version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 66
start: 3 18 118 2 1 2
data:
$ID,626
$MISSION,2
$DIVE,66
$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,39
$R_STBD_OVSHOOT,61
$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
$GPS1,180318,015636,2245.3728,-15539.8486,8,0.8,8,10.0,0.0,0.0,9,59.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.6
$GPS2,180318,020038,2245.4109,-15539.8877,8,0.8,8,10.0,0.0,0.0,9,-1.0
$SPEED_LIMITS,0.175,0.235
$TGT_NAME,M3
$TGT_LATLONG,2211.600,-15551.700
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,142.9,65812,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.79,-116.8,196,2260,1166,1092,0.0,0.0,0,81,0.00,0.00,-63.83,0.000,16390,0.000,0.000,196,2261,3198,3220,3176,0,0,0,0,0,0,15.14,14.16,15.11
$GC,83,-0.79,-116.8,196,2261,3220,3177,3.0,-4.3,8,102,6.10,2.20,0.00,0.000,2308,0.421,0.046,2147,3632,3198,3221,3176,0,0,0,0,0,0,14.72,14.86,14.95
$GC,225,-0.79,-116.8,2146,3634,3222,3176,35.9,-18.9,28,234,0.03,2.28,0.00,0.000,3078,0.406,0.047,2156,2237,3199,3222,3176,0,0,0,0,0,0,14.76,14.90,14.89
$GC,474,-0.79,-116.8,2155,2236,3222,3176,86.6,-20.9,53,479,0.00,2.25,0.00,0.000,2564,0.000,0.058,2156,834,3198,3221,3176,0,0,0,0,0,0,15.19,14.98,15.19
$GC,547,-0.79,-116.8,2155,833,3222,3175,100.8,-19.7,59,555,0.00,2.20,0.00,0.000,3078,0.000,0.044,2155,2217,3199,3222,3176,0,0,0,0,0,0,15.08,15.00,15.09
$GC,794,-0.79,-116.8,2155,2217,3223,3175,141.9,-14.7,84,800,0.00,2.30,0.00,0.000,2308,0.000,0.061,2155,3645,3199,3223,3175,0,0,0,0,0,0,15.25,15.00,15.25
$GC,851,-0.79,-116.8,2154,3646,3223,3173,149.4,-13.2,89,856,0.00,2.22,0.00,0.000,3078,0.000,0.045,2155,2234,3199,3223,3175,0,0,0,0,0,0,15.11,15.02,15.11
$GC,1104,-0.79,-116.8,2154,2233,3223,3175,185.5,-14.0,114,1109,0.00,2.22,0.00,0.000,2564,0.000,0.057,2155,834,3199,3224,3175,0,0,0,0,0,0,15.26,15.04,15.26
$GC,1183,-0.79,-116.8,2154,834,3224,3175,196.3,-13.8,121,1188,0.00,2.25,0.00,0.000,3078,0.000,0.045,2154,2246,3199,3224,3175,0,0,0,0,0,0,15.13,15.05,15.14
$STATE,1217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1217,begin apogee
$GC,1221,-0.16,0.0,2155,1977,3223,3175,201.2,-13.8,124,1305,0.55,0.00,81.62,1.495,10246,0.264,0.000,2363,1977,2719,2798,2641,0,0,0,0,0,0,14.92,14.59,14.04
$STATE,1306,end apogee,CONTROL_FINISHED_OK
$STATE,1307,begin climb
$GC,1308,0.79,116.8,2364,1976,2797,2642,205.4,0.0,126,1400,0.70,2.35,82.93,1.919,10756,0.151,0.062,2667,605,2243,2316,2171,0,0,0,0,0,0,14.53,14.35,13.69
$GC,1417,0.79,116.8,2667,604,2315,2171,199.2,7.3,129,1423,0.00,2.28,0.00,0.000,1030,0.000,0.037,2667,1997,2243,2315,2171,0,0,0,0,0,0,14.58,14.52,14.59
$GC,1673,0.79,116.8,2667,2003,2315,2170,169.5,10.2,154,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2003,2242,2315,2169,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1921,0.79,116.8,2667,2003,2315,2168,141.5,12.1,179,1927,0.00,2.22,0.00,0.000,260,0.000,0.054,2667,3400,2241,2315,2168,0,0,0,0,0,0,15.18,14.96,15.19
$GC,2032,0.79,116.8,2667,3401,2314,2169,128.5,11.9,189,2038,0.00,2.25,0.00,0.000,5126,0.000,0.048,2678,2003,2241,2314,2169,0,0,0,0,0,0,15.07,14.99,15.07
$GC,2285,0.79,116.8,2677,2003,2314,2167,98.9,12.0,214,2290,0.00,2.25,0.00,0.000,4356,0.000,0.057,2678,3392,2240,2314,2167,0,0,0,0,0,0,15.23,15.01,15.24
$GC,2376,0.79,116.8,2678,3392,2313,2167,89.3,10.3,222,2385,0.05,2.30,0.00,0.000,5126,0.394,0.049,2671,1987,2240,2314,2167,0,0,0,0,0,0,14.83,15.00,14.97
$GC,2625,0.83,146.6,2670,1987,2313,2166,68.5,8.4,247,2651,0.00,2.35,19.92,1.187,10500,0.000,0.054,2670,3399,2120,2193,2048,0,0,0,0,0,0,15.24,14.90,14.42
$GC,2690,0.83,146.6,2670,3399,2192,2048,62.2,10.3,252,2699,0.00,2.33,0.00,0.000,1030,0.000,0.050,2680,1997,2120,2192,2048,0,0,0,0,0,0,14.92,14.88,14.93
$GC,2940,0.83,146.6,2680,1997,2193,2047,34.9,10.1,277,2946,0.00,2.28,0.00,0.000,516,0.000,0.060,2691,576,2119,2192,2046,0,0,0,0,0,0,15.19,14.97,15.21
$GC,3029,0.83,146.6,2691,576,2192,2046,25.1,10.8,288,3038,0.00,2.30,0.00,0.000,5126,0.000,0.037,2691,1992,2119,2192,2046,0,0,0,0,0,0,15.00,14.97,15.01
$STATE,3234,end climb,SURFACE_DEPTH_REACHED
$STATE,3234,begin surface coast
$FINISH,0.3,1.023497
$STATE,3265,end surface coast,CONTROL_FINISHED_OK
$STATE,3265,begin surface
$SM_CCo,3278,136.20,0.122,0,0,1128,390.02
$SM_GC,1.09,5.70,0.38,136.20,0.091,0.052,0.122,196,2264,1128,-6.85,-1.19,390.02,0,0,0,0,0,0,15.01,15.02,14.89
$IRIDIUM_FIX,2237.01,-15542.07,180318,015724
$TT8_MAMPS,0.018725,0.325066
$HUMID,39.64
$INTERNAL_PRESSURE,9.57326
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,13.69,17.957
$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,13.125,41.600,184.475,136.200,0.000,26.986,43.898,86.038,7.750,0.000,9.322,963.547,1030.242,391.870,1241.713,48.726,0.000,767.566,0.000,1046.519,0.000,48.264,0.000
$DEVICE_MAMPS,420.750,61.965,1919.385,121.635,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,220.037,237.172,427.419,476.957,731.680,0.000,0.000,0.000,0.000,0.000
$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,30582,327
$CAP_FILE_SIZE,52024,0
$CFSIZE,2097086464,2088697856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.400,318.69,1
$GPS,180318,025849,2245.679,-15540.221,20,1.0,20,10.0,0.7,20.5,8,22.6