version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 78
start: 3 18 118 22 5 19
data:
$ID,626
$MISSION,2
$DIVE,78
$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,40
$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,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
$GPS1,180318,220037,2248.1135,-15547.3291,15,1.4,15,10.0,0.0,0.0,5,93.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.2
$GPS2,180318,220455,2248.1438,-15547.4160,6,1.4,6,10.0,0.7,301.4,5,139.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M3
$TGT_LATLONG,2211.600,-15551.700
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,131.2,68076,-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,-116.8,194,2239,1138,1055,0.0,0.0,0,83,0.00,0.00,-63.75,0.000,16390,0.000,0.000,194,2240,3169,3192,3146,0,0,0,0,0,0,15.11,14.08,15.07
$GC,85,-0.78,-116.8,194,2239,3191,3146,3.2,-5.0,8,103,6.12,2.33,0.00,0.000,2564,0.423,0.038,2149,779,3169,3193,3146,0,0,0,0,0,0,14.67,14.84,14.90
$GC,225,-0.78,-116.8,2149,778,3194,3145,37.3,-20.1,27,234,0.00,2.30,0.00,0.000,3078,0.000,0.042,2141,2189,3170,3195,3145,0,0,0,0,0,0,14.91,14.87,14.92
$GC,472,-0.78,-116.8,2140,2190,3195,3145,91.1,-20.3,52,478,0.00,2.30,0.00,0.000,2308,0.000,0.057,2141,3612,3170,3195,3146,0,0,0,0,0,0,15.16,14.94,15.16
$GC,666,-0.78,-116.8,2141,3612,3195,3146,124.3,-14.9,69,671,0.00,2.25,0.00,0.000,3078,0.000,0.045,2141,2205,3170,3195,3145,0,0,0,0,0,0,15.07,14.99,15.07
$GC,921,-0.78,-116.8,2140,2204,3195,3146,160.8,-13.8,94,926,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,2204,3170,3196,3145,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1169,-0.78,-116.8,2140,2204,3197,3145,195.7,-13.9,119,1170,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,2204,3171,3197,3146,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1439,-0.78,-116.8,2140,2204,3198,3146,234.5,-14.3,128,1445,0.00,2.30,0.00,0.000,2308,0.000,0.060,2141,3609,3171,3198,3145,0,0,0,0,0,0,15.27,15.04,15.27
$GC,1490,-0.78,-116.8,2141,3609,3198,3146,240.7,-14.2,129,1496,0.00,2.22,0.00,0.000,3078,0.000,0.044,2141,2204,3171,3198,3145,0,0,0,0,0,0,15.14,15.06,15.15
$GC,1764,-0.78,-116.8,2140,2202,3198,3145,277.6,-12.6,136,1765,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,2203,3172,3198,3146,0,0,0,0,0,0,15.28,15.28,15.28
$STATE,1962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1962,begin apogee
$GC,1966,-0.16,0.0,2141,2069,3198,3145,301.6,-12.0,141,2055,0.55,0.00,85.25,1.711,10246,0.261,0.000,2350,2064,2689,2765,2613,0,0,0,0,0,0,14.95,14.52,13.94
$STATE,2055,end apogee,CONTROL_FINISHED_OK
$STATE,2056,begin climb
$GC,2057,0.78,116.8,2350,2065,2765,2614,304.0,0.0,143,2153,0.70,2.28,87.15,2.211,10756,0.157,0.058,2651,715,2213,2285,2141,0,0,0,0,0,0,14.47,14.28,13.57
$GC,2174,0.78,116.8,2650,715,2285,2141,294.8,10.3,146,2179,0.00,2.30,0.00,0.000,3078,0.000,0.040,2650,2100,2213,2285,2141,0,0,0,0,0,0,14.53,14.46,14.54
$GC,2445,0.78,116.8,2650,2100,2285,2138,253.4,14.6,153,2451,0.00,2.30,0.00,0.000,2308,0.000,0.054,2651,3507,2211,2285,2138,0,0,0,0,0,0,15.07,14.85,15.08
$GC,2537,0.78,116.8,2650,3508,2284,2139,241.3,14.7,155,2542,0.00,2.22,0.00,0.000,5126,0.000,0.046,2661,2118,2211,2284,2138,0,0,0,0,0,0,14.97,14.90,14.99
$GC,2810,0.78,116.8,2660,2117,2284,2135,205.6,12.7,162,2815,0.00,2.30,0.00,0.000,4612,0.000,0.059,2673,699,2209,2284,2135,0,0,0,0,0,0,15.20,14.97,15.20
$GC,2884,0.78,116.8,2672,699,2284,2135,195.8,13.5,166,2890,0.05,2.25,0.00,0.000,5126,0.418,0.041,2655,2107,2209,2284,2135,0,0,0,0,0,0,14.84,15.00,15.02
$GC,3137,0.78,116.8,2655,2113,2284,2132,164.7,12.4,191,3142,0.00,2.22,0.00,0.000,260,0.000,0.054,2655,3513,2208,2284,2132,0,0,0,0,0,0,15.23,15.00,15.23
$GC,3153,0.78,116.8,2655,3514,2283,2132,163.2,12.6,192,3162,0.00,2.30,0.00,0.000,5126,0.000,0.046,2664,2106,2207,2282,2132,0,0,0,0,0,0,15.02,14.98,15.03
$GC,3402,0.78,116.8,2664,2105,2283,2131,133.5,10.3,217,3407,0.00,2.30,0.00,0.000,4612,0.000,0.060,2676,685,2207,2283,2131,0,0,0,0,0,0,15.23,15.00,15.23
$GC,3502,0.78,117.5,2676,685,2282,2131,123.1,10.0,226,3508,0.05,2.25,0.00,0.000,5126,0.423,0.040,2658,2101,2206,2282,2131,0,0,0,0,0,0,14.86,15.02,15.05
$GC,3757,0.83,155.4,2658,2107,2281,2130,101.5,7.8,251,3790,0.00,2.33,25.50,1.437,10756,0.000,0.059,2667,695,2056,2132,1980,0,0,0,0,0,0,15.24,14.73,14.23
$GC,3850,0.83,155.4,2667,695,2131,1980,93.0,10.0,259,3855,0.00,2.28,0.00,0.000,1030,0.000,0.040,2668,2105,2055,2131,1980,0,0,0,0,0,0,14.95,14.88,14.96
$GC,4104,0.83,155.4,2667,2105,2131,1979,63.4,11.6,284,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2105,2055,2131,1979,0,0,0,0,0,0,15.16,15.16,15.16
$GC,4344,0.83,155.4,2667,2105,2131,1979,35.9,11.2,308,4349,0.00,2.22,0.00,0.000,260,0.000,0.055,2668,3503,2055,2131,1979,0,0,0,0,0,0,15.18,14.96,15.19
$GC,4422,0.83,155.4,2667,3503,2130,1979,25.8,13.4,317,4431,0.00,2.33,0.00,0.000,5126,0.000,0.047,2678,2094,2055,2131,1979,0,0,0,0,0,0,15.02,14.95,15.00
$STATE,4614,end climb,SURFACE_DEPTH_REACHED
$STATE,4615,begin surface coast
$FINISH,0.3,1.011825
$STATE,4646,end surface coast,CONTROL_FINISHED_OK
$STATE,4647,begin surface
$SM_CCo,4659,124.40,0.132,0,0,1097,390.02
$SM_GC,1.22,5.60,0.17,124.40,0.076,0.093,0.132,195,2205,1097,-6.78,-1.27,390.02,0,0,0,0,0,0,14.98,14.97,14.84
$IRIDIUM_FIX,2239.35,-15536.85,180318,220144
$TT8_MAMPS,0.018725,0.322819
$HUMID,40.47
$INTERNAL_PRESSURE,9.51467
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,13.57,20.114
$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,13.075,45.900,197.900,124.400,0.000,32.972,48.848,89.653,12.750,0.000,7.111,1104.398,2164.334,394.650,1341.920,52.509,0.000,821.434,0.000,1119.435,0.000,79.471,0.000
$DEVICE_MAMPS,423.045,94.095,2210.850,131.580,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,238.670,232.553,424.729,446.716,685.330,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343164
$DATA_FILE_SIZE,30651,354
$CAP_FILE_SIZE,61214,0
$CFSIZE,2097086464,2087485440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.274,313.48,1
$GPS,180318,232625,2248.186,-15547.715,48,0.8,48,10.0,0.9,300.8,10,14.3