version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 173
start: 3 29 118 9 41 29
data:
$ID,626
$MISSION,2
$DIVE,173
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$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,200
$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,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,2350
$C_ROLL_CLIMB,2172
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2280
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00061500003
$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
$GPS1,290318,093631,2222.0825,-15611.3066,33,0.8,33,9.9,0.7,303.6,10,142.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-74.1
$GPS2,290318,094104,2222.0940,-15611.3623,7,0.8,7,9.9,0.0,0.0,10,58.5
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M5
$TGT_LATLONG,2224.200,-15605.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,94.3,11249,-20.5,-10.000,-23.08,1791
$D_GRID,600
$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,-0.71,-116.8,188,2359,660,638,0.0,0.0,0,80,0.00,0.00,-62.35,0.000,16390,0.000,0.000,188,2359,2757,2784,2731,0,0,0,0,0,0,15.01,13.79,14.98
$GC,82,-0.71,-116.8,188,2359,2784,2731,4.4,-8.4,8,100,6.97,2.33,0.00,0.000,2564,0.442,0.044,2333,943,2758,2785,2731,0,0,0,0,0,0,14.51,14.71,14.79
$GC,126,-0.71,-116.8,2333,942,2785,2729,25.9,-46.6,14,135,0.00,2.33,0.00,0.000,3078,0.000,0.042,2331,2330,2757,2785,2729,0,0,0,0,0,0,14.77,14.73,14.81
$GC,382,-0.71,-116.8,2331,2330,2784,2729,108.5,-29.4,40,387,0.00,2.33,0.00,0.000,2308,0.000,0.054,2321,3766,2756,2785,2728,0,0,0,0,0,0,15.09,14.83,15.09
$GC,421,-0.71,-116.8,2321,3766,2784,2729,117.8,-28.4,43,428,0.05,2.28,0.00,0.000,3078,0.451,0.048,2337,2356,2757,2785,2729,0,0,0,0,0,0,14.65,14.85,14.88
$GC,668,-0.71,-116.8,2336,2354,2786,2729,179.1,-22.0,68,673,0.00,2.30,0.00,0.000,2564,0.000,0.056,2337,934,2757,2785,2729,0,0,0,0,0,0,15.14,14.89,15.14
$GC,705,-0.71,-116.8,2336,933,2786,2729,186.6,-21.7,71,711,0.00,2.30,0.00,0.000,3078,0.000,0.044,2332,2351,2757,2786,2729,0,0,0,0,0,0,14.98,14.89,15.00
$GC,962,-0.71,-116.8,2332,2350,2788,2729,246.8,-22.7,82,967,0.00,2.30,0.00,0.000,2308,0.000,0.062,2332,3764,2758,2788,2729,0,0,0,0,0,0,15.19,14.92,15.19
$GC,998,-0.71,-116.8,2331,3765,2788,2729,246.8,-22.7,82,1005,0.00,2.25,0.00,0.000,3078,0.000,0.041,2332,2345,2758,2788,2729,0,0,0,0,0,0,15.04,14.95,15.05
$GC,1244,-0.71,-116.8,2332,2345,2789,2729,305.5,-20.8,89,1245,0.00,0.00,0.00,0.000,2054,0.000,0.000,2332,2345,2759,2789,2729,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1484,-0.71,-116.8,2332,2345,2790,2729,349.9,-18.5,95,1485,0.00,0.00,0.00,0.000,2054,0.000,0.000,2332,2345,2759,2790,2729,0,0,0,0,0,0,15.25,15.25,15.25
$GC,1725,-0.71,-116.8,2331,2345,2789,2729,393.6,-18.3,101,1731,0.00,2.25,0.00,0.000,2564,0.000,0.055,2332,945,2759,2789,2729,0,0,0,0,0,0,15.26,15.00,15.26
$GC,1786,-0.71,-116.8,2331,944,2789,2729,401.6,-18.2,102,1792,0.00,2.28,0.00,0.000,3078,0.000,0.044,2331,2358,2759,2789,2729,0,0,0,0,0,0,15.09,15.00,15.11
$GC,2049,-0.71,-116.8,2331,2358,2789,2727,453.0,-17.7,109,2054,0.00,2.28,0.00,0.000,2308,0.000,0.063,2331,3759,2758,2789,2727,0,0,0,0,0,0,15.26,14.99,15.27
$GC,2094,-0.71,-116.8,2331,3759,2789,2726,460.7,-17.8,110,2100,0.00,2.25,0.00,0.000,3078,0.000,0.041,2331,2342,2757,2789,2726,0,0,0,0,0,0,15.11,15.02,15.11
$GC,2371,-0.71,-116.8,2331,2341,2789,2722,508.7,-17.1,117,2377,0.00,2.25,0.00,0.000,2564,0.000,0.057,2331,945,2756,2790,2722,0,0,0,0,0,0,15.27,15.01,15.27
$GC,2463,-0.71,-116.8,2331,944,2789,2721,523.2,-17.3,119,2468,0.00,2.28,0.00,0.000,3078,0.000,0.044,2331,2350,2755,2789,2721,0,0,0,0,0,0,15.09,15.01,15.11
$GC,2736,-0.71,-116.8,2331,2350,2789,2717,568.5,-15.6,126,2737,0.00,0.00,0.00,0.000,2054,0.000,0.000,2331,2351,2753,2789,2717,0,0,0,0,0,0,15.27,15.28,15.28
$STATE,2934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2934,begin apogee
$GC,2938,-0.16,0.0,2331,2139,2789,2714,600.3,-15.9,131,3030,0.50,0.00,89.12,1.662,10246,0.297,0.000,2515,2136,2279,2348,2210,0,0,0,0,0,0,14.83,14.46,13.88
$STATE,3031,end apogee,CONTROL_FINISHED_OK
$STATE,3032,begin climb
$GC,3033,0.71,116.8,2515,2136,2348,2210,605.5,0.0,133,3138,0.70,2.55,96.60,2.084,10500,0.191,0.054,2786,3586,1802,1910,1695,0,0,0,0,0,0,14.38,14.21,13.52
$GC,3214,0.71,116.8,2786,3587,1908,1695,596.9,6.9,137,3221,0.00,2.30,0.00,0.000,1030,0.000,0.045,2797,2202,1801,1908,1694,0,0,0,0,0,0,14.58,14.52,14.59
$GC,3460,0.71,116.8,2797,2201,1908,1690,560.1,13.2,144,3465,0.00,2.33,0.00,0.000,260,0.000,0.054,2797,3596,1798,1908,1689,0,0,0,0,0,0,14.98,14.75,14.99
$GC,3531,0.71,116.8,2797,3596,1907,1691,554.4,13.2,145,3537,0.00,2.33,0.00,0.000,5126,0.000,0.045,2807,2172,1798,1907,1690,0,0,0,0,0,0,14.87,14.80,14.88
$GC,3784,0.71,116.8,2807,2171,1907,1687,515.4,13.2,152,3789,0.00,2.30,0.00,0.000,4612,0.000,0.058,2819,768,1797,1907,1687,0,0,0,0,0,0,15.10,14.85,15.11
$GC,3810,0.71,116.8,2819,766,1907,1687,515.4,13.2,152,3816,0.05,2.30,0.00,0.000,5126,0.479,0.039,2803,2198,1797,1907,1687,0,0,0,0,0,0,14.66,14.88,14.89
$GC,4068,0.71,116.8,2803,2199,1906,1684,479.7,12.5,159,4073,0.00,2.35,0.00,0.000,4612,0.000,0.057,2814,760,1795,1906,1684,0,0,0,0,0,0,15.16,14.91,15.16
$GC,4089,0.71,116.8,2814,760,1907,1685,479.7,12.5,159,4094,0.00,2.28,0.00,0.000,5126,0.000,0.037,2814,2178,1795,1906,1684,0,0,0,0,0,0,15.01,14.93,15.02
$GC,4351,0.71,116.8,2814,2181,1905,1683,445.6,11.9,166,4353,0.05,0.00,0.00,0.000,4102,0.507,0.000,2798,2181,1793,1904,1682,0,0,0,0,0,0,14.73,15.01,14.98
$GC,4591,0.71,116.8,2798,2181,1904,1681,420.6,10.2,172,4596,0.00,2.25,0.00,0.000,260,0.000,0.054,2798,3574,1792,1903,1681,0,0,0,0,0,0,15.20,14.96,15.21
$GC,4823,0.71,117.4,2798,3575,1900,1681,400.2,10.0,177,4828,0.00,2.28,0.00,0.000,5126,0.000,0.045,2810,2159,1790,1900,1681,0,0,0,0,0,0,15.06,14.98,15.07
$GC,5075,0.72,130.5,2809,2158,1900,1680,373.0,9.2,184,5095,0.00,2.30,10.15,1.222,12804,0.000,0.057,2820,771,1744,1854,1634,0,0,0,0,0,0,15.23,14.93,14.38
$GC,5206,0.72,130.5,2820,771,1852,1634,358.7,11.3,187,5212,0.05,2.25,0.00,0.000,5126,0.474,0.039,2804,2183,1742,1852,1632,0,0,0,0,0,0,14.71,14.95,14.95
$GC,5479,0.72,130.5,2804,2185,1852,1632,325.2,11.5,194,5484,0.00,2.25,0.00,0.000,4356,0.000,0.054,2804,3572,1741,1852,1631,0,0,0,0,0,0,15.21,14.95,15.21
$GC,5801,0.73,150.6,2804,3572,1850,1633,291.8,8.8,202,5825,0.00,2.25,16.00,1.178,13318,0.000,0.044,2814,2170,1661,1768,1555,0,0,0,0,0,0,15.06,14.98,14.38
$GC,6082,0.73,150.6,2814,2170,1767,1553,259.9,12.3,209,6088,0.00,2.30,0.00,0.000,4356,0.000,0.052,2815,3574,1660,1767,1553,0,0,0,0,0,0,15.16,14.92,15.17
$GC,6173,0.73,150.6,2814,3573,1765,1554,249.4,12.6,211,6179,0.05,2.25,0.00,0.000,5126,0.493,0.044,2810,2174,1659,1765,1553,0,0,0,0,0,0,14.69,14.95,14.95
$GC,6446,0.73,150.6,2809,2171,1766,1553,217.5,11.3,218,6451,0.00,2.28,0.00,0.000,4356,0.000,0.052,2810,3568,1659,1765,1553,0,0,0,0,0,0,15.20,14.95,15.19
$GC,6492,0.73,150.6,2810,3569,1765,1553,212.8,11.2,219,6498,0.00,2.25,0.00,0.000,5126,0.000,0.044,2820,2173,1658,1765,1552,0,0,0,0,0,0,15.04,14.97,15.05
$GC,6744,0.74,159.2,2820,2173,1766,1553,187.8,9.5,235,6753,0.00,0.00,7.40,0.942,12294,0.000,0.000,2820,2173,1629,1737,1521,0,0,0,0,0,0,15.20,14.94,14.43
$GC,6992,0.74,159.2,2820,2173,1733,1520,161.5,10.9,260,6998,0.00,0.00,0.00,0.000,4102,0.000,0.000,2820,2173,1626,1733,1520,0,0,0,0,0,0,15.16,15.17,15.16
$GC,7244,0.75,178.8,2820,2173,1733,1520,137.5,8.9,285,7267,0.00,2.30,15.68,0.973,12548,0.000,0.049,2820,3570,1546,1648,1444,0,0,0,0,0,0,15.16,14.75,14.38
$GC,7304,0.75,178.8,2820,3570,1646,1444,131.6,10.2,290,7313,0.05,2.30,0.00,0.000,5126,0.431,0.044,2814,2179,1545,1646,1444,0,0,0,0,0,0,14.61,14.83,14.79
$GC,7552,0.75,178.8,2814,2179,1647,1444,103.7,11.4,315,7558,0.00,2.30,0.00,0.000,4612,0.000,0.057,2825,769,1545,1647,1444,0,0,0,0,0,0,15.12,14.87,15.12
$GC,7762,0.75,178.8,2825,768,1646,1445,80.1,10.8,334,7771,0.03,2.30,0.00,0.000,5126,0.495,0.036,2818,2174,1545,1646,1445,0,0,0,0,0,0,14.65,14.86,14.80
$GC,8010,0.75,178.8,2817,2175,1646,1446,53.9,10.5,359,8016,0.00,2.30,0.00,0.000,4612,0.000,0.055,2828,767,1546,1646,1446,0,0,0,0,0,0,15.12,14.88,15.12
$GC,8059,0.75,178.8,2827,766,1646,1447,49.0,10.1,363,8066,0.05,2.25,0.00,0.000,5126,0.476,0.035,2812,2183,1546,1646,1447,0,0,0,0,0,0,14.66,14.91,14.90
$GC,8315,0.77,204.3,2811,2184,1646,1449,26.7,8.5,390,8341,0.00,2.35,19.45,0.823,8708,0.000,0.053,2822,763,1441,1540,1343,0,0,0,0,0,0,15.11,14.72,14.40
$GC,8385,0.77,204.3,2822,763,1540,1345,19.3,11.9,400,8394,0.00,2.30,0.00,0.000,5126,0.000,0.035,2822,2163,1442,1539,1345,0,0,0,0,0,0,14.83,14.78,14.84
$STATE,8524,end climb,SURFACE_DEPTH_REACHED
$STATE,8524,begin surface coast
$FINISH,0.3,1.023647
$STATE,8550,end surface coast,CONTROL_FINISHED_OK
$STATE,8550,begin surface
$SM_CCo,8564,117.65,0.114,0,0,647,400.08
$SM_CCo,8684,-0.12,0.000,0,0,650,400.08
$SM_CCo,8687,0.38,0.413,0,0,647,400.08
$SM_GC,1.20,6.05,0.28,0.38,0.083,0.065,0.413,188,2367,647,-7.30,-1.19,400.08,0,0,0,0,0,0,14.85,14.84,14.73
$IRIDIUM_FIX,2211.35,-15609.82,290318,093728
$TT8_MAMPS,0.018725,0.328062
$HUMID,40.23
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.6,6.4
$24V_AH,13.52,46.241
$10V_AH,13.57,0.000
$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,14.600,92.300,254.400,118.025,0.000,26.027,48.119,106.212,0.500,0.000,8.228,1583.737,5124.821,506.786,1673.142,88.666,0.000,1146.756,0.000,1456.721,0.000,5.461,0.000
$DEVICE_MAMPS,507.195,66.555,2083.860,413.100,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,288.829,231.061,410.903,410.080,629.220,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343040
$DATA_FILE_SIZE,37283,427
$CAP_FILE_SIZE,91110,0
$CFSIZE,2097086464,2076999680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.196,297.45,1
$GPS,290318,120707,2222.351,-15611.288,17,1.1,17,9.9,0.0,0.0,7,34.3