version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 336
start: 4 17 118 3 33 55
data:
$ID,626
$MISSION,2
$DIVE,336
$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,2595
$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,2220
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2280
$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
$GPS1,170418,032448,2216.4263,-15649.6875,60,0.8,60,9.9,0.0,0.0,10,19.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.4
$GPS2,170418,033313,2216.5056,-15649.6982,16,0.8,16,9.9,0.6,157.7,10,21.1
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,E5
$TGT_LATLONG,2206.000,-15724.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,212.6,61991,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.53,-87.6,184,2203,768,710,0.0,0.0,0,73,0.00,0.00,-55.35,0.000,16386,0.000,0.000,184,2204,2596,2626,2567,0,0,0,0,0,0,14.95,28.83,14.95
$GC,76,-0.53,-87.6,184,2203,2626,2566,3.5,-6.0,7,95,7.40,2.30,-0.75,0.000,18948,0.438,0.063,2421,799,2639,2678,2600,0,0,0,0,0,0,14.34,13.83,14.71
$GC,217,-0.53,-87.6,2421,799,2678,2598,48.3,-26.1,24,222,0.00,2.30,0.00,0.000,3078,0.000,0.041,2414,2214,2637,2678,2597,0,0,0,0,0,0,14.81,14.71,14.82
$GC,471,-0.53,-87.6,2414,2216,2678,2597,106.9,-23.1,49,476,0.00,2.33,0.00,0.000,2308,0.000,0.061,2414,3630,2637,2678,2597,0,0,0,0,0,0,15.06,14.71,15.06
$GC,582,-0.53,-87.6,2413,3630,2678,2598,126.8,-16.5,59,587,0.00,2.28,0.00,0.000,3078,0.000,0.046,2414,2225,2638,2678,2598,0,0,0,0,0,0,14.88,14.78,14.89
$GC,836,-0.53,-87.6,2413,2223,2679,2597,170.5,-16.4,84,841,0.00,2.30,0.00,0.000,2564,0.000,0.063,2414,816,2638,2679,2597,0,0,0,0,0,0,15.11,14.77,15.11
$GC,862,-0.53,-87.6,2413,815,2679,2597,174.6,-16.2,86,869,0.00,2.28,0.00,0.000,3078,0.000,0.041,2413,2231,2638,2679,2597,0,0,0,0,0,0,14.91,14.81,14.93
$GC,1109,-0.53,-87.6,2413,2232,2680,2597,213.4,-15.6,105,1110,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2232,2638,2680,2597,0,0,0,0,0,0,15.15,15.15,15.15
$GC,1349,-0.53,-87.6,2413,2232,2680,2597,248.1,-14.7,111,1354,0.00,2.28,0.00,0.000,2308,0.000,0.060,2413,3630,2638,2679,2597,0,0,0,0,0,0,15.18,14.82,15.19
$GC,1410,-0.53,-87.6,2413,3630,2680,2597,254.1,-14.7,112,1416,0.00,2.25,0.00,0.000,3078,0.000,0.043,2413,2217,2638,2680,2597,0,0,0,0,0,0,14.97,14.87,14.99
$GC,1673,-0.53,-87.6,2413,2216,2680,2597,294.0,-14.3,119,1678,0.00,2.28,0.00,0.000,2564,0.000,0.060,2414,811,2638,2680,2597,0,0,0,0,0,0,15.21,14.85,15.21
$GC,1756,-0.53,-87.6,2413,811,2680,2597,306.4,-14.8,121,1761,0.00,2.25,0.00,0.000,3078,0.000,0.040,2414,2221,2639,2681,2597,0,0,0,0,0,0,15.00,14.89,15.01
$GC,2038,-0.53,-87.6,2413,2222,2681,2596,346.4,-14.0,128,2040,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2222,2638,2680,2596,0,0,0,0,0,0,15.23,15.23,15.23
$GC,2279,-0.53,-87.6,2413,2222,2681,2593,379.5,-13.8,134,2280,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2222,2637,2681,2593,0,0,0,0,0,0,15.23,15.23,15.23
$GC,2518,-0.53,-87.6,2413,2222,2680,2590,411.5,-12.9,140,2520,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2222,2635,2680,2590,0,0,0,0,0,0,15.24,15.24,15.24
$GC,2761,-0.53,-87.6,2413,2222,2680,2587,439.6,-11.5,146,2766,0.00,2.30,0.00,0.000,2564,0.000,0.058,2413,817,2633,2679,2587,0,0,0,0,0,0,15.24,14.87,15.24
$GC,2787,-0.53,-87.6,2413,815,2680,2587,439.6,-11.5,146,2792,0.00,2.25,0.00,0.000,3078,0.000,0.041,2413,2224,2633,2680,2586,0,0,0,0,0,0,15.02,14.91,15.03
$GC,3045,-0.53,-87.6,2413,2225,2680,2583,474.0,-12.1,153,3050,0.00,2.33,0.00,0.000,2564,0.000,0.057,2413,808,2631,2680,2583,0,0,0,0,0,0,15.25,14.88,15.25
$GC,3106,-0.53,-87.6,2413,806,2680,2583,479.6,-12.4,154,3111,0.00,2.28,0.00,0.000,3078,0.000,0.041,2413,2226,2631,2680,2583,0,0,0,0,0,0,15.01,14.90,15.02
$GC,3369,-0.53,-87.6,2413,2228,2680,2579,514.9,-12.3,161,3374,0.00,2.28,0.00,0.000,2308,0.000,0.057,2413,3632,2629,2680,2579,0,0,0,0,0,0,15.24,14.86,15.25
$GC,3385,-0.53,-87.6,2412,3633,2681,2579,514.9,-12.3,161,3391,0.00,2.25,0.00,0.000,3078,0.000,0.041,2413,2218,2629,2680,2579,0,0,0,0,0,0,15.01,14.90,15.02
$GC,3653,-0.53,-87.6,2412,2218,2680,2572,547.6,-11.1,168,3659,0.00,2.28,0.00,0.000,2564,0.000,0.057,2413,809,2626,2680,2572,0,0,0,0,0,0,15.24,14.87,15.25
$GC,3685,-0.53,-87.6,2412,808,2680,2571,547.6,-11.1,168,3690,0.00,2.28,0.00,0.000,3078,0.000,0.041,2413,2225,2626,2680,2572,0,0,0,0,0,0,15.01,14.90,15.02
$GC,3938,-0.53,-87.6,2413,2226,2680,2569,577.7,-10.5,175,3943,0.00,2.33,0.00,0.000,2564,0.000,0.055,2413,808,2624,2680,2569,0,0,0,0,0,0,15.24,14.86,15.24
$GC,3990,-0.53,-87.6,2412,808,2680,2569,582.7,-10.9,176,3995,0.00,2.28,0.00,0.000,3078,0.000,0.041,2413,2225,2624,2680,2568,0,0,0,0,0,0,15.00,14.90,15.02
$STATE,4140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4140,begin apogee
$GC,4144,-0.13,0.0,2412,2225,2680,2565,600.8,-11.2,180,4216,0.38,0.00,68.43,1.641,10246,0.268,0.000,2551,2225,2278,2356,2201,0,0,0,0,0,0,14.58,14.52,13.86
$STATE,4217,end apogee,CONTROL_FINISHED_OK
$STATE,4217,begin climb
$GC,4219,0.53,87.6,2551,2226,2348,2200,603.3,0.0,181,4293,0.47,0.00,71.20,1.610,10246,0.180,0.000,2748,2226,1920,2010,1831,0,0,0,0,0,0,14.42,14.28,13.64
$GC,4503,0.63,175.5,2747,2226,2005,1819,595.5,4.4,189,4584,0.08,2.42,70.75,1.597,10756,0.195,0.057,2843,793,1556,1663,1450,0,0,0,0,0,0,14.59,14.33,13.71
$GC,4616,0.67,207.1,2842,793,1659,1449,588.0,6.7,191,4647,0.10,2.33,24.88,1.516,13318,0.405,0.037,2812,2216,1432,1542,1323,0,0,0,0,0,0,14.22,14.46,13.75
$GC,4910,0.67,207.1,2812,2217,1540,1331,529.5,18.1,199,4915,0.00,2.35,0.00,0.000,516,0.000,0.060,2823,797,1436,1541,1331,0,0,0,0,0,0,14.94,14.66,14.94
$GC,5058,0.67,207.1,2822,795,1540,1330,507.8,17.6,202,5064,0.00,2.25,0.00,0.000,5126,0.000,0.037,2822,2196,1435,1540,1330,0,0,0,0,0,0,14.83,14.73,14.84
$GC,5316,0.67,207.1,2822,2197,1540,1326,461.3,16.2,209,5321,0.00,2.33,0.00,0.000,4612,0.000,0.058,2833,796,1433,1540,1326,0,0,0,0,0,0,15.09,14.76,15.09
$GC,5408,0.67,207.1,2832,796,1540,1326,447.3,16.7,211,5414,0.05,2.25,0.00,0.000,5126,0.466,0.037,2817,2205,1432,1540,1325,0,0,0,0,0,0,14.47,14.81,14.76
$GC,5681,0.67,207.1,2816,2210,1540,1324,401.2,16.1,218,5686,0.00,2.35,0.00,0.000,4612,0.000,0.062,2827,795,1432,1540,1324,0,0,0,0,0,0,15.14,14.79,15.14
$GC,5718,0.67,207.1,2827,793,1540,1323,401.2,16.1,218,5724,0.00,2.25,0.00,0.000,5126,0.000,0.037,2827,2197,1432,1540,1324,0,0,0,0,0,0,14.93,14.84,14.95
$GC,5964,0.67,207.1,2827,2198,1540,1321,353.2,17.3,225,5966,0.05,0.00,0.00,0.000,4102,0.469,0.000,2810,2206,1430,1540,1321,0,0,0,0,0,0,14.57,14.88,14.81
$GC,6204,0.67,207.1,2810,2206,1540,1320,314.2,16.0,231,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2206,1430,1540,1320,0,0,0,0,0,0,15.17,15.18,15.18
$GC,6444,0.67,207.1,2810,2206,1540,1319,276.4,15.9,237,6449,0.00,2.30,0.00,0.000,516,0.000,0.059,2820,794,1429,1540,1319,0,0,0,0,0,0,15.19,14.82,15.19
$GC,6510,0.67,207.1,2820,794,1540,1319,269.1,16.3,238,6516,0.00,2.25,0.00,0.000,5126,0.000,0.037,2821,2205,1429,1540,1319,0,0,0,0,0,0,14.96,14.87,14.98
$GC,6768,0.67,207.1,2820,2207,1540,1317,225.4,15.0,245,6773,0.00,2.25,0.00,0.000,4356,0.000,0.048,2821,3606,1429,1540,1318,0,0,0,0,0,0,15.19,14.85,15.20
$GC,6789,0.67,207.1,2820,3608,1540,1318,225.4,15.0,245,6795,0.05,2.25,0.00,0.000,5126,0.445,0.041,2814,2198,1428,1539,1318,0,0,0,0,0,0,14.52,14.88,14.81
$GC,7044,0.67,207.1,2814,2196,1540,1317,187.0,13.2,257,7049,0.00,2.28,0.00,0.000,4612,0.000,0.057,2825,793,1428,1540,1317,0,0,0,0,0,0,15.19,14.84,15.19
$GC,7140,0.67,207.1,2825,793,1540,1317,173.2,14.9,266,7146,0.00,2.25,0.00,0.000,5126,0.000,0.034,2825,2211,1428,1540,1317,0,0,0,0,0,0,14.97,14.88,14.99
$GC,7397,0.67,207.1,2824,2212,1539,1317,139.0,13.6,291,7402,0.00,2.33,0.00,0.000,4612,0.000,0.054,2835,794,1428,1540,1317,0,0,0,0,0,0,15.16,14.82,15.16
$GC,7435,0.67,207.1,2835,793,1540,1317,134.3,12.9,294,7445,0.05,2.30,0.00,0.000,5126,0.387,0.035,2818,2204,1428,1539,1317,0,0,0,0,0,0,14.38,14.73,14.58
$GC,7684,0.67,207.1,2818,2204,1539,1317,105.5,10.0,319,7689,0.00,2.25,0.00,0.000,4356,0.000,0.047,2818,3602,1429,1540,1318,0,0,0,0,0,0,15.14,14.82,15.15
$GC,7732,0.67,207.1,2818,3602,1539,1319,100.5,10.8,323,7740,0.05,2.25,0.00,0.000,5126,0.439,0.041,2811,2198,1429,1539,1319,0,0,0,0,0,0,14.49,14.83,14.77
$GC,7981,0.67,207.1,2810,2198,1539,1320,77.0,9.7,348,7987,0.00,2.25,0.00,0.000,516,0.000,0.056,2822,796,1430,1539,1321,0,0,0,0,0,0,15.13,14.80,15.14
$GC,8086,0.67,207.1,2820,796,1539,1320,66.5,10.0,357,8091,0.00,2.22,0.00,0.000,5126,0.000,0.034,2822,2197,1430,1539,1321,0,0,0,0,0,0,14.92,14.84,14.93
$GC,8341,0.67,207.1,2821,2198,1539,1324,41.2,9.5,382,8348,0.00,2.25,0.00,0.000,4356,0.000,0.047,2822,3598,1432,1540,1324,0,0,0,0,0,0,15.11,14.79,15.11
$GC,8505,0.67,207.1,2821,3599,1539,1326,26.2,9.5,399,8515,0.05,2.33,0.00,0.000,5126,0.372,0.040,2814,2199,1432,1539,1325,0,0,0,0,0,0,14.35,14.68,14.54
$GC,8801,0.75,266.0,2814,2199,1539,1329,5.1,5.6,448,8834,0.00,0.00,31.42,0.892,10754,0.000,0.000,2814,2199,1248,1358,1138,0,0,0,0,0,0,15.07,28.83,15.07
$STATE,8835,end climb,SURFACE_DEPTH_REACHED
$STATE,8835,begin surface coast
$FINISH,0.3,1.023547
$STATE,8878,end surface coast,CONTROL_FINISHED_OK
$STATE,8878,begin surface
$SM_CCo,8892,73.28,0.116,0,0,727,380.21
$SM_GC,1.60,6.18,0.00,73.28,0.093,0.000,0.116,184,2192,727,-7.43,-0.82,380.21,0,0,0,0,0,0,14.73,14.95,14.59
$IRIDIUM_FIX,2206.70,-15646.25,170418,032617
$TT8_MAMPS,0.019474,0.323568
$HUMID,42.75
$INTERNAL_PRESSURE,9.47561
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.2,8.7
$24V_AH,13.64,78.557
$10V_AH,13.20,0.000
$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,14.900,95.925,266.675,73.275,0.000,28.911,47.056,296.266,0.500,0.000,17.359,1600.673,5408.206,456.516,1880.628,152.597,0.000,1082.271,0.000,1475.309,0.000,5.469,0.000
$DEVICE_MAMPS,468.945,63.495,1640.925,115.515,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,310.835,254.379,450.849,476.632,731.350,0.000,0.000,0.000,0.000,0.000
$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,40705,459
$CAP_FILE_SIZE,93898,0
$CFSIZE,2097086464,2060713984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.154,325.25,1
$GPS,170418,060413,2216.394,-15651.021,17,1.3,17,9.9,0.5,85.6,5,48.3