version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 569
start: 5 15 118 4 32 42
data:
$ID,626
$MISSION,2
$DIVE,569
$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,42
$R_STBD_OVSHOOT,55
$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
$GPS1,150518,042354,2245.0649,-15752.9824,41,0.8,41,9.8,0.6,80.1,10,16.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-73.1
$GPS2,150518,043157,2245.0647,-15752.9600,6,0.8,6,9.8,1.4,324.1,11,-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,256.2,1780,-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,-87.6,184,2106,681,620,0.0,0.0,0,72,0.00,0.00,-53.92,0.000,16386,0.000,0.000,184,2109,2436,2468,2404,0,0,0,0,0,0,14.93,28.83,14.94
$GC,75,-0.54,-87.6,184,2109,2468,2404,3.1,-4.5,7,94,7.65,2.33,-3.55,0.000,18692,0.447,0.067,2419,3526,2639,2687,2591,0,0,0,0,0,0,14.19,13.68,14.62
$GC,275,-0.54,-87.6,2420,3527,2687,2591,49.4,-19.0,31,288,0.03,2.38,0.00,0.000,3078,0.438,0.048,2429,2137,2639,2687,2591,0,0,0,0,0,0,14.24,14.51,14.38
$GC,526,-0.54,-87.6,2428,2137,2687,2590,106.0,-23.6,56,531,0.00,2.38,0.00,0.000,2564,0.000,0.067,2429,717,2638,2686,2590,0,0,0,0,0,0,15.05,14.64,15.06
$GC,571,-0.54,-87.6,2428,717,2687,2589,116.6,-23.6,60,577,0.00,2.30,0.00,0.000,3078,0.000,0.043,2428,2117,2638,2687,2589,0,0,0,0,0,0,14.81,14.70,14.83
$GC,828,-0.54,-87.6,2427,2118,2687,2589,162.8,-15.1,85,833,0.00,2.35,0.00,0.000,2308,0.000,0.060,2428,3538,2638,2687,2589,0,0,0,0,0,0,15.08,14.68,15.08
$GC,873,-0.54,-87.6,2427,3539,2687,2589,170.0,-15.1,89,878,0.00,2.33,0.00,0.000,3078,0.000,0.044,2428,2119,2638,2687,2589,0,0,0,0,0,0,14.84,14.73,14.86
$GC,1136,-0.54,-87.6,2427,2119,2688,2589,215.1,-17.2,109,1142,0.00,2.30,0.00,0.000,2564,0.000,0.062,2428,726,2638,2688,2589,0,0,0,0,0,0,15.14,14.70,15.14
$GC,1188,-0.54,-87.6,2427,726,2687,2589,222.3,-17.0,110,1193,0.00,2.30,0.00,0.000,3078,0.000,0.042,2428,2133,2638,2688,2589,0,0,0,0,0,0,14.87,14.76,14.89
$GC,1461,-0.54,-87.6,2428,2134,2688,2589,266.5,-16.1,117,1466,0.00,2.30,0.00,0.000,2308,0.000,0.060,2428,3530,2638,2688,2589,0,0,0,0,0,0,15.17,14.73,15.17
$GC,1493,-0.54,-87.6,2426,3530,2688,2589,266.5,-16.1,117,1499,0.00,2.28,0.00,0.000,3078,0.000,0.043,2428,2128,2639,2689,2589,0,0,0,0,0,0,14.90,14.78,14.91
$GC,1746,-0.54,-87.6,2427,2127,2688,2589,306.9,-14.0,124,1752,0.00,2.33,0.00,0.000,2564,0.000,0.060,2428,712,2638,2688,2589,0,0,0,0,0,0,15.19,14.75,15.19
$GC,1769,-0.54,-87.6,2427,711,2688,2589,306.9,-14.0,124,1775,0.00,2.30,0.00,0.000,3078,0.000,0.041,2428,2128,2638,2688,2589,0,0,0,0,0,0,14.91,14.80,14.93
$GC,2032,-0.54,-87.6,2427,2128,2688,2589,344.3,-12.2,131,2038,0.00,2.30,0.00,0.000,2308,0.000,0.060,2428,3528,2638,2688,2589,0,0,0,0,0,0,15.20,14.75,15.21
$GC,2094,-0.54,-87.6,2427,3529,2688,2589,348.7,-11.7,132,2100,0.00,2.28,0.00,0.000,3078,0.000,0.041,2427,2123,2638,2688,2589,0,0,0,0,0,0,14.92,14.81,14.93
$GC,2357,-0.54,-87.6,2427,2122,2688,2588,382.5,-13.1,139,2358,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2122,2638,2688,2588,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2597,-0.54,-87.6,2427,2122,2688,2586,415.0,-13.4,145,2603,0.00,2.38,0.00,0.000,2308,0.000,0.057,2428,3533,2636,2688,2585,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2655,-0.54,-87.6,2427,3534,2688,2585,420.1,-12.9,146,2661,0.00,2.30,0.00,0.000,3078,0.000,0.043,2428,2120,2636,2688,2584,0,0,0,0,0,0,14.91,14.80,14.93
$GC,2923,-0.54,-87.6,2427,2120,2688,2581,452.6,-11.3,153,2929,0.00,2.30,0.00,0.000,2564,0.000,0.060,2428,723,2634,2688,2580,0,0,0,0,0,0,15.21,14.75,15.21
$GC,2976,-0.54,-87.6,2427,723,2688,2580,457.7,-11.2,154,2981,0.00,2.30,0.00,0.000,3078,0.000,0.042,2428,2133,2634,2688,2580,0,0,0,0,0,0,14.91,14.79,14.93
$GC,3249,-0.54,-87.6,2427,2133,2688,2577,488.9,-11.3,161,3254,0.00,2.30,0.00,0.000,2308,0.000,0.059,2428,3526,2632,2688,2577,0,0,0,0,0,0,15.21,14.73,15.21
$GC,3286,-0.54,-87.6,2427,3527,2688,2577,488.9,-11.3,161,3293,0.00,2.30,0.00,0.000,3078,0.000,0.042,2428,2124,2632,2688,2577,0,0,0,0,0,0,14.90,14.79,14.92
$GC,3532,-0.54,-87.6,2427,2124,2688,2573,521.3,-11.8,168,3533,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2124,2630,2688,2573,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3772,-0.54,-87.6,2427,2124,2688,2570,550.5,-12.1,174,3773,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2124,2629,2688,2570,0,0,0,0,0,0,15.21,15.22,15.22
$GC,4012,-0.54,-87.6,2427,2124,2688,2567,578.9,-11.8,180,4018,0.00,2.38,0.00,0.000,2308,0.000,0.056,2428,3527,2627,2688,2566,0,0,0,0,0,0,15.21,14.73,15.21
$GC,4085,-0.54,-87.6,2427,3528,2688,2566,583.8,-11.5,181,4090,0.00,2.30,0.00,0.000,3078,0.000,0.043,2428,2121,2627,2688,2566,0,0,0,0,0,0,14.89,14.77,14.90
$STATE,4215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4215,begin apogee
$GC,4221,-0.13,0.0,2428,1924,2688,2563,600.9,-10.6,185,4299,0.38,0.00,70.43,1.773,10246,0.249,0.000,2565,1924,2279,2362,2197,0,0,0,0,0,0,14.28,14.43,13.62
$STATE,4300,end apogee,CONTROL_FINISHED_OK
$STATE,4300,begin climb
$GC,4302,0.54,87.6,2565,1924,2361,2197,604.4,0.0,187,4380,0.50,0.00,74.35,1.982,10502,0.166,0.000,2772,1924,1921,2015,1828,0,0,0,0,0,0,14.35,14.16,13.31
$GC,4621,0.73,241.2,2772,1924,2014,1826,604.4,1.0,195,4761,0.10,0.00,133.75,2.577,10502,0.153,0.000,2872,1922,1297,1402,1193,0,0,0,0,0,0,14.61,13.83,13.07
$GC,5021,0.73,241.2,2872,1923,1402,1189,541.0,19.1,205,5026,0.08,2.40,0.00,0.000,4356,0.420,0.044,2842,3360,1295,1402,1189,0,0,0,0,0,0,14.26,14.57,14.47
$GC,5078,0.73,241.2,2842,3361,1402,1189,532.2,19.4,206,5084,0.00,2.30,0.00,0.000,5126,0.000,0.047,2851,1982,1295,1402,1189,0,0,0,0,0,0,14.74,14.64,14.75
$GC,5347,0.73,241.2,2851,1981,1402,1186,478.1,19.7,213,5348,0.00,0.00,0.00,0.000,4102,0.000,0.000,2852,1981,1294,1402,1186,0,0,0,0,0,0,15.04,15.04,15.04
$GC,5587,0.73,241.2,2851,1981,1402,1184,432.9,18.7,219,5592,0.00,2.42,0.00,0.000,4612,0.000,0.058,2862,531,1293,1402,1184,0,0,0,0,0,0,15.09,14.73,15.09
$GC,5609,0.73,241.2,2862,530,1401,1184,432.9,18.7,219,5616,0.05,2.33,0.00,0.000,5126,0.420,0.031,2846,1963,1293,1402,1184,0,0,0,0,0,0,14.45,14.80,14.71
$GC,5873,0.73,241.2,2846,1967,1402,1182,382.0,17.4,226,5878,0.00,2.22,0.00,0.000,260,0.000,0.044,2846,3348,1291,1401,1182,0,0,0,0,0,0,15.12,14.78,15.12
$GC,5919,0.73,241.2,2846,3348,1401,1182,374.6,17.1,227,5925,0.00,2.33,0.00,0.000,5126,0.000,0.047,2856,1946,1291,1401,1182,0,0,0,0,0,0,14.88,14.76,14.90
$GC,6199,0.73,241.2,2856,1944,1401,1181,324.2,18.2,234,6200,0.00,0.00,0.00,0.000,4102,0.000,0.000,2856,1944,1291,1401,1181,0,0,0,0,0,0,15.14,15.15,15.14
$GC,6438,0.73,241.2,2857,1944,1401,1179,283.8,16.4,240,6443,0.00,2.33,0.00,0.000,4356,0.000,0.044,2856,3346,1290,1401,1179,0,0,0,0,0,0,15.16,14.78,15.16
$GC,6524,0.73,241.2,2856,3347,1401,1179,270.2,15.9,242,6531,0.08,2.33,0.00,0.000,5126,0.392,0.047,2842,1942,1289,1401,1178,0,0,0,0,0,0,14.35,14.77,14.66
$GC,6804,0.73,241.2,2842,1941,1401,1178,227.0,15.8,249,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1941,1289,1400,1178,0,0,0,0,0,0,15.16,15.16,15.16
$GC,7044,0.73,241.2,2842,1941,1401,1176,193.7,14.3,258,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1941,1288,1401,1176,0,0,0,0,0,0,15.16,15.17,15.16
$GC,7284,0.73,241.2,2841,1941,1401,1176,160.7,12.9,282,7289,0.00,2.33,0.00,0.000,516,0.000,0.057,2852,534,1288,1401,1176,0,0,0,0,0,0,15.15,14.72,15.15
$GC,7298,0.73,241.2,2852,534,1401,1177,159.0,13.0,283,7304,0.00,2.30,0.00,0.000,5126,0.000,0.031,2852,1952,1288,1401,1176,0,0,0,0,0,0,14.89,14.81,14.90
$GC,7553,0.73,241.2,2852,1954,1401,1176,126.9,11.4,308,7559,0.00,2.28,0.00,0.000,4356,0.000,0.046,2853,3357,1289,1401,1177,0,0,0,0,0,0,15.11,14.74,15.12
$GC,7717,0.73,241.2,2852,3356,1401,1178,107.0,13.2,323,7724,0.05,2.35,0.00,0.000,5126,0.438,0.045,2847,1942,1289,1401,1178,0,0,0,0,0,0,14.35,14.71,14.63
$GC,7974,0.73,241.2,2846,1941,1400,1179,78.6,10.5,348,7979,0.00,2.30,0.00,0.000,516,0.000,0.055,2857,538,1289,1400,1179,0,0,0,0,0,0,15.09,14.69,15.10
$GC,7991,0.73,241.2,2857,538,1400,1179,77.3,9.9,349,7999,0.00,2.35,0.00,0.000,5126,0.000,0.031,2857,1944,1290,1401,1179,0,0,0,0,0,0,14.64,14.59,14.66
$GC,8240,0.73,241.2,2857,1945,1401,1182,50.3,11.7,374,8246,0.00,2.38,0.00,0.000,4612,0.000,0.055,2867,534,1291,1401,1182,0,0,0,0,0,0,15.07,14.67,15.08
$GC,8292,0.73,241.2,2867,533,1401,1182,44.5,11.5,378,8301,0.08,2.35,0.00,0.000,5126,0.324,0.031,2842,1944,1291,1400,1182,0,0,0,0,0,0,14.16,14.58,14.35
$GC,8562,0.73,241.2,2842,1945,1401,1185,17.9,8.7,414,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1945,1293,1401,1185,0,0,0,0,0,0,15.04,15.05,15.05
$STATE,8729,end climb,SURFACE_DEPTH_REACHED
$STATE,8730,begin surface coast
$FINISH,0.4,1.023556
$STATE,8770,end surface coast,CONTROL_FINISHED_OK
$STATE,8770,begin surface
$SM_CCo,8786,94.18,0.115,0,0,646,400.08
$SM_GC,1.22,6.20,0.28,94.18,0.087,0.066,0.115,182,2150,646,-7.45,-1.33,400.08,0,0,0,0,0,0,14.73,14.73,14.52
$IRIDIUM_FIX,2234.68,-15754.99,150518,042534
$TT8_MAMPS,0.019474,0.266644
$HUMID,44.99
$INTERNAL_PRESSURE,9.45608
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.5,6.6
$24V_AH,13.07,129.849
$10V_AH,13.39,0.000
$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,15.175,88.775,278.525,94.175,0.000,26.321,44.612,278.862,0.500,0.000,7.145,1516.572,5431.324,468.971,1776.124,200.680,0.000,1089.214,0.000,1419.712,0.000,5.450,0.000
$DEVICE_MAMPS,446.760,72.675,2576.520,114.750,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,303.474,242.790,436.473,457.317,701.725,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343120
$DATA_FILE_SIZE,40519,448
$CAP_FILE_SIZE,89954,0
$CFSIZE,2097086464,2037415936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.036,315.94,1
$GPS,150518,070137,2245.091,-15754.303,16,1.5,16,9.8,0.7,214.2,6,31.8