version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 141
start: 3 27 118 7 58 43
data:
$ID,626
$MISSION,2
$DIVE,141
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,166
$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,38
$R_STBD_OVSHOOT,46
$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
$GPS1,270318,075415,2220.1196,-15557.6875,8,1.2,8,9.9,0.7,338.7,7,108.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-74.7
$GPS2,270318,075819,2220.1301,-15557.7217,7,1.2,7,9.9,0.0,0.0,7,294.3
$SPEED_LIMITS,0.174,0.225
$TGT_NAME,M4
$TGT_LATLONG,2218.000,-15612.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,225.6,24782,-21.5,-10.040,-24.00,1635
$D_GRID,500
$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,-107.1,190,2409,1178,1082,0.0,0.0,0,64,0.00,0.00,-47.33,0.000,16386,0.000,0.000,190,2409,2659,2678,2640,0,0,0,0,0,0,15.02,28.83,15.03
$GC,67,-0.80,-107.1,190,2409,2678,2641,3.3,-5.4,6,93,6.50,2.38,-8.27,0.000,18948,0.444,0.083,2217,996,3161,3190,3133,0,0,0,0,0,0,14.56,13.94,14.83
$GC,215,-0.80,-107.1,2217,996,3191,3133,72.9,-47.6,21,228,0.00,2.33,0.00,0.000,3078,0.000,0.047,2208,2377,3162,3191,3133,0,0,0,0,0,0,14.80,14.74,14.81
$GC,467,-0.80,-107.1,2208,2379,3193,3133,185.3,-41.0,46,473,0.05,2.30,0.00,0.000,2308,0.539,0.047,2211,3820,3163,3193,3133,0,0,0,0,0,0,14.67,14.85,14.88
$GC,515,-0.80,-107.1,2211,3821,3193,3133,204.2,-41.4,50,521,0.00,2.33,0.00,0.000,3078,0.000,0.053,2212,2396,3163,3194,3133,0,0,0,0,0,0,14.95,14.85,14.96
$GC,793,-0.80,-107.1,2211,2395,3197,3133,304.3,-36.1,57,795,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,2396,3165,3197,3133,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1033,-0.80,-107.1,2211,2395,3200,3133,385.4,-32.8,63,1038,0.00,2.30,0.00,0.000,2564,0.000,0.058,2212,985,3166,3200,3133,0,0,0,0,0,0,15.19,14.95,15.19
$GC,1064,-0.80,-107.1,2211,985,3200,3133,385.4,-32.8,63,1070,0.00,2.30,0.00,0.000,3078,0.000,0.043,2209,2413,3166,3200,3133,0,0,0,0,0,0,15.04,14.95,15.05
$GC,1317,-0.80,-107.1,2208,2414,3200,3133,480.7,-33.5,70,1323,0.03,2.25,0.00,0.000,2308,0.677,0.051,2208,3815,3166,3200,3133,0,0,0,0,0,0,14.83,14.97,15.02
$GC,1363,-0.80,-107.1,2209,3815,3200,3133,493.8,-32.7,71,1370,0.03,2.30,0.00,0.000,3078,0.584,0.047,2218,2386,3166,3200,3133,0,0,0,0,0,0,14.81,14.98,15.02
$STATE,1401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1401,begin apogee
$GC,1405,-0.16,0.0,2219,2100,3200,3133,505.9,-31.3,72,1494,0.57,0.00,85.38,1.630,10246,0.327,0.000,2425,2098,2719,2792,2647,0,0,0,0,0,0,14.82,14.42,13.83
$STATE,1495,end apogee,CONTROL_FINISHED_OK
$STATE,1495,begin climb
$GC,1496,0.80,107.1,2426,2099,2791,2647,519.0,0.0,74,1592,0.77,2.53,85.78,1.898,10500,0.226,0.057,2722,3557,2282,2361,2203,0,0,0,0,0,0,14.32,14.20,13.55
$GC,1728,1.14,382.8,2722,3557,2357,2204,533.7,-7.3,80,1971,0.25,2.33,233.10,2.445,11270,0.093,0.047,2888,2147,1159,1242,1076,0,0,0,0,0,0,14.59,14.59,13.24
$GC,2248,1.14,382.8,2888,2147,1242,1072,414.6,32.8,93,2254,0.10,2.38,0.00,0.000,4612,0.420,0.058,2863,722,1156,1241,1072,0,0,0,0,0,0,14.47,14.63,14.61
$GC,2305,1.14,382.8,2862,722,1241,1072,400.5,32.8,94,2310,0.00,2.33,0.00,0.000,5126,0.000,0.034,2864,2153,1156,1241,1072,0,0,0,0,0,0,14.76,14.69,14.77
$GC,2573,1.14,382.8,2863,2155,1241,1067,314.2,30.3,101,2578,0.00,2.40,0.00,0.000,4612,0.000,0.060,2874,720,1154,1241,1067,0,0,0,0,0,0,15.02,14.80,15.03
$GC,2618,1.14,382.8,2874,719,1241,1067,301.5,29.7,102,2624,0.08,2.30,0.00,0.000,5126,0.402,0.038,2850,2144,1154,1241,1067,0,0,0,0,0,0,14.66,14.83,14.85
$GC,2896,1.14,382.8,2850,2149,1241,1064,220.7,28.5,109,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2149,1151,1239,1064,0,0,0,0,0,0,15.10,15.11,15.11
$GC,3139,1.14,382.8,2850,2149,1241,1061,156.3,26.8,127,3144,0.00,2.38,0.00,0.000,516,0.000,0.072,2860,731,1150,1241,1060,0,0,0,0,0,0,15.12,14.90,15.13
$GC,3219,1.14,382.8,2859,731,1240,1061,136.0,25.3,134,3228,0.00,2.33,0.00,0.000,5126,0.000,0.044,2860,2117,1150,1240,1060,0,0,0,0,0,0,14.92,14.88,14.94
$GC,3468,1.14,382.8,2860,2119,1240,1058,75.2,23.5,159,3474,0.00,2.30,0.00,0.000,4356,0.000,0.051,2860,3551,1149,1240,1058,0,0,0,0,0,0,15.13,14.91,15.13
$GC,3540,1.14,382.8,2859,3553,1239,1058,58.4,23.2,165,3546,0.08,2.33,0.00,0.000,5126,0.413,0.049,2846,2130,1148,1239,1058,0,0,0,0,0,0,14.75,14.91,14.95
$STATE,3783,end climb,SURFACE_DEPTH_REACHED
$STATE,3783,begin surface coast
$FINISH,0.2,1.006425
$STATE,3797,end surface coast,CONTROL_FINISHED_OK
$STATE,3797,begin surface
$SM_CCo,3810,3.85,0.114,0,0,1129,390.02
$SM_GC,2.33,6.03,0.47,3.85,0.074,0.060,0.114,188,2425,1129,-7.06,-0.68,390.02,0,0,0,0,0,0,14.92,14.90,14.87
$IRIDIUM_FIX,2209.02,-15557.28,270318,075509
$TT8_MAMPS,0.018725,0.32207
$HUMID,45.55
$INTERNAL_PRESSURE,9.40725
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,93.7,6.8
$24V_AH,13.24,38.612
$10V_AH,13.46,0.000
$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,14.475,42.925,404.250,3.850,0.000,29.637,44.728,82.665,3.000,0.000,8.315,732.396,1952.385,405.022,939.074,47.758,0.000,797.195,0.000,742.890,0.000,23.725,0.000
$DEVICE_MAMPS,677.025,82.620,2444.940,113.985,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,133.957,109.995,198.060,206.117,316.249,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343088
$DATA_FILE_SIZE,17244,199
$CAP_FILE_SIZE,48641,0
$CFSIZE,2097086464,2080210944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.178,307.99,1
$GPS,270318,090317,2220.113,-15558.626,26,1.6,26,9.9,0.0,0.0,5,120.1