version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 156
start: 3 28 118 1 42 58
data:
$ID,626
$MISSION,2
$DIVE,156
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,950
$D_NO_BLEED,100
$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,166
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,390
$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,0
$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,2563
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,32
$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,2440
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2500
$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
$GPS1,280318,013655,2217.6245,-15608.6846,40,0.8,40,9.9,0.0,0.0,10,88.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.3
$GPS2,280318,014234,2217.6582,-15608.7100,6,0.8,6,9.9,0.0,0.0,9,42.5
$SPEED_LIMITS,0.174,0.225
$TGT_NAME,M4
$TGT_LATLONG,2218.000,-15612.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,230.3,5672,-21.5,-10.040,-24.00,1635
$D_GRID,500
$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,15,-0.80,-107.1,186,2439,991,925,0.0,0.0,0,72,0.00,0.00,-55.03,0.000,16386,0.000,0.000,186,2440,2800,2824,2777,0,0,0,0,0,0,15.05,28.83,15.05
$GC,74,-0.80,-107.1,186,2440,2824,2777,4.4,-9.2,7,93,6.78,2.28,-2.20,0.000,18692,0.442,0.068,2290,3853,2939,2968,2910,0,0,0,0,0,0,14.59,14.18,14.86
$GC,229,-0.80,-107.1,2291,3854,2971,2910,61.5,-30.0,23,234,0.00,2.30,0.00,0.000,3078,0.000,0.048,2290,2440,2940,2971,2910,0,0,0,0,0,0,14.93,14.85,14.95
$GC,482,-0.80,-107.1,2290,2439,2973,2910,151.5,-35.5,48,487,0.00,2.30,0.00,0.000,2564,0.000,0.063,2290,1031,2941,2972,2910,0,0,0,0,0,0,15.12,14.88,15.11
$GC,519,-0.80,-107.1,2290,1030,2973,2910,162.7,-33.5,51,528,0.00,2.33,0.00,0.000,3078,0.000,0.054,2290,2415,2941,2973,2910,0,0,0,0,0,0,14.90,14.85,14.92
$GC,765,-0.80,-107.1,2289,2415,2976,2909,238.1,-29.3,67,771,0.00,2.30,0.00,0.000,2564,0.000,0.069,2290,1032,2943,2976,2910,0,0,0,0,0,0,15.17,14.92,15.17
$GC,792,-0.80,-107.1,2289,1032,2976,2910,238.1,-29.3,67,797,0.00,2.30,0.00,0.000,3078,0.000,0.054,2290,2438,2943,2976,2910,0,0,0,0,0,0,15.03,14.92,15.04
$GC,1049,-0.80,-107.1,2289,2440,2979,2910,314.3,-26.0,74,1054,0.00,2.30,0.00,0.000,2308,0.000,0.063,2290,3857,2944,2979,2910,0,0,0,0,0,0,15.21,14.96,15.21
$GC,1080,-0.80,-107.1,2289,3858,2980,2910,314.3,-26.0,74,1086,0.00,2.28,0.00,0.000,3078,0.000,0.045,2289,2432,2944,2979,2910,0,0,0,0,0,0,15.07,14.99,15.08
$GC,1333,-0.80,-107.1,2289,2431,2980,2910,381.2,-22.8,81,1339,0.00,2.25,0.00,0.000,2564,0.000,0.056,2289,1030,2945,2980,2910,0,0,0,0,0,0,15.23,15.00,15.23
$GC,1390,-0.80,-107.1,2289,1029,2980,2910,391.9,-23.1,82,1395,0.00,2.30,0.00,0.000,3078,0.000,0.046,2289,2449,2945,2980,2910,0,0,0,0,0,0,15.09,15.00,15.10
$GC,1657,-0.80,-107.1,2288,2450,2979,2910,455.0,-22.1,89,1662,0.00,2.33,0.00,0.000,2564,0.000,0.062,2289,1031,2945,2980,2910,0,0,0,0,0,0,15.25,15.01,15.26
$GC,1708,-0.80,-107.1,2287,1031,2980,2910,464.7,-22.1,90,1714,0.00,2.28,0.00,0.000,3078,0.000,0.047,2289,2443,2945,2980,2910,0,0,0,0,0,0,15.11,15.02,15.11
$STATE,1860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1860,begin apogee
$GC,1864,-0.16,0.0,2289,2166,2980,2909,501.2,-22.6,94,1952,0.60,0.00,83.85,1.548,10246,0.308,0.000,2508,2164,2499,2573,2425,0,0,0,0,0,0,14.87,14.50,13.91
$STATE,1952,end apogee,CONTROL_FINISHED_OK
$STATE,1953,begin climb
$GC,1954,0.80,107.1,2508,2165,2573,2426,508.5,0.0,96,2046,0.77,2.47,84.80,1.815,10500,0.190,0.050,2812,3611,2063,2132,1995,0,0,0,0,0,0,14.42,14.15,13.63
$GC,2547,0.97,242.9,2812,3612,2130,1988,507.9,1.5,111,2666,0.10,2.25,111.32,2.293,11270,0.177,0.042,2899,2209,1509,1599,1420,0,0,0,0,0,0,14.84,14.87,13.44
$GC,2903,0.97,242.9,2899,2209,1600,1416,437.1,24.7,120,2909,0.08,2.33,0.00,0.000,4356,0.446,0.048,2869,3612,1507,1599,1415,0,0,0,0,0,0,14.53,14.71,14.69
$GC,3190,0.97,242.9,2869,3612,1598,1415,372.1,22.4,127,3196,0.00,2.30,0.00,0.000,5126,0.000,0.046,2879,2199,1506,1598,1415,0,0,0,0,0,0,14.92,14.85,14.92
$GC,3468,0.97,242.9,2879,2199,1599,1412,308.2,21.9,134,3470,0.00,0.00,0.00,0.000,4102,0.000,0.000,2879,2199,1505,1599,1412,0,0,0,0,0,0,15.14,15.14,15.14
$GC,3708,0.97,242.9,2878,2199,1598,1410,258.9,20.2,140,3713,0.00,2.30,0.00,0.000,4612,0.000,0.060,2890,789,1503,1598,1409,0,0,0,0,0,0,15.17,14.94,15.18
$GC,3739,0.97,242.9,2890,788,1598,1409,258.9,20.2,140,3745,0.05,2.28,0.00,0.000,5126,0.452,0.039,2874,2216,1504,1598,1410,0,0,0,0,0,0,14.78,14.96,14.97
$GC,3993,0.97,242.9,2874,2217,1598,1406,206.7,17.7,147,3998,0.00,2.25,0.00,0.000,260,0.000,0.054,2874,3607,1502,1598,1407,0,0,0,0,0,0,15.19,14.97,15.20
$GC,4101,0.97,242.9,2874,3607,1598,1409,186.5,19.1,154,4108,0.00,2.28,0.00,0.000,5126,0.000,0.045,2884,2189,1503,1597,1409,0,0,0,0,0,0,15.05,14.97,15.06
$GC,4350,0.97,242.9,2884,2190,1598,1407,142.4,16.8,179,4356,0.00,2.25,0.00,0.000,4612,0.000,0.057,2895,796,1502,1598,1407,0,0,0,0,0,0,15.18,14.96,15.19
$GC,4417,0.97,242.9,2895,795,1597,1407,131.8,16.0,185,4423,0.05,2.25,0.00,0.000,5126,0.453,0.040,2879,2204,1502,1598,1407,0,0,0,0,0,0,14.78,14.97,14.99
$GC,4671,0.97,242.9,2879,2205,1598,1406,93.1,12.8,210,4672,0.00,0.00,0.00,0.000,4102,0.000,0.000,2880,2205,1502,1598,1406,0,0,0,0,0,0,15.19,15.19,15.18
$GC,4913,0.97,242.9,2879,2205,1598,1406,62.3,13.6,234,4918,0.00,2.25,0.00,0.000,4356,0.000,0.051,2879,3600,1502,1599,1406,0,0,0,0,0,0,15.17,14.95,15.17
$GC,5080,0.97,242.9,2879,3601,1598,1408,36.2,16.1,248,5085,0.00,2.25,0.00,0.000,5126,0.000,0.044,2890,2200,1503,1598,1408,0,0,0,0,0,0,15.02,14.95,15.03
$STATE,5317,end climb,SURFACE_DEPTH_REACHED
$STATE,5317,begin surface coast
$FINISH,0.2,1.023675
$STATE,5342,end surface coast,CONTROL_FINISHED_OK
$STATE,5342,begin surface
$SM_CCo,5356,91.05,0.114,0,0,907,390.02
$SM_GC,1.40,6.07,0.38,91.05,0.071,0.070,0.114,188,2441,907,-7.26,-1.47,390.02,0,0,0,0,0,0,14.94,14.92,14.81
$IRIDIUM_FIX,2206.70,-15607.69,280318,013937
$TT8_MAMPS,0.018725,0.323568
$HUMID,42.43
$INTERNAL_PRESSURE,9.43654
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,6.4
$24V_AH,13.44,42.833
$10V_AH,13.58,0.000
$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,14.500,55.750,279.975,91.050,0.000,58.194,56.880,77.826,0.500,0.000,6.549,1145.423,2833.285,440.920,1327.171,59.700,0.000,915.127,0.000,1100.308,0.000,5.947,0.000
$DEVICE_MAMPS,452.880,69.615,2292.705,113.985,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,195.929,161.513,293.537,309.192,474.405,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343000
$DATA_FILE_SIZE,27392,289
$CAP_FILE_SIZE,62795,0
$CFSIZE,2097086464,2078736384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.191,320.89,1
$GPS,280318,031423,2217.682,-15609.576,5,1.4,5,9.9,1.5,82.4,6,177.4