version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 165
start: 3 28 118 16 41 49
data:
$ID,626
$MISSION,2
$DIVE,165
$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,43
$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
$GPS1,280318,163655,2220.1521,-15611.9160,7,0.9,7,9.9,0.0,0.0,9,142.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-74.6
$GPS2,280318,164126,2220.1848,-15611.9590,9,1.0,9,9.9,1.3,49.5,7,123.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,M5
$TGT_LATLONG,2224.200,-15605.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,92.4,13755,-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,-116.8,188,2278,849,807,0.0,0.0,0,74,0.00,0.00,-56.62,0.000,16386,0.000,0.000,188,2278,2682,2705,2659,0,0,0,0,0,0,15.02,28.83,15.02
$GC,76,-0.79,-116.8,187,2278,2704,2659,3.4,-5.6,7,95,6.90,2.25,-3.72,0.000,18948,0.444,0.073,2314,899,2898,2930,2867,0,0,0,0,0,0,14.53,14.09,14.81
$GC,258,-0.79,-116.8,2313,899,2930,2867,75.8,-37.6,26,268,0.00,2.33,0.00,0.000,3078,0.000,0.048,2305,2282,2898,2930,2867,0,0,0,0,0,0,14.80,14.76,14.83
$GC,505,-0.79,-116.8,2304,2282,2930,2867,162.2,-31.6,51,510,0.00,2.33,0.00,0.000,2308,0.000,0.058,2293,3720,2898,2930,2867,0,0,0,0,0,0,15.11,14.86,15.11
$GC,564,-0.79,-116.8,2293,3720,2930,2867,178.3,-28.0,56,572,0.08,2.28,0.00,0.000,3078,0.416,0.050,2317,2315,2898,2930,2867,0,0,0,0,0,0,14.69,14.88,14.90
$GC,840,-0.79,-116.8,2317,2313,2934,2867,250.9,-24.6,69,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2313,2900,2934,2867,0,0,0,0,0,0,15.17,15.18,15.18
$GC,1080,-0.79,-116.8,2317,2314,2936,2867,308.4,-23.2,75,1085,0.00,2.28,0.00,0.000,516,0.000,0.056,2318,885,2901,2936,2867,0,0,0,0,0,0,15.21,14.96,15.21
$GC,1096,-0.79,-116.8,2318,885,2936,2867,308.4,-23.2,75,1101,0.00,2.30,0.00,0.000,1030,0.000,0.043,2317,2315,2901,2936,2867,0,0,0,0,0,0,15.04,14.96,15.06
$GC,1364,-0.79,-116.8,2317,2315,2937,2867,375.0,-23.2,82,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2315,2901,2936,2867,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1603,-0.79,-116.8,2317,2315,2936,2867,428.0,-22.1,88,1608,0.00,2.28,0.00,0.000,260,0.000,0.060,2317,3719,2901,2936,2867,0,0,0,0,0,0,15.24,14.98,15.25
$GC,1624,-0.79,-116.8,2317,3719,2936,2867,428.0,-22.1,88,1629,0.00,2.28,0.00,0.000,1030,0.000,0.044,2317,2290,2902,2937,2867,0,0,0,0,0,0,15.09,15.00,15.09
$GC,1887,-0.79,-116.8,2317,2290,2936,2866,485.1,-19.8,95,1892,0.00,2.22,0.00,0.000,516,0.000,0.055,2318,889,2901,2936,2867,0,0,0,0,0,0,15.25,15.01,15.26
$GC,1903,-0.79,-116.8,2317,889,2936,2866,485.1,-19.8,95,1908,0.00,2.28,0.00,0.000,1030,0.000,0.044,2318,2303,2901,2936,2866,0,0,0,0,0,0,15.09,15.00,15.11
$STATE,1969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1969,begin apogee
$GC,1973,-0.16,0.0,2317,2733,2936,2865,501.7,-19.8,97,2068,0.55,0.00,91.40,1.750,10246,0.308,0.000,2517,2732,2419,2497,2341,0,0,0,0,0,0,14.83,14.40,13.76
$STATE,2069,end apogee,CONTROL_FINISHED_OK
$STATE,2069,begin climb
$GC,2070,0.79,116.8,2517,2733,2497,2342,508.2,0.0,99,2173,0.73,2.05,95.28,2.245,10500,0.186,0.055,2805,3906,1943,2030,1856,0,0,0,0,0,0,14.32,14.16,13.45
$GC,2676,0.81,140.7,2805,3908,2028,1852,470.9,8.7,114,2702,0.00,1.90,19.12,1.418,11270,0.000,0.039,2814,2720,1844,1939,1749,0,0,0,0,0,0,14.91,14.83,14.12
$GC,2978,0.81,140.7,2813,2721,1939,1746,436.8,11.0,122,2984,0.00,1.98,0.00,0.000,2308,0.000,0.056,2814,3912,1842,1939,1746,0,0,0,0,0,0,15.08,14.83,15.08
$GC,3250,0.81,140.7,2814,3912,1937,1746,408.5,11.3,128,3255,0.00,1.92,0.00,0.000,3078,0.000,0.041,2824,2711,1841,1937,1746,0,0,0,0,0,0,14.98,14.90,15.00
$GC,3503,0.82,141.1,2823,2712,1937,1744,379.8,10.0,135,3508,0.00,1.98,0.00,0.000,2308,0.000,0.056,2823,3911,1840,1937,1744,0,0,0,0,0,0,15.17,14.92,15.17
$GC,3934,0.84,157.6,2823,3911,1932,1744,339.5,9.1,145,3954,0.00,1.90,13.18,1.258,11270,0.000,0.040,2832,2720,1775,1871,1679,0,0,0,0,0,0,15.05,14.97,14.34
$GC,4226,0.84,157.6,2832,2720,1870,1676,308.2,10.3,153,4231,0.00,2.28,0.00,0.000,2564,0.000,0.051,2843,1311,1772,1870,1675,0,0,0,0,0,0,15.16,14.92,15.17
$GC,4258,0.84,157.6,2843,1311,1870,1675,308.2,10.3,153,4263,0.00,2.28,0.00,0.000,5126,0.000,0.044,2843,2716,1773,1870,1676,0,0,0,0,0,0,15.02,14.94,15.03
$GC,4510,0.85,167.4,2842,2717,1870,1673,281.9,9.5,160,4524,0.00,2.30,8.43,1.133,8708,0.000,0.050,2854,1310,1734,1832,1636,0,0,0,0,0,0,15.19,14.81,14.38
$GC,4680,0.85,167.4,2854,1309,1831,1636,265.6,10.1,164,4685,0.00,2.30,0.00,0.000,5126,0.000,0.044,2854,2727,1733,1831,1635,0,0,0,0,0,0,15.02,14.93,15.03
$GC,4953,0.85,173.4,2854,2728,1831,1634,238.3,9.7,171,4963,0.00,2.38,5.57,0.978,12804,0.000,0.052,2865,1306,1710,1810,1611,0,0,0,0,0,0,15.20,14.93,14.39
$GC,5319,0.88,190.6,2864,1305,1809,1612,203.7,9.0,180,5340,0.00,2.30,14.12,1.087,13318,0.000,0.044,2865,2725,1639,1735,1543,0,0,0,0,0,0,15.04,14.96,14.40
$GC,5587,0.89,200.4,2864,2726,1734,1542,175.4,9.5,204,5601,0.00,2.38,8.27,0.993,12804,0.000,0.050,2876,1308,1600,1697,1504,0,0,0,0,0,0,15.14,14.87,14.38
$GC,5717,0.89,200.4,2875,1308,1696,1504,159.7,13.3,216,5723,0.08,2.30,0.00,0.000,5126,0.438,0.044,2852,2720,1600,1696,1504,0,0,0,0,0,0,14.67,14.88,14.90
$GC,5972,0.89,200.4,2852,2721,1696,1504,131.4,10.6,241,5978,0.00,2.30,0.00,0.000,516,0.000,0.051,2862,1305,1600,1696,1504,0,0,0,0,0,0,15.12,14.89,15.13
$GC,5997,0.89,200.4,2861,1305,1696,1504,128.7,10.8,243,6003,0.00,2.30,0.00,0.000,5126,0.000,0.043,2862,2720,1600,1696,1504,0,0,0,0,0,0,14.99,14.90,15.00
$GC,6251,0.94,244.6,2861,2721,1696,1504,104.8,7.5,268,6293,0.00,1.98,33.70,0.977,10500,0.000,0.056,2861,3912,1422,1506,1339,0,0,0,0,0,0,15.14,14.71,14.31
$GC,6361,0.94,244.6,2861,3912,1506,1339,91.5,15.4,278,6366,0.00,1.92,0.00,0.000,1030,0.000,0.039,2871,2723,1423,1506,1341,0,0,0,0,0,0,14.86,14.79,14.88
$GC,6616,0.94,244.6,2871,2722,1506,1341,54.1,14.8,303,6621,0.00,2.28,0.00,0.000,516,0.000,0.053,2882,1309,1423,1506,1340,0,0,0,0,0,0,15.06,14.83,15.07
$GC,6854,0.94,244.6,2882,1309,1506,1342,16.2,17.4,330,6862,0.00,2.35,0.00,0.000,5126,0.000,0.044,2882,2711,1424,1506,1342,0,0,0,0,0,0,14.84,14.81,14.87
$STATE,6933,end climb,SURFACE_DEPTH_REACHED
$STATE,6934,begin surface coast
$FINISH,0.3,1.001816
$STATE,6953,end surface coast,CONTROL_FINISHED_OK
$STATE,6953,begin surface
$SM_CCo,6967,88.45,0.113,0,0,826,390.27
$SM_GC,1.16,6.12,0.65,88.45,0.078,0.054,0.113,187,2284,826,-7.29,1.27,390.27,0,0,0,0,0,0,14.88,14.87,14.76
$IRIDIUM_FIX,2211.35,-15611.96,280318,163754
$TT8_MAMPS,0.018725,0.267393
$HUMID,41.96
$INTERNAL_PRESSURE,9.43654
$TCM_TEMP,21.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.9,6.5
$24V_AH,13.45,44.690
$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,14.450,67.450,289.075,88.450,0.000,28.929,46.313,101.166,0.500,0.000,10.147,1518.210,3648.000,441.033,1658.296,76.518,0.000,1087.254,0.000,1437.056,0.000,5.994,0.000
$DEVICE_MAMPS,443.700,73.440,2244.510,113.220,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,234.051,184.797,334.335,319.907,490.870,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343032
$DATA_FILE_SIZE,30568,346
$CAP_FILE_SIZE,79774,0
$CFSIZE,2097086464,2077818880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.172,315.43,1
$GPS,280318,184030,2220.567,-15611.820,31,0.8,31,9.9,0.0,0.0,9,33.5