version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 457
start: 5 2 118 0 30 25
data:
$ID,626
$MISSION,2
$DIVE,457
$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,38
$R_STBD_OVSHOOT,50
$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
$GPS1,020518,002148,2215.2295,-15800.4717,41,0.9,41,9.8,0.6,271.6,8,36.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-73.5
$GPS2,020518,002943,2215.2771,-15800.5479,16,0.9,16,9.8,0.0,0.0,8,34.3
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,EE
$TGT_LATLONG,2218.000,-15730.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,103.2,52585,-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,16,-0.52,-87.6,184,2140,675,627,0.0,0.0,0,73,0.00,0.00,-55.55,0.000,16386,0.000,0.000,184,2140,2507,2541,2474,0,0,0,0,0,0,14.93,28.83,14.93
$GC,77,-0.52,-87.6,182,2140,2540,2475,3.5,-6.3,7,95,7.57,2.38,-2.25,0.000,18948,0.442,0.071,2436,709,2639,2684,2595,0,0,0,0,0,0,14.23,13.71,14.65
$GC,145,-0.52,-87.6,2436,709,2685,2590,28.5,-24.7,17,155,0.03,2.38,0.00,0.000,3078,0.496,0.034,2435,2123,2637,2685,2590,0,0,0,0,0,0,14.24,14.54,14.38
$GC,393,-0.52,-87.6,2435,2130,2684,2590,83.7,-20.1,42,394,0.00,0.00,0.00,0.000,2054,0.000,0.000,2435,2130,2637,2685,2590,0,0,0,0,0,0,15.02,15.02,15.02
$GC,633,-0.52,-87.6,2435,2131,2684,2590,130.4,-18.7,66,638,0.00,2.30,0.00,0.000,2308,0.000,0.049,2428,3532,2637,2685,2590,0,0,0,0,0,0,15.06,14.68,15.06
$GC,683,-0.52,-87.6,2427,3533,2685,2590,138.3,-17.6,70,693,0.03,2.35,0.00,0.000,3078,0.429,0.037,2437,2121,2637,2685,2590,0,0,0,0,0,0,14.33,14.59,14.45
$GC,931,-0.52,-87.6,2436,2120,2686,2590,179.4,-15.5,95,937,0.00,2.33,0.00,0.000,2308,0.000,0.048,2428,3532,2638,2686,2590,0,0,0,0,0,0,15.09,14.71,15.09
$GC,1003,-0.52,-87.6,2428,3533,2686,2590,189.1,-13.7,101,1011,0.03,2.33,0.00,0.000,3078,0.435,0.036,2437,2116,2638,2686,2590,0,0,0,0,0,0,14.44,14.72,14.54
$GC,1279,-0.52,-87.6,2438,2113,2687,2590,230.6,-14.3,114,1280,0.00,0.00,0.00,0.000,2054,0.000,0.000,2437,2113,2639,2688,2590,0,0,0,0,0,0,15.14,15.15,15.15
$GC,1519,-0.52,-87.6,2437,2113,2689,2590,262.3,-12.9,120,1525,0.00,2.28,0.00,0.000,2564,0.000,0.057,2438,725,2639,2688,2590,0,0,0,0,0,0,15.17,14.75,15.18
$GC,1571,-0.52,-87.6,2437,725,2688,2590,268.0,-12.9,121,1576,0.00,2.25,0.00,0.000,3078,0.000,0.036,2430,2132,2639,2688,2590,0,0,0,0,0,0,14.92,14.82,14.93
$GC,1844,-0.52,-87.6,2429,2134,2688,2590,304.5,-13.1,128,1846,0.03,0.00,0.00,0.000,2054,0.607,0.000,2440,2135,2639,2688,2590,0,0,0,0,0,0,14.71,14.87,14.81
$GC,2084,-0.52,-87.6,2440,2135,2688,2590,333.7,-12.0,134,2085,0.00,0.00,0.00,0.000,2054,0.000,0.000,2440,2135,2639,2688,2590,0,0,0,0,0,0,15.20,15.21,15.21
$GC,2324,-0.52,-87.6,2440,2134,2688,2589,360.5,-11.1,140,2329,0.00,2.35,0.00,0.000,2564,0.000,0.056,2440,720,2638,2688,2589,0,0,0,0,0,0,15.21,14.77,15.21
$GC,2355,-0.52,-87.6,2440,719,2688,2588,360.5,-11.1,140,2361,0.00,2.28,0.00,0.000,3078,0.000,0.038,2440,2134,2638,2688,2588,0,0,0,0,0,0,14.94,14.84,14.96
$GC,2609,-0.52,-87.6,2440,2136,2688,2586,391.2,-11.0,147,2615,0.00,2.28,0.00,0.000,2308,0.000,0.055,2440,3526,2637,2688,2586,0,0,0,0,0,0,15.21,14.77,15.22
$GC,2656,-0.52,-87.6,2440,3526,2688,2585,395.6,-10.9,148,2661,0.00,2.22,0.00,0.000,3078,0.000,0.034,2440,2120,2637,2688,2586,0,0,0,0,0,0,14.94,14.85,14.96
$GC,2934,-0.52,-87.6,2440,2118,2688,2583,426.1,-11.1,155,2939,0.00,2.28,0.00,0.000,2564,0.000,0.054,2440,724,2635,2688,2582,0,0,0,0,0,0,15.21,14.78,15.21
$GC,2976,-0.52,-87.6,2440,724,2687,2582,431.2,-11.4,156,2982,0.00,2.28,0.00,0.000,3078,0.000,0.038,2440,2131,2635,2688,2582,0,0,0,0,0,0,14.93,14.83,14.95
$GC,3259,-0.52,-87.6,2440,2132,2688,2578,462.9,-11.0,163,3265,0.00,2.30,0.00,0.000,2308,0.000,0.054,2440,3523,2633,2688,2578,0,0,0,0,0,0,15.21,14.76,15.21
$GC,3292,-0.52,-87.6,2440,3523,2688,2578,462.9,-11.0,163,3297,0.00,2.22,0.00,0.000,3078,0.000,0.034,2440,2126,2633,2688,2578,0,0,0,0,0,0,14.93,14.83,14.95
$GC,3544,-0.52,-87.6,2440,2124,2688,2575,492.7,-10.5,170,3545,0.00,0.00,0.00,0.000,2054,0.000,0.000,2440,2124,2631,2688,2575,0,0,0,0,0,0,15.21,15.22,15.22
$GC,3786,-0.52,-87.6,2440,2124,2688,2570,516.7,-9.9,176,3787,0.00,0.00,0.00,0.000,2054,0.000,0.000,2440,2125,2629,2688,2570,0,0,0,0,0,0,15.21,15.22,15.21
$GC,4024,-0.52,-87.6,2440,2124,2688,2568,540.7,-10.0,182,4025,0.00,0.00,0.00,0.000,2054,0.000,0.000,2440,2124,2628,2688,2568,0,0,0,0,0,0,15.22,15.22,15.22
$GC,4264,-0.52,-87.6,2441,2124,2688,2564,565.6,-10.4,188,4270,0.00,2.28,0.00,0.000,2564,0.000,0.054,2441,733,2625,2688,2563,0,0,0,0,0,0,15.22,14.75,15.22
$GC,4308,-0.52,-87.6,2440,733,2688,2564,570.2,-10.4,189,4314,0.00,2.28,0.00,0.000,3078,0.000,0.040,2440,2131,2625,2688,2563,0,0,0,0,0,0,14.92,14.81,14.94
$GC,4591,-0.52,-87.6,2440,2132,2688,2560,597.7,-9.5,196,4593,0.00,0.00,0.00,0.000,2054,0.000,0.000,2440,2131,2624,2688,2560,0,0,0,0,0,0,15.21,15.21,15.21
$STATE,4629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4629,begin apogee
$GC,4635,-0.13,0.0,2440,1922,2688,2560,601.5,-9.4,197,4712,0.35,0.00,69.97,1.948,10246,0.239,0.000,2572,1922,2280,2359,2202,0,0,0,0,0,0,14.40,14.23,13.58
$STATE,4713,end apogee,CONTROL_FINISHED_OK
$STATE,4713,begin climb
$GC,4715,0.52,87.6,2572,1922,2359,2202,604.6,0.0,199,4801,0.45,2.30,76.70,2.498,10756,0.157,0.057,2773,580,1924,2012,1836,0,0,0,0,0,0,14.33,14.09,13.19
$GC,5082,0.68,223.5,2773,580,2012,1832,601.2,2.4,208,5208,0.10,2.25,118.15,2.625,11270,0.156,0.033,2858,1972,1367,1468,1267,0,0,0,0,0,0,14.54,14.62,13.16
$GC,5477,0.68,223.5,2857,1973,1468,1277,533.0,20.2,218,5483,0.08,2.25,0.00,0.000,4356,0.411,0.042,2826,3341,1372,1468,1277,0,0,0,0,0,0,14.24,14.54,14.44
$GC,5584,0.68,223.5,2826,3342,1468,1277,517.0,19.7,220,5590,0.00,2.25,0.00,0.000,5126,0.000,0.045,2836,1983,1372,1468,1277,0,0,0,0,0,0,14.73,14.64,14.75
$GC,5843,0.68,223.5,2836,1983,1468,1276,466.6,17.7,227,5848,0.00,2.25,0.00,0.000,4356,0.000,0.044,2836,3345,1371,1468,1275,0,0,0,0,0,0,15.03,14.71,15.03
$GC,5900,0.68,223.5,2836,3345,1468,1275,459.1,17.7,228,5906,0.03,2.30,0.00,0.000,5126,0.604,0.043,2838,1947,1371,1468,1275,0,0,0,0,0,0,14.42,14.71,14.66
$GC,6169,0.68,223.5,2837,1946,1468,1274,410.4,17.4,235,6170,0.00,0.00,0.00,0.000,4102,0.000,0.000,2838,1946,1371,1468,1274,0,0,0,0,0,0,15.09,15.09,15.09
$GC,6409,0.68,223.5,2837,1946,1468,1270,369.5,17.0,241,6414,0.00,2.30,0.00,0.000,4356,0.000,0.044,2838,3340,1369,1468,1271,0,0,0,0,0,0,15.12,14.76,15.11
$GC,6481,0.68,223.5,2837,3340,1468,1270,361.6,17.3,242,6487,0.05,2.28,0.00,0.000,5126,0.467,0.044,2832,1952,1369,1468,1271,0,0,0,0,0,0,14.37,14.76,14.66
$GC,6734,0.68,223.5,2832,1950,1468,1269,314.9,16.0,249,6739,0.00,2.28,0.00,0.000,260,0.000,0.043,2832,3349,1368,1468,1269,0,0,0,0,0,0,15.14,14.76,15.14
$GC,6766,0.68,223.5,2832,3349,1466,1269,314.9,16.0,249,6771,0.00,2.30,0.00,0.000,5126,0.000,0.044,2842,1947,1368,1468,1269,0,0,0,0,0,0,14.88,14.76,14.90
$GC,7019,0.68,223.5,2841,1946,1467,1269,268.2,16.9,256,7024,0.00,2.30,0.00,0.000,4356,0.000,0.044,2842,3344,1368,1467,1269,0,0,0,0,0,0,15.15,14.77,15.16
$GC,7116,0.68,223.5,2841,3344,1468,1269,253.2,17.5,258,7123,0.05,2.30,0.00,0.000,5126,0.448,0.044,2836,1942,1368,1468,1269,0,0,0,0,0,0,14.39,14.76,14.66
$GC,7385,0.68,223.5,2836,1942,1468,1267,209.8,14.8,265,7386,0.00,0.00,0.00,0.000,4102,0.000,0.000,2836,1941,1367,1468,1267,0,0,0,0,0,0,15.16,15.16,15.16
$GC,7628,0.68,223.5,2836,1942,1468,1267,181.0,11.0,283,7633,0.00,2.33,0.00,0.000,4612,0.000,0.058,2846,541,1367,1468,1267,0,0,0,0,0,0,15.14,14.71,15.14
$GC,7654,0.68,223.5,2846,540,1467,1267,178.1,11.4,285,7663,0.03,2.33,0.00,0.000,5126,0.465,0.033,2838,1940,1367,1468,1267,0,0,0,0,0,0,14.35,14.63,14.45
$GC,7901,0.68,223.5,2838,1947,1468,1267,144.9,13.5,310,7906,0.00,2.28,0.00,0.000,4356,0.000,0.044,2839,3344,1367,1468,1267,0,0,0,0,0,0,15.14,14.75,15.14
$GC,8024,0.68,223.5,2838,3344,1467,1268,128.7,13.1,321,8030,0.05,2.30,0.00,0.000,5126,0.454,0.042,2833,1944,1367,1467,1268,0,0,0,0,0,0,14.35,14.75,14.64
$GC,8278,0.68,223.5,2833,1943,1467,1269,96.2,10.6,346,8283,0.00,2.30,0.00,0.000,260,0.000,0.044,2833,3353,1368,1468,1269,0,0,0,0,0,0,15.11,14.73,15.11
$GC,8389,0.68,223.5,2833,3353,1467,1270,82.7,12.2,356,8395,0.00,2.30,0.00,0.000,5126,0.000,0.042,2843,1949,1368,1467,1269,0,0,0,0,0,0,14.85,14.73,14.86
$GC,8646,0.68,223.5,2842,1949,1468,1271,54.6,9.6,381,8651,0.00,2.30,0.00,0.000,4356,0.000,0.044,2843,3347,1370,1468,1273,0,0,0,0,0,0,15.08,14.72,15.08
$GC,8709,0.68,223.5,2843,3347,1468,1274,48.7,9.6,386,8719,0.05,2.38,0.00,0.000,5126,0.384,0.041,2834,1943,1371,1468,1274,0,0,0,0,0,0,14.21,14.59,14.40
$GC,8964,0.68,223.5,2836,1942,1468,1276,26.3,8.7,414,8974,0.00,2.40,0.00,0.000,4356,0.000,0.044,2836,3350,1372,1468,1276,0,0,0,0,0,0,15.07,14.59,15.07
$GC,9148,0.68,223.5,2836,3350,1467,1278,9.7,8.8,444,9157,0.00,2.38,0.00,0.000,5126,0.000,0.041,2846,1949,1373,1468,1278,0,0,0,0,0,0,14.64,14.59,14.65
$STATE,9235,end climb,SURFACE_DEPTH_REACHED
$STATE,9236,begin surface coast
$FINISH,0.3,1.012602
$STATE,9280,end surface coast,CONTROL_FINISHED_OK
$STATE,9280,begin surface
$SM_CCo,9295,124.43,0.850,1,0,646,400.08
$SM_GC,1.22,6.05,0.28,124.43,0.060,0.056,0.850,183,2159,646,-7.43,-1.78,400.08,0,0,0,0,1,0,14.75,14.78,13.96
$IRIDIUM_FIX,2206.70,-15754.18,020518,002331
$TT8_MAMPS,0.018725,0.326564
$HUMID,43.66
$INTERNAL_PRESSURE,9.46584
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.7,6.8
$24V_AH,13.16,104.866
$10V_AH,13.08,0.000
$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,14.950,92.525,264.825,124.425,0.000,34.160,53.554,254.591,0.500,0.000,17.315,1636.878,5708.462,500.529,1912.349,171.209,0.000,1163.763,0.000,1519.380,0.000,5.461,0.000
$DEVICE_MAMPS,607.410,71.145,2625.480,849.915,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,315.262,356.098,448.202,463.772,711.598,0.000,0.000,0.000,0.000,0.000
$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,40866,465
$CAP_FILE_SIZE,95818,0
$CFSIZE,2097086464,2048491520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,1
$CURRENT,0.114,342.05,1
$GPS,020518,030825,2215.480,-15759.536,19,1.7,19,9.8,0.0,0.0,4,34.4