version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 1052
start: 6 28 118 12 33 54
data:
$ID,626
$MISSION,2
$DIVE,1052
$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,43
$R_STBD_OVSHOOT,45
$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
$GPS1,280618,122431,2245.4426,-15758.1777,42,1.3,42,9.8,0.8,281.5,5,23.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.6
$GPS2,280618,123311,2245.3696,-15758.2422,22,1.3,22,9.8,0.0,0.0,5,41.8
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,A10
$TGT_LATLONG,2245.785,-15757.885
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,25.2,982,-21.5,-10.000,-24.01,1630
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.66,-63.3,180,2215,703,610,0.0,0.0,0,65,0.00,0.00,-45.88,0.000,16386,0.000,0.000,180,2212,2185,2215,2156,0,0,0,0,0,0,15.00,28.83,15.00
$GC,70,-0.66,-63.3,180,2212,2215,2155,3.1,-6.0,7,87,7.70,2.30,-3.15,0.000,18692,0.440,0.063,2400,3608,2360,2398,2323,0,0,0,0,0,0,13.99,13.11,14.50
$GC,196,-0.66,-63.3,2399,3608,2399,2322,34.4,-19.1,27,202,0.05,2.30,0.00,0.000,3078,0.426,0.044,2417,2203,2361,2400,2322,0,0,0,0,0,0,14.32,14.66,14.58
$GC,454,-0.66,-63.3,2416,2202,2399,2322,77.4,-15.2,52,461,0.00,0.00,0.00,0.000,2054,0.000,0.000,2417,2202,2360,2399,2322,0,0,0,0,0,0,15.08,15.09,15.08
$GC,701,-0.66,-63.3,2416,2202,2398,2322,115.2,-14.7,77,706,0.00,2.28,0.00,0.000,516,0.000,0.056,2417,794,2360,2399,2322,0,0,0,0,0,0,15.13,14.69,15.13
$GC,745,-0.66,-63.3,2417,793,2399,2322,122.4,-15.9,81,751,0.00,2.28,0.00,0.000,3078,0.000,0.040,2414,2199,2360,2399,2322,0,0,0,0,0,0,14.85,14.74,14.86
$GC,1003,-0.66,-63.3,2414,2200,2399,2322,155.5,-12.4,106,1010,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2200,2361,2400,2323,0,0,0,0,0,0,15.12,15.13,15.13
$GC,1250,-0.66,-63.3,2413,2201,2399,2322,188.2,-14.1,131,1256,0.00,2.30,0.00,0.000,2308,0.000,0.059,2413,3600,2361,2400,2322,0,0,0,0,0,0,15.16,14.69,15.16
$GC,1363,-0.66,-63.3,2413,3601,2400,2322,200.3,-12.1,140,1369,0.00,2.25,0.00,0.000,3078,0.000,0.038,2412,2195,2361,2400,2322,0,0,0,0,0,0,14.86,14.76,14.88
$GC,1617,-0.66,-63.3,2413,2194,2400,2322,231.5,-11.4,147,1622,0.00,2.28,0.00,0.000,2564,0.000,0.055,2413,798,2361,2400,2322,0,0,0,0,0,0,15.17,14.71,15.17
$GC,1635,-0.66,-63.3,2413,797,2400,2322,231.5,-11.4,147,1641,0.00,2.25,0.00,0.000,3078,0.000,0.040,2413,2199,2360,2399,2322,0,0,0,0,0,0,14.87,14.76,14.89
$GC,1905,-0.66,-63.3,2413,2200,2399,2322,261.2,-9.9,154,1911,0.00,2.30,0.00,0.000,2308,0.000,0.057,2413,3607,2361,2400,2322,0,0,0,0,0,0,15.17,14.71,15.17
$GC,1924,-0.66,-63.3,2413,3606,2399,2322,261.2,-9.9,154,1929,0.00,2.25,0.00,0.000,3078,0.000,0.037,2413,2200,2360,2399,2322,0,0,0,0,0,0,14.88,14.77,14.89
$GC,2193,-0.66,-63.3,2413,2198,2399,2322,291.0,-10.6,161,2194,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2198,2360,2399,2322,0,0,0,0,0,0,15.18,15.18,15.18
$GC,2432,-0.66,-63.3,2413,2198,2400,2322,317.9,-11.2,167,2438,0.00,2.30,0.00,0.000,2564,0.000,0.054,2413,790,2360,2399,2321,0,0,0,0,0,0,15.18,14.72,15.19
$GC,2506,-0.66,-63.3,2413,790,2399,2321,323.2,-11.3,168,2511,0.00,2.30,0.00,0.000,3078,0.000,0.039,2413,2211,2359,2399,2320,0,0,0,0,0,0,14.87,14.77,14.89
$GC,2760,-0.66,-63.3,2412,2212,2399,2317,353.2,-10.4,175,2765,0.00,2.28,0.00,0.000,2308,0.000,0.057,2413,3602,2358,2399,2318,0,0,0,0,0,0,15.18,14.70,15.18
$GC,2788,-0.66,-63.3,2413,3602,2399,2318,353.2,-10.4,175,2793,0.00,2.25,0.00,0.000,3078,0.000,0.038,2413,2199,2358,2399,2318,0,0,0,0,0,0,14.86,14.75,14.88
$STATE,2844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2844,begin apogee
$GC,2851,-0.14,0.0,2413,2198,2399,2317,362.0,-10.3,177,2907,0.47,0.00,52.95,1.332,10246,0.256,0.000,2586,2194,2098,2183,2014,0,0,0,0,0,0,14.26,14.45,13.58
$STATE,2908,end apogee,CONTROL_FINISHED_OK
$STATE,2908,begin climb
$GC,2911,0.66,63.3,2586,2194,2179,2011,364.1,0.0,178,2970,0.57,2.38,51.08,1.314,10500,0.147,0.048,2832,3613,1837,1936,1739,0,0,0,0,0,0,14.45,14.24,13.50
$GC,3058,0.66,63.3,2832,3613,1932,1738,362.6,2.2,181,3066,0.00,2.30,0.00,0.000,1030,0.000,0.039,2842,2203,1834,1932,1737,0,0,0,0,0,0,14.69,14.60,14.70
$GC,3305,0.79,174.2,2842,2203,1930,1732,353.0,3.0,188,3398,0.08,2.35,85.97,1.312,10756,0.197,0.054,2939,793,1384,1488,1281,0,0,0,0,0,0,14.72,14.15,13.52
$GC,3482,0.79,174.2,2938,793,1484,1280,333.0,12.5,192,3488,0.15,2.30,0.00,0.000,5126,0.405,0.035,2892,2211,1382,1484,1280,0,0,0,0,0,0,14.08,14.61,14.47
$GC,3752,0.79,174.2,2891,2213,1483,1276,287.7,15.1,199,3757,0.00,2.35,0.00,0.000,4612,0.000,0.055,2902,793,1380,1484,1276,0,0,0,0,0,0,15.08,14.68,15.08
$GC,3830,0.79,174.2,2902,793,1483,1276,280.9,15.0,200,3838,0.05,2.28,0.00,0.000,5126,0.451,0.034,2887,2204,1379,1483,1276,0,0,0,0,0,0,14.34,14.74,14.66
$GC,4076,0.79,174.2,2886,2204,1483,1274,241.8,13.7,207,4081,0.00,2.33,0.00,0.000,516,0.000,0.055,2897,793,1379,1484,1274,0,0,0,0,0,0,15.13,14.71,15.14
$GC,4129,0.79,174.2,2897,793,1483,1274,235.9,13.5,208,4135,0.00,2.25,0.00,0.000,5126,0.000,0.035,2897,2198,1378,1483,1273,0,0,0,0,0,0,14.86,14.77,14.88
$GC,4404,0.79,174.2,2897,2199,1483,1270,197.9,13.9,215,4409,0.00,2.28,0.00,0.000,4356,0.000,0.051,2898,3603,1376,1483,1270,0,0,0,0,0,0,15.15,14.71,15.16
$GC,4442,0.79,174.2,2897,3604,1483,1270,193.3,13.5,218,4451,0.05,2.33,0.00,0.000,5126,0.402,0.042,2891,2201,1376,1483,1270,0,0,0,0,0,0,14.23,14.69,14.43
$GC,4690,0.79,174.2,2890,2201,1483,1269,167.9,10.2,243,4696,0.00,2.30,0.00,0.000,4612,0.000,0.056,2902,793,1376,1483,1269,0,0,0,0,0,0,15.12,14.69,15.13
$GC,4781,0.81,187.8,2902,793,1483,1269,159.8,9.1,251,4799,0.00,2.33,10.30,0.996,13318,0.000,0.034,2901,2201,1330,1440,1220,0,0,0,0,0,0,14.73,14.69,13.74
$GC,5038,0.81,187.8,2902,2201,1437,1218,130.5,11.3,277,5044,0.00,2.35,0.00,0.000,4612,0.000,0.054,2913,796,1327,1437,1218,0,0,0,0,0,0,15.11,14.69,15.12
$GC,5096,0.81,187.8,2912,796,1437,1218,124.3,11.5,282,5105,0.05,2.28,0.00,0.000,5126,0.439,0.036,2896,2209,1327,1437,1218,0,0,0,0,0,0,14.34,14.73,14.61
$GC,5344,0.82,192.8,2896,2209,1437,1217,99.8,9.7,307,5352,0.00,0.00,3.33,0.589,12294,0.000,0.000,2896,2209,1313,1425,1202,0,0,0,0,0,0,15.13,14.53,13.71
$GC,5597,0.86,229.4,2896,2209,1425,1210,78.2,7.7,332,5636,0.00,2.35,31.67,0.962,10756,0.000,0.056,2907,787,1159,1263,1056,0,0,0,0,0,0,15.11,14.62,13.80
$GC,5772,0.86,229.4,2906,786,1262,1058,60.3,10.8,348,5780,0.00,2.35,0.00,0.000,1030,0.000,0.036,2907,2198,1160,1262,1058,0,0,0,0,0,0,14.74,14.60,14.76
$GC,6022,0.86,229.4,2907,2198,1261,1058,34.7,10.5,373,6028,0.00,2.33,0.00,0.000,516,0.000,0.057,2918,790,1159,1261,1058,0,0,0,0,0,0,15.07,14.65,15.07
$GC,6088,0.89,248.7,2917,790,1261,1058,27.9,8.8,381,6117,0.00,2.35,17.88,0.864,13318,0.000,0.036,2918,2202,1078,1183,973,0,0,0,0,0,0,14.66,14.61,13.89
$STATE,6356,end climb,SURFACE_DEPTH_REACHED
$STATE,6356,begin surface coast
$FINISH,0.3,1.023030
$STATE,6378,end surface coast,CONTROL_FINISHED_OK
$STATE,6378,begin surface
$SM_CCo,6396,71.88,0.867,1,0,647,355.92
$SM_CCo,6478,0.00,0.000,0,0,649,355.92
$SM_CCo,6482,0.43,0.265,0,0,648,355.92
$SM_GC,1.46,6.45,0.00,0.43,0.102,0.000,0.265,181,2211,648,-7.48,0.31,355.92,0,0,0,0,0,0,14.72,15.04,14.35
$IRIDIUM_FIX,2237.01,-15759.32,280618,122630
$TT8_MAMPS,0.018725,0.240429
$HUMID,51.33
$INTERNAL_PRESSURE,9.51467
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,13.11,219.891
$10V_AH,11.92,0.000
$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,15.625,73.650,253.175,72.300,0.000,27.836,58.520,262.881,0.000,0.000,23.833,1387.109,3472.656,414.514,1482.318,273.643,0.000,967.826,0.000,1050.771,0.000,0.550,0.000
$DEVICE_MAMPS,451.350,63.495,1331.865,866.745,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,291.934,405.892,500.733,0.000,343.542,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,0.000,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342984
$DATA_FILE_SIZE,37463,435
$CAP_FILE_SIZE,80196,0
$CFSIZE,2097086464,1985019904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,5
$CURRENT,0.122,223.31,1
$GPS,280618,142318,2245.539,-15758.118,41,0.8,42,9.8,0.0,0.0,9,18.6