version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 562
start: 5 14 118 9 50 9
data:
$ID,626
$MISSION,2
$DIVE,562
$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,40
$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
$GPS1,140518,094100,2244.3394,-15753.8174,42,0.9,42,9.8,0.0,0.0,11,27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.2
$GPS2,140518,094925,2244.3264,-15753.8721,19,0.9,19,9.8,0.7,318.5,11,20.3
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,AL1
$TGT_LATLONG,2245.000,-15754.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,355.1,1266,-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,-87.6,181,2138,687,626,0.0,0.0,0,73,0.00,0.00,-55.28,0.000,16386,0.000,0.000,182,2137,2517,2550,2484,0,0,0,0,0,0,14.92,28.83,14.92
$GC,77,-0.54,-87.6,182,2136,2550,2483,3.4,-5.6,7,94,7.65,2.35,-2.10,0.000,18948,0.446,0.062,2433,696,2638,2683,2594,0,0,0,0,0,0,14.16,13.64,14.61
$GC,157,-0.54,-87.6,2432,696,2683,2593,32.9,-25.2,18,162,0.00,2.38,0.00,0.000,3078,0.000,0.042,2428,2130,2638,2683,2593,0,0,0,0,0,0,14.73,14.62,14.75
$GC,413,-0.54,-87.6,2427,2131,2683,2593,91.6,-21.2,43,419,0.00,2.33,0.00,0.000,2308,0.000,0.057,2427,3535,2638,2684,2593,0,0,0,0,0,0,15.02,14.63,15.02
$GC,473,-0.54,-87.6,2427,3536,2684,2593,102.2,-16.4,48,482,0.00,2.40,0.00,0.000,3078,0.000,0.048,2428,2131,2638,2684,2593,0,0,0,0,0,0,14.58,14.53,14.61
$GC,722,-0.54,-87.6,2428,2131,2684,2593,145.1,-17.5,73,728,0.00,2.35,0.00,0.000,2308,0.000,0.057,2427,3535,2638,2684,2593,0,0,0,0,0,0,15.06,14.66,15.07
$GC,748,-0.54,-87.6,2427,3535,2684,2593,149.5,-17.5,75,754,0.00,2.33,0.00,0.000,3078,0.000,0.046,2427,2124,2639,2685,2593,0,0,0,0,0,0,14.82,14.71,14.84
$GC,1005,-0.54,-87.6,2427,2123,2685,2592,190.4,-16.1,100,1010,0.00,2.33,0.00,0.000,2564,0.000,0.060,2428,717,2639,2686,2593,0,0,0,0,0,0,15.08,14.69,15.09
$GC,1040,-0.54,-87.6,2427,716,2685,2593,196.3,-16.1,103,1046,0.00,2.33,0.00,0.000,3078,0.000,0.043,2427,2134,2639,2686,2593,0,0,0,0,0,0,14.84,14.73,14.86
$GC,1305,-0.54,-87.6,2427,2135,2687,2593,237.3,-15.1,111,1306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2135,2639,2686,2593,0,0,0,0,0,0,15.14,15.15,15.15
$GC,1544,-0.54,-87.6,2427,2136,2687,2593,274.5,-15.4,117,1549,0.00,2.30,0.00,0.000,2308,0.000,0.060,2427,3530,2640,2687,2593,0,0,0,0,0,0,15.17,14.73,15.17
$GC,1628,-0.54,-87.6,2427,3530,2685,2593,286.1,-15.1,119,1633,0.00,2.30,0.00,0.000,3078,0.000,0.044,2427,2121,2639,2686,2593,0,0,0,0,0,0,14.90,14.78,14.91
$GC,1913,-0.54,-87.6,2426,2120,2687,2593,327.7,-14.9,126,1918,0.00,2.38,0.00,0.000,2308,0.000,0.059,2427,3540,2640,2687,2593,0,0,0,0,0,0,15.19,14.73,15.19
$GC,1945,-0.54,-87.6,2427,3542,2687,2593,327.7,-14.9,126,1950,0.00,2.30,0.00,0.000,3078,0.000,0.043,2427,2123,2640,2687,2593,0,0,0,0,0,0,14.90,14.79,14.92
$GC,2198,-0.54,-87.6,2427,2122,2687,2593,366.9,-13.6,133,2203,0.00,2.30,0.00,0.000,2564,0.000,0.060,2427,724,2639,2687,2592,0,0,0,0,0,0,15.20,14.74,15.20
$GC,2241,-0.54,-87.6,2427,723,2687,2592,373.1,-13.7,134,2246,0.00,2.33,0.00,0.000,3078,0.000,0.043,2427,2131,2639,2687,2592,0,0,0,0,0,0,14.90,14.79,14.92
$GC,2524,-0.54,-87.6,2427,2133,2687,2589,409.1,-12.7,141,2529,0.00,2.30,0.00,0.000,2308,0.000,0.059,2427,3530,2638,2687,2589,0,0,0,0,0,0,15.20,14.73,15.20
$GC,2570,-0.54,-87.6,2427,3530,2686,2589,414.2,-12.3,142,2576,0.00,2.28,0.00,0.000,3078,0.000,0.042,2427,2127,2637,2687,2588,0,0,0,0,0,0,14.91,14.79,14.92
$GC,2848,-0.54,-87.6,2427,2126,2687,2586,447.5,-12.0,149,2853,0.00,2.33,0.00,0.000,2564,0.000,0.059,2427,715,2635,2686,2585,0,0,0,0,0,0,15.20,14.73,15.20
$GC,2910,-0.54,-87.6,2427,714,2687,2584,452.7,-11.9,150,2915,0.00,2.30,0.00,0.000,3078,0.000,0.042,2427,2127,2635,2687,2583,0,0,0,0,0,0,14.89,14.78,14.92
$GC,3173,-0.54,-87.6,2427,2128,2687,2580,486.1,-11.9,157,3174,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2128,2633,2687,2580,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3413,-0.54,-87.6,2427,2128,2687,2578,515.0,-12.0,163,3418,0.00,2.33,0.00,0.000,2308,0.000,0.059,2427,3532,2632,2687,2578,0,0,0,0,0,0,15.21,14.72,15.21
$GC,3460,-0.54,-87.6,2427,3533,2686,2578,519.9,-11.9,164,3466,0.00,2.30,0.00,0.000,3078,0.000,0.043,2427,2122,2632,2686,2578,0,0,0,0,0,0,14.89,14.77,14.91
$GC,3739,-0.54,-87.6,2427,2121,2687,2574,553.5,-12.0,171,3740,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2121,2630,2687,2573,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3978,-0.54,-87.6,2427,2121,2686,2571,579.8,-10.6,177,3984,0.00,2.38,0.00,0.000,2308,0.000,0.056,2427,3538,2628,2687,2570,0,0,0,0,0,0,15.21,14.71,15.21
$GC,4005,-0.54,-87.6,2427,3539,2687,2570,579.8,-10.6,177,4011,0.00,2.30,0.00,0.000,3078,0.000,0.042,2427,2128,2628,2687,2570,0,0,0,0,0,0,14.88,14.76,14.90
$STATE,4182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4182,begin apogee
$GC,4188,-0.13,0.0,2427,1928,2686,2568,600.2,-10.0,182,4265,0.38,0.00,72.38,1.662,10246,0.249,0.000,2564,1927,2275,2354,2196,0,0,0,0,0,0,14.27,14.45,13.69
$STATE,4266,end apogee,CONTROL_FINISHED_OK
$STATE,4266,begin climb
$GC,4269,0.54,87.6,2564,1927,2350,2195,603.2,0.0,184,4345,0.52,0.00,73.62,1.613,10246,0.165,0.000,2777,1927,1921,2013,1830,0,0,0,0,0,0,14.37,14.22,13.52
$GC,4585,0.69,208.5,2776,1928,2007,1815,598.9,2.5,192,4693,0.08,2.50,99.12,1.606,10500,0.194,0.049,2871,3357,1423,1529,1318,0,0,0,0,0,0,14.57,14.24,13.56
$GC,4931,0.69,208.5,2870,3356,1525,1318,549.6,18.8,200,4937,0.15,2.33,0.00,0.000,5126,0.387,0.049,2834,1968,1421,1525,1317,0,0,0,0,0,0,14.19,14.59,14.57
$GC,5190,0.69,208.5,2834,1968,1525,1315,501.6,16.9,207,5195,0.00,2.40,0.00,0.000,516,0.000,0.063,2845,536,1420,1525,1315,0,0,0,0,0,0,15.02,14.65,15.02
$GC,5202,0.69,208.5,2844,536,1525,1315,501.6,16.9,207,5207,0.00,2.33,0.00,0.000,5126,0.000,0.035,2845,1956,1420,1525,1315,0,0,0,0,0,0,14.81,14.72,14.83
$GC,5475,0.69,208.5,2844,1958,1525,1312,454.4,16.4,214,5476,0.00,0.00,0.00,0.000,4102,0.000,0.000,2845,1958,1418,1525,1312,0,0,0,0,0,0,15.08,15.09,15.09
$GC,5714,0.69,208.5,2844,1958,1525,1310,418.5,14.9,220,5720,0.00,2.40,0.00,0.000,4612,0.000,0.061,2856,540,1417,1525,1310,0,0,0,0,0,0,15.12,14.69,15.12
$GC,5741,0.69,208.5,2856,540,1525,1310,418.5,14.9,220,5748,0.08,2.33,0.00,0.000,5126,0.388,0.036,2831,1960,1417,1525,1310,0,0,0,0,0,0,14.33,14.77,14.67
$GC,6001,0.69,208.5,2831,1968,1525,1308,378.6,13.1,227,6006,0.00,2.25,0.00,0.000,260,0.000,0.045,2831,3354,1417,1525,1309,0,0,0,0,0,0,15.14,14.75,15.14
$GC,6084,0.69,208.5,2831,3355,1524,1309,367.2,13.4,229,6090,0.00,2.33,0.00,0.000,5126,0.000,0.044,2841,1947,1416,1524,1309,0,0,0,0,0,0,14.85,14.74,14.88
$GC,6369,0.69,208.5,2841,1947,1524,1307,326.1,15.0,236,6370,0.00,0.00,0.00,0.000,4102,0.000,0.000,2841,1947,1415,1524,1307,0,0,0,0,0,0,15.15,15.15,15.14
$GC,6608,0.69,208.5,2841,1947,1525,1306,290.7,14.4,242,6609,0.00,0.00,0.00,0.000,4102,0.000,0.000,2841,1947,1415,1525,1306,0,0,0,0,0,0,15.16,15.16,15.16
$GC,6847,0.69,208.5,2841,1947,1524,1305,256.6,14.3,248,6852,0.00,2.30,0.00,0.000,4356,0.000,0.044,2841,3354,1415,1525,1305,0,0,0,0,0,0,15.17,14.76,15.17
$GC,6874,0.69,208.5,2841,3354,1524,1305,256.6,14.3,248,6881,0.05,2.33,0.00,0.000,5126,0.444,0.043,2836,1946,1414,1524,1305,0,0,0,0,0,0,14.36,14.75,14.67
$GC,7134,0.69,208.5,2836,1946,1524,1305,218.0,13.3,255,7139,0.00,2.33,0.00,0.000,4356,0.000,0.044,2836,3360,1414,1524,1305,0,0,0,0,0,0,15.18,14.74,15.18
$GC,7161,0.69,208.5,2836,3361,1524,1305,218.0,13.3,255,7166,0.00,2.33,0.00,0.000,5126,0.000,0.043,2846,1944,1415,1525,1305,0,0,0,0,0,0,14.86,14.74,14.89
$GC,7409,0.69,208.5,2845,1944,1524,1305,186.2,10.8,270,7414,0.00,2.33,0.00,0.000,4356,0.000,0.044,2846,3359,1414,1524,1305,0,0,0,0,0,0,15.16,14.73,15.16
$GC,7474,0.69,208.5,2845,3358,1524,1305,178.2,12.0,276,7480,0.08,2.33,0.00,0.000,5126,0.391,0.043,2832,1949,1414,1524,1305,0,0,0,0,0,0,14.26,14.73,14.62
$GC,7730,0.69,208.5,2831,1948,1524,1305,152.0,10.6,301,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1948,1414,1524,1305,0,0,0,0,0,0,15.13,15.14,15.13
$GC,7977,0.69,208.5,2831,1948,1524,1305,123.6,10.5,326,7983,0.00,2.33,0.00,0.000,260,0.000,0.047,2832,3357,1414,1524,1305,0,0,0,0,0,0,15.12,14.70,15.13
$GC,8140,0.69,208.5,2831,3356,1524,1307,106.5,9.5,341,8147,0.00,2.33,0.00,0.000,5126,0.000,0.044,2841,1953,1415,1524,1307,0,0,0,0,0,0,14.81,14.69,14.83
$GC,8396,0.69,214.6,2841,1952,1524,1308,82.8,7.7,366,8410,0.00,2.35,3.05,0.513,12804,0.000,0.056,2852,545,1406,1516,1297,0,0,0,0,0,0,15.10,14.53,13.83
$GC,8526,0.70,218.7,2852,545,1516,1305,72.7,7.8,377,8541,0.05,2.28,5.75,0.759,13318,0.444,0.031,2836,1960,1386,1496,1276,0,0,0,0,0,0,14.33,14.76,14.00
$GC,8781,0.72,237.3,2836,1960,1496,1282,53.7,7.2,402,8802,0.00,0.00,16.85,0.871,10502,0.000,0.000,2836,1960,1307,1420,1195,0,0,0,0,0,0,15.07,14.72,14.15
$GC,9045,0.72,237.3,2836,1960,1419,1194,27.8,10.1,429,9053,0.00,0.00,0.00,0.000,2054,0.000,0.000,2836,1960,1306,1418,1194,0,0,0,0,0,0,15.01,15.02,15.01
$STATE,9309,end climb,SURFACE_DEPTH_REACHED
$STATE,9309,begin surface coast
$FINISH,0.4,1.009887
$STATE,9346,end surface coast,CONTROL_FINISHED_OK
$STATE,9346,begin surface
$SM_CCo,9362,103.18,0.872,1,0,647,400.08
$SM_GC,1.32,6.00,0.22,103.18,0.051,0.070,0.872,181,2126,647,-7.47,-1.75,400.08,0,0,0,0,1,0,14.71,14.72,13.91
$IRIDIUM_FIX,2234.68,-15752.82,140518,094235
$TT8_MAMPS,0.019474,0.328062
$HUMID,45.11
$INTERNAL_PRESSURE,9.46584
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,8.6
$24V_AH,13.52,128.204
$10V_AH,13.60,0.000
$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,15.025,93.725,270.775,103.175,0.000,29.367,43.239,282.290,0.500,0.000,20.157,1650.745,5750.293,497.657,1905.272,202.387,0.000,1142.370,0.000,1515.531,0.000,5.467,0.000
$DEVICE_MAMPS,445.995,69.615,1662.345,872.100,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,324.818,299.777,470.825,478.785,734.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343128
$DATA_FILE_SIZE,43873,479
$CAP_FILE_SIZE,94568,0
$CFSIZE,2097086464,2038104064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,3,3
$CURRENT,0.100,240.21,1
$GPS,140518,122856,2245.189,-15754.298,20,1.7,20,9.8,0.6,232.6,6,117.7