version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 79
start: 3 18 118 23 30 57
data:
$ID,626
$MISSION,2
$DIVE,79
$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,44
$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
$GPS1,180318,232625,2248.1863,-15547.7148,48,0.8,48,10.0,0.9,300.8,10,14.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.7
$GPS2,180318,233032,2248.2190,-15547.8018,5,1.5,5,10.0,2.9,32.6,5,319.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M3
$TGT_LATLONG,2211.600,-15551.700
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,130.6,68147,-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,-116.8,195,2211,1138,1055,0.0,0.0,0,82,0.00,0.00,-63.83,0.000,16390,0.000,0.000,195,2211,3167,3189,3146,0,0,0,0,0,0,15.10,14.09,15.08
$GC,84,-0.78,-116.8,195,2211,3189,3146,3.1,-5.1,8,102,6.07,2.28,0.00,0.000,2564,0.419,0.037,2145,775,3169,3192,3146,0,0,0,0,0,0,14.67,14.83,14.90
$GC,169,-0.78,-116.8,2144,775,3193,3146,26.7,-22.5,21,178,0.00,2.35,0.00,0.000,3078,0.000,0.043,2141,2203,3169,3193,3146,0,0,0,0,0,0,14.91,14.88,14.92
$GC,427,-0.78,-116.8,2140,2205,3194,3146,83.2,-21.7,47,432,0.00,2.28,0.00,0.000,2308,0.000,0.059,2141,3606,3170,3194,3146,0,0,0,0,0,0,15.16,14.93,15.16
$GC,532,-0.78,-116.8,2141,3606,3194,3146,103.3,-19.6,56,543,0.00,2.30,0.00,0.000,3078,0.000,0.047,2141,2201,3170,3194,3146,0,0,0,0,0,0,14.97,14.92,14.99
$GC,783,-0.78,-116.8,2140,2201,3195,3146,145.4,-15.4,81,788,0.00,2.30,0.00,0.000,2308,0.000,0.060,2141,3608,3170,3195,3146,0,0,0,0,0,0,15.20,14.97,15.20
$GC,830,-0.78,-116.8,2140,3609,3196,3146,152.1,-14.2,85,835,0.00,2.25,0.00,0.000,3078,0.000,0.045,2141,2202,3170,3195,3146,0,0,0,0,0,0,15.07,15.00,15.09
$GC,1082,-0.78,-116.8,2140,2202,3196,3146,188.2,-13.6,110,1088,0.00,2.30,0.00,0.000,2308,0.000,0.060,2141,3610,3170,3196,3145,0,0,0,0,0,0,15.24,15.00,15.24
$GC,1094,-0.78,-116.8,2141,3610,3196,3146,189.8,-13.3,111,1099,0.00,2.25,0.00,0.000,3078,0.000,0.044,2141,2200,3171,3196,3146,0,0,0,0,0,0,15.09,15.02,15.11
$GC,1377,-0.78,-116.8,2141,2198,3197,3146,225.7,-12.3,124,1383,0.00,2.30,0.00,0.000,2308,0.000,0.060,2141,3609,3171,3197,3146,0,0,0,0,0,0,15.25,15.03,15.26
$GC,1429,-0.78,-116.8,2140,3609,3197,3146,231.2,-12.4,125,1434,0.00,2.22,0.00,0.000,3078,0.000,0.043,2141,2198,3171,3197,3146,0,0,0,0,0,0,15.13,15.06,15.14
$GC,1702,-0.78,-116.8,2141,2199,3198,3146,267.1,-12.9,132,1707,0.00,2.25,0.00,0.000,2564,0.000,0.060,2141,793,3171,3197,3146,0,0,0,0,0,0,15.28,15.07,15.28
$GC,1747,-0.78,-116.8,2140,793,3197,3146,272.8,-12.9,133,1752,0.00,2.25,0.00,0.000,3078,0.000,0.045,2141,2208,3171,3197,3146,0,0,0,0,0,0,15.15,15.07,15.16
$STATE,1984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1984,begin apogee
$GC,1988,-0.16,0.0,2141,2075,3197,3146,304.3,-13.1,139,2077,0.55,0.00,85.90,1.669,10246,0.269,0.000,2348,2072,2689,2765,2613,0,0,0,0,0,0,14.95,14.53,13.95
$STATE,2078,end apogee,CONTROL_FINISHED_OK
$STATE,2078,begin climb
$GC,2080,0.78,116.8,2347,2072,2764,2614,307.9,0.0,141,2179,0.70,2.38,88.32,2.162,10756,0.159,0.060,2648,709,2213,2285,2141,0,0,0,0,0,0,14.47,14.28,13.59
$GC,2260,0.78,116.8,2648,709,2285,2140,294.2,11.3,145,2268,0.00,2.30,0.00,0.000,3078,0.000,0.041,2649,2108,2212,2285,2140,0,0,0,0,0,0,14.71,14.64,14.71
$GC,2506,0.78,116.8,2648,2108,2284,2138,252.7,14.9,152,2511,0.00,2.28,0.00,0.000,2308,0.000,0.058,2648,3503,2211,2285,2138,0,0,0,0,0,0,15.09,14.87,15.09
$GC,2557,0.78,116.8,2648,3504,2284,2138,246.0,15.1,153,2563,0.00,2.25,0.00,0.000,5126,0.000,0.047,2659,2111,2211,2284,2138,0,0,0,0,0,0,14.97,14.90,14.98
$GC,2830,0.78,116.8,2658,2109,2284,2135,207.6,13.2,160,2835,0.00,2.30,0.00,0.000,4612,0.000,0.061,2671,694,2209,2284,2134,0,0,0,0,0,0,15.20,14.97,15.20
$GC,2886,0.78,116.8,2670,693,2284,2134,201.9,13.1,161,2892,0.00,2.25,0.00,0.000,5126,0.000,0.041,2670,2102,2208,2283,2134,0,0,0,0,0,0,15.06,14.99,15.08
$GC,3136,0.78,116.8,2670,2102,2284,2132,169.9,11.4,184,3138,0.03,0.00,0.00,0.000,4102,0.613,0.000,2659,2107,2208,2284,2132,0,0,0,0,0,0,14.87,15.07,15.03
$GC,3375,0.79,121.0,2658,2107,2284,2130,144.1,9.8,208,3389,0.00,2.28,3.72,1.182,8452,0.000,0.057,2659,3496,2195,2273,2118,0,0,0,0,0,0,15.23,14.95,14.35
$GC,3591,0.82,143.7,2658,3496,2271,2117,124.7,8.7,227,3615,0.00,2.25,16.40,1.721,9222,0.000,0.047,2668,2096,2103,2178,2029,0,0,0,0,0,0,15.07,15.01,14.21
$GC,3862,0.82,147.3,2668,2096,2178,2026,95.0,9.8,254,3876,0.00,2.30,2.38,0.732,8708,0.000,0.061,2680,701,2088,2165,2012,0,0,0,0,0,0,15.16,14.88,14.27
$GC,3969,0.82,147.3,2679,701,2165,2012,82.4,12.8,263,3976,0.00,2.25,0.00,0.000,5126,0.000,0.041,2680,2104,2088,2165,2012,0,0,0,0,0,0,15.03,14.97,15.04
$GC,4219,0.82,147.3,2679,2106,2165,2011,52.7,11.5,288,4225,0.00,2.28,0.00,0.000,4356,0.000,0.059,2680,3510,2088,2165,2012,0,0,0,0,0,0,15.19,14.96,15.19
$GC,4280,0.82,147.3,2680,3510,2165,2012,44.9,12.6,293,4286,0.08,2.28,0.00,0.000,5126,0.379,0.047,2663,2102,2088,2164,2012,0,0,0,0,0,0,14.84,14.98,15.01
$GC,4549,0.83,152.5,2663,2094,2165,2012,16.2,9.7,328,4559,0.00,2.30,3.17,0.638,10756,0.000,0.058,2673,689,2067,2147,1988,0,0,0,0,0,0,15.19,14.85,14.47
$GC,4643,0.86,175.7,2673,689,2146,1988,6.8,8.7,343,4662,0.00,2.30,12.75,0.903,11270,0.000,0.039,2673,2100,1969,2054,1885,0,0,0,0,0,0,14.97,14.93,14.47
$STATE,4680,end climb,SURFACE_DEPTH_REACHED
$STATE,4680,begin surface coast
$FINISH,0.3,1.023812
$STATE,4712,end surface coast,CONTROL_FINISHED_OK
$STATE,4712,begin surface
$SM_CCo,4725,112.85,0.133,0,0,1097,390.02
$SM_GC,1.28,5.62,0.12,112.85,0.080,0.103,0.133,195,2232,1097,-6.78,-1.39,390.02,0,0,0,0,0,0,14.94,14.92,14.81
$IRIDIUM_FIX,2239.35,-15549.43,180318,232718
$TT8_MAMPS,0.018725,0.325066
$HUMID,40.70
$INTERNAL_PRESSURE,9.5049
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,13.59,20.281
$10V_AH,13.67,0.000
$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,13.050,59.600,212.650,112.850,0.000,28.327,44.729,88.309,12.750,0.000,6.168,1157.482,2103.410,412.294,1372.457,57.345,0.000,873.518,0.000,1155.964,0.000,79.130,0.000
$DEVICE_MAMPS,612.765,103.275,2161.890,133.110,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,237.546,231.788,421.806,453.081,695.180,0.000,0.000,0.000,0.000,0.000
$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,30619,353
$CAP_FILE_SIZE,66510,0
$CFSIZE,2097086464,2087354368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.286,308.59,1
$GPS,190318,005213,2248.218,-15548.144,6,1.3,6,10.0,0.9,285.6,6,201.8