version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 596
start: 5 18 118 8 23 58
data:
$ID,626
$MISSION,2
$DIVE,596
$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,39
$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
$GPS1,180518,081430,2244.3176,-15753.6709,26,0.9,26,9.8,0.0,0.0,10,21.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.7
$GPS2,180518,082314,2244.3301,-15753.6006,18,0.9,18,9.8,0.6,103.8,10,21.2
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,AL3
$TGT_LATLONG,2245.000,-15754.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,319.0,1416,-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,-87.6,185,2143,687,627,0.0,0.0,0,73,0.00,0.00,-54.00,0.000,16386,0.000,0.000,185,2144,2521,2552,2490,0,0,0,0,0,0,14.95,28.83,14.95
$GC,76,-0.54,-87.6,185,2144,2551,2489,3.9,-7.2,7,95,7.65,2.28,-1.95,0.000,18692,0.447,0.063,2419,3532,2639,2682,2597,0,0,0,0,0,0,14.16,13.66,14.62
$GC,266,-0.54,-87.6,2418,3532,2682,2596,54.8,-20.4,27,272,0.05,2.33,0.00,0.000,3078,0.428,0.046,2434,2128,2639,2682,2596,0,0,0,0,0,0,14.31,14.65,14.58
$GC,520,-0.54,-87.6,2434,2127,2682,2596,109.7,-19.1,52,525,0.00,2.33,0.00,0.000,2564,0.000,0.060,2434,719,2638,2682,2595,0,0,0,0,0,0,15.06,14.64,15.06
$GC,560,-0.54,-87.6,2434,718,2682,2595,116.3,-19.3,55,567,0.00,2.30,0.00,0.000,3078,0.000,0.041,2428,2122,2638,2682,2594,0,0,0,0,0,0,14.81,14.69,14.83
$GC,808,-0.54,-87.6,2427,2123,2682,2594,162.0,-18.6,80,809,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2123,2638,2682,2594,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1077,-0.54,-87.6,2428,2123,2683,2595,206.6,-15.1,104,1082,0.00,2.33,0.00,0.000,2308,0.000,0.060,2428,3532,2639,2683,2595,0,0,0,0,0,0,15.13,14.69,15.14
$GC,1149,-0.54,-87.6,2427,3532,2683,2595,212.9,-15.0,105,1154,0.00,2.30,0.00,0.000,3078,0.000,0.042,2427,2113,2638,2683,2594,0,0,0,0,0,0,14.86,14.75,14.88
$GC,1403,-0.54,-87.6,2427,2112,2683,2594,249.0,-12.7,112,1408,0.00,2.28,0.00,0.000,2564,0.000,0.057,2428,723,2639,2684,2594,0,0,0,0,0,0,15.16,14.73,15.17
$GC,1435,-0.54,-87.6,2427,723,2684,2594,249.0,-12.7,112,1440,0.00,2.28,0.00,0.000,3078,0.000,0.041,2428,2125,2639,2684,2595,0,0,0,0,0,0,14.89,14.78,14.91
$GC,1688,-0.54,-87.6,2427,2127,2684,2594,288.2,-13.7,119,1693,0.00,2.33,0.00,0.000,2308,0.000,0.060,2428,3537,2639,2684,2594,0,0,0,0,0,0,15.19,14.73,15.19
$GC,1725,-0.54,-87.6,2428,3538,2684,2594,288.2,-13.7,119,1731,0.00,2.30,0.00,0.000,3078,0.000,0.040,2428,2117,2638,2683,2594,0,0,0,0,0,0,14.90,14.80,14.92
$GC,1971,-0.54,-87.6,2427,2116,2683,2594,327.5,-14.4,126,1976,0.00,2.30,0.00,0.000,2564,0.000,0.058,2428,714,2639,2684,2594,0,0,0,0,0,0,15.20,14.75,15.20
$GC,2008,-0.54,-87.6,2427,713,2684,2594,327.5,-14.4,126,2016,0.00,2.33,0.00,0.000,3078,0.000,0.041,2428,2136,2638,2684,2593,0,0,0,0,0,0,14.91,14.80,14.92
$GC,2254,-0.54,-87.6,2427,2135,2684,2592,367.2,-13.3,133,2259,0.00,2.30,0.00,0.000,2308,0.000,0.060,2428,3530,2637,2683,2592,0,0,0,0,0,0,15.21,14.74,15.21
$GC,2306,-0.54,-87.6,2427,3529,2684,2591,372.5,-12.9,134,2312,0.00,2.28,0.00,0.000,3078,0.000,0.042,2428,2125,2637,2684,2591,0,0,0,0,0,0,14.91,14.79,14.92
$GC,2580,-0.54,-87.6,2427,2125,2683,2588,407.1,-12.3,141,2585,0.00,2.30,0.00,0.000,2564,0.000,0.059,2428,724,2635,2683,2588,0,0,0,0,0,0,15.20,14.75,15.21
$GC,2623,-0.54,-87.6,2427,723,2683,2587,412.9,-12.6,142,2629,0.00,2.30,0.00,0.000,3078,0.000,0.042,2428,2127,2635,2683,2587,0,0,0,0,0,0,14.91,14.79,14.92
$GC,2906,-0.54,-87.6,2427,2129,2684,2584,448.6,-12.9,149,2907,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2128,2633,2683,2584,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3147,-0.54,-87.6,2427,2129,2684,2580,479.7,-12.8,155,3152,0.00,2.30,0.00,0.000,2308,0.000,0.055,2428,3531,2631,2683,2580,0,0,0,0,0,0,15.21,14.75,15.21
$GC,3174,-0.54,-87.6,2427,3532,2683,2580,479.7,-12.8,155,3179,0.00,2.30,0.00,0.000,3078,0.000,0.041,2428,2119,2631,2683,2579,0,0,0,0,0,0,14.90,14.78,14.92
$GC,3432,-0.54,-87.6,2427,2119,2683,2577,510.8,-10.5,162,3437,0.00,2.33,0.00,0.000,2564,0.000,0.059,2427,712,2630,2683,2577,0,0,0,0,0,0,15.21,14.73,15.21
$GC,3475,-0.54,-87.6,2427,712,2683,2576,515.4,-10.3,163,3480,0.00,2.33,0.00,0.000,3078,0.000,0.038,2428,2140,2630,2683,2577,0,0,0,0,0,0,14.90,14.80,14.92
$GC,3758,-0.54,-87.6,2427,2142,2683,2572,542.0,-9.5,170,3759,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2142,2627,2683,2572,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3998,-0.54,-87.6,2427,2141,2683,2569,563.8,-8.9,176,4003,0.00,2.30,0.00,0.000,2308,0.000,0.056,2427,3531,2626,2683,2570,0,0,0,0,0,0,15.21,14.71,15.21
$GC,4035,-0.54,-87.6,2427,3532,2683,2569,563.8,-8.9,176,4042,0.00,2.30,0.00,0.000,3078,0.000,0.037,2428,2110,2626,2683,2569,0,0,0,0,0,0,14.89,14.79,14.91
$GC,4281,-0.54,-87.6,2427,2109,2683,2564,591.7,-10.3,183,4286,0.00,2.28,0.00,0.000,2564,0.000,0.054,2428,730,2624,2684,2564,0,0,0,0,0,0,15.21,14.71,15.21
$GC,4318,-0.54,-87.6,2427,729,2683,2564,591.7,-10.3,183,4326,0.00,2.28,0.00,0.000,3078,0.000,0.039,2427,2126,2623,2683,2564,0,0,0,0,0,0,14.88,14.77,14.90
$STATE,4362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4362,begin apogee
$GC,4368,-0.13,0.0,2428,1921,2683,2564,601.0,-10.8,185,4444,0.38,0.00,69.53,1.698,10246,0.252,0.000,2564,1921,2279,2360,2199,0,0,0,0,0,0,14.26,14.26,13.62
$STATE,4445,end apogee,CONTROL_FINISHED_OK
$STATE,4445,begin climb
$GC,4448,0.54,87.6,2564,1921,2360,2202,604.9,0.0,187,4530,0.50,2.33,75.43,1.649,10756,0.166,0.056,2781,568,1918,2012,1824,0,0,0,0,0,0,14.35,14.07,13.47
$GC,4737,0.72,235.0,2781,567,2008,1820,605.1,1.3,194,4862,0.10,2.28,118.20,1.795,11270,0.156,0.037,2868,1953,1322,1432,1212,0,0,0,0,0,0,14.57,14.62,13.35
$GC,5132,0.72,235.0,2867,1953,1431,1228,539.0,20.4,204,5143,0.08,2.33,1.80,0.100,12548,0.415,0.045,2837,3348,1325,1427,1223,0,0,0,0,0,0,14.26,14.61,14.47
$GC,5215,0.72,235.0,2836,3349,1428,1229,522.8,20.0,206,5221,0.00,2.28,0.00,0.000,5126,0.000,0.046,2846,1984,1328,1427,1230,0,0,0,0,0,0,14.76,14.65,14.78
$GC,5499,0.72,235.0,2846,1983,1427,1227,468.2,19.2,213,5505,0.00,2.42,0.00,0.000,4612,0.000,0.060,2857,538,1327,1427,1227,0,0,0,0,0,0,15.06,14.69,15.06
$GC,5551,0.72,235.0,2857,538,1427,1227,459.6,19.1,214,5557,0.00,2.33,0.00,0.000,5126,0.000,0.034,2857,1953,1327,1427,1227,0,0,0,0,0,0,14.84,14.76,14.85
$GC,5824,0.72,235.0,2857,1955,1428,1224,406.4,18.6,221,5830,0.00,2.28,0.00,0.000,4356,0.000,0.046,2857,3350,1325,1427,1224,0,0,0,0,0,0,15.11,14.75,15.11
$GC,5921,0.72,235.0,2857,3350,1427,1223,392.9,17.1,223,5927,0.08,2.33,0.00,0.000,5126,0.396,0.045,2843,1944,1325,1427,1223,0,0,0,0,0,0,14.33,14.74,14.64
$GC,6190,0.72,235.0,2843,1943,1427,1222,352.9,14.0,230,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1943,1324,1427,1221,0,0,0,0,0,0,15.13,15.14,15.14
$GC,6431,0.72,235.0,2843,1943,1427,1220,319.2,13.8,236,6437,0.00,2.33,0.00,0.000,516,0.000,0.060,2854,534,1323,1427,1220,0,0,0,0,0,0,15.14,14.72,15.15
$GC,6514,0.72,235.0,2854,533,1427,1220,306.6,14.4,238,6520,0.00,2.30,0.00,0.000,5126,0.000,0.033,2853,1952,1323,1427,1220,0,0,0,0,0,0,14.88,14.79,14.90
$GC,6798,0.72,235.0,2853,1955,1427,1218,262.9,15.3,245,6803,0.00,2.28,0.00,0.000,4356,0.000,0.045,2854,3350,1322,1427,1218,0,0,0,0,0,0,15.16,14.76,15.16
$GC,6954,0.72,235.0,2853,3350,1426,1218,243.3,15.9,248,6962,0.05,2.33,0.00,0.000,5126,0.438,0.045,2848,1946,1322,1428,1217,0,0,0,0,0,0,14.36,14.74,14.64
$GC,7201,0.72,235.0,2847,1946,1426,1217,201.8,14.8,255,7206,0.00,2.35,0.00,0.000,4612,0.000,0.058,2858,533,1322,1427,1218,0,0,0,0,0,0,15.17,14.71,15.17
$GC,7228,0.72,235.0,2858,532,1426,1218,201.8,14.8,255,7234,0.00,2.30,0.00,0.000,5126,0.000,0.034,2858,1949,1322,1427,1217,0,0,0,0,0,0,14.88,14.79,14.90
$GC,7478,0.72,235.0,2858,1952,1426,1217,167.1,11.9,279,7483,0.00,2.30,0.00,0.000,4356,0.000,0.044,2858,3363,1322,1427,1217,0,0,0,0,0,0,15.14,14.73,15.14
$GC,7523,0.72,235.0,2858,3363,1426,1217,161.6,12.1,283,7530,0.08,2.38,0.00,0.000,5126,0.392,0.043,2844,1939,1320,1426,1215,0,0,0,0,0,0,14.27,14.73,14.59
$GC,7778,0.72,235.0,2844,1939,1426,1218,130.7,12.9,308,7784,0.00,2.30,0.00,0.000,516,0.000,0.058,2854,542,1322,1427,1217,0,0,0,0,0,0,15.12,14.67,15.13
$GC,7849,0.72,235.0,2854,541,1426,1218,121.7,13.4,314,7858,0.00,2.38,0.00,0.000,5126,0.000,0.034,2854,1950,1322,1426,1218,0,0,0,0,0,0,14.59,14.54,14.60
$GC,8099,0.72,235.0,2854,1950,1426,1219,95.1,9.5,339,8105,0.00,0.00,0.00,0.000,4102,0.000,0.000,2854,1950,1322,1426,1219,0,0,0,0,0,0,15.09,15.10,15.10
$GC,8348,0.72,235.0,2854,1950,1426,1221,71.0,10.1,364,8355,0.00,0.00,0.00,0.000,4102,0.000,0.000,2854,1950,1324,1427,1221,0,0,0,0,0,0,15.09,15.10,15.10
$GC,8598,0.72,235.0,2854,1950,1427,1223,44.0,10.6,389,8604,0.00,2.40,0.00,0.000,4612,0.000,0.062,2865,543,1325,1427,1223,0,0,0,0,0,0,15.08,14.63,15.09
$GC,8638,0.72,235.0,2864,542,1426,1224,40.1,10.2,392,8647,0.05,2.35,0.00,0.000,5126,0.338,0.031,2847,1955,1325,1427,1223,0,0,0,0,0,0,14.16,14.54,14.33
$GC,8915,0.84,330.4,2847,1957,1427,1226,21.1,3.7,432,9005,0.05,2.45,78.40,0.879,10756,0.279,0.059,2932,547,925,1010,840,0,0,0,0,0,0,14.64,14.44,14.01
$GC,9045,0.84,330.4,2932,547,1008,838,6.6,16.6,449,9055,0.12,2.38,0.00,0.000,5126,0.335,0.038,2889,1936,922,1007,838,0,0,0,0,0,0,14.11,14.45,14.32
$STATE,9067,end climb,SURFACE_DEPTH_REACHED
$STATE,9067,begin surface coast
$FINISH,0.3,1.001355
$STATE,9087,end surface coast,CONTROL_FINISHED_OK
$STATE,9087,begin surface
$SM_CCo,9103,44.62,0.778,1,0,648,400.08
$SM_GC,1.07,6.30,0.30,44.62,0.072,0.061,0.778,182,2143,648,-7.48,-1.22,400.08,0,0,0,0,1,0,14.62,14.60,13.90
$IRIDIUM_FIX,2232.34,-15754.99,180518,081615
$TT8_MAMPS,0.018725,0.326564
$HUMID,46.73
$INTERNAL_PRESSURE,9.46584
$TCM_TEMP,22.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,58.3,7.1
$24V_AH,13.35,135.961
$10V_AH,12.65,0.000
$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,15.475,107.175,343.350,44.625,0.000,27.953,44.509,301.495,1.000,0.000,19.388,1640.885,5423.742,483.526,1940.942,216.192,0.000,1199.359,0.000,1542.204,0.000,9.805,0.000
$DEVICE_MAMPS,446.760,63.495,1794.690,778.005,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,306.547,246.040,439.834,448.733,688.512,0.000,0.000,0.000,0.000,0.000
$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,40821,455
$CAP_FILE_SIZE,99342,0
$CFSIZE,2097086464,2034728960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.006,300.27,1
$GPS,180518,105725,2245.280,-15754.271,17,1.6,17,9.8,0.0,0.0,7,33.8