version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 568
start: 5 15 118 1 43 27
data:
$ID,626
$MISSION,2
$DIVE,568
$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,52
$R_STBD_OVSHOOT,53
$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
$GPS1,150518,013337,2245.0569,-15754.0967,13,1.4,13,9.8,0.7,289.1,6,84.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-71.4
$GPS2,150518,014243,2245.0249,-15754.1650,5,1.1,5,9.8,0.6,233.7,6,-1.0
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,AL1
$TGT_LATLONG,2245.000,-15754.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,80.2,287,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.54,-87.6,184,2090,686,620,0.0,0.0,0,76,0.00,0.00,-57.17,0.000,16386,0.000,0.000,184,2091,2560,2592,2528,0,0,0,0,0,0,14.93,28.83,14.94
$GC,79,-0.54,-87.6,184,2092,2592,2528,3.3,-4.4,7,97,7.60,2.40,-1.33,0.000,18692,0.442,0.061,2420,3530,2638,2683,2594,0,0,0,0,0,0,14.18,13.66,14.62
$GC,107,-0.54,-87.6,2419,3530,2683,2594,16.6,-36.4,10,116,0.03,2.38,0.00,0.000,3078,0.474,0.046,2427,2142,2639,2684,2594,0,0,0,0,0,0,14.25,14.51,14.39
$GC,373,-0.54,-87.6,2427,2141,2683,2584,79.6,-20.8,39,378,0.00,2.38,0.00,0.000,2564,0.000,0.063,2427,719,2633,2683,2584,0,0,0,0,0,0,15.01,14.62,15.01
$GC,412,-0.54,-87.6,2427,720,2683,2583,87.2,-19.8,42,421,0.00,2.38,0.00,0.000,3078,0.000,0.043,2427,2114,2632,2683,2581,0,0,0,0,0,0,14.58,14.52,14.59
$GC,661,-0.54,-87.6,2427,2115,2683,2581,134.4,-17.9,67,666,0.00,2.35,0.00,0.000,2308,0.000,0.058,2427,3535,2631,2682,2581,0,0,0,0,0,0,15.06,14.65,15.07
$GC,717,-0.54,-87.6,2427,3536,2683,2581,143.6,-15.2,72,723,0.00,2.33,0.00,0.000,3078,0.000,0.046,2427,2126,2632,2683,2581,0,0,0,0,0,0,14.82,14.70,14.83
$GC,973,-0.54,-87.6,2427,2125,2683,2581,184.4,-15.3,97,979,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2124,2632,2684,2581,0,0,0,0,0,0,15.09,15.10,15.10
$GC,1241,-0.54,-87.6,2427,2124,2684,2581,227.0,-16.4,112,1246,0.00,2.35,0.00,0.000,2308,0.000,0.058,2427,3531,2632,2684,2581,0,0,0,0,0,0,15.14,14.71,15.14
$GC,1278,-0.54,-87.6,2427,3532,2684,2581,227.0,-16.4,112,1285,0.00,2.30,0.00,0.000,3078,0.000,0.045,2427,2127,2632,2684,2581,0,0,0,0,0,0,14.87,14.74,14.89
$GC,1524,-0.54,-87.6,2427,2126,2685,2581,267.5,-13.9,119,1529,0.00,2.33,0.00,0.000,2564,0.000,0.062,2427,718,2633,2685,2581,0,0,0,0,0,0,15.17,14.73,15.17
$GC,1567,-0.54,-87.6,2427,718,2683,2581,273.4,-13.8,120,1572,0.00,2.30,0.00,0.000,3078,0.000,0.042,2427,2127,2633,2685,2581,0,0,0,0,0,0,14.89,14.78,14.91
$GC,1850,-0.54,-87.6,2427,2128,2685,2581,313.6,-14.8,127,1855,0.00,2.33,0.00,0.000,2308,0.000,0.059,2427,3538,2633,2685,2581,0,0,0,0,0,0,15.19,14.74,15.18
$GC,1917,-0.54,-87.6,2427,3540,2685,2581,320.0,-15.2,128,1922,0.00,2.30,0.00,0.000,3078,0.000,0.043,2427,2121,2633,2685,2581,0,0,0,0,0,0,14.90,14.79,14.92
$GC,2175,-0.54,-87.6,2427,2120,2685,2581,359.0,-14.2,135,2180,0.00,2.30,0.00,0.000,2564,0.000,0.061,2427,724,2632,2685,2580,0,0,0,0,0,0,15.19,14.74,15.20
$GC,2218,-0.54,-87.6,2427,724,2685,2580,365.3,-14.2,136,2223,0.00,2.30,0.00,0.000,3078,0.000,0.041,2427,2132,2632,2685,2580,0,0,0,0,0,0,14.90,14.79,14.92
$GC,2501,-0.54,-87.6,2427,2133,2685,2579,400.1,-12.0,143,2506,0.00,2.30,0.00,0.000,2308,0.000,0.059,2427,3527,2632,2685,2579,0,0,0,0,0,0,15.20,14.74,15.21
$GC,2544,-0.54,-87.6,2427,3528,2684,2579,404.9,-11.8,144,2550,0.00,2.33,0.00,0.000,3078,0.000,0.043,2427,2119,2632,2685,2579,0,0,0,0,0,0,14.90,14.79,14.92
$GC,2828,-0.54,-87.6,2427,2117,2685,2576,440.6,-12.9,151,2829,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2117,2630,2685,2576,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3068,-0.54,-87.6,2427,2117,2685,2572,470.8,-12.6,157,3074,0.00,2.38,0.00,0.000,2308,0.000,0.056,2427,3538,2628,2685,2572,0,0,0,0,0,0,15.21,14.74,15.21
$GC,3115,-0.54,-87.6,2427,3538,2685,2572,476.0,-12.6,158,3120,0.00,2.30,0.00,0.000,3078,0.000,0.042,2427,2126,2628,2685,2571,0,0,0,0,0,0,14.90,14.80,14.92
$GC,3393,-0.54,-87.6,2427,2124,2684,2569,509.4,-12.0,165,3394,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2125,2627,2685,2569,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3633,-0.54,-87.6,2427,2124,2685,2566,536.6,-11.2,171,3634,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2124,2625,2685,2566,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3873,-0.54,-87.6,2427,2124,2685,2563,563.5,-11.1,177,3878,0.00,2.33,0.00,0.000,2564,0.000,0.059,2427,721,2623,2685,2562,0,0,0,0,0,0,15.21,14.72,15.21
$GC,3955,-0.54,-87.6,2427,720,2685,2558,573.0,-11.3,179,3961,0.00,2.33,0.00,0.000,3078,0.000,0.039,2427,2141,2621,2685,2558,0,0,0,0,0,0,14.90,14.78,14.91
$STATE,4238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4238,begin apogee
$GC,4244,-0.13,0.0,2427,1924,2685,2553,604.1,-10.8,186,4318,0.38,0.00,68.90,1.727,10246,0.249,0.000,2565,1924,2278,2361,2196,0,0,0,0,0,0,14.28,14.45,13.67
$STATE,4319,end apogee,CONTROL_FINISHED_OK
$STATE,4319,begin climb
$GC,4322,0.54,87.6,2565,1924,2361,2197,607.9,0.0,188,4404,0.50,2.35,73.97,1.776,10756,0.164,0.057,2782,563,1923,2014,1832,0,0,0,0,0,0,14.36,14.19,13.42
$GC,4691,0.70,222.6,2782,562,2013,1829,605.8,1.9,197,4812,0.10,2.30,113.22,2.033,11270,0.158,0.035,2873,1970,1371,1476,1267,0,0,0,0,0,0,14.59,14.66,13.32
$GC,5086,0.70,222.6,2873,1970,1475,1271,541.0,20.0,207,5088,0.10,0.00,0.00,0.000,4102,0.379,0.000,2841,1983,1373,1475,1271,0,0,0,0,0,0,14.28,14.65,14.59
$GC,5327,0.70,222.6,2840,1983,1475,1269,499.4,17.2,213,5332,0.00,2.38,0.00,0.000,4612,0.000,0.058,2851,568,1372,1475,1269,0,0,0,0,0,0,15.02,14.67,15.02
$GC,5343,0.70,222.6,2850,568,1475,1269,499.4,17.2,213,5349,0.00,2.25,0.00,0.000,5126,0.000,0.035,2850,1944,1372,1475,1269,0,0,0,0,0,0,14.82,14.73,14.83
$GC,5612,0.70,222.6,2850,1948,1475,1266,451.1,16.3,220,5617,0.00,2.30,0.00,0.000,4356,0.000,0.044,2851,3357,1370,1475,1266,0,0,0,0,0,0,15.09,14.74,15.09
$GC,5689,0.70,222.6,2850,3357,1474,1266,443.8,16.3,221,5696,0.08,2.28,0.00,0.000,5126,0.397,0.043,2837,1977,1370,1474,1266,0,0,0,0,0,0,14.34,14.74,14.66
$GC,5935,0.70,222.6,2837,1977,1474,1264,403.1,13.6,228,5940,0.00,2.38,0.00,0.000,516,0.000,0.058,2847,540,1369,1474,1264,0,0,0,0,0,0,15.11,14.71,15.12
$GC,5952,0.70,222.6,2847,540,1475,1264,403.1,13.6,228,5958,0.00,2.33,0.00,0.000,5126,0.000,0.034,2848,1960,1369,1475,1264,0,0,0,0,0,0,14.88,14.80,14.90
$GC,6221,0.70,222.6,2847,1965,1474,1262,361.0,14.7,235,6226,0.00,2.28,0.00,0.000,4356,0.000,0.044,2848,3357,1368,1474,1262,0,0,0,0,0,0,15.14,14.77,15.14
$GC,6253,0.70,222.6,2847,3357,1473,1262,361.0,14.7,235,6259,0.05,2.33,0.00,0.000,5126,0.443,0.043,2842,1945,1368,1474,1262,0,0,0,0,0,0,14.39,14.76,14.67
$GC,6507,0.70,222.6,2842,1944,1474,1261,318.9,14.9,242,6508,0.00,0.00,0.00,0.000,4102,0.000,0.000,2842,1944,1367,1474,1261,0,0,0,0,0,0,15.15,15.16,15.16
$GC,6746,0.70,222.6,2842,1944,1474,1260,284.7,13.8,248,6748,0.00,0.00,0.00,0.000,4102,0.000,0.000,2842,1944,1367,1474,1260,0,0,0,0,0,0,15.16,15.17,15.17
$GC,6987,0.70,222.6,2842,1944,1474,1259,253.0,13.1,254,6992,0.00,2.35,0.00,0.000,4612,0.000,0.059,2853,535,1366,1474,1259,0,0,0,0,0,0,15.17,14.72,15.17
$GC,7054,0.70,222.6,2852,535,1473,1259,247.0,13.2,255,7059,0.00,2.30,0.00,0.000,5126,0.000,0.033,2852,1958,1366,1474,1259,0,0,0,0,0,0,14.90,14.81,14.91
$GC,7312,0.70,222.6,2852,1962,1473,1258,209.2,13.3,262,7317,0.00,2.25,0.00,0.000,4356,0.000,0.043,2852,3348,1365,1473,1258,0,0,0,0,0,0,15.17,14.77,15.18
$GC,7495,0.70,222.6,2852,3348,1473,1259,183.5,14.3,273,7504,0.05,2.40,0.00,0.000,5126,0.374,0.042,2845,1944,1366,1473,1259,0,0,0,0,0,0,14.15,14.56,14.34
$GC,7747,0.70,222.6,2845,1943,1473,1259,155.8,8.5,298,7753,0.00,0.00,0.00,0.000,4102,0.000,0.000,2845,1944,1366,1474,1259,0,0,0,0,0,0,15.13,15.13,15.13
$GC,7994,0.70,222.6,2845,1943,1473,1259,133.4,8.6,323,8001,0.00,0.00,0.00,0.000,4102,0.000,0.000,2845,1943,1366,1473,1260,0,0,0,0,0,0,15.12,15.12,15.12
$GC,8242,0.70,222.6,2845,1943,1473,1261,113.8,8.3,348,8247,0.00,2.33,0.00,0.000,4356,0.000,0.043,2845,3353,1367,1473,1262,0,0,0,0,0,0,15.11,14.71,15.12
$GC,8430,0.70,222.6,2845,3354,1473,1264,94.8,11.1,365,8436,0.05,2.33,0.00,0.000,5126,0.440,0.041,2839,1941,1368,1473,1264,0,0,0,0,0,0,14.33,14.71,14.59
$GC,8686,0.70,222.6,2839,1940,1473,1265,67.5,11.4,390,8691,0.00,2.33,0.00,0.000,260,0.000,0.043,2839,3349,1369,1473,1266,0,0,0,0,0,0,15.09,14.71,15.09
$GC,8700,0.70,222.6,2838,3350,1473,1266,65.8,11.4,391,8706,0.00,2.30,0.00,0.000,5126,0.000,0.041,2849,1949,1370,1473,1267,0,0,0,0,0,0,14.83,14.71,14.84
$GC,8957,0.70,222.6,2848,1948,1473,1269,40.7,8.6,416,8965,0.00,0.00,0.00,0.000,4102,0.000,0.000,2849,1949,1371,1473,1269,0,0,0,0,0,0,15.07,15.07,15.07
$GC,9228,0.72,232.1,2848,1949,1473,1273,19.1,7.6,453,9245,0.00,2.35,8.00,0.901,12548,0.000,0.043,2849,3346,1334,1441,1227,0,0,0,0,0,0,15.04,14.47,13.95
$STATE,9408,end climb,SURFACE_DEPTH_REACHED
$STATE,9408,begin surface coast
$FINISH,0.4,1.023507
$STATE,9438,end surface coast,CONTROL_FINISHED_OK
$STATE,9438,begin surface
$SM_CCo,9456,94.45,0.116,0,0,648,400.08
$SM_GC,1.13,6.10,2.05,94.45,0.070,0.047,0.116,184,2124,648,-7.42,1.27,400.08,0,0,0,0,0,0,14.73,14.69,14.53
$IRIDIUM_FIX,2237.01,-15751.94,150518,013653
$TT8_MAMPS,0.019474,0.334054
$HUMID,44.64
$INTERNAL_PRESSURE,9.47561
$TCM_TEMP,22.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,6.8
$24V_AH,13.32,129.598
$10V_AH,12.79,0.000
$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,15.025,93.100,264.100,94.450,0.000,62.878,47.129,243.707,0.500,0.000,7.116,1699.116,5804.984,466.541,1958.998,197.378,0.000,1150.155,0.000,1586.669,0.000,5.463,0.000
$DEVICE_MAMPS,473.535,62.730,2032.605,115.515,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,329.433,304.860,478.807,487.408,747.877,0.000,0.000,0.000,0.000,0.000
$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,44130,487
$CAP_FILE_SIZE,95533,0
$CFSIZE,2097086464,2037514240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.013,268.90,1
$GPS,150518,042354,2245.065,-15752.982,41,0.8,41,9.8,0.6,80.1,10,16.1