,14.80,14.93
$GC,2584,-0.52,-87.6,2440,2130,2683,2586,397.1,-10.8,144,2589,0.00,2.33,0.00,0.000,2308,0.000,0.060,2441,3538,2635,2683,2587,0,0,0,0,0,0,15.21,14.74,15.21
$GC,2636,-0.52,-87.6,2441,3539,2683,2587,401.4,-10.7,145,2641,0.00,2.30,0.00,0.000,3078,0.000,0.042,2441,2120,2634,2683,2586,0,0,0,0,0,0,14.92,14.81,14.93
$GC,2908,-0.52,-87.6,2440,2120,2683,2583,431.0,-10.7,152,2914,0.00,2.30,0.00,0.000,2564,0.000,0.061,2441,723,2633,2683,2583,0,0,0,0,0,0,15.21,14.74,15.21
$GC,2930,-0.52,-87.6,2441,723,2683,2583,431.0,-10.7,152,2936,0.00,2.28,0.00,0.000,3078,0.000,0.039,2441,2134,2633,2683,2583,0,0,0,0,0,0,14.92,14.82,14.94
$GC,3194,-0.52,-87.6,2440,2136,2683,2579,462.9,-11.4,159,3199,0.00,2.28,0.00,0.000,2308,0.000,0.055,2441,3522,2631,2683,2579,0,0,0,0,0,0,15.21,14.74,15.21
$GC,3231,-0.52,-87.6,2440,3523,2683,2579,462.9,-11.4,159,3239,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2109,2631,2683,2579,0,0,0,0,0,0,14.91,14.81,14.93
$GC,3477,-0.52,-87.6,2440,2109,2683,2576,493.5,-10.7,166,3478,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2109,2629,2683,2576,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3717,-0.52,-87.6,2440,2109,2683,2573,517.6,-10.0,172,3718,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2109,2627,2683,2572,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3957,-0.52,-87.6,2441,2109,2683,2570,541.2,-9.8,178,3958,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2109,2626,2683,2570,0,0,0,0,0,0,15.21,15.22,15.22
$GC,4197,-0.52,-87.6,2441,2109,2683,2567,564.8,-9.8,184,4203,0.00,2.30,0.00,0.000,2564,0.000,0.057,2440,721,2624,2683,2566,0,0,0,0,0,0,15.21,14.71,15.21
$GC,4234,-0.52,-87.6,2440,721,2683,2566,564.8,-9.8,184,4242,0.00,2.30,0.00,0.000,3078,0.000,0.044,2441,2119,2624,2683,2565,0,0,0,0,0,0,14.88,14.76,14.90
$GC,4481,-0.52,-87.6,2441,2120,2683,2562,594.8,-10.6,191,4486,0.00,2.35,0.00,0.000,2564,0.000,0.060,2441,727,2622,2683,2562,0,0,0,0,0,0,15.21,14.70,15.21
$GC,4507,-0.52,-87.6,2440,726,2683,2562,594.8,-10.6,191,4513,0.00,2.30,0.00,0.000,3078,0.000,0.043,2441,2131,2622,2683,2561,0,0,0,0,0,0,14.88,14.76,14.90
$STATE,4563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4564,begin apogee
$GC,4570,-0.13,0.0,2441,1946,2683,2561,604.1,-10.8,193,4646,0.35,0.00,70.88,1.702,10246,0.247,0.000,2570,1946,2275,2352,2198,0,0,0,0,0,0,14.31,14.45,13.69
$STATE,4647,end apogee,CONTROL_FINISHED_OK
$STATE,4647,begin climb
$GC,4649,0.52,87.6,2570,1946,2349,2197,607.8,0.0,195,4731,0.45,2.40,72.90,1.644,10756,0.165,0.061,2770,563,1916,2006,1826,0,0,0,0,0,0,14.35,14.23,13.52
$GC,4914,0.70,235.9,2770,562,2003,1821,606.3,1.9,201,5040,0.12,2.30,117.22,1.687,11270,0.132,0.037,2866,1964,1319,1426,1212,0,0,0,0,0,0,14.55,14.58,13.41
$GC,5293,0.70,235.9,2866,1965,1426,1225,539.9,21.0,211,5299,0.08,2.28,0.00,0.000,4356,0.422,0.045,2836,3353,1325,1425,1225,0,0,0,0,0,0,14.23,14.54,14.42
$GC,5315,0.70,235.9,2836,3353,1426,1224,539.9,21.0,211,5321,0.00,2.30,0.00,0.000,5126,0.000,0.046,2845,1968,1325,1426,1224,0,0,0,0,0,0,14.72,14.62,14.73
$GC,5579,0.70,235.9,2845,1967,1426,1222,485.9,18.6,218,5584,0.00,2.30,0.00,0.000,4356,0.000,0.046,2845,3357,1324,1426,1222,0,0,0,0,0,0,15.03,14.70,15.04
$GC,5611,0.70,235.9,2845,3357,1426,1222,485.9,18.6,218,5617,0.05,2.35,0.00,0.000,5126,0.472,0.046,2841,1948,1324,1427,1222,0,0,0,0,0,0,14.34,14.69,14.64
$GC,5865,0.70,235.9,2840,1947,1426,1220,436.7,16.8,225,5866,0.00,0.00,0.00,0.000,4102,0.000,0.000,2841,1947,1323,1426,1220,0,0,0,0,0,0,15.09,15.09,15.09
$GC,6105,0.70,235.9,2840,1947,1426,1217,398.5,15.9,231,6110,0.00,2.33,0.00,0.000,4356,0.000,0.046,2841,3354,1321,1425,1217,0,0,0,0,0,0,15.12,14.74,15.12
$GC,6182,0.70,235.9,2840,3354,1425,1217,391.2,16.0,232,6190,0.00,2.33,0.00,0.000,5126,0.000,0.045,2850,1946,1321,1426,1217,0,0,0,0,0,0,14.85,14.73,14.87
$GC,6428,0.70,235.9,2850,1945,1426,1215,345.6,16.3,239,6433,0.00,2.33,0.00,0.000,4612,0.000,0.057,2860,539,1320,1426,1215,0,0,0,0,0,0,15.14,14.71,15.14
$GC,6455,0.70,235.9,2861,539,1426,1215,345.6,16.3,239,6461,0.08,2.28,0.00,0.000,5126,0.375,0.033,2837,1950,1320,1426,1215,0,0,0,0,0,0,14.34,14.78,14.64
$GC,6715,0.70,235.9,2836,1959,1426,1213,299.8,15.2,246,6720,0.00,2.25,0.00,0.000,260,0.000,0.046,2837,3350,1319,1426,1213,0,0,0,0,0,0,15.15,14.75,15.16
$GC,6806,0.70,235.9,2837,3350,1425,1214,287.0,15.4,248,6812,0.00,2.33,0.00,0.000,5126,0.000,0.045,2847,1940,1319,1425,1214,0,0,0,0,0,0,14.86,14.74,14.88
$GC,7079,0.70,235.9,2847,1941,1426,1213,244.6,14.8,255,7081,0.00,0.00,0.00,0.000,4102,0.000,0.000,2847,1941,1318,1425,1212,0,0,0,0,0,0,15.16,15.17,15.17
$GC,7320,0.70,235.9,2847,1941,1425,1212,211.0,14.0,261,7325,0.00,2.33,0.00,0.000,4612,0.000,0.057,2858,536,1318,1425,1212,0,0,0,0,0,0,15.17,14.71,15.18
$GC,7448,0.70,235.9,2857,536,1425,1212,194.1,13.4,267,7457,0.05,2.38,0.00,0.000,5126,0.361,0.032,2841,1948,1318,1425,1212,0,0,0,0,0,0,14.18,14.58,14.35
$GC,7700,0.70,235.9,2840,1949,1425,1212,162.0,12.0,292,7705,0.00,2.28,0.00,0.000,4356,0.000,0.046,2841,3350,1318,1425,1212,0,0,0,0,0,0,15.13,14.73,15.14
$GC,7808,0.70,235.9,2840,3350,1425,1212,148.4,12.1,302,7814,0.03,2.33,0.00,0.000,5126,0.589,0.044,2842,1943,1319,1425,1213,0,0,0,0,0,0,14.47,14.71,14.64
$GC,8064,0.70,235.9,2841,1942,1425,1213,118.1,11.1,327,8070,0.00,0.00,0.00,0.000,4102,0.000,0.000,2842,1941,1319,1426,1212,0,0,0,0,0,0,15.11,15.12,15.11
$GC,8312,0.70,235.9,2842,1942,1425,1214,90.8,11.1,352,8317,0.00,2.33,0.00,0.000,4356,0.000,0.045,2842,3350,1320,1425,1215,0,0,0,0,0,0,15.11,14.71,15.11
$GC,8347,0.70,235.9,2841,3350,1425,1216,87.4,10.2,355,8354,0.05,2.33,0.00,0.000,5126,0.438,0.044,2836,1942,1320,1425,1216,0,0,0,0,0,0,14.32,14.71,14.59
$GC,8605,0.70,235.9,2836,1941,1425,1217,65.2,9.1,380,8610,0.00,2.33,0.00,0.000,260,0.000,0.047,2836,3349,1321,1425,1217,0,0,0,0,0,0,15.08,14.69,15.09
$GC,8746,0.70,235.9,2835,3348,1425,1220,52.2,9.3,392,8755,0.00,2.38,0.00,0.000,5126,0.000,0.045,2845,1961,1322,1425,1220,0,0,0,0,0,0,14.57,14.51,14.59
$GC,8998,0.70,235.9,2845,1961,1425,1222,28.4,9.2,418,9007,0.00,2.45,0.00,0.000,4612,0.000,0.057,2857,539,1324,1425,1223,0,0,0,0,0,0,15.06,14.50,15.06
$GC,9051,0.70,235.9,2856,539,1425,1223,22.8,11.3,426,9061,0.03,2.38,0.00,0.000,5126,0.437,0.032,2847,1952,1324,1426,1223,0,0,0,0,0,0,14.26,14.55,14.38
$STATE,9274,end climb,SURFACE_DEPTH_REACHED
$STATE,9274,begin surface coast
$FINISH,0.3,1.013542
$STATE,9341,end surface coast,CONTROL_FINISHED_OK
$STATE,9341,begin surface
$SM_CCo,9356,104.05,0.897,1,0,646,400.08
$SM_GC,1.29,6.03,0.22,104.05,0.050,0.064,0.897,180,2180,646,-7.49,-1.50,400.08,0,0,0,0,1,0,14.71,14.76,13.93
$IRIDIUM_FIX,2223.01,-15749.38,110518,152042
$TT8_MAMPS,0.018725,0.323568
$HUMID,44.32
$INTERNAL_PRESSURE,9.48537
$TCM_TEMP,22.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,6.8
$24V_AH,13.41,122.905
$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,15.025,102.300,261.000,104.050,0.000,29.697,43.974,248.969,0.500,0.000,19.110,1663.443,5712.287,483.381,1901.935,194.660,0.000,1155.651,0.000,1550.014,0.000,5.461,0.000
$DEVICE_MAMPS,589.050,65.790,1702.125,896.580,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,320.672,268.294,460.267,480.929,737.921,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343092
$DATA_FILE_SIZE,40656,474
$CAP_FILE_SIZE,97820,0
$CFSIZE,2097086464,2040463360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,1
$CURRENT,0.006,204.69,1
$GPS,110518,180630,2235.339,-15749.137,34,0.9,35,9.8,1.2,96.6,9,74.8