version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 74
start: 3 18 118 16 19 24
data:
$ID,626
$MISSION,2
$DIVE,74
$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,27
$R_STBD_OVSHOOT,70
$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
$GPS1,180318,161442,2247.4099,-15545.6377,5,1.1,5,10.0,0.6,328.6,7,-1.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.7
$GPS2,180318,161859,2247.4402,-15545.7070,5,1.1,5,10.0,1.0,312.5,7,-1.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M3
$TGT_LATLONG,2211.600,-15551.700
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,133.8,67167,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.78,-116.8,196,2211,1138,1060,0.0,0.0,0,82,0.00,0.00,-64.32,0.000,16390,0.000,0.000,196,2211,3168,3187,3149,0,0,0,0,0,0,15.11,14.09,15.09
$GC,84,-0.78,-116.8,196,2211,3187,3149,2.9,-4.3,8,102,6.10,2.30,0.00,0.000,2564,0.421,0.044,2148,776,3169,3190,3149,0,0,0,0,0,0,14.69,14.83,14.91
$GC,245,-0.78,-116.8,2147,775,3190,3148,40.7,-20.5,30,251,0.00,2.25,0.00,0.000,3078,0.000,0.043,2141,2181,3169,3191,3148,0,0,0,0,0,0,15.00,14.92,15.01
$GC,499,-0.78,-116.8,2140,2182,3191,3148,93.1,-19.3,55,505,0.00,2.33,0.00,0.000,2308,0.000,0.062,2141,3611,3169,3191,3148,0,0,0,0,0,0,15.19,14.94,15.19
$GC,635,-0.78,-116.8,2140,3611,3191,3148,116.6,-17.8,67,640,0.00,2.28,0.00,0.000,3078,0.000,0.048,2141,2194,3169,3191,3148,0,0,0,0,0,0,15.06,14.98,15.07
$GC,887,-0.78,-116.8,2140,2193,3191,3148,158.0,-16.5,92,892,0.00,2.25,0.00,0.000,2564,0.000,0.060,2141,792,3170,3192,3148,0,0,0,0,0,0,15.23,15.00,15.23
$GC,953,-0.78,-116.8,2140,792,3191,3148,169.2,-16.7,98,959,0.00,2.25,0.00,0.000,3078,0.000,0.045,2141,2200,3169,3191,3148,0,0,0,0,0,0,15.09,15.01,15.10
$GC,1206,-0.78,-116.8,2140,2201,3193,3148,207.2,-15.6,120,1212,0.00,2.28,0.00,0.000,2308,0.000,0.060,2141,3613,3170,3193,3148,0,0,0,0,0,0,15.23,15.01,15.24
$GC,1298,-0.78,-116.8,2140,3613,3194,3149,220.2,-15.9,122,1303,0.00,2.22,0.00,0.000,3078,0.000,0.041,2141,2201,3170,3193,3148,0,0,0,0,0,0,15.12,15.04,15.13
$GC,1571,-0.78,-116.8,2141,2200,3194,3148,260.9,-14.5,129,1577,0.00,2.22,0.00,0.000,2564,0.000,0.060,2141,796,3171,3195,3148,0,0,0,0,0,0,15.28,15.04,15.28
$GC,1608,-0.78,-116.8,2140,796,3194,3148,260.9,-14.5,129,1615,0.00,2.25,0.00,0.000,3078,0.000,0.044,2141,2215,3171,3194,3148,0,0,0,0,0,0,15.14,15.07,15.16
$GC,1854,-0.78,-116.8,2141,2216,3194,3148,297.8,-12.1,136,1860,0.00,2.25,0.00,0.000,2308,0.000,0.058,2141,3614,3171,3194,3148,0,0,0,0,0,0,15.29,15.07,15.29
$GC,1891,-0.78,-116.8,2140,3615,3194,3148,297.8,-12.1,136,1901,0.00,2.22,0.00,0.000,3078,0.000,0.041,2141,2192,3171,3194,3148,0,0,0,0,0,0,15.16,15.09,15.17
$STATE,1937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1937,begin apogee
$GC,1941,-0.16,0.0,2141,2063,3195,3148,306.9,-11.3,138,2028,0.55,0.00,83.40,1.634,10246,0.261,0.000,2349,2061,2689,2764,2614,0,0,0,0,0,0,14.95,14.55,13.98
$STATE,2029,end apogee,CONTROL_FINISHED_OK
$STATE,2029,begin climb
$GC,2030,0.78,116.8,2349,2061,2764,2615,308.9,0.0,140,2123,0.73,2.45,85.15,1.991,10500,0.155,0.054,2646,3505,2213,2285,2141,0,0,0,0,0,0,14.50,14.20,13.66
$GC,2140,0.78,116.8,2645,3505,2284,2141,298.5,11.0,143,2145,0.00,2.30,0.00,0.000,1030,0.000,0.046,2656,2127,2212,2284,2140,0,0,0,0,0,0,14.53,14.46,14.54
$GC,2422,0.78,116.8,2655,2126,2284,2138,257.7,13.4,150,2427,0.00,2.33,0.00,0.000,516,0.000,0.059,2667,687,2210,2284,2137,0,0,0,0,0,0,15.09,14.86,15.09
$GC,2458,0.78,116.8,2667,688,2284,2138,257.7,13.4,150,2464,0.00,2.28,0.00,0.000,5126,0.000,0.039,2666,2109,2211,2284,2138,0,0,0,0,0,0,14.97,14.90,14.97
$GC,2704,0.78,116.8,2667,2110,2284,2134,221.5,12.8,157,2710,0.00,2.33,0.00,0.000,4612,0.000,0.059,2678,693,2209,2284,2134,0,0,0,0,0,0,15.19,14.96,15.20
$GC,2755,0.78,116.8,2678,693,2284,2135,215.7,12.8,158,2761,0.08,2.25,0.00,0.000,5126,0.370,0.039,2652,2105,2209,2284,2134,0,0,0,0,0,0,14.83,14.99,15.01
$GC,3010,0.78,116.8,2652,2110,2284,2131,186.7,10.8,172,3015,0.00,2.33,0.00,0.000,516,0.000,0.060,2662,686,2208,2284,2132,0,0,0,0,0,0,15.23,15.00,15.23
$GC,3047,0.78,116.8,2661,686,2284,2132,182.6,11.9,175,3054,0.00,2.25,0.00,0.000,5126,0.000,0.040,2662,2105,2207,2284,2131,0,0,0,0,0,0,15.09,15.02,15.10
$GC,3294,0.78,116.8,2661,2110,2284,2130,154.6,10.9,200,3295,0.00,0.00,0.00,0.000,4102,0.000,0.000,2662,2110,2206,2283,2130,0,0,0,0,0,0,15.24,15.25,15.25
$GC,3533,0.78,116.8,2661,2111,2283,2128,130.5,10.4,224,3539,0.00,2.30,0.00,0.000,4612,0.000,0.057,2673,688,2205,2283,2128,0,0,0,0,0,0,15.25,15.02,15.25
$GC,3773,0.83,155.9,2673,687,2282,2128,107.8,7.8,246,3805,0.00,2.28,25.60,1.274,13318,0.000,0.038,2673,2100,2052,2128,1977,0,0,0,0,0,0,15.02,14.99,14.35
$GC,4044,0.83,155.9,2673,2101,2127,1975,78.0,12.4,273,4050,0.00,2.22,0.00,0.000,260,0.000,0.050,2673,3506,2051,2128,1975,0,0,0,0,0,0,15.16,14.95,15.17
$GC,4137,0.83,155.9,2673,3507,2127,1975,65.6,13.5,281,4143,0.00,2.25,0.00,0.000,5126,0.000,0.044,2683,2098,2051,2128,1975,0,0,0,0,0,0,15.04,14.97,15.05
$GC,4392,0.83,155.9,2682,2097,2128,1975,34.7,12.1,306,4394,0.00,0.00,0.00,0.000,4102,0.000,0.000,2683,2097,2052,2129,1975,0,0,0,0,0,0,15.20,15.20,15.20
$STATE,4654,end climb,SURFACE_DEPTH_REACHED
$STATE,4654,begin surface coast
$FINISH,0.3,1.006273
$STATE,4680,end surface coast,CONTROL_FINISHED_OK
$STATE,4680,begin surface
$SM_CCo,4693,131.95,0.122,0,0,1097,390.02
$SM_GC,1.14,5.62,0.15,131.95,0.081,0.092,0.122,196,2229,1097,-6.76,-1.55,390.02,0,0,0,0,0,0,15.00,14.99,14.84
$IRIDIUM_FIX,2239.35,-15547.29,180318,161535
$TT8_MAMPS,0.018725,0.325066
$HUMID,40.74
$INTERNAL_PRESSURE,9.52444
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,13.66,19.478
$10V_AH,13.93,0.000
$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,13.075,54.975,194.150,131.950,0.000,28.596,45.058,95.237,13.000,0.000,7.125,1147.254,2118.720,427.624,1354.184,52.511,0.000,850.957,0.000,1129.171,0.000,80.220,0.000
$DEVICE_MAMPS,420.750,192.015,1990.530,122.400,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,237.119,230.451,420.825,442.345,678.700,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343120
$DATA_FILE_SIZE,30623,352
$CAP_FILE_SIZE,64203,0
$CFSIZE,2097086464,2087878656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.351,311.04,1
$GPS,180318,174038,2247.583,-15546.191,16,1.5,16,10.0,1.2,244.9,5,40.8