version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 578
start: 5 16 118 5 44 32
data:
$ID,626
$MISSION,2
$DIVE,578
$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,37
$R_STBD_OVSHOOT,89
$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
$GPS1,160518,053549,2244.8945,-15757.3242,17,1.3,17,9.8,0.0,0.0,7,48.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-74.0
$GPS2,160518,054350,2244.9189,-15757.3047,14,1.3,14,9.8,0.6,32.9,7,54.2
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,AL2
$TGT_LATLONG,2245.000,-15759.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,263.2,2900,-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,14,begin dive
$GC,16,-0.54,-87.6,183,2168,679,624,0.0,0.0,0,73,0.00,0.00,-54.92,0.000,16386,0.000,0.000,183,2167,2512,2544,2480,0,0,0,0,0,0,14.93,28.83,14.94
$GC,77,-0.54,-87.6,183,2166,2545,2480,3.5,-5.9,7,95,7.65,2.38,-2.15,0.000,19204,0.444,0.060,2433,706,2638,2682,2594,0,0,0,0,0,0,14.17,13.65,14.62
$GC,275,-0.54,-87.6,2433,706,2682,2594,56.6,-20.6,29,280,0.00,2.25,0.00,0.000,3078,0.000,0.039,2428,2076,2638,2682,2594,0,0,0,0,0,0,14.76,14.65,14.78
$GC,529,-0.54,-87.6,2427,2080,2682,2594,111.0,-20.8,54,535,0.00,2.40,0.00,0.000,2308,0.000,0.055,2428,3534,2638,2682,2594,0,0,0,0,0,0,15.04,14.65,15.04
$GC,553,-0.54,-87.6,2427,3535,2682,2593,116.2,-20.4,56,560,0.00,2.33,0.00,0.000,3078,0.000,0.044,2427,2120,2638,2682,2594,0,0,0,0,0,0,14.81,14.69,14.82
$GC,809,-0.54,-87.6,2427,2118,2683,2594,163.3,-17.8,81,814,0.00,2.30,0.00,0.000,2564,0.000,0.060,2428,721,2638,2683,2593,0,0,0,0,0,0,15.09,14.67,15.09
$GC,836,-0.54,-87.6,2427,721,2683,2593,167.7,-17.4,83,843,0.00,2.30,0.00,0.000,3078,0.000,0.039,2427,2132,2637,2682,2593,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1083,-0.54,-87.6,2427,2133,2684,2594,206.5,-15.2,105,1088,0.00,2.30,0.00,0.000,2308,0.000,0.057,2427,3533,2638,2683,2593,0,0,0,0,0,0,15.13,14.70,15.13
$GC,1135,-0.54,-87.6,2427,3533,2684,2594,212.0,-14.2,106,1140,0.00,2.28,0.00,0.000,3078,0.000,0.041,2427,2122,2639,2684,2594,0,0,0,0,0,0,14.86,14.76,14.88
$GC,1408,-0.54,-87.6,2427,2121,2685,2594,250.7,-14.1,113,1413,0.00,2.30,0.00,0.000,2564,0.000,0.059,2427,721,2639,2685,2593,0,0,0,0,0,0,15.16,14.73,15.17
$GC,1470,-0.54,-87.6,2427,720,2685,2593,257.1,-14.7,114,1475,0.00,2.28,0.00,0.000,3078,0.000,0.040,2427,2127,2638,2684,2593,0,0,0,0,0,0,14.90,14.78,14.91
$GC,1733,-0.54,-87.6,2427,2128,2685,2593,295.2,-13.5,121,1738,0.00,2.30,0.00,0.000,2308,0.000,0.057,2427,3531,2639,2685,2593,0,0,0,0,0,0,15.19,14.75,15.19
$GC,1805,-0.54,-87.6,2427,3531,2685,2593,300.7,-13.3,122,1810,0.00,2.28,0.00,0.000,3078,0.000,0.041,2427,2120,2639,2685,2593,0,0,0,0,0,0,14.91,14.80,14.92
$GC,2058,-0.54,-87.6,2427,2119,2685,2593,335.8,-12.6,129,2059,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2118,2639,2685,2593,0,0,0,0,0,0,15.20,15.20,15.20
$GC,2298,-0.54,-87.6,2427,2119,2684,2593,364.5,-11.8,135,2300,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2119,2639,2685,2593,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2539,-0.54,-87.6,2427,2119,2685,2591,394.1,-12.3,141,2545,0.00,2.35,0.00,0.000,2308,0.000,0.055,2427,3533,2637,2684,2590,0,0,0,0,0,0,15.20,14.76,15.21
$GC,2572,-0.54,-87.6,2427,3533,2684,2590,394.1,-12.3,141,2577,0.00,2.28,0.00,0.000,3078,0.000,0.039,2427,2122,2637,2685,2590,0,0,0,0,0,0,14.92,14.81,14.93
$GC,2825,-0.54,-87.6,2427,2120,2684,2587,428.8,-12.1,148,2830,0.00,2.30,0.00,0.000,2564,0.000,0.057,2427,719,2636,2685,2587,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2887,-0.54,-87.6,2427,719,2684,2586,434.1,-12.1,149,2893,0.00,2.28,0.00,0.000,3078,0.000,0.037,2427,2132,2635,2684,2586,0,0,0,0,0,0,14.92,14.81,14.93
$GC,3150,-0.54,-87.6,2427,2133,2685,2583,464.2,-10.2,156,3156,0.00,2.30,0.00,0.000,2308,0.000,0.055,2427,3529,2634,2685,2583,0,0,0,0,0,0,15.21,14.74,15.21
$GC,3188,-0.54,-87.6,2427,3529,2684,2583,464.2,-10.2,156,3194,0.00,2.25,0.00,0.000,3078,0.000,0.035,2427,2119,2633,2683,2583,0,0,0,0,0,0,14.92,14.82,14.93
$GC,3434,-0.54,-87.6,2427,2118,2684,2579,494.7,-11.6,163,3435,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2119,2631,2684,2579,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3674,-0.54,-87.6,2427,2119,2685,2577,524.3,-12.1,169,3679,0.00,2.28,0.00,0.000,2564,0.000,0.052,2427,730,2630,2684,2577,0,0,0,0,0,0,15.21,14.74,15.21
$GC,3717,-0.54,-87.6,2427,729,2685,2576,529.6,-12.2,170,3722,0.00,2.28,0.00,0.000,3078,0.000,0.038,2427,2128,2630,2684,2576,0,0,0,0,0,0,14.90,14.79,14.92
$GC,4000,-0.54,-87.6,2427,2130,2685,2572,562.7,-11.3,177,4005,0.00,2.30,0.00,0.000,2308,0.000,0.055,2427,3522,2628,2685,2572,0,0,0,0,0,0,15.21,14.72,15.21
$GC,4092,-0.54,-87.6,2427,3522,2684,2571,571.8,-11.1,179,4097,0.00,2.25,0.00,0.000,3078,0.000,0.035,2427,2121,2628,2685,2571,0,0,0,0,0,0,14.89,14.79,14.91
$STATE,4364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4364,begin apogee
$GC,4371,-0.13,0.0,2427,1921,2684,2567,604.0,-11.5,186,4446,0.38,0.00,70.32,1.727,10246,0.249,0.000,2564,1921,2279,2360,2199,0,0,0,0,0,0,14.27,14.44,13.63
$STATE,4447,end apogee,CONTROL_FINISHED_OK
$STATE,4447,begin climb
$GC,4450,0.54,87.6,2564,1921,2360,2201,608.2,0.0,188,4527,0.50,0.00,73.62,1.934,10502,0.165,0.000,2772,1921,1921,2014,1829,0,0,0,0,0,0,14.35,14.16,13.30
$GC,4768,0.73,245.6,2771,1921,2014,1830,608.9,0.8,196,4910,0.10,0.00,138.25,2.545,10758,0.152,0.000,2878,1921,1277,1386,1169,0,0,0,0,0,0,14.60,13.97,13.04
$GC,5125,0.73,245.6,2878,1921,1386,1172,550.5,20.9,205,5131,0.08,2.40,0.00,0.000,4356,0.401,0.042,2848,3354,1279,1386,1172,0,0,0,0,0,0,14.26,14.54,14.44
$GC,5203,0.73,245.6,2848,3354,1386,1171,541.2,20.9,206,5211,0.00,2.28,0.00,0.000,5126,0.000,0.044,2857,1984,1278,1386,1171,0,0,0,0,0,0,14.72,14.63,14.73
$GC,5449,0.73,245.6,2857,1984,1386,1169,486.1,19.8,213,5454,0.00,2.42,0.00,0.000,4612,0.000,0.059,2868,536,1277,1386,1169,0,0,0,0,0,0,15.02,14.68,15.02
$GC,5501,0.73,245.6,2868,536,1386,1169,477.1,19.9,214,5507,0.05,2.30,0.00,0.000,5126,0.423,0.034,2852,1959,1277,1386,1169,0,0,0,0,0,0,14.41,14.75,14.68
$GC,5776,0.73,245.6,2852,1971,1384,1166,419.7,20.0,221,5781,0.00,2.25,0.00,0.000,4356,0.000,0.044,2852,3344,1276,1386,1166,0,0,0,0,0,0,15.09,14.76,15.09
$GC,5827,0.73,245.6,2852,3345,1385,1166,410.8,20.1,222,5833,0.00,2.33,0.00,0.000,5126,0.000,0.044,2862,1941,1275,1386,1165,0,0,0,0,0,0,14.86,14.75,14.88
$GC,6100,0.73,245.6,2862,1940,1385,1165,356.6,18.6,229,6105,0.00,2.33,0.00,0.000,4612,0.000,0.057,2873,536,1275,1386,1164,0,0,0,0,0,0,15.12,14.73,15.12
$GC,6127,0.73,245.6,2873,536,1385,1163,356.6,18.6,229,6134,0.08,2.30,0.00,0.000,5126,0.376,0.032,2848,1962,1274,1385,1164,0,0,0,0,0,0,14.38,14.81,14.68
$GC,6387,0.73,245.6,2848,1975,1385,1163,310.3,15.8,236,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1976,1274,1386,1163,0,0,0,0,0,0,15.14,15.14,15.14
$GC,6626,0.73,245.6,2848,1977,1385,1162,275.5,14.4,242,6632,0.00,2.22,0.00,0.000,260,0.000,0.043,2848,3351,1273,1385,1161,0,0,0,0,0,0,15.16,14.78,15.16
$GC,6669,0.73,245.6,2848,3351,1384,1161,269.0,14.3,243,6675,0.00,2.33,0.00,0.000,5126,0.000,0.042,2858,1940,1273,1385,1161,0,0,0,0,0,0,14.88,14.78,14.90
$GC,6953,0.73,245.6,2858,1939,1385,1160,227.0,14.8,250,6954,0.00,0.00,0.00,0.000,4102,0.000,0.000,2858,1939,1272,1385,1160,0,0,0,0,0,0,15.16,15.16,15.16
$GC,7194,0.73,245.6,2858,1939,1385,1160,190.3,15.7,259,7199,0.00,2.33,0.00,0.000,4356,0.000,0.043,2858,3352,1273,1385,1161,0,0,0,0,0,0,15.15,14.77,15.16
$GC,7232,0.73,245.6,2858,3352,1385,1160,185.0,15.3,262,7240,0.08,2.33,0.00,0.000,5126,0.387,0.043,2844,1940,1272,1385,1160,0,0,0,0,0,0,14.33,14.77,14.64
$GC,7479,0.73,245.6,2844,1939,1385,1160,150.7,12.2,287,7484,0.00,2.30,0.00,0.000,260,0.000,0.043,2844,3350,1272,1385,1160,0,0,0,0,0,0,15.14,14.75,15.14
$GC,7676,0.73,245.6,2843,3352,1385,1160,124.7,11.5,305,7681,0.00,2.30,0.00,0.000,5126,0.000,0.042,2853,1950,1273,1385,1161,0,0,0,0,0,0,14.85,14.74,14.87
$GC,7930,0.73,245.6,2853,1949,1385,1161,93.8,12.0,330,7931,0.00,0.00,0.00,0.000,4102,0.000,0.000,2853,1950,1273,1385,1161,0,0,0,0,0,0,15.11,15.11,15.11
$GC,8171,0.73,245.6,2853,1949,1385,1163,66.1,12.1,354,8177,0.00,2.30,0.00,0.000,4356,0.000,0.043,2853,3346,1274,1385,1164,0,0,0,0,0,0,15.10,14.71,15.10
$GC,8302,0.73,245.6,2853,3345,1385,1165,49.4,12.4,365,8312,0.05,2.38,0.00,0.000,5126,0.358,0.042,2847,1949,1275,1385,1165,0,0,0,0,0,0,14.17,14.57,14.35
$GC,8560,0.77,274.3,2846,1949,1385,1166,26.1,6.7,394,8593,0.00,2.38,24.12,0.951,10756,0.000,0.054,2857,541,1161,1272,1051,0,0,0,0,0,0,15.07,14.49,14.04
$GC,8632,0.77,274.3,2857,540,1273,1055,19.9,9.5,404,8641,0.00,2.35,0.00,0.000,1030,0.000,0.030,2857,1953,1164,1272,1056,0,0,0,0,0,0,14.63,14.59,14.65
$STATE,8796,end climb,SURFACE_DEPTH_REACHED
$STATE,8796,begin surface coast
$FINISH,0.3,1.010392
$STATE,8828,end surface coast,CONTROL_FINISHED_OK
$STATE,8828,begin surface
$SM_CCo,8844,76.55,0.112,0,0,647,400.08
$SM_GC,1.36,6.20,0.22,76.55,0.082,0.063,0.112,184,2141,647,-7.43,-1.61,400.08,0,0,0,0,0,0,14.72,14.74,14.53
$IRIDIUM_FIX,2234.68,-15757.16,160518,053726
$TT8_MAMPS,0.018725,0.268891
$HUMID,46.88
$INTERNAL_PRESSURE,9.45608
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,6.3
$24V_AH,13.04,131.886
$10V_AH,12.80,0.000
$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,15.150,92.800,306.325,76.550,0.000,31.851,45.056,265.655,0.500,0.000,15.130,1524.174,5471.228,471.291,1768.804,193.524,0.000,1099.222,0.000,1403.378,0.000,5.460,0.000
$DEVICE_MAMPS,443.700,66.555,2545.155,111.690,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,294.781,230.447,416.488,427.265,655.582,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343136
$DATA_FILE_SIZE,37214,436
$CAP_FILE_SIZE,90606,0
$CFSIZE,2097086464,2036531200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.025,326.24,1
$GPS,160518,081430,2245.016,-15758.589,40,0.8,40,9.8,0.5,45.0,10,21.8