version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 157
start: 3 28 118 3 18 54
data:
$ID,626
$MISSION,2
$DIVE,157
$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,44
$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
$GPS1,280318,031423,2217.6824,-15609.5762,5,1.4,5,9.9,1.5,82.4,6,177.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-75.2
$GPS2,280318,031830,2217.7129,-15609.5898,6,1.1,6,9.9,0.0,0.0,7,297.6
$SPEED_LIMITS,0.174,0.225
$TGT_NAME,M4
$TGT_LATLONG,2218.000,-15612.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,231.9,4163,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.80,-107.1,187,2442,934,880,0.0,0.0,0,72,0.00,0.00,-54.15,0.000,16386,0.000,0.000,187,2442,2738,2762,2715,0,0,0,0,0,0,15.04,28.83,15.04
$GC,74,-0.80,-107.1,187,2443,2762,2715,4.3,-9.1,7,93,6.80,2.28,-3.22,0.000,18692,0.445,0.076,2287,3838,2938,2967,2909,0,0,0,0,0,0,14.57,14.16,14.85
$GC,241,-0.80,-107.1,2286,3839,2967,2908,62.3,-27.9,24,247,0.05,2.30,0.00,0.000,3078,0.467,0.057,2301,2447,2937,2967,2908,0,0,0,0,0,0,14.66,14.83,14.87
$GC,497,-0.80,-107.1,2301,2447,2967,2908,146.4,-32.8,49,502,0.00,2.33,0.00,0.000,2564,0.000,0.064,2302,1028,2937,2967,2908,0,0,0,0,0,0,15.11,14.88,15.11
$GC,541,-0.80,-107.1,2302,1027,2967,2908,160.3,-30.4,53,546,0.00,2.30,0.00,0.000,3078,0.000,0.053,2292,2422,2937,2967,2908,0,0,0,0,0,0,14.98,14.88,14.99
$GC,813,-0.80,-107.1,2291,2424,2970,2908,234.5,-26.8,71,818,0.00,2.33,0.00,0.000,2564,0.000,0.066,2292,1024,2939,2970,2908,0,0,0,0,0,0,15.17,14.92,15.18
$GC,859,-0.80,-107.1,2292,1023,2970,2908,245.8,-26.9,72,864,0.00,2.33,0.00,0.000,3078,0.000,0.056,2290,2439,2939,2970,2908,0,0,0,0,0,0,15.03,14.93,15.04
$GC,1136,-0.80,-107.1,2289,2440,2973,2908,319.3,-25.8,79,1142,0.00,2.35,0.00,0.000,2564,0.000,0.068,2290,1026,2940,2973,2908,0,0,0,0,0,0,15.22,14.96,15.22
$GC,1183,-0.80,-107.1,2290,1026,2973,2908,330.6,-26.1,80,1189,0.00,2.30,0.00,0.000,3078,0.000,0.052,2290,2444,2940,2973,2908,0,0,0,0,0,0,15.07,14.97,15.08
$GC,1461,-0.80,-107.1,2289,2445,2973,2908,397.0,-23.1,87,1466,0.00,2.35,0.00,0.000,2564,0.000,0.065,2290,1023,2941,2973,2909,0,0,0,0,0,0,15.24,14.99,15.25
$GC,1492,-0.80,-107.1,2289,1022,2973,2908,397.0,-23.1,87,1498,0.00,2.33,0.00,0.000,3078,0.000,0.054,2289,2446,2940,2973,2908,0,0,0,0,0,0,15.09,15.00,15.10
$GC,1745,-0.80,-107.1,2289,2446,2973,2908,462.0,-22.1,94,1751,0.00,2.35,0.00,0.000,2564,0.000,0.062,2290,1019,2940,2973,2908,0,0,0,0,0,0,15.26,15.01,15.26
$GC,1776,-0.80,-107.1,2289,1019,2973,2908,462.0,-22.1,94,1782,0.00,2.33,0.00,0.000,3078,0.000,0.055,2289,2442,2940,2973,2908,0,0,0,0,0,0,15.10,15.00,15.11
$STATE,1947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1947,begin apogee
$GC,1952,-0.16,0.0,2289,2184,2971,2907,507.6,-22.3,99,2038,0.60,0.00,82.85,1.498,10246,0.305,0.000,2509,2183,2499,2574,2425,0,0,0,0,0,0,14.86,14.52,13.97
$STATE,2039,end apogee,CONTROL_FINISHED_OK
$STATE,2039,begin climb
$GC,2040,0.80,107.1,2509,2182,2572,2425,514.7,0.0,101,2134,0.75,2.47,85.25,1.928,10500,0.186,0.056,2805,3626,2063,2134,1992,0,0,0,0,0,0,14.44,14.23,13.46
$GC,2636,0.98,251.8,2803,3626,2132,1987,514.9,0.9,116,2762,0.10,2.33,118.47,2.216,11270,0.171,0.044,2895,2187,1473,1564,1382,0,0,0,0,0,0,14.84,14.85,13.43
$GC,3034,0.98,251.8,2894,2187,1563,1378,429.8,26.8,126,3040,0.05,2.38,0.00,0.000,4356,0.499,0.050,2880,3628,1470,1563,1378,0,0,0,0,0,0,14.56,14.73,14.75
$GC,3132,0.98,251.8,2879,3628,1563,1378,408.4,26.5,128,3137,0.00,2.33,0.00,0.000,5126,0.000,0.047,2890,2206,1471,1563,1379,0,0,0,0,0,0,14.87,14.78,14.88
$GC,3399,0.98,251.8,2890,2205,1563,1376,338.1,25.4,135,3405,0.00,2.33,0.00,0.000,4356,0.000,0.051,2890,3622,1469,1563,1376,0,0,0,0,0,0,15.10,14.87,15.11
$GC,3415,0.98,251.8,2890,3622,1563,1376,338.1,25.4,135,3421,0.08,2.33,0.00,0.000,5126,0.450,0.047,2878,2192,1470,1563,1377,0,0,0,0,0,0,14.69,14.88,14.90
$GC,3683,0.98,251.8,2877,2189,1563,1374,275.0,21.3,142,3688,0.00,2.25,0.00,0.000,516,0.000,0.058,2888,791,1468,1563,1374,0,0,0,0,0,0,15.15,14.92,15.16
$GC,3714,0.98,251.8,2888,791,1564,1374,275.0,21.3,142,3720,0.00,2.28,0.00,0.000,5126,0.000,0.039,2888,2214,1468,1563,1374,0,0,0,0,0,0,15.02,14.94,15.02
$GC,3967,0.98,251.8,2888,2216,1563,1371,214.7,20.9,149,3968,0.00,0.00,0.00,0.000,4102,0.000,0.000,2889,2216,1467,1563,1371,0,0,0,0,0,0,15.19,15.19,15.19
$GC,4207,0.98,251.8,2888,2216,1563,1369,165.8,19.3,167,4212,0.00,2.38,0.00,0.000,4612,0.000,0.067,2899,793,1466,1563,1369,0,0,0,0,0,0,15.19,14.95,15.19
$GC,4264,0.98,251.8,2898,792,1562,1368,155.4,19.5,172,4271,0.05,2.28,0.00,0.000,5126,0.458,0.045,2883,2199,1465,1562,1368,0,0,0,0,0,0,14.78,14.97,15.01
$GC,4520,0.98,251.8,2882,2200,1562,1368,110.4,15.8,197,4525,0.00,2.28,0.00,0.000,4356,0.000,0.053,2883,3614,1465,1562,1368,0,0,0,0,0,0,15.18,14.95,15.19
$GC,4632,0.98,251.8,2883,3614,1562,1369,91.8,17.2,207,4640,0.05,2.30,0.00,0.000,5126,0.484,0.046,2878,2184,1465,1562,1368,0,0,0,0,0,0,14.76,14.96,15.00
$GC,4881,0.98,251.8,2878,2184,1562,1368,59.2,15.4,232,4887,0.00,2.33,0.00,0.000,260,0.000,0.051,2878,3616,1465,1562,1369,0,0,0,0,0,0,15.16,14.94,15.16
$GC,5025,0.98,251.8,2878,3616,1562,1369,35.7,16.9,244,5034,0.00,2.33,0.00,0.000,5126,0.000,0.045,2888,2204,1465,1562,1369,0,0,0,0,0,0,14.94,14.91,14.97
$STATE,5221,end climb,SURFACE_DEPTH_REACHED
$STATE,5221,begin surface coast
$FINISH,0.4,1.023785
$STATE,5240,end surface coast,CONTROL_FINISHED_OK
$STATE,5240,begin surface
$SM_CCo,5254,86.45,0.741,1,0,908,390.02
$SM_GC,1.23,6.07,0.38,86.45,0.069,0.069,0.741,188,2444,908,-7.28,-1.36,390.02,0,0,0,0,1,0,14.94,14.92,14.23
$IRIDIUM_FIX,2206.70,-15612.90,280318,031517
$TT8_MAMPS,0.019474,0.262899
$HUMID,43.54
$INTERNAL_PRESSURE,9.42678
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.4,6.4
$24V_AH,13.43,43.050
$10V_AH,13.56,0.000
$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,14.600,61.175,286.575,86.450,0.000,26.336,42.183,91.744,0.500,0.000,7.088,1082.942,2791.411,449.313,1224.521,62.314,0.000,907.068,0.000,1034.545,0.000,6.083,0.000
$DEVICE_MAMPS,498.780,76.500,2216.205,740.520,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,188.296,153.927,280.330,292.001,448.036,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342992
$DATA_FILE_SIZE,23863,278
$CAP_FILE_SIZE,62042,0
$CFSIZE,2097086464,2078638080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.179,316.29,1
$GPS,280318,044853,2217.610,-15610.520,19,1.6,19,9.9,0.0,0.0,5,107.2