version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 427
start: 4 28 118 7 57 47
data:
$ID,626
$MISSION,2
$DIVE,427
$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,400
$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,2612
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,39
$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,2126
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,53
$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
$GPS1,280418,074837,2206.2969,-15754.4785,17,1.7,17,9.8,0.6,279.8,6,102.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.6
$GPS2,280418,075704,2206.3257,-15754.5674,26,1.8,26,9.8,0.0,0.0,5,120.3
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,ED
$TGT_LATLONG,2211.000,-15811.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,267.8,29480,-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,-0.52,-87.6,184,2137,677,626,0.0,0.0,0,75,0.00,0.00,-57.42,0.000,16386,0.000,0.000,184,2137,2588,2620,2557,0,0,0,0,0,0,14.91,28.83,14.92
$GC,78,-0.52,-87.6,184,2137,2620,2557,3.9,-7.6,7,96,7.55,2.33,-0.85,0.000,18692,0.441,0.069,2430,3524,2638,2679,2597,0,0,0,0,0,0,14.26,13.74,14.65
$GC,279,-0.52,-87.6,2430,3524,2679,2591,50.2,-16.1,29,284,0.00,2.33,0.00,0.000,3078,0.000,0.053,2430,2134,2635,2679,2591,0,0,0,0,0,0,14.76,14.64,14.78
$GC,533,-0.52,-87.6,2429,2133,2679,2590,100.5,-19.3,54,538,0.00,2.38,0.00,0.000,2564,0.000,0.067,2430,717,2635,2680,2590,0,0,0,0,0,0,15.03,14.65,15.04
$GC,568,-0.52,-87.6,2429,716,2678,2590,107.5,-20.1,57,574,0.05,2.28,0.00,0.000,3078,0.461,0.037,2444,2119,2634,2679,2590,0,0,0,0,0,0,14.35,14.72,14.64
$GC,825,-0.52,-87.6,2443,2122,2680,2590,149.9,-16.9,82,830,0.00,2.33,0.00,0.000,260,0.000,0.058,2441,3535,2634,2679,2590,0,0,0,0,0,0,15.07,14.69,15.07
$GC,914,-0.52,-87.6,2441,3534,2680,2590,162.7,-13.6,90,919,0.00,2.30,0.00,0.000,3078,0.000,0.040,2442,2115,2635,2680,2590,0,0,0,0,0,0,14.85,14.76,14.88
$GC,1170,-0.52,-87.6,2441,2113,2681,2590,198.7,-14.2,115,1175,0.00,2.28,0.00,0.000,2564,0.000,0.055,2441,721,2635,2681,2590,0,0,0,0,0,0,15.09,14.73,15.10
$GC,1267,-0.52,-87.6,2441,721,2681,2590,210.3,-13.6,118,1272,0.00,2.28,0.00,0.000,3078,0.000,0.038,2441,2129,2635,2681,2590,0,0,0,0,0,0,14.88,14.78,14.90
$GC,1535,-0.52,-87.6,2441,2129,2682,2590,244.0,-12.0,125,1540,0.00,2.30,0.00,0.000,2308,0.000,0.059,2441,3529,2636,2682,2590,0,0,0,0,0,0,15.16,14.75,15.16
$GC,1572,-0.52,-87.6,2441,3530,2681,2590,244.0,-12.0,125,1579,0.00,2.28,0.00,0.000,3078,0.000,0.038,2441,2115,2636,2682,2590,0,0,0,0,0,0,14.92,14.82,14.93
$GC,1818,-0.52,-87.6,2441,2114,2681,2590,275.9,-11.3,132,1823,0.00,2.25,0.00,0.000,2564,0.000,0.055,2441,727,2635,2681,2589,0,0,0,0,0,0,15.18,14.78,15.19
$GC,1860,-0.52,-87.6,2441,727,2681,2590,281.0,-11.3,133,1865,0.00,2.25,0.00,0.000,3078,0.000,0.037,2441,2128,2635,2681,2590,0,0,0,0,0,0,14.93,14.83,14.95
$GC,2143,-0.52,-87.6,2441,2129,2681,2589,314.5,-12.0,140,2148,0.00,2.33,0.00,0.000,2564,0.000,0.054,2441,719,2635,2681,2589,0,0,0,0,0,0,15.19,14.78,15.20
$GC,2180,-0.52,-87.6,2441,718,2681,2589,314.5,-12.0,140,2188,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2131,2635,2681,2589,0,0,0,0,0,0,14.94,14.84,14.96
$GC,2426,-0.52,-87.6,2441,2132,2681,2586,346.7,-11.3,147,2431,0.00,2.30,0.00,0.000,2308,0.000,0.058,2441,3535,2634,2682,2586,0,0,0,0,0,0,15.21,14.78,15.21
$GC,2468,-0.52,-87.6,2441,3534,2681,2586,351.1,-11.0,148,2474,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2115,2633,2681,2586,0,0,0,0,0,0,14.95,14.85,14.96
$GC,2752,-0.52,-87.6,2441,2115,2681,2583,381.4,-10.7,155,2753,0.00,0.00,0.00,0.000,2054,0.000,0.000,2440,2115,2632,2681,2583,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2991,-0.52,-87.6,2441,2115,2681,2580,407.8,-10.9,161,2992,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2115,2630,2681,2580,0,0,0,0,0,0,15.21,15.22,15.22
$GC,3232,-0.52,-87.6,2441,2115,2681,2578,434.2,-11.0,167,3237,0.00,2.28,0.00,0.000,2564,0.000,0.054,2441,720,2629,2681,2578,0,0,0,0,0,0,15.22,14.79,15.21
$GC,3263,-0.52,-87.6,2441,719,2681,2578,434.2,-11.0,167,3268,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2128,2629,2681,2578,0,0,0,0,0,0,14.95,14.84,14.96
$GC,3516,-0.52,-87.6,2441,2129,2681,2574,465.4,-10.8,174,3517,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2130,2627,2681,2574,0,0,0,0,0,0,15.22,15.23,15.22
$GC,3756,-0.52,-87.6,2441,2129,2681,2571,491.6,-11.1,180,3762,0.00,2.33,0.00,0.000,2308,0.000,0.057,2441,3528,2626,2681,2571,0,0,0,0,0,0,15.22,14.77,15.22
$GC,3779,-0.52,-87.6,2441,3529,2681,2571,491.6,-11.1,180,3784,0.00,2.25,0.00,0.000,3078,0.000,0.037,2442,2125,2626,2681,2571,0,0,0,0,0,0,14.95,14.85,14.96
$GC,4041,-0.52,-87.6,2441,2123,2681,2568,521.7,-10.4,187,4047,0.00,2.30,0.00,0.000,2564,0.000,0.054,2441,725,2624,2681,2568,0,0,0,0,0,0,15.22,14.78,15.23
$GC,4100,-0.52,-87.6,2441,724,2681,2568,526.2,-10.3,188,4105,0.00,2.28,0.00,0.000,3078,0.000,0.038,2441,2135,2624,2681,2567,0,0,0,0,0,0,14.93,14.83,14.95
$GC,4368,-0.52,-87.6,2441,2137,2681,2564,553.5,-9.3,195,4373,0.00,2.30,0.00,0.000,2308,0.000,0.057,2441,3534,2622,2681,2563,0,0,0,0,0,0,15.22,14.75,15.22
$GC,4399,-0.52,-87.6,2441,3534,2681,2563,553.5,-9.3,195,4405,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2116,2622,2681,2563,0,0,0,0,0,0,14.94,14.83,14.95
$GC,4652,-0.52,-87.6,2441,2115,2681,2561,579.5,-9.4,202,4657,0.00,2.28,0.00,0.000,2564,0.000,0.053,2441,725,2620,2681,2560,0,0,0,0,0,0,15.21,14.76,15.22
$GC,4684,-0.52,-87.6,2441,724,2681,2560,579.5,-9.4,202,4689,0.00,2.28,0.00,0.000,3078,0.000,0.037,2441,2135,2620,2681,2560,0,0,0,0,0,0,14.92,14.83,14.95
$STATE,4894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4895,begin apogee
$GC,4900,-0.13,0.0,2441,1927,2681,2557,601.0,-8.5,208,4976,0.35,0.00,67.88,1.939,10246,0.242,0.000,2573,1927,2281,2357,2205,0,0,0,0,0,0,14.45,14.42,13.64
$STATE,4977,end apogee,CONTROL_FINISHED_OK
$STATE,4977,begin climb
$GC,4979,0.52,87.6,2573,1927,2357,2206,602.7,0.0,210,5062,0.45,2.33,74.10,2.158,10756,0.157,0.056,2773,585,1922,2008,1837,0,0,0,0,0,0,14.35,14.15,13.35
$GC,5181,0.68,224.6,2773,583,2008,1836,598.5,2.4,215,5312,0.10,2.25,120.10,2.515,11270,0.155,0.033,2856,1964,1366,1471,1262,0,0,0,0,0,0,14.43,14.49,13.15
$GC,5584,0.68,224.6,2856,1965,1470,1260,526.7,20.1,225,5590,0.08,2.25,0.00,0.000,4356,0.405,0.044,2825,3339,1365,1470,1260,0,0,0,0,0,0,14.25,14.54,14.44
$GC,5627,0.68,224.6,2825,3340,1470,1260,518.8,19.7,226,5633,0.00,2.25,0.00,0.000,5126,0.000,0.044,2834,1985,1365,1470,1260,0,0,0,0,0,0,14.71,14.61,14.71
$GC,5910,0.68,224.6,2834,1985,1470,1257,471.5,16.5,233,5912,0.00,0.00,0.00,0.000,4102,0.000,0.000,2834,1984,1363,1470,1257,0,0,0,0,0,0,15.02,15.02,15.02
$GC,6150,0.68,224.6,2834,1985,1470,1255,429.6,17.4,239,6155,0.00,2.42,0.00,0.000,4612,0.000,0.059,2846,533,1363,1471,1255,0,0,0,0,0,0,15.07,14.70,15.07
$GC,6211,0.68,224.6,2845,532,1470,1255,422.4,17.1,240,6217,0.00,2.28,0.00,0.000,5126,0.000,0.032,2846,1948,1362,1470,1255,0,0,0,0,0,0,14.86,14.78,14.88
$GC,6475,0.68,224.6,2845,1959,1470,1254,372.6,17.0,247,6480,0.00,2.28,0.00,0.000,4356,0.000,0.045,2846,3350,1362,1470,1254,0,0,0,0,0,0,15.11,14.76,15.11
$GC,6612,0.68,224.6,2845,3350,1469,1254,351.1,17.3,250,6619,0.08,2.30,0.00,0.000,5126,0.398,0.044,2832,1947,1361,1469,1254,0,0,0,0,0,0,14.35,14.76,14.67
$GC,6881,0.68,224.6,2832,1945,1469,1251,304.1,16.8,257,6887,0.00,2.28,0.00,0.000,260,0.000,0.044,2832,3350,1360,1470,1251,0,0,0,0,0,0,15.14,14.77,15.14
$GC,6903,0.68,224.6,2832,3350,1469,1251,304.1,16.8,257,6908,0.00,2.30,0.00,0.000,5126,0.000,0.044,2842,1944,1360,1469,1251,0,0,0,0,0,0,14.88,14.77,14.90
$GC,7166,0.68,224.6,2842,1943,1469,1250,256.4,16.8,264,7171,0.00,2.33,0.00,0.000,4612,0.000,0.058,2852,535,1359,1469,1250,0,0,0,0,0,0,15.15,14.73,15.16
$GC,7198,0.68,224.6,2852,534,1469,1250,256.4,16.8,264,7204,0.08,2.28,0.00,0.000,5126,0.411,0.031,2829,1959,1359,1469,1250,0,0,0,0,0,0,14.33,14.83,14.66
$GC,7451,0.68,224.6,2829,1968,1469,1250,213.2,14.4,271,7457,0.00,2.22,0.00,0.000,260,0.000,0.044,2829,3354,1359,1469,1250,0,0,0,0,0,0,15.16,14.78,15.16
$GC,7503,0.68,224.6,2829,3354,1469,1251,206.8,14.2,272,7509,0.00,2.30,0.00,0.000,5126,0.000,0.043,2839,1948,1360,1469,1251,0,0,0,0,0,0,14.89,14.78,14.91
$GC,7759,0.68,224.6,2839,1947,1469,1250,171.8,13.5,292,7765,0.00,2.33,0.00,0.000,4612,0.000,0.058,2850,545,1359,1469,1250,0,0,0,0,0,0,15.14,14.72,15.14
$GC,7881,0.68,224.6,2850,543,1468,1251,154.2,14.3,303,7890,0.05,2.33,0.00,0.000,5126,0.392,0.031,2834,1949,1359,1469,1250,0,0,0,0,0,0,14.23,14.64,14.42
$GC,8127,0.68,224.6,2834,1955,1468,1250,123.4,12.3,328,8133,0.00,2.35,0.00,0.000,4612,0.000,0.056,2844,543,1359,1468,1251,0,0,0,0,0,0,15.12,14.71,15.12
$GC,8156,0.68,224.6,2843,542,1468,1251,120.3,12.8,330,8165,0.00,2.33,0.00,0.000,5126,0.000,0.031,2844,1946,1359,1468,1251,0,0,0,0,0,0,14.68,14.64,14.69
$GC,8405,0.68,224.6,2844,1953,1468,1251,91.0,11.9,355,8412,0.00,2.28,0.00,0.000,4356,0.000,0.045,2844,3347,1360,1468,1252,0,0,0,0,0,0,15.10,14.73,15.10
$GC,8528,0.68,224.6,2843,3348,1468,1254,76.6,11.4,366,8534,0.08,2.30,0.00,0.000,5126,0.393,0.043,2830,1942,1361,1468,1254,0,0,0,0,0,0,14.31,14.74,14.63
$GC,8783,0.68,224.6,2829,1941,1468,1255,47.5,12.1,391,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1941,1362,1468,1256,0,0,0,0,0,0,15.08,15.09,15.09
$GC,9052,0.68,224.6,2829,1941,1468,1258,17.8,8.2,426,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1941,1363,1468,1258,0,0,0,0,0,0,15.05,15.06,15.06
$STATE,9262,end climb,SURFACE_DEPTH_REACHED
$STATE,9262,begin surface coast
$FINISH,0.2,1.022597
$STATE,9306,end surface coast,CONTROL_FINISHED_OK
$STATE,9306,begin surface
$SM_CCo,9321,101.40,0.120,0,0,647,400.08
$SM_GC,1.22,6.10,0.30,101.40,0.077,0.061,0.120,186,2136,647,-7.43,-1.64,400.08,0,0,0,0,0,0,14.77,14.75,14.57
$IRIDIUM_FIX,2157.39,-15755.93,280418,075011
$TT8_MAMPS,0.019474,0.324317
$HUMID,44.21
$INTERNAL_PRESSURE,9.44631
$TCM_TEMP,21.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,6.3
$24V_AH,13.15,97.973
$10V_AH,13.05,0.000
$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,14.950,106.100,262.075,101.400,0.000,26.670,41.458,291.267,0.500,0.000,27.292,1677.878,5651.788,481.513,1964.969,179.664,0.000,1168.320,0.000,1557.503,0.000,5.463,0.000
$DEVICE_MAMPS,460.530,68.850,2515.320,120.105,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,317.610,355.465,450.918,468.063,718.161,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343108
$DATA_FILE_SIZE,40539,468
$CAP_FILE_SIZE,98939,0
$CFSIZE,2097086464,2051506176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$CURRENT,0.092,11.23,1
$GPS,280418,103600,2206.924,-15755.682,34,1.6,34,9.8,0.9,281.4,7,35.9