version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 543
start: 5 12 118 4 54 22
data:
$ID,626
$MISSION,2
$DIVE,543
$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,35
$R_STBD_OVSHOOT,58
$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
$GPS1,120518,044548,2238.8989,-15752.5605,43,0.9,43,9.8,1.1,63.0,9,17.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-73.7
$GPS2,120518,045339,2238.9285,-15752.4443,8,0.9,8,9.8,1.0,278.9,9,94.3
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,AL1
$TGT_LATLONG,2245.000,-15754.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,337.6,11554,-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,-87.6,182,2155,681,625,0.0,0.0,0,75,0.00,0.00,-56.20,0.000,16386,0.000,0.000,182,2156,2593,2625,2562,0,0,0,0,0,0,14.91,28.83,14.92
$GC,77,-0.52,-87.6,182,2156,2625,2561,4.2,-8.0,7,95,7.68,2.28,-0.75,0.000,18692,0.446,0.060,2428,3527,2638,2679,2597,0,0,0,0,0,0,14.18,13.62,14.61
$GC,182,-0.52,-87.6,2428,3529,2680,2597,38.9,-19.8,20,192,0.03,2.40,0.00,0.000,3078,0.440,0.047,2436,2123,2638,2680,2597,0,0,0,0,0,0,14.25,14.52,14.38
$GC,432,-0.52,-87.6,2436,2122,2680,2596,92.7,-20.1,45,438,0.00,2.33,0.00,0.000,2564,0.000,0.061,2437,721,2638,2680,2596,0,0,0,0,0,0,15.02,14.64,15.02
$GC,471,-0.52,-87.6,2436,720,2680,2595,100.2,-20.1,48,481,0.03,2.35,0.00,0.000,3078,0.478,0.041,2437,2110,2637,2680,2595,0,0,0,0,0,0,14.26,14.54,14.38
$GC,722,-0.52,-87.6,2436,2112,2680,2595,148.6,-19.0,73,727,0.00,2.35,0.00,0.000,2308,0.000,0.056,2428,3539,2637,2680,2595,0,0,0,0,0,0,15.06,14.67,15.06
$GC,757,-0.52,-87.6,2428,3541,2680,2595,155.5,-19.0,76,763,0.05,2.35,0.00,0.000,3078,0.413,0.044,2444,2117,2637,2680,2595,0,0,0,0,0,0,14.39,14.71,14.65
$GC,1012,-0.52,-87.6,2444,2113,2682,2595,198.5,-18.1,101,1018,0.00,2.33,0.00,0.000,260,0.000,0.056,2442,3530,2638,2681,2595,0,0,0,0,0,0,15.09,14.70,15.10
$GC,1056,-0.52,-87.6,2441,3533,2681,2595,205.7,-16.7,103,1062,0.00,2.30,0.00,0.000,3078,0.000,0.041,2442,2117,2638,2681,2595,0,0,0,0,0,0,14.85,14.76,14.88
$GC,1340,-0.52,-87.6,2441,2116,2682,2595,244.8,-14.1,110,1345,0.00,2.38,0.00,0.000,2308,0.000,0.057,2441,3540,2638,2682,2595,0,0,0,0,0,0,15.16,14.73,15.16
$GC,1386,-0.52,-87.6,2441,3540,2682,2595,250.3,-13.6,111,1392,0.00,2.28,0.00,0.000,3078,0.000,0.041,2441,2126,2638,2682,2595,0,0,0,0,0,0,14.89,14.78,14.91
$GC,1664,-0.52,-87.6,2441,2125,2682,2595,285.5,-12.5,118,1670,0.00,2.30,0.00,0.000,2564,0.000,0.059,2441,724,2638,2682,2595,0,0,0,0,0,0,15.18,14.75,15.18
$GC,1717,-0.52,-87.6,2441,724,2682,2595,291.2,-12.7,119,1722,0.00,2.28,0.00,0.000,3078,0.000,0.041,2441,2128,2638,2682,2595,0,0,0,0,0,0,14.91,14.79,14.92
$GC,1989,-0.52,-87.6,2441,2129,2682,2595,327.4,-13.2,126,1995,0.00,2.33,0.00,0.000,2308,0.000,0.060,2441,3535,2638,2682,2595,0,0,0,0,0,0,15.19,14.74,15.20
$GC,2049,-0.52,-87.6,2441,3535,2682,2595,332.7,-13.1,127,2054,0.00,2.28,0.00,0.000,3078,0.000,0.041,2441,2128,2637,2681,2594,0,0,0,0,0,0,14.91,14.81,14.93
$GC,2317,-0.52,-87.6,2441,2127,2682,2591,367.6,-12.4,134,2323,0.00,2.35,0.00,0.000,2308,0.000,0.059,2441,3532,2637,2682,2592,0,0,0,0,0,0,15.21,14.74,15.21
$GC,2339,-0.52,-87.6,2441,3532,2682,2592,367.6,-12.4,134,2345,0.00,2.28,0.00,0.000,3078,0.000,0.043,2441,2126,2636,2682,2591,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2603,-0.52,-87.6,2441,2124,2682,2590,402.1,-12.1,141,2608,0.00,2.30,0.00,0.000,2564,0.000,0.060,2441,722,2635,2682,2589,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2660,-0.52,-87.6,2441,720,2682,2589,407.3,-12.1,142,2665,0.00,2.30,0.00,0.000,3078,0.000,0.042,2441,2135,2635,2682,2589,0,0,0,0,0,0,14.91,14.80,14.93
$GC,2928,-0.52,-87.6,2441,2136,2682,2586,438.8,-11.1,149,2934,0.00,2.30,0.00,0.000,2308,0.000,0.057,2441,3539,2633,2681,2586,0,0,0,0,0,0,15.21,14.76,15.21
$GC,3000,-0.52,-87.6,2441,3539,2682,2585,443.2,-11.0,150,3006,0.00,2.30,0.00,0.000,3078,0.000,0.041,2441,2119,2633,2682,2585,0,0,0,0,0,0,14.91,14.79,14.92
$GC,3253,-0.52,-87.6,2441,2119,2682,2582,471.9,-10.2,157,3258,0.00,2.30,0.00,0.000,2564,0.000,0.059,2441,720,2631,2682,2581,0,0,0,0,0,0,15.21,14.75,15.21
$GC,3305,-0.52,-87.6,2441,719,2682,2580,476.4,-10.2,158,3311,0.00,2.30,0.00,0.000,3078,0.000,0.041,2441,2135,2631,2682,2580,0,0,0,0,0,0,14.90,14.80,14.92
$GC,3579,-0.52,-87.6,2441,2137,2682,2578,505.1,-10.3,165,3580,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2137,2629,2682,2576,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3819,-0.52,-87.6,2441,2137,2682,2575,530.6,-10.6,171,3824,0.00,2.30,0.00,0.000,2308,0.000,0.055,2441,3536,2628,2682,2574,0,0,0,0,0,0,15.21,14.73,15.21
$GC,3846,-0.52,-87.6,2441,3536,2682,2574,530.6,-10.6,171,3851,0.00,2.30,0.00,0.000,3078,0.000,0.038,2441,2116,2627,2682,2573,0,0,0,0,0,0,14.90,14.79,14.92
$GC,4104,-0.52,-87.6,2441,2114,2682,2571,560.5,-10.5,178,4110,0.00,2.35,0.00,0.000,2308,0.000,0.051,2441,3532,2626,2682,2571,0,0,0,0,0,0,15.21,14.74,15.21
$GC,4132,-0.52,-87.6,2441,3532,2682,2571,560.5,-10.5,178,4137,0.00,2.28,0.00,0.000,3078,0.000,0.038,2441,2124,2626,2682,2571,0,0,0,0,0,0,14.90,14.79,14.92
$GC,4390,-0.52,-87.6,2441,2122,2682,2567,590.5,-10.6,185,4391,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2122,2625,2682,2568,0,0,0,0,0,0,15.21,15.21,15.21
$STATE,4508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4508,begin apogee
$GC,4514,-0.13,0.0,2441,1926,2682,2566,603.2,-10.6,188,4590,0.35,0.00,68.93,1.744,10246,0.245,0.000,2570,1926,2279,2357,2201,0,0,0,0,0,0,14.30,14.28,13.64
$STATE,4591,end apogee,CONTROL_FINISHED_OK
$STATE,4591,begin climb
$GC,4593,0.52,87.6,2570,1926,2357,2202,607.0,0.0,190,4675,0.47,2.35,73.12,1.837,10756,0.163,0.057,2775,573,1923,2012,1835,0,0,0,0,0,0,14.37,14.21,13.39
$GC,4817,0.79,312.6,2775,572,2012,1832,609.7,-1.2,195,5024,0.17,2.28,196.57,2.339,11270,0.107,0.035,2904,1964,1004,1090,919,0,0,0,0,0,0,14.53,14.55,13.09
$GC,5277,0.79,312.6,2904,1963,1090,918,504.5,29.0,207,5283,0.08,2.28,0.00,0.000,4356,0.432,0.041,2873,3356,1004,1091,918,0,0,0,0,0,0,14.24,14.54,14.44
$GC,5330,0.79,312.6,2873,3357,1091,917,492.7,28.6,208,5336,0.05,2.30,0.00,0.000,5126,0.475,0.048,2869,1980,1003,1090,917,0,0,0,0,0,0,14.29,14.62,14.59
$GC,5604,0.79,312.6,2869,1980,1091,914,419.2,25.7,215,5609,0.00,2.42,0.00,0.000,4612,0.000,0.060,2879,533,1002,1091,914,0,0,0,0,0,0,15.03,14.69,15.03
$GC,5649,0.79,312.6,2879,533,1091,914,407.9,25.7,216,5654,0.00,2.30,0.00,0.000,5126,0.000,0.034,2879,1942,1002,1091,914,0,0,0,0,0,0,14.83,14.75,14.84
$GC,5932,0.79,312.6,2879,1950,1090,910,336.6,25.2,223,5937,0.00,2.30,0.00,0.000,4356,0.000,0.044,2879,3360,1001,1091,911,0,0,0,0,0,0,15.09,14.76,15.09
$GC,5989,0.79,312.6,2879,3360,1090,911,326.3,24.8,224,5995,0.08,2.35,0.00,0.000,5126,0.405,0.047,2867,1947,1000,1090,910,0,0,0,0,0,0,14.34,14.74,14.67
$GC,6258,0.79,312.6,2866,1947,1090,908,264.3,22.2,231,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1947,999,1090,908,0,0,0,0,0,0,15.11,15.12,15.12
$GC,6498,0.79,312.6,2866,1947,1090,906,211.9,21.8,237,6503,0.00,2.30,0.00,0.000,260,0.000,0.042,2866,3366,998,1090,906,0,0,0,0,0,0,15.14,14.78,15.14
$GC,6559,0.79,312.6,2866,3367,1090,907,202.4,21.7,238,6565,0.00,2.35,0.00,0.000,5126,0.000,0.047,2875,1943,998,1090,906,0,0,0,0,0,0,14.88,14.76,14.90
$GC,6814,0.79,312.6,2875,1943,1090,905,146.0,21.2,262,6819,0.00,2.33,0.00,0.000,4356,0.000,0.041,2875,3362,998,1090,906,0,0,0,0,0,0,15.12,14.77,15.12
$GC,6831,0.79,312.6,2875,3363,1090,906,142.9,21.6,263,6839,0.05,2.35,0.00,0.000,5126,0.446,0.045,2871,1943,997,1089,906,0,0,0,0,0,0,14.39,14.75,14.71
$GC,7079,0.79,312.6,2871,1942,1089,906,93.3,19.5,288,7087,0.00,0.00,0.00,0.000,4102,0.000,0.000,2872,1942,997,1089,905,0,0,0,0,0,0,15.11,15.11,15.11
$GC,7329,0.79,312.6,2871,1942,1090,906,49.9,15.5,313,7337,0.00,0.00,0.00,0.000,4102,0.000,0.000,2871,1942,997,1089,906,0,0,0,0,0,0,15.09,15.10,15.10
$GC,7602,0.79,312.6,2871,1938,1090,908,8.0,12.8,350,7611,0.00,2.42,0.00,0.000,4612,0.000,0.061,2882,536,999,1090,908,0,0,0,0,0,0,15.05,14.54,15.06
$GC,7633,0.79,312.6,2881,536,1090,909,3.9,13.4,354,7643,0.03,2.38,0.00,0.000,5126,0.426,0.030,2873,1968,999,1090,909,0,0,0,0,0,0,14.33,14.59,14.43
$STATE,7650,end climb,SURFACE_DEPTH_REACHED
$STATE,7651,begin surface coast
$FINISH,0.2,1.011044
$STATE,7676,end surface coast,CONTROL_FINISHED_OK
$STATE,7676,begin surface
$SM_CCo,7692,61.80,0.102,0,0,646,400.08
$SM_GC,1.44,6.28,0.22,61.80,0.092,0.072,0.102,184,2129,646,-7.43,-1.70,400.08,0,0,0,0,0,0,14.77,14.76,14.56
$IRIDIUM_FIX,2232.34,-15750.66,120518,044723
$TT8_MAMPS,0.019474,0.328811
$HUMID,48.97
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.8,7.0
$24V_AH,13.09,124.098
$10V_AH,12.94,0.000
$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,15.325,93.325,338.625,61.800,0.000,33.329,45.590,261.485,0.500,0.000,9.140,1323.253,4691.465,508.236,1552.470,177.568,0.000,1085.897,0.000,1196.422,0.000,5.459,0.000
$DEVICE_MAMPS,478.125,71.910,2339.370,101.745,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,243.053,185.986,330.344,328.493,504.025,0.000,0.000,0.000,0.000,0.000
$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,30645,360
$CAP_FILE_SIZE,84203,0
$CFSIZE,2097086464,2040004608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.018,250.05,1
$GPS,120518,070432,2240.010,-15752.841,20,1.7,20,9.8,0.5,110.9,6,118.5