version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 174
start: 3 29 118 12 12 13
data:
$ID,626
$MISSION,2
$DIVE,174
$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,43
$R_STBD_OVSHOOT,55
$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
$GPS1,290318,120707,2222.3506,-15611.2881,17,1.1,17,9.9,0.0,0.0,7,34.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.4
$GPS2,290318,121148,2222.3687,-15611.3574,7,1.1,7,9.9,0.5,339.1,7,130.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M5
$TGT_LATLONG,2224.200,-15605.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,98.6,11074,-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,14,begin dive
$GC,15,-0.71,-116.8,188,2369,663,635,0.0,0.0,0,73,0.00,0.00,-55.72,0.000,16386,0.000,0.000,188,2369,2479,2507,2451,0,0,0,0,0,0,15.00,28.83,15.00
$GC,76,-0.71,-116.8,188,2369,2507,2451,3.1,-5.4,7,94,6.97,2.40,-5.00,0.000,18948,0.441,0.076,2332,946,2758,2794,2723,0,0,0,0,0,0,14.50,13.76,14.79
$GC,126,-0.71,-116.8,2332,945,2794,2722,22.1,-36.3,14,135,0.00,2.33,0.00,0.000,3078,0.000,0.047,2331,2321,2757,2794,2721,0,0,0,0,0,0,14.77,14.71,14.78
$GC,386,-0.71,-116.8,2331,2321,2793,2721,105.1,-29.5,41,392,0.00,2.35,0.00,0.000,2308,0.000,0.059,2331,3760,2757,2794,2721,0,0,0,0,0,0,15.07,14.80,15.07
$GC,411,-0.71,-116.8,2331,3761,2794,2721,112.0,-28.5,43,417,0.00,2.28,0.00,0.000,3078,0.000,0.044,2331,2350,2756,2792,2721,0,0,0,0,0,0,14.92,14.83,14.94
$GC,664,-0.71,-116.8,2331,2349,2794,2721,173.4,-21.3,68,669,0.00,2.30,0.00,0.000,2564,0.000,0.058,2331,934,2757,2794,2721,0,0,0,0,0,0,15.12,14.87,15.12
$GC,691,-0.71,-116.8,2331,933,2794,2721,178.2,-20.6,70,698,0.00,2.30,0.00,0.000,3078,0.000,0.044,2331,2352,2757,2794,2721,0,0,0,0,0,0,14.97,14.88,14.98
$GC,938,-0.71,-116.8,2331,2352,2794,2721,235.2,-22.0,83,944,0.00,2.28,0.00,0.000,2308,0.000,0.058,2331,3759,2757,2794,2721,0,0,0,0,0,0,15.17,14.90,15.17
$GC,959,-0.71,-116.8,2331,3759,2794,2721,235.2,-22.0,83,965,0.00,2.25,0.00,0.000,3078,0.000,0.039,2331,2338,2757,2794,2721,0,0,0,0,0,0,15.02,14.93,15.03
$GC,1222,-0.71,-116.8,2331,2336,2794,2721,296.1,-21.0,90,1227,0.00,2.25,0.00,0.000,2564,0.000,0.057,2331,943,2757,2794,2721,0,0,0,0,0,0,15.21,14.95,15.21
$GC,1233,-0.71,-116.8,2331,943,2794,2721,296.1,-21.0,90,1239,0.00,2.28,0.00,0.000,3078,0.000,0.042,2331,2361,2758,2794,2722,0,0,0,0,0,0,15.05,14.95,15.06
$GC,1506,-0.71,-116.8,2331,2361,2795,2721,352.0,-18.9,97,1512,0.00,2.33,0.00,0.000,2564,0.000,0.055,2331,937,2757,2794,2721,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1533,-0.71,-116.8,2331,937,2794,2721,352.0,-18.9,97,1539,0.00,2.28,0.00,0.000,3078,0.000,0.044,2331,2349,2757,2794,2721,0,0,0,0,0,0,15.07,14.97,15.08
$GC,1790,-0.71,-116.8,2331,2349,2794,2721,404.7,-18.0,104,1792,0.00,0.00,0.00,0.000,2054,0.000,0.000,2331,2349,2757,2794,2721,0,0,0,0,0,0,15.24,15.25,15.25
$GC,2030,-0.71,-116.8,2331,2349,2794,2719,445.4,-16.8,110,2032,0.00,0.00,0.00,0.000,2054,0.000,0.000,2331,2349,2756,2794,2718,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2271,-0.71,-116.8,2331,2349,2794,2717,485.2,-16.4,116,2272,0.00,0.00,0.00,0.000,2054,0.000,0.000,2331,2349,2755,2794,2717,0,0,0,0,0,0,15.26,15.27,15.26
$GC,2510,-0.71,-116.8,2331,2349,2794,2713,526.1,-17.2,122,2516,0.00,2.30,0.00,0.000,2564,0.000,0.054,2331,936,2753,2794,2713,0,0,0,0,0,0,15.27,15.01,15.27
$GC,2582,-0.71,-116.8,2331,936,2794,2712,534.0,-17.5,123,2588,0.00,2.30,0.00,0.000,3078,0.000,0.046,2331,2359,2753,2794,2712,0,0,0,0,0,0,15.11,15.01,15.11
$GC,2834,-0.71,-116.8,2331,2359,2794,2708,583.9,-17.9,130,2835,0.00,0.00,0.00,0.000,2054,0.000,0.000,2331,2359,2751,2794,2708,0,0,0,0,0,0,15.27,15.28,15.27
$STATE,2953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2953,begin apogee
$GC,2958,-0.16,0.0,2332,2135,2794,2707,605.4,-17.9,133,3051,0.50,0.05,89.07,1.644,10246,0.296,0.188,2515,2195,2279,2350,2208,0,0,0,0,0,0,14.81,14.42,13.87
$STATE,3052,end apogee,CONTROL_FINISHED_OK
$STATE,3052,begin climb
$GC,3053,0.71,116.8,2515,2195,2349,2210,611.4,0.0,135,3156,0.70,2.40,95.82,1.938,11012,0.188,0.052,2786,3568,1802,1909,1696,0,0,0,0,0,0,14.38,14.20,13.53
$GC,3193,0.71,116.8,2786,3569,1908,1696,609.2,3.6,138,3199,0.00,2.30,0.00,0.000,1030,0.000,0.044,2796,2195,1802,1908,1696,0,0,0,0,0,0,14.47,14.40,14.49
$GC,3438,0.71,116.8,2796,2195,1908,1692,574.4,12.4,145,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2195,1800,1908,1692,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3679,0.71,116.8,2796,2195,1908,1689,544.7,12.1,151,3684,0.00,2.28,0.00,0.000,260,0.000,0.053,2796,3571,1798,1908,1689,0,0,0,0,0,0,15.06,14.83,15.07
$GC,3841,0.71,116.8,2796,3572,1905,1689,522.5,13.8,155,3846,0.00,2.28,0.00,0.000,5126,0.000,0.044,2807,2171,1796,1904,1689,0,0,0,0,0,0,14.95,14.87,14.96
$GC,4123,0.71,116.8,2807,2170,1904,1686,487.7,12.0,162,4129,0.00,2.28,0.00,0.000,4612,0.000,0.057,2818,766,1795,1904,1686,0,0,0,0,0,0,15.15,14.90,15.15
$GC,4194,0.71,116.8,2818,765,1904,1686,482.5,11.9,163,4201,0.05,2.28,0.00,0.000,5126,0.473,0.040,2803,2175,1795,1904,1686,0,0,0,0,0,0,14.69,14.93,14.95
$GC,4447,0.71,116.8,2802,2176,1903,1684,450.4,10.9,170,4449,0.00,0.00,0.00,0.000,4102,0.000,0.000,2803,2176,1794,1904,1684,0,0,0,0,0,0,15.19,15.19,15.19
$GC,4688,0.72,124.4,2802,2176,1903,1682,427.1,9.6,176,4699,0.00,2.25,6.05,1.161,12548,0.000,0.050,2802,3569,1770,1881,1659,0,0,0,0,0,0,15.21,14.83,14.35
$GC,4915,0.72,124.4,2802,3569,1877,1660,405.1,11.1,181,4920,0.00,2.25,0.00,0.000,5126,0.000,0.045,2813,2170,1767,1876,1659,0,0,0,0,0,0,15.03,14.95,15.04
$GC,5172,0.72,124.4,2813,2170,1876,1658,374.8,10.5,188,5177,0.00,2.30,0.00,0.000,4612,0.000,0.057,2824,762,1767,1877,1658,0,0,0,0,0,0,15.21,14.95,15.21
$GC,5269,0.72,124.4,2824,761,1875,1658,365.6,10.9,190,5275,0.08,2.25,0.00,0.000,5126,0.425,0.041,2799,2174,1767,1876,1658,0,0,0,0,0,0,14.73,14.97,14.97
$GC,5537,0.72,130.4,2799,2176,1875,1656,338.0,9.7,197,5548,0.00,2.25,5.57,1.025,8452,0.000,0.049,2799,3572,1746,1856,1636,0,0,0,0,0,0,15.22,14.85,14.38
$GC,5849,0.72,130.4,2798,3572,1853,1636,306.6,10.7,204,5854,0.00,2.25,0.00,0.000,5126,0.000,0.044,2809,2167,1745,1853,1637,0,0,0,0,0,0,15.04,14.97,15.06
$GC,6101,0.74,161.7,2809,2167,1853,1636,282.9,8.2,211,6128,0.00,0.00,24.92,1.193,12294,0.000,0.000,2810,2167,1618,1723,1514,0,0,0,0,0,0,15.22,14.85,14.33
$GC,6341,0.74,161.7,2810,2167,1717,1511,253.0,13.1,217,6342,0.00,0.00,0.00,0.000,4102,0.000,0.000,2810,2167,1614,1718,1511,0,0,0,0,0,0,15.13,15.14,15.14
$GC,6581,0.74,161.7,2809,2167,1718,1510,223.8,12.1,223,6582,0.00,0.00,0.00,0.000,4102,0.000,0.000,2810,2167,1613,1717,1510,0,0,0,0,0,0,15.17,15.17,15.17
$GC,6821,0.74,161.7,2809,2167,1718,1510,195.8,11.6,229,6822,0.00,0.00,0.00,0.000,4102,0.000,0.000,2810,2167,1614,1718,1510,0,0,0,0,0,0,15.20,15.20,15.20
$GC,7064,0.74,161.7,2809,2167,1717,1510,170.4,11.6,253,7070,0.00,2.28,0.00,0.000,4612,0.000,0.057,2821,771,1613,1717,1510,0,0,0,0,0,0,15.18,14.94,15.19
$GC,7225,0.74,161.7,2820,771,1717,1510,151.5,11.9,268,7230,0.00,2.25,0.00,0.000,5126,0.000,0.039,2820,2174,1613,1717,1510,0,0,0,0,0,0,15.03,14.95,15.04
$GC,7480,0.74,165.2,2820,2176,1717,1510,125.7,9.8,293,7486,0.00,2.25,0.00,0.000,4356,0.000,0.051,2820,3569,1614,1717,1511,0,0,0,0,0,0,15.16,14.92,15.16
$GC,7519,0.74,165.2,2820,3569,1717,1511,121.8,10.0,296,7528,0.05,2.30,0.00,0.000,5126,0.428,0.043,2814,2170,1614,1717,1511,0,0,0,0,0,0,14.64,14.89,14.82
$GC,7769,0.75,181.4,2814,2170,1717,1512,97.6,9.1,321,7793,0.00,2.30,15.23,0.912,12804,0.000,0.056,2825,770,1536,1638,1434,0,0,0,0,0,0,15.16,14.74,14.38
$GC,7838,0.75,181.4,2825,770,1637,1434,90.5,10.5,327,7844,0.00,2.25,0.00,0.000,5126,0.000,0.037,2825,2174,1535,1637,1434,0,0,0,0,0,0,14.95,14.88,14.97
$GC,8093,0.75,181.4,2825,2176,1637,1435,63.5,10.6,352,8098,0.00,2.33,0.00,0.000,4612,0.000,0.054,2836,763,1536,1637,1435,0,0,0,0,0,0,15.11,14.87,15.11
$GC,8187,0.75,181.4,2836,762,1637,1436,53.2,10.7,360,8193,0.08,2.28,0.00,0.000,5126,0.437,0.037,2811,2184,1536,1637,1435,0,0,0,0,0,0,14.64,14.89,14.89
$GC,8440,0.76,189.4,2811,2186,1637,1437,29.3,9.5,385,8450,0.00,0.00,7.45,0.753,8198,0.000,0.000,2811,2186,1503,1605,1402,0,0,0,0,0,0,15.11,14.86,14.41
$STATE,8717,end climb,SURFACE_DEPTH_REACHED
$STATE,8717,begin surface coast
$FINISH,0.3,1.010570
$STATE,8766,end surface coast,CONTROL_FINISHED_OK
$STATE,8767,begin surface
$SM_CCo,8780,123.60,0.115,0,0,648,400.08
$SM_CCo,8906,-0.12,0.000,0,0,650,400.08
$SM_CCo,8909,0.30,0.421,0,0,647,400.08
$SM_GC,1.20,6.10,0.22,0.30,0.101,0.077,0.421,188,2349,647,-7.29,-1.50,400.08,0,0,0,0,0,0,14.88,14.86,14.76
$IRIDIUM_FIX,2211.35,-15609.82,290318,120810
$TT8_MAMPS,0.018725,0.324317
$HUMID,40.62
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.1,6.4
$24V_AH,13.53,46.418
$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,14.525,78.350,244.125,123.900,0.000,28.086,43.723,110.631,0.500,0.000,8.225,1557.399,5431.878,488.763,1637.672,89.128,0.000,1078.324,0.000,1418.721,0.000,5.462,0.000
$DEVICE_MAMPS,472.770,188.190,1937.745,420.750,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,298.194,237.056,421.835,431.553,662.161,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343044
$DATA_FILE_SIZE,40487,439
$CAP_FILE_SIZE,87417,0
$CFSIZE,2097086464,2076901376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.230,296.53,1
$GPS,290318,144154,2222.627,-15611.479,38,1.0,38,9.9,0.7,244.2,9,20.1