version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 162
start: 3 28 118 10 54 3
data:
$ID,626
$MISSION,2
$DIVE,162
$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,2570
$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,2303
$C_ROLL_CLIMB,2720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2420
$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
$GPS1,280318,104900,2219.0610,-15611.9502,28,0.8,28,9.9,0.0,0.0,10,20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-73.2
$GPS2,280318,105338,2219.0974,-15611.9932,14,0.8,14,9.9,0.0,0.0,10,20.5
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,M5
$TGT_LATLONG,2224.200,-15605.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,86.0,14986,-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,14,begin dive
$GC,15,-0.79,-116.8,188,2324,880,837,0.0,0.0,0,74,0.00,0.00,-55.92,0.000,16386,0.000,0.000,188,2325,2736,2760,2712,0,0,0,0,0,0,15.02,28.83,15.03
$GC,76,-0.79,-116.8,188,2325,2760,2713,4.1,-7.8,7,94,6.88,2.28,-2.62,0.000,18692,0.444,0.073,2302,3706,2897,2928,2867,0,0,0,0,0,0,14.54,14.12,14.83
$GC,132,-0.79,-116.8,2302,3707,2930,2867,30.0,-39.6,15,141,0.00,2.42,0.00,0.000,3078,0.000,0.060,2302,2284,2898,2930,2867,0,0,0,0,0,0,14.80,14.75,14.82
$GC,378,-0.79,-116.8,2302,2284,2929,2867,118.3,-35.0,40,383,0.00,2.35,0.00,0.000,2308,0.000,0.057,2291,3712,2898,2930,2867,0,0,0,0,0,0,15.09,14.85,15.09
$GC,392,-0.79,-116.8,2291,3712,2930,2867,122.3,-34.5,41,398,0.08,2.33,0.00,0.000,3078,0.415,0.054,2315,2291,2898,2930,2867,0,0,0,0,0,0,14.67,14.85,14.89
$GC,646,-0.79,-116.8,2315,2288,2932,2867,197.1,-29.1,66,651,0.00,2.33,0.00,0.000,2308,0.000,0.059,2306,3703,2899,2931,2867,0,0,0,0,0,0,15.14,14.88,15.14
$GC,689,-0.79,-116.8,2305,3703,2932,2867,209.1,-27.2,68,694,0.00,2.28,0.00,0.000,3078,0.000,0.050,2306,2299,2899,2932,2867,0,0,0,0,0,0,15.00,14.90,15.01
$GC,972,-0.79,-116.8,2305,2299,2935,2867,277.8,-24.5,75,973,0.00,0.00,0.00,0.000,2054,0.000,0.000,2306,2299,2901,2935,2867,0,0,0,0,0,0,15.19,15.20,15.20
$GC,1211,-0.79,-116.8,2305,2299,2936,2867,335.1,-22.7,81,1216,0.00,2.33,0.00,0.000,2308,0.000,0.064,2303,3707,2901,2935,2867,0,0,0,0,0,0,15.23,14.96,15.23
$GC,1234,-0.79,-116.8,2303,3707,2936,2867,335.1,-22.7,81,1239,0.00,2.25,0.00,0.000,3078,0.000,0.051,2304,2302,2901,2936,2867,0,0,0,0,0,0,15.07,14.98,15.09
$GC,1496,-0.79,-116.8,2303,2301,2936,2867,399.7,-22.3,88,1501,0.00,2.28,0.00,0.000,2564,0.000,0.063,2303,894,2901,2936,2867,0,0,0,0,0,0,15.25,15.00,15.25
$GC,1512,-0.79,-116.8,2303,894,2936,2867,399.7,-22.3,88,1519,0.05,2.25,0.00,0.000,3078,0.454,0.043,2312,2301,2900,2935,2866,0,0,0,0,0,0,14.82,15.01,15.04
$GC,1781,-0.79,-116.8,2312,2301,2935,2867,459.3,-20.6,95,1786,0.00,2.28,0.00,0.000,2308,0.000,0.055,2305,3715,2900,2935,2866,0,0,0,0,0,0,15.26,15.00,15.26
$GC,1797,-0.79,-116.8,2304,3715,2935,2867,459.3,-20.6,95,1802,0.00,2.25,0.00,0.000,3078,0.000,0.041,2305,2293,2900,2935,2866,0,0,0,0,0,0,15.10,15.02,15.11
$STATE,1982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1982,begin apogee
$GC,1987,-0.16,0.0,2304,2744,2935,2865,501.4,-20.8,100,2080,0.57,0.00,89.82,1.574,10246,0.308,0.000,2514,2744,2419,2496,2342,0,0,0,0,0,0,14.85,14.47,13.85
$STATE,2081,end apogee,CONTROL_FINISHED_OK
$STATE,2081,begin climb
$GC,2082,0.79,116.8,2514,2744,2496,2343,507.8,0.0,102,2186,0.73,2.03,94.85,2.209,10500,0.188,0.054,2802,3905,1943,2031,1856,0,0,0,0,0,0,14.38,14.19,13.47
$GC,2549,0.80,130.2,2801,3905,2029,1852,479.2,9.3,114,2569,0.00,1.92,11.35,1.380,11270,0.000,0.038,2811,2711,1888,1982,1794,0,0,0,0,0,0,14.87,14.79,14.14
$GC,2831,0.82,145.9,2811,2711,1981,1790,453.4,9.1,121,2850,0.00,2.28,13.07,1.385,10756,0.000,0.051,2822,1318,1823,1922,1725,0,0,0,0,0,0,15.08,14.76,14.19
$GC,3011,0.82,145.9,2821,1317,1921,1724,435.8,11.0,125,3016,0.00,2.28,0.00,0.000,3078,0.000,0.046,2822,2708,1822,1920,1724,0,0,0,0,0,0,14.92,14.84,14.92
$GC,3274,0.82,145.9,2821,2708,1921,1720,402.5,11.9,132,3279,0.00,2.30,0.00,0.000,2564,0.000,0.052,2832,1316,1820,1921,1720,0,0,0,0,0,0,15.14,14.90,15.14
$GC,3375,0.82,145.9,2832,1316,1921,1719,392.4,12.0,134,3381,0.00,2.28,0.00,0.000,1030,0.000,0.044,2832,2724,1820,1921,1719,0,0,0,0,0,0,15.00,14.92,15.00
$GC,3638,0.83,155.0,2832,2725,1920,1716,364.2,9.5,141,3652,0.00,2.30,7.80,1.222,10756,0.000,0.052,2842,1310,1786,1889,1683,0,0,0,0,0,0,15.19,14.90,14.34
$GC,3823,0.83,155.0,2841,1309,1886,1682,347.2,10.6,145,3829,0.00,2.30,0.00,0.000,5126,0.000,0.045,2842,2730,1784,1886,1682,0,0,0,0,0,0,15.01,14.93,15.02
$GC,4081,0.83,155.0,2842,2730,1885,1680,317.0,10.6,152,4086,0.00,2.33,0.00,0.000,4612,0.000,0.050,2851,1308,1783,1886,1680,0,0,0,0,0,0,15.19,14.95,15.20
$GC,4091,0.83,155.0,2853,1307,1885,1680,317.0,10.6,152,4098,0.05,2.30,0.00,0.000,5126,0.482,0.045,2838,2727,1783,1886,1680,0,0,0,0,0,0,14.75,14.96,14.98
$GC,4364,0.83,155.0,2838,2728,1885,1678,285.8,11.0,159,4369,0.00,1.90,0.00,0.000,260,0.000,0.055,2838,3908,1781,1885,1678,0,0,0,0,0,0,15.21,14.97,15.21
$GC,4480,0.83,155.0,2838,3908,1884,1679,277.3,11.0,161,4487,0.00,1.88,0.00,0.000,5126,0.000,0.038,2847,2721,1781,1884,1679,0,0,0,0,0,0,15.07,14.99,15.08
$GC,4727,0.89,205.4,2847,2721,1884,1678,255.2,7.1,168,4772,0.00,2.33,36.72,1.190,10756,0.000,0.052,2858,1313,1580,1672,1488,0,0,0,0,0,0,15.23,14.78,14.30
$GC,5280,0.89,205.4,2857,1313,1671,1485,175.6,12.2,192,5289,0.00,2.33,0.00,0.000,1030,0.000,0.044,2858,2714,1578,1671,1485,0,0,0,0,0,0,14.91,14.85,14.93
$GC,5529,0.89,205.4,2857,2714,1671,1485,140.6,14.8,217,5535,0.00,2.28,0.00,0.000,516,0.000,0.051,2868,1315,1578,1671,1485,0,0,0,0,0,0,15.14,14.91,15.15
$GC,5660,0.89,205.4,2868,1315,1671,1484,121.4,15.0,229,5665,0.00,2.30,0.00,0.000,5126,0.000,0.045,2868,2727,1578,1671,1485,0,0,0,0,0,0,15.00,14.92,15.02
$GC,5913,0.89,205.4,2868,2727,1671,1484,90.1,11.3,254,5915,0.00,0.00,0.00,0.000,4102,0.000,0.000,2868,2728,1577,1671,1484,0,0,0,0,0,0,15.16,15.16,15.16
$GC,6155,0.93,238.1,2868,2728,1671,1485,68.7,8.2,278,6193,0.00,2.35,25.85,0.906,8708,0.000,0.052,2879,1318,1447,1538,1357,0,0,0,0,0,0,15.15,14.73,14.39
$GC,6369,0.93,238.1,2878,1318,1538,1357,41.1,15.3,296,6375,0.00,2.30,0.00,0.000,5126,0.000,0.044,2879,2730,1448,1538,1358,0,0,0,0,0,0,14.92,14.85,14.94
$STATE,6613,end climb,SURFACE_DEPTH_REACHED
$STATE,6613,begin surface coast
$FINISH,0.2,1.011178
$STATE,6633,end surface coast,CONTROL_FINISHED_OK
$STATE,6633,begin surface
$SM_CCo,6647,88.43,0.120,0,0,828,390.02
$SM_GC,1.18,6.20,0.70,88.43,0.089,0.061,0.120,188,2284,828,-7.31,1.05,390.02,0,0,0,0,0,0,14.88,14.87,14.76
$IRIDIUM_FIX,2211.35,-15615.03,280318,104958
$TT8_MAMPS,0.019474,0.266644
$HUMID,42.32
$INTERNAL_PRESSURE,9.42678
$TCM_TEMP,20.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,6.3
$24V_AH,13.47,44.109
$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,14.550,69.175,279.475,88.425,0.000,27.942,45.060,103.226,0.500,0.000,18.007,1384.580,3593.964,429.938,1547.678,73.698,0.000,1027.079,0.000,1320.971,0.000,5.458,0.000
$DEVICE_MAMPS,481.950,75.735,2209.320,120.105,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,227.190,181.153,325.193,328.508,504.046,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342988
$DATA_FILE_SIZE,30607,335
$CAP_FILE_SIZE,75642,0
$CFSIZE,2097086464,2078113792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.215,301.21,1
$GPS,280318,124658,2219.320,-15612.061,7,1.0,7,9.9,1.3,278.4,9,99.7