version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 178
start: 3 29 118 22 19 30
data:
$ID,626
$MISSION,2
$DIVE,178
$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,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
$GPS1,290318,221400,2222.9890,-15611.0889,20,2.0,20,9.9,0.5,250.5,4,109.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.7
$GPS2,290318,221905,2223.0234,-15611.1484,22,2.0,22,9.9,0.0,0.0,4,108.8
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M5
$TGT_LATLONG,2224.200,-15605.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,89.0,10415,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.71,-116.8,185,2356,662,636,0.0,0.0,0,81,0.00,0.00,-62.78,0.000,16390,0.000,0.000,185,2357,2757,2785,2730,0,0,0,0,0,0,14.92,13.76,14.91
$GC,83,-0.71,-116.8,185,2357,2786,2730,4.1,-7.8,8,101,6.95,2.30,0.00,0.000,2308,0.433,0.046,2324,3759,2758,2786,2730,0,0,0,0,0,0,14.45,14.64,14.72
$GC,121,-0.71,-116.8,2323,3759,2786,2730,23.0,-48.4,13,131,0.03,2.38,0.00,0.000,3078,0.487,0.054,2330,2359,2758,2787,2730,0,0,0,0,0,0,14.48,14.66,14.64
$GC,376,-0.71,-116.8,2330,2358,2788,2730,104.2,-32.6,39,381,0.00,2.35,0.00,0.000,2564,0.000,0.063,2331,931,2758,2787,2730,0,0,0,0,0,0,15.04,14.79,15.04
$GC,387,-0.71,-116.8,2331,930,2787,2730,108.6,-32.6,40,393,0.00,2.30,0.00,0.000,3078,0.000,0.043,2330,2336,2758,2787,2730,0,0,0,0,0,0,14.89,14.80,14.90
$GC,641,-0.71,-116.8,2331,2336,2789,2730,178.2,-27.5,65,646,0.00,2.33,0.00,0.000,2308,0.000,0.060,2322,3757,2760,2789,2731,0,0,0,0,0,0,15.10,14.83,15.09
$GC,696,-0.71,-116.8,2321,3758,2789,2730,190.3,-22.0,70,703,0.05,2.30,0.00,0.000,3078,0.454,0.047,2337,2340,2759,2789,2730,0,0,0,0,0,0,14.66,14.86,14.88
$GC,950,-0.71,-116.8,2336,2338,2790,2730,244.9,-21.3,80,955,0.00,2.28,0.00,0.000,2564,0.000,0.062,2337,944,2760,2791,2730,0,0,0,0,0,0,15.16,14.90,15.16
$GC,996,-0.71,-116.8,2337,943,2791,2730,253.8,-21.0,81,1002,0.00,2.30,0.00,0.000,3078,0.000,0.049,2333,2353,2760,2791,2730,0,0,0,0,0,0,15.01,14.90,15.02
$GC,1274,-0.71,-116.8,2332,2353,2792,2730,311.1,-20.1,88,1275,0.00,0.00,0.00,0.000,2054,0.000,0.000,2333,2354,2761,2792,2730,0,0,0,0,0,0,15.20,15.21,15.21
$GC,1514,-0.71,-116.8,2332,2353,2792,2730,359.4,-19.8,94,1519,0.00,2.30,0.00,0.000,2308,0.000,0.067,2332,3760,2761,2792,2730,0,0,0,0,0,0,15.23,14.94,15.23
$GC,1560,-0.71,-116.8,2331,3760,2792,2730,367.2,-19.5,95,1566,0.00,2.28,0.00,0.000,3078,0.000,0.047,2332,2344,2761,2792,2730,0,0,0,0,0,0,15.07,14.97,15.07
$GC,1838,-0.71,-116.8,2332,2343,2792,2730,418.8,-18.2,102,1839,0.00,0.00,0.00,0.000,2054,0.000,0.000,2332,2343,2761,2792,2730,0,0,0,0,0,0,15.24,15.24,15.24
$GC,2078,-0.71,-116.8,2331,2343,2792,2728,462.8,-18.4,108,2083,0.00,2.28,0.00,0.000,2564,0.000,0.062,2332,940,2760,2792,2728,0,0,0,0,0,0,15.25,14.99,15.26
$GC,2124,-0.71,-116.8,2331,940,2792,2726,471.1,-18.6,109,2130,0.00,2.30,0.00,0.000,3078,0.000,0.050,2332,2350,2758,2792,2725,0,0,0,0,0,0,15.09,14.99,15.10
$GC,2402,-0.71,-116.8,2331,2350,2791,2722,524.2,-18.9,116,2403,0.00,0.00,0.00,0.000,2054,0.000,0.000,2331,2350,2757,2792,2722,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2641,-0.71,-116.8,2331,2350,2791,2718,568.7,-18.6,122,2643,0.00,0.00,0.00,0.000,2054,0.000,0.000,2332,2351,2754,2791,2718,0,0,0,0,0,0,15.26,15.26,15.26
$STATE,2840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2840,begin apogee
$GC,2845,-0.16,0.0,2332,2147,2792,2715,604.6,-17.8,127,2939,0.50,0.00,91.70,1.875,10246,0.294,0.000,2516,2144,2279,2348,2210,0,0,0,0,0,0,14.82,14.38,13.76
$STATE,2940,end apogee,CONTROL_FINISHED_OK
$STATE,2941,begin climb
$GC,2942,0.71,116.8,2516,2144,2348,2210,610.7,0.0,129,3049,0.68,2.50,97.97,2.289,10500,0.194,0.060,2780,3582,1802,1910,1695,0,0,0,0,0,0,14.31,14.14,13.45
$GC,3136,0.73,148.0,2779,3583,1908,1695,598.9,8.2,134,3169,0.00,2.35,26.48,2.463,11270,0.000,0.047,2790,2180,1677,1789,1565,0,0,0,0,0,0,14.58,14.50,13.53
$GC,3409,0.73,148.0,2791,2180,1788,1559,557.8,14.9,141,3414,0.00,2.38,0.00,0.000,2564,0.000,0.063,2802,762,1674,1788,1561,0,0,0,0,0,0,14.92,14.68,14.91
$GC,3480,0.73,148.0,2802,761,1787,1561,551.1,15.1,142,3485,0.00,2.35,0.00,0.000,1030,0.000,0.042,2802,2194,1674,1787,1561,0,0,0,0,0,0,14.81,14.74,14.83
$GC,3733,0.73,148.0,2802,2195,1786,1558,507.2,15.5,149,3738,0.00,2.30,0.00,0.000,260,0.000,0.060,2802,3581,1672,1786,1558,0,0,0,0,0,0,15.07,14.82,15.07
$GC,3804,0.73,148.0,2802,3581,1784,1559,500.4,15.5,150,3809,0.00,2.33,0.00,0.000,5126,0.000,0.050,2813,2167,1671,1784,1559,0,0,0,0,0,0,14.94,14.85,14.95
$GC,4056,0.73,148.0,2812,2166,1784,1556,457.5,14.9,157,4057,0.00,0.00,0.00,0.000,4102,0.000,0.000,2812,2166,1670,1784,1556,0,0,0,0,0,0,15.14,15.14,15.14
$GC,4296,0.73,148.0,2813,2166,1783,1554,425.4,13.2,163,4302,0.00,2.30,0.00,0.000,4612,0.000,0.061,2824,758,1668,1783,1554,0,0,0,0,0,0,15.17,14.92,15.17
$GC,4363,0.73,148.0,2824,758,1782,1554,419.1,13.6,164,4369,0.05,2.30,0.00,0.000,5126,0.481,0.043,2808,2180,1668,1782,1554,0,0,0,0,0,0,14.71,14.94,14.97
$GC,4621,0.73,148.0,2807,2182,1781,1552,382.9,12.2,171,4626,0.00,2.25,0.00,0.000,4356,0.000,0.054,2808,3575,1667,1781,1553,0,0,0,0,0,0,15.19,14.95,15.20
$GC,4657,0.73,148.0,2807,3576,1780,1553,382.9,12.2,171,4664,0.00,2.28,0.00,0.000,5126,0.000,0.046,2818,2167,1666,1780,1553,0,0,0,0,0,0,15.04,14.95,15.05
$GC,4903,0.73,148.0,2818,2167,1780,1552,347.8,12.7,178,4908,0.00,2.28,0.00,0.000,4612,0.000,0.057,2829,760,1665,1779,1552,0,0,0,0,0,0,15.21,14.96,15.21
$GC,4946,0.73,148.0,2829,759,1779,1551,342.5,12.6,179,4952,0.08,2.28,0.00,0.000,5126,0.422,0.039,2805,2177,1664,1779,1550,0,0,0,0,0,0,14.74,14.98,15.00
$GC,5229,0.73,148.0,2804,2178,1779,1551,309.3,11.4,186,5234,0.00,2.25,0.00,0.000,260,0.000,0.054,2804,3572,1664,1777,1551,0,0,0,0,0,0,15.21,14.97,15.23
$GC,5335,0.73,148.0,2804,3572,1777,1552,298.2,12.8,188,5341,0.00,2.25,0.00,0.000,5126,0.000,0.046,2815,2173,1664,1777,1552,0,0,0,0,0,0,15.07,14.98,15.08
$GC,5593,0.73,148.0,2815,2173,1777,1551,264.9,11.7,195,5598,0.00,2.28,0.00,0.000,4356,0.000,0.054,2815,3572,1664,1777,1551,0,0,0,0,0,0,15.23,14.98,15.23
$GC,5749,0.73,148.0,2814,3572,1776,1551,249.4,12.6,198,5757,0.05,2.25,0.00,0.000,5126,0.493,0.046,2809,2172,1663,1776,1551,0,0,0,0,0,0,14.73,14.99,15.01
$GC,5995,0.73,148.0,2809,2169,1776,1551,220.0,10.3,205,6000,0.00,2.28,0.00,0.000,4612,0.000,0.056,2820,760,1663,1776,1550,0,0,0,0,0,0,15.24,14.98,15.24
$GC,6091,0.73,148.0,2820,761,1775,1552,211.0,10.4,207,6097,0.05,2.25,0.00,0.000,5126,0.470,0.037,2804,2178,1662,1775,1550,0,0,0,0,0,0,14.74,15.00,15.02
$GC,6341,0.74,167.5,2804,2180,1775,1550,185.2,8.9,224,6365,0.00,2.30,13.95,1.040,8452,0.000,0.051,2804,3569,1593,1701,1486,0,0,0,0,0,0,15.21,14.85,14.42
$GC,6517,0.74,167.5,2804,3569,1700,1486,164.9,11.8,240,6526,0.00,2.33,0.00,0.000,5126,0.000,0.046,2815,2165,1593,1700,1486,0,0,0,0,0,0,14.92,14.88,14.92
$GC,6766,0.74,167.5,2814,2165,1700,1486,140.8,10.3,265,6772,0.00,2.30,0.00,0.000,4356,0.000,0.053,2815,3569,1593,1700,1486,0,0,0,0,0,0,15.15,14.91,15.15
$GC,6826,0.74,167.5,2814,3569,1700,1486,134.6,10.7,270,6836,0.03,2.30,0.00,0.000,5126,0.513,0.045,2817,2179,1592,1700,1485,0,0,0,0,0,0,14.64,14.87,14.81
$GC,7077,0.76,189.7,2815,2179,1701,1485,114.0,8.7,295,7100,0.00,2.33,17.10,0.952,12548,0.000,0.050,2817,3572,1502,1604,1401,0,0,0,0,0,0,15.15,14.85,14.37
$GC,7116,0.76,189.7,2816,3572,1603,1402,109.7,10.6,298,7125,0.00,2.33,0.00,0.000,5126,0.000,0.046,2827,2181,1503,1603,1403,0,0,0,0,0,0,14.83,14.79,14.85
$GC,7366,0.76,189.7,2827,2180,1603,1403,81.7,11.6,323,7372,0.00,0.00,0.00,0.000,4102,0.000,0.000,2827,2181,1503,1603,1403,0,0,0,0,0,0,15.10,15.11,15.10
$GC,7616,0.76,189.7,2827,2180,1603,1404,49.4,12.8,348,7621,0.00,2.28,0.00,0.000,4356,0.000,0.052,2827,3569,1504,1604,1405,0,0,0,0,0,0,15.11,14.88,15.11
$GC,7641,0.76,189.7,2826,3569,1603,1405,45.9,13.3,350,7647,0.08,2.28,0.00,0.000,5126,0.438,0.044,2813,2165,1504,1603,1405,0,0,0,0,0,0,14.64,14.88,14.89
$GC,7911,0.76,189.7,2813,2162,1604,1407,13.9,10.5,386,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2162,1505,1603,1407,0,0,0,0,0,0,15.09,15.09,15.09
$STATE,8031,end climb,SURFACE_DEPTH_REACHED
$STATE,8031,begin surface coast
$FINISH,0.3,1.023503
$STATE,8070,end surface coast,CONTROL_FINISHED_OK
$STATE,8070,begin surface
$SM_CCo,8083,126.25,0.115,0,0,647,400.08
$SM_CCo,8212,-0.12,0.000,0,0,650,400.08
$SM_CCo,8215,0.38,0.369,0,0,647,400.08
$SM_GC,1.17,6.03,0.28,0.38,0.083,0.066,0.369,190,2348,647,-7.31,-1.61,400.08,0,0,0,0,0,0,14.88,14.86,14.73
$IRIDIUM_FIX,2216.01,-15611.96,290318,221501
$TT8_MAMPS,0.018725,0.324317
$HUMID,40.31
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.3,6.5
$24V_AH,13.45,47.207
$10V_AH,13.42,0.000
$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,14.550,88.100,247.200,126.625,0.000,27.946,45.597,109.553,0.500,0.000,23.464,1440.543,4919.837,490.705,1597.602,87.015,0.000,1094.484,0.000,1348.997,0.000,5.459,0.000
$DEVICE_MAMPS,513.315,66.555,2462.535,369.495,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,278.879,223.460,401.805,403.644,619.354,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343008
$DATA_FILE_SIZE,37292,412
$CAP_FILE_SIZE,86108,0
$CFSIZE,2097086464,2076508160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.157,296.35,1
$GPS,300318,003730,2223.242,-15610.799,30,1.0,30,9.9,0.8,312.9,8,22.6