version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 613
start: 5 20 118 9 33 43
data:
$ID,626
$MISSION,2
$DIVE,613
$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,34
$R_STBD_OVSHOOT,52
$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
$GPS1,200518,092400,2245.6562,-15741.0986,25,0.9,25,9.9,0.0,0.0,11,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-73.7
$GPS2,200518,093301,2245.6931,-15741.1074,13,0.9,13,9.9,1.1,306.3,11,22.0
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,ED1
$TGT_LATLONG,2245.000,-15723.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,92.7,30952,-15.9,-8.000,-19.19,2501
$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,-0.52,-87.6,189,2141,692,624,0.0,0.0,0,73,0.00,0.00,-54.42,0.000,16386,0.000,0.000,189,2142,2541,2572,2510,0,0,0,0,0,0,14.91,28.83,14.92
$GC,77,-0.52,-87.6,189,2141,2572,2509,4.0,-6.6,7,94,7.68,0.00,-1.62,0.000,18950,0.444,0.000,2437,2132,2640,2684,2597,0,0,0,0,0,0,14.15,13.67,14.59
$GC,350,-0.52,-87.6,2437,2135,2683,2594,79.1,-22.7,38,356,0.00,2.30,0.00,0.000,2308,0.000,0.054,2428,3523,2638,2683,2594,0,0,0,0,0,0,15.00,14.64,15.00
$GC,396,-0.52,-87.6,2428,3524,2683,2594,89.1,-21.0,42,402,0.05,2.35,0.00,0.000,3078,0.423,0.046,2444,2117,2638,2683,2594,0,0,0,0,0,0,14.34,14.67,14.61
$GC,654,-0.52,-87.6,2443,2114,2683,2594,135.8,-17.1,67,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2114,2638,2683,2594,0,0,0,0,0,0,15.05,15.06,15.06
$GC,900,-0.52,-87.6,2443,2112,2683,2594,175.3,-15.0,92,906,0.00,2.28,0.00,0.000,516,0.000,0.059,2444,720,2638,2683,2594,0,0,0,0,0,0,15.09,14.69,15.10
$GC,938,-0.52,-87.6,2444,719,2683,2594,180.8,-15.3,95,945,0.00,2.30,0.00,0.000,3078,0.000,0.041,2442,2125,2638,2683,2594,0,0,0,0,0,0,14.85,14.73,14.86
$GC,1215,-0.52,-87.6,2442,2127,2684,2594,222.1,-13.8,111,1220,0.00,2.33,0.00,0.000,2308,0.000,0.059,2441,3536,2639,2684,2594,0,0,0,0,0,0,15.14,14.71,15.14
$GC,1354,-0.52,-87.6,2441,3537,2684,2594,237.1,-12.6,114,1359,0.00,2.30,0.00,0.000,3078,0.000,0.041,2441,2115,2639,2684,2594,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1622,-0.52,-87.6,2441,2114,2684,2594,274.2,-13.4,121,1628,0.00,2.28,0.00,0.000,2564,0.000,0.058,2442,724,2639,2684,2594,0,0,0,0,0,0,15.18,14.75,15.18
$GC,1649,-0.52,-87.6,2441,724,2684,2594,274.2,-13.4,121,1655,0.00,2.30,0.00,0.000,3078,0.000,0.041,2442,2131,2639,2684,2594,0,0,0,0,0,0,14.90,14.80,14.92
$GC,1908,-0.52,-87.6,2441,2131,2684,2594,312.7,-13.2,128,1913,0.00,2.30,0.00,0.000,2308,0.000,0.057,2441,3529,2639,2684,2594,0,0,0,0,0,0,15.19,14.75,15.19
$GC,1985,-0.52,-87.6,2441,3530,2684,2594,318.0,-12.9,129,1991,0.00,2.28,0.00,0.000,3078,0.000,0.040,2441,2123,2639,2684,2594,0,0,0,0,0,0,14.91,14.81,14.93
$GC,2231,-0.52,-87.6,2441,2122,2684,2592,350.8,-12.0,136,2237,0.00,2.30,0.00,0.000,2564,0.000,0.057,2441,720,2637,2683,2592,0,0,0,0,0,0,15.20,14.76,15.20
$GC,2265,-0.52,-87.6,2441,721,2684,2591,350.8,-12.0,136,2270,0.00,2.28,0.00,0.000,3078,0.000,0.041,2441,2125,2637,2684,2591,0,0,0,0,0,0,14.92,14.81,14.93
$GC,2518,-0.52,-87.6,2441,2126,2683,2588,383.4,-11.0,143,2523,0.00,2.33,0.00,0.000,2308,0.000,0.058,2441,3533,2636,2684,2588,0,0,0,0,0,0,15.21,14.75,15.21
$GC,2575,-0.52,-87.6,2441,3534,2683,2588,387.9,-10.8,144,2580,0.00,2.30,0.00,0.000,3078,0.000,0.040,2441,2114,2636,2684,2588,0,0,0,0,0,0,14.91,14.81,14.94
$GC,2843,-0.52,-87.6,2441,2114,2684,2585,417.8,-10.7,151,2848,0.00,2.30,0.00,0.000,2564,0.000,0.058,2441,716,2634,2684,2585,0,0,0,0,0,0,15.20,14.75,15.21
$GC,2870,-0.52,-87.6,2441,715,2683,2584,417.8,-10.7,151,2876,0.00,2.30,0.00,0.000,3078,0.000,0.041,2441,2125,2634,2684,2584,0,0,0,0,0,0,14.91,14.79,14.92
$GC,3128,-0.52,-87.6,2441,2125,2683,2581,450.6,-11.6,158,3134,0.00,2.33,0.00,0.000,2308,0.000,0.059,2441,3527,2632,2684,2580,0,0,0,0,0,0,15.20,14.73,15.21
$GC,3195,-0.52,-87.6,2441,3527,2684,2580,455.3,-11.5,159,3201,0.00,2.28,0.00,0.000,3078,0.000,0.041,2441,2129,2631,2683,2580,0,0,0,0,0,0,14.90,14.80,14.92
$GC,3455,-0.52,-87.6,2441,2127,2684,2577,488.3,-12.0,166,3456,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2127,2630,2684,2577,0,0,0,0,0,0,15.20,15.21,15.21
$GC,3694,-0.52,-87.6,2441,2127,2684,2574,515.2,-11.0,172,3695,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2126,2628,2683,2574,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3935,-0.52,-87.6,2439,2127,2683,2571,540.0,-10.1,178,3940,0.00,2.35,0.00,0.000,2308,0.000,0.057,2441,3527,2627,2684,2571,0,0,0,0,0,0,15.21,14.72,15.21
$GC,3957,-0.52,-87.6,2441,3528,2683,2571,540.0,-10.1,178,3962,0.00,2.30,0.00,0.000,3078,0.000,0.041,2441,2120,2627,2684,2570,0,0,0,0,0,0,14.89,14.78,14.91
$GC,4220,-0.52,-87.6,2441,2119,2684,2568,565.9,-9.0,185,4225,0.00,2.33,0.00,0.000,2564,0.000,0.059,2441,718,2625,2683,2568,0,0,0,0,0,0,15.21,14.71,15.21
$GC,4242,-0.52,-87.6,2441,718,2683,2566,565.9,-9.0,185,4247,0.00,2.30,0.00,0.000,3078,0.000,0.039,2441,2129,2625,2683,2567,0,0,0,0,0,0,14.89,14.78,14.91
$GC,4505,-0.52,-87.6,2441,2132,2683,2564,592.0,-9.3,192,4511,0.00,2.33,0.00,0.000,2308,0.000,0.055,2441,3531,2623,2683,2563,0,0,0,0,0,0,15.20,14.71,15.20
$GC,4552,-0.52,-87.6,2441,3531,2683,2563,596.1,-9.4,193,4557,0.00,2.30,0.00,0.000,3078,0.000,0.037,2441,2112,2623,2683,2563,0,0,0,0,0,0,14.88,14.78,14.90
$STATE,4588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4588,begin apogee
$GC,4594,-0.13,0.0,2441,1930,2683,2562,600.1,-9.5,194,4670,0.35,0.00,72.38,1.686,10246,0.247,0.000,2570,1929,2276,2358,2195,0,0,0,0,0,0,14.28,14.42,13.61
$STATE,4671,end apogee,CONTROL_FINISHED_OK
$STATE,4671,begin climb
$GC,4674,0.52,87.6,2570,1930,2350,2194,603.4,0.0,196,4755,0.50,2.33,74.35,1.635,10756,0.163,0.060,2784,575,1914,2007,1822,0,0,0,0,0,0,14.35,14.23,13.47
$GC,4902,0.77,298.2,2784,575,2003,1817,604.9,-0.7,201,5095,0.15,2.28,179.00,1.617,11270,0.116,0.037,2904,1961,1055,1151,960,0,0,0,0,0,0,14.54,14.57,13.45
$GC,5358,0.77,298.2,2904,1962,1148,950,511.4,25.9,213,5360,0.12,0.00,0.00,0.000,4102,0.377,0.000,2864,1965,1049,1148,950,0,0,0,0,0,0,14.26,14.66,14.60
$GC,5598,0.77,298.2,2863,1966,1148,947,455.5,23.1,219,5599,0.00,0.00,0.00,0.000,4102,0.000,0.000,2864,1966,1047,1148,947,0,0,0,0,0,0,15.02,15.03,15.03
$GC,5838,0.77,298.2,2863,1966,1148,944,400.9,22.6,225,5839,0.00,0.00,0.00,0.000,4102,0.000,0.000,2864,1966,1046,1148,944,0,0,0,0,0,0,15.08,15.08,15.08
$GC,6078,0.77,298.2,2863,1966,1148,942,347.8,21.8,231,6083,0.00,2.25,0.00,0.000,4356,0.000,0.046,2863,3344,1045,1148,942,0,0,0,0,0,0,15.11,14.76,15.11
$GC,6095,0.77,298.2,2863,3344,1148,943,347.8,21.8,231,6101,0.00,2.28,0.00,0.000,5126,0.000,0.047,2872,1976,1045,1148,943,0,0,0,0,0,0,14.86,14.73,14.88
$GC,6364,0.77,298.2,2872,1975,1148,940,285.5,21.5,238,6369,0.00,2.25,0.00,0.000,4356,0.000,0.044,2873,3348,1044,1148,940,0,0,0,0,0,0,15.14,14.76,15.14
$GC,6396,0.77,298.2,2872,3348,1147,940,285.5,21.5,238,6402,0.08,2.33,0.00,0.000,5126,0.399,0.048,2859,1947,1043,1147,940,0,0,0,0,0,0,14.33,14.74,14.69
$GC,6650,0.77,298.2,2859,1947,1147,938,229.3,19.4,245,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1947,1043,1147,939,0,0,0,0,0,0,15.14,15.15,15.15
$GC,6890,0.77,298.2,2858,1947,1147,938,186.1,17.1,254,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1947,1042,1147,938,0,0,0,0,0,0,15.14,15.16,15.15
$GC,7130,0.77,298.2,2858,1947,1147,937,142.5,19.0,278,7135,0.00,2.35,0.00,0.000,516,0.000,0.062,2869,537,1042,1148,937,0,0,0,0,0,0,15.13,14.70,15.14
$GC,7169,0.77,298.2,2869,536,1147,937,136.3,18.2,281,7176,0.00,2.30,0.00,0.000,5126,0.000,0.034,2869,1944,1042,1147,937,0,0,0,0,0,0,14.87,14.78,14.89
$GC,7416,0.77,298.2,2869,1947,1147,937,93.2,16.2,306,7422,0.00,2.30,0.00,0.000,4356,0.000,0.045,2870,3362,1042,1147,937,0,0,0,0,0,0,15.11,14.73,15.11
$GC,7508,0.77,298.2,2869,3363,1147,937,79.7,14.5,314,7517,0.05,2.45,0.00,0.000,5126,0.373,0.047,2863,1944,1042,1147,937,0,0,0,0,0,0,14.15,14.53,14.32
$GC,7758,0.77,298.2,2863,1944,1147,938,46.2,12.0,339,7764,0.00,2.33,0.00,0.000,4356,0.000,0.044,2863,3358,1042,1147,938,0,0,0,0,0,0,15.07,14.71,15.08
$GC,7820,0.77,298.2,2863,3359,1147,939,37.2,14.7,344,7825,0.00,2.35,0.00,0.000,5126,0.000,0.047,2872,1948,1043,1147,939,0,0,0,0,0,0,14.81,14.69,14.84
$STATE,8056,end climb,SURFACE_DEPTH_REACHED
$STATE,8056,begin surface coast
$FINISH,0.3,1.023306
$STATE,8075,end surface coast,CONTROL_FINISHED_OK
$STATE,8075,begin surface
$SM_CCo,8092,66.95,0.828,1,0,648,400.08
$SM_GC,1.22,6.15,0.32,66.95,0.063,0.060,0.828,183,2144,648,-7.45,-1.10,400.08,0,0,0,0,1,0,14.73,14.72,13.99
$IRIDIUM_FIX,2234.68,-15739.35,200518,092547
$TT8_MAMPS,0.018725,0.326564
$HUMID,48.77
$INTERNAL_PRESSURE,9.42678
$TCM_TEMP,20.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,57.0,7.1
$24V_AH,13.45,139.822
$10V_AH,12.66,0.000
$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,15.125,83.625,325.725,66.950,0.000,28.559,43.541,321.406,1.000,0.000,14.373,1344.739,5071.648,488.741,1620.484,204.216,0.000,1047.550,0.000,1212.901,0.000,11.298,0.000
$DEVICE_MAMPS,444.465,68.085,1686.060,828.495,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,258.990,199.524,354.292,349.961,536.975,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343092
$DATA_FILE_SIZE,33870,383
$CAP_FILE_SIZE,83436,0
$CFSIZE,2097086464,2033090560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.044,40.16,1
$GPS,200518,115038,2245.525,-15739.753,14,1.8,14,9.9,0.0,0.0,5,40.6