version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 579
start: 5 16 118 8 23 15
data:
$ID,626
$MISSION,2
$DIVE,579
$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,67
$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
$GPS1,160518,081430,2245.0156,-15758.5889,40,0.8,40,9.8,0.5,45.0,10,21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-73.8
$GPS2,160518,082231,2245.0386,-15758.5791,16,0.8,16,9.8,0.0,0.0,10,21.2
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,AL2
$TGT_LATLONG,2245.000,-15759.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,248.6,723,-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,-87.6,183,2151,677,626,0.0,0.0,0,73,0.00,0.00,-55.17,0.000,16386,0.000,0.000,184,2153,2519,2550,2488,0,0,0,0,0,0,14.94,28.83,14.94
$GC,77,-0.54,-87.6,183,2153,2550,2488,3.5,-5.8,7,95,7.65,2.22,-2.00,0.000,18692,0.446,0.060,2420,3519,2640,2683,2597,0,0,0,0,0,0,14.18,13.67,14.62
$GC,299,-0.54,-87.6,2420,3521,2685,2596,56.9,-16.2,31,308,0.03,2.38,0.00,0.000,3078,0.435,0.044,2429,2120,2639,2684,2595,0,0,0,0,0,0,14.26,14.52,14.40
$GC,547,-0.54,-87.6,2428,2120,2685,2594,105.2,-20.0,56,548,0.00,0.00,0.00,0.000,2054,0.000,0.000,2429,2120,2639,2685,2594,0,0,0,0,0,0,15.04,15.05,15.05
$GC,786,-0.54,-87.6,2428,2120,2685,2594,146.1,-15.2,80,787,0.00,0.00,0.00,0.000,2054,0.000,0.000,2429,2120,2639,2685,2594,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1026,-0.54,-87.6,2428,2120,2686,2594,183.5,-15.5,104,1032,0.00,2.30,0.00,0.000,2308,0.000,0.056,2428,3502,2640,2686,2594,0,0,0,0,0,0,15.11,14.70,15.11
$GC,1055,-0.54,-87.6,2427,3502,2686,2595,186.8,-14.7,106,1062,0.00,2.25,0.00,0.000,3078,0.000,0.042,2428,2120,2640,2686,2594,0,0,0,0,0,0,14.85,14.75,14.87
$GC,1301,-0.54,-87.6,2427,2118,2687,2594,225.0,-15.2,119,1302,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2118,2640,2687,2594,0,0,0,0,0,0,15.14,15.15,15.15
$GC,1541,-0.54,-87.6,2427,2119,2687,2593,259.5,-14.1,125,1547,0.00,2.28,0.00,0.000,2564,0.000,0.053,2428,717,2639,2687,2592,0,0,0,0,0,0,15.17,14.77,15.17
$GC,1594,-0.54,-87.6,2427,716,2687,2590,265.7,-14.1,126,1599,0.00,2.22,0.00,0.000,3078,0.000,0.038,2428,2100,2638,2687,2590,0,0,0,0,0,0,14.90,14.80,14.92
$GC,1867,-0.54,-87.6,2427,2102,2687,2580,305.4,-13.7,133,1872,0.00,2.35,0.00,0.000,2308,0.000,0.057,2428,3534,2633,2687,2580,0,0,0,0,0,0,15.19,14.76,15.19
$GC,1950,-0.54,-87.6,2427,3535,2686,2580,315.4,-12.9,135,1955,0.00,2.28,0.00,0.000,3078,0.000,0.034,2428,2113,2633,2687,2579,0,0,0,0,0,0,14.92,14.83,14.94
$GC,2233,-0.54,-87.6,2427,2112,2687,2579,349.9,-12.5,142,2239,0.00,2.25,0.00,0.000,2564,0.000,0.054,2428,731,2632,2687,2578,0,0,0,0,0,0,15.20,14.76,15.21
$GC,2270,-0.54,-87.6,2427,731,2687,2576,349.9,-12.5,142,2277,0.00,2.28,0.00,0.000,3078,0.000,0.041,2427,2133,2631,2687,2576,0,0,0,0,0,0,14.92,14.80,14.93
$GC,2516,-0.54,-87.6,2427,2134,2687,2568,385.5,-12.2,149,2522,0.00,2.30,0.00,0.000,2308,0.000,0.057,2428,3534,2627,2687,2567,0,0,0,0,0,0,15.21,14.76,15.21
$GC,2594,-0.54,-87.6,2427,3533,2687,2567,390.2,-11.9,150,2601,0.00,2.28,0.00,0.000,3078,0.000,0.040,2427,2133,2627,2687,2567,0,0,0,0,0,0,14.91,14.81,14.92
$GC,2839,-0.54,-87.6,2427,2132,2687,2564,419.4,-10.4,157,2846,0.00,2.33,0.00,0.000,2564,0.000,0.057,2427,718,2625,2687,2563,0,0,0,0,0,0,15.21,14.75,15.21
$GC,2877,-0.54,-87.6,2427,718,2686,2563,419.4,-10.4,157,2884,0.00,2.30,0.00,0.000,3078,0.000,0.040,2427,2134,2625,2687,2563,0,0,0,0,0,0,14.91,14.80,14.93
$GC,3123,-0.54,-87.6,2427,2134,2687,2561,449.4,-10.5,164,3128,0.00,2.28,0.00,0.000,2308,0.000,0.054,2427,3527,2624,2687,2561,0,0,0,0,0,0,15.21,14.76,15.21
$GC,3195,-0.54,-87.6,2427,3528,2686,2561,453.7,-10.4,165,3201,0.00,2.30,0.00,0.000,3078,0.000,0.038,2427,2119,2623,2687,2560,0,0,0,0,0,0,14.91,14.80,14.92
$GC,3449,-0.54,-87.6,2427,2119,2687,2553,483.5,-10.8,172,3455,0.00,2.30,0.00,0.000,2564,0.000,0.058,2428,721,2619,2686,2553,0,0,0,0,0,0,15.20,14.73,15.21
$GC,3502,-0.54,-87.6,2427,720,2686,2553,488.6,-11.0,173,3507,0.00,2.28,0.00,0.000,3078,0.000,0.036,2427,2132,2619,2686,2553,0,0,0,0,0,0,14.90,14.81,14.92
$GC,3775,-0.54,-87.6,2427,2135,2687,2550,519.7,-11.1,180,3780,0.00,2.28,0.00,0.000,2308,0.000,0.054,2427,3522,2618,2687,2549,0,0,0,0,0,0,15.21,14.73,15.21
$GC,3807,-0.54,-87.6,2427,3522,2687,2550,519.7,-11.1,180,3813,0.00,2.28,0.00,0.000,3078,0.000,0.035,2428,2115,2618,2687,2549,0,0,0,0,0,0,14.90,14.81,14.92
$GC,4061,-0.54,-87.6,2427,2114,2686,2546,549.9,-10.7,187,4067,0.00,2.35,0.00,0.000,2308,0.000,0.050,2428,3530,2616,2687,2546,0,0,0,0,0,0,15.21,14.73,15.21
$GC,4104,-0.54,-87.6,2427,3530,2686,2546,554.5,-10.7,188,4110,0.00,2.28,0.00,0.000,3078,0.000,0.035,2427,2120,2616,2687,2546,0,0,0,0,0,0,14.90,14.80,14.92
$GC,4388,-0.54,-87.6,2427,2119,2686,2541,585.4,-11.0,195,4394,0.00,2.30,0.00,0.000,2564,0.000,0.052,2427,729,2614,2686,2542,0,0,0,0,0,0,15.20,14.72,15.21
$GC,4450,-0.54,-87.6,2427,728,2686,2541,590.6,-11.3,196,4455,0.00,2.28,0.00,0.000,3078,0.000,0.038,2427,2130,2613,2685,2541,0,0,0,0,0,0,14.88,14.77,14.90
$STATE,4552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4552,begin apogee
$GC,4558,-0.13,0.0,2428,1924,2686,2540,604.3,-11.4,199,4633,0.38,0.00,68.25,1.740,10246,0.249,0.000,2565,1923,2277,2360,2195,0,0,0,0,0,0,14.27,14.44,13.64
$STATE,4634,end apogee,CONTROL_FINISHED_OK
$STATE,4634,begin climb
$GC,4636,0.54,87.6,2565,1923,2360,2195,608.3,0.0,201,4718,0.52,2.30,74.12,1.721,10756,0.163,0.058,2789,571,1922,2013,1832,0,0,0,0,0,0,14.36,14.23,13.47
$GC,4876,0.75,259.2,2789,571,2013,1829,609.7,0.2,207,5032,0.12,2.28,144.45,2.008,11270,0.136,0.033,2896,1968,1224,1323,1125,0,0,0,0,0,0,14.54,14.59,13.27
$GC,5280,0.75,259.2,2896,1969,1323,1126,532.5,23.7,217,5281,0.12,0.00,0.00,0.000,4102,0.364,0.000,2855,1978,1224,1323,1126,0,0,0,0,0,0,14.26,14.64,14.57
$GC,5519,0.75,259.2,2855,1978,1322,1123,482.5,20.6,223,5526,0.00,2.25,0.00,0.000,4356,0.000,0.045,2855,3338,1223,1323,1123,0,0,0,0,0,0,15.01,14.70,15.02
$GC,5552,0.75,259.2,2855,3338,1323,1123,482.5,20.6,223,5558,0.00,2.25,0.00,0.000,5126,0.000,0.044,2864,1983,1223,1323,1123,0,0,0,0,0,0,14.81,14.71,14.83
$GC,5805,0.75,259.2,2864,1983,1323,1121,422.3,20.9,230,5807,0.00,0.00,0.00,0.000,4102,0.000,0.000,2864,1982,1222,1323,1121,0,0,0,0,0,0,15.08,15.09,15.09
$GC,6045,0.75,259.2,2864,1983,1323,1119,372.9,20.7,236,6051,0.00,2.40,0.00,0.000,4612,0.000,0.057,2875,539,1221,1323,1119,0,0,0,0,0,0,15.11,14.72,15.11
$GC,6078,0.75,259.2,2875,538,1323,1119,372.9,20.7,236,6084,0.08,2.25,0.00,0.000,5126,0.376,0.031,2851,1943,1221,1323,1119,0,0,0,0,0,0,14.38,14.81,14.68
$GC,6332,0.75,259.2,2850,1958,1323,1117,319.0,18.5,243,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1957,1220,1323,1117,0,0,0,0,0,0,15.14,15.14,15.14
$GC,6572,0.75,259.2,2851,1960,1323,1115,276.7,17.3,249,6578,0.00,2.30,0.00,0.000,260,0.000,0.044,2851,3352,1219,1323,1116,0,0,0,0,0,0,15.14,14.77,15.15
$GC,6616,0.75,259.2,2851,3353,1323,1116,268.9,17.2,250,6622,0.00,2.33,0.00,0.000,5126,0.000,0.044,2860,1944,1219,1323,1115,0,0,0,0,0,0,14.88,14.76,14.90
$GC,6899,0.75,259.2,2860,1943,1322,1114,220.6,16.8,257,6905,0.00,2.33,0.00,0.000,4612,0.000,0.057,2871,538,1218,1322,1114,0,0,0,0,0,0,15.16,14.73,15.16
$GC,6911,0.75,259.2,2870,537,1323,1114,220.6,16.8,257,6918,0.05,2.28,0.00,0.000,5126,0.418,0.031,2855,1960,1218,1323,1114,0,0,0,0,0,0,14.42,14.82,14.69
$GC,7168,0.75,259.2,2855,1969,1323,1113,178.4,14.5,271,7173,0.00,2.22,0.00,0.000,4356,0.000,0.043,2855,3342,1218,1322,1114,0,0,0,0,0,0,15.14,14.76,15.14
$GC,7223,0.75,259.2,2855,3342,1322,1114,170.0,14.9,276,7228,0.00,2.30,0.00,0.000,5126,0.000,0.042,2865,1943,1218,1322,1114,0,0,0,0,0,0,14.88,14.76,14.89
$GC,7479,0.75,259.2,2864,1942,1322,1118,129.4,15.1,301,7485,0.00,2.33,0.00,0.000,4356,0.000,0.043,2865,3343,1220,1323,1118,0,0,0,0,0,0,15.11,14.74,15.11
$GC,7569,0.75,259.2,2864,3343,1322,1118,115.1,15.8,309,7575,0.08,2.30,0.00,0.000,5126,0.390,0.041,2851,1943,1220,1322,1118,0,0,0,0,0,0,14.28,14.73,14.60
$GC,7823,0.75,259.2,2850,1943,1323,1118,81.4,11.5,334,7828,0.00,2.28,0.00,0.000,260,0.000,0.042,2850,3342,1221,1323,1119,0,0,0,0,0,0,15.11,14.73,15.11
$GC,7849,0.75,259.2,2851,3342,1322,1119,78.5,11.4,336,7854,0.00,2.30,0.00,0.000,5126,0.000,0.042,2860,1944,1220,1322,1119,0,0,0,0,0,0,14.84,14.73,14.85
$GC,8107,0.75,259.2,2860,1943,1323,1121,44.1,13.1,361,8112,0.00,2.30,0.00,0.000,4356,0.000,0.043,2860,3342,1222,1323,1122,0,0,0,0,0,0,15.07,14.71,15.07
$GC,8280,0.75,259.2,2860,3342,1322,1124,21.7,12.4,380,8290,0.05,2.38,0.00,0.000,5126,0.373,0.041,2854,1950,1223,1323,1124,0,0,0,0,0,0,14.15,14.54,14.33
$STATE,8487,end climb,SURFACE_DEPTH_REACHED
$STATE,8487,begin surface coast
$FINISH,0.2,1.010258
$STATE,8524,end surface coast,CONTROL_FINISHED_OK
$STATE,8524,begin surface
$SM_CCo,8540,87.72,0.111,0,0,648,400.08
$SM_GC,1.08,6.12,0.28,87.72,0.070,0.061,0.111,183,2133,648,-7.43,-1.84,400.08,0,0,0,0,0,0,14.71,14.74,14.54
$IRIDIUM_FIX,2234.68,-15800.20,160518,081606
$TT8_MAMPS,0.019474,0.271887
$HUMID,47.51
$INTERNAL_PRESSURE,9.43654
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,6.3
$24V_AH,13.27,132.111
$10V_AH,13.53,0.000
$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,15.200,96.825,286.825,87.725,0.000,28.445,48.623,258.452,0.500,0.000,17.169,1503.200,5198.226,497.660,1743.219,197.035,0.000,1105.024,0.000,1378.551,0.000,5.460,0.000
$DEVICE_MAMPS,445.995,61.200,2008.125,110.925,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,284.614,223.864,401.981,414.388,635.806,0.000,0.000,0.000,0.000,0.000
$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,37286,420
$CAP_FILE_SIZE,90413,0
$CFSIZE,2097086464,2036432896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.031,256.09,1
$GPS,160518,104755,2244.759,-15759.883,14,1.6,14,9.8,0.0,0.0,7,33.2