version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 140
start: 3 27 118 6 0 54
data:
$ID,626
$MISSION,2
$DIVE,140
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,950
$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,300
$T_MISSION,680
$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,110
$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,2483
$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,2400
$C_ROLL_CLIMB,2131
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2720
$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
$GPS1,270318,055554,2220.4458,-15556.2607,49,0.9,49,9.9,0.6,339.7,9,47.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-74.1
$GPS2,270318,060028,2220.4690,-15556.2861,6,1.1,6,9.9,1.1,136.9,7,343.2
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,M4
$TGT_LATLONG,2218.000,-15612.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,225.0,27311,-21.4,-10.000,-23.94,1642
$D_GRID,900
$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,15,-0.80,-107.1,188,2404,1207,1131,0.0,0.0,0,66,0.00,0.00,-48.92,0.000,16386,0.000,0.000,188,2404,2812,2831,2794,0,0,0,0,0,0,15.00,28.83,15.00
$GC,68,-0.80,-107.1,188,2404,2830,2794,4.2,-8.0,6,88,6.60,2.33,-5.35,0.000,18692,0.452,0.074,2211,3803,3159,3186,3133,0,0,0,0,0,0,14.54,13.91,14.81
$GC,259,-0.80,-107.1,2211,3804,3188,3133,86.1,-36.6,25,265,0.00,2.33,0.00,0.000,3078,0.000,0.063,2210,2410,3160,3188,3133,0,0,0,0,0,0,14.89,14.79,14.90
$GC,512,-0.80,-107.1,2210,2410,3188,3133,191.7,-42.0,50,517,0.00,2.38,0.00,0.000,2564,0.000,0.072,2211,976,3160,3188,3133,0,0,0,0,0,0,15.09,14.85,15.09
$GC,549,-0.80,-107.1,2211,976,3189,3133,201.7,-44.3,52,557,0.05,2.33,0.00,0.000,3078,0.521,0.053,2222,2389,3161,3189,3133,0,0,0,0,0,0,14.67,14.85,14.90
$GC,796,-0.80,-107.1,2221,2390,3191,3133,301.1,-36.4,59,801,0.00,2.33,0.00,0.000,2308,0.000,0.058,2212,3825,3162,3191,3133,0,0,0,0,0,0,15.16,14.91,15.16
$GC,872,-0.80,-107.1,2212,3825,3191,3133,315.4,-35.4,60,880,0.00,2.33,0.00,0.000,3078,0.000,0.048,2212,2384,3162,3192,3133,0,0,0,0,0,0,15.02,14.92,15.03
$GC,1118,-0.80,-107.1,2211,2383,3193,3133,406.8,-33.4,67,1123,0.00,2.28,0.00,0.000,2564,0.000,0.061,2212,980,3163,3193,3133,0,0,0,0,0,0,15.20,14.96,15.20
$GC,1150,-0.80,-107.1,2211,980,3193,3134,406.8,-33.4,67,1156,0.05,2.30,0.00,0.000,3078,0.515,0.045,2222,2406,3163,3193,3133,0,0,0,0,0,0,14.78,14.96,15.00
$GC,1403,-0.80,-107.1,2222,2407,3193,3133,501.1,-32.5,74,1408,0.00,2.25,0.00,0.000,2308,0.000,0.056,2217,3809,3163,3193,3133,0,0,0,0,0,0,15.22,14.97,15.22
$GC,1429,-0.80,-107.1,2216,3809,3192,3133,501.1,-32.5,74,1434,0.00,2.25,0.00,0.000,3078,0.000,0.044,2217,2398,3163,3193,3133,0,0,0,0,0,0,15.07,14.99,15.08
$GC,1686,-0.80,-107.1,2216,2398,3193,3131,591.0,-32.0,81,1687,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2398,3162,3193,3131,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1927,-0.80,-107.1,2217,2398,3193,3127,662.9,-29.4,87,1932,0.00,2.28,0.00,0.000,2564,0.000,0.060,2217,991,3160,3193,3127,0,0,0,0,0,0,15.25,15.01,15.24
$GC,1992,-0.80,-107.1,2216,990,3192,3126,676.0,-29.6,88,1998,0.05,2.28,0.00,0.000,3078,0.497,0.046,2223,2398,3159,3193,3126,0,0,0,0,0,0,14.83,15.01,15.04
$GC,2250,-0.80,-107.1,2223,2399,3192,3121,758.5,-29.1,95,2255,0.00,2.25,0.00,0.000,260,0.000,0.057,2222,3808,3157,3193,3121,0,0,0,0,0,0,15.25,15.00,15.26
$GC,2276,-0.80,-107.1,2222,3809,3192,3121,758.5,-29.1,95,2282,0.00,2.25,0.00,0.000,3078,0.000,0.045,2222,2399,3156,3192,3120,0,0,0,0,0,0,15.11,15.02,15.11
$GC,2534,-0.80,-107.1,2222,2398,3193,3116,838.5,-28.5,102,2539,0.00,2.30,0.00,0.000,2564,0.000,0.062,2222,985,3154,3193,3115,0,0,0,0,0,0,15.26,15.02,15.26
$GC,2600,-0.80,-107.1,2222,984,3192,3114,850.8,-28.7,103,2605,0.00,2.30,0.00,0.000,3078,0.000,0.047,2221,2403,3153,3192,3114,0,0,0,0,0,0,15.11,15.02,15.12
$STATE,2776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2776,begin apogee
$GC,2781,-0.16,0.0,2221,2107,3192,3111,907.3,-28.1,108,2872,0.57,0.00,88.15,2.139,10246,0.319,0.000,2429,2105,2719,2792,2647,0,0,0,0,0,0,14.86,14.31,13.60
$STATE,2873,end apogee,CONTROL_FINISHED_OK
$STATE,2873,begin climb
$GC,2875,0.80,107.1,2429,2105,2792,2647,918.4,0.0,110,2980,0.77,2.45,95.43,2.931,10756,0.219,0.063,2734,740,2283,2366,2201,0,0,0,0,0,0,14.23,14.05,13.16
$GC,3063,1.12,364.4,2733,740,2358,2205,929.1,-6.1,115,3309,0.22,2.38,236.27,2.992,11270,0.130,0.047,2844,2144,1234,1329,1139,0,0,0,0,0,0,14.40,14.43,12.96
$GC,3586,1.12,364.4,2843,2145,1328,1133,813.1,30.5,128,3592,0.00,2.35,0.00,0.000,4356,0.000,0.059,2844,3535,1230,1328,1133,0,0,0,0,0,0,14.78,14.56,14.78
$GC,3633,1.12,364.4,2844,3536,1328,1133,800.4,30.3,129,3639,0.00,2.35,0.00,0.000,5126,0.000,0.057,2855,2147,1230,1328,1132,0,0,0,0,0,0,14.69,14.61,14.70
$GC,3911,1.12,364.4,2855,2147,1328,1131,712.8,31.3,136,3916,0.00,2.40,0.00,0.000,4612,0.000,0.071,2866,722,1229,1328,1131,0,0,0,0,0,0,14.99,14.76,15.00
$GC,3977,1.12,364.4,2866,721,1327,1131,699.0,31.5,137,3983,0.08,2.30,0.00,0.000,5126,0.447,0.043,2843,2128,1229,1328,1131,0,0,0,0,0,0,14.62,14.80,14.82
$GC,4235,1.12,364.4,2843,2133,1328,1129,616.2,28.6,144,4240,0.00,2.35,0.00,0.000,516,0.000,0.065,2854,719,1228,1328,1129,0,0,0,0,0,0,15.08,14.85,15.08
$GC,4296,1.12,364.4,2854,718,1328,1129,604.1,28.5,145,4301,0.00,2.30,0.00,0.000,5126,0.000,0.041,2853,2138,1228,1327,1130,0,0,0,0,0,0,14.95,14.88,14.95
$GC,4559,1.12,364.4,2853,2142,1328,1126,524.4,28.2,152,4560,0.00,0.00,0.00,0.000,4102,0.000,0.000,2854,2142,1227,1328,1126,0,0,0,0,0,0,15.13,15.14,15.13
$GC,4798,1.12,364.4,2853,2142,1327,1124,455.4,28.9,158,4803,0.00,2.38,0.00,0.000,4612,0.000,0.063,2865,710,1226,1327,1125,0,0,0,0,0,0,15.16,14.92,15.16
$GC,4824,1.12,364.4,2864,709,1328,1126,455.4,28.9,158,4831,0.08,2.30,0.00,0.000,5126,0.418,0.039,2841,2144,1226,1327,1125,0,0,0,0,0,0,14.76,14.95,14.98
$GC,5083,1.12,364.4,2840,2148,1327,1122,375.7,27.7,165,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2148,1224,1327,1122,0,0,0,0,0,0,15.17,15.18,15.18
$GC,5323,1.12,364.4,2840,2148,1327,1121,314.0,25.3,171,5328,0.00,2.38,0.00,0.000,516,0.000,0.062,2851,709,1224,1327,1121,0,0,0,0,0,0,15.19,14.96,15.20
$GC,5365,1.12,364.4,2851,709,1327,1120,303.7,24.8,172,5370,0.00,2.30,0.00,0.000,5126,0.000,0.041,2851,2134,1224,1327,1121,0,0,0,0,0,0,15.05,14.98,15.07
$GC,5647,1.12,364.4,2850,2139,1327,1119,232.8,24.9,179,5649,0.00,0.00,0.00,0.000,4102,0.000,0.000,2851,2139,1223,1327,1119,0,0,0,0,0,0,15.21,15.21,15.21
$GC,5887,1.12,364.4,2850,2139,1327,1119,176.0,21.9,191,5893,0.00,2.35,0.00,0.000,4612,0.000,0.060,2862,711,1222,1327,1118,0,0,0,0,0,0,15.21,14.97,15.21
$GC,5903,1.12,364.4,2861,710,1327,1118,173.4,21.9,192,5913,0.05,2.33,0.00,0.000,5126,0.405,0.038,2845,2134,1223,1328,1118,0,0,0,0,0,0,14.78,14.96,14.93
$GC,6153,1.12,364.4,2845,2138,1327,1117,117.8,20.7,217,6158,0.00,2.35,0.00,0.000,4612,0.000,0.061,2855,715,1221,1326,1117,0,0,0,0,0,0,15.18,14.95,15.19
$GC,6202,1.12,364.4,2855,715,1327,1117,107.8,21.3,221,6209,0.00,2.28,0.00,0.000,5126,0.000,0.037,2855,2133,1222,1327,1117,0,0,0,0,0,0,15.04,14.97,15.05
$GC,6451,1.12,364.4,2855,2136,1327,1117,55.3,20.7,246,6456,0.00,2.22,0.00,0.000,4356,0.000,0.051,2855,3532,1222,1327,1117,0,0,0,0,0,0,15.16,14.94,15.16
$GC,6525,1.12,364.4,2855,3532,1327,1118,39.9,21.6,252,6531,0.08,2.30,0.00,0.000,5126,0.410,0.050,2840,2123,1222,1327,1118,0,0,0,0,0,0,14.77,14.93,14.97
$STATE,6714,end climb,SURFACE_DEPTH_REACHED
$STATE,6714,begin surface coast
$FINISH,0.2,1.024069
$STATE,6727,end surface coast,CONTROL_FINISHED_OK
$STATE,6728,begin surface
$SM_CCo,6741,18.55,0.108,0,0,1129,390.02
$SM_GC,2.80,5.90,0.45,18.55,0.057,0.059,0.108,190,2405,1129,-7.01,-1.27,390.02,0,0,0,0,0,0,14.93,14.91,14.80
$IRIDIUM_FIX,2211.35,-15557.28,270318,055652
$TT8_MAMPS,0.019474,0.321321
$HUMID,46.33
$INTERNAL_PRESSURE,9.37795
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,54.4,6.4
$24V_AH,12.96,38.333
$10V_AH,13.28,0.000
$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,14.500,79.675,419.850,18.550,0.000,29.176,43.258,103.663,0.500,0.000,7.431,1053.320,4258.471,468.964,1197.804,69.891,0.000,987.570,0.000,979.297,0.000,5.461,0.000
$DEVICE_MAMPS,520.965,74.205,2991.915,107.865,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,190.998,131.726,233.786,229.728,352.493,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343064
$DATA_FILE_SIZE,23912,282
$CAP_FILE_SIZE,71444,0
$CFSIZE,2097086464,2080276480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.131,308.62,1
$GPS,270318,075415,2220.120,-15557.688,8,1.2,8,9.9,0.7,338.7,7,108.0