version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 77
start: 3 18 118 20 38 37
data:
$ID,626
$MISSION,2
$DIVE,77
$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,42
$R_STBD_OVSHOOT,67
$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
$GPS1,180318,203359,2247.9541,-15547.0127,5,0.9,5,10.0,1.2,257.7,8,84.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-66.1
$GPS2,180318,203813,2247.9851,-15547.0781,6,0.9,6,10.0,0.0,0.0,8,80.5
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M3
$TGT_LATLONG,2211.600,-15551.700
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,131.7,67849,-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,-116.8,196,2217,1137,1059,0.0,0.0,0,88,0.00,0.00,-64.35,0.000,16390,0.000,0.000,196,2217,3165,3187,3144,0,0,0,0,0,0,15.10,14.28,15.05
$GC,90,-0.78,-116.8,196,2217,3187,3144,3.9,-7.1,9,101,6.07,2.30,0.00,0.000,2564,0.418,0.038,2145,781,3166,3188,3144,0,0,0,0,0,0,14.67,14.90,14.90
$GC,238,-0.78,-116.8,2144,781,3190,3144,40.7,-20.2,29,244,0.00,2.25,0.00,0.000,3078,0.000,0.044,2141,2184,3167,3190,3144,0,0,0,0,0,0,15.00,14.92,15.01
$GC,493,-0.78,-116.8,2141,2185,3190,3144,96.0,-20.8,54,498,0.00,2.30,0.00,0.000,2308,0.000,0.059,2141,3605,3167,3190,3144,0,0,0,0,0,0,15.18,14.95,15.18
$GC,651,-0.78,-116.8,2140,3605,3191,3143,125.9,-16.7,68,660,0.00,2.28,0.00,0.000,3078,0.000,0.045,2140,2205,3167,3191,3143,0,0,0,0,0,0,14.97,14.94,14.99
$GC,897,-0.78,-116.8,2140,2205,3191,3143,168.0,-17.0,93,903,0.00,2.28,0.00,0.000,2564,0.000,0.059,2141,788,3167,3192,3143,0,0,0,0,0,0,15.23,15.00,15.23
$GC,922,-0.78,-116.8,2140,789,3192,3143,172.3,-17.6,95,928,0.00,2.25,0.00,0.000,3078,0.000,0.044,2140,2202,3167,3192,3143,0,0,0,0,0,0,15.09,15.01,15.09
$GC,1186,-0.78,-116.8,2140,2203,3193,3143,212.0,-14.9,115,1191,0.00,2.28,0.00,0.000,2308,0.000,0.060,2141,3611,3168,3193,3143,0,0,0,0,0,0,15.24,15.01,15.24
$GC,1310,-0.78,-116.8,2140,3612,3194,3144,228.1,-13.2,118,1316,0.00,2.25,0.00,0.000,3078,0.000,0.044,2141,2194,3168,3194,3143,0,0,0,0,0,0,15.12,15.05,15.14
$GC,1593,-0.78,-116.8,2140,2193,3194,3143,263.3,-12.3,125,1598,0.00,2.22,0.00,0.000,2564,0.000,0.057,2140,798,3168,3194,3143,0,0,0,0,0,0,15.28,15.06,15.28
$GC,1638,-0.78,-116.8,2140,796,3194,3143,268.7,-12.1,126,1645,0.00,2.22,0.00,0.000,3078,0.000,0.043,2140,2204,3169,3195,3143,0,0,0,0,0,0,15.15,15.07,15.16
$STATE,1917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1917,begin apogee
$GC,1921,-0.16,0.0,2140,2079,3194,3143,302.6,-12.1,133,2009,0.55,0.00,84.18,1.706,10246,0.264,0.000,2349,2075,2689,2765,2613,0,0,0,0,0,0,14.95,14.52,13.95
$STATE,2009,end apogee,CONTROL_FINISHED_OK
$STATE,2010,begin climb
$GC,2011,0.78,116.8,2349,2075,2765,2614,305.9,0.0,135,2107,0.70,2.30,86.57,2.132,10756,0.158,0.064,2649,721,2212,2285,2140,0,0,0,0,0,0,14.47,14.28,13.59
$GC,2193,0.78,116.8,2648,721,2284,2140,293.0,10.7,139,2200,0.00,2.25,0.00,0.000,3078,0.000,0.041,2648,2100,2212,2284,2140,0,0,0,0,0,0,14.72,14.65,14.73
$GC,2439,0.78,116.8,2648,2101,2284,2137,254.1,13.8,146,2444,0.00,2.28,0.00,0.000,2308,0.000,0.054,2649,3509,2210,2284,2137,0,0,0,0,0,0,15.10,14.88,15.10
$GC,2475,0.78,116.8,2649,3510,2284,2137,254.1,13.8,146,2482,0.00,2.22,0.00,0.000,5126,0.000,0.044,2659,2122,2210,2284,2137,0,0,0,0,0,0,14.97,14.90,14.98
$GC,2721,0.78,116.8,2658,2122,2284,2134,218.2,12.6,153,2727,0.00,2.30,0.00,0.000,4612,0.000,0.057,2670,698,2209,2284,2134,0,0,0,0,0,0,15.20,14.97,15.20
$GC,2837,0.78,116.8,2671,697,2283,2134,207.6,12.8,155,2845,0.00,2.25,0.00,0.000,5126,0.000,0.041,2670,2110,2208,2283,2134,0,0,0,0,0,0,15.07,15.00,15.08
$GC,3083,0.78,116.8,2670,2114,2283,2132,174.3,11.0,177,3088,0.00,2.22,0.00,0.000,4356,0.000,0.054,2670,3500,2207,2282,2132,0,0,0,0,0,0,15.23,15.00,15.23
$GC,3179,0.78,116.8,2670,3502,2281,2132,161.8,13.6,186,3185,0.08,2.25,0.00,0.000,5126,0.389,0.046,2655,2094,2206,2281,2132,0,0,0,0,0,0,14.87,15.02,15.04
$GC,3434,0.80,133.3,2654,2091,2281,2130,136.4,9.1,211,3451,0.00,2.30,11.02,1.318,10756,0.000,0.058,2664,699,2145,2219,2071,0,0,0,0,0,0,15.24,14.94,14.42
$GC,3569,0.80,133.3,2664,699,2218,2071,122.3,11.3,223,3576,0.00,2.25,0.00,0.000,1030,0.000,0.042,2665,2101,2144,2218,2071,0,0,0,0,0,0,15.04,14.97,15.05
$GC,3816,0.80,133.3,2664,2102,2218,2070,95.1,10.1,248,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2102,2142,2216,2069,0,0,0,0,0,0,15.21,15.22,15.21
$GC,4058,0.82,143.4,2664,2102,2217,2069,70.5,9.4,272,4072,0.00,2.25,7.38,1.030,8452,0.000,0.050,2665,3507,2103,2179,2027,0,0,0,0,0,0,15.22,14.87,14.47
$GC,4108,0.82,143.4,2664,3508,2178,2028,65.2,10.4,276,4115,0.00,2.25,0.00,0.000,5126,0.000,0.045,2674,2102,2103,2178,2028,0,0,0,0,0,0,15.05,14.97,15.06
$GC,4364,0.82,143.4,2675,2101,2178,2028,37.7,10.0,301,4369,0.00,2.30,0.00,0.000,4356,0.000,0.052,2675,3516,2103,2178,2028,0,0,0,0,0,0,15.20,14.98,15.21
$GC,4392,0.82,143.4,2674,3516,2178,2028,34.7,11.2,303,4401,0.05,2.33,0.00,0.000,5126,0.367,0.046,2667,2096,2103,2178,2028,0,0,0,0,0,0,14.79,14.94,14.92
$GC,4678,0.85,169.0,2666,2088,2178,2028,3.9,8.5,349,4696,0.00,0.77,14.40,0.128,10755,0.000,0.055,2669,1610,1998,2077,1919,0,0,0,0,0,0,15.19,15.01,14.89
$STATE,4697,end climb,SURFACE_DEPTH_REACHED
$STATE,4697,begin surface coast
$FINISH,0.4,1.000738
$STATE,4741,end surface coast,CONTROL_FINISHED_OK
$STATE,4741,begin surface
$SM_CCo,4755,117.32,0.128,0,0,1099,390.02
$SM_GC,1.20,5.57,1.00,117.32,0.073,0.040,0.128,194,2234,1099,-6.78,-1.02,390.02,0,0,0,0,0,0,14.99,14.98,14.84
$IRIDIUM_FIX,2239.35,-15544.20,180318,203449
$TT8_MAMPS,0.020223,0.271138
$HUMID,40.07
$INTERNAL_PRESSURE,9.51467
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,13.59,19.950
$10V_AH,13.87,0.000
$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,13.025,56.300,203.550,117.325,0.000,25.734,44.869,96.731,12.750,0.000,7.123,1170.224,2100.167,403.804,1415.726,54.215,0.000,863.696,0.000,1194.017,0.000,79.107,0.000
$DEVICE_MAMPS,417.690,94.860,2132.055,127.755,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,240.900,234.253,427.267,461.739,708.458,0.000,0.000,0.000,0.000,0.000
$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,33878,358
$CAP_FILE_SIZE,65931,0
$CFSIZE,2097086464,2087518208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.277,321.76,1
$GPS,180318,220037,2248.114,-15547.329,15,1.4,15,10.0,0.0,0.0,5,93.3