version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 618
start: 5 20 118 23 5 30
data:
$ID,626
$MISSION,2
$DIVE,618
$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,25
$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,37
$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,32
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2240
$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
$GPS1,200518,225700,2244.2163,-15734.9268,35,0.9,35,9.9,0.0,0.0,8,17.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.6
$GPS2,200518,230507,2244.2688,-15734.8662,16,0.9,16,9.9,1.1,354.0,8,28.5
$SPEED_LIMITS,0.172,0.192
$TGT_NAME,ED1
$TGT_LATLONG,2245.000,-15723.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,86.1,20312,-19.7,-8.000,-22.66,1677
$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,-0.64,-87.6,182,2158,687,615,0.0,0.0,0,74,0.00,0.00,-55.45,0.000,16386,0.000,0.000,181,2158,2527,2559,2496,0,0,0,0,0,0,14.92,28.83,14.92
$GC,78,-0.64,-87.6,181,2158,2558,2495,3.5,-5.2,7,95,7.57,2.28,-1.27,0.000,18692,0.445,0.062,2393,3521,2599,2636,2562,0,0,0,0,0,0,14.14,13.64,14.59
$GC,117,-0.64,-87.6,2392,3522,2637,2561,21.1,-43.5,12,125,0.00,2.42,0.00,0.000,3078,0.000,0.050,2392,2125,2599,2637,2561,0,0,0,0,0,0,14.55,14.50,14.58
$GC,373,-0.64,-87.6,2392,2123,2636,2558,87.9,-21.1,39,378,0.00,2.33,0.00,0.000,2308,0.000,0.052,2386,3515,2597,2636,2558,0,0,0,0,0,0,15.02,14.64,15.02
$GC,419,-0.64,-87.6,2386,3515,2637,2558,98.3,-22.4,43,425,0.05,2.33,0.00,0.000,3078,0.425,0.047,2403,2113,2597,2637,2558,0,0,0,0,0,0,14.34,14.67,14.61
$GC,675,-0.64,-87.6,2402,2108,2637,2558,150.3,-19.8,68,682,0.00,0.00,0.00,0.000,2054,0.000,0.000,2403,2109,2597,2637,2558,0,0,0,0,0,0,15.07,15.07,15.07
$GC,924,-0.64,-87.6,2402,2109,2637,2558,195.6,-16.0,93,929,0.00,2.33,0.00,0.000,2308,0.000,0.055,2399,3507,2597,2637,2558,0,0,0,0,0,0,15.11,14.70,15.11
$GC,958,-0.64,-87.6,2398,3508,2637,2558,201.5,-17.0,96,963,0.00,2.28,0.00,0.000,3078,0.000,0.044,2398,2119,2597,2637,2558,0,0,0,0,0,0,14.85,14.74,14.87
$GC,1211,-0.64,-87.6,2398,2117,2638,2558,242.7,-16.8,103,1216,0.00,2.33,0.00,0.000,2308,0.000,0.053,2390,3514,2598,2638,2558,0,0,0,0,0,0,15.15,14.73,15.15
$GC,1228,-0.64,-87.6,2390,3514,2638,2557,242.7,-16.8,103,1233,0.00,2.25,0.00,0.000,3078,0.000,0.044,2390,2127,2597,2638,2557,0,0,0,0,0,0,14.88,14.78,14.90
$GC,1496,-0.64,-87.6,2390,2125,2637,2558,291.3,-16.8,110,1498,0.00,0.00,0.00,0.000,2054,0.000,0.000,2390,2125,2598,2638,2558,0,0,0,0,0,0,15.17,15.17,15.18
$GC,1738,-0.64,-87.6,2390,2125,2638,2557,329.3,-16.0,116,1743,0.00,2.33,0.00,0.000,2564,0.000,0.059,2390,712,2597,2638,2557,0,0,0,0,0,0,15.19,14.76,15.19
$GC,1820,-0.64,-87.6,2390,712,2638,2558,343.6,-16.3,118,1826,0.05,2.28,0.00,0.000,3078,0.450,0.041,2404,2104,2597,2638,2557,0,0,0,0,0,0,14.42,14.80,14.70
$GC,2105,-0.64,-87.6,2403,2105,2638,2557,385.5,-14.2,125,2110,0.00,2.35,0.00,0.000,2308,0.000,0.059,2400,3526,2597,2638,2557,0,0,0,0,0,0,15.19,14.75,15.19
$GC,2182,-0.64,-87.6,2399,3525,2638,2557,391.3,-13.9,126,2189,0.00,2.30,0.00,0.000,3078,0.000,0.043,2400,2117,2597,2638,2556,0,0,0,0,0,0,14.91,14.80,14.93
$GC,2428,-0.64,-87.6,2399,2116,2638,2553,429.4,-13.9,133,2429,0.00,0.00,0.00,0.000,2054,0.000,0.000,2400,2116,2595,2638,2553,0,0,0,0,0,0,15.21,15.21,15.20
$GC,2668,-0.64,-87.6,2399,2115,2638,2552,462.6,-13.8,139,2669,0.00,0.00,0.00,0.000,2054,0.000,0.000,2400,2116,2594,2638,2551,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2908,-0.64,-87.6,2399,2115,2638,2548,494.4,-13.1,145,2913,0.00,2.38,0.00,0.000,2308,0.000,0.055,2399,3530,2592,2638,2547,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2945,-0.64,-87.6,2398,3530,2639,2547,494.4,-13.1,145,2952,0.00,2.30,0.00,0.000,3078,0.000,0.042,2399,2124,2592,2638,2546,0,0,0,0,0,0,14.90,14.79,14.93
$GC,3192,-0.64,-87.6,2399,2123,2638,2535,528.6,-12.1,152,3197,0.00,2.33,0.00,0.000,2564,0.000,0.058,2399,724,2586,2638,2535,0,0,0,0,0,0,15.21,14.74,15.21
$GC,3214,-0.64,-87.6,2398,723,2638,2534,528.6,-12.1,152,3219,0.00,2.33,0.00,0.000,3078,0.000,0.042,2399,2133,2586,2638,2534,0,0,0,0,0,0,14.90,14.79,14.92
$GC,3477,-0.64,-87.6,2398,2135,2638,2530,563.1,-12.0,159,3483,0.00,2.35,0.00,0.000,2308,0.000,0.058,2399,3538,2584,2638,2530,0,0,0,0,0,0,15.21,14.73,15.21
$GC,3540,-0.64,-87.6,2398,3538,2638,2530,568.1,-11.8,160,3545,0.00,2.33,0.00,0.000,3078,0.000,0.043,2399,2120,2584,2638,2530,0,0,0,0,0,0,14.90,14.78,14.92
$STATE,3801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3801,begin apogee
$GC,3807,-0.14,0.0,2399,1938,2637,2526,601.6,-12.2,167,3883,0.47,0.00,70.45,1.874,10246,0.265,0.000,2569,1937,2240,2314,2166,0,0,0,0,0,0,14.24,14.39,13.52
$STATE,3883,end apogee,CONTROL_FINISHED_OK
$STATE,3884,begin climb
$GC,3886,0.64,87.6,2569,1937,2313,2167,605.4,0.0,169,3972,0.60,2.42,76.70,2.028,10756,0.158,0.060,2822,559,1883,1981,1785,0,0,0,0,0,0,14.33,14.17,13.31
$GC,4040,0.64,87.6,2822,559,1981,1785,606.1,-0.9,172,4048,0.00,2.35,0.00,0.000,5126,0.000,0.036,2822,1958,1883,1981,1785,0,0,0,0,0,0,14.54,14.46,14.55
$GC,4285,0.71,146.8,2822,1957,1981,1781,594.9,4.4,179,4343,0.00,2.42,49.03,1.938,10500,0.000,0.051,2822,3349,1643,1759,1527,0,0,0,0,0,0,14.97,14.36,13.50
$GC,4375,0.77,194.3,2822,3350,1759,1529,589.7,5.1,181,4424,0.00,2.35,42.65,2.235,11270,0.000,0.047,2832,1972,1447,1565,1329,0,0,0,0,0,0,14.54,14.45,13.25
$GC,4689,0.77,194.3,2832,1972,1565,1333,545.8,14.2,189,4694,0.00,2.35,0.00,0.000,2308,0.000,0.050,2833,3350,1449,1565,1333,0,0,0,0,0,0,14.92,14.63,14.92
$GC,4706,0.77,194.3,2832,3350,1565,1333,545.8,14.2,189,4712,0.00,2.38,0.00,0.000,3078,0.000,0.050,2843,1944,1448,1565,1332,0,0,0,0,0,0,14.74,14.64,14.76
$GC,4975,0.77,194.3,2842,1944,1565,1330,504.5,14.3,196,4980,0.00,2.38,0.00,0.000,2564,0.000,0.061,2854,533,1447,1565,1329,0,0,0,0,0,0,15.04,14.70,15.04
$GC,5018,0.77,194.3,2853,532,1565,1330,497.6,14.8,197,5023,0.00,2.35,0.00,0.000,3078,0.000,0.035,2854,1948,1447,1565,1330,0,0,0,0,0,0,14.84,14.75,14.85
$GC,5301,0.77,194.3,2854,1949,1565,1327,450.8,16.7,204,5306,0.00,2.33,0.00,0.000,2308,0.000,0.046,2854,3357,1446,1565,1327,0,0,0,0,0,0,15.10,14.76,15.10
$GC,5373,0.77,194.3,2853,3355,1564,1327,443.3,16.8,205,5378,0.00,2.35,0.00,0.000,5126,0.000,0.045,2865,1944,1446,1564,1328,0,0,0,0,0,0,14.86,14.75,14.88
$GC,5626,0.77,194.3,2864,1944,1564,1325,395.2,16.9,212,5631,0.00,2.35,0.00,0.000,4612,0.000,0.057,2875,539,1444,1564,1325,0,0,0,0,0,0,15.13,14.73,15.14
$GC,5658,0.77,194.3,2875,539,1563,1325,395.2,16.9,212,5665,0.05,2.33,0.00,0.000,5126,0.428,0.034,2860,1956,1444,1563,1325,0,0,0,0,0,0,14.42,14.81,14.69
$GC,5913,0.77,194.3,2860,1959,1563,1324,348.3,15.8,219,5918,0.00,2.30,0.00,0.000,260,0.000,0.046,2860,3350,1444,1563,1325,0,0,0,0,0,0,15.14,14.78,15.15
$GC,6030,0.77,194.3,2860,3350,1562,1325,334.9,15.6,221,6037,0.00,2.33,0.00,0.000,5126,0.000,0.044,2869,1949,1443,1562,1324,0,0,0,0,0,0,14.88,14.76,14.89
$GC,6276,0.77,194.3,2869,1949,1562,1324,296.0,13.8,228,6281,0.00,2.35,0.00,0.000,4612,0.000,0.058,2881,541,1443,1562,1324,0,0,0,0,0,0,15.16,14.73,15.16
$GC,6338,0.77,194.3,2880,539,1561,1324,290.0,13.6,229,6344,0.05,2.33,0.00,0.000,5126,0.421,0.034,2865,1957,1442,1561,1324,0,0,0,0,0,0,14.42,14.81,14.67
$GC,6602,0.77,194.3,2864,1962,1561,1323,254.0,12.2,236,6607,0.00,2.30,0.00,0.000,4356,0.000,0.046,2864,3354,1441,1560,1323,0,0,0,0,0,0,15.16,14.77,15.16
$GC,6654,0.77,194.3,2864,3354,1560,1324,248.4,12.1,237,6659,0.00,2.33,0.00,0.000,5126,0.000,0.044,2873,1950,1441,1558,1324,0,0,0,0,0,0,14.88,14.76,14.89
$GC,6927,0.77,194.3,2873,1950,1560,1324,214.1,12.1,244,6928,0.00,0.00,0.00,0.000,4102,0.000,0.000,2874,1950,1441,1560,1323,0,0,0,0,0,0,15.17,15.18,15.18
$GC,7169,0.77,194.3,2873,1950,1560,1323,185.9,11.4,259,7174,0.00,2.35,0.00,0.000,4612,0.000,0.057,2885,538,1441,1560,1323,0,0,0,0,0,0,15.15,14.71,15.15
$GC,7196,0.77,194.3,2885,539,1560,1323,183.1,11.4,261,7205,0.08,2.40,0.00,0.000,5126,0.340,0.034,2860,1951,1441,1560,1323,0,0,0,0,0,0,14.12,14.59,14.31
$GC,7448,0.77,194.3,2859,1953,1559,1323,158.1,8.6,286,7454,0.00,2.28,0.00,0.000,260,0.000,0.044,2859,3351,1441,1560,1323,0,0,0,0,0,0,15.12,14.73,15.13
$GC,7497,0.77,194.3,2859,3351,1559,1324,153.3,9.5,290,7504,0.00,2.35,0.00,0.000,5126,0.000,0.042,2869,1938,1441,1559,1324,0,0,0,0,0,0,14.84,14.73,14.86
$GC,7746,0.77,194.3,2869,1937,1559,1324,130.0,9.8,315,7752,0.00,2.38,0.00,0.000,4356,0.000,0.044,2869,3349,1442,1559,1325,0,0,0,0,0,0,15.11,14.71,15.11
$GC,8065,0.77,194.3,2869,3349,1559,1326,101.6,8.6,344,8074,0.05,2.42,0.00,0.000,5126,0.403,0.044,2864,1949,1442,1559,1326,0,0,0,0,0,0,14.04,14.53,14.25
$GC,8315,0.77,194.3,2864,1949,1559,1328,81.9,9.7,369,8320,0.00,2.38,0.00,0.000,4612,0.000,0.063,2874,540,1443,1559,1328,0,0,0,0,0,0,15.09,14.64,15.10
$GC,8397,0.77,194.3,2874,540,1559,1329,73.2,9.3,376,8404,0.00,2.33,0.00,0.000,5126,0.000,0.037,2874,1950,1444,1559,1329,0,0,0,0,0,0,14.83,14.73,14.84
$GC,8655,0.82,235.2,2874,1951,1559,1331,54.5,5.5,401,8693,0.00,0.00,31.17,1.145,8198,0.000,0.000,2874,1951,1281,1390,1173,0,0,0,0,0,0,15.06,14.45,13.95
$GC,8935,0.85,258.1,2873,1951,1390,1175,31.8,6.6,429,8963,0.00,0.00,18.58,1.095,10246,0.000,0.000,2874,1951,1189,1292,1087,0,0,0,0,0,0,14.98,14.62,13.94
$STATE,9241,end climb,SURFACE_DEPTH_REACHED
$STATE,9241,begin surface coast
$FINISH,0.3,1.020441
$STATE,9273,end surface coast,CONTROL_FINISHED_OK
$STATE,9273,begin surface
$SM_CCo,9290,76.53,0.116,0,0,647,390.27
$SM_CCo,9370,-0.12,0.000,0,0,651,390.27
$SM_CCo,9374,0.35,0.393,0,0,647,390.27
$SM_GC,1.22,6.22,0.28,0.35,0.076,0.070,0.393,182,2136,647,-7.44,-1.19,390.27,0,0,0,0,0,0,14.69,14.68,14.52
$IRIDIUM_FIX,2232.34,-15735.03,200518,225839
$TT8_MAMPS,0.019474,0.325815
$HUMID,45.15
$INTERNAL_PRESSURE,9.47561
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.7,7.2
$24V_AH,13.18,140.984
$10V_AH,12.40,0.000
$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,15.200,103.450,288.575,76.875,0.000,32.357,45.241,266.492,0.500,0.000,17.342,1640.496,5616.431,486.443,1911.590,215.324,0.000,1161.735,0.000,1547.358,0.000,5.461,0.000
$DEVICE_MAMPS,449.820,73.440,2234.565,393.210,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,327.039,267.456,479.704,489.540,751.142,0.000,0.000,0.000,0.000,0.000
$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,43941,484
$CAP_FILE_SIZE,96848,0
$CFSIZE,2097086464,2032599040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.052,73.08,1
$GPS,210518,014300,2244.246,-15733.460,39,1.2,39,9.9,0.8,93.1,7,25.2