version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 388
start: 4 23 118 14 8 58
data:
$ID,626
$MISSION,2
$DIVE,388
$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,2600
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,40
$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,2228
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,59
$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
$GPS1,230418,135956,2153.0422,-15712.3047,22,1.7,23,9.8,0.6,171.8,6,29.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.7
$GPS2,230418,140814,2153.0374,-15712.3330,7,1.7,7,9.8,0.6,50.1,6,183.1
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,E6
$TGT_LATLONG,2154.000,-15712.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,359.9,1873,-16.8,-8.000,-20.00,2264
$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,16,-0.53,-87.6,185,2255,762,707,0.0,0.0,0,73,0.00,0.00,-54.62,0.000,16386,0.000,0.000,185,2255,2550,2584,2517,0,0,0,0,0,0,14.92,28.83,14.94
$GC,76,-0.53,-87.6,185,2254,2584,2517,3.4,-5.3,7,94,7.45,2.28,-1.48,0.000,18692,0.439,0.068,2414,3620,2635,2679,2592,0,0,0,0,0,0,14.29,13.76,14.68
$GC,218,-0.53,-87.6,2414,3622,2679,2588,45.8,-22.9,24,226,0.00,2.35,0.00,0.000,3078,0.000,0.050,2414,2235,2634,2680,2588,0,0,0,0,0,0,14.61,14.57,14.64
$GC,466,-0.53,-87.6,2413,2234,2679,2588,102.3,-23.1,49,472,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2234,2633,2679,2588,0,0,0,0,0,0,15.04,15.04,15.04
$GC,713,-0.53,-87.6,2414,2233,2679,2587,155.2,-20.4,74,719,0.00,2.30,0.00,0.000,2308,0.000,0.063,2407,3611,2633,2679,2588,0,0,0,0,0,0,15.09,14.72,15.09
$GC,739,-0.53,-87.6,2407,3612,2679,2587,159.4,-19.3,76,746,0.05,2.28,0.00,0.000,3078,0.416,0.051,2424,2226,2633,2679,2587,0,0,0,0,0,0,14.45,14.74,14.71
$GC,994,-0.53,-87.6,2424,2224,2681,2588,200.5,-14.7,101,995,0.00,0.00,0.00,0.000,2054,0.000,0.000,2424,2224,2634,2681,2587,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1233,-0.53,-87.6,2425,2224,2681,2588,233.7,-13.3,107,1239,0.00,2.30,0.00,0.000,2564,0.000,0.062,2425,817,2634,2681,2587,0,0,0,0,0,0,15.16,14.77,15.16
$GC,1305,-0.53,-87.6,2424,817,2681,2588,240.1,-13.1,108,1311,0.00,2.28,0.00,0.000,3078,0.000,0.050,2416,2209,2634,2681,2587,0,0,0,0,0,0,14.92,14.80,14.94
$GC,1558,-0.53,-87.6,2416,2209,2681,2587,279.9,-13.9,115,1559,0.00,0.00,0.00,0.000,2054,0.000,0.000,2416,2209,2634,2681,2588,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1798,-0.53,-87.6,2415,2210,2681,2587,314.1,-13.9,121,1804,0.00,2.30,0.00,0.000,2564,0.000,0.061,2416,818,2634,2681,2587,0,0,0,0,0,0,15.21,14.81,15.21
$GC,1855,-0.53,-87.6,2416,818,2682,2587,320.3,-13.8,122,1861,0.00,2.30,0.00,0.000,3078,0.000,0.053,2414,2230,2634,2681,2587,0,0,0,0,0,0,14.95,14.84,14.97
$GC,2123,-0.53,-87.6,2414,2233,2681,2586,357.3,-13.3,129,2128,0.00,2.28,0.00,0.000,2308,0.000,0.057,2414,3637,2633,2681,2586,0,0,0,0,0,0,15.21,14.81,15.22
$GC,2160,-0.53,-87.6,2414,3638,2681,2586,357.3,-13.3,129,2167,0.00,2.25,0.00,0.000,3078,0.000,0.038,2414,2223,2633,2681,2586,0,0,0,0,0,0,14.97,14.86,14.99
$GC,2407,-0.53,-87.6,2414,2222,2681,2584,393.9,-13.0,136,2413,0.00,2.28,0.00,0.000,2564,0.000,0.056,2414,811,2632,2681,2584,0,0,0,0,0,0,15.22,14.83,15.22
$GC,2504,-0.53,-87.6,2414,810,2681,2583,405.1,-13.0,138,2510,0.00,2.28,0.00,0.000,3078,0.000,0.040,2414,2232,2632,2681,2583,0,0,0,0,0,0,14.97,14.86,14.99
$GC,2772,-0.53,-87.6,2414,2233,2681,2579,443.1,-13.7,145,2777,0.00,2.28,0.00,0.000,2308,0.000,0.055,2414,3634,2630,2681,2579,0,0,0,0,0,0,15.23,14.81,15.23
$GC,2799,-0.53,-87.6,2414,3634,2681,2579,443.1,-13.7,145,2804,0.00,2.25,0.00,0.000,3078,0.000,0.038,2414,2220,2630,2681,2579,0,0,0,0,0,0,14.97,14.86,14.99
$GC,3056,-0.53,-87.6,2414,2220,2681,2576,480.0,-13.1,152,3062,0.00,2.25,0.00,0.000,2564,0.000,0.054,2414,821,2628,2681,2576,0,0,0,0,0,0,15.23,14.83,15.23
$GC,3108,-0.53,-87.6,2414,821,2681,2575,485.9,-13.1,153,3113,0.00,2.28,0.00,0.000,3078,0.000,0.040,2414,2239,2627,2680,2575,0,0,0,0,0,0,14.97,14.85,14.99
$GC,3381,-0.53,-87.6,2414,2239,2681,2571,518.4,-11.1,160,3382,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2239,2626,2681,2571,0,0,0,0,0,0,15.23,15.23,15.23
$GC,3622,-0.53,-87.6,2414,2239,2681,2569,543.3,-10.3,166,3628,0.00,2.28,0.00,0.000,2308,0.000,0.054,2414,3641,2625,2681,2569,0,0,0,0,0,0,15.23,14.80,15.23
$GC,3650,-0.53,-87.6,2414,3641,2680,2569,543.3,-10.3,166,3655,0.00,2.25,0.00,0.000,3078,0.000,0.037,2414,2227,2624,2681,2568,0,0,0,0,0,0,14.97,14.86,14.99
$GC,3907,-0.53,-87.6,2413,2226,2681,2564,574.5,-11.1,173,3913,0.00,2.28,0.00,0.000,2564,0.000,0.053,2413,820,2622,2681,2563,0,0,0,0,0,0,15.23,14.82,15.23
$GC,3939,-0.53,-87.6,2413,819,2681,2563,574.5,-11.1,173,3945,0.03,2.28,0.00,0.000,3078,0.632,0.039,2424,2235,2622,2681,2563,0,0,0,0,0,0,14.57,14.85,14.78
$STATE,4151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4151,begin apogee
$GC,4156,-0.12,0.0,2424,2074,2681,2561,600.7,-10.4,179,4225,0.38,0.00,66.32,1.747,10246,0.255,0.000,2563,2070,2278,2357,2199,0,0,0,0,0,0,14.50,14.50,13.79
$STATE,4226,end apogee,CONTROL_FINISHED_OK
$STATE,4226,begin climb
$GC,4228,0.53,87.6,2563,2071,2357,2203,602.8,0.0,180,4309,0.45,2.47,71.30,1.732,10500,0.166,0.047,2753,3512,1922,2011,1834,0,0,0,0,0,0,14.42,14.26,13.58
$GC,4360,0.53,87.6,2753,3513,2010,1835,603.1,0.3,183,4366,0.00,2.30,0.00,0.000,3078,0.000,0.038,2764,2122,1922,2010,1834,0,0,0,0,0,0,14.51,14.43,14.52
$GC,4618,0.62,164.6,2763,2122,2011,1830,591.4,4.5,190,4688,0.05,2.42,61.60,1.898,10756,0.274,0.057,2839,691,1610,1711,1510,0,0,0,0,0,0,14.59,14.32,13.59
$GC,4712,0.68,210.7,2839,691,1711,1512,584.9,5.9,192,4760,0.05,2.35,40.33,2.303,13318,0.474,0.036,2825,2117,1421,1522,1321,0,0,0,0,0,0,14.17,14.42,13.39
$GC,5024,0.68,210.7,2824,2118,1522,1325,533.2,16.2,200,5025,0.00,0.00,0.00,0.000,4102,0.000,0.000,2825,2118,1423,1522,1325,0,0,0,0,0,0,14.91,14.91,14.92
$GC,5263,0.68,210.7,2824,2118,1523,1322,494.5,16.1,206,5268,0.00,2.25,0.00,0.000,4356,0.000,0.047,2825,3503,1422,1522,1323,0,0,0,0,0,0,15.02,14.72,15.02
$GC,5385,0.68,210.7,2825,3504,1522,1322,474.1,16.4,209,5391,0.05,2.30,0.00,0.000,5126,0.449,0.044,2819,2103,1422,1522,1322,0,0,0,0,0,0,14.42,14.74,14.70
$GC,5669,0.68,210.7,2819,2103,1522,1320,430.5,15.2,216,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2103,1421,1522,1320,0,0,0,0,0,0,15.10,15.11,15.11
$GC,5908,0.68,210.7,2818,2103,1523,1317,394.1,15.4,222,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2103,1419,1522,1317,0,0,0,0,0,0,15.13,15.14,15.14
$GC,6149,0.68,210.7,2819,2103,1523,1316,358.1,14.8,228,6154,0.00,2.30,0.00,0.000,516,0.000,0.057,2830,691,1419,1522,1316,0,0,0,0,0,0,15.15,14.78,15.16
$GC,6225,0.68,210.7,2829,690,1522,1316,351.5,14.9,229,6233,0.00,2.25,0.00,0.000,5126,0.000,0.034,2830,2098,1419,1522,1316,0,0,0,0,0,0,14.92,14.83,14.94
$GC,6471,0.68,210.7,2829,2099,1522,1315,308.5,15.5,236,6477,0.00,2.25,0.00,0.000,4356,0.000,0.045,2829,3502,1418,1522,1314,0,0,0,0,0,0,15.17,14.81,15.17
$GC,6514,0.68,210.7,2829,3503,1522,1315,301.6,15.7,237,6520,0.05,2.30,0.00,0.000,5126,0.454,0.043,2824,2091,1418,1522,1315,0,0,0,0,0,0,14.44,14.82,14.73
$GC,6798,0.68,210.7,2823,2092,1522,1313,259.6,14.4,244,6803,0.00,2.30,0.00,0.000,4612,0.000,0.057,2834,690,1418,1522,1314,0,0,0,0,0,0,15.18,14.78,15.18
$GC,6824,0.68,210.7,2834,689,1521,1314,259.6,14.4,244,6830,0.05,2.25,0.00,0.000,5126,0.456,0.034,2818,2106,1418,1522,1314,0,0,0,0,0,0,14.45,14.85,14.73
$GC,7082,0.68,210.7,2818,2111,1522,1313,220.7,12.6,251,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2112,1417,1521,1313,0,0,0,0,0,0,15.19,15.19,15.19
$GC,7322,0.68,210.7,2818,2111,1522,1313,192.8,11.8,260,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2111,1417,1522,1313,0,0,0,0,0,0,15.19,15.19,15.19
$GC,7562,0.68,210.7,2818,2112,1522,1313,164.9,12.0,284,7568,0.00,2.22,0.00,0.000,260,0.000,0.044,2818,3497,1417,1521,1313,0,0,0,0,0,0,15.16,14.80,15.17
$GC,7622,0.68,210.7,2818,3498,1521,1313,158.7,11.0,289,7629,0.00,2.28,0.00,0.000,5126,0.000,0.041,2828,2096,1417,1521,1313,0,0,0,0,0,0,14.92,14.82,14.93
$GC,7870,0.68,210.7,2828,2094,1521,1313,133.5,11.1,314,7876,0.00,2.28,0.00,0.000,4356,0.000,0.044,2828,3496,1417,1521,1314,0,0,0,0,0,0,15.14,14.78,15.14
$GC,7930,0.68,210.7,2828,3498,1521,1314,126.5,12.7,319,7937,0.05,2.28,0.00,0.000,5126,0.454,0.041,2823,2094,1417,1521,1314,0,0,0,0,0,0,14.42,14.80,14.71
$GC,8176,0.68,210.7,2823,2093,1521,1316,102.5,9.1,344,8183,0.00,2.30,0.00,0.000,4356,0.000,0.044,2823,3508,1418,1521,1316,0,0,0,0,0,0,15.14,14.78,15.14
$GC,8234,0.68,210.7,2823,3508,1521,1317,97.0,10.3,349,8239,0.00,2.28,0.00,0.000,5126,0.000,0.040,2833,2103,1418,1521,1316,0,0,0,0,0,0,14.90,14.79,14.91
$GC,8489,0.68,210.7,2832,2102,1521,1319,70.7,11.7,374,8498,0.00,0.00,0.00,0.000,4102,0.000,0.000,2833,2102,1420,1520,1320,0,0,0,0,0,0,15.11,15.11,15.11
$GC,8739,0.68,210.7,2832,2102,1522,1321,43.2,9.3,399,8747,0.00,0.00,0.00,0.000,4102,0.000,0.000,2833,2102,1421,1521,1322,0,0,0,0,0,0,15.10,15.11,15.11
$GC,8992,0.71,239.8,2833,2102,1521,1325,28.1,6.7,426,9026,0.00,2.30,22.20,1.040,12548,0.000,0.045,2832,3498,1304,1405,1203,0,0,0,0,0,0,15.08,14.69,14.21
$GC,9105,0.71,239.8,2832,3498,1404,1206,18.6,9.9,443,9114,0.03,2.35,0.00,0.000,5126,0.460,0.041,2836,2100,1305,1405,1206,0,0,0,0,0,0,14.38,14.62,14.50
$STATE,9232,end climb,SURFACE_DEPTH_REACHED
$STATE,9232,begin surface coast
$FINISH,0.3,1.011094
$STATE,9259,end surface coast,CONTROL_FINISHED_OK
$STATE,9259,begin surface
$SM_CCo,9274,82.00,0.115,0,0,730,380.21
$SM_GC,1.22,6.10,0.20,82.00,0.078,0.080,0.115,185,2232,730,-7.41,-1.47,380.21,0,0,0,0,0,0,14.75,14.73,14.59
$IRIDIUM_FIX,2143.45,-15710.66,230418,140126
$TT8_MAMPS,0.018725,0.268142
$HUMID,43.26
$INTERNAL_PRESSURE,9.46584
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,6.7
$24V_AH,13.39,89.299
$10V_AH,13.15,0.000
$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,14.775,92.000,261.750,82.000,0.000,28.571,44.268,292.866,0.500,0.000,8.323,1570.712,5849.076,453.859,1849.483,158.344,0.000,1098.373,0.000,1457.072,0.000,5.463,0.000
$DEVICE_MAMPS,631.890,80.325,2302.650,114.750,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,316.652,252.936,454.681,461.612,708.293,0.000,0.000,0.000,0.000,0.000
$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,40634,468
$CAP_FILE_SIZE,94624,0
$CFSIZE,2097086464,2055503872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,9272.80,0x212b66,7,24
$CURRENT,0.021,107.19,1
$GPS,230418,164624,2154.081,-15712.121,56,0.8,56,9.8,0.0,0.0,9,19.9