version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 31
start: 3 16 118 14 24 58
data:
$ID,626
$MISSION,2
$DIVE,31
$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,39
$R_STBD_OVSHOOT,45
$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
$GPS1,160318,142000,2236.8396,-15529.1494,19,1.8,19,10.0,0.8,343.3,5,122.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.6
$GPS2,160318,142434,2236.8894,-15529.2021,25,2.0,25,10.0,0.0,0.0,4,120.1
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,M1
$TGT_LATLONG,2243.200,-15500.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,111.8,51237,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.76,-146.0,194,2125,1005,922,0.0,0.0,0,90,0.00,0.00,-73.20,0.000,16390,0.000,0.000,194,2125,3318,3340,3297,0,0,0,0,0,0,15.16,14.19,15.13
$GC,93,-0.76,-146.0,194,2126,3340,3296,3.4,-5.9,9,102,6.07,0.00,0.00,0.000,2310,0.422,0.000,2154,2123,3318,3341,3296,0,0,0,0,0,0,14.73,15.00,14.96
$GC,361,-0.76,-146.0,2153,2124,3345,3296,66.3,-19.5,41,366,0.00,2.22,0.00,0.000,2308,0.000,0.062,2153,3497,3320,3344,3296,0,0,0,0,0,0,15.19,14.97,15.19
$GC,436,-0.76,-146.0,2153,3497,3343,3295,79.4,-17.0,47,441,0.00,2.22,0.00,0.000,3078,0.000,0.045,2153,2099,3319,3343,3296,0,0,0,0,0,0,15.08,15.00,15.09
$GC,691,-0.76,-146.0,2153,2094,3343,3295,125.2,-17.2,72,696,0.00,2.28,0.00,0.000,2308,0.000,0.058,2153,3506,3319,3344,3295,0,0,0,0,0,0,15.24,15.02,15.25
$GC,717,-0.76,-146.0,2153,3506,3344,3295,129.4,-16.7,74,727,0.00,2.28,0.00,0.000,3078,0.000,0.045,2153,2099,3319,3343,3295,0,0,0,0,0,0,15.03,15.00,15.04
$GC,966,-0.76,-146.0,2153,2096,3344,3295,170.5,-16.3,99,971,0.00,2.25,0.00,0.000,2564,0.000,0.057,2153,692,3319,3344,3295,0,0,0,0,0,0,15.26,15.04,15.26
$GC,1000,-0.76,-146.0,2153,691,3344,3295,176.0,-15.8,102,1005,0.00,2.25,0.00,0.000,3078,0.000,0.044,2153,2104,3319,3344,3295,0,0,0,0,0,0,15.13,15.05,15.14
$STATE,1172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1172,begin apogee
$GC,1175,-0.16,0.0,2153,2105,3344,3295,200.3,-13.4,119,1279,0.52,0.00,101.35,1.559,10246,0.261,0.000,2353,2105,2719,2805,2634,0,0,0,0,0,0,14.93,14.52,13.97
$STATE,1280,end apogee,CONTROL_FINISHED_OK
$STATE,1280,begin climb
$GC,1282,0.76,146.0,2354,2105,2805,2635,203.6,0.0,121,1395,0.65,2.38,102.75,1.883,10756,0.159,0.060,2637,705,2123,2206,2040,0,0,0,0,0,0,14.46,14.35,13.71
$GC,1432,0.76,146.0,2637,705,2206,2040,191.2,13.3,128,1439,0.00,2.30,0.00,0.000,3078,0.000,0.038,2637,2113,2123,2206,2040,0,0,0,0,0,0,14.66,14.59,14.66
$GC,1678,0.76,146.0,2637,2116,2206,2039,159.0,12.0,153,1680,0.00,0.00,0.00,0.000,2054,0.000,0.000,2637,2117,2122,2206,2039,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1920,0.76,146.0,2636,2116,2206,2037,130.6,12.3,177,1925,0.00,2.30,0.00,0.000,2564,0.000,0.059,2647,705,2122,2206,2038,0,0,0,0,0,0,15.19,14.96,15.19
$GC,2062,0.76,146.0,2647,704,2206,2038,113.7,11.7,190,2067,0.00,2.25,0.00,0.000,5126,0.000,0.040,2647,2122,2122,2206,2038,0,0,0,0,0,0,15.07,15.01,15.09
$GC,2316,0.80,182.9,2647,2124,2206,2036,88.5,8.4,215,2350,0.00,2.35,24.12,1.255,10756,0.000,0.060,2659,706,1972,2065,1880,0,0,0,0,0,0,15.24,14.85,14.38
$GC,2418,0.80,182.9,2658,706,2064,1880,78.8,10.1,224,2423,0.00,2.25,0.00,0.000,1030,0.000,0.040,2658,2117,1971,2064,1879,0,0,0,0,0,0,15.00,14.93,15.01
$GC,2672,0.80,182.9,2658,2118,2065,1878,50.3,12.2,249,2677,0.00,2.28,0.00,0.000,516,0.000,0.059,2669,703,1971,2065,1878,0,0,0,0,0,0,15.20,14.97,15.20
$GC,2697,0.80,182.9,2669,702,2064,1876,47.3,12.3,251,2702,0.00,2.25,0.00,0.000,5126,0.000,0.039,2669,2121,1971,2065,1877,0,0,0,0,0,0,15.07,15.00,15.07
$GC,2963,0.80,182.9,2669,2125,2065,1877,15.5,11.8,285,2971,0.00,0.00,0.00,0.000,4102,0.000,0.000,2669,2125,1971,2065,1877,0,0,0,0,0,0,15.21,15.21,15.21
$STATE,3071,end climb,SURFACE_DEPTH_REACHED
$STATE,3071,begin surface coast
$FINISH,0.3,1.023813
$STATE,3103,end surface coast,CONTROL_FINISHED_OK
$STATE,3104,begin surface
$SM_CCo,3115,130.80,0.147,0,0,966,430.00
$SM_GC,1.16,5.45,0.00,130.80,0.058,0.000,0.147,195,2129,966,-6.76,0.82,430.00,0,0,0,0,0,0,15.02,15.21,14.87
$IRIDIUM_FIX,2225.34,-15531.43,160318,142049
$TT8_MAMPS,0.019474,0.265146
$HUMID,39.25
$INTERNAL_PRESSURE,9.55373
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,13.71,12.665
$10V_AH,13.96,0.000
$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,12.700,31.850,228.225,130.800,0.000,29.270,46.675,97.373,7.750,0.000,26.571,899.066,980.097,413.249,1205.024,41.718,0.000,766.737,0.000,974.157,0.000,48.824,0.000
$DEVICE_MAMPS,421.515,61.965,1882.665,146.880,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,207.284,221.748,402.288,444.462,681.971,0.000,0.000,0.000,0.000,0.000
$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,27232,308
$CAP_FILE_SIZE,47350,0
$CFSIZE,2097086464,2092171264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.471,309.46,1
$GPS,160318,152018,2237.126,-15529.633,43,0.9,43,10.0,1.1,301.2,10,39.0