version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 227
start: 4 3 118 20 52 55
data:
$ID,626
$MISSION,2
$DIVE,227
$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,200
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,380
$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,2570
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,35
$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,2420
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2210
$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
$GPS1,030418,204419,2225.8650,-15657.2051,17,1.5,17,9.9,0.0,0.0,5,34.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.6
$GPS2,030418,205213,2225.8354,-15657.2236,19,1.4,19,9.9,0.0,0.0,5,80.4
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,M9
$TGT_LATLONG,2224.000,-15718.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,258.2,35738,-16.4,-10.000,-19.35,2738
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.58,-87.6,182,2432,683,645,0.0,0.0,0,79,0.00,0.00,-58.47,0.000,16390,0.000,0.000,182,2432,2568,2599,2538,0,0,0,0,0,0,14.94,13.97,14.90
$GC,82,-0.58,-87.6,182,2432,2599,2538,3.9,-7.3,8,100,7.18,2.25,0.00,0.000,2308,0.440,0.045,2370,3812,2568,2599,2538,0,0,0,0,0,0,14.43,14.64,14.72
$GC,157,-0.58,-87.6,2371,3812,2599,2538,30.6,-28.5,19,165,0.00,2.35,0.00,0.000,3078,0.000,0.053,2371,2426,2568,2599,2538,0,0,0,0,0,0,14.73,14.68,14.75
$GC,404,-0.58,-87.6,2370,2426,2599,2530,91.5,-21.9,44,409,0.00,2.33,0.00,0.000,2564,0.000,0.061,2371,1008,2564,2599,2530,0,0,0,0,0,0,15.05,14.78,15.05
$GC,440,-0.58,-87.6,2370,1008,2599,2527,99.1,-22.0,47,446,0.08,2.28,0.00,0.000,3078,0.397,0.047,2386,2390,2562,2599,2526,0,0,0,0,0,0,14.59,14.80,14.83
$GC,693,-0.58,-87.6,2385,2391,2599,2525,154.2,-20.3,72,699,0.00,2.38,0.00,0.000,260,0.000,0.067,2385,3829,2562,2599,2525,0,0,0,0,0,0,15.11,14.81,15.11
$GC,742,-0.58,-87.6,2385,3829,2599,2525,162.1,-17.7,76,750,0.00,2.30,0.00,0.000,1030,0.000,0.047,2385,2407,2562,2599,2525,0,0,0,0,0,0,14.94,14.86,14.95
$GC,1010,-0.58,-87.6,2385,2407,2599,2526,208.5,-18.0,100,1016,0.00,2.25,0.00,0.000,516,0.000,0.060,2385,1010,2562,2599,2526,0,0,0,0,0,0,15.14,14.88,15.15
$GC,1053,-0.58,-87.6,2385,1010,2599,2524,216.8,-18.1,101,1060,0.00,2.33,0.00,0.000,1030,0.000,0.051,2385,2425,2561,2599,2523,0,0,0,0,0,0,14.97,14.88,15.00
$GC,1336,-0.58,-87.6,2385,2426,2599,2524,259.8,-13.9,108,1342,0.00,2.30,0.00,0.000,516,0.000,0.058,2385,1010,2561,2599,2524,0,0,0,0,0,0,15.19,14.92,15.20
$GC,1363,-0.58,-87.6,2384,1010,2599,2523,259.8,-13.9,108,1368,0.00,2.30,0.00,0.000,1030,0.000,0.051,2385,2419,2561,2599,2523,0,0,0,0,0,0,15.02,14.92,15.03
$GC,1620,-0.58,-87.6,2385,2419,2599,2523,300.7,-15.3,115,1626,0.00,2.33,0.00,0.000,260,0.000,0.070,2382,3833,2561,2599,2524,0,0,0,0,0,0,15.22,14.92,15.23
$GC,1672,-0.58,-87.6,2382,3833,2600,2523,306.7,-15.2,116,1677,0.00,2.28,0.00,0.000,3078,0.000,0.046,2382,2407,2561,2599,2523,0,0,0,0,0,0,15.05,14.97,15.07
$GC,1944,-0.58,-87.6,2382,2408,2599,2523,346.4,-13.8,123,1949,0.00,2.25,0.00,0.000,2564,0.000,0.060,2382,1015,2561,2599,2523,0,0,0,0,0,0,15.24,14.96,15.24
$GC,2050,-0.58,-87.6,2382,1015,2599,2522,358.1,-14.1,125,2055,0.00,2.30,0.00,0.000,3078,0.000,0.051,2374,2424,2560,2599,2522,0,0,0,0,0,0,15.07,14.95,15.08
$GC,2307,-0.58,-87.6,2373,2425,2599,2521,397.5,-13.6,132,2313,0.00,2.33,0.00,0.000,2564,0.000,0.058,2373,1007,2559,2599,2520,0,0,0,0,0,0,15.25,14.97,15.25
$GC,2329,-0.58,-87.6,2373,1007,2599,2520,397.5,-13.6,132,2335,0.00,2.30,0.00,0.000,3078,0.000,0.052,2373,2419,2559,2599,2520,0,0,0,0,0,0,15.07,14.96,15.09
$GC,2592,-0.58,-87.6,2372,2419,2599,2517,438.7,-14.5,139,2597,0.00,2.33,0.00,0.000,2308,0.000,0.069,2373,3836,2558,2599,2517,0,0,0,0,0,0,15.26,14.95,15.26
$GC,2623,-0.58,-87.6,2372,3836,2598,2517,438.7,-14.5,139,2629,0.00,2.28,0.00,0.000,3078,0.000,0.045,2372,2418,2558,2599,2517,0,0,0,0,0,0,15.09,15.00,15.09
$GC,2876,-0.58,-87.6,2372,2418,2599,2514,479.9,-14.7,146,2883,0.00,2.28,0.00,0.000,2564,0.000,0.059,2373,1010,2556,2599,2514,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2914,-0.58,-87.6,2372,1009,2599,2513,479.9,-14.7,146,2921,0.00,2.33,0.00,0.000,3078,0.000,0.052,2373,2430,2556,2599,2513,0,0,0,0,0,0,15.08,14.97,15.09
$GC,3159,-0.58,-87.6,2372,2430,2599,2510,517.7,-13.1,153,3165,0.00,2.35,0.00,0.000,2564,0.000,0.058,2372,1003,2554,2599,2510,0,0,0,0,0,0,15.26,14.98,15.26
$GC,3206,-0.58,-87.6,2372,1002,2599,2509,523.5,-13.1,154,3211,0.00,2.33,0.00,0.000,3078,0.000,0.051,2372,2423,2554,2599,2509,0,0,0,0,0,0,15.08,14.97,15.09
$GC,3483,-0.58,-87.6,2372,2424,2599,2507,555.8,-11.3,161,3489,0.00,2.33,0.00,0.000,2564,0.000,0.057,2372,1009,2552,2597,2507,0,0,0,0,0,0,15.26,14.97,15.27
$GC,3526,-0.58,-87.6,2372,1009,2597,2507,561.1,-11.4,162,3532,0.00,2.33,0.00,0.000,3078,0.000,0.050,2372,2427,2552,2598,2506,0,0,0,0,0,0,15.08,14.97,15.09
$GC,3809,-0.58,-87.6,2372,2426,2599,2502,594.9,-12.2,169,3814,0.00,2.35,0.00,0.000,2564,0.000,0.058,2372,1000,2550,2598,2502,0,0,0,0,0,0,15.26,14.97,15.26
$STATE,3850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3850,begin apogee
$GC,3856,-0.14,0.0,2372,2206,2599,2501,600.7,-12.7,170,3926,0.40,0.00,66.38,1.605,10246,0.293,0.000,2519,2207,2208,2276,2141,0,0,0,0,0,0,14.75,14.58,14.00
$STATE,3927,end apogee,CONTROL_FINISHED_OK
$STATE,3927,begin climb
$GC,3928,0.58,87.6,2520,2207,2273,2139,603.8,0.0,171,4006,0.55,2.40,69.57,1.582,10500,0.205,0.055,2737,3618,1848,1943,1754,0,0,0,0,0,0,14.48,14.23,13.77
$GC,4067,0.58,87.6,2737,3618,1942,1754,600.7,5.2,174,4072,0.00,2.38,0.00,0.000,3078,0.000,0.043,2748,2196,1848,1942,1754,0,0,0,0,0,0,14.61,14.53,14.62
$GC,4320,0.68,167.4,2747,2196,1942,1751,580.5,7.0,181,4390,0.05,2.38,63.40,1.560,10756,0.282,0.055,2827,787,1522,1628,1417,0,0,0,0,0,0,14.69,14.31,13.86
$GC,4457,0.68,167.4,2828,786,1625,1417,563.9,11.7,184,4463,0.12,2.35,0.00,0.000,5126,0.376,0.036,2787,2216,1520,1625,1416,0,0,0,0,0,0,14.39,14.57,14.59
$GC,4725,0.68,167.4,2787,2219,1625,1412,516.9,16.4,191,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2219,1519,1625,1413,0,0,0,0,0,0,15.00,15.01,15.01
$GC,4964,0.68,167.4,2787,2218,1625,1410,476.9,16.8,197,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2218,1517,1625,1410,0,0,0,0,0,0,15.09,15.09,15.09
$GC,5205,0.68,167.4,2788,2218,1625,1407,435.9,16.9,203,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2218,1516,1625,1407,0,0,0,0,0,0,15.13,15.14,15.14
$GC,5444,0.68,167.4,2787,2218,1625,1406,397.6,15.9,209,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2219,1515,1625,1405,0,0,0,0,0,0,15.16,15.18,15.17
$GC,5685,0.68,167.4,2787,2219,1625,1404,361.3,14.9,215,5691,0.00,2.25,0.00,0.000,260,0.000,0.052,2787,3608,1514,1625,1404,0,0,0,0,0,0,15.19,14.93,15.19
$GC,5721,0.68,167.4,2787,3608,1624,1404,361.3,14.9,215,5729,0.00,2.28,0.00,0.000,5126,0.000,0.045,2798,2198,1514,1624,1404,0,0,0,0,0,0,15.03,14.95,15.04
$GC,5967,0.68,167.4,2797,2198,1624,1403,320.0,14.5,222,5973,0.00,2.28,0.00,0.000,4612,0.000,0.056,2809,794,1513,1624,1403,0,0,0,0,0,0,15.21,14.94,15.21
$GC,6184,0.68,167.4,2808,793,1623,1402,289.4,15.3,227,6190,0.05,2.25,0.00,0.000,5126,0.425,0.035,2791,2210,1513,1623,1403,0,0,0,0,0,0,14.71,14.97,14.98
$GC,6452,0.68,167.4,2791,2214,1623,1401,249.5,14.5,234,6457,0.00,2.22,0.00,0.000,4356,0.000,0.051,2791,3596,1512,1623,1402,0,0,0,0,0,0,15.22,14.95,15.23
$GC,6623,0.68,167.4,2791,3596,1621,1402,226.9,13.9,238,6629,0.00,2.25,0.00,0.000,5126,0.000,0.044,2801,2199,1511,1621,1402,0,0,0,0,0,0,15.05,14.97,15.07
$GC,6875,0.68,167.4,2801,2199,1621,1402,196.1,10.9,246,6877,0.03,0.00,0.00,0.000,4102,0.628,0.000,2792,2199,1512,1622,1402,0,0,0,0,0,0,14.82,15.03,15.00
$GC,7116,0.68,167.4,2792,2199,1621,1401,168.3,11.4,270,7122,0.00,2.28,0.00,0.000,4356,0.000,0.050,2792,3597,1511,1621,1401,0,0,0,0,0,0,15.21,14.95,15.21
$GC,7364,0.68,167.4,2791,3598,1622,1402,140.2,10.7,293,7372,0.05,2.25,0.00,0.000,5126,0.470,0.044,2786,2196,1511,1621,1402,0,0,0,0,0,0,14.66,14.94,14.95
$GC,7611,0.70,191.1,2786,2196,1621,1402,116.4,9.1,318,7635,0.00,2.28,17.42,0.940,10756,0.000,0.052,2797,791,1424,1534,1314,0,0,0,0,0,0,15.18,14.78,14.41
$GC,7701,0.70,191.1,2796,790,1532,1314,107.7,10.0,326,7707,0.00,2.25,0.00,0.000,1030,0.000,0.034,2796,2200,1423,1532,1314,0,0,0,0,0,0,14.95,14.88,14.95
$GC,7957,0.70,191.1,2796,2201,1532,1315,80.6,10.9,351,7962,0.00,2.28,0.00,0.000,516,0.000,0.053,2807,797,1423,1532,1315,0,0,0,0,0,0,15.11,14.87,15.12
$GC,8038,0.70,191.1,2806,797,1532,1315,70.9,11.8,358,8044,0.00,2.25,0.00,0.000,5126,0.000,0.034,2807,2208,1423,1532,1315,0,0,0,0,0,0,14.97,14.90,14.98
$GC,8294,0.70,191.1,2807,2209,1532,1317,38.6,12.5,383,8299,0.00,2.33,0.00,0.000,4612,0.000,0.054,2818,793,1424,1532,1317,0,0,0,0,0,0,15.11,14.87,15.11
$GC,8365,0.70,191.1,2817,793,1532,1318,29.1,13.5,389,8375,0.05,2.30,0.00,0.000,5126,0.370,0.033,2799,2205,1425,1532,1318,0,0,0,0,0,0,14.58,14.83,14.76
$STATE,8613,end climb,SURFACE_DEPTH_REACHED
$STATE,8613,begin surface coast
$FINISH,0.2,1.000164
$STATE,8644,end surface coast,CONTROL_FINISHED_OK
$STATE,8644,begin surface
$SM_CCo,8658,115.32,0.838,1,0,657,380.21
$SM_GC,1.08,6.00,0.30,115.32,0.083,0.062,0.838,187,2444,657,-7.31,-1.55,380.21,0,0,0,0,1,0,14.88,14.88,14.11
$IRIDIUM_FIX,2218.34,-15804.98,030418,204548
$TT8_MAMPS,0.019474,0.26964
$HUMID,41.53
$INTERNAL_PRESSURE,9.43654
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,6.4
$24V_AH,13.77,56.194
$10V_AH,13.93,0.000
$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,14.550,101.225,216.775,115.325,0.000,33.538,69.318,246.825,0.500,0.000,20.329,1606.388,5237.317,460.648,1861.832,118.424,0.000,1109.225,0.000,1466.005,0.000,5.461,0.000
$DEVICE_MAMPS,628.065,70.380,1604.970,837.675,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,295.114,237.318,421.736,412.234,632.529,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343048
$DATA_FILE_SIZE,37271,435
$CAP_FILE_SIZE,94282,0
$CFSIZE,2097086464,2071691264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.068,237.13,1
$GPS,030418,232030,2225.559,-15658.554,41,0.9,41,9.9,0.5,186.1,9,151.2