version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 51
start: 3 17 118 10 40 2
data:
$ID,626
$MISSION,2
$DIVE,51
$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,130
$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,2413
$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,2200
$C_ROLL_CLIMB,2028
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,51
$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
$GPS1,170318,103525,2242.8423,-15531.7285,40,0.9,40,10.0,0.5,52.9,9,23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.7
$GPS2,170318,103937,2242.8523,-15531.7334,18,0.9,18,10.0,0.0,0.0,9,19.6
$SPEED_LIMITS,0.175,0.244
$TGT_NAME,M3
$TGT_LATLONG,2211.600,-15551.700
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,155.6,67248,-19.8,-10.101,-22.47,1920
$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,-0.78,-126.5,195,2221,1081,1008,0.0,0.0,0,89,0.00,0.00,-68.32,0.000,16390,0.000,0.000,195,2222,3236,3257,3215,0,0,0,0,0,0,15.16,14.38,15.11
$GC,91,-0.78,-126.5,195,2222,3257,3215,3.9,-6.9,9,110,6.05,2.30,0.00,0.000,2564,0.416,0.038,2155,773,3237,3259,3215,0,0,0,0,0,0,14.73,14.88,14.96
$GC,118,-0.78,-126.5,2155,773,3261,3215,15.0,-33.2,12,126,0.00,2.33,0.00,0.000,3078,0.000,0.044,2155,2191,3238,3261,3215,0,0,0,0,0,0,14.95,14.92,14.97
$GC,378,-0.78,-126.5,2154,2192,3261,3214,66.5,-18.4,42,384,0.00,2.30,0.00,0.000,2308,0.000,0.063,2154,3606,3237,3261,3214,0,0,0,0,0,0,15.19,14.97,15.19
$GC,469,-0.78,-126.5,2153,3607,3261,3214,80.6,-15.6,49,475,0.00,2.22,0.00,0.000,3078,0.000,0.044,2153,2200,3237,3261,3214,0,0,0,0,0,0,15.08,15.01,15.09
$GC,714,-0.78,-126.5,2152,2197,3261,3214,122.0,-15.7,74,720,0.00,2.25,0.00,0.000,2564,0.000,0.057,2153,790,3237,3261,3214,0,0,0,0,0,0,15.25,15.02,15.26
$GC,750,-0.78,-126.5,2153,790,3262,3214,127.3,-15.8,77,755,0.00,2.25,0.00,0.000,3078,0.000,0.044,2153,2204,3237,3261,3214,0,0,0,0,0,0,15.11,15.04,15.12
$GC,1002,-0.78,-126.5,2153,2205,3261,3214,165.8,-14.2,102,1003,0.00,0.00,0.00,0.000,2054,0.000,0.000,2153,2204,3237,3261,3214,0,0,0,0,0,0,15.26,15.26,15.26
$GC,1241,-0.78,-126.5,2153,2205,3262,3214,198.0,-14.4,126,1247,0.00,2.25,0.00,0.000,2308,0.000,0.060,2153,3608,3237,3262,3213,0,0,0,0,0,0,15.29,15.04,15.29
$STATE,1265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1265,begin apogee
$GC,1271,-0.16,0.0,2153,2023,3262,3214,201.4,-14.5,128,1362,0.55,0.00,87.80,1.483,10246,0.257,0.000,2364,2023,2718,2799,2638,0,0,0,0,0,0,14.93,14.59,14.04
$STATE,1363,end apogee,CONTROL_FINISHED_OK
$STATE,1363,begin climb
$GC,1364,0.78,126.5,2364,2021,2799,2638,205.2,0.0,130,1461,0.68,0.00,88.90,1.858,10758,0.149,0.000,2648,2021,2203,2278,2128,0,0,0,0,0,0,14.53,14.25,13.73
$GC,1710,0.78,126.5,2648,2021,2278,2127,170.2,11.0,157,1716,0.00,0.00,0.00,0.000,2054,0.000,0.000,2648,2021,2203,2279,2127,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1958,0.81,156.2,2648,2020,2278,2126,145.9,8.5,182,1985,0.00,2.30,21.55,1.787,10756,0.000,0.062,2659,617,2083,2161,2005,0,0,0,0,0,0,15.19,14.78,14.15
$GC,2049,0.81,156.2,2658,617,2160,2005,137.2,10.4,190,2058,0.00,2.33,0.00,0.000,3078,0.000,0.039,2659,2030,2082,2160,2005,0,0,0,0,0,0,14.86,14.82,14.87
$GC,2298,0.81,156.2,2658,2033,2160,2003,110.7,10.4,215,2300,0.00,0.00,0.00,0.000,2054,0.000,0.000,2658,2033,2081,2160,2003,0,0,0,0,0,0,15.18,15.18,15.18
$GC,2540,0.82,159.4,2658,2034,2160,2001,86.0,9.9,239,2552,0.00,2.33,2.47,0.717,10756,0.000,0.059,2670,629,2069,2152,1987,0,0,0,0,0,0,15.23,14.95,14.41
$GC,2620,0.82,159.4,2669,629,2152,1987,77.7,10.5,246,2625,0.00,2.22,0.00,0.000,3078,0.000,0.039,2670,2029,2069,2152,1987,0,0,0,0,0,0,15.09,15.02,15.10
$GC,2874,0.82,159.4,2669,2031,2152,1987,50.4,10.8,271,2880,0.00,2.30,0.00,0.000,2564,0.000,0.060,2680,622,2069,2152,1987,0,0,0,0,0,0,15.23,15.01,15.24
$GC,2910,0.82,159.4,2680,623,2152,1986,46.1,11.4,274,2916,0.00,2.25,0.00,0.000,5126,0.000,0.039,2681,2037,2069,2152,1986,0,0,0,0,0,0,15.10,15.03,15.11
$GC,3173,0.82,161.5,2681,2037,2152,1986,20.7,10.0,306,3182,0.00,2.28,0.00,0.000,4356,0.000,0.057,2681,3427,2069,2152,1986,0,0,0,0,0,0,15.23,14.97,15.23
$GC,3220,0.82,161.5,2680,3425,2151,1987,15.6,11.4,313,3229,0.03,2.30,0.00,0.000,5126,0.476,0.046,2681,2024,2069,2151,1987,0,0,0,0,0,0,14.82,14.99,14.96
$STATE,3341,end climb,SURFACE_DEPTH_REACHED
$STATE,3342,begin surface coast
$FINISH,0.4,1.020608
$STATE,3373,end surface coast,CONTROL_FINISHED_OK
$STATE,3373,begin surface
$SM_CCo,3386,133.15,0.132,0,0,1045,410.13
$SM_GC,1.21,5.62,0.30,133.15,0.089,0.063,0.132,196,2230,1045,-6.80,-1.05,410.13,0,0,0,0,0,0,15.04,15.03,14.88
$IRIDIUM_FIX,2234.68,-15532.59,170318,103614
$TT8_MAMPS,0.018725,0.325066
$HUMID,39.84
$INTERNAL_PRESSURE,9.5635
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,13.73,15.708
$10V_AH,13.99,0.000
$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,12.925,37.075,200.725,133.150,0.000,28.040,44.424,85.501,7.750,0.000,19.134,958.906,1135.724,406.520,1241.028,49.355,0.000,778.341,0.000,1037.786,0.000,48.275,0.000
$DEVICE_MAMPS,475.830,62.730,1858.185,131.580,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,227.464,245.752,441.949,480.977,737.982,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343172
$DATA_FILE_SIZE,30567,338
$CAP_FILE_SIZE,51132,0
$CFSIZE,2097086464,2090172416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.287,295.67,1
$GPS,170318,113931,2242.717,-15532.223,18,0.9,18,10.0,0.7,338.3,10,22.6