version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 544
start: 5 12 118 7 15 16
data:
$ID,626
$MISSION,2
$DIVE,544
$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,34
$R_STBD_OVSHOOT,59
$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
$GPS1,120518,070432,2240.0105,-15752.8408,20,1.7,20,9.8,0.5,110.9,6,118.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.4
$GPS2,120518,071433,2240.0283,-15752.8164,11,1.8,11,9.8,0.5,102.0,5,355.0
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,AL1
$TGT_LATLONG,2245.000,-15754.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,342.2,9427,-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,16,-0.52,-87.6,184,2140,685,621,0.0,0.0,0,72,0.00,0.00,-54.08,0.000,16386,0.000,0.000,185,2140,2510,2541,2480,0,0,0,0,0,0,14.93,28.83,14.94
$GC,75,-0.52,-87.6,184,2140,2540,2480,3.9,-7.8,7,94,7.65,2.28,-2.12,0.000,18692,0.445,0.069,2430,3518,2639,2683,2595,0,0,0,0,0,0,14.19,13.65,14.63
$GC,240,-0.52,-87.6,2429,3520,2683,2588,46.3,-18.4,26,249,0.00,2.38,0.00,0.000,3078,0.000,0.046,2430,2126,2635,2683,2587,0,0,0,0,0,0,14.57,14.52,14.60
$GC,490,-0.52,-87.6,2429,2125,2683,2586,99.8,-21.0,51,496,0.03,2.33,0.00,0.000,2564,0.629,0.059,2440,718,2634,2683,2586,0,0,0,0,0,0,14.54,14.64,14.69
$GC,528,-0.52,-87.6,2439,718,2682,2586,107.0,-19.2,54,537,0.00,2.35,0.00,0.000,3078,0.000,0.043,2439,2104,2634,2683,2586,0,0,0,0,0,0,14.61,14.54,14.62
$GC,777,-0.52,-87.6,2439,2104,2683,2586,151.7,-18.4,79,782,0.00,2.35,0.00,0.000,2308,0.000,0.059,2439,3533,2634,2683,2586,0,0,0,0,0,0,15.07,14.68,15.08
$GC,800,-0.52,-87.6,2439,3532,2683,2586,155.7,-16.8,81,805,0.00,2.33,0.00,0.000,3078,0.000,0.044,2439,2115,2634,2683,2586,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1057,-0.52,-87.6,2439,2113,2684,2586,196.6,-15.3,106,1062,0.00,2.38,0.00,0.000,2308,0.000,0.058,2440,3532,2635,2684,2586,0,0,0,0,0,0,15.09,14.69,15.09
$GC,1109,-0.52,-87.6,2439,3533,2684,2586,203.1,-14.2,109,1114,0.00,2.30,0.00,0.000,3078,0.000,0.044,2439,2117,2635,2685,2586,0,0,0,0,0,0,14.86,14.74,14.88
$GC,1383,-0.52,-87.6,2439,2117,2685,2586,242.5,-14.3,116,1389,0.00,2.38,0.00,0.000,2308,0.000,0.059,2439,3538,2635,2684,2586,0,0,0,0,0,0,15.15,14.73,15.16
$GC,1436,-0.52,-87.6,2440,3538,2685,2586,247.8,-13.5,117,1442,0.00,2.28,0.00,0.000,3078,0.000,0.041,2439,2129,2635,2685,2586,0,0,0,0,0,0,14.90,14.78,14.91
$GC,1710,-0.52,-87.6,2439,2129,2685,2586,283.5,-12.5,124,1711,0.00,0.00,0.00,0.000,2054,0.000,0.000,2439,2128,2635,2685,2586,0,0,0,0,0,0,15.18,15.18,15.18
$GC,1949,-0.52,-87.6,2439,2128,2685,2586,313.6,-12.5,130,1955,0.00,2.33,0.00,0.000,2564,0.000,0.060,2439,722,2635,2685,2586,0,0,0,0,0,0,15.19,14.76,15.19
$GC,2007,-0.52,-87.6,2439,722,2685,2586,319.2,-12.5,131,2012,0.00,2.28,0.00,0.000,3078,0.000,0.037,2439,2139,2635,2685,2586,0,0,0,0,0,0,14.92,14.82,14.94
$GC,2275,-0.52,-87.6,2439,2140,2685,2586,353.5,-12.0,138,2276,0.00,0.00,0.00,0.000,2054,0.000,0.000,2439,2139,2635,2685,2585,0,0,0,0,0,0,15.19,15.21,15.21
$GC,2514,-0.52,-87.6,2439,2140,2685,2584,383.6,-12.7,144,2516,0.00,0.00,0.00,0.000,2054,0.000,0.000,2440,2140,2635,2685,2585,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2755,-0.52,-87.6,2439,2140,2685,2583,413.1,-12.1,150,2760,0.00,2.30,0.00,0.000,2308,0.000,0.057,2439,3522,2633,2684,2582,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2852,-0.52,-87.6,2439,3522,2684,2581,422.1,-11.3,152,2858,0.00,2.25,0.00,0.000,3078,0.000,0.037,2439,2118,2632,2685,2580,0,0,0,0,0,0,14.92,14.83,14.94
$GC,3121,-0.52,-87.6,2439,2116,2684,2578,451.0,-9.9,159,3126,0.00,2.28,0.00,0.000,2564,0.000,0.054,2440,726,2631,2685,2578,0,0,0,0,0,0,15.21,14.76,15.21
$GC,3158,-0.52,-87.6,2439,725,2684,2578,451.0,-9.9,159,3165,0.00,2.28,0.00,0.000,3078,0.000,0.043,2439,2118,2631,2685,2577,0,0,0,0,0,0,14.91,14.78,14.93
$GC,3404,-0.52,-87.6,2439,2119,2685,2574,478.2,-9.4,166,3405,0.00,0.00,0.00,0.000,2054,0.000,0.000,2439,2119,2628,2684,2573,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3643,-0.52,-87.6,2439,2119,2685,2571,500.9,-9.6,172,3645,0.00,0.00,0.00,0.000,2054,0.000,0.000,2439,2119,2627,2684,2571,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3884,-0.52,-87.6,2439,2119,2683,2568,523.7,-9.4,178,3889,0.00,2.33,0.00,0.000,2308,0.000,0.055,2439,3537,2627,2685,2569,0,0,0,0,0,0,15.21,14.74,15.21
$GC,3921,-0.52,-87.6,2439,3538,2684,2568,523.7,-9.4,178,3929,0.00,2.30,0.00,0.000,3078,0.000,0.039,2439,2123,2626,2685,2568,0,0,0,0,0,0,14.90,14.78,14.92
$GC,4167,-0.52,-87.6,2439,2123,2684,2564,551.1,-9.9,185,4168,0.00,0.00,0.00,0.000,2054,0.000,0.000,2439,2123,2624,2684,2564,0,0,0,0,0,0,15.21,15.21,15.21
$GC,4408,-0.52,-87.6,2439,2123,2684,2561,574.0,-9.4,191,4413,0.00,2.33,0.00,0.000,2564,0.000,0.058,2440,715,2623,2685,2561,0,0,0,0,0,0,15.21,14.72,15.21
$GC,4430,-0.52,-87.6,2439,714,2685,2561,574.0,-9.4,191,4435,0.00,2.30,0.00,0.000,3078,0.000,0.040,2439,2131,2622,2685,2560,0,0,0,0,0,0,14.89,14.78,14.91
$STATE,4691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4691,begin apogee
$GC,4697,-0.13,0.0,2439,1932,2685,2557,601.5,-9.7,198,4774,0.35,0.00,69.15,1.724,10246,0.244,0.000,2569,1931,2279,2359,2200,0,0,0,0,0,0,14.30,14.28,13.66
$STATE,4775,end apogee,CONTROL_FINISHED_OK
$STATE,4775,begin climb
$GC,4777,0.52,87.6,2569,1931,2358,2200,604.7,0.0,200,4858,0.47,2.38,73.22,1.743,10756,0.163,0.060,2779,559,1924,2013,1836,0,0,0,0,0,0,14.36,14.07,13.45
$GC,5140,0.70,240.3,2778,559,2012,1834,603.3,1.7,209,5278,0.10,2.30,124.93,1.739,11270,0.156,0.037,2862,1966,1300,1406,1194,0,0,0,0,0,0,14.58,14.64,13.45
$GC,5540,0.70,240.3,2861,1967,1406,1193,534.1,20.9,219,5546,0.08,2.28,0.00,0.000,4356,0.420,0.047,2831,3348,1299,1406,1193,0,0,0,0,0,0,14.25,14.54,14.44
$GC,5623,0.70,240.3,2831,3348,1406,1192,518.5,19.6,221,5629,0.00,2.30,0.00,0.000,5126,0.000,0.047,2841,1968,1299,1406,1192,0,0,0,0,0,0,14.74,14.64,14.76
$GC,5907,0.70,240.3,2841,1967,1406,1190,466.0,18.7,228,5908,0.00,0.00,0.00,0.000,4102,0.000,0.000,2840,1967,1298,1406,1190,0,0,0,0,0,0,15.04,15.05,15.04
$GC,6146,0.70,240.3,2841,1967,1406,1189,422.3,18.2,234,6152,0.00,2.38,0.00,0.000,4612,0.000,0.058,2852,536,1297,1406,1189,0,0,0,0,0,0,15.09,14.71,15.09
$GC,6183,0.70,240.3,2851,536,1406,1189,422.3,18.2,234,6190,0.00,2.30,0.00,0.000,5126,0.000,0.034,2852,1951,1297,1406,1189,0,0,0,0,0,0,14.85,14.77,14.88
$GC,6430,0.70,240.3,2852,1953,1406,1186,372.1,17.8,241,6435,0.00,2.28,0.00,0.000,4356,0.000,0.046,2852,3354,1295,1405,1186,0,0,0,0,0,0,15.12,14.75,15.12
$GC,6482,0.70,240.3,2852,3354,1406,1186,363.8,18.4,242,6488,0.08,2.33,0.00,0.000,5126,0.387,0.046,2838,1947,1295,1405,1186,0,0,0,0,0,0,14.33,14.74,14.65
$GC,6755,0.70,240.3,2838,1946,1405,1185,314.3,17.0,249,6760,0.00,2.33,0.00,0.000,516,0.000,0.060,2849,540,1295,1405,1185,0,0,0,0,0,0,15.14,14.71,15.14
$GC,6801,0.70,240.3,2848,539,1405,1185,307.0,16.9,250,6807,0.00,2.30,0.00,0.000,5126,0.000,0.033,2849,1958,1295,1405,1185,0,0,0,0,0,0,14.88,14.79,14.90
$GC,7080,0.70,240.3,2848,1962,1405,1183,262.0,16.0,257,7086,0.00,2.42,0.00,0.000,4612,0.000,0.063,2859,539,1294,1405,1183,0,0,0,0,0,0,15.15,14.70,15.16
$GC,7097,0.70,240.3,2859,539,1405,1184,262.0,16.0,257,7104,0.08,2.30,0.00,0.000,5126,0.383,0.037,2835,1949,1294,1405,1183,0,0,0,0,0,0,14.32,14.78,14.64
$GC,7366,0.70,240.3,2835,1956,1405,1182,218.7,14.9,264,7372,0.00,2.30,0.00,0.000,260,0.000,0.046,2835,3362,1293,1405,1182,0,0,0,0,0,0,15.16,14.76,15.17
$GC,7493,0.70,240.3,2835,3362,1405,1183,200.3,15.0,267,7499,0.00,2.33,0.00,0.000,5126,0.000,0.045,2845,1949,1294,1405,1183,0,0,0,0,0,0,14.86,14.74,14.88
$GC,7745,0.70,240.3,2845,1949,1405,1183,164.7,13.2,289,7751,0.00,0.00,0.00,0.000,4102,0.000,0.000,2845,1948,1294,1405,1183,0,0,0,0,0,0,15.12,15.13,15.12
$GC,7992,0.70,240.3,2845,1949,1405,1183,133.4,11.1,314,7997,0.00,2.33,0.00,0.000,4356,0.000,0.046,2845,3357,1294,1405,1183,0,0,0,0,0,0,15.12,14.73,15.12
$GC,8113,0.70,240.3,2845,3357,1405,1184,116.5,14.1,325,8119,0.05,2.35,0.00,0.000,5126,0.442,0.047,2839,1944,1294,1405,1183,0,0,0,0,0,0,14.33,14.71,14.60
$GC,8367,0.70,240.3,2839,1944,1405,1185,86.6,10.9,350,8373,0.00,2.33,0.00,0.000,516,0.000,0.059,2849,536,1295,1405,1185,0,0,0,0,0,0,15.10,14.66,15.11
$GC,8427,0.70,240.3,2849,536,1405,1185,79.9,12.2,355,8436,0.00,2.40,0.00,0.000,5126,0.000,0.034,2849,1961,1295,1405,1186,0,0,0,0,0,0,14.61,14.56,14.63
$GC,8678,0.70,240.3,2849,1960,1405,1187,54.1,9.3,380,8685,0.00,0.00,0.00,0.000,4102,0.000,0.000,2849,1961,1296,1405,1187,0,0,0,0,0,0,15.07,15.07,15.07
$GC,8928,0.70,240.3,2849,1961,1405,1190,28.6,11.0,406,8936,0.00,2.50,0.00,0.000,4612,0.000,0.063,2860,546,1298,1405,1191,0,0,0,0,0,0,15.06,14.48,15.06
$GC,9153,0.72,252.9,2860,545,1405,1193,9.5,7.5,443,9171,0.03,2.38,10.20,0.805,13318,0.440,0.037,2851,1948,1247,1361,1134,0,0,0,0,0,0,14.25,14.53,14.09
$STATE,9237,end climb,SURFACE_DEPTH_REACHED
$STATE,9237,begin surface coast
$FINISH,0.3,1.023072
$STATE,9275,end surface coast,CONTROL_FINISHED_OK
$STATE,9275,begin surface
$SM_CCo,9291,98.60,0.856,1,0,647,400.08
$SM_GC,1.36,6.18,0.28,98.60,0.083,0.063,0.856,184,2160,647,-7.42,-1.19,400.08,0,0,0,0,1,0,14.73,14.73,13.95
$IRIDIUM_FIX,2227.67,-15750.66,120518,070843
$TT8_MAMPS,0.019474,0.325815
$HUMID,44.88
$INTERNAL_PRESSURE,9.46584
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,6.6
$24V_AH,13.45,124.332
$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,15.075,93.650,277.500,98.600,0.000,62.912,91.001,243.669,0.500,0.000,12.122,1636.807,5748.234,486.774,1962.629,192.228,0.000,1160.370,0.000,1533.450,0.000,5.461,0.000
$DEVICE_MAMPS,628.830,68.850,1743.435,856.035,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,312.408,346.090,441.459,461.617,708.271,0.000,0.000,0.000,0.000,0.000
$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,40718,462
$CAP_FILE_SIZE,95576,0
$CFSIZE,2097086464,2039873536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,1
$CURRENT,0.059,223.21,1
$GPS,120518,095300,2240.952,-15753.174,32,0.9,32,9.8,0.7,79.7,11,23.3