version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 551
start: 5 13 118 2 45 46
data:
$ID,626
$MISSION,2
$DIVE,551
$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
$GPS1,130518,023700,2245.0061,-15754.0479,30,1.2,30,9.8,0.0,0.0,7,21.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.2
$GPS2,130518,024502,2245.0537,-15754.0820,8,1.1,8,9.8,0.6,28.8,7,103.2
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,AL1
$TGT_LATLONG,2245.000,-15754.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,113.3,172,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.54,-87.6,186,2132,681,624,0.0,0.0,0,73,0.00,0.00,-54.12,0.000,16386,0.000,0.000,186,2132,2513,2546,2481,0,0,0,0,0,0,14.94,28.83,14.94
$GC,76,-0.54,-87.6,187,2130,2546,2481,3.9,-7.6,7,94,7.65,2.33,-2.12,0.000,18948,0.448,0.062,2428,708,2640,2684,2596,0,0,0,0,0,0,14.18,13.67,14.63
$GC,109,-0.54,-87.6,2427,708,2684,2597,19.2,-41.3,11,118,0.00,2.38,0.00,0.000,3078,0.000,0.038,2427,2112,2640,2684,2596,0,0,0,0,0,0,14.57,14.52,14.60
$GC,374,-0.54,-87.6,2427,2118,2684,2596,81.9,-21.2,39,380,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2118,2640,2685,2596,0,0,0,0,0,0,15.02,15.02,15.02
$GC,621,-0.54,-87.6,2427,2118,2684,2596,133.9,-18.8,64,627,0.00,2.35,0.00,0.000,2308,0.000,0.057,2427,3527,2639,2683,2596,0,0,0,0,0,0,15.07,14.66,15.07
$GC,714,-0.54,-87.6,2427,3529,2684,2596,148.8,-14.8,72,720,0.00,2.30,0.00,0.000,3078,0.000,0.042,2427,2121,2639,2683,2596,0,0,0,0,0,0,14.83,14.72,14.85
$GC,971,-0.54,-87.6,2427,2119,2684,2595,191.8,-15.6,97,976,0.00,2.30,0.00,0.000,2564,0.000,0.062,2427,724,2639,2684,2595,0,0,0,0,0,0,15.09,14.69,15.09
$GC,995,-0.54,-87.6,2427,724,2684,2595,196.3,-16.4,99,1001,0.00,2.30,0.00,0.000,3078,0.000,0.043,2426,2131,2639,2684,2595,0,0,0,0,0,0,14.85,14.73,14.87
$GC,1258,-0.54,-87.6,2427,2133,2684,2596,239.0,-15.6,107,1263,0.00,2.30,0.00,0.000,2308,0.000,0.054,2427,3539,2639,2684,2595,0,0,0,0,0,0,15.16,14.73,15.16
$GC,1341,-0.54,-87.6,2427,3539,2684,2595,250.1,-14.7,109,1346,0.00,2.30,0.00,0.000,3078,0.000,0.042,2427,2125,2639,2684,2595,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1624,-0.54,-87.6,2427,2123,2684,2595,289.2,-13.5,116,1625,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2123,2639,2684,2595,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1864,-0.54,-87.6,2427,2123,2684,2595,319.8,-12.6,122,1869,0.00,2.35,0.00,0.000,2308,0.000,0.057,2427,3536,2639,2684,2595,0,0,0,0,0,0,15.20,14.75,15.20
$GC,1895,-0.54,-87.6,2427,3536,2684,2595,319.8,-12.6,122,1901,0.00,2.28,0.00,0.000,3078,0.000,0.042,2427,2125,2639,2684,2595,0,0,0,0,0,0,14.92,14.80,14.93
$GC,2149,-0.54,-87.6,2427,2123,2684,2595,353.3,-12.1,129,2155,0.00,2.30,0.00,0.000,2564,0.000,0.055,2427,715,2639,2684,2594,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2202,-0.54,-87.6,2426,715,2684,2594,359.1,-12.5,130,2207,0.00,2.30,0.00,0.000,3078,0.000,0.039,2427,2130,2639,2684,2594,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2474,-0.54,-87.6,2427,2131,2684,2591,392.7,-12.0,137,2480,0.00,2.30,0.00,0.000,2308,0.000,0.057,2427,3532,2637,2684,2591,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2561,-0.54,-87.6,2427,3532,2684,2591,401.9,-11.8,139,2566,0.00,2.28,0.00,0.000,3078,0.000,0.038,2427,2116,2637,2684,2590,0,0,0,0,0,0,14.92,14.81,14.93
$GC,2839,-0.54,-87.6,2427,2115,2684,2587,436.1,-12.6,146,2846,0.00,2.28,0.00,0.000,2564,0.000,0.053,2427,727,2635,2684,2587,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2883,-0.54,-87.6,2427,727,2684,2586,441.9,-12.7,147,2889,0.00,2.28,0.00,0.000,3078,0.000,0.039,2427,2127,2635,2684,2586,0,0,0,0,0,0,14.92,14.80,14.93
$GC,3167,-0.54,-87.6,2427,2128,2684,2583,475.7,-11.6,154,3168,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2128,2633,2684,2583,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3407,-0.54,-87.6,2426,2129,2684,2579,504.5,-12.0,160,3413,0.00,2.33,0.00,0.000,2308,0.000,0.058,2427,3539,2631,2684,2579,0,0,0,0,0,0,15.21,14.73,15.21
$GC,3435,-0.54,-87.6,2427,3540,2684,2579,504.5,-12.0,160,3440,0.00,2.28,0.00,0.000,3078,0.000,0.038,2427,2126,2631,2684,2579,0,0,0,0,0,0,14.91,14.81,14.92
$GC,3693,-0.54,-87.6,2427,2124,2684,2576,538.4,-11.9,167,3698,0.00,2.30,0.00,0.000,2564,0.000,0.053,2427,718,2630,2684,2576,0,0,0,0,0,0,15.21,14.74,15.21
$GC,3719,-0.54,-87.6,2427,718,2684,2575,538.4,-11.9,167,3725,0.00,2.30,0.00,0.000,3078,0.000,0.039,2427,2134,2629,2684,2575,0,0,0,0,0,0,14.90,14.78,14.92
$GC,3977,-0.54,-87.6,2427,2136,2684,2571,571.0,-10.9,174,3983,0.00,2.30,0.00,0.000,2308,0.000,0.057,2427,3528,2627,2684,2571,0,0,0,0,0,0,15.21,14.73,15.21
$GC,4015,-0.54,-87.6,2426,3529,2685,2571,571.0,-10.9,174,4022,0.00,2.28,0.00,0.000,3078,0.000,0.037,2427,2120,2627,2684,2571,0,0,0,0,0,0,14.90,14.79,14.92
$STATE,4259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4259,begin apogee
$GC,4265,-0.13,0.0,2427,1918,2684,2568,602.0,-11.1,181,4341,0.38,0.00,72.38,1.651,10246,0.248,0.000,2565,1918,2276,2356,2197,0,0,0,0,0,0,14.29,14.45,13.71
$STATE,4342,end apogee,CONTROL_FINISHED_OK
$STATE,4342,begin climb
$GC,4345,0.54,87.6,2564,1918,2351,2196,606.0,0.0,183,4423,0.50,0.00,74.18,1.610,10502,0.167,0.000,2772,1918,1921,2012,1830,0,0,0,0,0,0,14.37,14.23,13.53
$GC,4663,0.70,221.0,2771,1918,2006,1816,604.2,1.9,191,4782,0.08,2.47,110.70,1.596,10500,0.191,0.044,2869,3364,1371,1479,1264,0,0,0,0,0,0,14.59,14.09,13.55
$GC,4830,0.70,221.0,2868,3366,1476,1264,584.2,12.2,195,4837,0.12,2.33,0.00,0.000,5126,0.385,0.045,2841,1984,1369,1476,1263,0,0,0,0,0,0,14.10,14.41,14.41
$GC,5110,0.70,221.0,2840,1984,1476,1260,532.5,18.2,202,5111,0.00,0.00,0.00,0.000,4102,0.000,0.000,2841,1984,1368,1476,1260,0,0,0,0,0,0,14.97,14.97,14.97
$GC,5349,0.70,221.0,2840,1984,1476,1257,491.0,17.1,208,5355,0.00,2.40,0.00,0.000,4612,0.000,0.058,2851,541,1366,1475,1257,0,0,0,0,0,0,15.05,14.67,15.05
$GC,5402,0.70,221.0,2850,541,1475,1257,483.5,17.2,209,5407,0.00,2.30,0.00,0.000,5126,0.000,0.033,2850,1960,1366,1475,1257,0,0,0,0,0,0,14.84,14.76,14.85
$GC,5675,0.70,221.0,2850,1969,1475,1255,433.0,18.4,216,5680,0.00,2.25,0.00,0.000,4356,0.000,0.046,2851,3350,1365,1475,1255,0,0,0,0,0,0,15.11,14.73,15.11
$GC,5737,0.70,221.0,2850,3350,1474,1254,425.1,18.4,217,5743,0.08,2.30,0.00,0.000,5126,0.392,0.044,2837,1949,1364,1474,1254,0,0,0,0,0,0,14.33,14.74,14.69
$GC,6001,0.70,221.0,2837,1948,1474,1253,377.7,16.8,224,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1948,1363,1474,1253,0,0,0,0,0,0,15.13,15.14,15.14
$GC,6241,0.70,221.0,2837,1948,1474,1251,339.0,16.2,230,6246,0.00,2.30,0.00,0.000,260,0.000,0.043,2837,3354,1362,1474,1250,0,0,0,0,0,0,15.15,14.77,15.15
$GC,6270,0.70,221.0,2836,3355,1474,1250,339.0,16.2,230,6275,0.00,2.30,0.00,0.000,5126,0.000,0.044,2846,1948,1362,1474,1250,0,0,0,0,0,0,14.88,14.76,14.90
$GC,6527,0.70,221.0,2846,1948,1474,1250,294.7,15.6,237,6533,0.00,2.33,0.00,0.000,4612,0.000,0.057,2858,539,1361,1473,1250,0,0,0,0,0,0,15.16,14.71,15.17
$GC,6564,0.70,221.0,2858,538,1474,1250,294.7,15.6,237,6572,0.05,2.28,0.00,0.000,5126,0.428,0.032,2842,1958,1362,1474,1250,0,0,0,0,0,0,14.40,14.81,14.69
$GC,6811,0.70,221.0,2842,1970,1474,1248,255.2,13.6,244,6816,0.00,2.25,0.00,0.000,4356,0.000,0.044,2842,3353,1361,1474,1249,0,0,0,0,0,0,15.16,14.76,15.17
$GC,6873,0.70,221.0,2842,3354,1473,1249,248.8,13.9,245,6878,0.00,2.30,0.00,0.000,5126,0.000,0.044,2852,1949,1361,1473,1249,0,0,0,0,0,0,14.87,14.76,14.90
$GC,7136,0.70,221.0,2852,1948,1473,1248,209.3,13.8,252,7137,0.00,0.00,0.00,0.000,4102,0.000,0.000,2852,1948,1360,1473,1247,0,0,0,0,0,0,15.18,15.18,15.18
$GC,7376,0.70,221.0,2852,1948,1473,1248,178.6,12.5,270,7382,0.00,2.33,0.00,0.000,4612,0.000,0.057,2863,538,1360,1473,1248,0,0,0,0,0,0,15.16,14.69,15.16
$GC,7443,0.70,221.0,2862,538,1473,1248,169.5,14.4,276,7448,0.08,2.28,0.00,0.000,5126,0.369,0.031,2838,1952,1360,1473,1248,0,0,0,0,0,0,14.31,14.79,14.64
$GC,7699,0.70,221.0,2837,1963,1473,1248,140.4,10.3,301,7705,0.00,2.25,0.00,0.000,260,0.000,0.044,2838,3346,1360,1473,1248,0,0,0,0,0,0,15.12,14.73,15.13
$GC,7777,0.70,221.0,2838,3346,1473,1249,131.5,11.0,308,7782,0.00,2.30,0.00,0.000,5126,0.000,0.043,2848,1949,1361,1473,1249,0,0,0,0,0,0,14.84,14.72,14.86
$GC,8033,0.70,221.0,2847,1948,1473,1250,105.5,9.2,333,8039,0.00,2.30,0.00,0.000,4356,0.000,0.044,2848,3353,1361,1473,1250,0,0,0,0,0,0,15.11,14.71,15.11
$GC,8104,0.70,221.0,2848,3353,1473,1251,99.0,9.6,339,8112,0.08,2.33,0.00,0.000,5126,0.376,0.041,2834,1939,1361,1473,1250,0,0,0,0,0,0,14.27,14.71,14.62
$GC,8353,0.70,221.0,2833,1939,1473,1252,77.2,8.0,364,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1939,1362,1473,1252,0,0,0,0,0,0,15.09,15.10,15.10
$GC,8603,0.70,221.0,2833,1939,1473,1255,53.7,8.5,389,8608,0.00,2.33,0.00,0.000,516,0.000,0.058,2843,540,1364,1473,1255,0,0,0,0,0,0,15.08,14.64,15.09
$GC,8640,0.70,221.0,2844,539,1473,1255,50.3,8.7,392,8646,0.00,2.28,0.00,0.000,5126,0.000,0.030,2844,1954,1364,1473,1255,0,0,0,0,0,0,14.83,14.75,14.85
$GC,8897,0.70,221.0,2843,1959,1473,1258,27.0,9.1,419,8906,0.00,2.33,0.00,0.000,4356,0.000,0.045,2844,3340,1366,1473,1259,0,0,0,0,0,0,15.06,14.51,15.06
$GC,9069,0.70,221.0,2843,3340,1473,1261,9.9,9.7,447,9079,0.03,2.38,0.00,0.000,5126,0.455,0.043,2845,1951,1367,1473,1261,0,0,0,0,0,0,14.23,14.51,14.36
$STATE,9144,end climb,SURFACE_DEPTH_REACHED
$STATE,9144,begin surface coast
$FINISH,0.4,1.023342
$STATE,9189,end surface coast,CONTROL_FINISHED_OK
$STATE,9189,begin surface
$SM_CCo,9205,118.32,0.907,1,0,646,400.08
$SM_GC,1.39,6.22,0.30,118.32,0.093,0.057,0.907,182,2164,646,-7.42,-1.39,400.08,0,0,0,0,1,0,14.73,14.73,13.91
$IRIDIUM_FIX,2237.01,-15754.11,130518,023841
$TT8_MAMPS,0.018725,0.265895
$HUMID,44.13
$INTERNAL_PRESSURE,9.47561
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.1,6.7
$24V_AH,13.53,125.881
$10V_AH,13.61,0.000
$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,15.250,102.100,257.250,118.325,0.000,28.569,41.207,277.767,0.500,0.000,9.115,1582.724,5695.728,498.199,1857.767,204.305,0.000,1138.783,0.000,1465.736,0.000,5.462,0.000
$DEVICE_MAMPS,455.175,65.790,1650.870,907.290,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,315.308,503.182,453.587,465.936,714.929,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343128
$DATA_FILE_SIZE,40604,466
$CAP_FILE_SIZE,95404,0
$CFSIZE,2097086464,2039185408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,1
$CURRENT,0.029,263.16,1
$GPS,130518,052208,2244.379,-15753.208,17,1.5,17,9.8,0.5,216.7,6,51.6