version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 164
start: 3 28 118 14 49 40
data:
$ID,626
$MISSION,2
$DIVE,164
$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,54
$R_STBD_OVSHOOT,37
$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
$GPS1,280318,144449,2219.6743,-15611.9951,21,0.8,40,9.9,0.6,338.3,10,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.0
$GPS2,280318,144917,2219.7151,-15612.0234,8,0.8,8,9.9,0.6,17.3,11,72.1
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,M5
$TGT_LATLONG,2224.200,-15605.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,89.7,14335,-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,-116.8,188,2285,848,808,0.0,0.0,0,72,0.00,0.00,-54.92,0.000,16386,0.000,0.000,188,2285,2620,2641,2599,0,0,0,0,0,0,15.02,28.83,15.02
$GC,74,-0.79,-116.8,188,2285,2642,2599,3.1,-5.2,7,94,6.85,2.33,-4.78,0.000,18948,0.439,0.083,2312,906,2899,2932,2867,0,0,0,0,0,0,14.52,13.83,14.81
$GC,254,-0.79,-116.8,2312,905,2932,2856,72.5,-38.2,26,264,0.00,2.35,0.00,0.000,3078,0.000,0.049,2304,2297,2893,2931,2855,0,0,0,0,0,0,14.80,14.74,14.81
$GC,501,-0.79,-116.8,2304,2297,2933,2856,157.6,-32.5,51,506,0.00,2.33,0.00,0.000,2308,0.000,0.060,2293,3724,2894,2933,2855,0,0,0,0,0,0,15.11,14.85,15.11
$GC,549,-0.79,-116.8,2293,3724,2932,2856,170.2,-29.4,55,557,0.08,2.30,0.00,0.000,3078,0.417,0.055,2317,2321,2894,2933,2855,0,0,0,0,0,0,14.69,14.87,14.90
$GC,816,-0.79,-116.8,2317,2319,2934,2856,240.9,-24.5,70,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2319,2894,2934,2855,0,0,0,0,0,0,15.16,15.17,15.17
$GC,1056,-0.79,-116.8,2317,2319,2935,2856,296.6,-22.9,76,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2320,2895,2935,2856,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1296,-0.79,-116.8,2316,2320,2935,2855,349.2,-22.0,82,1302,0.00,2.30,0.00,0.000,516,0.000,0.059,2317,887,2895,2935,2855,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1318,-0.79,-116.8,2317,886,2936,2856,349.2,-22.0,82,1323,0.00,2.30,0.00,0.000,1030,0.000,0.044,2317,2317,2895,2936,2855,0,0,0,0,0,0,15.07,14.98,15.08
$GC,1580,-0.79,-116.8,2317,2317,2935,2855,409.3,-21.2,89,1585,0.00,2.28,0.00,0.000,260,0.000,0.060,2317,3716,2895,2935,2855,0,0,0,0,0,0,15.24,14.98,15.25
$GC,1612,-0.79,-116.8,2317,3717,2935,2855,409.3,-21.2,89,1617,0.00,2.25,0.00,0.000,1030,0.000,0.041,2317,2292,2895,2935,2855,0,0,0,0,0,0,15.08,15.01,15.09
$GC,1866,-0.79,-116.8,2317,2291,2935,2855,466.8,-20.0,96,1871,0.00,2.22,0.00,0.000,516,0.000,0.057,2317,895,2895,2935,2855,0,0,0,0,0,0,15.25,15.01,15.26
$GC,1917,-0.79,-116.8,2317,895,2935,2854,476.0,-20.0,97,1922,0.00,2.28,0.00,0.000,3078,0.000,0.044,2309,2311,2894,2935,2853,0,0,0,0,0,0,15.10,15.01,15.11
$STATE,2028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2028,begin apogee
$GC,2032,-0.16,0.0,2306,2744,2935,2852,500.5,-20.4,100,2125,0.57,0.00,89.10,1.654,10246,0.311,0.000,2514,2743,2419,2497,2341,0,0,0,0,0,0,14.83,14.45,13.81
$STATE,2126,end apogee,CONTROL_FINISHED_OK
$STATE,2126,begin climb
$GC,2127,0.79,116.8,2514,2743,2497,2341,506.9,0.0,102,2232,0.75,2.03,96.22,2.407,10500,0.189,0.054,2811,3904,1943,2030,1856,0,0,0,0,0,0,14.36,14.16,13.40
$GC,2734,0.83,149.8,2811,3903,2028,1851,471.0,8.1,117,2768,0.00,1.90,25.75,1.528,11270,0.000,0.038,2820,2717,1808,1903,1713,0,0,0,0,0,0,14.91,14.83,14.01
$GC,3035,0.83,149.8,2820,2716,1903,1715,432.7,12.9,125,3040,0.00,1.98,0.00,0.000,2308,0.000,0.054,2820,3909,1809,1903,1715,0,0,0,0,0,0,15.06,14.81,15.06
$GC,3331,0.83,149.8,2820,3909,1901,1713,394.9,13.3,132,3336,0.00,1.90,0.00,0.000,3078,0.000,0.039,2829,2721,1807,1901,1713,0,0,0,0,0,0,14.98,14.90,14.99
$GC,3598,0.83,149.8,2829,2721,1901,1710,359.6,12.4,139,3603,0.00,1.95,0.00,0.000,2308,0.000,0.054,2829,3899,1805,1901,1710,0,0,0,0,0,0,15.16,14.92,15.17
$GC,3774,0.83,149.8,2829,3899,1899,1710,340.8,11.6,143,3780,0.00,1.90,0.00,0.000,5126,0.000,0.039,2839,2711,1804,1899,1710,0,0,0,0,0,0,15.03,14.95,15.04
$GC,4043,0.87,186.1,2838,2712,1899,1707,317.3,7.9,150,4077,0.00,2.30,26.80,1.291,10756,0.000,0.053,2849,1319,1660,1754,1566,0,0,0,0,0,0,15.21,14.79,14.30
$GC,4118,0.91,217.9,2849,1319,1753,1566,313.6,8.2,151,4148,0.00,2.28,25.23,1.997,11270,0.000,0.045,2849,2711,1530,1619,1442,0,0,0,0,0,0,14.90,14.83,13.88
$GC,4406,0.91,217.9,2849,2711,1619,1443,260.9,17.2,159,4411,0.00,2.33,0.00,0.000,2564,0.000,0.054,2860,1314,1531,1619,1443,0,0,0,0,0,0,15.03,14.79,15.03
$GC,4497,0.91,217.9,2858,1315,1618,1442,246.3,17.5,161,4502,0.00,2.30,0.00,0.000,1030,0.000,0.044,2860,2722,1530,1618,1442,0,0,0,0,0,0,14.90,14.83,14.92
$GC,4769,0.91,217.9,2859,2723,1618,1439,197.9,16.9,168,4774,0.00,2.30,0.00,0.000,516,0.000,0.054,2870,1315,1528,1618,1439,0,0,0,0,0,0,15.13,14.88,15.14
$GC,4846,0.91,217.9,2870,1314,1618,1439,186.5,14.1,175,4851,0.00,2.30,0.00,0.000,5126,0.000,0.044,2871,2726,1528,1618,1439,0,0,0,0,0,0,14.98,14.90,15.00
$GC,5099,0.91,217.9,2870,2725,1618,1438,151.1,14.0,200,5104,0.00,2.33,0.00,0.000,4612,0.000,0.052,2881,1314,1527,1618,1437,0,0,0,0,0,0,15.14,14.90,15.14
$GC,5187,0.91,217.9,2881,1313,1618,1438,138.5,15.1,208,5193,0.05,2.30,0.00,0.000,5126,0.476,0.044,2868,2731,1528,1618,1438,0,0,0,0,0,0,14.70,14.92,14.94
$GC,5442,0.91,217.9,2867,2731,1618,1437,103.3,13.5,233,5448,0.00,2.33,0.00,0.000,4612,0.000,0.052,2877,1314,1527,1618,1437,0,0,0,0,0,0,15.15,14.91,15.15
$GC,5480,0.91,217.9,2876,1314,1618,1437,98.8,12.6,236,5489,0.00,2.33,0.00,0.000,5126,0.000,0.044,2877,2715,1528,1618,1438,0,0,0,0,0,0,14.90,14.86,14.90
$GC,5729,0.91,217.9,2876,2715,1618,1437,66.0,13.6,261,5735,0.00,2.30,0.00,0.000,4612,0.000,0.052,2888,1312,1528,1618,1438,0,0,0,0,0,0,15.15,14.90,15.14
$GC,5827,0.91,217.9,2887,1311,1618,1438,54.6,11.5,269,5836,0.05,2.33,0.00,0.000,5126,0.424,0.043,2872,2724,1528,1618,1438,0,0,0,0,0,0,14.63,14.85,14.82
$GC,6085,0.91,217.9,2871,2724,1618,1440,24.0,11.5,298,6093,0.00,2.38,0.00,0.000,4612,0.000,0.053,2882,1314,1529,1618,1440,0,0,0,0,0,0,15.13,14.85,15.13
$GC,6237,0.91,217.9,2881,1314,1619,1442,4.5,12.6,323,6247,0.05,2.33,0.00,0.000,5126,0.427,0.042,2866,2718,1530,1618,1442,0,0,0,0,0,0,14.63,14.83,14.81
$STATE,6254,end climb,SURFACE_DEPTH_REACHED
$STATE,6254,begin surface coast
$FINISH,0.2,1.010595
$STATE,6279,end surface coast,CONTROL_FINISHED_OK
$STATE,6279,begin surface
$SM_CCo,6293,102.05,0.116,0,0,828,390.02
$SM_GC,1.40,6.20,0.68,102.05,0.099,0.060,0.116,187,2283,828,-7.30,1.10,390.02,0,0,0,0,0,0,14.91,14.89,14.77
$IRIDIUM_FIX,2209.02,-15609.82,280318,144545
$TT8_MAMPS,0.018725,0.295106
$HUMID,42.16
$INTERNAL_PRESSURE,9.42678
$TCM_TEMP,21.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,53.4,7.1
$24V_AH,13.40,44.495
$10V_AH,13.62,0.000
$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,14.600,68.300,263.100,102.050,0.000,26.982,44.891,103.342,0.500,0.000,9.153,1316.240,3373.125,436.472,1480.795,71.334,0.000,1004.875,0.000,1267.956,0.000,5.996,0.000
$DEVICE_MAMPS,475.830,82.620,2406.690,116.280,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,222.911,180.505,326.478,339.235,520.504,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342964
$DATA_FILE_SIZE,30696,329
$CAP_FILE_SIZE,73067,0
$CFSIZE,2097086464,2077917184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.209,312.62,1
$GPS,280318,163655,2220.152,-15611.916,7,0.9,7,9.9,0.0,0.0,9,142.8