version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 400
start: 4 25 118 0 23 28
data:
$ID,626
$MISSION,2
$DIVE,400
$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,39
$R_STBD_OVSHOOT,81
$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
$GPS1,250418,000855,2155.8489,-15720.3789,14,1.7,14,9.8,0.6,309.9,5,59.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.1
$GPS2,250418,002244,2155.8970,-15720.5410,16,2.0,16,9.8,0.6,312.5,5,94.4
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,ED
$TGT_LATLONG,2211.000,-15811.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,266.5,90942,-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,-0.51,-87.6,182,2274,770,700,0.0,0.0,0,74,0.00,0.00,-55.60,0.000,16386,0.000,0.000,182,2273,2610,2639,2581,0,0,0,0,0,0,14.95,28.83,14.95
$GC,77,-0.51,-87.6,182,2274,2639,2580,3.7,-6.1,7,94,7.53,2.20,-0.50,0.000,19204,0.443,0.066,2425,3602,2639,2678,2601,0,0,0,0,0,0,14.31,13.81,14.69
$GC,332,-0.51,-87.6,2425,3603,2678,2602,65.5,-18.0,34,341,0.00,2.33,0.00,0.000,3078,0.000,0.048,2425,2226,2639,2678,2601,0,0,0,0,0,0,14.65,14.60,14.67
$GC,580,-0.51,-87.6,2424,2225,2679,2600,115.9,-19.3,59,585,0.00,2.33,0.00,0.000,2564,0.000,0.063,2425,815,2639,2678,2600,0,0,0,0,0,0,15.07,14.71,15.07
$GC,662,-0.51,-87.6,2424,815,2678,2600,131.6,-19.2,66,671,0.05,2.28,0.00,0.000,3078,0.365,0.044,2432,2178,2638,2677,2600,0,0,0,0,0,0,14.33,14.63,14.51
$GC,913,-0.51,-87.6,2432,2180,2678,2600,175.0,-16.9,91,918,0.00,2.28,0.00,0.000,2564,0.000,0.063,2432,814,2639,2679,2600,0,0,0,0,0,0,15.10,14.75,15.11
$GC,960,-0.51,-87.6,2432,813,2678,2600,184.1,-18.7,95,967,0.00,2.30,0.00,0.000,3078,0.000,0.044,2428,2227,2639,2678,2600,0,0,0,0,0,0,14.89,14.78,14.91
$GC,1227,-0.51,-87.6,2427,2229,2679,2600,227.1,-16.3,110,1228,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2229,2639,2679,2600,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1467,-0.51,-87.6,2428,2229,2680,2600,262.4,-14.7,116,1473,0.00,2.35,0.00,0.000,2564,0.000,0.061,2428,812,2640,2680,2600,0,0,0,0,0,0,15.19,14.80,15.19
$GC,1535,-0.51,-87.6,2427,813,2680,2600,269.1,-14.9,117,1540,0.00,2.30,0.00,0.000,3078,0.000,0.045,2428,2231,2640,2680,2600,0,0,0,0,0,0,14.95,14.83,14.97
$GC,1792,-0.51,-87.6,2427,2233,2680,2600,307.0,-13.0,124,1797,0.00,2.30,0.00,0.000,2308,0.000,0.059,2428,3646,2640,2680,2600,0,0,0,0,0,0,15.21,14.81,15.21
$GC,1835,-0.51,-87.6,2427,3645,2680,2600,312.2,-12.9,125,1840,0.00,2.28,0.00,0.000,3078,0.000,0.040,2428,2223,2640,2680,2600,0,0,0,0,0,0,14.97,14.85,14.98
$GC,2117,-0.51,-87.6,2428,2223,2680,2599,347.0,-12.2,132,2123,0.00,2.30,0.00,0.000,2564,0.000,0.062,2428,814,2639,2680,2598,0,0,0,0,0,0,15.22,14.81,15.22
$GC,2160,-0.51,-87.6,2426,814,2680,2598,352.7,-12.3,133,2167,0.00,2.33,0.00,0.000,3078,0.000,0.045,2428,2236,2639,2680,2598,0,0,0,0,0,0,14.97,14.85,14.99
$GC,2444,-0.51,-87.6,2427,2237,2680,2595,386.8,-11.8,140,2449,0.00,2.35,0.00,0.000,2564,0.000,0.060,2428,820,2637,2680,2595,0,0,0,0,0,0,15.22,14.82,15.23
$GC,2530,-0.51,-87.6,2427,819,2679,2595,397.2,-12.2,142,2535,0.00,2.28,0.00,0.000,3078,0.000,0.043,2427,2228,2637,2680,2594,0,0,0,0,0,0,14.97,14.85,14.99
$GC,2808,-0.51,-87.6,2427,2228,2680,2590,429.2,-11.2,149,2809,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2228,2635,2680,2590,0,0,0,0,0,0,15.23,15.23,15.23
$GC,3048,-0.51,-87.6,2427,2228,2680,2587,456.4,-11.6,155,3049,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2228,2633,2680,2587,0,0,0,0,0,0,15.23,15.23,15.23
$GC,3288,-0.51,-87.6,2427,2229,2679,2584,486.1,-12.4,161,3294,0.00,2.35,0.00,0.000,2564,0.000,0.059,2428,812,2632,2680,2584,0,0,0,0,0,0,15.23,14.81,15.23
$GC,3320,-0.51,-87.6,2427,811,2679,2583,486.1,-12.4,161,3325,0.00,2.30,0.00,0.000,3078,0.000,0.044,2428,2230,2631,2680,2583,0,0,0,0,0,0,14.97,14.85,14.99
$GC,3572,-0.51,-87.6,2427,2230,2680,2579,520.9,-12.3,168,3578,0.00,2.30,0.00,0.000,2308,0.000,0.060,2428,3636,2629,2680,2579,0,0,0,0,0,0,15.23,14.81,15.23
$GC,3599,-0.51,-87.6,2427,3636,2680,2579,520.9,-12.3,168,3604,0.00,2.28,0.00,0.000,3078,0.000,0.041,2428,2219,2629,2679,2579,0,0,0,0,0,0,14.97,14.85,14.99
$GC,3857,-0.51,-87.6,2427,2219,2680,2576,552.7,-10.9,175,3863,0.00,2.28,0.00,0.000,2564,0.000,0.055,2428,819,2627,2680,2575,0,0,0,0,0,0,15.23,14.81,15.23
$GC,3884,-0.51,-87.6,2427,818,2680,2573,552.7,-10.9,175,3890,0.00,2.28,0.00,0.000,3078,0.000,0.037,2428,2230,2627,2680,2574,0,0,0,0,0,0,14.97,14.85,14.98
$GC,4142,-0.51,-87.6,2427,2231,2679,2571,582.5,-10.0,182,4147,0.00,2.33,0.00,0.000,2564,0.000,0.052,2427,818,2625,2680,2571,0,0,0,0,0,0,15.23,14.81,15.23
$GC,4219,-0.51,-87.6,2427,817,2679,2570,587.4,-10.4,183,4226,0.00,2.28,0.00,0.000,3078,0.000,0.037,2428,2229,2625,2680,2570,0,0,0,0,0,0,14.96,14.84,14.97
$STATE,4303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4303,begin apogee
$GC,4308,-0.12,0.0,2428,2074,2679,2570,601.0,-11.4,186,4385,0.35,0.00,68.65,1.954,10246,0.259,0.000,2557,2073,2281,2357,2206,0,0,0,0,0,0,14.50,14.43,13.69
$STATE,4386,end apogee,CONTROL_FINISHED_OK
$STATE,4386,begin climb
$GC,4388,0.51,87.6,2557,2073,2356,2206,605.0,0.0,188,4471,0.45,2.33,74.25,2.085,10756,0.172,0.054,2754,722,1923,2013,1834,0,0,0,0,0,0,14.36,14.19,13.43
$GC,4508,0.51,87.6,2754,722,2013,1834,605.8,-0.6,191,4513,0.00,2.30,0.00,0.000,3078,0.000,0.032,2754,2115,1923,2013,1834,0,0,0,0,0,0,14.45,14.37,14.47
$GC,4791,0.66,209.8,2754,2114,2013,1829,597.8,3.0,198,4901,0.08,2.33,101.55,2.199,10500,0.195,0.047,2844,3496,1424,1533,1316,0,0,0,0,0,0,14.63,14.03,13.43
$GC,4949,0.66,209.8,2844,3498,1533,1324,585.4,8.0,201,4956,0.12,2.30,0.00,0.000,5126,0.389,0.045,2816,2133,1428,1533,1324,0,0,0,0,0,0,14.10,14.38,14.37
$GC,5195,0.66,209.8,2815,2132,1533,1322,538.3,16.1,208,5201,0.00,2.40,0.00,0.000,4612,0.000,0.057,2826,692,1427,1533,1322,0,0,0,0,0,0,14.93,14.62,14.93
$GC,5307,0.66,209.8,2826,690,1533,1321,523.7,17.2,210,5313,0.05,2.28,0.00,0.000,5126,0.453,0.034,2810,2100,1427,1533,1322,0,0,0,0,0,0,14.38,14.71,14.65
$GC,5561,0.66,209.8,2810,2105,1533,1319,478.9,16.0,217,5566,0.00,2.25,0.00,0.000,260,0.000,0.048,2810,3498,1426,1533,1319,0,0,0,0,0,0,15.06,14.73,15.07
$GC,5622,0.66,209.8,2810,3501,1533,1319,471.6,16.6,218,5627,0.00,2.30,0.00,0.000,5126,0.000,0.044,2821,2094,1425,1532,1319,0,0,0,0,0,0,14.85,14.76,14.87
$GC,5885,0.66,209.8,2820,2094,1532,1316,425.1,17.1,225,5887,0.00,0.00,0.00,0.000,4102,0.000,0.000,2820,2094,1424,1532,1316,0,0,0,0,0,0,15.11,15.11,15.11
$GC,6125,0.66,209.8,2820,2094,1532,1315,386.7,15.9,231,6130,0.00,2.33,0.00,0.000,4356,0.000,0.047,2821,3511,1423,1532,1314,0,0,0,0,0,0,15.14,14.79,15.14
$GC,6177,0.66,209.8,2820,3511,1533,1315,380.1,15.9,232,6183,0.05,2.30,0.00,0.000,5126,0.432,0.044,2815,2100,1423,1532,1314,0,0,0,0,0,0,14.46,14.80,14.73
$GC,6451,0.66,209.8,2814,2099,1532,1313,339.2,14.0,239,6456,0.00,2.30,0.00,0.000,4612,0.000,0.056,2825,694,1422,1532,1313,0,0,0,0,0,0,15.16,14.77,15.16
$GC,6523,0.66,209.8,2824,694,1532,1313,332.6,14.4,240,6528,0.00,2.28,0.00,0.000,5126,0.000,0.032,2825,2104,1422,1532,1312,0,0,0,0,0,0,14.92,14.83,14.94
$GC,6776,0.66,209.8,2824,2106,1532,1311,291.0,15.0,247,6777,0.00,0.00,0.00,0.000,4102,0.000,0.000,2825,2106,1421,1531,1311,0,0,0,0,0,0,15.17,15.17,15.17
$GC,7016,0.66,209.8,2825,2106,1532,1310,254.0,15.3,253,7021,0.00,2.25,0.00,0.000,4356,0.000,0.047,2825,3503,1420,1531,1310,0,0,0,0,0,0,15.18,14.80,15.19
$GC,7062,0.66,209.8,2825,3503,1531,1311,247.5,15.2,254,7068,0.08,2.28,0.00,0.000,5126,0.387,0.043,2810,2099,1421,1531,1311,0,0,0,0,0,0,14.40,14.82,14.71
$GC,7340,0.66,209.8,2810,2098,1531,1310,211.1,12.4,261,7345,0.00,2.28,0.00,0.000,516,0.000,0.056,2820,694,1420,1531,1310,0,0,0,0,0,0,15.19,14.77,15.19
$GC,7407,0.66,209.8,2820,693,1531,1310,206.1,12.0,262,7413,0.00,2.25,0.00,0.000,5126,0.000,0.031,2820,2104,1420,1531,1310,0,0,0,0,0,0,14.94,14.84,14.95
$GC,7659,0.66,209.8,2821,2105,1531,1310,175.0,13.0,283,7664,0.00,2.25,0.00,0.000,4356,0.000,0.047,2821,3501,1420,1531,1310,0,0,0,0,0,0,15.16,14.78,15.16
$GC,7813,0.66,209.8,2820,3501,1530,1310,155.3,13.2,297,7824,0.05,2.35,0.00,0.000,5126,0.363,0.043,2813,2103,1420,1530,1310,0,0,0,0,0,0,14.30,14.65,14.48
$GC,8063,0.66,209.8,2813,2103,1530,1311,129.0,9.1,322,8068,0.00,2.33,0.00,0.000,4612,0.000,0.056,2824,688,1420,1530,1311,0,0,0,0,0,0,15.14,14.74,15.14
$GC,8130,0.66,209.8,2824,687,1530,1311,122.2,10.2,328,8135,0.00,2.25,0.00,0.000,5126,0.000,0.031,2823,2103,1420,1530,1311,0,0,0,0,0,0,14.90,14.81,14.91
$GC,8386,0.66,209.8,2823,2104,1530,1313,98.1,9.6,353,8391,0.00,2.35,0.00,0.000,4612,0.000,0.053,2834,688,1421,1530,1313,0,0,0,0,0,0,15.11,14.74,15.12
$GC,8521,0.66,209.8,2834,688,1530,1315,85.2,9.4,365,8529,0.08,2.25,0.00,0.000,5126,0.387,0.031,2809,2104,1422,1530,1315,0,0,0,0,0,0,14.35,14.80,14.67
$GC,8770,0.66,209.8,2808,2106,1530,1316,61.7,9.1,390,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2106,1423,1530,1317,0,0,0,0,0,0,15.10,15.11,15.11
$GC,9019,0.66,209.8,2808,2106,1530,1320,41.5,8.9,415,9025,0.00,2.22,0.00,0.000,260,0.000,0.048,2809,3496,1426,1531,1321,0,0,0,0,0,0,15.09,14.74,15.09
$GC,9195,0.76,298.3,2808,3496,1529,1323,26.8,4.4,434,9271,0.00,2.35,68.05,1.102,11270,0.000,0.041,2819,2101,1061,1154,969,0,0,0,0,0,0,14.69,14.65,14.02
$STATE,9420,end climb,SURFACE_DEPTH_REACHED
$STATE,9420,begin surface coast
$FINISH,0.3,1.023528
$STATE,9445,end surface coast,CONTROL_FINISHED_OK
$STATE,9445,begin surface
$SM_CCo,9460,47.12,0.119,0,0,730,380.21
$SM_GC,1.01,5.97,0.20,47.12,0.054,0.076,0.119,184,2237,730,-7.39,-1.47,380.21,0,0,0,0,0,0,14.66,14.65,14.51
$IRIDIUM_FIX,2145.77,-15722.27,250418,001757
$TT8_MAMPS,0.019474,0.326564
$HUMID,44.13
$INTERNAL_PRESSURE,9.48537
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,6.3
$24V_AH,13.43,92.077
$10V_AH,13.41,0.000
$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,14.850,106.025,312.500,47.125,0.000,86.728,113.866,350.381,0.500,0.000,17.421,1696.243,5848.312,453.723,2187.468,178.462,0.000,1173.621,0.000,1587.920,0.000,5.461,0.000
$DEVICE_MAMPS,452.880,75.735,2198.610,118.575,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,318.829,255.420,456.033,468.055,718.196,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343156
$DATA_FILE_SIZE,40598,472
$CAP_FILE_SIZE,102472,0
$CFSIZE,2097086464,2054225920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.022,53.66,1
$GPS,250418,030300,2156.013,-15721.574,29,1.1,29,9.8,0.0,0.0,8,21.1