version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 571
start: 5 15 118 10 0 58
data:
$ID,626
$MISSION,2
$DIVE,571
$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,37
$R_STBD_OVSHOOT,52
$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
$GPS1,150518,095118,2244.6521,-15753.2393,37,1.1,37,9.8,0.5,143.4,10,26.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.4
$GPS2,150518,100013,2244.6941,-15753.2354,16,1.1,16,9.8,0.7,229.8,10,24.2
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,AL1
$TGT_LATLONG,2245.000,-15754.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,287.0,1423,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.54,-87.6,183,2110,686,624,0.0,0.0,0,75,0.00,0.00,-56.67,0.000,16386,0.000,0.000,183,2109,2585,2618,2553,0,0,0,0,0,0,14.94,28.83,14.95
$GC,78,-0.54,-87.6,183,2109,2618,2553,3.9,-7.1,7,96,7.62,2.38,-0.90,0.000,18692,0.444,0.065,2419,3524,2639,2680,2598,0,0,0,0,0,0,14.17,13.66,14.62
$GC,290,-0.54,-87.6,2418,3525,2680,2597,60.7,-18.7,29,299,0.05,2.38,0.00,0.000,3078,0.353,0.047,2435,2130,2639,2680,2598,0,0,0,0,0,0,14.19,14.52,14.36
$GC,538,-0.54,-87.6,2435,2130,2680,2597,112.9,-18.7,54,543,0.00,2.35,0.00,0.000,2564,0.000,0.062,2435,714,2638,2680,2597,0,0,0,0,0,0,15.05,14.66,15.05
$GC,577,-0.54,-87.6,2435,714,2681,2597,119.7,-19.2,57,584,0.00,2.30,0.00,0.000,3078,0.000,0.044,2428,2113,2638,2680,2596,0,0,0,0,0,0,14.81,14.70,14.83
$GC,827,-0.54,-87.6,2428,2114,2680,2596,164.4,-16.8,82,832,0.00,2.35,0.00,0.000,2308,0.000,0.060,2428,3536,2638,2680,2596,0,0,0,0,0,0,15.08,14.68,15.08
$GC,928,-0.54,-87.6,2427,3536,2680,2596,179.4,-13.0,91,934,0.00,2.33,0.00,0.000,3078,0.000,0.046,2428,2126,2638,2680,2597,0,0,0,0,0,0,14.85,14.73,14.86
$GC,1194,-0.54,-87.6,2428,2125,2682,2596,218.9,-14.5,109,1199,0.00,2.35,0.00,0.000,2564,0.000,0.061,2428,712,2639,2682,2596,0,0,0,0,0,0,15.15,14.71,15.15
$GC,1246,-0.54,-87.6,2427,712,2681,2596,226.0,-15.0,110,1252,0.00,2.33,0.00,0.000,3078,0.000,0.044,2428,2134,2638,2681,2596,0,0,0,0,0,0,14.88,14.76,14.90
$GC,1520,-0.54,-87.6,2427,2136,2682,2596,268.3,-14.8,117,1525,0.00,2.30,0.00,0.000,2308,0.000,0.060,2428,3533,2639,2682,2596,0,0,0,0,0,0,15.18,14.74,15.18
$GC,1592,-0.54,-87.6,2427,3533,2680,2596,274.1,-14.5,118,1598,0.00,2.33,0.00,0.000,3078,0.000,0.044,2427,2114,2639,2682,2596,0,0,0,0,0,0,14.90,14.79,14.92
$GC,1845,-0.54,-87.6,2427,2113,2682,2596,311.6,-13.9,125,1846,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2113,2638,2681,2596,0,0,0,0,0,0,15.19,15.20,15.19
$GC,2086,-0.54,-87.6,2427,2113,2682,2596,342.6,-12.6,131,2091,0.00,2.38,0.00,0.000,2308,0.000,0.058,2428,3536,2638,2681,2595,0,0,0,0,0,0,15.20,14.76,15.20
$GC,2163,-0.54,-87.6,2427,3536,2681,2594,347.8,-12.4,132,2171,0.00,2.30,0.00,0.000,3078,0.000,0.044,2428,2122,2637,2681,2594,0,0,0,0,0,0,14.92,14.80,14.93
$GC,2409,-0.54,-87.6,2427,2122,2681,2592,382.6,-12.7,139,2414,0.00,2.30,0.00,0.000,2564,0.000,0.060,2428,723,2636,2682,2591,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2455,-0.54,-87.6,2427,723,2681,2591,388.2,-12.6,140,2461,0.00,2.30,0.00,0.000,3078,0.000,0.042,2428,2136,2636,2681,2591,0,0,0,0,0,0,14.92,14.80,14.93
$GC,2735,-0.54,-87.6,2427,2137,2681,2587,422.8,-11.9,147,2740,0.00,2.30,0.00,0.000,2308,0.000,0.059,2428,3530,2634,2682,2587,0,0,0,0,0,0,15.21,14.75,15.21
$GC,2781,-0.54,-87.6,2427,3531,2681,2587,427.8,-11.6,148,2786,0.00,2.30,0.00,0.000,3078,0.000,0.043,2428,2117,2634,2681,2587,0,0,0,0,0,0,14.91,14.80,14.93
$GC,3059,-0.54,-87.6,2427,2117,2681,2583,460.7,-11.9,155,3060,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2117,2632,2681,2584,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3299,-0.54,-87.6,2427,2116,2681,2580,488.0,-11.4,161,3301,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2115,2630,2681,2580,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3539,-0.54,-87.6,2427,2117,2681,2577,515.3,-11.3,167,3540,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2117,2629,2681,2577,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3779,-0.54,-87.6,2427,2117,2681,2574,542.6,-11.5,173,3785,0.00,2.38,0.00,0.000,2308,0.000,0.057,2428,3531,2627,2681,2573,0,0,0,0,0,0,15.21,14.73,15.21
$GC,3826,-0.54,-87.6,2427,3531,2681,2573,547.4,-11.4,174,3831,0.00,2.30,0.00,0.000,3078,0.000,0.044,2428,2125,2627,2681,2573,0,0,0,0,0,0,14.90,14.78,14.91
$GC,4104,-0.54,-87.6,2428,2124,2681,2570,578.9,-11.3,181,4109,0.00,2.33,0.00,0.000,2564,0.000,0.060,2428,723,2625,2681,2569,0,0,0,0,0,0,15.21,14.70,15.21
$GC,4141,-0.54,-87.6,2427,723,2681,2569,578.9,-11.3,181,4147,0.00,2.33,0.00,0.000,3078,0.000,0.042,2428,2136,2625,2681,2569,0,0,0,0,0,0,14.88,14.76,14.90
$STATE,4304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4304,begin apogee
$GC,4310,-0.13,0.0,2427,1939,2681,2566,603.0,-11.8,186,4388,0.38,0.00,71.45,1.672,10246,0.256,0.000,2564,1938,2276,2355,2198,0,0,0,0,0,0,14.26,14.45,13.69
$STATE,4389,end apogee,CONTROL_FINISHED_OK
$STATE,4389,begin climb
$GC,4391,0.54,87.6,2564,1939,2353,2197,607.2,0.0,188,4472,0.50,2.40,74.25,1.633,10756,0.166,0.059,2781,555,1916,2009,1824,0,0,0,0,0,0,14.35,14.09,13.51
$GC,4706,0.72,235.1,2781,555,2005,1820,607.4,1.3,195,4834,0.10,2.33,117.43,1.740,11270,0.156,0.033,2871,1986,1323,1429,1217,0,0,0,0,0,0,14.57,14.64,13.40
$GC,5070,0.72,235.1,2871,1987,1429,1221,549.0,19.5,205,5076,0.08,2.25,0.00,0.000,4356,0.418,0.041,2841,3337,1325,1429,1221,0,0,0,0,0,0,14.24,14.55,14.44
$GC,5093,0.72,235.1,2840,3337,1429,1221,549.0,19.5,205,5098,0.00,2.30,0.00,0.000,5126,0.000,0.044,2850,1962,1324,1428,1221,0,0,0,0,0,0,14.72,14.62,14.73
$GC,5357,0.72,235.1,2850,1961,1429,1218,498.6,17.6,212,5358,0.00,0.00,0.00,0.000,4102,0.000,0.000,2850,1961,1323,1429,1217,0,0,0,0,0,0,15.03,15.03,15.03
$GC,5596,0.72,235.1,2850,1961,1429,1215,455.6,18.1,218,5597,0.00,0.00,0.00,0.000,4102,0.000,0.000,2850,1961,1322,1429,1216,0,0,0,0,0,0,15.09,15.09,15.08
$GC,5836,0.72,235.1,2850,1961,1429,1214,413.3,17.8,224,5842,0.00,2.28,0.00,0.000,4356,0.000,0.044,2850,3335,1321,1429,1214,0,0,0,0,0,0,15.11,14.76,15.12
$GC,5922,0.72,235.1,2850,3336,1429,1213,397.7,18.4,226,5928,0.05,2.30,0.00,0.000,5126,0.448,0.044,2845,1944,1321,1429,1213,0,0,0,0,0,0,14.38,14.75,14.66
$GC,6205,0.72,235.1,2844,1944,1429,1211,349.1,17.2,233,6211,0.00,2.28,0.00,0.000,260,0.000,0.044,2845,3332,1320,1429,1212,0,0,0,0,0,0,15.14,14.76,15.15
$GC,6232,0.72,235.1,2845,3332,1429,1212,349.1,17.2,233,6238,0.00,2.28,0.00,0.000,5126,0.000,0.044,2854,1949,1320,1429,1212,0,0,0,0,0,0,14.87,14.76,14.89
$GC,6491,0.72,235.1,2854,1948,1429,1210,303.3,15.4,240,6497,0.00,2.33,0.00,0.000,4356,0.000,0.044,2854,3340,1319,1429,1210,0,0,0,0,0,0,15.16,14.76,15.16
$GC,6569,0.72,235.1,2854,3339,1428,1210,296.5,15.2,241,6577,0.08,2.30,0.00,0.000,5126,0.388,0.044,2840,1943,1319,1428,1210,0,0,0,0,0,0,14.31,14.76,14.63
$GC,6815,0.72,235.1,2840,1943,1429,1209,257.4,13.5,248,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1943,1318,1428,1209,0,0,0,0,0,0,15.16,15.16,15.16
$GC,7055,0.72,235.1,2840,1942,1428,1208,224.1,14.2,254,7060,0.00,2.30,0.00,0.000,260,0.000,0.043,2840,3337,1318,1428,1208,0,0,0,0,0,0,15.16,14.76,15.17
$GC,7067,0.72,235.1,2840,3337,1428,1208,224.1,14.2,254,7072,0.00,2.28,0.00,0.000,5126,0.000,0.043,2849,1950,1318,1428,1208,0,0,0,0,0,0,14.88,14.76,14.90
$GC,7321,0.72,235.1,2849,1950,1428,1208,186.2,14.1,265,7326,0.00,2.35,0.00,0.000,4612,0.000,0.057,2860,537,1318,1428,1208,0,0,0,0,0,0,15.15,14.70,15.16
$GC,7476,0.72,235.1,2860,537,1428,1209,164.1,14.8,279,7486,0.03,2.35,0.00,0.000,5126,0.422,0.031,2851,1943,1318,1428,1208,0,0,0,0,0,0,14.27,14.58,14.38
$GC,7724,0.72,235.1,2850,1949,1428,1208,132.9,11.4,304,7729,0.00,2.28,0.00,0.000,4356,0.000,0.044,2851,3341,1318,1428,1208,0,0,0,0,0,0,15.13,14.71,15.13
$GC,7849,0.72,235.1,2851,3340,1428,1209,118.1,12.4,315,7857,0.05,2.33,0.00,0.000,5126,0.439,0.042,2845,1939,1318,1427,1209,0,0,0,0,0,0,14.33,14.71,14.59
$GC,8096,0.72,235.1,2844,1939,1427,1209,88.3,12.4,340,8101,0.00,2.30,0.00,0.000,260,0.000,0.043,2844,3342,1318,1427,1209,0,0,0,0,0,0,15.11,14.70,15.11
$GC,8153,0.72,235.1,2844,3342,1427,1210,81.4,12.3,345,8158,0.00,2.30,0.00,0.000,5126,0.000,0.042,2854,1948,1318,1427,1210,0,0,0,0,0,0,14.82,14.71,14.84
$GC,8410,0.72,235.1,2854,1947,1428,1212,53.9,11.2,370,8415,0.00,2.35,0.00,0.000,4612,0.000,0.057,2865,542,1319,1427,1212,0,0,0,0,0,0,15.07,14.64,15.08
$GC,8439,0.72,235.1,2865,542,1427,1213,50.7,11.4,372,8448,0.05,2.35,0.00,0.000,5126,0.339,0.031,2847,1950,1320,1427,1213,0,0,0,0,0,0,14.18,14.55,14.34
$GC,8696,0.72,235.1,2847,1954,1428,1215,24.8,8.2,401,8705,0.00,2.35,0.00,0.000,4356,0.000,0.044,2847,3338,1321,1427,1216,0,0,0,0,0,0,15.06,14.50,15.06
$GC,8744,0.72,235.1,2847,3338,1427,1216,21.0,8.2,408,8753,0.00,2.38,0.00,0.000,5126,0.000,0.041,2857,1946,1322,1428,1216,0,0,0,0,0,0,14.57,14.51,14.59
$STATE,8979,end climb,SURFACE_DEPTH_REACHED
$STATE,8979,begin surface coast
$FINISH,0.3,1.012649
$STATE,9027,end surface coast,CONTROL_FINISHED_OK
$STATE,9027,begin surface
$SM_CCo,9043,95.80,0.116,0,0,646,400.08
$SM_GC,1.24,6.12,0.28,95.80,0.067,0.058,0.116,183,2150,646,-7.43,-1.87,400.08,0,0,0,0,0,0,14.72,14.73,14.51
$IRIDIUM_FIX,2234.68,-15751.94,150518,095300
$TT8_MAMPS,0.019474,0.324317
$HUMID,45.82
$INTERNAL_PRESSURE,9.44631
$TCM_TEMP,22.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.3,6.3
$24V_AH,13.40,130.262
$10V_AH,13.57,0.000
$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,15.100,98.100,263.125,95.800,0.000,32.044,48.051,309.119,0.500,0.000,17.160,1616.292,5492.614,469.531,1915.785,209.864,0.000,1128.661,0.000,1509.159,0.000,5.462,0.000
$DEVICE_MAMPS,447.525,65.025,1740.375,115.515,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,307.797,245.393,438.977,459.479,704.976,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343160
$DATA_FILE_SIZE,40731,455
$CAP_FILE_SIZE,94873,0
$CFSIZE,2097086464,2037219328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.076,231.36,1
$GPS,150518,123410,2245.013,-15754.567,16,1.8,16,9.8,0.0,0.0,6,106.5