version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 230
start: 4 4 118 4 53 43
data:
$ID,626
$MISSION,2
$DIVE,230
$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,43
$R_STBD_OVSHOOT,48
$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
$GPS1,040418,043954,2224.8826,-15701.8535,39,0.7,39,9.9,0.7,282.5,11,19.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.7
$GPS2,040418,045301,2224.9043,-15701.9922,14,0.8,14,9.9,0.0,0.0,11,26.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,M9
$TGT_LATLONG,2224.000,-15718.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,267.2,27461,-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,-87.6,184,2439,685,648,0.0,0.0,0,81,0.00,0.00,-58.10,0.000,16390,0.000,0.000,184,2440,2568,2600,2536,0,0,0,0,0,0,14.96,13.96,14.93
$GC,84,-0.58,-87.6,184,2440,2600,2536,4.8,-9.5,8,101,7.18,2.35,0.00,0.000,2564,0.442,0.040,2376,1001,2569,2602,2536,0,0,0,0,0,0,14.45,14.66,14.74
$GC,116,-0.58,-87.6,2375,1001,2604,2536,20.7,-45.3,12,125,0.00,2.38,0.00,0.000,3078,0.000,0.046,2372,2403,2570,2605,2536,0,0,0,0,0,0,14.73,14.68,14.75
$GC,377,-0.58,-87.6,2372,2403,2606,2536,92.1,-24.1,39,382,0.00,2.35,0.00,0.000,2308,0.000,0.063,2372,3827,2570,2605,2536,0,0,0,0,0,0,15.06,14.77,15.06
$GC,411,-0.58,-87.6,2371,3827,2605,2536,100.5,-23.2,42,416,0.00,2.30,0.00,0.000,3078,0.000,0.047,2372,2417,2570,2605,2536,0,0,0,0,0,0,14.90,14.82,14.92
$GC,667,-0.58,-87.6,2371,2418,2605,2536,151.9,-18.7,67,672,0.00,2.30,0.00,0.000,2564,0.000,0.061,2371,1012,2571,2606,2536,0,0,0,0,0,0,15.11,14.84,15.11
$GC,724,-0.58,-87.6,2371,1010,2606,2536,162.3,-18.2,72,734,0.05,2.38,0.00,0.000,3078,0.376,0.050,2382,2423,2571,2606,2536,0,0,0,0,0,0,14.59,14.80,14.77
$GC,982,-0.58,-87.6,2382,2424,2606,2536,207.5,-16.8,95,987,0.00,2.35,0.00,0.000,2564,0.000,0.059,2382,1003,2571,2606,2536,0,0,0,0,0,0,15.15,14.88,15.16
$GC,1008,-0.58,-87.6,2381,1003,2607,2536,207.5,-16.8,95,1014,0.00,2.30,0.00,0.000,3078,0.000,0.046,2373,2423,2571,2607,2536,0,0,0,0,0,0,15.00,14.89,15.00
$GC,1267,-0.58,-87.6,2372,2424,2607,2536,254.2,-16.2,102,1272,0.00,2.30,0.00,0.000,2308,0.000,0.065,2373,3828,2571,2607,2536,0,0,0,0,0,0,15.20,14.90,15.20
$GC,1288,-0.58,-87.6,2372,3829,2608,2536,254.2,-16.2,102,1294,0.00,2.25,0.00,0.000,3078,0.000,0.044,2373,2417,2571,2607,2536,0,0,0,0,0,0,15.04,14.94,15.04
$GC,1551,-0.58,-87.6,2372,2417,2607,2535,297.9,-15.4,109,1556,0.00,2.28,0.00,0.000,2564,0.000,0.061,2373,1017,2571,2607,2536,0,0,0,0,0,0,15.23,14.94,15.23
$GC,1617,-0.58,-87.6,2372,1015,2607,2536,304.2,-15.5,110,1623,0.00,2.30,0.00,0.000,3078,0.000,0.050,2372,2431,2571,2607,2536,0,0,0,0,0,0,15.06,14.95,15.07
$GC,1875,-0.58,-87.6,2373,2431,2607,2536,345.4,-14.5,117,1877,0.00,0.00,0.00,0.000,2054,0.000,0.000,2372,2430,2572,2608,2536,0,0,0,0,0,0,15.23,15.24,15.24
$GC,2115,-0.58,-87.6,2372,2431,2607,2535,382.1,-15.4,123,2120,0.00,2.33,0.00,0.000,2564,0.000,0.058,2372,1015,2570,2607,2534,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2197,-0.58,-87.6,2372,1014,2607,2534,395.1,-15.7,125,2203,0.00,2.30,0.00,0.000,3078,0.000,0.050,2372,2422,2569,2606,2533,0,0,0,0,0,0,15.08,14.97,15.09
$GC,2480,-0.58,-87.6,2371,2423,2607,2530,434.0,-13.3,132,2485,0.00,2.33,0.00,0.000,2564,0.000,0.058,2372,1009,2568,2607,2530,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2582,-0.58,-87.6,2372,1008,2607,2528,445.2,-13.4,134,2587,0.00,2.30,0.00,0.000,3078,0.000,0.053,2372,2420,2567,2607,2528,0,0,0,0,0,0,15.08,14.97,15.09
$GC,2844,-0.58,-87.6,2372,2421,2607,2525,479.8,-12.2,141,2849,0.00,2.33,0.00,0.000,2564,0.000,0.058,2372,1007,2566,2607,2525,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2900,-0.58,-87.6,2372,1005,2607,2525,485.5,-12.7,142,2906,0.00,2.33,0.00,0.000,3078,0.000,0.053,2372,2429,2565,2607,2524,0,0,0,0,0,0,15.08,14.97,15.09
$GC,3168,-0.58,-87.6,2372,2429,2607,2521,524.2,-13.9,149,3173,0.00,2.33,0.00,0.000,2564,0.000,0.058,2372,1014,2564,2607,2521,0,0,0,0,0,0,15.26,14.97,15.26
$GC,3224,-0.58,-87.6,2372,1013,2607,2520,530.7,-14.2,150,3230,0.00,2.30,0.00,0.000,3078,0.000,0.054,2372,2420,2563,2607,2520,0,0,0,0,0,0,15.09,14.97,15.09
$GC,3492,-0.58,-87.6,2372,2420,2607,2515,569.3,-13.3,157,3493,0.00,0.00,0.00,0.000,2054,0.000,0.000,2372,2420,2561,2607,2515,0,0,0,0,0,0,15.26,15.27,15.27
$GC,3733,-0.58,-87.6,2372,2420,2607,2511,597.3,-11.2,163,3738,0.00,2.33,0.00,0.000,2564,0.000,0.059,2372,1013,2559,2607,2511,0,0,0,0,0,0,15.27,14.97,15.27
$STATE,3774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3774,begin apogee
$GC,3780,-0.14,0.0,2372,2213,2607,2510,602.5,-11.3,164,3855,0.40,0.00,67.28,1.611,10246,0.292,0.000,2519,2214,2206,2274,2139,0,0,0,0,0,0,14.76,14.58,14.00
$STATE,3856,end apogee,CONTROL_FINISHED_OK
$STATE,3856,begin climb
$GC,3858,0.58,87.6,2519,2214,2274,2139,606.2,0.0,166,3937,0.55,2.35,69.82,1.597,10500,0.203,0.052,2738,3606,1848,1944,1752,0,0,0,0,0,0,14.48,14.22,13.76
$GC,4009,0.58,87.6,2737,3606,1942,1750,598.7,7.4,169,4014,0.00,2.33,0.00,0.000,3078,0.000,0.042,2748,2196,1846,1942,1750,0,0,0,0,0,0,14.63,14.56,14.64
$GC,4261,0.60,102.8,2748,2196,1944,1746,572.5,9.4,176,4280,0.00,2.30,12.88,1.434,10756,0.000,0.056,2759,789,1786,1889,1683,0,0,0,0,0,0,15.01,14.70,14.09
$GC,4383,0.60,106.5,2758,789,1885,1682,560.3,9.9,179,4394,0.00,2.30,3.00,0.711,9222,0.000,0.036,2758,2205,1775,1879,1672,0,0,0,0,0,0,14.83,14.77,14.07
$GC,4667,0.60,108.4,2758,2205,1879,1673,532.0,9.9,186,4672,0.00,2.30,0.00,0.000,2308,0.000,0.053,2758,3612,1776,1879,1673,0,0,0,0,0,0,15.09,14.84,15.09
$GC,4790,0.60,109.2,2758,3612,1877,1673,519.7,10.0,189,4800,0.00,2.30,3.50,0.855,13318,0.000,0.043,2769,2195,1764,1869,1659,0,0,0,0,0,0,14.95,14.88,14.18
$GC,5072,0.64,142.4,2769,2194,1869,1661,494.4,8.8,196,5106,0.00,2.30,28.10,1.464,10756,0.000,0.054,2780,796,1624,1730,1519,0,0,0,0,0,0,15.15,14.64,14.17
$GC,5127,0.68,173.8,2780,795,1728,1518,490.5,8.8,197,5158,0.00,2.28,25.45,1.440,11270,0.000,0.035,2781,2202,1498,1605,1392,0,0,0,0,0,0,14.83,14.76,14.03
$GC,5436,0.68,173.8,2780,2204,1600,1394,444.2,14.8,205,5441,0.00,2.35,0.00,0.000,2564,0.000,0.056,2791,794,1497,1600,1394,0,0,0,0,0,0,15.02,14.77,15.02
$GC,5497,0.68,173.8,2791,794,1601,1394,437.7,14.7,206,5503,0.00,2.28,0.00,0.000,1030,0.000,0.036,2791,2204,1497,1601,1394,0,0,0,0,0,0,14.88,14.81,14.89
$GC,5760,0.68,173.8,2791,2205,1600,1394,395.0,14.9,213,5765,0.00,2.35,0.00,0.000,516,0.000,0.056,2802,787,1497,1601,1394,0,0,0,0,0,0,15.11,14.86,15.12
$GC,5831,0.68,173.8,2802,786,1600,1394,388.6,14.8,214,5836,0.00,2.28,0.00,0.000,5126,0.000,0.036,2802,2204,1497,1600,1394,0,0,0,0,0,0,14.97,14.89,14.97
$GC,6085,0.68,173.8,2802,2205,1601,1393,345.8,15.3,221,6091,0.00,2.33,0.00,0.000,4612,0.000,0.056,2813,796,1497,1601,1393,0,0,0,0,0,0,15.16,14.90,15.16
$GC,6228,0.68,173.8,2813,794,1600,1393,326.2,15.9,224,6234,0.08,2.25,0.00,0.000,5126,0.389,0.037,2787,2203,1496,1600,1392,0,0,0,0,0,0,14.68,14.92,14.92
$GC,6492,0.68,173.8,2786,2207,1600,1392,287.5,13.4,231,6498,0.00,2.28,0.00,0.000,260,0.000,0.050,2787,3608,1496,1600,1392,0,0,0,0,0,0,15.19,14.92,15.19
$GC,6548,0.68,173.8,2786,3608,1600,1392,281.9,13.4,232,6553,0.00,2.28,0.00,0.000,5126,0.000,0.043,2797,2200,1496,1600,1392,0,0,0,0,0,0,15.02,14.94,15.04
$GC,6815,0.68,173.8,2797,2200,1600,1391,241.3,15.2,239,6821,0.00,2.28,0.00,0.000,4612,0.000,0.056,2808,795,1496,1600,1392,0,0,0,0,0,0,15.21,14.94,15.21
$GC,6862,0.68,173.8,2807,794,1600,1391,234.9,15.1,240,6868,0.05,2.25,0.00,0.000,5126,0.434,0.035,2790,2210,1495,1600,1391,0,0,0,0,0,0,14.71,14.97,14.95
$GC,7140,0.68,173.8,2790,2212,1600,1390,198.0,12.8,247,7145,0.00,2.30,0.00,0.000,516,0.000,0.057,2801,794,1495,1600,1391,0,0,0,0,0,0,15.21,14.95,15.22
$GC,7257,0.68,173.8,2801,794,1600,1390,183.9,12.0,258,7262,0.00,2.25,0.00,0.000,5126,0.000,0.035,2801,2201,1495,1600,1391,0,0,0,0,0,0,15.04,14.97,15.05
$GC,7512,0.68,173.8,2801,2202,1600,1390,152.7,12.8,283,7517,0.00,2.28,0.00,0.000,4356,0.000,0.050,2801,3607,1495,1600,1391,0,0,0,0,0,0,15.19,14.92,15.19
$GC,7653,0.68,173.8,2801,3608,1600,1391,134.2,12.4,296,7659,0.08,2.28,0.00,0.000,5126,0.411,0.042,2787,2198,1495,1600,1391,0,0,0,0,0,0,14.66,14.93,14.92
$GC,7908,0.68,173.8,2786,2197,1600,1391,108.0,10.1,321,7913,0.00,2.25,0.00,0.000,516,0.000,0.056,2797,794,1495,1600,1391,0,0,0,0,0,0,15.16,14.91,15.17
$GC,8062,0.70,184.8,2797,794,1600,1392,92.8,9.6,335,8078,0.00,2.25,9.48,0.871,13318,0.000,0.034,2797,2204,1453,1561,1345,0,0,0,0,0,0,15.00,14.92,14.42
$GC,8327,0.70,184.8,2797,2204,1559,1344,65.3,10.3,361,8332,0.00,2.33,0.00,0.000,4612,0.000,0.055,2808,793,1452,1559,1345,0,0,0,0,0,0,15.13,14.88,15.13
$GC,8369,0.70,184.8,2807,791,1559,1345,61.4,10.5,364,8377,0.00,2.30,0.00,0.000,5126,0.000,0.035,2808,2197,1451,1558,1345,0,0,0,0,0,0,14.89,14.83,14.88
$GC,8617,0.70,184.9,2807,2198,1559,1347,35.6,10.0,389,8622,0.00,2.28,0.00,0.000,4356,0.000,0.049,2808,3603,1453,1559,1348,0,0,0,0,0,0,15.12,14.87,15.12
$GC,8646,0.70,184.9,2807,3604,1559,1348,32.8,10.4,391,8656,0.05,2.33,0.00,0.000,5126,0.384,0.042,2800,2198,1453,1559,1348,0,0,0,0,0,0,14.55,14.78,14.74
$GC,8934,0.70,184.9,2800,2197,1559,1351,4.3,10.8,438,8943,0.00,2.35,0.00,0.000,4612,0.000,0.060,2811,798,1455,1559,1351,0,0,0,0,0,0,15.08,14.77,15.09
$STATE,8951,end climb,SURFACE_DEPTH_REACHED
$STATE,8951,begin surface coast
$FINISH,1.6,1.023705
$STATE,8958,end surface coast,CONTROL_FINISHED_OK
$STATE,8959,begin surface
$SM_CCo,8975,117.22,0.111,0,0,659,380.21
$SM_GC,1.20,6.10,2.67,117.22,0.100,0.039,0.111,185,2416,659,-7.29,-1.22,380.21,0,0,0,0,0,0,14.88,14.83,14.73
$IRIDIUM_FIX,2216.01,-15700.03,040418,044130
$TT8_MAMPS,0.019474,0.324317
$HUMID,41.25
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,6.5
$24V_AH,13.76,56.741
$10V_AH,13.40,0.000
$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,14.525,119.875,219.500,117.225,0.000,103.562,105.350,332.150,0.500,0.000,15.343,1696.645,5474.653,476.635,2132.470,129.604,0.000,1171.495,0.000,1546.882,0.000,5.462,0.000
$DEVICE_MAMPS,442.170,65.025,1611.090,110.925,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,299.455,236.641,421.765,420.819,645.702,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343088
$DATA_FILE_SIZE,40622,441
$CAP_FILE_SIZE,104127,0
$CFSIZE,2097086464,2071363584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.129,253.00,1
$GPS,040418,072607,2224.763,-15703.714,17,1.2,17,9.9,0.0,0.0,7,42.0