version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 163
start: 3 28 118 12 51 54
data:
$ID,626
$MISSION,2
$DIVE,163
$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,52
$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
$GPS1,280318,124658,2219.3203,-15612.0605,7,1.0,7,9.9,1.3,278.4,9,99.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-74.5
$GPS2,280318,125131,2219.3420,-15612.1006,7,1.1,7,9.9,0.6,232.7,8,109.1
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,M5
$TGT_LATLONG,2224.200,-15605.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,87.8,14850,-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,-116.8,188,2277,850,808,0.0,0.0,0,75,0.00,0.00,-57.72,0.000,16386,0.000,0.000,188,2278,2715,2739,2691,0,0,0,0,0,0,15.00,28.83,15.02
$GC,77,-0.79,-116.8,188,2278,2738,2691,3.4,-4.7,7,95,6.85,2.35,-3.10,0.000,18692,0.440,0.073,2299,3715,2897,2927,2867,0,0,0,0,0,0,14.52,14.09,14.81
$GC,104,-0.79,-116.8,2298,3715,2927,2867,16.9,-37.4,10,113,0.03,2.35,0.00,0.000,3078,0.526,0.055,2306,2322,2897,2927,2867,0,0,0,0,0,0,14.55,14.73,14.71
$GC,360,-0.79,-116.8,2305,2319,2927,2866,109.0,-35.0,37,366,0.00,2.38,0.00,0.000,2564,0.000,0.070,2305,891,2896,2927,2865,0,0,0,0,0,0,15.07,14.82,15.08
$GC,388,-0.79,-116.8,2305,891,2927,2865,117.4,-34.4,39,395,0.00,2.30,0.00,0.000,3078,0.000,0.048,2304,2294,2896,2927,2865,0,0,0,0,0,0,14.93,14.84,14.95
$GC,637,-0.79,-116.8,2303,2294,2928,2865,192.9,-29.1,64,642,0.00,2.33,0.00,0.000,2308,0.000,0.063,2293,3717,2897,2928,2866,0,0,0,0,0,0,15.12,14.87,15.12
$GC,720,-0.79,-116.8,2293,3718,2928,2865,215.0,-24.9,69,726,0.08,2.30,0.00,0.000,3078,0.402,0.050,2317,2300,2897,2928,2866,0,0,0,0,0,0,14.72,14.89,14.93
$GC,1003,-0.79,-116.8,2317,2298,2932,2865,282.6,-24.1,76,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2298,2898,2931,2865,0,0,0,0,0,0,15.19,15.20,15.19
$GC,1242,-0.79,-116.8,2317,2299,2931,2865,335.7,-21.5,82,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2298,2897,2929,2865,0,0,0,0,0,0,15.21,15.22,15.23
$GC,1482,-0.79,-116.8,2317,2298,2932,2865,387.6,-21.5,88,1488,0.00,2.28,0.00,0.000,516,0.000,0.063,2318,885,2899,2932,2866,0,0,0,0,0,0,15.23,14.99,15.23
$GC,1510,-0.79,-116.8,2317,884,2932,2865,387.6,-21.5,88,1515,0.00,2.30,0.00,0.000,1030,0.000,0.045,2318,2316,2898,2931,2865,0,0,0,0,0,0,15.08,15.00,15.09
$GC,1767,-0.79,-116.8,2317,2315,2931,2865,443.2,-18.9,95,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2316,2898,2931,2865,0,0,0,0,0,0,15.25,15.26,15.26
$GC,2007,-0.79,-116.8,2318,2315,2931,2862,489.1,-19.1,101,2013,0.00,2.30,0.00,0.000,516,0.000,0.057,2318,891,2896,2931,2862,0,0,0,0,0,0,15.26,15.01,15.26
$GC,2039,-0.79,-116.8,2317,890,2931,2862,489.1,-19.1,101,2044,0.00,2.28,0.00,0.000,1030,0.000,0.044,2318,2306,2896,2931,2862,0,0,0,0,0,0,15.10,15.02,15.11
$STATE,2090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2090,begin apogee
$GC,2094,-0.16,0.0,2317,2736,2931,2862,506.2,-19.8,103,2187,0.55,0.00,89.43,1.617,10246,0.309,0.000,2516,2737,2419,2496,2342,0,0,0,0,0,0,14.85,14.45,13.81
$STATE,2188,end apogee,CONTROL_FINISHED_OK
$STATE,2188,begin climb
$GC,2189,0.79,116.8,2516,2737,2496,2342,512.4,0.0,105,2293,0.73,2.05,96.05,2.342,10500,0.187,0.057,2805,3908,1943,2030,1856,0,0,0,0,0,0,14.36,14.16,13.43
$GC,2590,0.81,139.5,2805,3908,2029,1852,493.9,8.7,115,2618,0.00,1.92,18.55,1.448,11270,0.000,0.041,2814,2713,1849,1945,1754,0,0,0,0,0,0,14.83,14.75,14.04
$GC,2856,0.81,139.5,2814,2713,1946,1754,462.3,12.0,122,2862,0.00,2.30,0.00,0.000,2564,0.000,0.050,2824,1308,1849,1945,1754,0,0,0,0,0,0,15.03,14.80,15.03
$GC,3043,0.81,139.5,2824,1308,1945,1753,442.8,12.0,126,3049,0.00,2.30,0.00,0.000,3078,0.000,0.045,2825,2723,1849,1945,1753,0,0,0,0,0,0,14.95,14.87,14.95
$GC,3301,0.81,139.5,2825,2722,1945,1749,409.4,11.5,133,3302,0.00,0.00,0.00,0.000,2054,0.000,0.000,2825,2722,1847,1945,1749,0,0,0,0,0,0,15.14,15.15,15.15
$GC,3541,0.81,139.5,2825,2722,1945,1746,384.3,10.3,139,3546,0.00,1.92,0.00,0.000,2308,0.000,0.057,2825,3909,1845,1945,1746,0,0,0,0,0,0,15.18,14.93,15.19
$GC,3553,0.81,139.5,2825,3909,1945,1747,384.3,10.3,139,3558,0.00,1.90,0.00,0.000,5126,0.000,0.038,2834,2712,1846,1945,1747,0,0,0,0,0,0,15.03,14.96,15.04
$GC,3826,0.84,164.6,2834,2712,1945,1744,357.4,8.6,146,3853,0.00,2.30,19.10,1.302,10756,0.000,0.049,2844,1315,1746,1846,1647,0,0,0,0,0,0,15.21,14.85,14.33
$GC,3935,0.87,187.5,2844,1315,1844,1646,349.4,8.7,148,3960,0.00,2.28,17.90,1.284,11270,0.000,0.043,2844,2721,1653,1749,1558,0,0,0,0,0,0,14.96,14.88,14.24
$GC,4227,0.87,187.5,2844,2721,1749,1555,302.1,15.8,156,4232,0.00,2.33,0.00,0.000,2564,0.000,0.051,2855,1311,1652,1749,1555,0,0,0,0,0,0,15.10,14.86,15.11
$GC,4538,0.87,187.5,2855,1310,1749,1553,260.1,14.3,163,4543,0.00,2.28,0.00,0.000,5126,0.000,0.043,2855,2718,1651,1749,1553,0,0,0,0,0,0,15.00,14.92,15.01
$GC,4791,0.87,187.5,2855,2720,1748,1552,220.8,14.2,170,4796,0.00,1.92,0.00,0.000,4356,0.000,0.056,2855,3908,1650,1749,1551,0,0,0,0,0,0,15.19,14.93,15.19
$GC,4975,0.87,187.5,2855,3908,1748,1552,194.8,13.7,176,4980,0.00,1.90,0.00,0.000,5126,0.000,0.040,2865,2720,1650,1748,1552,0,0,0,0,0,0,15.04,14.97,15.05
$GC,5228,0.89,203.2,2864,2720,1748,1551,168.7,9.1,201,5246,0.00,2.28,12.25,1.017,12804,0.000,0.048,2875,1306,1587,1685,1490,0,0,0,0,0,0,15.19,14.89,14.40
$GC,5257,0.90,212.0,2875,1306,1685,1491,166.3,9.5,203,5277,0.05,2.30,7.78,0.981,13318,0.496,0.043,2861,2730,1553,1650,1457,0,0,0,0,0,0,14.69,14.90,14.38
$GC,5516,0.90,212.0,2860,2730,1650,1456,130.4,14.9,229,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2730,1553,1650,1456,0,0,0,0,0,0,15.11,15.12,15.11
$GC,5756,0.90,212.0,2861,2731,1650,1456,98.3,12.3,253,5762,0.00,2.33,0.00,0.000,516,0.000,0.050,2871,1311,1553,1650,1456,0,0,0,0,0,0,15.13,14.90,15.14
$GC,5780,0.90,212.0,2870,1311,1650,1455,95.4,12.1,255,5786,0.00,2.28,0.00,0.000,5126,0.000,0.043,2870,2717,1553,1650,1456,0,0,0,0,0,0,15.00,14.91,15.00
$GC,6037,0.90,212.0,2870,2718,1650,1456,66.0,11.4,280,6043,0.00,2.30,0.00,0.000,4612,0.000,0.051,2882,1313,1553,1650,1457,0,0,0,0,0,0,15.14,14.90,15.14
$GC,6133,0.92,224.9,2881,1313,1650,1456,56.8,9.3,288,6151,0.05,2.28,10.65,0.853,13318,0.487,0.043,2867,2722,1500,1597,1403,0,0,0,0,0,0,14.69,14.92,14.41
$GC,6401,0.92,224.9,2866,2723,1597,1406,24.3,13.0,317,6411,0.00,2.38,0.00,0.000,4612,0.000,0.053,2876,1317,1501,1597,1406,0,0,0,0,0,0,15.10,14.83,15.10
$GC,6531,0.92,224.9,2876,1316,1597,1407,7.3,13.1,338,6540,0.00,2.35,0.00,0.000,5126,0.000,0.049,2876,2714,1502,1597,1407,0,0,0,0,0,0,14.88,14.82,14.89
$STATE,6564,end climb,SURFACE_DEPTH_REACHED
$STATE,6564,begin surface coast
$FINISH,0.2,1.013370
$STATE,6589,end surface coast,CONTROL_FINISHED_OK
$STATE,6590,begin surface
$SM_CCo,6603,97.43,0.118,0,0,826,390.02
$SM_GC,1.32,6.15,0.65,97.43,0.086,0.057,0.118,188,2292,826,-7.30,1.39,390.02,0,0,0,0,0,0,14.90,14.87,14.76
$IRIDIUM_FIX,2209.02,-15612.90,280318,124757
$TT8_MAMPS,0.019474,0.271138
$HUMID,42.28
$INTERNAL_PRESSURE,9.42678
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,53.5,6.4
$24V_AH,13.43,44.298
$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,14.475,68.325,271.700,97.425,0.000,29.230,46.143,105.306,0.500,0.000,8.131,1310.277,3695.713,441.371,1463.884,77.513,0.000,1004.171,0.000,1249.896,0.000,5.461,0.000
$DEVICE_MAMPS,526.320,73.440,2342.430,117.810,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,234.950,192.431,344.906,352.113,540.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343024
$DATA_FILE_SIZE,30663,347
$CAP_FILE_SIZE,75203,0
$CFSIZE,2097086464,2078015488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.214,311.03,1
$GPS,280318,144449,2219.674,-15611.995,21,0.8,40,9.9,0.6,338.3,10,16.9