version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 76
start: 3 18 118 19 10 38
data:
$ID,626
$MISSION,2
$DIVE,76
$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,39
$R_STBD_OVSHOOT,68
$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
$GPS1,180318,190554,2247.7856,-15546.6309,58,0.9,58,10.0,0.0,0.0,9,16.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.2
$GPS2,180318,191014,2247.8284,-15546.7051,6,0.8,6,10.0,0.0,0.0,9,72.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M3
$TGT_LATLONG,2211.600,-15551.700
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,132.3,67639,-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,-116.8,196,2230,1142,1057,0.0,0.0,0,88,0.00,0.00,-63.88,0.000,16390,0.000,0.000,196,2231,3166,3188,3145,0,0,0,0,0,0,15.11,14.30,15.08
$GC,90,-0.78,-116.8,196,2231,3188,3145,4.2,-7.7,9,108,6.10,2.33,0.00,0.000,2564,0.423,0.045,2144,789,3167,3190,3145,0,0,0,0,0,0,14.69,14.81,14.90
$GC,134,-0.78,-116.8,2144,789,3190,3145,20.7,-34.2,15,143,0.00,2.28,0.00,0.000,3078,0.000,0.044,2141,2173,3167,3190,3144,0,0,0,0,0,0,14.92,14.87,14.92
$GC,397,-0.78,-116.8,2141,2174,3191,3144,77.8,-21.1,43,402,0.00,2.33,0.00,0.000,2308,0.000,0.061,2141,3602,3167,3191,3144,0,0,0,0,0,0,15.17,14.92,15.17
$GC,494,-0.78,-116.8,2140,3602,3191,3144,95.6,-17.7,51,501,0.00,2.25,0.00,0.000,3078,0.000,0.047,2141,2196,3168,3191,3145,0,0,0,0,0,0,15.04,14.97,15.05
$GC,742,-0.78,-116.8,2140,2195,3191,3144,143.4,-16.8,76,747,0.00,2.30,0.00,0.000,2308,0.000,0.060,2141,3605,3167,3191,3144,0,0,0,0,0,0,15.22,14.98,15.22
$GC,759,-0.78,-116.8,2140,3605,3191,3144,145.2,-16.2,77,766,0.00,2.25,0.00,0.000,3078,0.000,0.045,2141,2196,3168,3191,3145,0,0,0,0,0,0,15.07,14.99,15.08
$GC,1008,-0.78,-116.8,2140,2197,3193,3144,182.0,-14.5,102,1009,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,2196,3168,3193,3144,0,0,0,0,0,0,15.23,15.24,15.24
$GC,1257,-0.78,-116.8,2140,2196,3194,3145,217.9,-14.5,118,1262,0.00,2.30,0.00,0.000,2308,0.000,0.061,2141,3604,3169,3194,3145,0,0,0,0,0,0,15.25,15.02,15.25
$GC,1295,-0.78,-116.8,2140,3605,3194,3144,217.9,-14.5,118,1302,0.00,2.22,0.00,0.000,3078,0.000,0.044,2141,2199,3168,3193,3144,0,0,0,0,0,0,15.12,15.05,15.14
$GC,1540,-0.78,-116.8,2140,2198,3195,3145,256.0,-13.4,125,1546,0.00,2.25,0.00,0.000,2564,0.000,0.059,2140,786,3169,3194,3144,0,0,0,0,0,0,15.28,15.05,15.28
$GC,1557,-0.78,-116.8,2140,786,3194,3145,256.0,-13.4,125,1563,0.00,2.25,0.00,0.000,3078,0.000,0.045,2140,2203,3169,3194,3144,0,0,0,0,0,0,15.15,15.07,15.16
$GC,1826,-0.78,-116.8,2140,2204,3194,3144,293.3,-12.8,132,1831,0.00,2.28,0.00,0.000,2308,0.000,0.060,2140,3610,3169,3194,3144,0,0,0,0,0,0,15.29,15.07,15.29
$GC,1902,-0.78,-116.8,2140,3609,3195,3144,298.8,-12.9,133,1909,0.00,2.22,0.00,0.000,3078,0.000,0.042,2140,2195,3169,3194,3144,0,0,0,0,0,0,15.16,15.09,15.17
$STATE,1947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1947,begin apogee
$GC,1951,-0.16,0.0,2140,2066,3194,3144,308.4,-12.5,135,2038,0.55,0.00,83.55,1.651,10246,0.260,0.000,2349,2061,2689,2765,2613,0,0,0,0,0,0,14.95,14.54,13.97
$STATE,2039,end apogee,CONTROL_FINISHED_OK
$STATE,2039,begin climb
$GC,2041,0.78,116.8,2349,2061,2765,2614,311.3,0.0,137,2131,0.73,0.00,86.57,2.045,10246,0.155,0.000,2645,2059,2213,2285,2141,0,0,0,0,0,0,14.50,14.29,13.64
$GC,2349,0.78,116.8,2644,2059,2285,2138,272.4,14.6,145,2355,0.00,2.40,0.00,0.000,2308,0.000,0.057,2645,3512,2211,2285,2138,0,0,0,0,0,0,15.02,14.80,15.02
$GC,2406,0.78,116.8,2644,3512,2284,2138,265.7,14.8,146,2411,0.00,2.22,0.00,0.000,1030,0.000,0.047,2655,2135,2211,2284,2138,0,0,0,0,0,0,14.91,14.84,14.92
$GC,2673,0.78,116.8,2655,2134,2284,2135,228.4,12.7,153,2679,0.00,2.33,0.00,0.000,516,0.000,0.060,2666,689,2209,2284,2135,0,0,0,0,0,0,15.18,14.95,15.18
$GC,2815,0.78,116.8,2666,689,2283,2135,212.8,12.8,156,2821,0.00,2.28,0.00,0.000,5126,0.000,0.042,2666,2113,2209,2283,2135,0,0,0,0,0,0,15.07,14.99,15.07
$GC,3068,0.78,116.8,2666,2114,2283,2132,181.5,11.4,174,3073,0.00,2.22,0.00,0.000,4356,0.000,0.054,2666,3506,2207,2283,2132,0,0,0,0,0,0,15.23,15.01,15.23
$GC,3116,0.78,116.8,2666,3506,2282,2132,176.1,12.6,178,3124,0.08,2.25,0.00,0.000,5126,0.389,0.044,2651,2095,2207,2282,2132,0,0,0,0,0,0,14.87,15.02,15.04
$GC,3362,0.78,116.8,2651,2092,2282,2130,150.5,10.1,203,3368,0.00,2.28,0.00,0.000,2564,0.000,0.059,2660,693,2206,2282,2131,0,0,0,0,0,0,15.24,15.01,15.25
$GC,3539,0.78,116.8,2660,693,2280,2131,132.3,10.9,219,3547,0.00,2.25,0.00,0.000,5126,0.000,0.039,2660,2111,2205,2280,2130,0,0,0,0,0,0,15.10,15.03,15.11
$GC,3787,0.82,143.8,2660,2113,2280,2129,107.1,8.5,244,3807,0.00,0.00,18.05,1.205,10246,0.000,0.000,2661,2113,2102,2177,2028,0,0,0,0,0,0,15.25,14.92,14.40
$GC,4046,0.82,143.8,2660,2113,2175,2026,80.6,10.2,270,4052,0.00,2.22,0.00,0.000,2308,0.000,0.052,2660,3502,2100,2175,2026,0,0,0,0,0,0,15.19,14.97,15.19
$GC,4106,0.82,143.8,2660,3502,2175,2026,74.5,10.5,275,4112,0.00,2.25,0.00,0.000,5126,0.000,0.044,2671,2096,2101,2175,2027,0,0,0,0,0,0,15.06,14.99,15.07
$GC,4361,0.82,143.8,2670,2095,2175,2026,46.3,11.6,300,4362,0.00,0.00,0.00,0.000,4102,0.000,0.000,2671,2095,2101,2175,2027,0,0,0,0,0,0,15.21,15.20,15.21
$GC,4615,0.82,143.8,2671,2095,2175,2026,18.9,10.4,332,4624,0.00,2.30,0.00,0.000,4612,0.000,0.058,2682,702,2101,2175,2027,0,0,0,0,0,0,15.19,14.93,15.20
$GC,4744,0.82,143.8,2682,702,2176,2027,5.1,11.1,353,4754,0.03,2.25,0.00,0.000,5126,0.405,0.037,2672,2104,2101,2175,2027,0,0,0,0,0,0,14.79,14.95,14.92
$STATE,4773,end climb,SURFACE_DEPTH_REACHED
$STATE,4773,begin surface coast
$FINISH,0.3,1.012270
$STATE,4816,end surface coast,CONTROL_FINISHED_OK
$STATE,4816,begin surface
$SM_CCo,4829,132.65,0.127,0,0,1098,390.02
$SM_GC,1.26,5.62,0.10,132.65,0.083,0.124,0.127,196,2211,1098,-6.78,-1.89,390.02,0,0,0,0,0,0,14.99,14.97,14.85
$IRIDIUM_FIX,2239.35,-15544.20,180318,190648
$TT8_MAMPS,0.018725,0.26215
$HUMID,40.15
$INTERNAL_PRESSURE,9.51467
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,13.64,19.790
$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,13.100,54.725,188.175,132.650,0.000,28.927,50.661,89.031,13.250,0.000,7.124,1156.498,2223.308,443.525,1359.380,56.092,0.000,863.481,0.000,1134.819,0.000,83.364,0.000
$DEVICE_MAMPS,423.045,123.930,2044.845,126.990,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,244.755,239.823,435.099,466.050,714.978,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343124
$DATA_FILE_SIZE,33968,364
$CAP_FILE_SIZE,65438,0
$CFSIZE,2097086464,2087649280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,2035.93,0x212b6e,2,24
$CURRENT,0.314,319.95,1
$GPS,180318,203359,2247.954,-15547.013,5,0.9,5,10.0,1.2,257.7,8,84.3