version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 150
start: 3 27 118 18 19 59
data:
$ID,626
$MISSION,2
$DIVE,150
$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,30
$R_STBD_OVSHOOT,54
$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
$GPS1,270318,181530,2218.3513,-15603.5967,27,0.9,27,9.9,0.7,311.7,8,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.9
$GPS2,270318,181935,2218.3838,-15603.6172,7,0.8,7,9.9,1.4,284.1,10,61.6
$SPEED_LIMITS,0.174,0.225
$TGT_NAME,M4
$TGT_LATLONG,2218.000,-15612.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,223.5,14381,-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,16,-0.80,-107.1,185,2452,1079,960,0.0,0.0,0,68,0.00,0.00,-50.38,0.000,16386,0.000,0.000,185,2452,2639,2659,2620,0,0,0,0,0,0,15.06,28.83,15.07
$GC,71,-0.80,-107.1,185,2452,2659,2620,3.1,-5.2,6,96,6.62,2.25,-8.60,0.000,18692,0.444,0.076,2250,3829,3160,3193,3128,0,0,0,0,0,0,14.62,14.02,14.87
$GC,116,-0.80,-107.1,2250,3828,3193,3130,25.2,-47.9,12,125,0.00,2.35,0.00,0.000,3078,0.000,0.061,2250,2447,3161,3193,3130,0,0,0,0,0,0,14.84,14.80,14.87
$GC,373,-0.80,-107.1,2250,2447,3195,3130,129.4,-38.6,38,378,0.00,2.33,0.00,0.000,2564,0.000,0.064,2250,1023,3162,3195,3130,0,0,0,0,0,0,15.11,14.88,15.11
$GC,442,-0.80,-107.1,2249,1022,3195,3130,156.0,-38.9,44,449,0.00,2.28,0.00,0.000,3078,0.000,0.045,2249,2423,3162,3194,3130,0,0,0,0,0,0,14.97,14.89,14.98
$GC,719,-0.80,-107.1,2249,2426,3199,3130,257.6,-35.4,60,720,0.00,0.00,0.00,0.000,2054,0.000,0.000,2249,2426,3165,3200,3130,0,0,0,0,0,0,15.18,15.18,15.18
$GC,959,-0.80,-107.1,2249,2426,3201,3130,339.6,-34.3,66,960,0.00,0.00,0.00,0.000,2054,0.000,0.000,2249,2426,3165,3201,3130,0,0,0,0,0,0,15.21,15.22,15.21
$GC,1199,-0.80,-107.1,2247,2426,3202,3130,414.1,-30.0,72,1204,0.00,2.33,0.00,0.000,2564,0.000,0.067,2249,1013,3166,3203,3129,0,0,0,0,0,0,15.23,15.00,15.24
$GC,1220,-0.80,-107.1,2249,1012,3203,3130,414.1,-30.0,72,1225,0.00,2.30,0.00,0.000,3078,0.000,0.047,2248,2441,3166,3202,3130,0,0,0,0,0,0,15.09,15.00,15.10
$GC,1482,-0.80,-107.1,2248,2442,3203,3130,499.6,-28.7,79,1488,0.00,2.33,0.00,0.000,2564,0.000,0.057,2249,1016,3166,3203,3130,0,0,0,0,0,0,15.26,15.01,15.25
$GC,1503,-0.80,-107.1,2248,1015,3203,3130,499.6,-28.7,79,1509,0.00,2.30,0.00,0.000,3078,0.000,0.046,2248,2445,3166,3202,3130,0,0,0,0,0,0,15.11,15.02,15.11
$STATE,1525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1525,begin apogee
$GC,1529,-0.16,0.0,2249,1981,3202,3130,512.5,-28.5,80,1619,0.60,0.00,86.45,1.833,10246,0.317,0.000,2465,1980,2719,2797,2642,0,0,0,0,0,0,14.86,14.40,13.73
$STATE,1620,end apogee,CONTROL_FINISHED_OK
$STATE,1620,begin climb
$GC,1621,0.80,107.1,2465,1980,2796,2644,523.0,0.0,82,1721,0.77,2.42,88.62,2.362,10756,0.210,0.060,2771,603,2283,2361,2205,0,0,0,0,0,0,14.33,14.18,13.41
$GC,1762,0.80,107.1,2771,603,2356,2210,529.1,-5.9,85,1769,0.00,2.35,0.00,0.000,3078,0.000,0.038,2772,2013,2283,2356,2210,0,0,0,0,0,0,14.51,14.45,14.52
$GC,2008,1.17,403.4,2771,2013,2353,2209,552.7,-8.6,92,2268,0.22,2.50,249.05,2.375,10756,0.094,0.067,2941,608,1075,1155,996,0,0,0,0,0,0,14.77,14.07,13.33
$GC,2309,1.17,403.4,2941,606,1156,1000,504.3,31.0,99,2315,0.15,2.35,0.00,0.000,5126,0.411,0.040,2896,2002,1077,1155,1000,0,0,0,0,0,0,14.17,14.35,14.38
$GC,2572,1.17,403.4,2896,2011,1155,993,401.5,34.5,106,2577,0.00,2.28,0.00,0.000,260,0.000,0.043,2896,3425,1074,1155,993,0,0,0,0,0,0,14.94,14.73,14.95
$GC,2603,1.17,403.4,2895,3426,1154,994,401.5,34.5,106,2609,0.00,2.35,0.00,0.000,5126,0.000,0.054,2905,2017,1074,1154,994,0,0,0,0,0,0,14.82,14.73,14.83
$GC,2856,1.17,403.4,2906,2016,1154,990,300.1,34.6,113,2861,0.00,2.30,0.00,0.000,4356,0.000,0.048,2906,3422,1072,1154,990,0,0,0,0,0,0,15.08,14.86,15.08
$GC,2927,1.17,403.4,2906,3422,1154,990,285.0,34.6,114,2933,0.08,2.35,0.00,0.000,5126,0.454,0.052,2894,1995,1072,1154,990,0,0,0,0,0,0,14.71,14.87,14.90
$GC,3181,1.17,403.4,2893,1993,1154,987,192.4,32.3,121,3186,0.00,2.30,0.00,0.000,516,0.000,0.064,2905,583,1070,1154,987,0,0,0,0,0,0,15.14,14.91,15.14
$GC,3206,1.17,403.4,2904,583,1154,986,184.7,33.4,123,3215,0.00,2.35,0.00,0.000,5126,0.000,0.036,2905,2011,1070,1154,986,0,0,0,0,0,0,14.92,14.90,14.94
$GC,3453,1.17,403.4,2904,2019,1153,983,106.0,29.1,148,3458,0.00,2.25,0.00,0.000,4356,0.000,0.048,2904,3415,1068,1153,984,0,0,0,0,0,0,15.15,14.94,15.15
$GC,3542,1.17,403.4,2904,3415,1153,984,80.2,27.6,156,3548,0.05,2.33,0.00,0.000,5126,0.504,0.050,2900,1997,1068,1152,984,0,0,0,0,0,0,14.75,14.93,14.96
$GC,3805,1.17,403.4,2900,1997,1153,982,7.0,28.4,187,3813,0.00,2.35,0.00,0.000,4612,0.000,0.062,2912,590,1067,1152,982,0,0,0,0,0,0,15.13,14.88,15.13
$STATE,3821,end climb,SURFACE_DEPTH_REACHED
$STATE,3821,begin surface coast
$FINISH,0.3,1.012609
$STATE,3834,end surface coast,CONTROL_FINISHED_OK
$STATE,3834,begin surface
$SM_CCo,3910,0.00,0.000,0,0,1064,406.21
$SM_GC,1.42,6.10,3.08,0.00,0.066,0.043,0.000,186,2427,1064,-7.14,-1.24,406.21,0,0,0,0,0,0,14.93,14.90,14.98
$IRIDIUM_FIX,2209.02,-15605.56,270318,181622
$TT8_MAMPS,0.018725,0.321321
$HUMID,46.88
$INTERNAL_PRESSURE,9.40725
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.5,6.5
$24V_AH,13.33,41.257
$10V_AH,13.62,0.000
$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,14.600,52.750,424.125,0.000,0.000,28.314,46.042,81.140,0.500,0.000,8.332,649.369,2190.247,440.727,840.757,51.134,0.000,806.251,0.000,654.705,0.000,5.454,0.000
$DEVICE_MAMPS,504.135,76.500,2375.325,0.000,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,128.210,103.397,183.463,188.938,289.910,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343000
$DATA_FILE_SIZE,17228,191
$CAP_FILE_SIZE,46708,0
$CFSIZE,2097086464,2079326208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.181,322.30,1
$GPS,270318,192547,2218.225,-15604.380,7,1.1,7,9.9,0.0,0.0,7,85.3