version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 540
start: 5 11 118 20 54 20
data:
$ID,626
$MISSION,2
$DIVE,540
$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,37
$R_STBD_OVSHOOT,37
$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
$GPS1,110518,204550,2236.0151,-15750.1650,17,1.7,17,9.8,0.0,0.0,6,47.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.6
$GPS2,110518,205337,2236.0356,-15750.1719,17,1.8,17,9.8,0.8,286.7,6,43.6
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,ALO
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,317.2,23609,-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,-87.6,184,2127,687,628,0.0,0.0,0,75,0.00,0.00,-56.12,0.000,16386,0.000,0.000,184,2125,2608,2638,2579,0,0,0,0,0,0,14.91,28.83,14.91
$GC,78,-0.52,-87.6,184,2126,2638,2579,4.4,-8.7,7,95,7.68,2.38,-0.55,0.000,18692,0.448,0.067,2428,3536,2639,2679,2600,0,0,0,0,0,0,14.19,13.67,14.62
$GC,319,-0.52,-87.6,2427,3537,2679,2599,64.4,-18.5,32,325,0.05,2.35,0.00,0.000,3078,0.430,0.047,2443,2119,2639,2679,2599,0,0,0,0,0,0,14.32,14.65,14.59
$GC,576,-0.52,-87.6,2443,2117,2680,2599,115.5,-18.6,57,582,0.00,2.33,0.00,0.000,2564,0.000,0.063,2443,721,2638,2679,2598,0,0,0,0,0,0,15.04,14.64,15.04
$GC,645,-0.52,-87.6,2442,720,2679,2598,128.2,-17.7,63,652,0.00,2.30,0.00,0.000,3078,0.000,0.041,2441,2129,2638,2679,2598,0,0,0,0,0,0,14.81,14.71,14.83
$GC,902,-0.52,-87.6,2440,2130,2680,2598,171.1,-15.9,88,908,0.00,2.33,0.00,0.000,2308,0.000,0.059,2442,3537,2639,2680,2598,0,0,0,0,0,0,15.07,14.68,15.07
$GC,962,-0.52,-87.6,2441,3538,2680,2598,178.9,-12.5,93,970,0.00,2.38,0.00,0.000,3078,0.000,0.042,2441,2127,2639,2681,2598,0,0,0,0,0,0,14.62,14.57,14.64
$GC,1229,-0.52,-87.6,2441,2126,2681,2598,217.3,-14.0,111,1230,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,2126,2640,2682,2598,0,0,0,0,0,0,15.13,15.13,15.13
$GC,1468,-0.52,-87.6,2441,2126,2682,2598,248.9,-13.2,117,1473,0.00,2.33,0.00,0.000,2564,0.000,0.060,2441,715,2640,2682,2598,0,0,0,0,0,0,15.16,14.73,15.16
$GC,1575,-0.52,-87.6,2441,715,2682,2598,260.3,-13.3,119,1580,0.00,2.30,0.00,0.000,3078,0.000,0.041,2441,2133,2640,2682,2598,0,0,0,0,0,0,14.89,14.78,14.91
$GC,1833,-0.52,-87.6,2441,2133,2682,2598,296.7,-12.7,126,1838,0.00,2.30,0.00,0.000,2308,0.000,0.060,2441,3530,2640,2682,2598,0,0,0,0,0,0,15.19,14.73,15.19
$GC,1939,-0.52,-87.6,2441,3530,2682,2598,306.8,-12.5,128,1946,0.00,2.28,0.00,0.000,3078,0.000,0.042,2441,2121,2640,2682,2598,0,0,0,0,0,0,14.90,14.79,14.92
$GC,2199,-0.52,-87.6,2440,2120,2682,2597,340.4,-12.0,135,2200,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2120,2639,2682,2597,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2440,-0.52,-87.6,2441,2120,2682,2596,368.7,-11.9,141,2441,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2120,2638,2680,2596,0,0,0,0,0,0,15.19,15.20,15.20
$GC,2679,-0.52,-87.6,2441,2120,2682,2593,396.0,-11.4,147,2680,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2120,2637,2682,2592,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2918,-0.52,-87.6,2440,2120,2682,2590,424.0,-11.8,153,2919,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2120,2636,2682,2590,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3159,-0.52,-87.6,2441,2120,2682,2587,452.9,-12.0,159,3160,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2120,2634,2682,2587,0,0,0,0,0,0,15.21,15.21,15.22
$GC,3398,-0.52,-87.6,2441,2120,2681,2584,480.9,-11.7,165,3403,0.00,2.30,0.00,0.000,2564,0.000,0.059,2441,726,2632,2681,2584,0,0,0,0,0,0,15.21,14.73,15.21
$GC,3435,-0.52,-87.6,2441,724,2682,2583,480.9,-11.7,165,3442,0.00,2.30,0.00,0.000,3078,0.000,0.037,2441,2142,2632,2682,2583,0,0,0,0,0,0,14.91,14.81,14.92
$GC,3681,-0.52,-87.6,2441,2143,2682,2579,513.7,-11.4,172,3687,0.00,2.28,0.00,0.000,2308,0.000,0.056,2441,3522,2630,2682,2579,0,0,0,0,0,0,15.21,14.72,15.21
$GC,3698,-0.52,-87.6,2440,3523,2682,2579,513.7,-11.4,172,3704,0.00,2.25,0.00,0.000,3078,0.000,0.037,2441,2121,2630,2682,2579,0,0,0,0,0,0,14.90,14.81,14.92
$GC,3967,-0.52,-87.6,2441,2120,2682,2577,543.5,-10.1,179,3968,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2120,2629,2682,2577,0,0,0,0,0,0,15.21,15.21,15.21
$GC,4209,-0.52,-87.6,2441,2120,2682,2573,566.5,-9.6,185,4210,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2120,2627,2681,2573,0,0,0,0,0,0,15.21,15.21,15.21
$GC,4447,-0.52,-87.6,2441,2120,2682,2571,589.9,-9.7,191,4452,0.00,2.30,0.00,0.000,2564,0.000,0.055,2441,724,2626,2682,2570,0,0,0,0,0,0,15.21,14.71,15.21
$GC,4479,-0.52,-87.6,2441,724,2682,2570,589.9,-9.7,191,4484,0.00,2.30,0.00,0.000,3078,0.000,0.043,2441,2126,2625,2682,2569,0,0,0,0,0,0,14.87,14.74,14.90
$STATE,4570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4570,begin apogee
$GC,4576,-0.13,0.0,2441,1939,2682,2569,602.9,-10.3,194,4652,0.35,0.00,71.75,1.691,10246,0.247,0.000,2570,1938,2276,2352,2200,0,0,0,0,0,0,14.28,14.45,13.69
$STATE,4653,end apogee,CONTROL_FINISHED_OK
$STATE,4653,begin climb
$GC,4656,0.52,87.6,2570,1938,2348,2199,606.5,0.0,196,4738,0.47,2.40,73.18,1.640,10756,0.165,0.060,2778,558,1915,2005,1826,0,0,0,0,0,0,14.36,14.23,13.50
$GC,4879,0.76,286.5,2778,558,2002,1822,607.0,-0.2,201,5058,0.15,2.30,163.88,1.634,11270,0.119,0.033,2896,1982,1112,1210,1015,0,0,0,0,0,0,14.52,14.56,13.45
$GC,5295,0.76,286.5,2895,1983,1209,1022,519.7,26.5,212,5301,0.08,2.40,0.00,0.000,4612,0.417,0.058,2875,564,1115,1209,1022,0,0,0,0,0,0,14.23,14.54,14.43
$GC,5333,0.76,286.5,2874,563,1209,1023,519.7,26.5,212,5341,0.05,2.25,0.00,0.000,5126,0.457,0.036,2860,1933,1115,1209,1021,0,0,0,0,0,0,14.30,14.64,14.58
$GC,5580,0.76,286.5,2860,1944,1209,1022,454.5,22.6,219,5585,0.00,2.33,0.00,0.000,4356,0.000,0.045,2860,3359,1116,1210,1022,0,0,0,0,0,0,15.02,14.70,15.02
$GC,5607,0.76,286.5,2860,3359,1210,1023,454.5,22.6,219,5612,0.00,2.30,0.00,0.000,5126,0.000,0.046,2869,1968,1116,1209,1023,0,0,0,0,0,0,14.81,14.69,14.82
$GC,5865,0.76,286.5,2869,1968,1209,1022,391.0,22.5,226,5870,0.00,2.40,0.00,0.000,4612,0.000,0.060,2881,529,1116,1210,1022,0,0,0,0,0,0,15.08,14.70,15.08
$GC,5887,0.76,286.5,2881,529,1210,1022,391.0,22.5,226,5893,0.08,2.30,0.00,0.000,5126,0.385,0.033,2856,1958,1116,1210,1022,0,0,0,0,0,0,14.33,14.77,14.65
$GC,6151,0.76,286.5,2856,1971,1209,1021,328.7,21.8,233,6156,0.00,2.28,0.00,0.000,260,0.000,0.044,2857,3360,1115,1210,1021,0,0,0,0,0,0,15.11,14.75,15.11
$GC,6194,0.76,286.5,2856,3360,1209,1021,319.3,22.0,234,6199,0.00,2.35,0.00,0.000,5126,0.000,0.045,2866,1943,1115,1209,1021,0,0,0,0,0,0,14.85,14.74,14.88
$GC,6479,0.76,286.5,2866,1943,1209,1020,260.1,21.1,241,6484,0.00,2.33,0.00,0.000,4356,0.000,0.043,2866,3359,1114,1209,1020,0,0,0,0,0,0,15.14,14.76,15.14
$GC,6506,0.76,286.5,2866,3359,1209,1020,260.1,21.1,241,6512,0.05,2.33,0.00,0.000,5126,0.456,0.045,2862,1947,1114,1209,1020,0,0,0,0,0,0,14.37,14.75,14.64
$GC,6765,0.76,286.5,2861,1946,1209,1018,206.3,18.8,248,6770,0.00,2.35,0.00,0.000,4612,0.000,0.060,2871,533,1114,1210,1018,0,0,0,0,0,0,15.15,14.71,15.15
$GC,6883,0.76,286.5,2871,533,1209,1018,185.3,17.6,256,6889,0.03,2.30,0.00,0.000,5126,0.552,0.033,2861,1955,1113,1209,1017,0,0,0,0,0,0,14.50,14.79,14.69
$GC,7139,0.76,286.5,2861,1966,1209,1017,141.4,16.4,281,7144,0.00,2.28,0.00,0.000,4356,0.000,0.045,2861,3357,1113,1209,1017,0,0,0,0,0,0,15.12,14.73,15.12
$GC,7261,0.76,286.5,2861,3357,1209,1017,121.2,16.1,292,7267,0.00,2.33,0.00,0.000,5126,0.000,0.046,2870,1953,1113,1209,1017,0,0,0,0,0,0,14.84,14.71,14.85
$GC,7518,0.76,286.5,2870,1953,1209,1017,80.2,16.2,317,7523,0.00,2.35,0.00,0.000,4612,0.000,0.058,2882,536,1113,1209,1017,0,0,0,0,0,0,15.10,14.68,15.10
$GC,7546,0.76,286.5,2882,535,1209,1017,76.4,15.0,319,7555,0.05,2.38,0.00,0.000,5126,0.356,0.033,2864,1954,1113,1210,1017,0,0,0,0,0,0,14.20,14.59,14.37
$GC,7796,0.76,286.5,2864,1954,1209,1017,41.3,13.0,344,7802,0.00,2.28,0.00,0.000,4356,0.000,0.045,2864,3351,1113,1209,1017,0,0,0,0,0,0,15.07,14.71,15.08
$GC,7835,0.76,286.5,2863,3351,1209,1017,35.8,14.0,347,7841,0.05,2.33,0.00,0.000,5126,0.452,0.045,2859,1949,1113,1209,1018,0,0,0,0,0,0,14.32,14.69,14.60
$STATE,8079,end climb,SURFACE_DEPTH_REACHED
$STATE,8079,begin surface coast
$FINISH,0.2,1.016800
$STATE,8111,end surface coast,CONTROL_FINISHED_OK
$STATE,8111,begin surface
$SM_CCo,8127,76.93,0.858,1,0,648,400.08
$SM_GC,1.07,6.18,0.30,76.93,0.077,0.067,0.858,184,2125,648,-7.43,-1.53,400.08,0,0,0,0,1,0,14.73,14.71,14.00
$IRIDIUM_FIX,2225.34,-15751.54,110518,204724
$TT8_MAMPS,0.019474,0.264397
$HUMID,47.91
$INTERNAL_PRESSURE,9.43654
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,6.4
$24V_AH,13.45,123.361
$10V_AH,12.76,0.000
$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,15.250,84.100,308.800,76.925,0.000,29.537,48.365,251.956,0.500,0.000,18.129,1373.483,5036.734,466.603,1652.253,176.301,0.000,1044.958,0.000,1256.373,0.000,5.457,0.000
$DEVICE_MAMPS,551.565,67.320,1691.415,858.330,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,263.842,379.115,366.218,364.995,560.037,0.000,0.000,0.000,0.000,0.000
$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,33779,390
$CAP_FILE_SIZE,83994,0
$CFSIZE,2097086464,2040266752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.041,281.31,1
$GPS,110518,231248,2236.976,-15750.979,62,0.8,62,9.8,0.0,0.0,10,22.0