version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 161
start: 3 28 118 8 53 18
data:
$ID,626
$MISSION,2
$DIVE,161
$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,120
$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,2565
$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,2447
$C_ROLL_CLIMB,2300
$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,2450
$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
$GPS1,280318,084836,2218.5115,-15612.0166,22,1.6,22,9.9,0.6,313.1,5,113.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-74.7
$GPS2,280318,085254,2218.5325,-15612.0586,21,1.6,21,9.9,0.0,0.0,5,121.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,M5
$TGT_LATLONG,2224.200,-15605.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,83.3,15750,-20.5,-10.040,-23.14,1785
$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,-0.79,-116.8,186,2449,927,888,0.0,0.0,0,73,0.00,0.00,-56.42,0.000,16386,0.000,0.000,186,2450,2785,2808,2762,0,0,0,0,0,0,15.04,28.83,15.05
$GC,76,-0.79,-116.8,186,2450,2807,2762,4.1,-7.4,7,95,6.85,2.28,-2.33,0.000,18692,0.445,0.076,2300,3849,2928,2956,2900,0,0,0,0,0,0,14.58,14.15,14.85
$GC,158,-0.79,-116.8,2299,3849,2959,2901,39.1,-33.3,17,168,0.00,2.35,0.00,0.000,3078,0.000,0.058,2300,2462,2929,2958,2900,0,0,0,0,0,0,14.81,14.76,14.83
$GC,406,-0.79,-116.8,2300,2461,2960,2900,126.5,-30.7,42,411,0.00,2.33,0.00,0.000,2564,0.000,0.056,2300,1026,2930,2960,2900,0,0,0,0,0,0,15.10,14.87,15.11
$GC,429,-0.79,-116.8,2300,1025,2960,2900,134.0,-30.9,44,435,0.05,2.28,0.00,0.000,3078,0.496,0.041,2306,2433,2930,2960,2900,0,0,0,0,0,0,14.69,14.88,14.91
$GC,683,-0.79,-116.8,2305,2434,2963,2900,213.1,-29.3,66,689,0.00,2.30,0.00,0.000,2308,0.000,0.060,2298,3855,2931,2963,2900,0,0,0,0,0,0,15.15,14.90,15.15
$GC,700,-0.79,-116.8,2297,3855,2963,2900,213.1,-29.3,66,705,0.00,2.28,0.00,0.000,3078,0.000,0.044,2298,2432,2931,2963,2900,0,0,0,0,0,0,15.01,14.92,15.02
$GC,967,-0.79,-116.8,2297,2432,2965,2900,287.4,-26.4,73,972,0.00,2.25,0.00,0.000,2564,0.000,0.054,2298,1028,2932,2965,2900,0,0,0,0,0,0,15.21,14.96,15.21
$GC,1009,-0.79,-116.8,2298,1028,2965,2900,297.9,-26.1,74,1015,0.05,2.30,0.00,0.000,3078,0.496,0.043,2306,2452,2933,2966,2900,0,0,0,0,0,0,14.78,14.97,15.00
$GC,1293,-0.79,-116.8,2306,2452,2967,2900,360.8,-22.6,81,1299,0.00,2.28,0.00,0.000,2308,0.000,0.063,2304,3856,2933,2967,2900,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1330,-0.79,-116.8,2304,3856,2967,2900,360.8,-22.6,81,1337,0.00,2.25,0.00,0.000,3078,0.000,0.044,2304,2443,2933,2967,2900,0,0,0,0,0,0,15.08,15.00,15.09
$GC,1576,-0.79,-116.8,2304,2442,2966,2900,422.6,-22.0,88,1581,0.00,2.28,0.00,0.000,2564,0.000,0.054,2304,1030,2933,2966,2900,0,0,0,0,0,0,15.25,15.00,15.25
$GC,1637,-0.79,-116.8,2303,1029,2966,2900,432.0,-22.0,89,1643,0.00,2.30,0.00,0.000,3078,0.000,0.046,2303,2454,2933,2966,2900,0,0,0,0,0,0,15.09,15.00,15.11
$GC,1899,-0.79,-116.8,2303,2454,2966,2900,494.5,-22.3,96,1905,0.00,2.30,0.00,0.000,2564,0.000,0.055,2304,1040,2933,2966,2900,0,0,0,0,0,0,15.26,15.02,15.26
$STATE,1941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1941,begin apogee
$GC,1947,-0.16,0.0,2296,2304,2966,2900,504.2,-22.5,97,2041,0.60,0.00,91.00,1.551,10246,0.308,0.000,2514,2304,2448,2524,2373,0,0,0,0,0,0,14.85,14.47,13.86
$STATE,2042,end apogee,CONTROL_FINISHED_OK
$STATE,2042,begin climb
$GC,2044,0.79,116.8,2514,2304,2524,2374,511.6,0.0,99,2146,0.73,2.45,94.12,2.090,10500,0.188,0.055,2803,3712,1972,2056,1889,0,0,0,0,0,0,14.38,14.21,13.52
$GC,2218,0.79,116.8,2803,3712,2055,1888,515.6,-2.8,103,2223,0.00,2.35,0.00,0.000,1030,0.000,0.043,2814,2284,1971,2055,1888,0,0,0,0,0,0,14.58,14.52,14.59
$GC,2470,0.82,148.2,2814,2284,2055,1884,495.0,8.2,110,2504,0.00,2.33,25.95,2.207,10756,0.000,0.054,2825,904,1845,1939,1751,0,0,0,0,0,0,15.00,14.52,13.76
$GC,2567,0.85,167.1,2824,904,1939,1751,486.8,9.0,112,2592,0.00,2.30,16.98,2.157,11270,0.000,0.039,2825,2302,1768,1868,1669,0,0,0,0,0,0,14.72,14.64,13.74
$GC,2832,0.85,167.1,2825,2302,1867,1665,448.3,14.3,119,2837,0.00,2.35,0.00,0.000,2564,0.000,0.054,2835,891,1766,1867,1665,0,0,0,0,0,0,15.00,14.76,15.00
$GC,2874,0.85,167.1,2835,891,1867,1664,442.1,14.2,120,2880,0.00,2.30,0.00,0.000,1030,0.000,0.039,2835,2301,1766,1868,1664,0,0,0,0,0,0,14.86,14.79,14.88
$GC,3156,0.85,167.1,2835,2301,1867,1659,401.5,13.8,127,3161,0.00,2.30,0.00,0.000,260,0.000,0.056,2835,3714,1763,1867,1659,0,0,0,0,0,0,15.11,14.88,15.11
$GC,3312,0.85,167.1,2835,3715,1865,1660,385.4,13.4,130,3319,0.00,2.28,0.00,0.000,5126,0.000,0.044,2846,2301,1762,1865,1660,0,0,0,0,0,0,15.00,14.92,15.00
$GC,3559,0.85,167.1,2845,2300,1865,1658,351.7,11.6,137,3564,0.00,2.28,0.00,0.000,4612,0.000,0.053,2857,892,1761,1865,1658,0,0,0,0,0,0,15.17,14.95,15.17
$GC,3575,0.85,167.1,2856,892,1865,1658,351.7,11.6,137,3582,0.05,2.28,0.00,0.000,5126,0.487,0.040,2842,2308,1761,1864,1658,0,0,0,0,0,0,14.75,14.95,14.97
$GC,3844,0.85,167.1,2842,2308,1865,1655,315.8,12.8,144,3849,0.00,2.25,0.00,0.000,4356,0.000,0.055,2842,3705,1760,1865,1655,0,0,0,0,0,0,15.20,14.95,15.20
$GC,4206,0.85,167.1,2842,3707,1861,1655,270.8,10.7,153,4211,0.00,2.25,0.00,0.000,5126,0.000,0.044,2852,2300,1758,1861,1655,0,0,0,0,0,0,15.07,14.99,15.08
$GC,4489,0.89,197.9,2852,2299,1861,1653,247.1,8.3,160,4513,0.00,0.00,22.10,1.193,12294,0.000,0.000,2852,2299,1642,1742,1543,0,0,0,0,0,0,15.23,14.88,14.37
$GC,4730,0.89,197.9,2852,2299,1740,1539,215.6,13.8,166,4731,0.00,0.00,0.00,0.000,4102,0.000,0.000,2852,2299,1639,1740,1539,0,0,0,0,0,0,15.15,15.15,15.15
$GC,4970,0.89,197.9,2852,2299,1740,1538,185.8,12.6,178,4971,0.00,0.00,0.00,0.000,4102,0.000,0.000,2852,2299,1639,1740,1538,0,0,0,0,0,0,15.18,15.18,15.18
$GC,5210,0.89,197.9,2852,2299,1740,1537,159.6,11.3,202,5215,0.00,2.30,0.00,0.000,4356,0.000,0.054,2852,3709,1638,1740,1537,0,0,0,0,0,0,15.18,14.94,15.18
$GC,5232,0.89,197.9,2852,3709,1740,1537,156.7,11.8,204,5237,0.00,2.28,0.00,0.000,5126,0.000,0.044,2862,2290,1638,1740,1537,0,0,0,0,0,0,15.04,14.96,15.04
$GC,5487,0.89,197.9,2862,2289,1740,1537,127.4,10.6,229,5493,0.00,0.00,0.00,0.000,4102,0.000,0.000,2862,2289,1638,1740,1537,0,0,0,0,0,0,15.17,15.17,15.17
$GC,5735,0.90,210.1,2862,2289,1740,1537,102.8,9.3,254,5753,0.00,2.35,10.07,0.900,12548,0.000,0.054,2862,3712,1590,1692,1489,0,0,0,0,0,0,15.18,14.88,14.43
$GC,6310,0.91,218.1,2862,3712,1692,1496,49.6,9.6,305,6324,0.03,2.30,8.12,0.793,13318,0.525,0.044,2866,2306,1557,1661,1453,0,0,0,0,0,0,14.67,14.88,14.42
$GC,6582,0.91,218.1,2865,2306,1659,1455,19.9,10.9,338,6590,0.00,0.00,0.00,0.000,4102,0.000,0.000,2866,2306,1557,1659,1456,0,0,0,0,0,0,15.10,15.11,15.11
$STATE,6731,end climb,SURFACE_DEPTH_REACHED
$STATE,6731,begin surface coast
$FINISH,0.3,1.012301
$STATE,6764,end surface coast,CONTROL_FINISHED_OK
$STATE,6764,begin surface
$SM_CCo,6777,102.95,0.116,0,0,857,390.02
$SM_GC,1.35,6.18,0.22,102.95,0.096,0.088,0.116,188,2453,857,-7.28,-1.10,390.02,0,0,0,0,0,0,14.90,14.89,14.77
$IRIDIUM_FIX,2209.02,-15612.90,280318,084929
$TT8_MAMPS,0.019474,0.263648
$HUMID,40.90
$INTERNAL_PRESSURE,9.43654
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.6,6.5
$24V_AH,13.52,43.923
$10V_AH,13.51,0.000
$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,14.525,68.975,268.350,102.950,0.000,29.337,42.450,85.641,0.500,0.000,22.417,1362.826,3742.647,453.991,1527.523,71.204,0.000,1019.453,0.000,1322.206,0.000,5.461,0.000
$DEVICE_MAMPS,524.790,87.975,2207.025,116.280,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,249.640,208.703,375.469,390.767,599.563,0.000,0.000,0.000,0.000,0.000
$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,34041,368
$CAP_FILE_SIZE,74110,0
$CFSIZE,2097086464,2078179328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.201,306.73,1
$GPS,280318,104900,2219.061,-15611.950,28,0.8,28,9.9,0.0,0.0,10,20.3