version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 175
start: 3 29 118 14 47 9
data:
$ID,626
$MISSION,2
$DIVE,175
$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,46
$R_STBD_OVSHOOT,48
$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
$GPS1,290318,144154,2222.6272,-15611.4795,38,1.0,38,9.9,0.7,244.2,9,20.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-74.4
$GPS2,290318,144644,2222.6440,-15611.5508,15,0.9,15,9.9,0.0,0.0,10,23.5
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M5
$TGT_LATLONG,2224.200,-15605.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,105.6,11250,-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,-116.8,188,2351,660,640,0.0,0.0,0,80,0.00,0.00,-62.10,0.000,16386,0.000,0.000,188,2352,2706,2734,2679,0,0,0,0,0,0,15.00,28.83,15.00
$GC,82,-0.71,-116.8,188,2352,2734,2679,3.6,-6.1,8,100,6.97,0.00,-0.90,0.000,18438,0.439,0.000,2332,2352,2759,2789,2729,0,0,0,0,0,0,14.49,14.04,14.79
$GC,353,-0.71,-116.8,2331,2352,2789,2729,97.6,-30.4,38,358,0.00,2.33,0.00,0.000,2564,0.000,0.057,2332,942,2759,2789,2729,0,0,0,0,0,0,15.07,14.81,15.07
$GC,366,-0.71,-116.8,2332,941,2789,2729,101.1,-30.2,39,372,0.00,2.28,0.00,0.000,3078,0.000,0.044,2331,2337,2759,2789,2729,0,0,0,0,0,0,14.91,14.82,14.92
$GC,621,-0.71,-116.8,2331,2337,2789,2727,169.9,-24.7,64,627,0.00,0.00,0.00,0.000,2054,0.000,0.000,2332,2338,2759,2790,2728,0,0,0,0,0,0,15.11,15.11,15.11
$GC,869,-0.71,-116.8,2331,2337,2791,2729,231.1,-24.8,80,870,0.00,0.00,0.00,0.000,2054,0.000,0.000,2331,2338,2760,2791,2729,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1108,-0.71,-116.8,2331,2337,2792,2729,283.2,-21.1,86,1113,0.00,2.30,0.00,0.000,2308,0.000,0.059,2331,3755,2760,2792,2729,0,0,0,0,0,0,15.20,14.92,15.20
$GC,1131,-0.71,-116.8,2331,3757,2792,2729,283.2,-21.1,86,1136,0.00,2.22,0.00,0.000,3078,0.000,0.039,2331,2349,2760,2792,2729,0,0,0,0,0,0,15.04,14.95,15.05
$GC,1394,-0.71,-116.8,2331,2348,2792,2729,337.8,-18.1,93,1399,0.00,2.28,0.00,0.000,2564,0.000,0.057,2331,941,2760,2792,2729,0,0,0,0,0,0,15.23,14.96,15.23
$GC,1440,-0.71,-116.8,2331,941,2792,2728,346.4,-18.3,94,1445,0.00,2.28,0.00,0.000,3078,0.000,0.045,2331,2352,2760,2792,2728,0,0,0,0,0,0,15.06,14.97,15.07
$GC,1717,-0.71,-116.8,2331,2352,2792,2728,400.2,-18.8,101,1722,0.00,2.28,0.00,0.000,2308,0.000,0.060,2331,3757,2760,2792,2728,0,0,0,0,0,0,15.24,14.96,15.25
$GC,1743,-0.71,-116.8,2331,3759,2792,2728,400.2,-18.8,101,1749,0.00,2.22,0.00,0.000,3078,0.000,0.038,2331,2346,2760,2792,2728,0,0,0,0,0,0,15.08,15.00,15.09
$GC,2001,-0.71,-116.8,2331,2345,2792,2726,449.8,-17.7,108,2007,0.00,2.25,0.00,0.000,2564,0.000,0.056,2331,947,2758,2792,2725,0,0,0,0,0,0,15.26,14.99,15.26
$GC,2017,-0.71,-116.8,2331,947,2792,2725,449.8,-17.7,108,2023,0.00,2.28,0.00,0.000,3078,0.000,0.044,2331,2359,2758,2792,2725,0,0,0,0,0,0,15.09,14.99,15.10
$GC,2285,-0.71,-116.8,2331,2359,2792,2722,498.8,-16.6,115,2290,0.00,2.30,0.00,0.000,2564,0.000,0.055,2331,947,2757,2792,2722,0,0,0,0,0,0,15.26,14.99,15.26
$GC,2337,-0.71,-116.8,2331,947,2792,2721,506.0,-16.7,116,2342,0.00,2.28,0.00,0.000,3078,0.000,0.045,2331,2357,2756,2792,2721,0,0,0,0,0,0,15.09,15.00,15.10
$GC,2609,-0.71,-116.8,2331,2357,2792,2715,552.0,-16.3,123,2610,0.00,0.00,0.00,0.000,2054,0.000,0.000,2331,2357,2754,2792,2717,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2849,-0.71,-116.8,2331,2357,2790,2713,591.0,-16.2,129,2854,0.00,2.30,0.00,0.000,2564,0.000,0.055,2332,947,2752,2792,2713,0,0,0,0,0,0,15.27,15.00,15.27
$GC,2880,-0.71,-116.8,2331,947,2792,2713,591.0,-16.2,129,2886,0.00,2.28,0.00,0.000,3078,0.000,0.046,2331,2350,2752,2792,2713,0,0,0,0,0,0,15.10,15.00,15.11
$STATE,2931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2931,begin apogee
$GC,2935,-0.16,0.0,2331,2138,2792,2712,604.7,-16.1,131,3029,0.50,0.00,90.07,1.639,10246,0.295,0.000,2515,2138,2278,2348,2209,0,0,0,0,0,0,14.81,14.45,13.88
$STATE,3030,end apogee,CONTROL_FINISHED_OK
$STATE,3030,begin climb
$GC,3031,0.71,116.8,2515,2138,2348,2210,609.3,0.0,133,3136,0.70,2.55,97.32,2.126,10500,0.193,0.053,2786,3587,1802,1909,1696,0,0,0,0,0,0,14.37,14.18,13.47
$GC,3151,0.71,116.8,2785,3587,1907,1696,604.9,5.3,136,3157,0.00,2.35,0.00,0.000,1030,0.000,0.043,2796,2190,1802,1908,1696,0,0,0,0,0,0,14.38,14.31,14.39
$GC,3419,0.71,116.8,2796,2189,1908,1691,566.5,13.7,143,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2190,1799,1908,1691,0,0,0,0,0,0,14.94,14.95,14.94
$GC,3660,0.71,116.8,2796,2190,1908,1688,535.6,12.7,149,3665,0.00,2.33,0.00,0.000,260,0.000,0.054,2796,3593,1798,1908,1688,0,0,0,0,0,0,15.05,14.82,15.06
$GC,3786,0.71,116.8,2796,3593,1906,1689,519.8,12.9,152,3791,0.00,2.33,0.00,0.000,5126,0.000,0.044,2807,2162,1797,1906,1688,0,0,0,0,0,0,14.94,14.85,14.95
$GC,4063,0.71,116.8,2806,2162,1906,1685,487.0,11.3,159,4068,0.00,2.28,0.00,0.000,4612,0.000,0.057,2818,768,1795,1906,1685,0,0,0,0,0,0,15.14,14.90,15.14
$GC,4205,0.71,116.8,2818,768,1904,1685,472.2,11.9,162,4211,0.05,2.30,0.00,0.000,5126,0.471,0.041,2803,2201,1794,1904,1685,0,0,0,0,0,0,14.69,14.92,14.95
$GC,4468,0.71,116.8,2802,2202,1903,1683,440.4,10.8,169,4473,0.00,2.22,0.00,0.000,4356,0.000,0.053,2802,3574,1793,1904,1683,0,0,0,0,0,0,15.19,14.94,15.19
$GC,4624,0.71,116.8,2802,3575,1901,1684,425.9,11.7,172,4632,0.00,2.25,0.00,0.000,5126,0.000,0.044,2813,2171,1792,1901,1684,0,0,0,0,0,0,15.04,14.95,15.04
$GC,4870,0.71,116.8,2813,2170,1901,1681,395.7,10.3,179,4876,0.00,2.28,0.00,0.000,4612,0.000,0.057,2824,768,1790,1900,1681,0,0,0,0,0,0,15.21,14.95,15.21
$GC,5087,0.72,131.3,2824,767,1899,1681,376.5,9.2,184,5104,0.08,2.25,10.73,1.235,13318,0.425,0.041,2799,2179,1742,1852,1632,0,0,0,0,0,0,14.72,14.98,14.34
$GC,5356,0.72,131.3,2799,2179,1848,1630,348.9,10.2,191,5362,0.00,2.25,0.00,0.000,260,0.000,0.052,2799,3567,1739,1848,1630,0,0,0,0,0,0,15.18,14.93,15.18
$GC,5383,0.72,131.3,2799,3568,1847,1631,348.9,10.2,191,5388,0.00,2.25,0.00,0.000,5126,0.000,0.044,2810,2167,1739,1848,1631,0,0,0,0,0,0,15.02,14.95,15.04
$GC,5639,0.72,131.3,2809,2166,1847,1629,314.2,12.8,198,5645,0.00,2.28,0.00,0.000,4612,0.000,0.056,2820,766,1738,1847,1629,0,0,0,0,0,0,15.21,14.95,15.21
$GC,5845,0.72,131.3,2820,765,1846,1629,291.7,11.0,203,5852,0.05,2.25,0.00,0.000,5126,0.467,0.040,2805,2179,1737,1846,1629,0,0,0,0,0,0,14.72,14.97,14.97
$GC,6124,0.73,152.3,2804,2180,1845,1629,266.7,8.8,210,6148,0.00,2.28,16.33,1.151,8452,0.000,0.052,2805,3565,1655,1760,1551,0,0,0,0,0,0,15.21,14.89,14.39
$GC,6240,0.73,152.3,2805,3565,1757,1552,257.6,10.1,212,6247,0.00,2.25,0.00,0.000,5126,0.000,0.043,2815,2171,1654,1757,1552,0,0,0,0,0,0,14.99,14.91,15.00
$GC,6485,0.73,152.3,2814,2170,1757,1551,227.8,10.1,219,6490,0.00,2.28,0.00,0.000,4612,0.000,0.056,2826,768,1654,1757,1551,0,0,0,0,0,0,15.18,14.92,15.18
$GC,6501,0.73,152.3,2826,768,1757,1551,227.8,10.1,219,6507,0.05,2.25,0.00,0.000,5126,0.478,0.040,2810,2171,1654,1757,1551,0,0,0,0,0,0,14.69,14.95,14.95
$GC,6770,0.75,183.7,2810,2174,1757,1550,202.4,8.2,226,6796,0.00,0.00,24.02,1.089,8198,0.000,0.000,2810,2174,1529,1627,1432,0,0,0,0,0,0,15.19,14.85,14.36
$GC,7011,0.75,183.7,2810,2174,1624,1429,173.6,13.5,247,7016,0.00,2.28,0.00,0.000,260,0.000,0.051,2810,3569,1526,1624,1429,0,0,0,0,0,0,15.09,14.86,15.10
$GC,7173,0.75,183.7,2810,3569,1624,1430,151.5,13.9,262,7179,0.00,2.28,0.00,0.000,5126,0.000,0.044,2820,2165,1527,1624,1430,0,0,0,0,0,0,14.97,14.88,14.97
$GC,7428,0.75,183.7,2820,2165,1624,1430,120.6,11.6,287,7434,0.00,2.28,0.00,0.000,4612,0.000,0.055,2831,766,1527,1624,1430,0,0,0,0,0,0,15.13,14.88,15.13
$GC,7452,0.75,183.7,2830,766,1624,1429,118.0,10.7,289,7458,0.05,2.25,0.00,0.000,5126,0.484,0.037,2815,2173,1527,1624,1430,0,0,0,0,0,0,14.64,14.90,14.90
$GC,7706,0.75,183.7,2815,2175,1624,1431,90.6,11.8,314,7707,0.00,0.00,0.00,0.000,4102,0.000,0.000,2816,2175,1527,1624,1431,0,0,0,0,0,0,15.14,15.14,15.14
$GC,7947,0.75,183.7,2815,2176,1624,1432,64.4,10.9,338,7953,0.00,2.33,0.00,0.000,4612,0.000,0.057,2826,760,1528,1624,1433,0,0,0,0,0,0,15.14,14.89,15.14
$GC,8101,0.76,194.4,2826,760,1624,1434,50.1,9.4,351,8119,0.00,2.25,9.80,0.807,13318,0.000,0.036,2825,2174,1482,1579,1386,0,0,0,0,0,0,14.98,14.91,14.42
$GC,8378,0.76,194.4,2826,2173,1579,1387,19.2,10.4,385,8387,0.00,2.38,0.00,0.000,4612,0.000,0.055,2836,763,1483,1579,1388,0,0,0,0,0,0,15.08,14.80,15.09
$STATE,8524,end climb,SURFACE_DEPTH_REACHED
$STATE,8525,begin surface coast
$FINISH,0.3,1.000324
$STATE,8555,end surface coast,CONTROL_FINISHED_OK
$STATE,8555,begin surface
$SM_CCo,8571,122.53,0.114,0,0,648,400.08
$SM_CCo,8696,-0.12,0.000,0,0,650,400.08
$SM_CCo,8699,0.35,0.425,0,0,647,400.08
$SM_GC,1.10,5.97,2.60,0.35,0.067,0.042,0.425,187,2333,647,-7.29,-1.72,400.08,0,0,0,0,0,0,14.88,14.83,14.75
$IRIDIUM_FIX,2213.68,-15611.96,290318,144254
$TT8_MAMPS,0.019474,0.265146
$HUMID,40.39
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,6.4
$24V_AH,13.47,46.600
$10V_AH,13.54,0.000
$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,14.425,91.950,248.275,122.875,0.000,31.028,46.874,109.748,0.500,0.000,16.243,1559.898,5195.069,519.065,1639.897,91.249,0.000,1122.789,0.000,1410.092,0.000,5.460,0.000
$DEVICE_MAMPS,484.245,65.790,2125.935,425.340,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,281.144,217.517,388.799,392.908,602.868,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343024
$DATA_FILE_SIZE,37387,414
$CAP_FILE_SIZE,89136,0
$CFSIZE,2097086464,2076803072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.205,306.59,1
$GPS,290318,171301,2222.824,-15611.495,19,1.1,19,9.9,0.5,272.7,6,40.3