version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 797
start: 5 31 118 20 33 48
data:
$ID,626
$MISSION,2
$DIVE,797
$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,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,38
$R_STBD_OVSHOOT,55
$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
$GPS1,310518,202302,2244.3809,-15729.8604,20,1.7,20,9.9,0.7,322.6,5,103.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-74.2
$GPS2,310518,203305,2244.4871,-15729.9131,20,1.8,20,9.9,0.6,39.0,5,118.6
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,ED5
$TGT_LATLONG,2235.500,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,193.1,35121,-20.9,-8.000,-23.78,1494
$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,17,-0.62,-68.1,181,2140,700,615,0.0,0.0,0,75,0.00,0.00,-53.92,0.000,16390,0.000,0.000,181,2137,2494,2523,2466,0,0,0,0,0,0,14.94,12.86,14.84
$GC,79,-0.62,-68.1,181,2137,2522,2466,4.3,-7.6,7,96,7.57,2.40,0.00,0.000,2564,0.431,0.042,2418,713,2494,2523,2466,0,0,0,0,0,0,14.08,14.47,14.50
$GC,176,-0.62,-68.1,2418,714,2523,2464,36.2,-21.0,22,185,0.00,2.42,0.00,0.000,3078,0.000,0.043,2414,2114,2493,2523,2464,0,0,0,0,0,0,14.50,14.45,14.52
$GC,477,-0.62,-68.1,2413,2115,2523,2464,94.5,-19.1,71,485,0.00,2.45,0.00,0.000,2308,0.000,0.057,2406,3524,2493,2523,2464,0,0,0,0,0,0,15.00,14.44,15.00
$GC,559,-0.62,-68.1,2405,3525,2522,2464,109.3,-17.0,80,565,0.00,2.33,0.00,0.000,3078,0.000,0.045,2406,2124,2493,2523,2464,0,0,0,0,0,0,14.76,14.64,14.78
$GC,817,-0.62,-68.1,2405,2123,2523,2464,151.1,-14.1,105,822,0.00,2.33,0.00,0.000,2564,0.000,0.060,2405,721,2493,2523,2464,0,0,0,0,0,0,15.06,14.64,15.06
$GC,835,-0.62,-68.1,2405,721,2522,2463,153.5,-14.1,106,842,0.05,2.33,0.00,0.000,3078,0.443,0.040,2417,2131,2493,2523,2464,0,0,0,0,0,0,14.32,14.69,14.59
$GC,1083,-0.62,-68.1,2416,2131,2523,2464,185.6,-12.5,131,1088,0.00,2.33,0.00,0.000,2308,0.000,0.059,2414,3527,2493,2523,2464,0,0,0,0,0,0,15.09,14.65,15.09
$GC,1185,-0.62,-68.1,2414,3528,2523,2464,198.8,-12.8,140,1191,0.00,2.33,0.00,0.000,3078,0.000,0.043,2414,2115,2493,2523,2464,0,0,0,0,0,0,14.82,14.71,14.84
$GC,1430,-0.62,-68.1,2414,2114,2523,2464,228.7,-11.7,147,1431,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2114,2493,2524,2463,0,0,0,0,0,0,15.15,15.16,15.15
$GC,1670,-0.62,-68.1,2414,2114,2524,2464,260.9,-13.6,153,1671,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2115,2493,2523,2464,0,0,0,0,0,0,15.17,15.18,15.17
$GC,1910,-0.62,-68.1,2414,2114,2524,2464,290.9,-12.3,159,1916,0.00,2.30,0.00,0.000,2564,0.000,0.059,2414,721,2493,2523,2464,0,0,0,0,0,0,15.19,14.72,15.18
$GC,1943,-0.62,-68.1,2414,720,2524,2464,290.9,-12.3,159,1949,0.00,2.33,0.00,0.000,3078,0.000,0.041,2413,2135,2493,2523,2463,0,0,0,0,0,0,14.88,14.77,14.90
$GC,2197,-0.62,-68.1,2413,2135,2523,2462,324.3,-11.3,166,2202,0.00,2.33,0.00,0.000,2308,0.000,0.058,2413,3529,2492,2523,2462,0,0,0,0,0,0,15.19,14.72,15.19
$GC,2289,-0.62,-68.1,2413,3530,2523,2462,333.6,-11.2,168,2295,0.00,2.30,0.00,0.000,3078,0.000,0.041,2414,2117,2492,2523,2462,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2563,-0.62,-68.1,2413,2117,2523,2458,367.6,-12.1,175,2564,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2116,2490,2523,2458,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2805,-0.62,-68.1,2413,2116,2523,2456,394.0,-11.1,181,2810,0.00,2.33,0.00,0.000,2564,0.000,0.058,2413,715,2489,2523,2455,0,0,0,0,0,0,15.19,14.71,15.19
$GC,2827,-0.62,-68.1,2413,715,2523,2455,394.0,-11.1,181,2832,0.00,2.35,0.00,0.000,3078,0.000,0.041,2413,2134,2489,2523,2455,0,0,0,0,0,0,14.88,14.77,14.90
$GC,3090,-0.62,-68.1,2413,2135,2523,2453,428.4,-11.9,188,3092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2136,2488,2523,2453,0,0,0,0,0,0,15.19,15.19,15.19
$GC,3330,-0.62,-68.1,2413,2135,2523,2450,455.3,-10.9,194,3336,0.00,2.35,0.00,0.000,2308,0.000,0.056,2413,3533,2486,2523,2450,0,0,0,0,0,0,15.19,14.71,15.19
$GC,3428,-0.62,-68.1,2413,3533,2523,2449,463.8,-10.6,196,3434,0.00,2.30,0.00,0.000,3078,0.000,0.038,2413,2128,2486,2523,2449,0,0,0,0,0,0,14.87,14.76,14.89
$GC,3697,-0.62,-68.1,2413,2127,2523,2444,491.7,-9.8,203,3703,0.00,2.35,0.00,0.000,2564,0.000,0.057,2413,718,2483,2523,2444,0,0,0,0,0,0,15.19,14.70,15.19
$GC,3770,-0.62,-68.1,2413,718,2523,2443,496.1,-9.8,204,3776,0.00,2.35,0.00,0.000,3078,0.000,0.040,2413,2127,2483,2523,2443,0,0,0,0,0,0,14.86,14.75,14.88
$GC,4024,-0.62,-68.1,2413,2127,2523,2440,523.9,-9.9,211,4029,0.00,2.38,0.00,0.000,2308,0.000,0.056,2413,3531,2481,2523,2440,0,0,0,0,0,0,15.19,14.69,15.19
$GC,4131,-0.62,-68.1,2413,3532,2523,2440,532.4,-10.0,213,4136,0.00,2.33,0.00,0.000,3078,0.000,0.038,2414,2115,2481,2523,2440,0,0,0,0,0,0,14.85,14.74,14.87
$GC,4389,-0.62,-68.1,2413,2114,2523,2436,559.9,-9.6,220,4395,0.00,2.33,0.00,0.000,2564,0.000,0.054,2413,720,2479,2523,2436,0,0,0,0,0,0,15.18,14.68,15.19
$GC,4433,-0.62,-68.1,2413,720,2523,2435,564.3,-9.6,221,4440,0.00,2.38,0.00,0.000,3078,0.000,0.039,2413,2133,2479,2523,2435,0,0,0,0,0,0,14.85,14.73,14.86
$GC,4718,-0.62,-68.1,2412,2133,2523,2432,590.3,-9.1,228,4719,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2133,2477,2523,2432,0,0,0,0,0,0,15.18,15.19,15.19
$STATE,4835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4836,begin apogee
$GC,4842,-0.13,0.0,2413,1931,2523,2430,601.8,-9.5,231,4899,0.45,0.00,53.53,1.716,10246,0.243,0.000,2578,1930,2214,2288,2141,0,0,0,0,0,0,14.21,14.45,13.47
$STATE,4900,end apogee,CONTROL_FINISHED_OK
$STATE,4900,begin climb
$GC,4903,0.62,68.1,2578,1930,2288,2143,603.8,0.0,232,4971,0.55,2.40,57.28,1.721,10756,0.135,0.058,2826,565,1937,2024,1850,0,0,0,0,0,0,14.41,14.26,13.34
$GC,5475,0.80,214.9,2825,565,2021,1846,614.2,-2.1,246,5606,0.10,2.35,120.28,1.803,11270,0.158,0.036,2915,1958,1338,1443,1233,0,0,0,0,0,0,14.62,14.71,13.28
$GC,5859,0.80,214.9,2914,1958,1443,1234,549.5,21.7,256,5865,0.08,2.45,0.00,0.000,4612,0.418,0.059,2894,565,1338,1443,1234,0,0,0,0,0,0,14.22,14.53,14.41
$GC,6018,0.80,214.9,2893,565,1443,1234,524.0,20.9,259,6025,0.00,2.35,0.00,0.000,5126,0.000,0.034,2893,1950,1338,1443,1233,0,0,0,0,0,0,14.78,14.69,14.79
$GC,6264,0.80,214.9,2894,1951,1442,1232,470.2,19.1,266,6270,0.00,2.38,0.00,0.000,4356,0.000,0.045,2894,3349,1337,1442,1232,0,0,0,0,0,0,15.06,14.70,15.07
$GC,6337,0.80,214.9,2893,3348,1442,1232,461.5,19.3,267,6343,0.08,2.30,0.00,0.000,5126,0.422,0.044,2880,1976,1337,1442,1232,0,0,0,0,0,0,14.23,14.70,14.58
$GC,6591,0.80,214.9,2880,1975,1442,1229,410.7,17.2,274,6596,0.00,2.30,0.00,0.000,260,0.000,0.044,2881,3352,1335,1442,1229,0,0,0,0,0,0,15.11,14.71,15.11
$GC,6640,0.80,214.9,2880,3351,1442,1229,403.1,17.0,275,6646,0.00,2.35,0.00,0.000,5126,0.000,0.044,2890,1949,1335,1442,1229,0,0,0,0,0,0,14.83,14.71,14.84
$GC,6919,0.80,214.9,2890,1948,1442,1228,354.2,17.4,282,6925,0.00,2.42,0.00,0.000,4356,0.000,0.044,2890,3356,1334,1442,1227,0,0,0,0,0,0,15.12,14.72,15.13
$GC,6937,0.80,214.9,2890,3356,1442,1228,354.2,17.4,282,6943,0.05,2.38,0.00,0.000,5126,0.461,0.043,2886,1942,1335,1442,1228,0,0,0,0,0,0,14.31,14.72,14.61
$GC,7206,0.80,214.9,2885,1941,1441,1226,306.7,16.5,289,7208,0.00,0.00,0.00,0.000,4102,0.000,0.000,2885,1941,1334,1442,1226,0,0,0,0,0,0,15.14,15.14,15.14
$GC,7447,0.80,214.9,2885,1942,1442,1225,269.3,15.8,295,7448,0.00,0.00,0.00,0.000,4102,0.000,0.000,2885,1941,1333,1442,1225,0,0,0,0,0,0,15.15,15.16,15.15
$GC,7688,0.80,214.9,2885,1941,1442,1224,233.2,14.5,301,7693,0.00,2.38,0.00,0.000,4356,0.000,0.043,2885,3352,1333,1442,1224,0,0,0,0,0,0,15.15,14.72,15.15
$GC,7710,0.80,214.9,2885,3351,1442,1224,233.2,14.5,301,7716,0.05,2.35,0.00,0.000,5126,0.458,0.043,2880,1947,1333,1442,1224,0,0,0,0,0,0,14.31,14.71,14.59
$GC,7966,0.80,214.9,2879,1947,1442,1224,192.1,13.8,310,7972,0.00,2.35,0.00,0.000,260,0.000,0.042,2879,3355,1333,1442,1224,0,0,0,0,0,0,15.13,14.71,15.14
$GC,8015,0.80,214.9,2880,3355,1442,1224,185.9,13.3,314,8022,0.00,2.38,0.00,0.000,5126,0.000,0.042,2889,1944,1332,1442,1223,0,0,0,0,0,0,14.82,14.70,14.83
$GC,8264,0.80,214.9,2889,1943,1442,1224,153.1,15.0,339,8269,0.00,2.38,0.00,0.000,4356,0.000,0.043,2890,3351,1332,1442,1223,0,0,0,0,0,0,15.11,14.69,15.11
$GC,8489,0.80,214.9,2889,3352,1442,1224,124.1,11.6,359,8496,0.05,2.35,0.00,0.000,5126,0.454,0.042,2884,1950,1333,1442,1224,0,0,0,0,0,0,14.26,14.66,14.53
$GC,8741,0.80,214.9,2885,1950,1442,1226,98.1,10.1,385,8750,0.00,2.47,0.00,0.000,4612,0.000,0.057,2895,548,1333,1442,1225,0,0,0,0,0,0,15.07,14.38,15.07
$GC,8801,0.80,214.9,2895,548,1442,1226,91.8,10.0,394,8810,0.03,2.42,0.00,0.000,5126,0.430,0.031,2886,1954,1333,1442,1225,0,0,0,0,0,0,14.19,14.47,14.28
$GC,9098,0.81,226.0,2886,1956,1442,1228,66.8,7.2,443,9116,0.00,2.33,10.38,0.838,12548,0.000,0.041,2886,3352,1287,1401,1174,0,0,0,0,0,0,15.01,14.38,13.88
$GC,9190,0.81,226.0,2886,3352,1401,1176,58.4,10.1,457,9199,0.00,2.42,0.00,0.000,5126,0.000,0.041,2896,1950,1287,1401,1174,0,0,0,0,0,0,14.52,14.49,14.56
$GC,9486,0.81,226.0,2896,1950,1401,1178,26.6,8.7,506,9495,0.00,2.42,0.00,0.000,4356,0.000,0.043,2896,3344,1290,1401,1179,0,0,0,0,0,0,14.99,14.45,14.99
$GC,9586,0.81,226.0,2896,3344,1401,1180,18.0,8.6,522,9596,0.05,2.42,0.00,0.000,5126,0.392,0.041,2890,1947,1290,1400,1180,0,0,0,0,0,0,14.03,14.44,14.22
$STATE,9774,end climb,SURFACE_DEPTH_REACHED
$STATE,9775,begin surface coast
$FINISH,0.2,1.011472
$STATE,9812,end surface coast,CONTROL_FINISHED_OK
$STATE,9812,begin surface
$SM_CCo,9830,102.12,0.839,1,0,646,384.13
$SM_CCo,9941,-0.10,0.000,0,0,650,384.13
$SM_CCo,9945,0.10,1.294,0,0,647,384.13
$SM_GC,1.38,6.25,0.28,0.10,0.073,0.054,1.294,180,2162,647,-7.45,-1.58,384.13,0,0,0,0,0,0,14.65,14.72,14.09
$IRIDIUM_FIX,2234.68,-15731.98,310518,202508
$TT8_MAMPS,0.019474,0.274134
$HUMID,46.65
$INTERNAL_PRESSURE,9.44631
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,6.7
$24V_AH,12.86,171.622
$10V_AH,12.46,0.000
$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,15.350,104.500,241.450,102.225,0.000,27.966,49.279,347.685,0.500,0.000,21.378,1947.030,5498.680,468.486,2371.902,284.164,0.000,1237.079,0.000,1932.734,0.000,5.460,0.000
$DEVICE_MAMPS,461.295,60.435,1803.105,1294.380,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,378.377,316.281,563.156,665.581,1021.239,0.000,0.000,0.000,0.000,0.000
$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,50623,559
$CAP_FILE_SIZE,106158,0
$CFSIZE,2097086464,2014642176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.081,355.20,1
$GPS,310518,232054,2243.993,-15730.354,42,0.8,42,9.9,1.6,350.9,9,100.7