version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 64
start: 3 17 118 23 58 56
data:
$ID,626
$MISSION,2
$DIVE,64
$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,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,390
$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,2416
$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,2240
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,63
$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
$GPS1,170318,235425,2244.9590,-15538.9805,9,0.9,9,10.0,0.5,300.2,9,56.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.4
$GPS2,170318,235832,2244.9873,-15539.0264,9,0.9,9,10.0,0.0,0.0,9,83.0
$SPEED_LIMITS,0.175,0.235
$TGT_NAME,M3
$TGT_LATLONG,2211.600,-15551.700
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,144.4,65541,-20.6,-10.101,-23.23,1773
$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,-0.79,-116.8,196,2237,1084,1005,0.0,0.0,0,89,0.00,0.00,-66.88,0.000,16390,0.000,0.000,196,2238,3197,3218,3176,0,0,0,0,0,0,15.14,14.37,15.09
$GC,91,-0.79,-116.8,196,2238,3218,3176,3.6,-5.8,9,109,6.12,2.22,0.00,0.000,2308,0.425,0.042,2147,3631,3198,3221,3176,0,0,0,0,0,0,14.72,14.85,14.95
$GC,216,-0.79,-116.8,2147,3631,3221,3175,37.1,-21.0,27,222,0.00,2.20,0.00,0.000,3078,0.000,0.047,2147,2255,3198,3221,3176,0,0,0,0,0,0,15.03,14.95,15.04
$GC,469,-0.79,-116.8,2146,2253,3221,3175,90.8,-20.2,52,471,0.00,0.00,0.00,0.000,2054,0.000,0.000,2147,2253,3198,3221,3175,0,0,0,0,0,0,15.21,15.21,15.21
$GC,709,-0.79,-116.8,2147,2253,3221,3175,132.5,-16.5,76,714,0.00,2.22,0.00,0.000,2308,0.000,0.059,2141,3621,3198,3221,3175,0,0,0,0,0,0,15.25,15.00,15.24
$GC,746,-0.79,-116.8,2141,3621,3221,3175,138.0,-16.2,79,752,0.05,2.20,0.00,0.000,3078,0.398,0.044,2160,2233,3197,3221,3174,0,0,0,0,0,0,14.89,15.03,15.06
$GC,999,-0.79,-116.8,2159,2232,3221,3175,176.1,-14.8,104,1005,0.00,2.25,0.00,0.000,2564,0.000,0.059,2160,827,3198,3221,3175,0,0,0,0,0,0,15.26,15.04,15.26
$GC,1068,-0.79,-116.8,2160,826,3221,3175,185.3,-13.7,110,1076,0.00,2.22,0.00,0.000,3078,0.000,0.044,2155,2226,3198,3221,3175,0,0,0,0,0,0,15.12,15.05,15.14
$STATE,1185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1185,begin apogee
$GC,1189,-0.16,0.0,2155,1976,3221,3175,200.2,-11.6,122,1274,0.55,0.00,81.55,1.575,10246,0.261,0.000,2365,1976,2719,2798,2641,0,0,0,0,0,0,14.92,14.57,14.01
$STATE,1274,end apogee,CONTROL_FINISHED_OK
$STATE,1275,begin climb
$GC,1276,0.79,116.8,2364,1976,2798,2642,202.5,0.0,124,1369,0.70,0.00,83.57,2.010,10758,0.150,0.000,2659,1974,2242,2315,2170,0,0,0,0,0,0,14.52,14.19,13.63
$GC,1608,0.79,116.8,2659,1974,2315,2169,165.6,10.9,152,1609,0.00,0.00,0.00,0.000,2054,0.000,0.000,2659,1974,2242,2316,2169,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1846,0.79,116.8,2658,1974,2315,2168,139.1,11.5,176,1851,0.00,2.22,0.00,0.000,2564,0.000,0.060,2670,598,2242,2316,2168,0,0,0,0,0,0,15.17,14.94,15.18
$GC,1934,0.79,116.8,2669,597,2315,2168,128.0,12.9,184,1939,0.00,2.22,0.00,0.000,1030,0.000,0.040,2670,1996,2241,2315,2168,0,0,0,0,0,0,15.04,14.98,15.06
$GC,2188,0.79,116.8,2669,1996,2315,2166,98.6,11.1,209,2193,0.00,2.22,0.00,0.000,260,0.000,0.055,2670,3404,2240,2315,2166,0,0,0,0,0,0,15.22,15.01,15.23
$GC,2410,0.80,128.7,2669,3403,2313,2166,75.3,9.4,229,2425,0.00,2.28,7.97,1.151,13318,0.000,0.046,2680,2006,2193,2268,2119,0,0,0,0,0,0,15.02,14.99,14.47
$GC,2674,0.82,140.4,2680,2006,2267,2117,49.8,9.4,255,2690,0.00,2.28,7.88,1.034,12548,0.000,0.053,2681,3398,2145,2219,2072,0,0,0,0,0,0,15.22,14.96,14.49
$GC,2721,0.83,149.6,2681,3398,2218,2072,45.3,9.6,259,2734,0.00,2.25,6.07,0.968,13318,0.000,0.046,2692,1989,2108,2182,2034,0,0,0,0,0,0,15.05,14.97,14.45
$GC,2993,0.83,150.1,2691,1989,2182,2033,16.4,10.1,295,3002,0.00,2.33,0.00,0.000,4612,0.000,0.060,2702,583,2107,2182,2033,0,0,0,0,0,0,15.19,14.94,15.19
$GC,3011,0.83,152.8,2702,583,2182,2033,14.7,9.9,297,3021,0.05,2.30,1.73,0.194,13318,0.375,0.038,2683,2003,2094,2170,2019,0,0,0,0,0,0,14.80,14.96,14.88
$STATE,3116,end climb,SURFACE_DEPTH_REACHED
$STATE,3117,begin surface coast
$FINISH,0.3,1.011051
$STATE,3148,end surface coast,CONTROL_FINISHED_OK
$STATE,3148,begin surface
$SM_CCo,3160,124.78,0.129,0,0,1128,390.02
$SM_GC,1.22,5.68,0.35,124.78,0.093,0.057,0.129,195,2256,1128,-6.83,-1.33,390.02,0,0,0,0,0,0,15.01,15.00,14.88
$IRIDIUM_FIX,2239.35,-15538.98,170318,235514
$TT8_MAMPS,0.018725,0.273385
$HUMID,39.99
$INTERNAL_PRESSURE,9.5635
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,13.63,17.670
$10V_AH,13.70,0.000
$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,13.150,32.150,188.775,124.775,0.000,28.274,48.203,84.642,7.750,0.000,10.320,932.241,996.348,373.393,1206.220,44.979,0.000,732.748,0.000,1005.122,0.000,48.261,0.000
$DEVICE_MAMPS,424.575,60.435,2009.655,128.520,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,214.775,230.063,418.061,463.853,711.676,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343064
$DATA_FILE_SIZE,30637,319
$CAP_FILE_SIZE,49828,0
$CFSIZE,2097086464,2088894464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.393,313.47,1
$GPS,180318,005455,2245.140,-15539.412,21,0.9,40,10.0,0.6,321.2,9,9.2