version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 1049
start: 6 28 118 6 38 23
data:
$ID,626
$MISSION,2
$DIVE,1049
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$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,65
$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,1
$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,2630
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2100
$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,0
$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
$GPS1,280618,062832,2245.6533,-15758.3125,18,1.0,18,9.8,0.8,173.2,9,20.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.4
$GPS2,280618,063737,2245.6609,-15758.2568,25,1.1,25,9.8,0.9,223.3,9,22.0
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,A9
$TGT_LATLONG,2245.390,-15758.740
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,218.9,966,-22.5,-10.000,-25.00,1482
$D_GRID,360
$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,13,begin dive
$GC,17,-0.69,-63.3,181,2204,706,612,0.0,0.0,0,64,0.00,0.00,-45.30,0.000,16386,0.000,0.000,181,2204,2205,2232,2178,0,0,0,0,0,0,15.01,28.83,15.02
$GC,68,-0.69,-63.3,181,2204,2232,2178,3.6,-8.5,7,85,7.65,2.38,-2.70,0.000,18948,0.441,0.067,2397,790,2361,2398,2325,0,0,0,0,0,0,13.90,13.12,14.19
$GC,234,-0.69,-63.3,2397,789,2398,2325,47.7,-22.2,30,241,0.05,2.30,0.00,0.000,3078,0.462,0.037,2403,2208,2361,2398,2325,0,0,0,0,0,0,14.31,14.71,14.59
$GC,492,-0.69,-63.3,2402,2209,2398,2325,93.8,-15.6,55,497,0.00,2.30,0.00,0.000,2308,0.000,0.056,2396,3607,2361,2399,2324,0,0,0,0,0,0,15.10,14.69,15.11
$GC,560,-0.69,-63.3,2396,3608,2398,2325,103.1,-13.8,61,567,0.00,2.30,0.00,0.000,3078,0.000,0.040,2396,2194,2361,2398,2325,0,0,0,0,0,0,14.83,14.73,14.85
$GC,806,-0.69,-63.3,2396,2193,2398,2325,142.1,-16.0,86,811,0.00,2.33,0.00,0.000,2308,0.000,0.054,2386,3598,2361,2398,2325,0,0,0,0,0,0,15.14,14.70,15.15
$GC,882,-0.69,-63.3,2386,3599,2398,2325,153.0,-14.0,93,888,0.05,2.28,0.00,0.000,3078,0.414,0.039,2403,2188,2361,2398,2325,0,0,0,0,0,0,14.40,14.76,14.66
$GC,1136,-0.69,-63.3,2403,2187,2398,2325,184.4,-11.1,118,1142,0.00,2.28,0.00,0.000,2564,0.000,0.055,2404,799,2361,2398,2325,0,0,0,0,0,0,15.15,14.71,15.16
$GC,1211,-0.69,-63.3,2404,799,2398,2325,194.1,-13.5,125,1216,0.00,2.28,0.00,0.000,3078,0.000,0.039,2400,2207,2362,2399,2325,0,0,0,0,0,0,14.87,14.76,14.88
$GC,1465,-0.69,-63.3,2399,2208,2398,2325,225.3,-11.8,135,1471,0.00,2.30,0.00,0.000,2308,0.000,0.058,2400,3605,2361,2398,2325,0,0,0,0,0,0,15.17,14.71,15.17
$GC,1623,-0.69,-63.3,2399,3607,2398,2325,239.4,-11.4,138,1631,0.00,2.25,0.00,0.000,3078,0.000,0.037,2400,2201,2361,2398,2325,0,0,0,0,0,0,14.88,14.77,14.89
$GC,1870,-0.69,-63.3,2399,2202,2398,2325,269.7,-11.2,145,1875,0.00,2.30,0.00,0.000,2564,0.000,0.054,2400,794,2361,2398,2325,0,0,0,0,0,0,15.18,14.73,15.18
$GC,1888,-0.69,-63.3,2399,793,2398,2325,269.7,-11.2,145,1893,0.00,2.28,0.00,0.000,3078,0.000,0.038,2399,2206,2361,2398,2325,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2157,-0.69,-63.3,2399,2206,2398,2325,302.2,-10.9,152,2163,0.00,2.30,0.00,0.000,2308,0.000,0.057,2398,3603,2361,2398,2324,0,0,0,0,0,0,15.17,14.71,15.18
$GC,2205,-0.69,-63.3,2398,3603,2398,2324,306.6,-10.5,153,2210,0.00,2.25,0.00,0.000,3078,0.000,0.037,2399,2201,2361,2398,2324,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2483,-0.69,-63.3,2398,2198,2398,2322,336.6,-11.2,160,2489,0.00,2.30,0.00,0.000,2564,0.000,0.054,2399,797,2360,2398,2322,0,0,0,0,0,0,15.17,14.72,15.18
$GC,2531,-0.69,-63.3,2399,797,2398,2321,342.0,-11.5,161,2537,0.00,2.28,0.00,0.000,3078,0.000,0.038,2399,2204,2359,2398,2321,0,0,0,0,0,0,14.87,14.77,14.89
$STATE,2687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2687,begin apogee
$GC,2694,-0.14,0.0,2399,2205,2398,2320,361.1,-11.7,165,2748,0.52,0.00,50.03,1.392,10246,0.267,0.000,2587,2206,2098,2181,2016,0,0,0,0,0,0,14.24,14.46,13.54
$STATE,2748,end apogee,CONTROL_FINISHED_OK
$STATE,2749,begin climb
$GC,2752,0.69,63.3,2587,2206,2180,2020,363.6,0.0,166,2811,0.57,2.40,49.78,1.424,10756,0.147,0.053,2845,803,1842,1938,1747,0,0,0,0,0,0,14.46,14.37,13.48
$GC,2846,0.69,63.3,2845,803,1937,1749,363.7,0.7,168,2852,0.00,2.30,0.00,0.000,3078,0.000,0.034,2845,2209,1843,1937,1749,0,0,0,0,0,0,14.65,14.57,14.66
$GC,3110,0.81,164.5,2845,2210,1937,1745,355.0,3.0,175,3200,0.08,2.35,81.90,1.317,10500,0.196,0.048,2934,3598,1422,1525,1320,0,0,0,0,0,0,14.71,14.40,13.58
$GC,3264,0.84,184.7,2933,3599,1520,1320,341.7,8.6,178,3289,0.15,2.33,16.92,1.206,13318,0.389,0.043,2897,2203,1342,1451,1233,0,0,0,0,0,0,14.12,14.59,13.65
$GC,3560,0.84,184.7,2897,2203,1449,1235,285.3,17.2,186,3566,0.00,2.30,0.00,0.000,516,0.000,0.057,2908,796,1342,1449,1235,0,0,0,0,0,0,15.04,14.68,15.05
$GC,3633,0.84,184.7,2908,795,1448,1235,277.4,17.0,187,3639,0.00,2.30,0.00,0.000,5126,0.000,0.034,2908,2200,1341,1448,1235,0,0,0,0,0,0,14.84,14.75,14.85
$GC,3887,0.84,184.7,2907,2201,1448,1232,233.8,14.9,194,3892,0.00,2.30,0.00,0.000,4356,0.000,0.050,2908,3604,1340,1448,1232,0,0,0,0,0,0,15.14,14.73,15.14
$GC,3920,0.84,184.7,2908,3605,1448,1232,233.8,14.9,194,3927,0.05,2.33,0.00,0.000,5126,0.465,0.044,2903,2193,1340,1448,1232,0,0,0,0,0,0,14.35,14.75,14.64
$GC,4176,0.84,184.7,2902,2192,1448,1230,195.9,12.7,201,4181,0.00,2.33,0.00,0.000,4356,0.000,0.048,2903,3601,1339,1448,1230,0,0,0,0,0,0,15.15,14.73,15.15
$GC,4212,0.84,184.7,2902,3602,1448,1231,191.4,12.1,204,4217,0.00,2.30,0.00,0.000,5126,0.000,0.044,2913,2198,1339,1448,1230,0,0,0,0,0,0,14.86,14.75,14.88
$GC,4469,0.84,184.7,2913,2198,1448,1228,161.4,12.5,229,4474,0.00,2.30,0.00,0.000,4612,0.000,0.057,2924,796,1338,1448,1228,0,0,0,0,0,0,15.13,14.71,15.13
$GC,4686,0.84,187.0,2924,796,1447,1228,135.7,9.8,250,4692,0.08,2.28,0.00,0.000,5126,0.404,0.036,2900,2203,1337,1447,1228,0,0,0,0,0,0,14.26,14.76,14.59
$GC,4941,0.86,204.6,2899,2202,1447,1227,113.6,8.8,275,4964,0.00,2.38,16.65,0.989,10756,0.000,0.055,2910,796,1258,1371,1146,0,0,0,0,0,0,15.14,14.64,13.82
$GC,5032,0.86,204.6,2910,795,1365,1145,104.1,11.5,283,5038,0.00,2.28,0.00,0.000,5126,0.000,0.035,2910,2200,1254,1365,1144,0,0,0,0,0,0,14.83,14.75,14.85
$GC,5281,0.86,204.6,2910,2201,1364,1144,78.1,10.1,308,5286,0.00,2.30,0.00,0.000,4356,0.000,0.050,2910,3607,1254,1364,1144,0,0,0,0,0,0,15.10,14.69,15.10
$GC,5368,0.86,204.6,2910,3608,1364,1144,68.3,11.0,316,5374,0.00,2.33,0.00,0.000,5126,0.000,0.044,2920,2200,1254,1364,1144,0,0,0,0,0,0,14.83,14.71,14.85
$GC,5628,0.87,210.8,2920,2199,1364,1144,43.7,9.6,341,5640,0.00,2.35,3.80,0.608,12804,0.000,0.055,2931,788,1241,1354,1129,0,0,0,0,0,0,15.10,14.37,13.73
$GC,5996,0.91,247.7,2931,788,1354,1132,19.1,7.4,391,6039,0.00,2.38,33.47,0.872,13318,0.000,0.036,2931,2209,1083,1191,975,0,0,0,0,0,0,14.78,14.64,13.86
$STATE,6180,end climb,SURFACE_DEPTH_REACHED
$STATE,6180,begin surface coast
$FINISH,0.3,1.022911
$STATE,6220,end surface coast,CONTROL_FINISHED_OK
$STATE,6220,begin surface
$SM_CCo,6238,72.50,0.846,1,0,647,355.92
$SM_CCo,6320,0.00,0.000,0,0,649,355.92
$SM_CCo,6324,0.20,0.453,0,0,648,355.92
$SM_GC,1.07,6.28,0.00,0.20,0.068,0.000,0.453,182,2210,648,-7.47,0.28,355.92,0,0,0,0,0,0,14.73,15.02,14.50
$IRIDIUM_FIX,2234.68,-15800.20,280618,063037
$TT8_MAMPS,0.018725,0.240429
$HUMID,50.35
$INTERNAL_PRESSURE,9.54397
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,13.12,219.414
$10V_AH,12.37,0.000
$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,15.475,78.475,252.550,72.700,0.000,30.338,44.719,293.309,0.000,0.000,26.156,1456.521,3248.748,401.977,1510.041,282.972,0.000,973.069,0.000,1122.612,0.000,0.550,0.000
$DEVICE_MAMPS,465.120,67.320,1424.430,846.090,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,289.638,293.456,498.153,0.000,367.006,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,0.000,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342976
$DATA_FILE_SIZE,37489,431
$CAP_FILE_SIZE,81437,0
$CFSIZE,2097086464,1985314816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2,2
$INTR,0,6237.12,0x212b6e,7,24
$CURRENT,0.036,94.17,1
$GPS,280618,082501,2245.407,-15758.606,15,0.8,32,9.8,0.0,135.5,10,11.2