version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 170
start: 3 29 118 3 11 56
data:
$ID,626
$MISSION,2
$DIVE,170
$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,410
$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,1
$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,53
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2320
$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
$GPS1,290318,025811,2221.5125,-15611.3135,22,1.8,22,9.9,0.0,0.0,5,41.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-74.1
$GPS2,290318,031133,2221.5408,-15611.3789,6,1.8,6,9.9,0.0,0.0,6,347.2
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,M5
$TGT_LATLONG,2224.200,-15605.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,94.2,11670,-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,-116.8,187,2273,746,717,0.0,0.0,0,75,0.00,0.00,-57.25,0.000,16386,0.000,0.000,187,2273,2622,2643,2601,0,0,0,0,0,0,14.94,28.83,14.95
$GC,77,-0.79,-116.8,187,2273,2644,2601,3.4,-4.9,7,95,6.93,2.25,-3.08,0.000,18948,0.441,0.073,2313,901,2799,2827,2771,0,0,0,0,0,0,14.47,14.04,14.76
$GC,194,-0.79,-116.8,2313,901,2828,2771,48.4,-34.2,21,206,0.00,2.38,0.00,0.000,3078,0.000,0.054,2304,2302,2799,2828,2771,0,0,0,0,0,0,14.77,14.71,14.79
$GC,443,-0.79,-116.8,2303,2302,2828,2770,135.5,-32.5,46,448,0.00,2.30,0.00,0.000,2308,0.000,0.057,2293,3717,2799,2827,2771,0,0,0,0,0,0,15.08,14.83,15.09
$GC,478,-0.79,-116.8,2292,3718,2828,2771,145.8,-31.1,49,485,0.08,2.28,0.00,0.000,3078,0.416,0.051,2316,2322,2800,2829,2771,0,0,0,0,0,0,14.65,14.85,14.88
$GC,762,-0.79,-116.8,2315,2320,2829,2771,220.1,-25.1,71,767,0.00,2.30,0.00,0.000,516,0.000,0.062,2316,893,2800,2829,2771,0,0,0,0,0,0,15.14,14.90,15.15
$GC,788,-0.79,-116.8,2315,893,2829,2770,220.1,-25.1,71,794,0.00,2.30,0.00,0.000,3078,0.000,0.051,2307,2307,2799,2828,2771,0,0,0,0,0,0,15.00,14.90,15.02
$GC,1047,-0.79,-116.8,2306,2307,2830,2771,286.1,-22.9,78,1052,0.00,2.30,0.00,0.000,2308,0.000,0.067,2304,3710,2800,2830,2770,0,0,0,0,0,0,15.21,14.92,15.21
$GC,1113,-0.79,-116.8,2303,3711,2831,2771,295.9,-22.9,79,1118,0.00,2.28,0.00,0.000,3078,0.000,0.048,2304,2290,2800,2830,2771,0,0,0,0,0,0,15.05,14.96,15.06
$GC,1370,-0.79,-116.8,2303,2290,2831,2770,358.2,-22.1,86,1375,0.00,2.25,0.00,0.000,2564,0.000,0.061,2304,898,2800,2831,2770,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1403,-0.79,-116.8,2303,897,2831,2770,358.2,-22.1,86,1408,0.00,2.30,0.00,0.000,3078,0.000,0.056,2303,2305,2800,2831,2770,0,0,0,0,0,0,15.07,14.97,15.09
$GC,1656,-0.79,-116.8,2302,2305,2831,2770,421.7,-22.7,93,1661,0.00,2.30,0.00,0.000,2308,0.000,0.063,2292,3719,2800,2831,2770,0,0,0,0,0,0,15.25,14.97,15.25
$GC,1747,-0.79,-116.8,2291,3719,2830,2770,438.4,-21.4,95,1753,0.08,2.28,0.00,0.000,3078,0.385,0.048,2317,2296,2800,2830,2770,0,0,0,0,0,0,14.82,15.00,15.03
$GC,2020,-0.79,-116.8,2317,2296,2830,2766,488.0,-17.2,102,2025,0.00,2.25,0.00,0.000,516,0.000,0.062,2317,897,2798,2830,2766,0,0,0,0,0,0,15.26,15.00,15.26
$GC,2056,-0.79,-116.8,2317,896,2830,2766,488.0,-17.2,102,2063,0.00,2.28,0.00,0.000,1030,0.000,0.046,2318,2310,2797,2830,2765,0,0,0,0,0,0,15.09,15.01,15.10
$STATE,2100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2100,begin apogee
$GC,2105,-0.16,0.0,2318,2737,2830,2764,502.8,-17.8,104,2198,0.55,0.00,90.07,1.627,10246,0.312,0.000,2516,2738,2318,2399,2238,0,0,0,0,0,0,14.82,14.47,13.90
$STATE,2199,end apogee,CONTROL_FINISHED_OK
$STATE,2199,begin climb
$GC,2201,0.79,116.8,2517,2738,2399,2239,507.7,0.0,106,2304,0.73,1.98,92.88,1.892,10500,0.194,0.056,2803,3902,1842,1943,1742,0,0,0,0,0,0,14.37,14.12,13.57
$GC,2347,0.79,116.8,2803,3902,1941,1742,498.9,7.3,110,2352,0.00,1.98,0.00,0.000,3078,0.000,0.044,2812,2721,1841,1941,1742,0,0,0,0,0,0,14.54,14.46,14.55
$GC,2629,0.79,116.8,2812,2720,1941,1737,463.1,12.3,117,2634,0.00,2.30,0.00,0.000,2564,0.000,0.050,2823,1308,1839,1941,1737,0,0,0,0,0,0,15.01,14.78,15.01
$GC,2671,0.79,116.8,2823,1308,1941,1737,457.7,12.4,118,2676,0.00,2.30,0.00,0.000,1030,0.000,0.044,2823,2711,1839,1941,1737,0,0,0,0,0,0,14.88,14.80,14.88
$GC,2954,0.79,116.8,2823,2712,1941,1732,425.1,10.8,125,2959,0.00,2.30,0.00,0.000,516,0.000,0.050,2833,1308,1837,1941,1733,0,0,0,0,0,0,15.11,14.88,15.12
$GC,3340,0.79,122.9,2833,1308,1938,1730,386.8,9.7,134,3350,0.00,2.30,4.80,1.108,13318,0.000,0.044,2834,2730,1817,1922,1712,0,0,0,0,0,0,15.02,14.94,14.35
$GC,3597,0.79,122.9,2833,2730,1920,1711,355.9,11.4,141,3602,0.00,1.92,0.00,0.000,4356,0.000,0.057,2833,3916,1816,1920,1712,0,0,0,0,0,0,15.19,14.93,15.19
$GC,3744,0.79,122.9,2833,3917,1918,1712,341.4,11.6,144,3750,0.05,1.92,0.00,0.000,5126,0.499,0.041,2828,2708,1815,1918,1712,0,0,0,0,0,0,14.73,14.97,14.98
$GC,4003,0.82,146.5,2827,2708,1917,1709,313.9,8.7,151,4027,0.00,2.25,18.40,1.232,10756,0.000,0.049,2838,1312,1719,1822,1616,0,0,0,0,0,0,15.22,14.79,14.38
$GC,4253,0.82,146.5,2838,1312,1819,1614,285.7,12.0,157,4258,0.00,2.30,0.00,0.000,5126,0.000,0.044,2838,2729,1717,1819,1615,0,0,0,0,0,0,15.00,14.91,15.01
$GC,4525,0.82,146.5,2838,2729,1819,1612,252.8,11.8,164,4530,0.00,2.33,0.00,0.000,4612,0.000,0.051,2849,1308,1715,1819,1612,0,0,0,0,0,0,15.19,14.95,15.20
$GC,4541,0.82,146.5,2848,1307,1819,1612,252.8,11.8,164,4547,0.05,2.28,0.00,0.000,5126,0.470,0.044,2833,2718,1715,1818,1612,0,0,0,0,0,0,14.73,14.95,14.97
$GC,4809,0.82,146.5,2833,2720,1818,1610,220.9,10.8,171,4814,0.00,1.92,0.00,0.000,260,0.000,0.057,2833,3917,1714,1818,1611,0,0,0,0,0,0,15.21,14.95,15.22
$GC,4900,0.82,146.5,2833,3917,1817,1611,211.9,10.9,173,4905,0.00,1.92,0.00,0.000,5126,0.000,0.040,2842,2714,1714,1817,1611,0,0,0,0,0,0,15.06,14.98,15.08
$GC,5155,0.84,164.4,2842,2713,1817,1610,185.5,9.0,190,5177,0.00,2.25,13.35,1.047,8708,0.000,0.049,2853,1311,1646,1748,1544,0,0,0,0,0,0,15.21,14.88,14.42
$GC,5201,0.86,179.2,2852,1311,1748,1543,181.0,9.2,194,5225,0.00,2.30,11.62,1.042,13318,0.000,0.043,2853,2727,1587,1687,1488,0,0,0,0,0,0,15.00,14.91,14.36
$GC,5462,0.86,179.2,2852,2727,1687,1489,148.7,11.7,220,5467,0.00,2.33,0.00,0.000,4612,0.000,0.050,2863,1310,1588,1687,1490,0,0,0,0,0,0,15.13,14.88,15.14
$GC,5681,0.86,179.2,2863,1310,1687,1488,123.3,10.9,240,5691,0.03,2.35,0.00,0.000,5126,0.488,0.043,2855,2725,1588,1687,1489,0,0,0,0,0,0,14.64,14.84,14.80
$GC,5931,0.90,208.3,2855,2725,1686,1488,98.0,8.4,265,5959,0.00,2.35,22.15,0.950,10756,0.000,0.050,2865,1305,1467,1562,1373,0,0,0,0,0,0,15.15,14.73,14.39
$GC,6309,0.90,208.3,2865,1305,1562,1376,48.6,13.5,298,6318,0.00,2.35,0.00,0.000,5126,0.000,0.044,2865,2718,1469,1562,1376,0,0,0,0,0,0,14.88,14.84,14.89
$GC,6579,0.90,208.3,2865,2718,1562,1378,9.7,14.1,335,6587,0.00,2.00,0.00,0.000,4356,0.000,0.056,2865,3915,1470,1562,1378,0,0,0,0,0,0,15.09,14.78,15.09
$GC,6615,0.90,208.3,2865,3915,1562,1379,4.9,13.6,340,6625,0.03,1.98,0.00,0.000,5126,0.526,0.038,2867,2719,1470,1562,1379,0,0,0,0,0,0,14.59,14.80,14.75
$STATE,6632,end climb,SURFACE_DEPTH_REACHED
$STATE,6632,begin surface coast
$FINISH,0.7,1.023412
$STATE,6663,end surface coast,CONTROL_FINISHED_OK
$STATE,6663,begin surface
$SM_CCo,6677,117.68,0.119,0,0,647,409.89
$SM_CCo,6797,-0.15,0.000,0,0,650,409.89
$SM_CCo,6800,0.38,0.349,0,0,647,409.89
$SM_GC,1.35,6.30,0.65,0.38,0.116,0.057,0.349,187,2277,647,-7.30,0.96,409.89,0,0,0,0,0,0,14.89,14.88,14.78
$IRIDIUM_FIX,2211.35,-15615.03,290318,030141
$TT8_MAMPS,0.018725,0.324317
$HUMID,40.90
$INTERNAL_PRESSURE,9.42678
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.2,6.5
$24V_AH,13.57,45.662
$10V_AH,13.68,0.000
$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,14.800,81.225,253.275,118.050,0.000,57.190,91.453,485.853,0.500,0.000,8.109,1408.045,3644.064,463.355,1978.693,123.965,0.000,1074.078,0.000,1331.914,0.000,5.443,0.000
$DEVICE_MAMPS,526.320,72.675,1891.845,348.840,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,234.242,190.782,346.121,341.387,523.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343000
$DATA_FILE_SIZE,30570,347
$CAP_FILE_SIZE,86836,0
$CFSIZE,2097086464,2077327360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.191,303.16,1
$GPS,290318,050630,2221.651,-15611.410,40,0.8,40,9.9,0.4,288.5,11,19.4