version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 453
start: 5 1 118 12 57 43
data:
$ID,626
$MISSION,2
$DIVE,453
$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,43
$R_STBD_OVSHOOT,65
$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
$GPS1,010518,124830,2214.3474,-15803.3643,27,0.8,27,9.8,0.8,348.0,11,19.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-75.1
$GPS2,010518,125701,2214.3853,-15803.4004,19,0.8,19,9.8,0.7,299.2,9,18.2
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,EE
$TGT_LATLONG,2218.000,-15730.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,95.5,57621,-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,14,begin dive
$GC,16,-0.52,-87.6,183,2155,679,634,0.0,0.0,0,73,0.00,0.00,-55.35,0.000,16386,0.000,0.000,183,2155,2524,2555,2493,0,0,0,0,0,0,14.90,28.83,14.90
$GC,77,-0.52,-87.6,183,2155,2555,2493,3.8,-7.3,7,95,7.57,2.35,-1.92,0.000,18948,0.441,0.063,2440,717,2638,2681,2596,0,0,0,0,0,0,14.23,13.71,14.64
$GC,169,-0.52,-87.6,2440,715,2681,2592,36.1,-25.4,19,174,0.00,2.28,0.00,0.000,3078,0.000,0.036,2440,2109,2637,2682,2592,0,0,0,0,0,0,14.74,14.64,14.76
$GC,422,-0.52,-87.6,2440,2112,2681,2592,95.4,-22.1,44,427,0.00,2.35,0.00,0.000,2308,0.000,0.057,2432,3535,2637,2682,2592,0,0,0,0,0,0,15.02,14.66,15.02
$GC,449,-0.52,-87.6,2432,3535,2681,2592,100.1,-20.9,46,459,0.00,2.40,0.00,0.000,3078,0.000,0.050,2432,2137,2636,2681,2592,0,0,0,0,0,0,14.62,14.57,14.64
$GC,700,-0.52,-87.6,2432,2137,2682,2592,146.2,-16.8,71,705,0.00,2.38,0.00,0.000,2564,0.000,0.063,2432,709,2636,2681,2592,0,0,0,0,0,0,15.07,14.67,15.07
$GC,725,-0.52,-87.6,2432,709,2681,2593,150.7,-16.7,73,731,0.05,2.30,0.00,0.000,3078,0.456,0.037,2444,2127,2637,2682,2592,0,0,0,0,0,0,14.38,14.73,14.66
$GC,979,-0.52,-87.6,2444,2129,2683,2592,186.5,-14.1,98,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2129,2637,2683,2592,0,0,0,0,0,0,15.09,15.10,15.09
$GC,1239,-0.52,-87.6,2443,2130,2684,2591,225.4,-15.1,112,1244,0.00,2.30,0.00,0.000,260,0.000,0.057,2441,3532,2638,2684,2592,0,0,0,0,0,0,15.14,14.73,15.14
$GC,1275,-0.52,-87.6,2441,3533,2684,2592,225.4,-15.1,112,1283,0.00,2.30,0.00,0.000,3078,0.000,0.037,2441,2106,2638,2684,2592,0,0,0,0,0,0,14.90,14.81,14.92
$GC,1521,-0.52,-87.6,2442,2106,2684,2592,264.8,-14.4,119,1526,0.00,2.35,0.00,0.000,2308,0.000,0.054,2441,3526,2638,2684,2592,0,0,0,0,0,0,15.17,14.76,15.17
$GC,1583,-0.52,-87.6,2441,3527,2684,2592,270.7,-14.3,120,1588,0.00,2.25,0.00,0.000,3078,0.000,0.037,2441,2120,2638,2684,2593,0,0,0,0,0,0,14.92,14.83,14.94
$GC,1846,-0.52,-87.6,2440,2118,2684,2592,306.5,-12.3,127,1851,0.00,2.28,0.00,0.000,2564,0.000,0.056,2441,723,2637,2683,2592,0,0,0,0,0,0,15.19,14.77,15.19
$GC,1883,-0.52,-87.6,2441,722,2684,2592,306.5,-12.3,127,1890,0.00,2.28,0.00,0.000,3078,0.000,0.039,2441,2136,2637,2683,2592,0,0,0,0,0,0,14.93,14.83,14.95
$GC,2128,-0.52,-87.6,2441,2137,2683,2591,340.4,-12.0,134,2134,0.00,2.28,0.00,0.000,2308,0.000,0.057,2441,3523,2637,2684,2591,0,0,0,0,0,0,15.20,14.77,15.21
$GC,2201,-0.52,-87.6,2441,3523,2683,2591,345.5,-12.0,135,2206,0.00,2.22,0.00,0.000,3078,0.000,0.037,2441,2125,2637,2684,2590,0,0,0,0,0,0,14.94,14.84,14.95
$GC,2454,-0.52,-87.6,2441,2123,2683,2588,377.0,-11.2,142,2455,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2124,2636,2684,2588,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2693,-0.52,-87.6,2441,2123,2683,2586,403.8,-11.4,148,2698,0.00,2.28,0.00,0.000,2564,0.000,0.055,2441,729,2634,2683,2585,0,0,0,0,0,0,15.21,14.78,15.21
$GC,2725,-0.52,-87.6,2440,728,2683,2584,403.8,-11.4,148,2731,0.00,2.28,0.00,0.000,3078,0.000,0.038,2441,2132,2633,2683,2584,0,0,0,0,0,0,14.95,14.84,14.96
$GC,2978,-0.52,-87.6,2441,2133,2683,2581,436.0,-11.5,155,2984,0.00,2.30,0.00,0.000,2308,0.000,0.057,2441,3532,2632,2683,2581,0,0,0,0,0,0,15.21,14.76,15.21
$GC,3035,-0.52,-87.6,2441,3532,2683,2581,440.7,-11.3,156,3041,0.00,2.25,0.00,0.000,3078,0.000,0.037,2441,2123,2632,2683,2581,0,0,0,0,0,0,14.94,14.84,14.95
$GC,3303,-0.52,-87.6,2441,2122,2684,2578,472.4,-11.3,163,3309,0.00,2.28,0.00,0.000,2564,0.000,0.055,2441,731,2631,2684,2578,0,0,0,0,0,0,15.21,14.76,15.22
$GC,3330,-0.52,-87.6,2441,730,2683,2577,472.4,-11.3,163,3336,0.00,2.28,0.00,0.000,3078,0.000,0.038,2440,2136,2630,2683,2577,0,0,0,0,0,0,14.94,14.83,14.95
$GC,3589,-0.52,-87.6,2441,2138,2683,2571,503.4,-10.6,170,3594,0.00,2.28,0.00,0.000,2308,0.000,0.057,2440,3522,2626,2683,2570,0,0,0,0,0,0,15.21,14.75,15.21
$GC,3655,-0.52,-87.6,2440,3522,2683,2570,507.9,-10.5,171,3661,0.00,2.25,0.00,0.000,3078,0.000,0.037,2441,2124,2627,2684,2570,0,0,0,0,0,0,14.93,14.83,14.95
$GC,3913,-0.52,-87.6,2440,2122,2683,2567,538.3,-10.9,178,3919,0.00,2.30,0.00,0.000,2564,0.000,0.054,2441,726,2625,2683,2567,0,0,0,0,0,0,15.21,14.76,15.21
$GC,3975,-0.52,-87.6,2441,725,2683,2566,543.1,-10.9,179,3980,0.00,2.28,0.00,0.000,3078,0.000,0.038,2441,2136,2624,2683,2565,0,0,0,0,0,0,14.92,14.82,14.94
$GC,4238,-0.52,-87.6,2441,2137,2683,2562,574.1,-11.2,186,4244,0.00,2.30,0.00,0.000,2308,0.000,0.057,2441,3532,2622,2683,2562,0,0,0,0,0,0,15.21,14.73,15.21
$GC,4270,-0.52,-87.6,2441,3532,2683,2562,574.1,-11.2,186,4275,0.00,2.25,0.00,0.000,3078,0.000,0.036,2441,2126,2622,2683,2562,0,0,0,0,0,0,14.92,14.83,14.94
$STATE,4481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4481,begin apogee
$GC,4486,-0.13,0.0,2441,1925,2683,2560,600.2,-10.8,192,4563,0.35,0.00,69.95,1.683,10246,0.247,0.000,2571,1925,2274,2351,2198,0,0,0,0,0,0,14.40,14.32,13.75
$STATE,4564,end apogee,CONTROL_FINISHED_OK
$STATE,4564,begin climb
$GC,4566,0.52,87.6,2571,1925,2348,2197,603.9,0.0,194,4644,0.45,0.00,72.78,1.634,10502,0.164,0.000,2761,1926,1918,2009,1828,0,0,0,0,0,0,14.38,14.23,13.54
$GC,4884,0.63,184.1,2760,1925,2008,1823,596.9,4.0,202,4973,0.08,2.47,78.85,1.628,10500,0.191,0.046,2854,3354,1520,1628,1412,0,0,0,0,0,0,14.56,14.27,13.64
$GC,4995,0.68,221.4,2854,3354,1626,1412,589.9,6.5,204,5035,0.10,2.30,30.80,1.556,13318,0.391,0.044,2832,1986,1372,1484,1261,0,0,0,0,0,0,14.12,14.38,13.63
$GC,5290,0.68,221.4,2833,1986,1483,1262,529.1,19.3,212,5295,0.00,2.45,0.00,0.000,4612,0.000,0.063,2844,539,1372,1483,1262,0,0,0,0,0,0,14.90,14.58,14.90
$GC,5333,0.68,221.4,2844,539,1483,1262,520.6,19.3,213,5338,0.00,2.33,0.00,0.000,5126,0.000,0.034,2844,1958,1372,1482,1262,0,0,0,0,0,0,14.74,14.66,14.76
$GC,5616,0.68,221.4,2844,1968,1483,1259,466.4,18.8,220,5621,0.00,2.28,0.00,0.000,4356,0.000,0.045,2844,3352,1371,1483,1259,0,0,0,0,0,0,15.04,14.71,15.04
$GC,5738,0.68,221.4,2844,3353,1483,1259,443.5,18.9,223,5744,0.08,2.33,0.00,0.000,5126,0.399,0.044,2830,1947,1370,1482,1258,0,0,0,0,0,0,14.33,14.72,14.64
$GC,6022,0.68,221.4,2830,1946,1482,1256,396.2,16.5,230,6027,0.00,2.33,0.00,0.000,260,0.000,0.045,2831,3360,1369,1483,1256,0,0,0,0,0,0,15.09,14.73,15.10
$GC,6079,0.68,221.4,2830,3360,1483,1256,388.9,16.9,231,6085,0.00,2.33,0.00,0.000,5126,0.000,0.045,2840,1949,1369,1482,1256,0,0,0,0,0,0,14.85,14.74,14.88
$GC,6347,0.68,221.4,2840,1949,1482,1255,340.1,16.6,238,6352,0.00,2.30,0.00,0.000,4356,0.000,0.044,2840,3350,1368,1482,1254,0,0,0,0,0,0,15.14,14.76,15.14
$GC,6384,0.68,221.4,2840,3350,1482,1255,340.1,16.6,238,6391,0.05,2.30,0.00,0.000,5126,0.427,0.044,2835,1948,1368,1482,1255,0,0,0,0,0,0,14.41,14.76,14.71
$GC,6630,0.68,221.4,2834,1945,1482,1253,293.9,16.4,245,6635,0.00,2.30,0.00,0.000,4356,0.000,0.045,2834,3350,1368,1482,1254,0,0,0,0,0,0,15.15,14.76,15.15
$GC,6682,0.68,221.4,2834,3350,1482,1253,286.6,16.3,246,6687,0.00,2.30,0.00,0.000,5126,0.000,0.044,2844,1951,1367,1482,1253,0,0,0,0,0,0,14.88,14.76,14.90
$GC,6954,0.68,221.4,2844,1950,1482,1251,243.8,15.0,253,6956,0.00,0.00,0.00,0.000,4102,0.000,0.000,2844,1950,1366,1482,1251,0,0,0,0,0,0,15.16,15.16,15.16
$GC,7195,0.68,221.4,2844,1950,1482,1251,209.3,14.1,259,7196,0.00,0.00,0.00,0.000,4102,0.000,0.000,2844,1950,1366,1482,1251,0,0,0,0,0,0,15.17,15.17,15.17
$GC,7437,0.68,221.4,2844,1950,1482,1250,176.9,14.1,277,7442,0.00,0.00,0.00,0.000,4102,0.000,0.000,2844,1950,1366,1482,1250,0,0,0,0,0,0,15.15,15.15,15.15
$GC,7685,0.68,221.4,2844,1950,1482,1250,141.8,13.1,302,7691,0.00,2.30,0.00,0.000,4356,0.000,0.044,2844,3359,1366,1482,1251,0,0,0,0,0,0,15.14,14.74,15.14
$GC,7839,0.68,221.4,2844,3359,1482,1251,122.5,11.9,316,7846,0.08,2.33,0.00,0.000,5126,0.383,0.043,2830,1945,1366,1482,1251,0,0,0,0,0,0,14.31,14.74,14.66
$GC,8095,0.68,221.4,2830,1943,1482,1252,92.2,10.9,341,8101,0.00,2.33,0.00,0.000,260,0.000,0.044,2830,3351,1367,1482,1252,0,0,0,0,0,0,15.11,14.73,15.11
$GC,8151,0.68,221.4,2830,3352,1482,1253,85.6,11.4,346,8157,0.00,2.30,0.00,0.000,5126,0.000,0.044,2839,1952,1367,1481,1253,0,0,0,0,0,0,14.85,14.73,14.87
$GC,8407,0.68,221.4,2840,1951,1482,1255,57.1,10.5,371,8413,0.00,2.30,0.00,0.000,4356,0.000,0.044,2839,3349,1368,1482,1255,0,0,0,0,0,0,15.09,14.71,15.09
$GC,8479,0.68,221.4,2839,3350,1482,1256,48.4,11.9,377,8485,0.05,2.30,0.00,0.000,5126,0.428,0.042,2833,1947,1369,1482,1256,0,0,0,0,0,0,14.37,14.73,14.67
$GC,8735,0.71,242.3,2832,1946,1482,1257,30.4,7.1,402,8754,0.00,0.00,16.88,0.873,10246,0.000,0.000,2833,1946,1291,1408,1175,0,0,0,0,0,0,15.08,14.76,14.25
$STATE,9032,end climb,SURFACE_DEPTH_REACHED
$STATE,9032,begin surface coast
$FINISH,0.3,1.023291
$STATE,9063,end surface coast,CONTROL_FINISHED_OK
$STATE,9063,begin surface
$SM_CCo,9078,100.38,0.890,1,0,648,400.08
$SM_GC,1.36,6.12,0.30,100.38,0.074,0.054,0.890,181,2164,648,-7.47,-1.47,400.08,0,0,0,0,1,0,14.73,14.76,13.97
$IRIDIUM_FIX,2206.70,-15804.56,010518,125005
$TT8_MAMPS,0.019474,0.334054
$HUMID,43.73
$INTERNAL_PRESSURE,9.46584
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.9,6.3
$24V_AH,13.54,103.923
$10V_AH,12.91,0.000
$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,14.975,102.000,269.250,100.375,0.000,28.572,47.041,294.007,0.500,0.000,20.186,1576.130,5614.153,484.462,1868.546,178.928,0.000,1130.692,0.000,1471.467,0.000,5.466,0.000
$DEVICE_MAMPS,455.940,65.025,1683.000,889.695,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,308.915,247.957,441.707,455.177,698.406,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343140
$DATA_FILE_SIZE,40670,456
$CAP_FILE_SIZE,95388,0
$CFSIZE,2097086464,2048884736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.102,320.58,1
$GPS,010518,153137,2214.565,-15802.517,15,1.8,15,9.8,0.5,354.1,5,124.3