version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 588
start: 5 17 118 10 16 16
data:
$ID,626
$MISSION,2
$DIVE,588
$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,51
$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
$GPS1,170518,100526,2244.7661,-15758.0801,18,1.9,19,9.8,0.5,62.6,6,39.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-73.0
$GPS2,170518,101530,2244.7832,-15758.0430,8,2.0,8,9.8,0.9,72.3,6,100.2
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,AL2
$TGT_LATLONG,2245.000,-15759.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,268.0,1684,-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,-87.6,184,2137,687,628,0.0,0.0,0,72,0.00,0.00,-53.47,0.000,16386,0.000,0.000,184,2136,2461,2493,2430,0,0,0,0,0,0,14.93,28.83,14.94
$GC,75,-0.54,-87.6,184,2137,2493,2430,3.4,-6.2,7,95,7.65,2.35,-3.03,0.000,18948,0.444,0.069,2434,712,2638,2684,2592,0,0,0,0,0,0,14.17,13.66,14.61
$GC,193,-0.54,-87.6,2433,711,2684,2591,40.2,-24.5,22,198,0.00,2.33,0.00,0.000,3078,0.000,0.040,2428,2125,2638,2684,2592,0,0,0,0,0,0,14.74,14.63,14.76
$GC,448,-0.54,-87.6,2428,2127,2684,2591,92.3,-19.3,47,453,0.00,2.33,0.00,0.000,2308,0.000,0.057,2428,3536,2638,2685,2591,0,0,0,0,0,0,15.03,14.64,15.03
$GC,508,-0.54,-87.6,2427,3537,2684,2591,103.0,-17.6,52,516,0.00,2.40,0.00,0.000,3078,0.000,0.047,2428,2131,2638,2685,2591,0,0,0,0,0,0,14.57,14.57,14.60
$GC,758,-0.54,-87.6,2428,2131,2684,2591,147.9,-17.2,77,763,0.00,2.35,0.00,0.000,2564,0.000,0.060,2428,716,2638,2685,2591,0,0,0,0,0,0,15.07,14.66,15.07
$GC,802,-0.54,-87.6,2427,716,2685,2591,155.9,-16.6,81,808,0.00,2.30,0.00,0.000,3078,0.000,0.041,2427,2127,2638,2685,2591,0,0,0,0,0,0,14.83,14.72,14.85
$GC,1060,-0.54,-87.6,2427,2129,2685,2591,195.7,-15.4,106,1065,0.00,2.30,0.00,0.000,2308,0.000,0.057,2427,3530,2637,2684,2591,0,0,0,0,0,0,15.09,14.69,15.09
$GC,1097,-0.54,-87.6,2427,3530,2685,2591,201.2,-15.1,109,1105,0.00,2.30,0.00,0.000,3078,0.000,0.043,2427,2117,2638,2685,2591,0,0,0,0,0,0,14.85,14.73,14.86
$GC,1344,-0.54,-87.6,2427,2116,2685,2592,237.4,-14.6,116,1349,0.00,2.35,0.00,0.000,2308,0.000,0.056,2427,3532,2638,2686,2591,0,0,0,0,0,0,15.16,14.72,15.16
$GC,1387,-0.54,-87.6,2427,3533,2685,2591,242.8,-14.3,117,1392,0.00,2.30,0.00,0.000,3078,0.000,0.041,2427,2115,2638,2685,2591,0,0,0,0,0,0,14.88,14.78,14.90
$GC,1671,-0.54,-87.6,2427,2114,2685,2591,281.4,-13.8,124,1676,0.00,2.38,0.00,0.000,2308,0.000,0.057,2427,3539,2638,2685,2591,0,0,0,0,0,0,15.18,14.73,15.18
$GC,1698,-0.54,-87.6,2427,3540,2685,2591,281.4,-13.8,124,1703,0.00,2.28,0.00,0.000,3078,0.000,0.041,2427,2126,2638,2685,2591,0,0,0,0,0,0,14.90,14.79,14.92
$GC,1956,-0.54,-87.6,2427,2125,2686,2591,319.8,-13.4,131,1961,0.00,2.35,0.00,0.000,2308,0.000,0.057,2427,3537,2638,2685,2591,0,0,0,0,0,0,15.19,14.74,15.20
$GC,1992,-0.54,-87.6,2427,3537,2685,2591,319.8,-13.4,131,1999,0.00,2.30,0.00,0.000,3078,0.000,0.041,2427,2117,2638,2685,2591,0,0,0,0,0,0,14.90,14.79,14.92
$GC,2239,-0.54,-87.6,2427,2117,2685,2589,358.0,-13.6,138,2244,0.00,2.28,0.00,0.000,2564,0.000,0.057,2427,725,2636,2685,2588,0,0,0,0,0,0,15.20,14.74,15.20
$GC,2261,-0.54,-87.6,2427,724,2685,2588,358.0,-13.6,138,2267,0.00,2.28,0.00,0.000,3078,0.000,0.041,2427,2131,2636,2685,2588,0,0,0,0,0,0,14.90,14.80,14.92
$GC,2524,-0.54,-87.6,2427,2132,2685,2586,392.1,-11.2,145,2530,0.00,2.30,0.00,0.000,2308,0.000,0.058,2427,3528,2634,2685,2584,0,0,0,0,0,0,15.21,14.74,15.21
$GC,2567,-0.54,-87.6,2427,3529,2685,2586,396.3,-10.7,146,2573,0.00,2.28,0.00,0.000,3078,0.000,0.041,2427,2126,2635,2685,2585,0,0,0,0,0,0,14.90,14.79,14.92
$GC,2851,-0.54,-87.6,2427,2125,2685,2583,427.9,-12.0,153,2856,0.00,2.30,0.00,0.000,2564,0.000,0.058,2427,725,2633,2685,2582,0,0,0,0,0,0,15.20,14.74,15.21
$GC,2903,-0.54,-87.6,2427,724,2685,2581,433.5,-12.5,154,2908,0.00,2.28,0.00,0.000,3078,0.000,0.041,2427,2124,2632,2685,2580,0,0,0,0,0,0,14.90,14.78,14.92
$GC,3176,-0.54,-87.6,2427,2126,2685,2578,467.7,-11.7,161,3181,0.00,2.30,0.00,0.000,2308,0.000,0.056,2427,3531,2631,2685,2578,0,0,0,0,0,0,15.21,14.74,15.21
$GC,3253,-0.54,-87.6,2427,3531,2685,2577,472.3,-11.4,162,3259,0.00,2.30,0.00,0.000,3078,0.000,0.041,2427,2123,2631,2685,2578,0,0,0,0,0,0,14.89,14.77,14.91
$GC,3499,-0.54,-87.6,2427,2122,2685,2573,500.4,-10.1,169,3500,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2122,2629,2685,2573,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3739,-0.54,-87.6,2427,2122,2685,2570,524.3,-10.1,175,3744,0.00,2.35,0.00,0.000,2564,0.000,0.060,2427,717,2627,2685,2570,0,0,0,0,0,0,15.21,14.71,15.21
$GC,3761,-0.54,-87.6,2427,716,2685,2570,524.3,-10.1,175,3766,0.00,2.30,0.00,0.000,3078,0.000,0.038,2427,2136,2627,2684,2570,0,0,0,0,0,0,14.90,14.79,14.91
$GC,4024,-0.54,-87.6,2426,2138,2685,2566,556.2,-11.4,182,4029,0.00,2.28,0.00,0.000,2308,0.000,0.054,2427,3523,2626,2685,2567,0,0,0,0,0,0,15.21,14.71,15.21
$GC,4116,-0.54,-87.6,2427,3523,2685,2565,565.4,-11.3,184,4121,0.00,2.28,0.00,0.000,3078,0.000,0.037,2427,2114,2625,2685,2565,0,0,0,0,0,0,14.88,14.78,14.90
$GC,4389,-0.54,-87.6,2427,2113,2685,2562,597.0,-11.3,191,4394,0.00,2.28,0.00,0.000,2564,0.000,0.054,2427,728,2623,2685,2561,0,0,0,0,0,0,15.20,14.70,15.20
$GC,4416,-0.54,-87.6,2427,728,2685,2561,597.0,-11.3,191,4422,0.00,2.28,0.00,0.000,3078,0.000,0.043,2427,2117,2623,2685,2561,0,0,0,0,0,0,14.87,14.74,14.89
$STATE,4432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4433,begin apogee
$GC,4439,-0.13,0.0,2427,1933,2685,2561,602.4,-11.3,192,4516,0.38,0.00,72.18,1.667,10246,0.250,0.000,2564,1933,2273,2353,2194,0,0,0,0,0,0,14.28,14.43,13.65
$STATE,4517,end apogee,CONTROL_FINISHED_OK
$STATE,4517,begin climb
$GC,4520,0.54,87.6,2564,1933,2349,2194,606.6,0.0,194,4601,0.50,2.38,73.65,1.623,10756,0.163,0.060,2782,555,1915,2008,1823,0,0,0,0,0,0,14.35,14.07,13.49
$GC,4748,0.76,269.7,2782,554,2003,1819,607.5,-0.3,199,4914,0.15,2.33,153.20,1.609,11270,0.122,0.037,2891,1969,1175,1280,1071,0,0,0,0,0,0,14.54,14.57,13.48
$GC,5161,0.76,269.7,2890,1969,1278,1061,528.7,23.1,210,5167,0.08,2.28,0.00,0.000,4356,0.417,0.048,2860,3344,1169,1278,1061,0,0,0,0,0,0,14.23,14.55,14.45
$GC,5194,0.76,269.7,2860,3345,1277,1061,528.7,23.1,210,5200,0.00,2.30,0.00,0.000,5126,0.000,0.050,2869,1971,1168,1276,1061,0,0,0,0,0,0,14.73,14.62,14.74
$GC,5448,0.76,269.7,2868,1970,1277,1059,465.2,22.0,217,5449,0.00,0.00,0.00,0.000,4102,0.000,0.000,2869,1970,1168,1277,1059,0,0,0,0,0,0,15.03,15.04,15.03
$GC,5687,0.76,269.7,2869,1970,1277,1059,413.2,21.7,223,5692,0.00,2.28,0.00,0.000,4356,0.000,0.050,2868,3344,1168,1277,1059,0,0,0,0,0,0,15.08,14.72,15.09
$GC,5726,0.76,269.7,2868,3344,1277,1061,413.2,21.7,223,5733,0.08,2.33,0.00,0.000,5126,0.403,0.050,2856,1949,1169,1277,1061,0,0,0,0,0,0,14.32,14.72,14.68
$GC,5971,0.76,269.7,2856,1949,1277,1059,355.1,20.5,230,5976,0.00,2.35,0.00,0.000,516,0.000,0.060,2865,533,1168,1277,1059,0,0,0,0,0,0,15.11,14.71,15.11
$GC,6027,0.76,269.7,2865,533,1277,1059,346.4,20.3,231,6033,0.00,2.30,0.00,0.000,5126,0.000,0.034,2866,1951,1168,1277,1059,0,0,0,0,0,0,14.87,14.78,14.89
$GC,6296,0.76,269.7,2865,1954,1277,1058,291.0,19.9,238,6301,0.00,2.40,0.00,0.000,4612,0.000,0.063,2876,540,1167,1277,1058,0,0,0,0,0,0,15.14,14.70,15.14
$GC,6318,0.76,269.7,2876,540,1277,1059,291.0,19.9,238,6324,0.05,2.30,0.00,0.000,5126,0.419,0.037,2860,1949,1167,1277,1058,0,0,0,0,0,0,14.40,14.78,14.71
$GC,6582,0.76,269.7,2860,1961,1277,1057,236.7,18.6,245,6587,0.00,2.28,0.00,0.000,4356,0.000,0.044,2860,3361,1167,1277,1057,0,0,0,0,0,0,15.15,14.76,15.16
$GC,6639,0.76,269.7,2859,3361,1277,1062,228.4,18.5,246,6645,0.00,2.35,0.00,0.000,5126,0.000,0.046,2870,1939,1169,1277,1062,0,0,0,0,0,0,14.87,14.74,14.89
$GC,6888,0.76,269.7,2869,1939,1277,1061,181.0,16.8,260,6893,0.00,2.33,0.00,0.000,4612,0.000,0.057,2881,532,1169,1277,1061,0,0,0,0,0,0,15.14,14.71,15.14
$GC,6922,0.76,269.7,2881,532,1277,1061,175.2,16.5,263,6929,0.08,2.35,0.00,0.000,5126,0.355,0.034,2855,1966,1168,1276,1061,0,0,0,0,0,0,14.35,14.78,14.68
$GC,7177,0.76,269.7,2855,1974,1277,1060,136.0,15.4,288,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1973,1168,1277,1059,0,0,0,0,0,0,15.12,15.13,15.12
$GC,7417,0.76,269.7,2855,1975,1276,1059,101.1,14.2,312,7423,0.00,2.25,0.00,0.000,260,0.000,0.045,2855,3358,1168,1277,1059,0,0,0,0,0,0,15.11,14.72,15.11
$GC,7456,0.76,269.7,2855,3358,1276,1060,96.3,14.1,315,7463,0.00,2.35,0.00,0.000,5126,0.000,0.045,2864,1941,1168,1276,1060,0,0,0,0,0,0,14.83,14.70,14.85
$GC,7707,0.76,269.7,2864,1942,1277,1061,61.2,13.9,340,7713,0.00,2.33,0.00,0.000,4356,0.000,0.050,2864,3346,1168,1276,1061,0,0,0,0,0,0,15.09,14.69,15.09
$GC,7860,0.76,269.7,2864,3345,1277,1062,39.3,13.5,353,7867,0.05,2.33,0.00,0.000,5126,0.444,0.049,2859,1953,1170,1277,1063,0,0,0,0,0,0,14.31,14.67,14.62
$GC,8144,0.76,269.7,2859,1953,1277,1065,5.5,10.1,395,8152,0.00,2.45,0.00,0.000,516,0.000,0.064,2869,543,1171,1277,1066,0,0,0,0,0,0,15.03,14.47,15.04
$STATE,8165,end climb,SURFACE_DEPTH_REACHED
$STATE,8166,begin surface coast
$FINISH,0.3,1.020831
$STATE,8197,end surface coast,CONTROL_FINISHED_OK
$STATE,8197,begin surface
$SM_CCo,8215,85.12,0.876,1,0,647,400.08
$SM_GC,1.29,6.22,2.65,85.12,0.083,0.037,0.876,184,2119,647,-7.42,-1.58,400.08,0,0,0,0,1,0,14.73,14.67,13.95
$IRIDIUM_FIX,2234.68,-15757.16,170518,100851
$TT8_MAMPS,0.019474,0.298851
$HUMID,47.63
$INTERNAL_PRESSURE,9.42678
$TCM_TEMP,21.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,6.6
$24V_AH,13.48,134.168
$10V_AH,12.70,0.000
$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,15.225,111.825,299.025,85.125,0.000,60.920,48.910,292.314,0.500,0.000,9.135,1462.453,5013.681,493.735,1761.321,207.342,0.000,1118.845,0.000,1343.033,0.000,5.460,0.000
$DEVICE_MAMPS,443.700,68.850,1666.935,875.925,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,272.679,214.298,383.517,386.465,592.973,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343160
$DATA_FILE_SIZE,34079,403
$CAP_FILE_SIZE,93603,0
$CFSIZE,2097086464,2035548160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.065,233.12,1
$GPS,170518,123554,2244.805,-15759.521,35,0.9,35,9.8,0.0,0.0,8,18.6