version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 142
start: 3 27 118 9 7 44
data:
$ID,626
$MISSION,2
$DIVE,142
$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,37
$R_STBD_OVSHOOT,45
$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
$GPS1,270318,090317,2220.1133,-15558.6260,26,1.6,26,9.9,0.0,0.0,5,120.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-74.9
$GPS2,270318,090720,2220.1206,-15558.6553,20,1.6,20,9.9,0.0,0.0,5,122.9
$SPEED_LIMITS,0.174,0.225
$TGT_NAME,M4
$TGT_LATLONG,2218.000,-15612.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,214.5,23201,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.80,-107.1,188,2426,1188,1077,0.0,0.0,0,64,0.00,0.00,-46.85,0.000,16386,0.000,0.000,188,2426,2660,2680,2641,0,0,0,0,0,0,15.03,28.83,15.04
$GC,67,-0.80,-107.1,188,2427,2680,2641,3.4,-6.1,6,93,6.60,2.25,-8.25,0.000,18692,0.457,0.075,2212,3799,3160,3190,3131,0,0,0,0,0,0,14.59,14.00,14.85
$GC,225,-0.80,-107.1,2211,3799,3191,3133,67.3,-36.2,22,236,0.00,2.38,0.00,0.000,3078,0.000,0.063,2211,2410,3161,3190,3133,0,0,0,0,0,0,14.82,14.77,14.85
$GC,473,-0.80,-107.1,2212,2411,3192,3132,172.1,-37.2,47,479,0.00,2.35,0.00,0.000,2564,0.000,0.063,2212,975,3162,3192,3133,0,0,0,0,0,0,15.10,14.87,15.10
$GC,501,-0.80,-107.1,2211,974,3192,3133,181.2,-38.4,49,508,0.05,2.30,0.00,0.000,3078,0.535,0.045,2222,2392,3162,3192,3133,0,0,0,0,0,0,14.69,14.88,14.90
$GC,747,-0.80,-107.1,2221,2393,3196,3133,278.4,-37.2,59,749,0.00,0.00,0.00,0.000,2054,0.000,0.000,2222,2392,3164,3196,3133,0,0,0,0,0,0,15.16,15.16,15.16
$GC,987,-0.80,-107.1,2221,2393,3198,3133,364.8,-35.8,65,988,0.00,0.00,0.00,0.000,2054,0.000,0.000,2222,2393,3165,3198,3133,0,0,0,0,0,0,15.19,15.19,15.20
$GC,1229,-0.80,-107.1,2221,2393,3198,3133,446.6,-34.7,71,1230,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2393,3166,3199,3133,0,0,0,0,0,0,15.21,15.22,15.22
$STATE,1386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1386,begin apogee
$GC,1390,-0.16,0.0,2222,2106,3199,3132,500.8,-33.7,75,1478,0.57,0.00,84.88,1.625,10246,0.329,0.000,2428,2105,2719,2792,2647,0,0,0,0,0,0,14.84,14.45,13.86
$STATE,1479,end apogee,CONTROL_FINISHED_OK
$STATE,1480,begin climb
$GC,1481,0.80,107.1,2429,2105,2792,2647,515.3,0.0,77,1572,0.77,0.00,86.25,1.984,10502,0.227,0.000,2724,2101,2282,2362,2202,0,0,0,0,0,0,14.35,14.20,13.56
$GC,1829,1.12,363.0,2724,2101,2357,2204,537.0,-6.0,86,2054,0.20,2.53,215.65,2.453,11012,0.104,0.055,2870,3542,1239,1337,1141,0,0,0,0,0,0,14.72,13.93,13.31
$GC,2136,1.12,363.0,2869,3543,1336,1141,498.0,25.6,93,2142,0.12,2.40,0.00,0.000,5126,0.401,0.055,2841,2135,1238,1336,1140,0,0,0,0,0,0,14.27,14.42,14.45
$GC,2395,1.12,363.0,2841,2135,1336,1137,418.2,27.5,100,2400,0.00,2.33,0.00,0.000,516,0.000,0.062,2852,719,1236,1336,1137,0,0,0,0,0,0,14.93,14.71,14.94
$GC,2426,1.12,363.0,2852,719,1336,1138,418.2,27.5,100,2431,0.00,2.30,0.00,0.000,5126,0.000,0.037,2852,2141,1236,1336,1137,0,0,0,0,0,0,14.81,14.75,14.83
$GC,2678,1.12,363.0,2851,2145,1336,1132,337.8,28.5,107,2683,0.00,2.40,0.00,0.000,4612,0.000,0.066,2862,713,1234,1336,1132,0,0,0,0,0,0,15.07,14.83,15.07
$GC,2694,1.12,363.0,2862,713,1336,1133,337.8,28.5,107,2700,0.05,2.28,0.00,0.000,5126,0.453,0.037,2846,2136,1234,1336,1132,0,0,0,0,0,0,14.69,14.86,14.88
$GC,2962,1.12,363.0,2846,2141,1336,1131,264.5,25.9,114,2967,0.00,2.35,0.00,0.000,4612,0.000,0.060,2857,719,1233,1336,1130,0,0,0,0,0,0,15.13,14.90,15.13
$GC,2978,1.12,363.0,2856,718,1336,1130,264.5,25.9,114,2984,0.05,2.25,0.00,0.000,5126,0.461,0.037,2841,2131,1233,1336,1130,0,0,0,0,0,0,14.74,14.92,14.94
$GC,3246,1.12,363.0,2841,2136,1336,1126,191.8,25.0,121,3251,0.00,2.33,0.00,0.000,516,0.000,0.060,2852,715,1230,1336,1125,0,0,0,0,0,0,15.16,14.93,15.16
$GC,3262,1.12,363.0,2851,715,1336,1126,189.2,25.1,122,3269,0.00,2.25,0.00,0.000,5126,0.000,0.038,2852,2130,1231,1336,1126,0,0,0,0,0,0,15.02,14.96,15.04
$GC,3511,1.12,363.0,2851,2135,1336,1124,129.0,22.0,147,3516,0.00,2.33,0.00,0.000,4612,0.000,0.059,2862,713,1230,1336,1124,0,0,0,0,0,0,15.16,14.94,15.16
$GC,3548,1.12,363.0,2862,713,1336,1124,121.3,21.5,150,3557,0.05,2.30,0.00,0.000,5126,0.378,0.039,2845,2126,1229,1335,1124,0,0,0,0,0,0,14.75,14.90,14.89
$GC,3797,1.12,363.0,2844,2130,1335,1121,70.9,19.6,175,3802,0.00,2.25,0.00,0.000,4356,0.000,0.049,2845,3537,1229,1336,1122,0,0,0,0,0,0,15.16,14.94,15.16
$GC,3860,1.12,363.0,2844,3537,1335,1122,58.8,20.0,180,3869,0.00,2.33,0.00,0.000,5126,0.000,0.046,2855,2129,1228,1335,1121,0,0,0,0,0,0,14.95,14.90,14.94
$STATE,4122,end climb,SURFACE_DEPTH_REACHED
$STATE,4122,begin surface coast
$FINISH,0.3,1.023964
$STATE,4137,end surface coast,CONTROL_FINISHED_OK
$STATE,4137,begin surface
$SM_CCo,4151,19.88,0.100,0,0,1130,390.02
$SM_GC,2.70,6.00,0.43,19.88,0.073,0.061,0.100,188,2403,1130,-7.01,-1.50,390.02,0,0,0,0,0,0,14.93,14.92,14.90
$IRIDIUM_FIX,2209.02,-15600.36,270318,090408
$TT8_MAMPS,0.019474,0.322819
$HUMID,44.60
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.9,6.5
$24V_AH,13.31,38.882
$10V_AH,13.56,0.000
$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,14.475,42.750,386.775,19.875,0.000,29.412,43.349,72.422,0.500,0.000,21.560,704.321,2365.871,412.652,903.494,47.934,0.000,782.574,0.000,714.718,0.000,5.924,0.000
$DEVICE_MAMPS,535.500,74.970,2453.355,100.215,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,146.091,120.135,216.502,227.586,349.199,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343048
$DATA_FILE_SIZE,20574,217
$CAP_FILE_SIZE,47217,0
$CFSIZE,2097086464,2080112640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.173,311.41,1
$GPS,270318,101824,2219.926,-15559.502,36,1.2,36,9.9,0.0,0.0,7,26.3