version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 1053
start: 6 28 118 14 32 34
data:
$ID,626
$MISSION,2
$DIVE,1053
$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,44
$R_STBD_OVSHOOT,47
$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
$GPS1,280618,142318,2245.5393,-15758.1182,41,0.8,42,9.8,0.0,0.0,9,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.6
$GPS2,280618,143149,2245.4929,-15758.1992,7,0.8,7,9.8,0.9,211.5,9,73.0
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,A9
$TGT_LATLONG,2245.390,-15758.740
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,267.5,944,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.69,-63.3,181,2213,705,608,0.0,0.0,0,73,0.00,0.00,-50.58,0.000,16390,0.000,0.000,181,2212,2359,2390,2329,0,0,0,0,0,0,15.00,12.72,14.89
$GC,77,-0.69,-63.3,181,2212,2390,2329,4.1,-8.6,8,93,7.65,2.33,0.00,0.000,2564,0.443,0.040,2394,776,2360,2391,2329,0,0,0,0,0,0,13.88,14.32,14.16
$GC,204,-0.69,-63.3,2394,775,2390,2328,41.8,-21.3,25,210,0.08,2.30,0.00,0.000,3078,0.409,0.039,2410,2196,2359,2390,2328,0,0,0,0,0,0,14.23,14.68,14.55
$GC,461,-0.69,-63.3,2410,2197,2389,2327,84.4,-14.8,50,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2197,2358,2390,2327,0,0,0,0,0,0,15.09,15.09,15.09
$GC,709,-0.69,-63.3,2410,2197,2391,2327,120.5,-13.9,75,715,0.00,2.28,0.00,0.000,260,0.000,0.054,2399,3608,2358,2390,2327,0,0,0,0,0,0,15.13,14.69,15.13
$GC,765,-0.69,-63.3,2399,3609,2389,2328,128.5,-14.5,80,770,0.00,2.30,0.00,0.000,3078,0.000,0.041,2400,2193,2358,2389,2327,0,0,0,0,0,0,14.85,14.73,14.86
$GC,1021,-0.69,-63.3,2399,2192,2391,2327,165.0,-13.9,105,1027,0.00,2.35,0.00,0.000,2308,0.000,0.056,2397,3611,2359,2391,2327,0,0,0,0,0,0,15.13,14.71,15.14
$GC,1130,-0.69,-63.3,2397,3611,2391,2327,178.7,-12.2,115,1137,0.00,2.28,0.00,0.000,3078,0.000,0.039,2397,2197,2360,2392,2328,0,0,0,0,0,0,14.85,14.75,14.87
$GC,1376,-0.69,-63.3,2397,2197,2391,2328,210.2,-12.4,134,1382,0.00,2.28,0.00,0.000,2564,0.000,0.057,2397,799,2359,2391,2327,0,0,0,0,0,0,15.16,14.71,15.16
$GC,1461,-0.69,-63.3,2397,799,2391,2327,222.0,-13.3,136,1467,0.05,2.25,0.00,0.000,3078,0.426,0.038,2406,2202,2358,2391,2326,0,0,0,0,0,0,14.41,14.77,14.66
$GC,1746,-0.69,-63.3,2406,2203,2391,2327,254.4,-10.6,143,1747,0.00,0.00,0.00,0.000,2054,0.000,0.000,2405,2203,2359,2391,2327,0,0,0,0,0,0,15.17,15.18,15.17
$GC,1986,-0.69,-63.3,2405,2203,2391,2327,279.9,-10.6,149,1992,0.00,2.28,0.00,0.000,2308,0.000,0.057,2399,3597,2359,2391,2327,0,0,0,0,0,0,15.18,14.71,15.18
$GC,2025,-0.69,-63.3,2398,3598,2391,2327,279.9,-10.6,149,2032,0.00,2.25,0.00,0.000,3078,0.000,0.037,2399,2192,2358,2391,2326,0,0,0,0,0,0,14.88,14.77,14.89
$GC,2271,-0.69,-63.3,2398,2192,2391,2325,313.0,-11.6,156,2272,0.00,0.00,0.00,0.000,2054,0.000,0.000,2399,2192,2358,2391,2325,0,0,0,0,0,0,15.18,15.18,15.18
$GC,2511,-0.69,-63.3,2398,2192,2391,2321,337.5,-10.0,162,2512,0.00,0.00,0.00,0.000,2054,0.000,0.000,2399,2192,2356,2391,2322,0,0,0,0,0,0,15.17,15.18,15.18
$STATE,2748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2748,begin apogee
$GC,2755,-0.14,0.0,2399,2191,2391,2318,360.3,-9.5,168,2808,0.52,0.00,50.33,1.347,10246,0.264,0.000,2587,2186,2099,2180,2018,0,0,0,0,0,0,14.24,14.46,13.54
$STATE,2809,end apogee,CONTROL_FINISHED_OK
$STATE,2810,begin climb
$GC,2813,0.69,63.3,2587,2186,2179,2020,362.2,0.0,169,2872,0.60,2.33,51.67,1.311,10756,0.143,0.053,2855,791,1837,1934,1741,0,0,0,0,0,0,14.46,14.14,13.53
$GC,2967,0.69,63.3,2855,791,1930,1741,359.1,2.6,173,2972,0.00,2.30,0.00,0.000,5126,0.000,0.035,2854,2212,1835,1930,1741,0,0,0,0,0,0,14.71,14.63,14.73
$GC,3251,0.81,162.9,2855,2211,1929,1737,349.7,3.1,180,3339,0.05,2.35,77.68,1.304,10500,0.275,0.049,2926,3607,1427,1528,1326,0,0,0,0,0,0,14.69,14.42,13.59
$GC,3483,0.81,162.9,2925,3608,1522,1325,323.5,15.5,185,3490,0.15,2.30,0.00,0.000,5126,0.396,0.042,2889,2202,1424,1523,1325,0,0,0,0,0,0,14.10,14.64,14.54
$GC,3739,0.81,162.9,2888,2201,1522,1322,282.1,14.1,192,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2201,1422,1522,1322,0,0,0,0,0,0,15.09,15.09,15.09
$GC,3978,0.81,162.9,2889,2201,1522,1320,248.9,13.9,198,3984,0.00,2.30,0.00,0.000,516,0.000,0.057,2900,793,1421,1522,1320,0,0,0,0,0,0,15.13,14.71,15.14
$GC,4012,0.81,162.9,2900,793,1522,1320,248.9,13.9,198,4017,0.00,2.25,0.00,0.000,5126,0.000,0.036,2900,2196,1421,1522,1321,0,0,0,0,0,0,14.86,14.77,14.88
$GC,4268,0.81,162.9,2900,2196,1522,1317,211.4,12.6,205,4269,0.00,0.00,0.00,0.000,4102,0.000,0.000,2900,2196,1419,1522,1317,0,0,0,0,0,0,15.15,15.15,15.15
$GC,4506,0.82,170.5,2900,2196,1522,1316,185.3,9.5,220,4518,0.00,2.35,4.00,0.753,12804,0.000,0.055,2911,799,1405,1510,1301,0,0,0,0,0,0,15.15,14.59,13.63
$GC,4803,0.82,170.5,2910,799,1510,1303,156.7,10.0,249,4809,0.05,2.28,0.00,0.000,5126,0.455,0.035,2895,2212,1406,1509,1303,0,0,0,0,0,0,14.33,14.76,14.61
$GC,5058,0.85,195.9,2894,2212,1510,1302,135.8,8.2,274,5086,0.00,0.00,23.08,1.027,10246,0.000,0.000,2895,2212,1293,1400,1187,0,0,0,0,0,0,15.14,14.58,13.83
$GC,5331,0.86,202.5,2894,2212,1397,1188,108.7,9.5,301,5343,0.00,2.35,4.57,0.732,10756,0.000,0.054,2905,793,1274,1381,1168,0,0,0,0,0,0,15.08,14.28,13.71
$GC,5438,0.86,202.5,2905,793,1381,1172,97.2,11.0,311,5444,0.00,2.28,0.00,0.000,1030,0.000,0.035,2905,2204,1276,1381,1172,0,0,0,0,0,0,14.82,14.74,14.84
$GC,5697,0.87,215.7,2905,2204,1381,1172,73.0,9.1,336,5720,0.00,2.30,13.23,0.904,10500,0.000,0.050,2905,3597,1212,1316,1109,0,0,0,0,0,0,15.10,14.65,13.84
$GC,5769,0.87,215.7,2905,3598,1314,1109,65.2,10.7,342,5777,0.00,2.35,0.00,0.000,5126,0.000,0.043,2916,2195,1211,1314,1109,0,0,0,0,0,0,14.80,14.64,14.82
$GC,6019,0.89,231.5,2916,2195,1315,1109,43.0,8.9,367,6043,0.00,2.33,13.68,0.864,8708,0.000,0.057,2927,791,1151,1254,1049,0,0,0,0,0,0,15.08,14.59,13.90
$GC,6205,0.95,277.8,2927,792,1254,1053,30.2,6.8,384,6251,0.00,2.28,38.97,0.890,11270,0.000,0.035,2927,2208,962,1057,868,0,0,0,0,0,0,14.82,14.73,13.88
$STATE,6412,end climb,SURFACE_DEPTH_REACHED
$STATE,6412,begin surface coast
$FINISH,0.3,1.022917
$STATE,6438,end surface coast,CONTROL_FINISHED_OK
$STATE,6438,begin surface
$SM_CCo,6456,60.60,0.770,1,0,648,355.92
$SM_CCo,6526,-0.20,0.000,0,0,650,355.92
$SM_CCo,6531,0.00,0.000,0,0,648,355.92
$SM_GC,1.38,6.30,0.00,0.00,0.072,0.000,0.000,181,2213,648,-7.49,0.37,355.92,0,0,0,0,0,0,14.72,15.00,14.85
$IRIDIUM_FIX,2239.35,-15759.32,280618,142520
$TT8_MAMPS,0.019474,0.237433
$HUMID,51.37
$INTERNAL_PRESSURE,9.51467
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,12.72,220.054
$10V_AH,11.32,0.000
$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,15.450,55.200,277.200,60.600,0.000,29.007,43.614,279.993,0.000,0.000,9.136,1376.433,3611.854,407.192,1407.230,267.851,0.000,949.858,0.000,1041.659,0.000,0.550,0.000
$DEVICE_MAMPS,455.175,57.375,1347.165,770.355,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,284.702,307.589,487.257,0.000,311.340,0.000,0.000,0.000,0.000,0.000
$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,37368,425
$CAP_FILE_SIZE,77315,0
$CFSIZE,2097086464,1984921600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,2
$CURRENT,0.080,243.70,1
$GPS,280618,162213,2245.502,-15759.044,8,1.4,8,9.8,0.7,246.4,6,161.3