version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 340
start: 4 17 118 14 57 13
data:
$ID,626
$MISSION,2
$DIVE,340
$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,49
$R_STBD_OVSHOOT,56
$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
$GPS1,170418,144754,2215.3223,-15654.5176,38,0.8,38,9.9,0.0,0.0,10,19.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.2
$GPS2,170418,145631,2215.3650,-15654.5830,23,0.8,23,9.9,0.5,144.0,10,19.0
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,E5
$TGT_LATLONG,2206.000,-15724.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,226.0,53374,-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,-87.6,184,2214,766,715,0.0,0.0,0,74,0.00,0.00,-56.10,0.000,16390,0.000,0.000,184,2213,2639,2680,2599,0,0,0,0,0,0,14.95,13.38,14.90
$GC,77,-0.53,-87.6,184,2213,2680,2599,4.1,-6.8,7,95,7.35,2.28,0.00,0.000,2564,0.432,0.042,2420,815,2640,2681,2599,0,0,0,0,0,0,14.33,14.53,14.68
$GC,233,-0.53,-87.6,2420,815,2680,2598,52.3,-23.8,24,241,0.00,2.30,0.00,0.000,3078,0.000,0.037,2414,2208,2639,2680,2598,0,0,0,0,0,0,14.69,14.62,14.69
$GC,481,-0.53,-87.6,2413,2211,2680,2598,114.3,-21.6,49,486,0.00,2.30,0.00,0.000,2308,0.000,0.052,2409,3626,2639,2681,2597,0,0,0,0,0,0,15.05,14.73,15.05
$GC,569,-0.53,-87.6,2409,3626,2681,2598,129.7,-16.2,57,575,0.00,2.25,0.00,0.000,3078,0.000,0.037,2410,2218,2639,2681,2598,0,0,0,0,0,0,14.88,14.78,14.89
$GC,825,-0.53,-87.6,2409,2216,2681,2598,178.2,-17.7,82,831,0.00,2.28,0.00,0.000,2564,0.000,0.054,2409,811,2640,2682,2598,0,0,0,0,0,0,15.09,14.77,15.10
$GC,860,-0.53,-87.6,2409,810,2682,2598,185.1,-18.9,85,866,0.08,2.28,0.00,0.000,3078,0.390,0.040,2426,2223,2639,2682,2597,0,0,0,0,0,0,14.47,14.81,14.76
$GC,1113,-0.53,-87.6,2426,2224,2683,2597,223.9,-14.5,98,1119,0.00,2.28,0.00,0.000,260,0.000,0.054,2426,3627,2640,2683,2598,0,0,0,0,0,0,15.15,14.81,15.16
$GC,1136,-0.53,-87.6,2426,3627,2683,2598,223.9,-14.5,98,1142,0.00,2.20,0.00,0.000,1030,0.000,0.036,2426,2219,2640,2683,2598,0,0,1,0,0,0,14.93,14.85,14.95
$GC,1399,-0.53,-87.6,2426,2218,2683,2598,263.7,-13.7,105,1404,0.00,2.25,0.00,0.000,516,0.000,0.056,2426,816,2640,2684,2597,0,0,0,0,0,0,15.19,14.84,15.19
$GC,1481,-0.53,-87.6,2426,816,2683,2597,276.2,-14.6,107,1486,0.00,2.28,0.00,0.000,1030,0.000,0.041,2427,2229,2640,2683,2597,0,0,0,0,0,0,14.96,14.87,14.97
$GC,1763,-0.53,-87.6,2426,2230,2683,2597,315.9,-13.9,114,1769,0.00,2.28,0.00,0.000,260,0.000,0.057,2426,3632,2640,2684,2597,0,0,0,0,0,0,15.21,14.84,15.21
$GC,1807,-0.53,-87.6,2426,3633,2684,2597,321.5,-13.8,115,1813,0.00,2.25,0.00,0.000,1030,0.000,0.038,2426,2215,2640,2683,2597,0,0,0,0,0,0,14.98,14.90,15.00
$GC,2090,-0.53,-87.6,2426,2214,2684,2595,357.3,-12.7,122,2095,0.00,2.22,0.00,0.000,516,0.000,0.055,2426,821,2639,2684,2594,0,0,0,0,0,0,15.22,14.85,15.23
$GC,2151,-0.53,-87.6,2426,820,2684,2593,362.8,-12.7,123,2156,0.00,2.25,0.00,0.000,1030,0.000,0.041,2426,2225,2638,2683,2593,0,0,0,0,0,0,14.98,14.89,15.00
$GC,2413,-0.53,-87.6,2426,2226,2684,2590,395.3,-11.3,130,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2226,2637,2684,2590,0,0,0,0,0,0,15.23,15.23,15.23
$GC,2655,-0.53,-87.6,2426,2226,2683,2587,422.7,-11.5,136,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2226,2635,2683,2588,0,0,0,0,0,0,15.23,15.23,15.23
$GC,2894,-0.53,-87.6,2426,2226,2684,2585,451.9,-12.4,142,2900,0.00,2.25,0.00,0.000,260,0.000,0.054,2426,3632,2634,2683,2585,0,0,0,0,0,0,15.23,14.85,15.24
$GC,2916,-0.53,-87.6,2426,3632,2684,2585,451.9,-12.4,142,2922,0.00,2.25,0.00,0.000,1030,0.000,0.037,2426,2212,2634,2683,2585,0,0,0,0,0,0,15.00,14.91,15.02
$GC,3179,-0.53,-87.6,2427,2211,2683,2578,486.8,-12.2,149,3184,0.00,2.25,0.00,0.000,516,0.000,0.057,2427,808,2630,2683,2578,0,0,0,0,0,0,15.24,14.86,15.25
$GC,3250,-0.53,-87.6,2426,807,2683,2576,492.0,-12.2,150,3256,0.00,2.28,0.00,0.000,1030,0.000,0.041,2427,2224,2630,2684,2576,0,0,0,0,0,0,14.98,14.90,15.00
$GC,3503,-0.53,-87.6,2426,2225,2683,2572,524.6,-11.5,157,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2225,2627,2683,2571,0,0,0,0,0,0,15.23,15.24,15.24
$GC,3743,-0.53,-87.6,2426,2225,2683,2570,551.6,-11.1,163,3749,0.00,2.25,0.00,0.000,260,0.000,0.054,2426,3628,2626,2683,2569,0,0,0,0,0,0,15.23,14.85,15.24
$GC,3810,-0.53,-87.6,2426,3629,2683,2569,556.1,-10.9,164,3815,0.00,2.25,0.00,0.000,1030,0.000,0.039,2426,2218,2626,2683,2569,0,0,0,0,0,0,14.98,14.90,15.00
$GC,4067,-0.53,-87.6,2426,2217,2683,2564,583.8,-9.8,171,4073,0.00,2.25,0.00,0.000,516,0.000,0.058,2426,816,2623,2683,2564,0,0,0,0,0,0,15.23,14.85,15.24
$GC,4165,-0.53,-87.6,2426,816,2683,2563,592.6,-10.0,173,4170,0.00,2.28,0.00,0.000,1030,0.000,0.041,2426,2228,2622,2682,2563,0,0,0,0,0,0,14.97,14.88,15.00
$STATE,4230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4231,begin apogee
$GC,4235,-0.13,0.0,2426,2229,2683,2562,600.7,-10.2,175,4311,0.32,0.00,68.68,1.638,10246,0.260,0.000,2548,2229,2274,2349,2199,0,0,0,0,0,0,14.59,14.52,13.87
$STATE,4312,end apogee,CONTROL_FINISHED_OK
$STATE,4312,begin climb
$GC,4314,0.53,87.6,2548,2229,2347,2197,603.8,0.0,177,4393,0.52,0.00,71.47,1.611,10246,0.180,0.000,2758,2229,1915,2008,1823,0,0,0,0,0,0,14.43,14.15,13.65
$GC,4632,0.60,151.2,2758,2229,2007,1814,589.9,5.4,185,4691,0.00,2.30,52.20,1.590,10500,0.000,0.056,2758,3608,1656,1767,1546,0,0,0,0,0,0,14.92,14.39,13.80
$GC,4738,0.67,205.2,2758,3608,1760,1545,584.4,5.8,187,4788,0.08,2.33,43.65,1.556,11270,0.190,0.039,2852,2179,1443,1550,1337,0,0,0,0,0,0,14.47,14.51,13.74
$GC,5037,0.67,205.2,2850,2179,1540,1329,528.3,19.4,195,5043,0.08,2.25,0.00,0.000,4612,0.412,0.053,2830,809,1434,1540,1329,0,0,0,0,0,0,14.34,14.62,14.53
$GC,5109,0.67,205.2,2829,808,1540,1329,520.2,19.1,196,5115,0.05,2.28,0.00,0.000,5126,0.462,0.039,2814,2213,1434,1540,1329,0,0,0,0,0,0,14.39,14.70,14.70
$GC,5362,0.67,205.2,2814,2217,1540,1325,471.5,17.6,203,5368,0.00,2.35,0.00,0.000,4612,0.000,0.060,2824,807,1432,1540,1325,0,0,0,0,0,0,15.05,14.74,15.06
$GC,5469,0.67,205.2,2824,806,1539,1325,455.9,18.3,205,5475,0.00,2.25,0.00,0.000,5126,0.000,0.037,2824,2203,1431,1537,1325,0,0,0,0,0,0,14.88,14.79,14.90
$GC,5728,0.67,205.2,2824,2205,1540,1323,405.2,17.5,212,5729,0.00,0.00,0.00,0.000,4102,0.000,0.000,2824,2205,1431,1539,1323,0,0,0,0,0,0,15.11,15.12,15.12
$GC,5967,0.67,205.2,2824,2205,1539,1321,362.7,17.6,218,5973,0.00,2.30,0.00,0.000,4612,0.000,0.059,2835,808,1430,1540,1321,0,0,0,0,0,0,15.15,14.81,15.15
$GC,6039,0.67,205.2,2834,807,1539,1321,355.2,17.5,219,6045,0.08,2.25,0.00,0.000,5126,0.401,0.039,2809,2210,1429,1537,1321,0,0,0,0,0,0,14.46,14.84,14.81
$GC,6293,0.67,205.2,2809,2217,1539,1320,311.9,14.7,226,6298,0.00,2.33,0.00,0.000,516,0.000,0.061,2820,809,1429,1539,1320,0,0,0,0,0,0,15.16,14.81,15.16
$GC,6365,0.67,205.2,2820,809,1538,1320,306.1,14.4,227,6370,0.00,2.22,0.00,0.000,5126,0.000,0.039,2820,2200,1429,1539,1320,0,0,0,0,0,0,14.95,14.85,14.97
$GC,6617,0.67,205.2,2820,2201,1539,1318,267.7,13.5,234,6618,0.00,0.00,0.00,0.000,4102,0.000,0.000,2820,2201,1428,1538,1318,0,0,0,0,0,0,15.19,15.19,15.19
$GC,6857,0.67,205.2,2820,2203,1538,1317,231.2,15.6,240,6863,0.00,2.30,0.00,0.000,4612,0.000,0.055,2830,802,1427,1538,1317,0,0,0,0,0,0,15.19,14.84,15.19
$GC,6964,0.67,205.2,2830,803,1538,1317,217.4,16.0,242,6970,0.05,2.22,0.00,0.000,5126,0.448,0.034,2814,2206,1428,1538,1318,0,0,0,0,0,0,14.50,14.88,14.83
$GC,7213,0.67,205.2,2814,2212,1538,1317,179.1,12.1,260,7218,0.00,2.22,0.00,0.000,4356,0.000,0.047,2814,3598,1428,1538,1318,0,0,0,0,0,0,15.17,14.84,15.17
$GC,7238,0.67,205.2,2814,3599,1537,1318,176.4,11.6,262,7243,0.00,2.25,0.00,0.000,5126,0.000,0.041,2824,2203,1427,1537,1318,0,0,0,0,0,0,14.95,14.85,14.97
$GC,7495,0.67,205.2,2823,2202,1537,1318,145.5,11.5,287,7501,0.00,2.28,0.00,0.000,4612,0.000,0.054,2835,793,1427,1537,1317,0,0,0,0,0,0,15.16,14.81,15.16
$GC,7637,0.67,205.2,2835,792,1537,1318,127.0,12.2,300,7643,0.08,2.25,0.00,0.000,5126,0.397,0.034,2810,2203,1427,1537,1318,0,0,0,0,0,0,14.43,14.85,14.78
$GC,7892,0.67,205.2,2810,2205,1537,1319,97.8,11.6,325,7898,0.00,2.25,0.00,0.000,260,0.000,0.047,2810,3605,1428,1537,1320,0,0,0,0,0,0,15.14,14.81,15.14
$GC,8025,0.67,205.2,2810,3606,1537,1321,83.0,10.4,337,8031,0.00,2.28,0.00,0.000,5126,0.000,0.040,2820,2192,1429,1537,1321,0,0,0,0,0,0,14.92,14.82,14.94
$GC,8281,0.67,205.2,2820,2192,1537,1323,57.3,9.5,362,8286,0.00,2.25,0.00,0.000,4612,0.000,0.054,2831,793,1430,1537,1323,0,0,0,0,0,0,15.11,14.78,15.11
$GC,8342,0.67,205.2,2831,791,1537,1323,52.2,8.0,367,8349,0.05,2.25,0.00,0.000,5126,0.441,0.034,2815,2209,1430,1537,1323,0,0,0,0,0,0,14.46,14.83,14.77
$GC,8598,0.67,205.2,2814,2210,1537,1325,30.8,9.1,392,8603,0.00,2.35,0.00,0.000,4612,0.000,0.059,2825,789,1431,1537,1325,0,0,0,0,0,0,15.10,14.76,15.10
$GC,8760,0.67,205.2,2825,788,1537,1328,15.2,9.8,418,8769,0.03,2.33,0.00,0.000,5126,0.467,0.037,2817,2195,1433,1537,1329,0,0,0,0,0,0,14.42,14.66,14.55
$STATE,8913,end climb,SURFACE_DEPTH_REACHED
$STATE,8913,begin surface coast
$FINISH,0.3,1.009522
$STATE,8950,end surface coast,CONTROL_FINISHED_OK
$STATE,8950,begin surface
$SM_CCo,8964,100.45,0.115,0,0,727,380.21
$SM_GC,1.45,6.05,0.00,100.45,0.080,0.000,0.115,186,2202,727,-7.37,-0.51,380.21,0,0,0,0,0,0,14.81,15.06,14.63
$IRIDIUM_FIX,2204.37,-15654.51,170418,144922
$TT8_MAMPS,0.019474,0.267393
$HUMID,42.40
$INTERNAL_PRESSURE,9.45608
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.3,6.6
$24V_AH,13.38,79.319
$10V_AH,13.82,0.000
$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,14.800,99.800,236.000,100.450,0.000,27.013,47.944,303.798,0.500,0.000,24.374,1628.916,5452.468,475.758,1900.839,150.429,0.000,1109.236,0.000,1485.770,0.000,6.376,0.000
$DEVICE_MAMPS,467.415,61.200,1637.865,114.750,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,304.845,242.092,433.878,450.881,691.799,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343160
$DATA_FILE_SIZE,40702,449
$CAP_FILE_SIZE,95438,0
$CFSIZE,2097086464,2060320768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$CURRENT,0.167,312.25,1
$GPS,170418,172907,2215.409,-15656.217,13,1.3,13,9.9,1.3,1.2,6,123.6