version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 275
start: 4 9 118 11 52 32
data:
$ID,626
$MISSION,2
$DIVE,275
$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,250
$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,2587
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,38
$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,2280
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,72
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2300
$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
$GPS1,090418,114349,2218.1836,-15654.7979,17,1.4,17,9.9,0.0,0.0,6,29.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.8
$GPS2,090418,115149,2218.1741,-15654.9014,20,1.3,20,9.9,0.8,244.9,7,33.0
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,E3
$TGT_LATLONG,2218.000,-15639.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,92.3,27249,-15.9,-8.000,-19.19,2501
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.53,-87.6,184,2302,785,728,0.0,0.0,0,75,0.00,0.00,-57.03,0.000,16387,0.000,0.000,184,2303,2659,2690,2629,0,0,0,0,0,0,14.92,28.83,14.90
$GC,78,-0.53,-87.6,184,2303,2691,2629,3.7,-7.0,7,95,7.35,2.35,0.00,0.000,2564,0.444,0.036,2414,856,2660,2691,2629,0,0,0,0,0,0,14.40,14.63,14.70
$GC,157,-0.53,-87.6,2413,856,2691,2628,31.9,-22.6,19,162,0.00,2.28,0.00,0.000,3078,0.000,0.037,2413,2254,2660,2692,2629,0,0,0,0,0,0,14.80,14.71,14.81
$GC,411,-0.53,-87.6,2412,2256,2692,2629,83.8,-20.6,44,420,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2256,2660,2692,2629,0,0,0,0,0,0,15.03,15.03,15.03
$GC,662,-0.53,-87.6,2412,2256,2692,2628,129.8,-16.2,69,667,0.00,2.33,0.00,0.000,2308,0.000,0.052,2402,3687,2660,2692,2628,0,0,0,0,0,0,15.08,14.78,15.08
$GC,689,-0.53,-87.6,2402,3688,2692,2629,134.2,-17.1,71,696,0.00,2.25,0.00,0.000,3078,0.000,0.037,2402,2279,2660,2692,2628,0,0,0,0,0,0,14.92,14.83,14.92
$GC,936,-0.53,-87.6,2401,2277,2694,2628,176.8,-17.2,96,941,0.00,2.28,0.00,0.000,2564,0.000,0.052,2402,869,2661,2694,2629,0,0,0,0,0,0,15.12,14.83,15.12
$GC,995,-0.53,-87.6,2401,868,2694,2627,187.1,-19.4,101,1002,0.05,2.28,0.00,0.000,3078,0.464,0.037,2417,2281,2661,2694,2629,0,0,0,0,0,0,14.57,14.85,14.84
$GC,1241,-0.53,-87.6,2417,2281,2696,2629,225.8,-15.7,114,1246,0.00,2.28,0.00,0.000,516,0.000,0.049,2416,868,2662,2696,2628,0,0,0,0,0,0,15.16,14.87,15.16
$GC,1267,-0.53,-87.6,2417,868,2696,2629,225.8,-15.7,114,1273,0.00,2.25,0.00,0.000,3078,0.000,0.037,2414,2279,2662,2695,2629,0,0,0,0,0,0,14.98,14.89,15.00
$GC,1526,-0.53,-87.6,2414,2280,2696,2628,266.7,-13.4,121,1527,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2279,2662,2695,2629,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1765,-0.53,-87.6,2414,2280,2696,2627,301.0,-14.8,127,1771,0.00,2.28,0.00,0.000,2564,0.000,0.050,2414,878,2662,2696,2628,0,0,0,0,0,0,15.21,14.92,15.21
$GC,1851,-0.53,-87.6,2414,877,2695,2628,313.0,-14.7,129,1857,0.00,2.25,0.00,0.000,3078,0.000,0.037,2414,2283,2662,2696,2628,0,0,0,0,0,0,15.03,14.94,15.04
$GC,2131,-0.53,-87.6,2414,2283,2696,2628,349.4,-12.8,136,2133,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2283,2662,2696,2628,0,0,0,0,0,0,15.23,15.23,15.23
$GC,2369,-0.53,-87.6,2414,2282,2695,2626,379.3,-12.2,142,2374,0.00,2.30,0.00,0.000,2564,0.000,0.050,2414,868,2660,2695,2625,0,0,0,0,0,0,15.24,14.94,15.24
$GC,2401,-0.53,-87.6,2414,867,2695,2626,379.3,-12.2,142,2406,0.00,2.28,0.00,0.000,3078,0.000,0.037,2414,2289,2661,2696,2626,0,0,0,0,0,0,15.05,14.96,15.07
$GC,2653,-0.53,-87.6,2414,2289,2695,2623,414.7,-12.4,149,2655,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2289,2659,2696,2623,0,0,0,0,0,0,15.25,15.25,15.25
$GC,2893,-0.53,-87.6,2413,2289,2695,2621,447.2,-13.4,155,2894,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2289,2658,2696,2620,0,0,0,0,0,0,15.26,15.26,15.26
$GC,3134,-0.53,-87.6,2413,2289,2695,2617,478.9,-13.3,161,3139,0.00,2.30,0.00,0.000,2564,0.000,0.050,2414,874,2656,2696,2617,0,0,0,0,0,0,15.26,14.95,15.26
$GC,3165,-0.53,-87.6,2413,873,2696,2617,478.9,-13.3,161,3170,0.00,2.25,0.00,0.000,3078,0.000,0.037,2414,2280,2656,2695,2617,0,0,0,0,0,0,15.06,14.97,15.07
$GC,3417,-0.53,-87.6,2414,2280,2695,2614,514.4,-12.1,168,3422,0.00,2.28,0.00,0.000,2564,0.000,0.050,2414,876,2654,2695,2613,0,0,0,0,0,0,15.26,14.94,15.26
$GC,3453,-0.53,-87.6,2413,875,2695,2613,514.4,-12.1,168,3460,0.00,2.25,0.00,0.000,3078,0.000,0.037,2414,2279,2654,2695,2613,0,0,0,0,0,0,15.06,14.96,15.07
$GC,3700,-0.53,-87.6,2413,2279,2695,2610,547.4,-11.7,175,3705,0.00,2.30,0.00,0.000,2564,0.000,0.050,2413,867,2652,2695,2610,0,0,0,0,0,0,15.25,14.94,15.26
$GC,3771,-0.53,-87.6,2413,866,2695,2609,552.7,-11.9,176,3777,0.00,2.30,0.00,0.000,3078,0.000,0.038,2414,2286,2652,2696,2609,0,0,0,0,0,0,15.05,14.95,15.07
$GC,4024,-0.53,-87.6,2413,2286,2695,2606,586.1,-11.8,183,4025,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2287,2650,2695,2606,0,0,0,0,0,0,15.26,15.26,15.26
$STATE,4142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4142,begin apogee
$GC,4147,-0.13,0.0,2414,2128,2695,2605,600.7,-12.1,186,4224,0.35,0.00,69.30,1.642,10246,0.264,0.000,2545,2127,2294,2369,2219,0,0,0,0,0,0,14.68,14.54,13.95
$STATE,4225,end apogee,CONTROL_FINISHED_OK
$STATE,4225,begin climb
$GC,4227,0.53,87.6,2545,2127,2368,2219,605.3,0.0,188,4305,0.50,0.00,70.90,1.613,10246,0.178,0.000,2746,2126,1939,2029,1849,0,0,0,0,0,0,14.47,14.18,13.71
$GC,4546,0.65,187.9,2745,2126,2027,1842,597.0,3.9,196,4635,0.08,2.45,81.35,1.602,10500,0.197,0.046,2828,3568,1528,1638,1419,0,0,0,0,0,0,14.66,14.21,13.75
$GC,4731,0.65,187.9,2828,3569,1631,1419,575.7,13.3,200,4738,0.12,2.28,0.00,0.000,5126,0.386,0.041,2799,2189,1524,1631,1418,0,0,0,0,0,0,14.33,14.56,14.58
$GC,4990,0.65,187.9,2799,2187,1630,1414,529.3,15.8,207,4996,0.00,2.38,0.00,0.000,4612,0.000,0.054,2810,756,1522,1631,1414,0,0,0,0,0,0,14.99,14.73,14.99
$GC,5067,0.65,187.9,2810,756,1630,1414,522.2,15.9,208,5075,0.00,2.28,0.00,0.000,5126,0.000,0.032,2810,2176,1522,1630,1414,0,0,0,0,0,0,14.86,14.78,14.87
$GC,5313,0.65,187.9,2810,2180,1630,1411,477.3,15.7,215,5318,0.00,2.35,0.00,0.000,4612,0.000,0.053,2821,752,1520,1630,1411,0,0,0,0,0,0,15.09,14.81,15.09
$GC,5349,0.65,187.9,2820,752,1630,1411,477.3,15.7,215,5357,0.08,2.25,0.00,0.000,5126,0.396,0.033,2796,2166,1520,1630,1411,0,0,0,0,0,0,14.56,14.85,14.85
$GC,5596,0.65,187.9,2796,2169,1630,1410,428.5,17.4,222,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2169,1519,1630,1409,0,0,0,0,0,0,15.13,15.14,15.13
$GC,5835,0.65,187.9,2795,2170,1630,1407,390.3,15.5,228,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2170,1518,1630,1407,0,0,0,0,0,0,15.16,15.16,15.16
$GC,6076,0.65,187.9,2795,2170,1630,1406,353.7,15.5,234,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2170,1518,1630,1406,0,0,0,0,0,0,15.18,15.19,15.19
$GC,6315,0.65,187.9,2795,2170,1630,1404,318.7,14.8,240,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2170,1517,1630,1404,0,0,0,0,0,0,15.19,15.20,15.21
$GC,6557,0.65,187.9,2795,2170,1630,1403,287.6,12.3,246,6563,0.00,2.30,0.00,0.000,516,0.000,0.052,2806,757,1516,1630,1403,0,0,0,0,0,0,15.20,14.90,15.21
$GC,6619,0.65,187.9,2806,756,1630,1403,281.7,12.3,247,6624,0.00,2.22,0.00,0.000,5126,0.000,0.032,2806,2163,1516,1630,1403,0,0,0,0,0,0,15.02,14.95,15.04
$GC,6881,0.65,187.9,2806,2168,1630,1402,241.2,14.3,254,6887,0.00,2.22,0.00,0.000,4356,0.000,0.047,2806,3555,1516,1630,1402,0,0,0,0,0,0,15.21,14.92,15.22
$GC,6898,0.65,187.9,2805,3555,1630,1402,241.2,14.3,254,6904,0.05,2.25,0.00,0.000,5126,0.474,0.039,2801,2149,1516,1630,1402,0,0,0,0,0,0,14.60,14.94,14.92
$GC,7166,0.65,187.9,2800,2149,1629,1402,203.3,13.8,261,7167,0.00,0.00,0.00,0.000,4102,0.000,0.000,2801,2149,1515,1629,1402,0,0,0,0,0,0,15.22,15.22,15.22
$GC,7406,0.65,187.9,2800,2149,1630,1402,171.3,12.1,282,7411,0.00,2.28,0.00,0.000,4612,0.000,0.053,2811,752,1515,1629,1402,0,0,0,0,0,0,15.21,14.89,15.21
$GC,7470,0.65,187.9,2811,752,1630,1402,162.7,13.9,288,7476,0.05,2.25,0.00,0.000,5126,0.447,0.031,2794,2174,1516,1630,1402,0,0,0,0,0,0,14.61,14.94,14.91
$GC,7725,0.65,187.9,2794,2176,1630,1402,132.1,11.5,313,7731,0.00,2.33,0.00,0.000,516,0.000,0.051,2805,755,1516,1630,1402,0,0,0,0,0,0,15.16,14.88,15.18
$GC,7871,0.65,187.9,2805,753,1629,1402,115.9,10.4,326,7880,0.00,2.30,0.00,0.000,5126,0.000,0.033,2805,2161,1515,1629,1402,0,0,0,0,0,0,14.85,14.81,14.87
$GC,8120,0.65,187.9,2805,2164,1629,1403,90.5,11.0,351,8126,0.00,0.00,0.00,0.000,4102,0.000,0.000,2805,2163,1516,1629,1403,0,0,0,0,0,0,15.15,15.16,15.16
$GC,8369,0.65,187.9,2805,2164,1628,1405,62.7,13.0,376,8375,0.00,2.25,0.00,0.000,4356,0.000,0.047,2805,3555,1517,1630,1405,0,0,0,0,0,0,15.14,14.85,15.14
$GC,8489,0.65,187.9,2805,3555,1629,1406,48.0,10.7,386,8495,0.05,2.25,0.00,0.000,5126,0.469,0.037,2800,2154,1518,1630,1406,0,0,0,0,0,0,14.53,14.87,14.85
$GC,8748,0.68,209.3,2799,2151,1630,1408,25.9,7.1,415,8773,0.00,2.33,15.80,0.837,10500,0.000,0.046,2799,3557,1439,1551,1328,0,0,0,0,0,0,15.11,14.78,14.38
$GC,8993,0.68,209.3,2799,3557,1548,1329,3.0,10.3,455,9002,0.00,2.33,0.00,0.000,5126,0.000,0.041,2809,2168,1438,1548,1329,0,0,0,0,0,0,14.76,14.71,14.78
$STATE,9009,end climb,SURFACE_DEPTH_REACHED
$STATE,9009,begin surface coast
$FINISH,0.3,1.024053
$STATE,9046,end surface coast,CONTROL_FINISHED_OK
$STATE,9047,begin surface
$SM_CCo,9061,113.55,0.805,1,0,747,380.21
$SM_GC,1.32,6.05,0.15,113.55,0.082,0.080,0.805,186,2319,747,-7.36,-1.47,380.21,0,0,0,0,1,0,14.82,14.83,14.07
$IRIDIUM_FIX,2209.02,-15656.65,090418,114511
$TT8_MAMPS,0.019474,0.322819
$HUMID,42.12
$INTERNAL_PRESSURE,9.42678
$TCM_TEMP,21.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,6.4
$24V_AH,13.71,66.197
$10V_AH,13.30,0.000
$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,14.725,82.650,237.350,113.550,0.000,29.645,45.779,276.767,0.500,0.000,21.321,1508.121,5795.695,488.162,1764.641,131.928,0.000,1066.229,0.000,1382.571,0.000,5.460,0.000
$DEVICE_MAMPS,474.300,79.560,1641.690,804.780,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,313.932,251.801,452.266,468.043,718.171,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343140
$DATA_FILE_SIZE,40725,463
$CAP_FILE_SIZE,89062,0
$CFSIZE,2097086464,2066907136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.073,312.85,1
$GPS,090418,142648,2218.207,-15654.001,41,1.1,41,9.9,0.0,0.0,8,28.0