version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 574
start: 5 15 118 18 26 48
data:
$ID,626
$MISSION,2
$DIVE,574
$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,44
$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
$GPS1,150518,181722,2244.7632,-15754.8213,16,1.4,16,9.8,0.0,0.0,5,111.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-73.2
$GPS2,150518,182603,2244.7629,-15754.7383,25,1.4,25,9.8,0.7,66.2,5,121.7
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,AL1
$TGT_LATLONG,2245.000,-15754.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,63.3,1336,-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,15,-0.54,-87.6,182,2132,684,630,0.0,0.0,0,76,0.00,0.00,-58.00,0.000,16390,0.000,0.000,182,2132,2638,2678,2599,0,0,0,0,0,0,14.93,13.00,14.87
$GC,79,-0.54,-87.6,182,2132,2678,2599,4.0,-6.9,7,96,7.62,2.33,0.00,0.000,2308,0.442,0.039,2423,3540,2636,2678,2594,0,0,0,0,0,0,14.19,14.53,14.59
$GC,112,-0.54,-87.6,2421,3546,2678,2592,21.6,-48.4,11,120,0.00,2.45,0.00,0.000,3078,0.000,0.057,2423,2136,2635,2678,2592,0,0,0,0,0,0,14.57,14.51,14.59
$GC,369,-0.54,-87.6,2423,2134,2678,2590,85.9,-22.8,37,375,0.00,2.38,0.00,0.000,2564,0.000,0.060,2423,703,2633,2678,2589,0,0,0,0,0,0,15.02,14.64,15.02
$GC,396,-0.54,-87.6,2423,703,2678,2588,92.6,-23.1,39,403,0.08,2.33,0.00,0.000,3078,0.406,0.038,2438,2130,2633,2678,2589,0,0,0,0,0,0,14.28,14.70,14.59
$GC,652,-0.54,-87.6,2437,2138,2678,2589,144.1,-17.4,64,657,0.00,2.30,0.00,0.000,260,0.000,0.053,2428,3533,2633,2678,2589,0,0,0,0,0,0,15.07,14.69,15.07
$GC,711,-0.54,-87.6,2429,3533,2678,2589,153.1,-15.1,69,720,0.00,2.40,0.00,0.000,3078,0.000,0.043,2429,2115,2634,2679,2589,0,0,0,0,0,0,14.62,14.57,14.65
$GC,960,-0.54,-87.6,2428,2114,2679,2589,194.2,-15.8,94,965,0.00,2.35,0.00,0.000,2308,0.000,0.054,2428,3525,2634,2679,2589,0,0,0,0,0,0,15.10,14.71,15.10
$GC,1008,-0.54,-87.6,2427,3526,2679,2589,200.4,-13.3,98,1013,0.00,2.28,0.00,0.000,3078,0.000,0.041,2428,2123,2634,2679,2589,0,0,0,0,0,0,14.86,14.76,14.88
$GC,1286,-0.54,-87.6,2427,2122,2680,2589,239.1,-13.9,105,1292,0.00,2.30,0.00,0.000,2564,0.000,0.058,2428,720,2634,2680,2589,0,0,0,0,0,0,15.16,14.73,15.16
$GC,1323,-0.54,-87.6,2426,719,2680,2589,239.1,-13.9,105,1330,0.00,2.30,0.00,0.000,3078,0.000,0.040,2428,2134,2634,2680,2589,0,0,0,0,0,0,14.89,14.78,14.91
$GC,1569,-0.54,-87.6,2427,2136,2680,2589,278.8,-14.2,112,1570,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2135,2634,2680,2589,0,0,0,0,0,0,15.18,15.19,15.18
$GC,1809,-0.54,-87.6,2427,2136,2680,2589,311.8,-13.7,118,1815,0.00,2.30,0.00,0.000,2308,0.000,0.059,2428,3534,2634,2680,2588,0,0,0,0,0,0,15.20,14.76,15.20
$GC,1887,-0.54,-87.6,2427,3534,2680,2589,317.6,-13.6,119,1894,0.00,2.28,0.00,0.000,3078,0.000,0.040,2428,2122,2634,2680,2589,0,0,0,0,0,0,14.92,14.81,14.93
$GC,2133,-0.54,-87.6,2427,2121,2680,2587,351.5,-12.1,126,2134,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2122,2633,2680,2587,0,0,0,0,0,0,15.20,15.21,15.21
$GC,2373,-0.54,-87.6,2427,2122,2680,2585,378.4,-11.2,132,2379,0.00,2.30,0.00,0.000,2564,0.000,0.057,2428,719,2632,2679,2585,0,0,0,0,0,0,15.21,14.77,15.21
$GC,2401,-0.54,-87.6,2427,718,2680,2584,378.4,-11.2,132,2406,0.00,2.28,0.00,0.000,3078,0.000,0.040,2427,2125,2632,2680,2584,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2659,-0.54,-87.6,2427,2127,2680,2581,409.4,-10.4,139,2664,0.00,2.30,0.00,0.000,2308,0.000,0.057,2428,3527,2630,2680,2581,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2716,-0.54,-87.6,2427,3527,2680,2580,413.6,-10.1,140,2721,0.00,2.28,0.00,0.000,3078,0.000,0.040,2428,2118,2630,2680,2580,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2984,-0.54,-87.6,2427,2117,2680,2577,442.8,-10.5,147,2990,0.00,2.30,0.00,0.000,2564,0.000,0.057,2428,718,2628,2680,2577,0,0,0,0,0,0,15.21,14.76,15.21
$GC,3032,-0.54,-87.6,2427,718,2680,2577,447.8,-10.5,148,3037,0.00,2.30,0.00,0.000,3078,0.000,0.041,2428,2131,2628,2680,2576,0,0,0,0,0,0,14.91,14.80,14.93
$GC,3310,-0.54,-87.6,2427,2133,2680,2572,478.7,-11.2,155,3315,0.00,2.30,0.00,0.000,2308,0.000,0.054,2428,3533,2626,2680,2572,0,0,0,0,0,0,15.21,14.75,15.21
$GC,3357,-0.54,-87.6,2427,3533,2680,2572,483.3,-11.2,156,3362,0.00,2.28,0.00,0.000,3078,0.000,0.037,2428,2127,2625,2679,2571,0,0,0,0,0,0,14.90,14.80,14.92
$GC,3635,-0.54,-87.6,2427,2126,2679,2569,514.9,-11.4,163,3636,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2126,2624,2679,2569,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3875,-0.54,-87.6,2427,2126,2680,2565,542.7,-11.6,169,3880,0.00,2.35,0.00,0.000,2308,0.000,0.050,2428,3540,2621,2679,2564,0,0,0,0,0,0,15.21,14.74,15.21
$GC,3907,-0.54,-87.6,2427,3540,2679,2564,542.7,-11.6,169,3913,0.00,2.30,0.00,0.000,3078,0.000,0.037,2428,2121,2621,2679,2564,0,0,0,0,0,0,14.90,14.79,14.91
$GC,4162,-0.54,-87.6,2427,2120,2679,2561,576.9,-12.1,176,4168,0.00,2.30,0.00,0.000,2564,0.000,0.054,2427,721,2620,2679,2561,0,0,0,0,0,0,15.20,14.73,15.20
$GC,4185,-0.54,-87.6,2427,721,2679,2560,576.9,-12.1,176,4191,0.00,2.30,0.00,0.000,3078,0.000,0.037,2427,2137,2619,2679,2560,0,0,0,0,0,0,14.89,14.78,14.91
$STATE,4366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4366,begin apogee
$GC,4373,-0.13,0.0,2427,1920,2680,2556,601.0,-11.4,181,4449,0.38,0.00,70.72,1.680,10246,0.252,0.000,2564,1920,2274,2353,2196,0,0,0,0,0,0,14.26,14.45,13.68
$STATE,4450,end apogee,CONTROL_FINISHED_OK
$STATE,4450,begin climb
$GC,4452,0.54,87.6,2564,1920,2351,2195,604.8,0.0,183,4534,0.50,2.33,74.70,1.635,10756,0.166,0.059,2782,575,1914,2007,1822,0,0,0,0,0,0,14.36,14.09,13.52
$GC,4687,0.72,238.5,2782,574,2002,1818,603.1,1.2,188,4824,0.10,2.28,125.10,1.620,11270,0.158,0.034,2872,1968,1300,1415,1186,0,0,0,0,0,0,14.52,14.59,13.50
$GC,5096,0.72,238.5,2872,1969,1412,1178,524.9,21.6,199,5102,0.08,2.25,0.00,0.000,4356,0.395,0.042,2841,3340,1295,1412,1179,0,0,0,0,0,0,14.28,14.58,14.47
$GC,5144,0.72,238.5,2841,3340,1411,1178,515.9,21.3,200,5150,0.00,2.25,0.00,0.000,5126,0.000,0.044,2850,1980,1294,1411,1178,0,0,0,0,0,0,14.76,14.65,14.77
$GC,5423,0.72,238.5,2850,1980,1411,1174,462.4,18.6,207,5424,0.00,0.00,0.00,0.000,4102,0.000,0.000,2850,1980,1292,1411,1173,0,0,0,0,0,0,15.05,15.06,15.06
$GC,5662,0.72,238.5,2850,1980,1411,1173,418.9,18.3,213,5668,0.00,2.40,0.00,0.000,4612,0.000,0.057,2862,536,1292,1411,1173,0,0,0,0,0,0,15.10,14.71,15.11
$GC,5685,0.72,238.5,2861,536,1411,1173,418.9,18.3,213,5691,0.05,2.28,0.00,0.000,5126,0.418,0.033,2845,1945,1292,1411,1173,0,0,0,0,0,0,14.42,14.79,14.71
$GC,5949,0.72,238.5,2845,1959,1411,1170,369.4,16.7,220,5954,0.00,2.28,0.00,0.000,260,0.000,0.043,2846,3354,1290,1411,1170,0,0,0,0,0,0,15.12,14.76,15.12
$GC,5976,0.72,238.5,2845,3354,1411,1170,369.4,16.7,220,5981,0.00,2.33,0.00,0.000,5126,0.000,0.044,2855,1941,1290,1411,1170,0,0,0,0,0,0,14.87,14.76,14.89
$GC,6233,0.72,238.5,2855,1941,1411,1168,320.9,17.2,227,6239,0.00,2.33,0.00,0.000,4612,0.000,0.057,2866,540,1289,1411,1168,0,0,0,0,0,0,15.15,14.72,15.15
$GC,6245,0.72,238.5,2866,540,1411,1168,320.9,17.2,227,6251,0.08,2.28,0.00,0.000,5126,0.371,0.033,2841,1953,1289,1411,1168,0,0,0,0,0,0,14.35,14.81,14.69
$GC,6519,0.72,238.5,2841,1966,1411,1166,275.7,15.5,234,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1966,1288,1411,1166,0,0,0,0,0,0,15.15,15.16,15.16
$GC,6759,0.72,238.5,2842,1967,1411,1165,238.6,15.5,240,6764,0.00,2.40,0.00,0.000,516,0.000,0.057,2852,537,1288,1411,1165,0,0,0,0,0,0,15.17,14.71,15.17
$GC,6811,0.72,238.5,2851,537,1410,1165,231.4,15.5,241,6817,0.00,2.30,0.00,0.000,5126,0.000,0.032,2852,1947,1287,1410,1165,0,0,0,0,0,0,14.89,14.81,14.91
$GC,7064,0.72,238.5,2851,1956,1410,1165,190.5,16.1,249,7070,0.00,2.38,0.00,0.000,4612,0.000,0.056,2862,536,1287,1410,1165,0,0,0,0,0,0,15.17,14.71,15.17
$GC,7129,0.72,238.5,2862,535,1410,1164,180.6,15.5,255,7135,0.05,2.30,0.00,0.000,5126,0.410,0.032,2846,1957,1287,1410,1165,0,0,0,0,0,0,14.42,14.81,14.70
$GC,7385,0.72,238.5,2845,1966,1410,1165,150.8,11.9,280,7391,0.00,2.25,0.00,0.000,260,0.000,0.043,2846,3351,1287,1410,1165,0,0,0,0,0,0,15.13,14.73,15.14
$GC,7463,0.72,238.5,2846,3351,1410,1165,141.4,11.7,287,7469,0.00,2.33,0.00,0.000,5126,0.000,0.042,2855,1941,1287,1410,1165,0,0,0,0,0,0,14.85,14.73,14.87
$GC,7718,0.72,238.5,2855,1940,1410,1165,109.0,13.5,312,7724,0.00,2.30,0.00,0.000,4356,0.000,0.042,2855,3346,1287,1410,1165,0,0,0,0,0,0,15.11,14.72,15.11
$GC,7776,0.72,238.5,2855,3347,1410,1166,101.5,12.9,317,7782,0.08,2.30,0.00,0.000,5126,0.374,0.042,2841,1950,1287,1410,1165,0,0,0,0,0,0,14.28,14.72,14.62
$GC,8034,0.72,238.5,2840,1949,1410,1167,72.2,12.0,342,8040,0.00,2.30,0.00,0.000,260,0.000,0.042,2841,3350,1289,1410,1168,0,0,0,0,0,0,15.09,14.71,15.09
$GC,8064,0.72,238.5,2840,3350,1410,1168,69.0,11.1,344,8072,0.00,2.38,0.00,0.000,5126,0.000,0.041,2850,1957,1289,1410,1168,0,0,0,0,0,0,14.58,14.53,14.62
$GC,8313,0.72,238.5,2850,1956,1410,1170,42.9,10.4,369,8319,0.00,2.35,0.00,0.000,4612,0.000,0.056,2861,536,1290,1410,1170,0,0,0,0,0,0,15.07,14.65,15.07
$GC,8376,0.72,238.5,2861,535,1410,1171,36.6,10.5,374,8386,0.03,2.38,0.00,0.000,5126,0.418,0.032,2852,1956,1290,1410,1171,0,0,0,0,0,0,14.27,14.54,14.37
$GC,8660,0.76,264.7,2851,1962,1410,1174,12.2,6.8,417,8685,0.00,0.00,20.98,0.857,8198,0.000,0.000,2852,1962,1197,1320,1074,0,0,0,0,0,0,15.04,14.69,14.13
$STATE,8756,end climb,SURFACE_DEPTH_REACHED
$STATE,8756,begin surface coast
$FINISH,0.3,1.023375
$STATE,8789,end surface coast,CONTROL_FINISHED_OK
$STATE,8789,begin surface
$SM_CCo,8805,87.82,0.888,1,0,649,400.08
$SM_GC,1.33,6.12,0.22,87.82,0.070,0.062,0.888,183,2168,649,-7.43,-1.47,400.08,0,0,0,0,1,0,14.72,14.73,13.90
$IRIDIUM_FIX,2234.68,-15754.99,150518,181902
$TT8_MAMPS,0.018725,0.2996
$HUMID,45.70
$INTERNAL_PRESSURE,9.46584
$TCM_TEMP,22.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.2,7.1
$24V_AH,13.00,130.947
$10V_AH,12.75,0.000
$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,15.150,107.025,291.500,87.825,0.000,25.392,41.203,300.141,0.500,0.000,26.044,1520.579,5426.202,490.976,1801.514,209.262,0.000,1136.213,0.000,1407.371,0.000,5.463,0.000
$DEVICE_MAMPS,442.170,61.965,1679.940,888.165,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,295.435,324.003,420.379,429.427,658.885,0.000,0.000,0.000,0.000,0.000
$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,40579,437
$CAP_FILE_SIZE,94817,0
$CFSIZE,2097086464,2036924416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,1
$CURRENT,0.058,356.90,1
$GPS,150518,205624,2245.312,-15753.476,42,0.9,42,9.8,1.1,47.3,10,19.7