version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 28
start: 3 16 118 11 24 42
data:
$ID,626
$MISSION,2
$DIVE,28
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,300
$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,66
$T_MISSION,220
$T_ABORT,70
$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,150
$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,430
$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,2400
$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,2100
$C_ROLL_CLIMB,2110
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2720
$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
$GPS1,160318,112017,2236.3225,-15528.1357,8,0.9,8,10.0,0.0,0.0,9,72.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.3
$GPS2,160318,112419,2236.3401,-15528.1777,8,0.9,8,10.0,1.2,308.7,9,57.7
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,M1
$TGT_LATLONG,2243.200,-15500.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,110.2,49785,-18.4,-10.101,-21.17,2215
$D_GRID,200
$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,15,-0.76,-146.0,196,2079,1004,923,0.0,0.0,0,90,0.00,0.00,-72.50,0.000,16386,0.000,0.000,196,2081,3310,3331,3290,0,0,0,0,0,0,15.15,28.83,15.16
$GC,92,-0.76,-146.0,195,2081,3331,3290,3.3,-5.6,9,104,6.10,2.30,0.00,0.000,2308,0.425,0.043,2146,3512,3312,3334,3290,0,0,0,0,0,0,14.73,14.94,14.95
$GC,112,-0.76,-146.0,2146,3512,3335,3290,11.6,-24.9,11,120,0.00,2.28,0.00,0.000,3078,0.000,0.043,2146,2108,3313,3336,3290,0,0,0,0,0,0,14.95,14.90,14.96
$GC,380,-0.76,-146.0,2145,2102,3336,3290,70.2,-19.3,42,388,0.00,0.00,0.00,0.000,2054,0.000,0.000,2145,2102,3313,3336,3290,0,0,0,0,0,0,15.20,15.21,15.21
$GC,628,-0.76,-146.0,2145,2102,3336,3290,116.8,-17.7,67,629,0.00,0.00,0.00,0.000,2054,0.000,0.000,2146,2101,3313,3336,3290,0,0,0,0,0,0,15.24,15.24,15.24
$GC,868,-0.76,-146.0,2146,2101,3337,3290,157.9,-17.4,91,873,0.00,2.25,0.00,0.000,2308,0.000,0.058,2142,3500,3313,3336,3290,0,0,0,0,0,0,15.26,15.03,15.26
$GC,903,-0.76,-146.0,2141,3500,3336,3290,163.7,-17.5,94,909,0.00,2.22,0.00,0.000,3078,0.000,0.045,2142,2097,3313,3336,3290,0,0,0,0,0,0,15.13,15.05,15.14
$STATE,1137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1137,begin apogee
$GC,1140,-0.16,0.0,2141,2091,3336,3289,200.7,-14.6,117,1242,0.55,0.00,99.30,1.425,10246,0.265,0.000,2350,2090,2719,2805,2634,0,0,0,0,0,0,14.92,14.57,14.02
$STATE,1243,end apogee,CONTROL_FINISHED_OK
$STATE,1243,begin climb
$GC,1245,0.76,146.0,2351,2090,2805,2635,205.0,0.0,119,1356,0.68,2.33,102.97,1.784,10756,0.158,0.060,2640,703,2123,2206,2040,0,0,0,0,0,0,14.51,14.36,13.74
$GC,1390,0.78,170.0,2639,702,2206,2041,194.0,9.0,124,1416,0.00,2.30,18.33,1.925,11270,0.000,0.038,2640,2117,2026,2117,1936,0,0,0,0,0,0,14.66,14.59,13.79
$GC,1665,0.78,170.0,2639,2118,2117,1937,158.0,11.3,151,1666,0.00,0.00,0.00,0.000,2054,0.000,0.000,2640,2118,2027,2117,1937,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1906,0.78,170.0,2639,2117,2117,1936,132.0,10.4,175,1911,0.00,2.30,0.00,0.000,2564,0.000,0.060,2650,705,2026,2116,1936,0,0,0,0,0,0,15.19,14.95,15.19
$GC,1939,0.78,170.0,2650,705,2116,1936,128.0,10.7,178,1945,0.00,2.22,0.00,0.000,1030,0.000,0.040,2650,2108,2026,2116,1936,0,0,0,0,0,0,15.04,14.98,15.06
$GC,2194,0.78,170.0,2650,2111,2116,1935,98.6,11.0,203,2199,0.00,2.30,0.00,0.000,516,0.000,0.061,2660,700,2025,2116,1935,0,0,0,0,0,0,15.23,15.00,15.23
$GC,2219,0.78,170.0,2660,701,2117,1935,95.7,11.4,205,2224,0.00,2.22,0.00,0.000,5126,0.000,0.040,2661,2110,2025,2116,1935,0,0,0,0,0,0,15.09,15.02,15.10
$GC,2473,0.78,170.0,2660,2112,2116,1934,66.8,11.1,230,2478,0.00,2.30,0.00,0.000,4612,0.000,0.060,2672,697,2025,2117,1934,0,0,0,0,0,0,15.25,15.02,15.25
$GC,2510,0.78,170.0,2671,696,2116,1934,62.7,11.1,233,2516,0.05,2.25,0.00,0.000,5126,0.399,0.040,2653,2120,2025,2116,1934,0,0,0,0,0,0,14.90,15.04,15.07
$GC,2765,0.81,191.2,2652,2125,2116,1933,35.9,9.1,258,2784,0.00,2.30,12.32,1.117,10756,0.000,0.060,2660,705,1938,2035,1841,0,0,0,0,0,0,15.25,14.95,14.48
$GC,2818,0.81,191.2,2660,705,2035,1842,30.6,10.6,262,2828,0.00,2.28,0.00,0.000,1030,0.000,0.038,2660,2113,1938,2035,1841,0,0,0,0,0,0,15.01,14.94,15.00
$STATE,3057,end climb,SURFACE_DEPTH_REACHED
$STATE,3057,begin surface coast
$FINISH,0.4,1.022940
$STATE,3089,end surface coast,CONTROL_FINISHED_OK
$STATE,3089,begin surface
$SM_CCo,3101,125.35,0.140,0,0,964,430.00
$SM_GC,1.21,5.53,0.00,125.35,0.077,0.000,0.140,197,2120,964,-6.76,0.57,430.00,0,0,0,0,0,0,15.02,15.21,14.88
$IRIDIUM_FIX,2227.67,-15528.34,160318,112106
$TT8_MAMPS,0.019474,0.264397
$HUMID,39.28
$INTERNAL_PRESSURE,9.55373
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,13.74,12.181
$10V_AH,13.46,0.000
$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,12.900,31.850,232.925,125.350,0.000,28.953,43.265,84.930,7.750,0.000,10.134,861.021,1029.766,437.582,1119.722,38.519,0.000,752.261,0.000,922.870,0.000,48.271,0.000
$DEVICE_MAMPS,424.575,61.200,1924.740,139.995,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,206.783,221.244,399.659,444.440,682.013,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343020
$DATA_FILE_SIZE,27198,307
$CAP_FILE_SIZE,46060,0
$CFSIZE,2097086464,2092466176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.339,302.10,1
$GPS,160318,121908,2236.407,-15528.369,8,1.2,8,10.0,0.0,0.0,7,100.7