version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 167
start: 3 28 118 20 50 19
data:
$ID,626
$MISSION,2
$DIVE,167
$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,60
$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,2380
$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
$GPS1,280318,204507,2220.8296,-15611.5820,7,1.1,7,9.9,0.7,232.8,7,155.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-75.1
$GPS2,280318,204955,2220.8870,-15611.6055,17,1.1,17,9.9,0.8,75.0,7,30.7
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,M5
$TGT_LATLONG,2224.200,-15605.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,87.4,12566,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.79,-116.8,189,2275,824,792,0.0,0.0,0,80,0.00,0.00,-61.20,0.000,16390,0.000,0.000,189,2275,2857,2881,2834,0,0,0,0,0,0,14.95,13.81,14.92
$GC,83,-0.79,-116.8,189,2275,2881,2834,4.7,-9.0,8,101,6.90,2.35,0.00,0.000,2308,0.442,0.045,2300,3709,2857,2881,2834,0,0,0,0,0,0,14.48,14.67,14.75
$GC,307,-0.79,-116.8,2300,3709,2885,2834,81.2,-29.2,30,313,0.05,2.28,0.00,0.000,3078,0.466,0.054,2315,2325,2859,2884,2834,0,0,0,0,0,0,14.60,14.80,14.83
$GC,563,-0.79,-116.8,2315,2324,2886,2834,161.5,-30.1,55,569,0.00,2.28,0.00,0.000,2308,0.000,0.060,2306,3702,2859,2885,2834,0,0,0,0,0,0,15.10,14.85,15.10
$GC,617,-0.79,-116.8,2306,3702,2885,2834,176.8,-26.8,60,622,0.00,2.30,0.00,0.000,3078,0.000,0.054,2306,2295,2860,2886,2834,0,0,0,0,0,0,14.96,14.87,14.97
$GC,869,-0.79,-116.8,2305,2294,2888,2834,242.3,-26.1,73,870,0.00,0.00,0.00,0.000,2054,0.000,0.000,2305,2294,2861,2889,2834,0,0,0,0,0,0,15.16,15.17,15.16
$GC,1109,-0.79,-116.8,2305,2294,2891,2834,299.9,-23.3,79,1114,0.00,2.28,0.00,0.000,2564,0.000,0.063,2306,894,2862,2891,2834,0,0,0,0,0,0,15.21,14.95,15.21
$GC,1130,-0.79,-116.8,2305,892,2891,2834,299.9,-23.3,79,1135,0.00,2.28,0.00,0.000,3078,0.000,0.050,2304,2294,2862,2891,2834,0,0,0,0,0,0,15.05,14.95,15.06
$GC,1392,-0.79,-116.8,2304,2294,2891,2834,365.0,-22.4,86,1394,0.00,0.00,0.00,0.000,2054,0.000,0.000,2304,2294,2862,2891,2833,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1632,-0.79,-116.8,2304,2294,2891,2833,417.8,-22.7,92,1637,0.00,2.33,0.00,0.000,2308,0.000,0.067,2304,3710,2862,2891,2833,0,0,0,0,0,0,15.24,14.97,15.25
$GC,1698,-0.79,-116.8,2303,3711,2891,2834,427.3,-23.0,93,1704,0.00,2.28,0.00,0.000,3078,0.000,0.050,2304,2293,2862,2891,2834,0,0,0,0,0,0,15.09,15.00,15.10
$GC,1956,-0.79,-116.8,2304,2292,2891,2833,487.5,-21.1,100,1962,0.00,2.28,0.00,0.000,2564,0.000,0.062,2305,892,2861,2891,2832,0,0,0,0,0,0,15.26,15.00,15.26
$GC,1983,-0.79,-116.8,2304,891,2891,2832,487.5,-21.1,100,1988,0.00,2.30,0.00,0.000,3078,0.000,0.053,2304,2304,2861,2891,2832,0,0,0,0,0,0,15.10,15.00,15.11
$STATE,2038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2038,begin apogee
$GC,2043,-0.16,0.0,2301,2746,2891,2832,505.3,-21.3,102,2137,0.60,0.00,90.60,1.607,10246,0.317,0.000,2516,2746,2379,2458,2301,0,0,0,0,0,0,14.82,14.45,13.83
$STATE,2138,end apogee,CONTROL_FINISHED_OK
$STATE,2138,begin climb
$GC,2139,0.79,116.8,2517,2745,2458,2301,511.6,0.0,104,2242,0.73,2.03,95.30,2.264,10500,0.190,0.061,2804,3899,1903,1995,1811,0,0,0,0,0,0,14.36,14.17,13.47
$GC,2606,0.79,120.6,2804,3899,1993,1810,477.1,9.8,116,2616,0.00,1.92,4.53,1.201,11270,0.000,0.045,2813,2720,1886,1983,1789,0,0,0,0,0,0,14.86,14.78,14.15
$GC,2888,0.81,137.6,2813,2720,1983,1787,450.7,9.1,123,2907,0.00,2.30,14.30,1.423,10756,0.000,0.050,2824,1303,1816,1917,1716,0,0,0,0,0,0,15.09,14.67,14.21
$GC,3103,0.81,137.6,2824,1303,1916,1714,428.7,11.4,128,3108,0.00,2.30,0.00,0.000,3078,0.000,0.045,2824,2711,1815,1916,1714,0,0,0,0,0,0,14.93,14.85,14.95
$GC,3371,0.81,137.6,2824,2711,1916,1711,397.8,10.7,135,3376,0.00,1.95,0.00,0.000,2308,0.000,0.057,2824,3914,1813,1915,1711,0,0,0,0,0,0,15.14,14.90,15.15
$GC,3496,0.81,137.6,2824,3914,1914,1711,383.2,11.7,138,3502,0.00,1.95,0.00,0.000,5126,0.000,0.041,2833,2727,1812,1914,1711,0,0,0,0,0,0,14.96,14.92,15.01
$GC,3773,0.81,137.6,2832,2727,1913,1709,352.0,10.6,145,3779,0.00,2.30,0.00,0.000,4612,0.000,0.052,2844,1300,1811,1914,1708,0,0,0,0,0,0,15.19,14.95,15.19
$GC,3954,0.81,137.6,2844,1300,1913,1708,335.6,10.1,149,3960,0.00,2.30,0.00,0.000,5126,0.000,0.044,2844,2723,1810,1913,1708,0,0,0,0,0,0,15.05,14.97,15.07
$GC,4217,0.82,145.6,2843,2724,1912,1706,308.5,9.6,156,4231,0.00,2.35,6.22,1.119,12804,0.000,0.051,2855,1305,1784,1887,1681,0,0,0,0,0,0,15.22,14.94,14.39
$GC,4363,0.82,145.6,2854,1305,1886,1680,296.1,10.2,159,4369,0.08,2.30,0.00,0.000,5126,0.427,0.044,2831,2728,1783,1886,1680,0,0,0,0,0,0,14.75,14.96,14.97
$GC,4621,0.82,145.6,2830,2728,1886,1679,267.5,10.1,166,4626,0.00,2.33,0.00,0.000,516,0.000,0.052,2841,1305,1783,1886,1680,0,0,0,0,0,0,15.21,14.97,15.22
$GC,4887,0.86,177.4,2841,1304,1885,1680,247.6,8.2,172,4918,0.00,2.30,23.75,1.184,11270,0.000,0.044,2841,2729,1654,1751,1558,0,0,0,0,0,0,15.07,14.98,14.36
$GC,5185,0.86,177.4,2841,2728,1750,1556,210.4,12.7,180,5190,0.00,2.33,0.00,0.000,2564,0.000,0.052,2852,1311,1653,1750,1556,0,0,0,0,0,0,15.15,14.90,15.16
$GC,5617,0.88,191.4,2851,1310,1750,1554,168.9,9.2,212,5637,0.00,2.28,11.62,1.008,9222,0.000,0.044,2852,2718,1596,1694,1498,0,0,0,0,0,0,15.01,14.93,14.39
$GC,5874,0.88,191.4,2851,2718,1693,1498,142.6,10.3,238,5879,0.00,1.95,0.00,0.000,260,0.000,0.057,2852,3917,1595,1693,1498,0,0,0,0,0,0,15.13,14.88,15.14
$GC,5945,0.88,191.4,2851,3917,1693,1498,134.3,12.8,244,5955,0.00,1.98,0.00,0.000,5126,0.000,0.039,2861,2722,1595,1692,1498,0,0,0,0,0,0,14.88,14.84,14.90
$GC,6195,0.88,191.4,2861,2721,1693,1498,106.3,10.8,269,6200,0.00,2.30,0.00,0.000,4612,0.000,0.052,2872,1298,1595,1693,1497,0,0,0,0,0,0,15.14,14.90,15.15
$GC,6355,0.90,213.2,2871,1297,1693,1498,91.6,8.8,283,6379,0.00,2.30,16.88,0.917,13318,0.000,0.043,2872,2724,1507,1601,1414,0,0,0,0,0,0,15.00,14.92,14.41
$GC,6628,0.90,213.2,2872,2724,1601,1416,58.4,13.6,310,6633,0.00,2.35,0.00,0.000,4612,0.000,0.057,2883,1307,1508,1600,1416,0,0,0,0,0,0,15.10,14.85,15.11
$GC,6724,0.90,213.2,2883,1306,1601,1416,45.9,12.9,318,6730,0.08,2.33,0.00,0.000,5126,0.422,0.050,2859,2721,1508,1601,1416,0,0,0,0,0,0,14.66,14.87,14.90
$GC,6996,0.90,213.2,2859,2722,1601,1418,11.8,12.0,355,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2721,1509,1601,1418,0,0,0,0,0,0,15.09,15.10,15.10
$STATE,7076,end climb,SURFACE_DEPTH_REACHED
$STATE,7076,begin surface coast
$FINISH,0.3,1.023343
$STATE,7107,end surface coast,CONTROL_FINISHED_OK
$STATE,7107,begin surface
$SM_CCo,7121,112.35,0.847,1,0,789,390.02
$SM_GC,1.55,6.22,0.68,112.35,0.110,0.063,0.847,190,2292,789,-7.29,1.22,390.02,0,0,0,0,1,0,14.90,14.87,14.11
$IRIDIUM_FIX,2209.02,-15609.82,280318,204612
$TT8_MAMPS,0.019474,0.322819
$HUMID,40.58
$INTERNAL_PRESSURE,9.43654
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.3,7.2
$24V_AH,13.47,45.109
$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,14.650,68.400,263.200,112.350,0.000,33.423,42.018,103.503,0.500,0.000,19.425,1556.116,3726.704,447.958,1727.644,80.913,0.000,1098.892,0.000,1487.977,0.000,5.460,0.000
$DEVICE_MAMPS,465.885,67.320,2264.400,846.855,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,252.592,205.581,372.821,371.451,569.941,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342984
$DATA_FILE_SIZE,34014,373
$CAP_FILE_SIZE,80667,0
$CFSIZE,2097086464,2077589504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.163,310.94,1
$GPS,280318,225159,2221.118,-15611.443,28,1.5,28,9.9,0.0,0.0,5,118.2