version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 148
start: 3 27 118 16 1 53
data:
$ID,626
$MISSION,2
$DIVE,148
$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,32
$R_STBD_OVSHOOT,38
$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
$GPS1,270318,155711,2218.8877,-15602.6455,7,0.9,7,9.9,0.7,180.4,9,107.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.9
$GPS2,270318,160129,2218.9258,-15602.6650,8,1.0,8,9.9,0.0,0.0,8,105.7
$SPEED_LIMITS,0.174,0.225
$TGT_NAME,M4
$TGT_LATLONG,2218.000,-15612.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,209.0,16087,-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,-107.1,210,2443,1112,995,0.0,0.0,0,65,0.00,0.00,-47.97,0.000,16386,0.000,0.000,210,2444,2619,2639,2599,0,0,0,0,0,0,15.06,28.83,15.06
$GC,68,-0.80,-107.1,210,2444,2636,2598,3.6,-7.4,6,94,6.53,2.33,-8.88,0.000,18692,0.442,0.079,2245,3847,3159,3191,3127,0,0,0,0,0,0,14.62,14.23,14.87
$GC,199,-0.80,-107.1,2245,3848,3191,3128,53.4,-33.3,21,205,0.05,2.33,0.00,0.000,3078,0.437,0.054,2260,2432,3160,3192,3128,0,0,0,0,0,0,14.69,14.85,14.89
$GC,454,-0.80,-107.1,2259,2431,3193,3128,153.8,-35.0,46,461,0.00,2.28,0.00,0.000,2564,0.000,0.059,2260,1028,3160,3193,3128,0,0,0,0,0,0,15.11,14.88,15.11
$GC,521,-0.80,-107.1,2260,1027,3193,3128,178.2,-36.0,52,527,0.00,2.28,0.00,0.000,3078,0.000,0.041,2251,2441,3161,3194,3128,0,0,0,0,0,0,14.99,14.90,15.00
$GC,784,-0.80,-107.1,2251,2441,3197,3128,271.1,-34.5,63,790,0.00,2.33,0.00,0.000,2564,0.000,0.063,2251,1025,3163,3198,3128,0,0,0,0,0,0,15.19,14.95,15.19
$GC,836,-0.80,-107.1,2251,1025,3198,3128,286.6,-34.0,64,841,0.00,2.30,0.00,0.000,3078,0.000,0.049,2250,2445,3163,3198,3128,0,0,0,0,0,0,15.04,14.95,15.05
$GC,1108,-0.80,-107.1,2250,2445,3201,3128,381.5,-34.7,71,1109,0.00,0.00,0.00,0.000,2054,0.000,0.000,2250,2445,3164,3201,3128,0,0,0,0,0,0,15.22,15.22,15.22
$GC,1348,-0.80,-107.1,2249,2445,3201,3128,455.7,-30.8,77,1354,0.00,2.35,0.00,0.000,2564,0.000,0.063,2250,1014,3164,3201,3127,0,0,0,0,0,0,15.24,15.00,15.24
$GC,1410,-0.80,-107.1,2249,1014,3201,3128,470.1,-31.8,78,1416,0.00,2.30,0.00,0.000,3078,0.000,0.048,2249,2442,3164,3201,3128,0,0,0,0,0,0,15.10,15.01,15.11
$STATE,1511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1511,begin apogee
$GC,1516,-0.16,0.0,2249,1981,3201,3128,505.5,-30.3,81,1605,0.60,0.00,86.18,1.902,10246,0.320,0.000,2465,1981,2720,2797,2644,0,0,0,0,0,0,14.86,14.38,13.64
$STATE,1606,end apogee,CONTROL_FINISHED_OK
$STATE,1606,begin climb
$GC,1607,0.80,107.1,2465,1981,2797,2647,515.5,0.0,83,1707,0.77,2.42,89.38,2.338,10756,0.208,0.060,2772,607,2283,2361,2206,0,0,0,0,0,0,14.31,14.18,13.43
$GC,1728,0.80,107.1,2771,606,2358,2208,520.6,-5.2,86,1733,0.00,2.35,0.00,0.000,3078,0.000,0.041,2772,2006,2283,2358,2208,0,0,0,0,0,0,14.45,14.38,14.45
$GC,1995,1.16,401.3,2771,2007,2353,2208,542.9,-8.4,93,2251,0.20,2.40,245.82,2.374,10500,0.099,0.050,2926,3401,1085,1161,1010,0,0,0,0,0,0,14.78,13.95,13.31
$GC,2378,1.16,401.3,2925,3403,1161,1014,463.0,38.7,102,2384,0.12,2.35,0.00,0.000,5126,0.435,0.059,2898,2022,1087,1161,1014,0,0,0,0,0,0,14.37,14.53,14.57
$GC,2641,1.16,401.3,2897,2021,1161,1013,355.9,38.8,109,2647,0.00,2.30,0.00,0.000,4356,0.000,0.056,2898,3403,1087,1162,1012,0,0,0,0,0,0,15.00,14.78,15.00
$GC,2692,1.16,401.3,2898,3403,1161,1011,340.5,38.0,110,2698,0.05,2.35,0.00,0.000,5126,0.503,0.060,2894,2002,1086,1161,1011,0,0,0,0,0,0,14.62,14.79,14.83
$GC,2965,1.16,401.3,2893,1999,1161,1006,244.1,33.7,117,2970,0.00,2.28,0.00,0.000,260,0.000,0.050,2894,3411,1083,1160,1006,0,0,0,0,0,0,15.11,14.90,15.11
$GC,2986,1.16,401.3,2894,3411,1161,1007,244.1,33.7,117,2991,0.00,2.33,0.00,0.000,5126,0.000,0.052,2905,1994,1083,1160,1006,0,0,0,0,0,0,14.97,14.89,14.98
$GC,3239,1.16,401.3,2904,1994,1161,1002,155.8,33.2,132,3244,0.00,2.30,0.00,0.000,4356,0.000,0.047,2904,3411,1081,1161,1002,0,0,0,0,0,0,15.15,14.93,15.15
$GC,3351,1.16,401.3,2904,3413,1161,1002,122.1,31.1,142,3361,0.05,2.38,0.00,0.000,5126,0.447,0.057,2899,2002,1081,1161,1001,0,0,0,0,0,0,14.71,14.88,14.87
$GC,3600,1.16,401.3,2898,2001,1161,999,51.9,28.7,167,3605,0.00,2.30,0.00,0.000,4356,0.000,0.047,2899,3419,1080,1161,999,0,0,0,0,0,0,15.14,14.93,15.14
$GC,3640,1.16,401.3,2899,3419,1161,999,41.4,28.5,170,3650,0.03,2.38,0.00,0.000,5126,0.539,0.051,2901,2004,1080,1161,999,0,0,0,0,0,0,14.71,14.89,14.88
$STATE,3777,end climb,SURFACE_DEPTH_REACHED
$STATE,3778,begin surface coast
$FINISH,0.1,1.012446
$STATE,3792,end surface coast,CONTROL_FINISHED_OK
$STATE,3792,begin surface
$SM_CCo,3866,0.00,0.000,0,0,1077,403.02
$SM_GC,1.33,6.05,0.73,0.00,0.058,0.056,0.000,191,2444,1077,-7.14,-1.24,403.02,0,0,0,0,0,0,14.94,14.92,14.98
$IRIDIUM_FIX,2209.02,-15600.36,270318,155814
$TT8_MAMPS,0.019474,0.295855
$HUMID,46.61
$INTERNAL_PRESSURE,9.40725
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,53.4,6.4
$24V_AH,13.31,40.647
$10V_AH,13.63,0.000
$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,14.450,48.050,421.375,0.000,0.000,32.956,57.177,79.528,0.500,0.000,8.326,708.589,2031.976,439.714,915.560,47.364,0.000,810.884,0.000,712.238,0.000,5.959,0.000
$DEVICE_MAMPS,539.325,78.795,2373.795,0.000,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,129.946,104.587,188.935,199.674,306.368,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342992
$DATA_FILE_SIZE,17134,193
$CAP_FILE_SIZE,47112,0
$CFSIZE,2097086464,2079522816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.186,321.95,1
$GPS,270318,170714,2218.632,-15603.143,24,1.5,24,9.9,0.7,316.0,5,118.4