version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 168
start: 3 28 118 22 56 45
data:
$ID,626
$MISSION,2
$DIVE,168
$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,45
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2360
$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
$GPS1,280318,225159,2221.1184,-15611.4434,28,1.5,28,9.9,0.0,0.0,5,118.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-73.9
$GPS2,280318,225622,2221.1353,-15611.4434,7,0.7,7,9.9,0.6,303.0,12,55.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,M5
$TGT_LATLONG,2224.200,-15605.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,92.6,12103,-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,15,-0.79,-116.8,190,2285,808,769,0.0,0.0,0,79,0.00,0.00,-60.65,0.000,16390,0.000,0.000,189,2286,2839,2860,2818,0,0,0,0,0,0,14.95,13.81,14.92
$GC,82,-0.79,-116.8,189,2286,2860,2818,4.6,-8.7,8,100,6.93,2.35,0.00,0.000,2308,0.444,0.046,2301,3714,2839,2860,2818,0,0,0,0,0,0,14.47,14.67,14.74
$GC,384,-0.79,-116.8,2300,3714,2860,2816,106.3,-30.1,37,389,0.00,2.30,0.00,0.000,3078,0.000,0.056,2301,2317,2838,2860,2816,0,0,0,0,0,0,14.91,14.82,14.92
$GC,637,-0.79,-116.8,2300,2315,2861,2816,182.8,-28.6,62,642,0.00,2.30,0.00,0.000,2308,0.000,0.058,2291,3711,2838,2860,2816,0,0,0,0,0,0,15.11,14.86,15.11
$GC,661,-0.79,-116.8,2290,3710,2860,2816,189.0,-27.8,64,667,0.08,2.30,0.00,0.000,3078,0.403,0.052,2315,2299,2837,2858,2816,0,0,0,0,0,0,14.69,14.88,14.91
$GC,914,-0.79,-116.8,2315,2296,2863,2816,249.3,-23.7,74,915,0.00,0.00,0.00,0.000,2054,0.000,0.000,2315,2296,2839,2863,2816,0,0,0,0,0,0,15.17,15.18,15.18
$GC,1153,-0.79,-116.8,2315,2296,2865,2816,302.2,-22.1,80,1155,0.00,0.00,0.00,0.000,2054,0.000,0.000,2315,2297,2840,2865,2816,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1395,-0.79,-116.8,2315,2296,2866,2816,355.4,-22.0,86,1400,0.00,2.28,0.00,0.000,2564,0.000,0.061,2315,894,2840,2865,2816,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1461,-0.79,-116.8,2315,893,2865,2816,365.2,-21.8,87,1466,0.00,2.28,0.00,0.000,3078,0.000,0.049,2305,2299,2840,2865,2815,0,0,0,0,0,0,15.08,14.99,15.09
$GC,1718,-0.79,-116.8,2305,2299,2865,2816,425.8,-22.1,94,1724,0.00,2.33,0.00,0.000,2308,0.000,0.069,2304,3717,2840,2865,2815,0,0,0,0,0,0,15.25,14.97,15.25
$GC,1795,-0.79,-116.8,2304,3716,2865,2815,434.6,-21.9,95,1802,0.00,2.28,0.00,0.000,3078,0.000,0.049,2304,2298,2840,2865,2815,0,0,0,0,0,0,15.09,15.00,15.11
$GC,2041,-0.79,-116.8,2303,2298,2865,2812,491.1,-20.5,102,2046,0.00,2.28,0.00,0.000,2564,0.000,0.061,2303,895,2838,2865,2811,0,0,0,0,0,0,15.26,15.00,15.26
$GC,2072,-0.79,-116.8,2303,894,2865,2812,491.1,-20.5,102,2078,0.00,2.30,0.00,0.000,3078,0.000,0.052,2304,2303,2838,2865,2811,0,0,0,0,0,0,15.10,15.00,15.11
$STATE,2083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2083,begin apogee
$GC,2087,-0.16,0.0,2301,2737,2865,2811,500.4,-20.9,103,2180,0.60,0.00,89.80,1.588,10246,0.318,0.000,2516,2737,2359,2437,2281,0,0,0,0,0,0,14.83,14.47,13.90
$STATE,2181,end apogee,CONTROL_FINISHED_OK
$STATE,2181,begin climb
$GC,2183,0.79,116.8,2516,2737,2437,2281,507.1,0.0,105,2287,0.73,2.00,93.00,1.942,10500,0.191,0.062,2804,3912,1883,1978,1788,0,0,0,0,0,0,14.38,14.20,13.53
$GC,2523,0.79,116.8,2803,3912,1975,1786,486.0,11.3,113,2531,0.00,1.95,0.00,0.000,3078,0.000,0.047,2813,2721,1880,1975,1785,0,0,0,0,0,0,14.79,14.71,14.81
$GC,2769,0.79,116.8,2813,2721,1975,1782,455.4,10.9,120,2770,0.00,0.00,0.00,0.000,2054,0.000,0.000,2813,2721,1878,1975,1782,0,0,0,0,0,0,15.07,15.07,15.07
$GC,3012,0.81,137.5,2813,2720,1975,1779,433.2,8.8,126,3036,0.00,2.33,16.05,1.368,10756,0.000,0.052,2824,1305,1797,1899,1696,0,0,0,0,0,0,15.13,14.79,14.26
$GC,3295,0.81,137.5,2824,1306,1897,1693,401.3,11.6,133,3300,0.00,2.33,0.00,0.000,3078,0.000,0.045,2824,2727,1795,1898,1693,0,0,0,0,0,0,14.96,14.88,14.97
$GC,3577,0.81,137.5,2823,2728,1897,1689,368.0,12.3,140,3583,0.00,2.35,0.00,0.000,2564,0.000,0.052,2834,1300,1793,1898,1689,0,0,0,0,0,0,15.16,14.92,15.16
$GC,3593,0.81,137.5,2833,1300,1897,1690,368.0,12.3,140,3599,0.00,2.30,0.00,0.000,5126,0.000,0.045,2834,2719,1794,1898,1690,0,0,0,0,0,0,15.02,14.92,15.03
$GC,3861,0.81,137.5,2834,2720,1897,1687,334.5,11.3,147,3866,0.00,2.33,0.00,0.000,4612,0.000,0.052,2845,1304,1792,1897,1687,0,0,0,0,0,0,15.20,14.95,15.20
$GC,4083,0.81,137.5,2844,1304,1894,1687,312.4,10.6,152,4088,0.00,2.30,0.00,0.000,5126,0.000,0.045,2845,2727,1791,1895,1687,0,0,0,0,0,0,15.05,14.97,15.07
$GC,4345,0.81,139.2,2845,2727,1894,1685,282.8,9.9,159,4346,0.00,0.00,0.00,0.000,4102,0.000,0.000,2845,2727,1789,1894,1685,0,0,0,0,0,0,15.23,15.23,15.23
$GC,4586,0.83,155.3,2845,2727,1893,1685,260.8,9.1,165,4605,0.00,1.92,13.00,1.134,12548,0.000,0.054,2845,3918,1724,1827,1621,0,0,0,0,0,0,15.24,14.83,14.41
$GC,4732,0.83,155.3,2844,3919,1823,1622,247.2,10.6,168,4738,0.05,1.92,0.00,0.000,5126,0.501,0.040,2840,2712,1722,1822,1622,0,0,0,0,0,0,14.71,14.95,14.96
$GC,4990,0.83,155.3,2839,2712,1822,1620,217.4,10.1,175,4991,0.00,0.00,0.00,0.000,4102,0.000,0.000,2840,2712,1721,1823,1620,0,0,0,0,0,0,15.21,15.21,15.21
$GC,5231,0.87,185.2,2840,2712,1823,1619,196.7,8.3,181,5262,0.00,0.00,22.33,1.089,10246,0.000,0.000,2840,2712,1600,1698,1502,0,0,0,0,0,0,15.23,14.88,14.40
$GC,5504,0.87,185.2,2840,2712,1697,1500,163.1,12.4,208,5510,0.00,2.28,0.00,0.000,2564,0.000,0.054,2850,1310,1599,1698,1500,0,0,0,0,0,0,15.13,14.89,15.13
$GC,5531,0.87,185.2,2850,1310,1698,1500,159.8,12.5,210,5540,0.00,2.35,0.00,0.000,1030,0.000,0.044,2850,2722,1599,1698,1500,0,0,0,0,0,0,14.90,14.85,14.92
$GC,5780,0.87,185.2,2850,2723,1698,1499,133.6,10.5,235,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2722,1598,1698,1499,0,0,0,0,0,0,15.14,15.14,15.14
$GC,6028,0.87,185.5,2850,2723,1698,1499,107.0,10.0,260,6033,0.00,2.33,0.00,0.000,516,0.000,0.058,2860,1317,1599,1698,1500,0,0,0,0,0,0,15.16,14.90,15.16
$GC,6143,0.90,212.6,2860,1316,1698,1499,96.9,8.5,270,6175,0.00,2.33,20.12,0.933,9222,0.000,0.042,2860,2728,1492,1586,1399,0,0,0,0,0,0,14.92,14.89,14.33
$GC,6414,0.90,212.6,2860,2728,1586,1399,65.3,11.6,297,6420,0.00,2.33,0.00,0.000,516,0.000,0.050,2871,1314,1492,1586,1399,0,0,0,0,0,0,15.09,14.85,15.10
$GC,6478,0.90,212.6,2871,1313,1586,1399,57.6,12.7,302,6488,0.00,2.33,0.00,0.000,5126,0.000,0.041,2871,2717,1492,1586,1399,0,0,0,0,0,0,14.88,14.81,14.88
$GC,6732,0.90,212.6,2871,2718,1586,1401,24.2,12.9,330,6741,0.00,2.00,0.00,0.000,4356,0.000,0.057,2871,3912,1494,1586,1402,0,0,0,0,0,0,15.10,14.79,15.11
$GC,6791,0.90,212.6,2871,3912,1586,1402,16.2,12.9,339,6800,0.05,1.98,0.00,0.000,5126,0.441,0.038,2865,2713,1494,1586,1402,0,0,0,0,0,0,14.59,14.81,14.77
$STATE,6901,end climb,SURFACE_DEPTH_REACHED
$STATE,6901,begin surface coast
$FINISH,0.3,1.023512
$STATE,6933,end surface coast,CONTROL_FINISHED_OK
$STATE,6933,begin surface
$SM_CCo,6946,105.72,0.120,0,0,767,390.02
$SM_GC,1.21,6.40,0.62,105.72,0.136,0.054,0.120,186,2281,767,-7.30,1.22,390.02,0,0,0,0,0,0,14.89,14.89,14.76
$IRIDIUM_FIX,2211.35,-15612.90,280318,225254
$TT8_MAMPS,0.018725,0.32207
$HUMID,41.73
$INTERNAL_PRESSURE,9.43654
$TCM_TEMP,21.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,53.3,6.4
$24V_AH,13.53,45.280
$10V_AH,13.80,0.000
$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,14.825,63.900,254.300,105.725,0.000,24.093,43.092,101.184,0.500,0.000,8.691,1338.039,3986.824,449.277,1476.075,79.322,0.000,1017.560,0.000,1274.026,0.000,5.460,0.000
$DEVICE_MAMPS,501.075,70.380,1942.335,120.105,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,244.346,199.517,360.583,362.864,556.772,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343028
$DATA_FILE_SIZE,33911,362
$CAP_FILE_SIZE,74628,0
$CFSIZE,2097086464,2077491200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,3015.67,0x2338ba,1,24
$CURRENT,0.175,305.86,1
$GPS,290318,005507,2221.340,-15611.420,17,1.1,17,9.9,0.0,0.0,7,28.0