version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 547
start: 5 12 118 15 35 42
data:
$ID,626
$MISSION,2
$DIVE,547
$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,38
$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
$GPS1,120518,152631,2243.3694,-15753.7266,17,0.8,29,9.8,0.7,305.2,9,49.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.1
$GPS2,120518,153458,2243.3992,-15753.7686,8,1.1,8,9.8,0.6,297.9,7,104.2
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,AL1
$TGT_LATLONG,2245.000,-15754.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,358.8,2991,-16.8,-8.000,-20.00,2264
$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,-0.54,-87.6,184,2143,687,629,0.0,0.0,0,74,0.00,0.00,-55.75,0.000,16386,0.000,0.000,184,2143,2580,2612,2548,0,0,0,0,0,0,14.93,28.83,14.93
$GC,77,-0.54,-87.6,184,2143,2612,2548,4.1,-8.2,7,95,7.65,2.30,-1.00,0.000,18692,0.444,0.064,2425,3516,2639,2681,2597,0,0,0,0,0,0,14.19,13.66,14.62
$GC,217,-0.54,-87.6,2425,3517,2681,2596,41.1,-19.3,24,223,0.00,2.30,0.00,0.000,3078,0.000,0.047,2425,2129,2638,2681,2596,0,0,0,0,0,0,14.74,14.64,14.76
$GC,473,-0.54,-87.6,2425,2128,2681,2594,100.3,-24.4,49,478,0.00,2.38,0.00,0.000,2564,0.000,0.064,2425,718,2637,2681,2594,0,0,0,0,0,0,15.03,14.62,15.03
$GC,531,-0.54,-87.6,2425,717,2682,2594,113.3,-21.9,54,538,0.08,2.28,0.00,0.000,3078,0.392,0.041,2439,2110,2637,2681,2594,0,0,0,0,0,0,14.28,14.69,14.59
$GC,789,-0.54,-87.6,2439,2112,2681,2594,160.7,-18.3,79,794,0.00,2.30,0.00,0.000,260,0.000,0.055,2429,3527,2638,2682,2594,0,0,0,0,0,0,15.07,14.68,15.07
$GC,838,-0.54,-87.6,2429,3529,2682,2594,169.4,-18.1,83,845,0.00,2.35,0.00,0.000,3078,0.000,0.043,2429,2120,2638,2682,2594,0,0,0,0,0,0,14.73,14.68,14.74
$GC,1104,-0.54,-87.6,2429,2120,2682,2593,212.9,-15.6,104,1110,0.00,2.30,0.00,0.000,2564,0.000,0.060,2429,722,2638,2682,2594,0,0,0,0,0,0,15.13,14.70,15.13
$GC,1132,-0.54,-87.6,2429,722,2682,2594,212.9,-15.6,104,1138,0.00,2.28,0.00,0.000,3078,0.000,0.042,2428,2122,2638,2682,2594,0,0,0,0,0,0,14.86,14.74,14.88
$GC,1390,-0.54,-87.6,2428,2124,2682,2594,253.2,-13.7,111,1391,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2124,2638,2682,2594,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1630,-0.54,-87.6,2427,2124,2682,2593,284.8,-13.3,117,1636,0.00,2.35,0.00,0.000,2308,0.000,0.060,2428,3533,2638,2682,2594,0,0,0,0,0,0,15.19,14.73,15.19
$GC,1738,-0.54,-87.6,2427,3534,2682,2593,295.3,-12.8,119,1744,0.00,2.28,0.00,0.000,3078,0.000,0.042,2428,2123,2638,2682,2594,0,0,0,0,0,0,14.90,14.79,14.92
$GC,1996,-0.54,-87.6,2427,2123,2682,2593,334.1,-14.5,126,2002,0.00,2.30,0.00,0.000,2564,0.000,0.060,2428,723,2637,2682,2593,0,0,0,0,0,0,15.20,14.75,15.20
$GC,2074,-0.54,-87.6,2427,722,2682,2593,340.7,-14.8,127,2081,0.00,2.30,0.00,0.000,3078,0.000,0.042,2428,2136,2637,2682,2593,0,0,0,0,0,0,14.90,14.79,14.92
$GC,2319,-0.54,-87.6,2428,2137,2682,2592,380.5,-13.6,134,2326,0.00,2.30,0.00,0.000,2308,0.000,0.060,2428,3526,2636,2682,2591,0,0,0,0,0,0,15.20,14.73,15.20
$GC,2388,-0.54,-87.6,2428,3527,2682,2590,386.2,-13.5,135,2393,0.00,2.28,0.00,0.000,3078,0.000,0.043,2428,2126,2636,2682,2590,0,0,0,0,0,0,14.91,14.79,14.92
$GC,2646,-0.54,-87.6,2427,2125,2682,2587,422.3,-12.9,142,2651,0.00,2.33,0.00,0.000,2564,0.000,0.061,2427,718,2634,2682,2587,0,0,0,0,0,0,15.21,14.73,15.21
$GC,2688,-0.54,-87.6,2427,718,2682,2587,427.8,-12.9,143,2694,0.00,2.30,0.00,0.000,3078,0.000,0.042,2428,2124,2634,2682,2586,0,0,0,0,0,0,14.90,14.78,14.92
$GC,2971,-0.54,-87.6,2428,2125,2682,2583,460.6,-11.3,150,2977,0.00,2.33,0.00,0.000,2308,0.000,0.060,2428,3530,2632,2682,2583,0,0,0,0,0,0,15.21,14.73,15.21
$GC,3009,-0.54,-87.6,2427,3530,2682,2583,460.6,-11.3,150,3016,0.00,2.30,0.00,0.000,3078,0.000,0.043,2428,2125,2632,2682,2582,0,0,0,0,0,0,14.90,14.78,14.92
$GC,3255,-0.54,-87.6,2428,2123,2682,2579,491.5,-11.2,157,3260,0.00,2.35,0.00,0.000,2308,0.000,0.057,2428,3532,2630,2682,2579,0,0,0,0,0,0,15.21,14.73,15.21
$GC,3277,-0.54,-87.6,2427,3532,2682,2579,491.5,-11.2,157,3282,0.00,2.30,0.00,0.000,3078,0.000,0.043,2428,2118,2630,2682,2579,0,0,0,0,0,0,14.90,14.78,14.92
$GC,3539,-0.54,-87.6,2427,2118,2682,2576,523.8,-11.7,164,3545,0.00,2.30,0.00,0.000,2564,0.000,0.060,2428,724,2628,2682,2575,0,0,0,0,0,0,15.21,14.72,15.21
$GC,3572,-0.54,-87.6,2427,723,2682,2575,523.8,-11.7,164,3577,0.00,2.28,0.00,0.000,3078,0.000,0.038,2428,2133,2628,2682,2574,0,0,0,0,0,0,14.90,14.80,14.92
$GC,3825,-0.54,-87.6,2427,2134,2682,2571,557.0,-11.6,171,3830,0.00,2.30,0.00,0.000,2308,0.000,0.054,2428,3531,2626,2682,2571,0,0,0,0,0,0,15.21,14.71,15.21
$GC,3897,-0.54,-87.6,2427,3532,2682,2570,562.2,-11.7,172,3903,0.00,2.28,0.00,0.000,3078,0.000,0.037,2428,2120,2626,2682,2570,0,0,0,0,0,0,14.89,14.79,14.91
$GC,4151,-0.54,-87.6,2427,2119,2682,2567,596.2,-12.0,179,4157,0.00,2.30,0.00,0.000,2564,0.000,0.055,2428,724,2624,2682,2567,0,0,0,0,0,0,15.21,14.71,15.21
$GC,4189,-0.54,-87.6,2427,724,2682,2567,596.2,-12.0,179,4195,0.00,2.30,0.00,0.000,3078,0.000,0.043,2428,2123,2624,2682,2566,0,0,0,0,0,0,14.88,14.75,14.90
$STATE,4233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4233,begin apogee
$GC,4239,-0.13,0.0,2428,1940,2682,2565,606.3,-12.0,181,4315,0.38,0.00,71.60,1.646,10246,0.254,0.000,2564,1940,2276,2355,2198,0,0,0,0,0,0,14.30,14.45,13.71
$STATE,4316,end apogee,CONTROL_FINISHED_OK
$STATE,4316,begin climb
$GC,4318,0.54,87.6,2564,1940,2350,2197,610.4,0.0,183,4400,0.50,2.40,73.20,1.618,10756,0.165,0.059,2782,558,1916,2007,1826,0,0,0,0,0,0,14.36,14.23,13.51
$GC,4463,0.54,87.6,2781,558,2003,1823,611.8,-1.4,186,4469,0.00,2.33,0.00,0.000,1030,0.000,0.035,2782,1962,1913,2003,1823,0,0,0,0,0,0,14.52,14.46,14.54
$GC,4721,0.69,211.9,2782,1966,2003,1819,606.1,2.4,193,4828,0.08,0.00,102.55,1.619,10502,0.197,0.000,2873,1966,1415,1520,1311,0,0,0,0,0,0,14.62,14.23,13.57
$GC,5045,0.69,211.9,2873,1966,1511,1304,556.9,18.7,201,5047,0.12,0.00,0.00,0.000,4102,0.382,0.000,2834,1966,1407,1511,1304,0,0,0,0,0,0,14.20,14.63,14.57
$GC,5281,0.69,211.9,2834,1966,1511,1300,518.1,15.8,207,5286,0.00,2.25,0.00,0.000,260,0.000,0.046,2834,3349,1405,1511,1300,0,0,0,0,0,0,15.00,14.69,15.01
$GC,5358,0.69,211.9,2834,3350,1511,1301,511.0,15.9,208,5365,0.00,2.30,0.00,0.000,5126,0.000,0.044,2843,1960,1406,1512,1301,0,0,0,0,0,0,14.80,14.69,14.82
$GC,5605,0.69,211.9,2843,1960,1511,1299,462.2,17.7,215,5610,0.00,2.30,0.00,0.000,4356,0.000,0.045,2843,3350,1405,1511,1299,0,0,0,0,0,0,15.08,14.73,15.09
$GC,5642,0.69,211.9,2843,3350,1511,1299,462.2,17.7,215,5650,0.05,2.33,0.00,0.000,5126,0.454,0.044,2838,1946,1404,1510,1299,0,0,0,0,0,0,14.35,14.72,14.68
$GC,5888,0.69,211.9,2838,1946,1510,1297,412.9,16.1,222,5893,0.00,2.33,0.00,0.000,4612,0.000,0.060,2849,540,1404,1511,1297,0,0,0,0,0,0,15.11,14.70,15.12
$GC,5910,0.69,211.9,2848,540,1511,1297,412.9,16.1,222,5915,0.00,2.28,0.00,0.000,5126,0.000,0.034,2848,1950,1404,1511,1297,0,0,0,0,0,0,14.87,14.78,14.89
$GC,6173,0.69,211.9,2848,1957,1511,1295,367.7,15.7,229,6174,0.00,0.00,0.00,0.000,4102,0.000,0.000,2849,1957,1403,1511,1295,0,0,0,0,0,0,15.14,15.14,15.14
$GC,6413,0.69,211.9,2848,1957,1511,1293,333.8,13.8,235,6418,0.00,2.28,0.00,0.000,4356,0.000,0.044,2849,3353,1402,1510,1294,0,0,0,0,0,0,15.16,14.76,15.16
$GC,6536,0.69,211.9,2848,3354,1510,1294,316.0,14.4,238,6541,0.08,2.33,0.00,0.000,5126,0.380,0.044,2835,1946,1402,1510,1294,0,0,0,0,0,0,14.31,14.74,14.66
$GC,6820,0.69,211.9,2834,1945,1510,1292,279.5,12.6,245,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1945,1401,1510,1292,0,0,0,0,0,0,15.16,15.16,15.16
$GC,7061,0.69,211.9,2835,1945,1510,1292,247.6,13.3,251,7066,0.00,2.30,0.00,0.000,260,0.000,0.045,2834,3351,1400,1510,1291,0,0,0,0,0,0,15.16,14.75,15.16
$GC,7122,0.69,211.9,2834,3351,1510,1291,241.5,13.5,252,7128,0.00,2.33,0.00,0.000,5126,0.000,0.044,2844,1944,1400,1509,1291,0,0,0,0,0,0,14.86,14.75,14.88
$GC,7386,0.69,211.9,2844,1943,1510,1291,203.1,14.0,259,7387,0.00,0.00,0.00,0.000,4102,0.000,0.000,2844,1943,1400,1510,1291,0,0,0,0,0,0,15.16,15.17,15.18
$GC,7628,0.69,211.9,2844,1943,1510,1291,172.2,11.6,280,7633,0.00,0.00,0.00,0.000,4102,0.000,0.000,2845,1943,1400,1510,1291,0,0,0,0,0,0,15.14,15.15,15.14
$GC,7877,0.69,211.9,2844,1942,1510,1291,146.0,10.1,305,7883,0.00,0.00,0.00,0.000,4102,0.000,0.000,2844,1943,1400,1510,1291,0,0,0,0,0,0,15.13,15.13,15.14
$GC,8126,0.69,211.9,2844,1943,1510,1292,121.9,10.1,330,8132,0.00,2.33,0.00,0.000,4356,0.000,0.044,2844,3358,1401,1510,1293,0,0,0,0,0,0,15.12,14.71,15.12
$GC,8226,0.69,211.9,2844,3358,1510,1294,111.6,10.0,339,8232,0.05,2.33,0.00,0.000,5126,0.433,0.043,2839,1947,1401,1510,1293,0,0,0,0,0,0,14.32,14.71,14.62
$GC,8480,0.69,211.9,2838,1947,1510,1294,91.0,8.2,364,8486,0.00,2.33,0.00,0.000,4612,0.000,0.059,2849,543,1403,1511,1295,0,0,0,0,0,0,15.11,14.65,15.11
$GC,8519,0.69,211.9,2848,542,1510,1295,88.0,8.3,367,8526,0.00,2.30,0.00,0.000,5126,0.000,0.034,2849,1961,1402,1510,1295,0,0,0,0,0,0,14.83,14.74,14.85
$GC,8769,0.69,211.9,2848,1962,1510,1297,65.1,9.6,392,8775,0.00,2.25,0.00,0.000,4356,0.000,0.044,2849,3355,1404,1510,1298,0,0,0,0,0,0,15.08,14.70,15.09
$GC,9254,0.69,211.9,2849,3356,1510,1304,20.4,8.4,442,9264,0.05,2.40,0.00,0.000,5126,0.366,0.041,2841,1952,1407,1510,1304,0,0,0,0,0,0,14.14,14.51,14.33
$STATE,9515,end climb,SURFACE_DEPTH_REACHED
$STATE,9515,begin surface coast
$FINISH,0.3,1.010549
$STATE,9564,end surface coast,CONTROL_FINISHED_OK
$STATE,9564,begin surface
$SM_CCo,9580,119.00,0.903,1,0,647,400.08
$SM_GC,1.23,6.22,0.30,119.00,0.093,0.057,0.903,182,2143,647,-7.42,-1.33,400.08,0,0,0,0,1,0,14.72,14.72,13.90
$IRIDIUM_FIX,2234.68,-15751.94,120518,152812
$TT8_MAMPS,0.018725,0.267393
$HUMID,43.22
$INTERNAL_PRESSURE,9.47561
$TCM_TEMP,22.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.5,6.5
$24V_AH,13.51,124.986
$10V_AH,13.58,0.000
$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,15.250,102.175,247.350,119.000,0.000,28.169,52.438,291.478,0.500,0.000,9.121,1724.565,5781.197,505.454,2020.107,209.262,0.000,1181.910,0.000,1608.502,0.000,5.462,0.000
$DEVICE_MAMPS,453.645,64.260,1645.515,902.700,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,334.517,526.372,484.107,502.425,770.873,0.000,0.000,0.000,0.000,0.000
$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,44004,493
$CAP_FILE_SIZE,99117,0
$CFSIZE,2097086464,2039545856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,1
$CURRENT,0.092,287.92,1
$GPS,120518,181820,2244.631,-15754.226,18,1.4,18,9.8,0.0,0.0,5,108.5