version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 56
start: 3 17 118 15 57 15
data:
$ID,626
$MISSION,2
$DIVE,56
$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,37
$R_STBD_OVSHOOT,67
$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
$GPS1,170318,155238,2242.9695,-15535.2979,19,0.9,19,10.0,1.0,315.8,9,26.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.0
$GPS2,170318,155650,2242.9958,-15535.3467,18,0.8,18,10.0,0.6,287.5,9,26.2
$SPEED_LIMITS,0.175,0.244
$TGT_NAME,M3
$TGT_LATLONG,2211.600,-15551.700
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,150.7,64554,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.78,-126.5,198,2234,1080,1007,0.0,0.0,0,89,0.00,0.00,-67.82,0.000,16390,0.000,0.000,197,2234,3235,3257,3214,0,0,0,0,0,0,15.15,14.37,15.09
$GC,91,-0.78,-126.5,198,2234,3258,3214,3.9,-7.3,9,109,6.12,2.15,0.00,0.000,2308,0.424,0.042,2153,3584,3237,3261,3214,0,0,0,0,0,0,14.73,14.88,14.95
$GC,158,-0.78,-126.5,2152,3584,3262,3214,24.6,-19.8,19,167,0.00,2.28,0.00,0.000,3078,0.000,0.049,2152,2204,3238,3262,3214,0,0,0,0,0,0,14.95,14.91,14.95
$GC,417,-0.78,-126.5,2152,2202,3262,3213,77.0,-19.2,46,423,0.00,2.28,0.00,0.000,2564,0.000,0.058,2152,785,3237,3262,3212,0,0,0,0,0,0,15.21,14.97,15.21
$GC,443,-0.78,-126.5,2152,784,3262,3213,81.9,-19.5,48,450,0.05,2.22,0.00,0.000,3078,0.440,0.042,2159,2178,3237,3262,3213,0,0,0,0,0,0,14.84,15.00,15.02
$GC,699,-0.78,-126.5,2159,2180,3262,3212,127.3,-16.6,73,700,0.00,0.00,0.00,0.000,2054,0.000,0.000,2159,2181,3237,3262,3212,0,0,0,0,0,0,15.24,15.25,15.24
$GC,939,-0.78,-126.5,2159,2181,3262,3213,166.0,-16.0,97,944,0.00,2.25,0.00,0.000,2564,0.000,0.057,2159,786,3237,3263,3212,0,0,0,0,0,0,15.25,15.03,15.25
$GC,973,-0.78,-126.5,2159,785,3262,3213,172.0,-17.1,100,980,0.00,2.25,0.00,0.000,3078,0.000,0.044,2155,2199,3237,3262,3212,0,0,0,0,0,0,15.12,15.04,15.13
$STATE,1166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1166,begin apogee
$GC,1170,-0.16,0.0,2155,2003,3263,3212,200.9,-13.5,119,1261,0.55,0.00,88.12,1.556,10246,0.265,0.000,2364,2001,2719,2799,2639,0,0,0,0,0,0,14.92,14.56,13.99
$STATE,1262,end apogee,CONTROL_FINISHED_OK
$STATE,1262,begin climb
$GC,1263,0.78,126.5,2364,2001,2798,2639,203.9,0.0,121,1361,0.68,2.28,89.43,1.967,10756,0.155,0.058,2656,644,2203,2278,2129,0,0,0,0,0,0,14.50,14.35,13.69
$GC,1389,0.78,126.5,2656,644,2278,2130,193.2,10.2,126,1394,0.00,2.28,0.00,0.000,3078,0.000,0.037,2656,2029,2203,2278,2129,0,0,0,0,0,0,14.62,14.55,14.63
$GC,1643,0.78,126.5,2656,2031,2278,2129,161.0,10.9,151,1645,0.00,0.00,0.00,0.000,2054,0.000,0.000,2656,2031,2203,2278,2129,0,0,0,0,0,0,15.10,15.10,15.10
$GC,1883,0.78,126.5,2656,2032,2277,2127,133.3,10.4,175,1889,0.00,2.28,0.00,0.000,2564,0.000,0.059,2667,645,2202,2278,2127,0,0,0,0,0,0,15.19,14.96,15.19
$GC,1938,0.78,126.5,2666,644,2278,2128,127.0,11.3,180,1944,0.00,2.22,0.00,0.000,5126,0.000,0.038,2667,2040,2202,2277,2127,0,0,0,0,0,0,15.06,15.00,15.07
$GC,2193,0.78,126.5,2667,2042,2278,2126,96.3,11.4,205,2198,0.00,2.22,0.00,0.000,4356,0.000,0.055,2667,3430,2202,2278,2127,0,0,0,0,0,0,15.23,15.01,15.23
$GC,2216,0.78,126.5,2667,3430,2277,2126,93.5,11.6,207,2222,0.05,2.20,0.00,0.000,5126,0.440,0.046,2660,2049,2201,2277,2126,0,0,0,0,0,0,14.86,15.02,15.05
$GC,2472,0.78,131.7,2660,2047,2277,2125,67.0,9.8,232,2482,0.00,0.00,3.67,0.891,8198,0.000,0.000,2660,2047,2182,2260,2105,0,0,0,0,0,0,15.24,14.90,14.47
$GC,2722,0.84,177.7,2660,2047,2259,2105,43.7,7.6,257,2754,0.00,0.00,29.98,1.159,10502,0.000,0.000,2660,2046,1993,2077,1910,0,0,0,0,0,0,15.24,14.86,14.40
$GC,3016,0.84,177.7,2660,2046,2076,1909,12.8,11.3,297,3025,0.00,0.00,0.00,0.000,2054,0.000,0.000,2660,2046,1992,2076,1909,0,0,0,0,0,0,15.16,15.16,15.16
$STATE,3102,end climb,SURFACE_DEPTH_REACHED
$STATE,3102,begin surface coast
$FINISH,0.3,1.004765
$STATE,3127,end surface coast,CONTROL_FINISHED_OK
$STATE,3127,begin surface
$SM_CCo,3140,131.90,0.119,0,0,1045,410.13
$SM_GC,1.19,5.57,0.25,131.90,0.083,0.066,0.119,196,2223,1045,-6.80,-1.16,410.13,0,0,0,0,0,0,14.99,15.00,14.91
$IRIDIUM_FIX,2234.68,-15536.85,170318,155327
$TT8_MAMPS,0.019474,0.266644
$HUMID,39.09
$INTERNAL_PRESSURE,9.57326
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,13.69,16.475
$10V_AH,13.75,0.000
$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,13.025,27.425,211.200,131.900,0.000,27.141,46.060,84.221,7.750,0.000,19.144,886.128,1052.866,393.184,1169.515,43.236,0.000,740.206,0.000,964.539,0.000,48.266,0.000
$DEVICE_MAMPS,439.875,65.790,1966.815,119.340,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,212.079,227.736,411.581,461.730,708.493,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343116
$DATA_FILE_SIZE,27339,315
$CAP_FILE_SIZE,47563,0
$CFSIZE,2097086464,2089680896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.469,310.97,1
$GPS,170318,165237,2243.174,-15535.874,16,1.1,16,10.0,0.0,0.0,6,35.7