version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 143
start: 3 27 118 10 22 44
data:
$ID,626
$MISSION,2
$DIVE,143
$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,2520
$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,2440
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,52
$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
$GPS1,270318,101824,2219.9263,-15559.5020,36,1.2,36,9.9,0.0,0.0,7,26.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.8
$GPS2,270318,102220,2219.9285,-15559.5225,7,1.1,7,9.9,0.6,354.1,7,56.7
$SPEED_LIMITS,0.174,0.225
$TGT_NAME,M4
$TGT_LATLONG,2218.000,-15612.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,214.1,21677,-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,-107.1,188,2405,1181,1079,0.0,0.0,0,66,0.00,0.00,-48.88,0.000,16386,0.000,0.000,189,2405,2720,2742,2698,0,0,0,0,0,0,15.04,28.83,15.05
$GC,68,-0.80,-107.1,188,2405,2741,2698,3.4,-5.5,6,88,6.68,2.35,-7.07,0.000,18692,0.451,0.072,2250,3834,3159,3189,3129,0,0,0,0,0,0,14.60,14.02,14.85
$GC,190,-0.80,-107.1,2250,3834,3191,3131,50.2,-32.5,19,199,0.00,2.33,0.00,0.000,3078,0.000,0.051,2250,2442,3160,3191,3130,0,0,0,0,0,0,14.83,14.78,14.85
$GC,437,-0.80,-107.1,2250,2441,3191,3131,152.2,-37.9,44,442,0.00,2.30,0.00,0.000,2564,0.000,0.059,2250,1025,3160,3191,3130,0,0,0,0,0,0,15.11,14.88,15.11
$GC,464,-0.80,-107.1,2249,1024,3191,3130,160.9,-39.2,46,472,0.00,2.28,0.00,0.000,3078,0.000,0.051,2249,2422,3161,3191,3131,0,0,0,0,0,0,14.97,14.88,14.98
$GC,730,-0.80,-107.1,2249,2423,3195,3131,259.6,-35.5,61,735,0.00,2.33,0.00,0.000,2564,0.000,0.065,2249,1022,3162,3195,3130,0,0,0,0,0,0,15.16,14.92,15.16
$GC,766,-0.80,-107.1,2249,1022,3195,3131,259.6,-35.5,61,773,0.00,2.33,0.00,0.000,3078,0.000,0.055,2248,2443,3163,3195,3131,0,0,0,0,0,0,15.02,14.93,15.04
$GC,1013,-0.80,-107.1,2248,2444,3197,3131,349.8,-31.3,68,1018,0.00,2.35,0.00,0.000,2564,0.000,0.060,2248,1017,3164,3197,3131,0,0,0,0,0,0,15.20,14.97,15.21
$GC,1035,-0.80,-107.1,2248,1017,3197,3131,349.8,-31.3,68,1040,0.00,2.33,0.00,0.000,3078,0.000,0.054,2249,2445,3164,3197,3131,0,0,0,0,0,0,15.06,14.97,15.07
$GC,1296,-0.80,-107.1,2249,2445,3198,3131,434.2,-29.5,75,1302,0.00,2.35,0.00,0.000,2564,0.000,0.059,2248,1016,3164,3198,3131,0,0,0,0,0,0,15.23,15.00,15.23
$GC,1339,-0.80,-107.1,2248,1015,3198,3131,446.4,-29.2,76,1344,0.00,2.33,0.00,0.000,3078,0.000,0.050,2248,2442,3164,3198,3130,0,0,0,0,0,0,15.09,14.99,15.09
$STATE,1539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1539,begin apogee
$GC,1544,-0.16,0.0,2248,1986,3198,3130,502.5,-27.8,81,1631,0.60,0.00,84.18,1.515,10246,0.314,0.000,2466,1986,2719,2793,2645,0,0,0,0,0,0,14.86,14.50,13.93
$STATE,1632,end apogee,CONTROL_FINISHED_OK
$STATE,1632,begin climb
$GC,1634,0.80,107.1,2466,1986,2793,2644,512.2,0.0,83,1731,0.77,2.55,86.82,2.073,10500,0.203,0.064,2767,3407,2282,2359,2205,0,0,0,0,0,0,14.40,14.19,13.43
$GC,1807,0.80,107.1,2765,3407,2355,2208,520.4,-6.4,87,1813,0.00,2.35,0.00,0.000,1030,0.000,0.049,2777,2011,2281,2355,2208,0,0,0,0,0,0,14.59,14.52,14.59
$GC,2065,1.17,404.3,2777,2011,2352,2206,543.7,-8.6,94,2325,0.20,2.47,248.23,2.347,10500,0.104,0.050,2923,3411,1071,1143,1000,0,0,0,0,0,0,14.79,14.06,13.32
$GC,2396,1.17,404.3,2922,3412,1143,1006,480.4,34.7,102,2402,0.12,2.42,0.00,0.000,5126,0.422,0.057,2895,2000,1075,1143,1007,0,0,0,0,0,0,14.24,14.40,14.45
$GC,2669,1.17,404.3,2895,1999,1143,1001,377.7,36.2,109,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1999,1072,1143,1001,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2909,1.17,404.3,2895,1999,1143,998,292.3,35.1,115,2915,0.00,2.33,0.00,0.000,260,0.000,0.050,2895,3422,1070,1143,998,0,0,0,0,0,0,15.06,14.85,15.06
$GC,2971,1.17,404.3,2895,3422,1142,998,277.5,34.5,116,2976,0.00,2.35,0.00,0.000,5126,0.000,0.053,2906,1997,1070,1142,998,0,0,0,0,0,0,14.94,14.85,14.95
$GC,3224,1.17,404.3,2906,1997,1142,994,187.6,32.9,125,3229,0.00,2.33,0.00,0.000,4356,0.000,0.046,2906,3424,1068,1143,994,0,0,0,0,0,0,15.12,14.92,15.13
$GC,3249,1.17,404.3,2906,3425,1142,994,180.6,30.8,127,3255,0.08,2.38,0.00,0.000,5126,0.450,0.054,2893,1994,1068,1142,994,0,0,0,0,0,0,14.73,14.90,14.94
$GC,3501,1.17,404.3,2892,1993,1142,990,103.8,28.3,152,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1993,1066,1142,991,0,0,0,0,0,0,15.14,15.14,15.14
$GC,3743,1.17,404.3,2893,1993,1142,989,36.2,29.3,176,3749,0.00,2.30,0.00,0.000,260,0.000,0.046,2893,3423,1065,1142,989,0,0,0,0,0,0,15.13,14.92,15.14
$GC,3845,1.17,404.3,2892,3423,1142,989,7.1,29.4,191,3855,0.00,2.40,0.00,0.000,5126,0.000,0.051,2904,1999,1065,1142,989,0,0,0,0,0,0,14.91,14.87,14.92
$STATE,3861,end climb,SURFACE_DEPTH_REACHED
$STATE,3861,begin surface coast
$FINISH,0.1,1.023980
$STATE,3875,end surface coast,CONTROL_FINISHED_OK
$STATE,3875,begin surface
$SM_CCo,3948,0.00,0.000,0,0,1063,406.70
$SM_GC,1.36,6.15,0.75,0.00,0.080,0.047,0.000,203,2458,1063,-7.13,-0.90,406.70,0,0,0,0,0,0,14.93,14.92,14.97
$IRIDIUM_FIX,2209.02,-15558.23,270318,101914
$TT8_MAMPS,0.019474,0.262899
$HUMID,45.58
$INTERNAL_PRESSURE,9.40725
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,6.4
$24V_AH,13.32,39.165
$10V_AH,13.60,0.000
$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,14.600,48.600,419.225,0.000,0.000,26.645,44.640,79.305,0.500,0.000,8.321,681.090,2176.044,439.616,858.225,46.863,0.000,798.565,0.000,678.851,0.000,5.926,0.000
$DEVICE_MAMPS,451.350,71.910,2347.020,0.000,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,131.176,105.891,188.863,195.374,299.777,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342936
$DATA_FILE_SIZE,17240,195
$CAP_FILE_SIZE,46207,0
$CFSIZE,2097086464,2080014336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.219,309.14,1
$GPS,270318,112909,2219.628,-15600.245,7,1.1,7,9.9,0.0,0.0,7,165.3