version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 80
start: 3 19 118 0 57 6
data:
$ID,626
$MISSION,2
$DIVE,80
$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,74
$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
$GPS1,190318,005213,2248.2175,-15548.1436,6,1.3,6,10.0,0.9,285.6,6,201.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.1
$GPS2,190318,005641,2248.2681,-15548.2373,5,1.0,5,10.0,1.6,313.8,8,192.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,M3
$TGT_LATLONG,2211.600,-15551.700
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,130.0,68168,-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,13,begin dive
$GC,14,-0.78,-116.8,195,2235,1141,1054,0.0,0.0,0,81,0.00,0.00,-64.25,0.000,16390,0.000,0.000,195,2236,3168,3189,3147,0,0,0,0,0,0,15.09,14.09,15.06
$GC,83,-0.78,-116.8,195,2236,3189,3147,2.8,-3.7,8,102,6.10,2.33,0.00,0.000,2564,0.419,0.038,2150,780,3169,3192,3147,0,0,0,0,0,0,14.66,14.82,14.90
$GC,212,-0.78,-116.8,2149,780,3193,3147,33.9,-20.1,27,222,0.00,2.28,0.00,0.000,3078,0.000,0.042,2142,2169,3169,3192,3147,0,0,0,0,0,0,14.89,14.85,14.91
$GC,459,-0.78,-116.8,2141,2170,3192,3147,89.2,-21.6,52,464,0.00,2.33,0.00,0.000,2308,0.000,0.060,2141,3605,3170,3193,3147,0,0,0,0,0,0,15.17,14.92,15.17
$GC,598,-0.78,-116.8,2141,3605,3193,3147,115.7,-17.4,64,604,0.00,2.28,0.00,0.000,3078,0.000,0.047,2141,2194,3169,3192,3147,0,0,0,0,0,0,15.04,14.96,15.06
$GC,851,-0.78,-116.8,2141,2193,3195,3147,157.9,-15.1,89,856,0.00,2.33,0.00,0.000,2308,0.000,0.060,2141,3615,3170,3194,3147,0,0,0,0,0,0,15.22,14.97,15.22
$GC,899,-0.78,-116.8,2140,3616,3194,3147,164.4,-14.9,93,911,0.00,2.30,0.00,0.000,3078,0.000,0.046,2141,2207,3170,3194,3147,0,0,0,0,0,0,15.01,14.97,15.03
$GC,1151,-0.78,-116.8,2140,2206,3196,3147,201.3,-13.7,118,1157,0.00,2.30,0.00,0.000,2308,0.000,0.061,2141,3614,3171,3196,3147,0,0,0,0,0,0,15.23,15.00,15.22
$GC,1173,-0.78,-116.8,2140,3613,3196,3147,201.3,-13.7,118,1178,0.00,2.28,0.00,0.000,3078,0.000,0.045,2141,2192,3171,3195,3147,0,0,0,0,0,0,15.10,15.02,15.11
$GC,1435,-0.78,-116.8,2140,2192,3196,3147,236.8,-12.1,125,1441,0.00,2.33,0.00,0.000,2308,0.000,0.062,2140,3614,3171,3196,3147,0,0,0,0,0,0,15.26,15.03,15.26
$GC,1452,-0.78,-116.8,2140,3614,3196,3147,236.8,-12.1,125,1457,0.00,2.25,0.00,0.000,3078,0.000,0.044,2141,2195,3171,3196,3147,0,0,0,0,0,0,15.13,15.05,15.14
$GC,1720,-0.78,-116.8,2140,2194,3197,3147,270.7,-11.7,132,1725,0.00,2.25,0.00,0.000,2564,0.000,0.061,2141,793,3172,3197,3148,0,0,0,0,0,0,15.28,15.06,15.28
$GC,1742,-0.78,-116.8,2140,792,3197,3147,270.7,-11.7,132,1747,0.00,2.25,0.00,0.000,3078,0.000,0.047,2141,2203,3171,3196,3147,0,0,0,0,0,0,15.15,15.07,15.16
$STATE,1963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1963,begin apogee
$GC,1967,-0.16,0.0,2141,2072,3196,3147,302.5,-13.1,138,2058,0.55,0.00,87.60,1.737,10246,0.265,0.000,2349,2069,2689,2765,2614,0,0,0,0,0,0,14.95,14.50,13.88
$STATE,2059,end apogee,CONTROL_FINISHED_OK
$STATE,2059,begin climb
$GC,2060,0.78,116.8,2349,2069,2765,2614,306.2,0.0,140,2159,0.70,2.30,89.12,2.013,10756,0.159,0.061,2648,710,2213,2285,2141,0,0,0,0,0,0,14.45,14.28,13.59
$GC,2227,0.78,116.8,2647,710,2285,2141,295.0,9.6,144,2232,0.00,2.30,0.00,0.000,3078,0.000,0.041,2648,2115,2212,2285,2140,0,0,0,0,0,0,14.68,14.61,14.69
$GC,2489,0.78,116.8,2648,2116,2284,2138,257.8,13.4,151,2494,0.00,2.25,0.00,0.000,2308,0.000,0.059,2648,3501,2211,2285,2137,0,0,0,0,0,0,15.09,14.86,15.09
$GC,2635,0.78,116.8,2648,3501,2283,2138,240.2,14.4,154,2641,0.00,2.25,0.00,0.000,5126,0.000,0.048,2658,2109,2211,2284,2138,0,0,0,0,0,0,15.00,14.92,15.02
$GC,2894,0.78,116.8,2658,2108,2283,2134,201.9,13.2,161,2895,0.00,0.00,0.00,0.000,4102,0.000,0.000,2658,2108,2209,2284,2134,0,0,0,0,0,0,15.21,15.22,15.21
$GC,3133,0.78,116.8,2658,2108,2283,2132,171.8,11.6,182,3139,0.00,2.30,0.00,0.000,4612,0.000,0.061,2670,692,2207,2283,2131,0,0,0,0,0,0,15.23,15.00,15.23
$GC,3171,0.78,116.8,2669,691,2282,2132,168.1,11.0,185,3178,0.00,2.25,0.00,0.000,5126,0.000,0.042,2670,2102,2207,2283,2132,0,0,0,0,0,0,15.09,15.02,15.10
$GC,3417,0.78,116.8,2669,2102,2283,2130,140.2,10.3,210,3422,0.00,2.25,0.00,0.000,4356,0.000,0.055,2669,3505,2206,2283,2130,0,0,0,0,0,0,15.23,15.01,15.24
$GC,3777,0.78,116.8,2669,3506,2280,2131,100.7,10.4,243,3785,0.08,2.25,0.00,0.000,5126,0.383,0.047,2654,2094,2204,2279,2130,0,0,0,0,0,0,14.88,15.02,15.06
$GC,4024,0.84,163.1,2654,2091,2280,2129,81.9,7.3,268,4064,0.00,2.30,31.80,1.355,10756,0.000,0.062,2663,705,2021,2100,1943,0,0,0,0,0,0,15.24,14.79,14.29
$GC,4153,0.84,163.1,2663,705,2100,1945,69.6,11.5,279,4159,0.00,2.25,0.00,0.000,3078,0.000,0.041,2663,2100,2022,2100,1945,0,0,0,0,0,0,14.95,14.88,14.96
$GC,4408,0.84,163.1,2663,2100,2099,1944,39.2,11.5,304,4409,0.00,0.00,0.00,0.000,2054,0.000,0.000,2663,2100,2022,2100,1944,0,0,0,0,0,0,15.15,15.15,15.15
$GC,4675,0.84,163.1,2663,2104,2100,1945,9.4,10.5,343,4684,0.00,2.38,0.00,0.000,2564,0.000,0.061,2674,692,2022,2100,1945,0,0,0,0,0,0,15.16,14.90,15.16
$STATE,4726,end climb,SURFACE_DEPTH_REACHED
$STATE,4726,begin surface coast
$FINISH,0.3,1.023765
$STATE,4751,end surface coast,CONTROL_FINISHED_OK
$STATE,4751,begin surface
$SM_CCo,4767,120.97,0.131,0,0,1099,390.02
$SM_GC,1.15,5.55,2.47,120.97,0.066,0.042,0.131,197,2212,1099,-6.77,-1.41,390.02,0,0,0,0,0,0,14.97,14.95,14.83
$IRIDIUM_FIX,2241.69,-15548.47,190318,005307
$TT8_MAMPS,0.018725,0.325066
$HUMID,40.31
$INTERNAL_PRESSURE,9.5049
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,13.59,20.447
$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,12.975,55.200,208.525,120.975,0.000,28.213,46.408,107.031,12.750,0.000,7.222,1164.145,2138.534,408.323,1406.156,57.384,0.000,865.368,0.000,1172.025,0.000,79.399,0.000
$DEVICE_MAMPS,419.220,83.385,2012.715,130.815,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,239.206,233.611,423.259,450.966,691.920,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343108
$DATA_FILE_SIZE,30676,355
$CAP_FILE_SIZE,64166,0
$CFSIZE,2097086464,2087288832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.313,306.29,1
$GPS,190318,021919,2248.355,-15548.670,13,1.5,13,10.0,1.4,322.7,6,105.9