version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 73
start: 3 18 118 14 52 38
data:
$ID,626
$MISSION,2
$DIVE,73
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,450
$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,100
$T_MISSION,250
$T_ABORT,720
$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,2404
$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,2203
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2690
$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
$GPS1,180318,144800,2247.1831,-15545.0146,28,0.9,28,10.0,0.9,293.6,10,29.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.2
$GPS2,180318,145214,2247.2192,-15545.0889,5,1.7,6,10.0,3.0,118.5,2,144.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M3
$TGT_LATLONG,2211.600,-15551.700
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,134.8,66934,-20.5,-10.000,-23.08,1791
$D_GRID,300
$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,-116.8,196,2210,1130,1065,0.0,0.0,0,82,0.00,0.00,-63.88,0.000,16390,0.000,0.000,196,2210,3168,3186,3150,0,0,0,0,0,0,15.11,14.07,15.08
$GC,84,-0.78,-116.8,196,2210,3187,3150,3.4,-6.3,8,102,6.07,2.28,0.00,0.000,2564,0.419,0.037,2145,779,3170,3190,3150,0,0,0,0,0,0,14.67,14.83,14.91
$GC,204,-0.78,-116.8,2145,778,3191,3150,30.9,-18.0,27,213,0.00,2.35,0.00,0.000,3078,0.000,0.047,2141,2200,3169,3191,3148,0,0,0,0,0,0,14.92,14.87,14.94
$GC,452,-0.78,-116.8,2141,2201,3191,3149,78.1,-19.4,52,457,0.00,2.30,0.00,0.000,2308,0.000,0.057,2141,3621,3170,3191,3149,0,0,0,0,0,0,15.17,14.93,15.17
$GC,498,-0.78,-116.8,2140,3621,3191,3149,87.4,-18.9,56,504,0.00,2.28,0.00,0.000,3078,0.000,0.045,2141,2196,3170,3191,3149,0,0,0,0,0,0,15.04,14.97,15.05
$GC,753,-0.78,-116.8,2141,2196,3192,3149,134.8,-18.2,81,758,0.00,2.30,0.00,0.000,2308,0.000,0.059,2141,3612,3171,3192,3150,0,0,0,0,0,0,15.21,14.97,15.21
$GC,810,-0.78,-116.8,2140,3612,3192,3149,144.5,-16.6,86,815,0.00,2.25,0.00,0.000,3078,0.000,0.045,2141,2199,3170,3191,3150,0,0,0,0,0,0,15.07,15.00,15.09
$GC,1063,-0.78,-116.8,2140,2198,3193,3150,182.4,-13.1,111,1068,0.00,2.25,0.00,0.000,2564,0.000,0.055,2140,789,3171,3193,3150,0,0,0,0,0,0,15.24,15.01,15.24
$GC,1100,-0.78,-116.8,2139,789,3193,3149,186.9,-13.2,114,1110,0.00,2.30,0.00,0.000,3078,0.000,0.046,2140,2201,3171,3194,3149,0,0,0,0,0,0,15.02,14.99,15.04
$GC,1359,-0.78,-116.8,2140,2201,3194,3149,223.6,-14.7,128,1364,0.00,2.28,0.00,0.000,2308,0.000,0.060,2140,3613,3172,3195,3149,0,0,0,0,0,0,15.27,15.02,15.26
$GC,1417,-0.78,-116.8,2140,3614,3195,3149,230.1,-14.8,129,1422,0.00,2.22,0.00,0.000,3078,0.000,0.043,2140,2204,3172,3195,3149,0,0,0,0,0,0,15.13,15.06,15.14
$GC,1686,-0.78,-116.8,2140,2203,3195,3150,269.7,-13.8,136,1692,0.00,2.28,0.00,0.000,2308,0.000,0.061,2140,3607,3172,3195,3149,0,0,0,0,0,0,15.28,15.05,15.28
$GC,1714,-0.78,-116.8,2140,3606,3195,3148,269.7,-13.8,136,1719,0.00,2.22,0.00,0.000,3078,0.000,0.044,2140,2195,3172,3195,3150,0,0,0,0,0,0,15.15,15.07,15.16
$STATE,1930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1930,begin apogee
$GC,1935,-0.16,0.0,2140,2069,3195,3149,300.1,-12.1,142,2022,0.55,0.00,83.78,1.701,10246,0.265,0.000,2348,2067,2689,2764,2615,0,0,0,0,0,0,14.94,14.54,13.95
$STATE,2023,end apogee,CONTROL_FINISHED_OK
$STATE,2023,begin climb
$GC,2024,0.78,116.8,2349,2067,2763,2616,303.3,0.0,144,2120,0.70,2.50,85.20,2.163,10500,0.161,0.054,2638,3505,2212,2285,2140,0,0,0,0,0,0,14.47,14.29,13.59
$GC,2136,0.78,116.8,2638,3505,2285,2140,295.5,9.2,147,2142,0.00,2.30,0.00,0.000,3078,0.000,0.047,2648,2127,2212,2285,2140,0,0,0,0,0,0,14.53,14.45,14.54
$GC,2413,0.78,116.8,2648,2126,2285,2137,261.6,11.3,154,2419,0.00,2.35,0.00,0.000,2564,0.000,0.059,2660,686,2211,2285,2137,0,0,0,0,0,0,15.09,14.85,15.09
$GC,2479,0.78,116.8,2659,685,2285,2137,257.1,11.1,155,2485,0.00,2.28,0.00,0.000,5126,0.000,0.039,2660,2110,2210,2284,2137,0,0,0,0,0,0,14.97,14.90,14.99
$GC,2737,0.78,116.8,2659,2111,2285,2134,224.6,11.9,162,2743,0.00,2.35,0.00,0.000,4612,0.000,0.062,2671,686,2209,2285,2134,0,0,0,0,0,0,15.20,14.97,15.20
$GC,2803,0.78,116.8,2671,686,2284,2134,219.1,12.2,163,2809,0.05,2.25,0.00,0.000,5126,0.423,0.042,2654,2097,2209,2284,2134,0,0,0,0,0,0,14.84,15.00,15.02
$GC,3053,0.78,116.8,2653,2101,2284,2132,189.5,10.3,175,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2101,2208,2284,2132,0,0,0,0,0,0,15.23,15.24,15.24
$GC,3293,0.81,142.4,2653,2102,2284,2130,166.5,8.5,199,3320,0.00,2.35,17.88,1.492,10756,0.000,0.063,2663,696,2108,2183,2033,0,0,0,0,0,0,15.25,14.88,14.28
$GC,3472,0.81,142.4,2663,695,2181,2033,148.3,10.2,216,3478,0.00,2.28,0.00,0.000,1030,0.000,0.044,2663,2111,2107,2181,2033,0,0,0,0,0,0,15.02,14.96,15.03
$GC,3727,0.84,164.7,2663,2115,2181,2032,121.5,8.7,241,3751,0.00,2.38,15.20,1.367,10756,0.000,0.056,2674,694,2018,2098,1938,0,0,0,0,0,0,15.21,14.75,14.27
$GC,3895,0.84,164.7,2674,693,2098,1938,103.3,11.0,256,3903,0.00,2.28,0.00,0.000,1030,0.000,0.039,2674,2090,2017,2097,1937,0,0,0,0,0,0,14.95,14.92,14.97
$GC,4143,0.84,164.7,2674,2094,2097,1936,72.7,11.9,281,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2094,2016,2097,1936,0,0,0,0,0,0,15.19,15.19,15.19
$GC,4384,0.84,164.7,2673,2094,2096,1936,45.2,10.2,305,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2094,2016,2097,1936,0,0,0,0,0,0,15.21,15.21,15.21
$GC,4652,0.84,164.7,2674,2096,2097,1936,12.9,12.8,341,4662,0.00,2.35,0.00,0.000,516,0.000,0.063,2684,685,2017,2097,1937,0,0,0,0,0,0,15.19,14.94,15.19
$GC,4676,0.84,164.7,2684,685,2097,1937,9.8,13.6,344,4684,0.00,2.33,0.00,0.000,5126,0.000,0.042,2685,2098,2017,2097,1937,0,0,0,0,0,0,14.98,14.95,15.01
$STATE,4726,end climb,SURFACE_DEPTH_REACHED
$STATE,4726,begin surface coast
$FINISH,0.5,1.023781
$STATE,4752,end surface coast,CONTROL_FINISHED_OK
$STATE,4752,begin surface
$SM_CCo,4765,120.43,0.128,0,0,1097,390.02
$SM_GC,1.24,5.68,0.15,120.43,0.092,0.090,0.128,196,2245,1097,-6.76,-0.93,390.02,0,0,0,0,0,0,15.00,15.00,14.86
$IRIDIUM_FIX,2239.35,-15544.20,180318,144855
$TT8_MAMPS,0.019474,0.326564
$HUMID,40.74
$INTERNAL_PRESSURE,9.52444
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,13.59,19.323
$10V_AH,13.86,0.000
$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,13.050,55.550,202.050,120.425,0.000,29.218,46.061,91.203,12.500,0.000,7.100,1126.208,2215.876,409.750,1347.541,55.748,0.000,857.099,0.000,1131.766,0.000,77.560,0.000
$DEVICE_MAMPS,423.045,109.395,2163.420,127.755,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,239.375,236.483,424.584,450.988,692.080,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343048
$DATA_FILE_SIZE,30575,356
$CAP_FILE_SIZE,64402,0
$CFSIZE,2097086464,2087976960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.372,312.64,1
$GPS,180318,161442,2247.410,-15545.638,5,1.1,5,10.0,0.6,328.6,7,-1.0