version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 768
start: 5 29 118 5 55 16
data:
$ID,626
$MISSION,2
$DIVE,768
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$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,125
$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,70
$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,2622
$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,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2215
$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
$GPS1,290518,054407,2245.6128,-15722.5869,18,1.7,18,9.9,0.5,336.2,6,74.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.5
$GPS2,290518,055432,2245.7527,-15722.5078,15,1.7,15,9.9,0.6,13.7,6,119.3
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,EDB
$TGT_LATLONG,2245.000,-15722.300
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,187.5,1439,-20.9,-8.000,-23.78,1494
$D_GRID,300
$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,17,-0.62,-68.1,183,2106,700,610,0.0,0.0,0,73,0.00,0.00,-54.28,0.000,16386,0.000,0.000,183,2106,2491,2518,2464,0,0,0,0,0,0,15.02,28.83,15.03
$GC,77,-0.62,-68.1,183,2106,2518,2464,3.5,-6.1,7,94,7.45,2.30,0.00,0.000,2564,0.431,0.041,2417,703,2490,2518,2463,0,0,0,0,0,0,14.25,14.59,14.64
$GC,153,-0.62,-68.1,2417,702,2518,2463,28.6,-22.4,18,162,0.00,2.40,0.00,0.000,3078,0.000,0.043,2413,2117,2490,2518,2463,0,0,0,0,0,0,14.64,14.59,14.66
$GC,453,-0.62,-68.1,2413,2118,2518,2463,85.2,-18.0,67,461,0.00,2.40,0.00,0.000,2308,0.000,0.060,2409,3524,2490,2518,2463,0,0,0,0,0,0,15.07,14.59,15.07
$GC,584,-0.62,-68.1,2409,3524,2518,2463,104.7,-14.3,86,591,0.00,2.30,0.00,0.000,3078,0.000,0.043,2410,2114,2490,2518,2463,0,0,0,0,0,0,14.87,14.76,14.88
$GC,842,-0.62,-68.1,2409,2114,2518,2463,145.9,-15.9,111,848,0.00,2.28,0.00,0.000,2564,0.000,0.060,2409,723,2490,2518,2463,0,0,0,0,0,0,15.11,14.75,15.12
$GC,878,-0.62,-68.1,2409,723,2518,2462,151.8,-15.7,114,885,0.05,2.30,0.00,0.000,3078,0.430,0.042,2418,2132,2490,2518,2463,0,0,0,0,0,0,14.47,14.80,14.73
$GC,1135,-0.62,-68.1,2418,2133,2518,2462,185.9,-11.7,139,1141,0.00,2.30,0.00,0.000,2308,0.000,0.061,2413,3530,2490,2518,2462,0,0,0,0,0,0,15.15,14.76,15.16
$GC,1246,-0.62,-68.1,2413,3530,2518,2463,199.1,-12.1,149,1251,0.00,2.28,0.00,0.000,3078,0.000,0.042,2414,2122,2490,2518,2462,0,0,0,0,0,0,14.92,14.82,14.93
$GC,1500,-0.62,-68.1,2413,2122,2518,2463,231.0,-12.9,156,1506,0.00,2.30,0.00,0.000,2564,0.000,0.061,2413,718,2490,2518,2462,0,0,0,0,0,0,15.19,14.78,15.20
$GC,1529,-0.62,-68.1,2413,718,2518,2462,231.0,-12.9,156,1535,0.00,2.28,0.00,0.000,3078,0.000,0.043,2413,2126,2490,2518,2462,0,0,0,0,0,0,14.94,14.83,14.96
$GC,1787,-0.62,-68.1,2413,2127,2518,2463,264.9,-11.4,163,1789,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2127,2490,2518,2462,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2027,-0.62,-68.1,2413,2127,2518,2462,294.4,-12.6,169,2033,0.00,2.30,0.00,0.000,2308,0.000,0.060,2413,3526,2490,2518,2462,0,0,0,0,0,0,15.22,14.79,15.22
$GC,2095,-0.62,-68.1,2413,3527,2518,2462,299.4,-12.5,170,2100,0.00,2.28,0.00,0.000,3078,0.000,0.042,2413,2128,2490,2518,2462,0,0,0,0,0,0,14.95,14.85,14.97
$STATE,2111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2111,begin apogee
$GC,2118,-0.13,0.0,2413,1931,2518,2461,304.2,-12.1,171,2176,0.45,0.00,54.67,1.180,10246,0.257,0.000,2579,1931,2214,2288,2140,0,0,0,0,0,0,14.43,14.64,13.94
$STATE,2176,end apogee,CONTROL_FINISHED_OK
$STATE,2177,begin climb
$GC,2179,0.62,68.1,2579,1931,2283,2137,306.7,0.0,172,2236,0.55,0.00,53.35,1.164,10246,0.150,0.000,2812,1931,1935,2027,1844,0,0,0,0,0,0,14.57,14.48,13.83
$GC,2474,0.80,213.0,2812,1931,2020,1838,311.3,-2.0,180,2587,0.10,2.42,106.35,1.250,10500,0.157,0.047,2916,3362,1347,1451,1243,0,0,0,0,0,0,14.73,14.28,13.78
$GC,2752,0.80,213.0,2916,3361,1451,1250,278.3,19.3,186,2759,0.15,2.30,0.00,0.000,5126,0.373,0.048,2878,1969,1350,1451,1250,0,0,0,0,0,0,14.31,14.69,14.64
$GC,2998,0.80,213.0,2878,1968,1451,1248,228.3,17.3,193,3004,0.00,2.38,0.00,0.000,516,0.000,0.063,2889,537,1349,1451,1248,0,0,0,0,0,0,15.11,14.74,15.11
$GC,3096,0.80,213.0,2889,537,1450,1248,213.8,17.1,195,3102,0.00,2.30,0.00,0.000,5126,0.000,0.037,2889,1957,1348,1450,1247,0,0,0,0,0,0,14.91,14.83,14.93
$GC,3345,0.80,213.0,2889,1959,1450,1245,173.4,13.3,212,3351,0.00,2.28,0.00,0.000,4356,0.000,0.053,2889,3350,1347,1450,1245,0,0,0,0,0,0,15.15,14.80,15.15
$GC,3476,0.80,213.0,2888,3350,1450,1244,155.2,13.8,224,3482,0.05,2.33,0.00,0.000,5126,0.469,0.049,2884,1942,1347,1450,1244,0,0,0,0,0,0,14.43,14.81,14.73
$GC,3732,0.80,213.0,2883,1941,1450,1240,124.2,11.9,249,3738,0.00,0.00,0.00,0.000,4102,0.000,0.000,2884,1941,1345,1450,1241,0,0,0,0,0,0,15.15,15.15,15.15
$GC,3990,0.80,213.0,2884,1942,1450,1239,93.2,11.8,278,3999,0.00,2.40,0.00,0.000,4612,0.000,0.063,2894,548,1345,1450,1240,0,0,0,0,0,0,15.13,14.59,15.13
$GC,4032,0.80,213.0,2894,548,1450,1239,87.9,12.8,284,4041,0.03,2.38,0.00,0.000,5126,0.460,0.038,2885,1956,1344,1449,1239,0,0,0,0,0,0,14.38,14.64,14.49
$GC,4329,0.80,213.0,2885,1955,1450,1238,54.1,10.4,333,4337,0.00,2.38,0.00,0.000,4356,0.000,0.054,2885,3350,1344,1450,1238,0,0,0,0,0,0,15.09,14.57,15.09
$GC,4449,0.80,213.0,2885,3350,1449,1238,42.1,9.9,352,4458,0.05,2.40,0.00,0.000,5126,0.395,0.049,2879,1952,1343,1449,1238,0,0,0,0,0,0,14.20,14.58,14.38
$GC,4745,0.80,213.0,2879,1953,1449,1238,17.0,8.2,401,4754,0.00,2.40,0.00,0.000,260,0.000,0.051,2879,3352,1343,1449,1238,0,0,0,0,0,0,15.07,14.57,15.08
$GC,4829,0.80,213.0,2878,3352,1449,1239,9.8,9.2,414,4838,0.00,2.40,0.00,0.000,5126,0.000,0.048,2889,1955,1343,1449,1238,0,0,0,0,0,0,14.62,14.57,14.64
$STATE,4939,end climb,SURFACE_DEPTH_REACHED
$STATE,4939,begin surface coast
$FINISH,0.3,1.021997
$STATE,4996,end surface coast,CONTROL_FINISHED_OK
$STATE,4996,begin surface
$SM_CCo,5013,120.38,0.793,1,0,647,384.13
$SM_CCo,5142,-0.08,0.000,0,0,652,384.13
$SM_CCo,5147,0.57,0.272,0,0,648,384.13
$SM_GC,1.43,6.15,0.30,0.57,0.067,0.065,0.272,181,2143,648,-7.46,-1.33,384.13,0,0,0,0,0,0,14.79,14.78,14.46
$IRIDIUM_FIX,2237.01,-15712.02,290518,054842
$TT8_MAMPS,0.018725,0.326564
$HUMID,45.86
$INTERNAL_PRESSURE,9.54397
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,6.9
$24V_AH,13.50,165.882
$10V_AH,13.76,0.000
$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,15.025,56.625,214.375,120.950,0.000,67.567,106.361,238.422,0.500,0.000,16.983,1330.709,1943.816,428.780,1897.817,200.497,0.000,923.042,0.000,1454.762,0.000,5.468,0.000
$DEVICE_MAMPS,468.945,71.145,1250.010,792.540,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,298.418,543.733,533.484,669.872,1028.012,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342976
$DATA_FILE_SIZE,40512,441
$CAP_FILE_SIZE,68360,0
$CFSIZE,2097086464,2017787904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,2
$CURRENT,0.209,25.92,1
$GPS,290518,072212,2245.834,-15722.484,30,1.9,30,9.9,0.5,13.4,4,119.7