version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 151
start: 3 27 118 19 29 56
data:
$ID,626
$MISSION,2
$DIVE,151
$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,2546
$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,33
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2600
$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
$GPS1,270318,192547,2218.2246,-15604.3799,7,1.1,7,9.9,0.0,0.0,7,85.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-76.1
$GPS2,270318,192932,2218.2625,-15604.4014,7,1.1,7,9.9,1.2,304.5,7,90.9
$SPEED_LIMITS,0.174,0.225
$TGT_NAME,M4
$TGT_LATLONG,2218.000,-15612.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,217.2,13030,-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,-107.1,186,2427,1123,1000,0.0,0.0,0,66,0.00,0.00,-48.72,0.000,16386,0.000,0.000,186,2428,2630,2653,2608,0,0,0,0,0,0,15.07,28.83,15.07
$GC,68,-0.80,-107.1,186,2428,2653,2609,3.4,-6.0,6,88,6.62,2.38,-6.82,0.000,18692,0.434,0.080,2271,3858,3039,3072,3007,0,0,0,0,0,0,14.62,14.03,14.88
$GC,184,-0.80,-107.1,2271,3858,3074,3008,48.1,-32.2,20,190,0.05,2.35,0.00,0.000,3078,0.437,0.060,2286,2441,3041,3074,3008,0,0,0,0,0,0,14.69,14.83,14.88
$GC,439,-0.80,-107.1,2286,2439,3076,3008,141.3,-35.9,45,445,0.00,2.30,0.00,0.000,516,0.000,0.067,2287,1027,3042,3076,3008,0,0,0,0,0,0,15.11,14.88,15.11
$GC,504,-0.80,-107.1,2287,1027,3076,3008,162.7,-32.1,51,510,0.00,2.33,0.00,0.000,3078,0.000,0.054,2278,2441,3042,3076,3008,0,0,0,0,0,0,14.99,14.89,15.00
$GC,786,-0.80,-107.1,2277,2441,3081,3008,250.7,-30.5,67,792,0.00,2.35,0.00,0.000,2564,0.000,0.068,2277,1028,3044,3081,3008,0,0,0,0,0,0,15.18,14.93,15.19
$GC,814,-0.80,-107.1,2277,1028,3080,3008,250.7,-30.5,67,819,0.00,2.33,0.00,0.000,3078,0.000,0.052,2276,2452,3044,3081,3008,0,0,0,0,0,0,15.04,14.95,15.04
$GC,1071,-0.80,-107.1,2276,2453,3083,3008,334.3,-28.9,74,1072,0.00,0.00,0.00,0.000,2054,0.000,0.000,2277,2453,3045,3083,3008,0,0,0,0,0,0,15.22,15.22,15.22
$GC,1311,-0.80,-107.1,2276,2453,3084,3008,399.4,-26.0,80,1317,0.00,2.38,0.00,0.000,2564,0.000,0.064,2277,1012,3046,3084,3008,0,0,0,0,0,0,15.24,15.00,15.24
$GC,1338,-0.80,-107.1,2277,1012,3084,3008,399.4,-26.0,80,1344,0.00,2.33,0.00,0.000,3078,0.000,0.055,2276,2442,3046,3084,3008,0,0,0,0,0,0,15.09,15.00,15.10
$GC,1595,-0.80,-107.1,2276,2442,3084,3008,471.6,-25.6,87,1601,0.00,2.35,0.00,0.000,2564,0.000,0.064,2276,1016,3045,3083,3008,0,0,0,0,0,0,15.26,15.01,15.25
$GC,1632,-0.80,-107.1,2276,1016,3084,3008,471.6,-25.6,87,1639,0.00,2.33,0.00,0.000,3078,0.000,0.054,2276,2442,3045,3084,3007,0,0,0,0,0,0,15.10,15.01,15.11
$STATE,1716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1716,begin apogee
$GC,1720,-0.16,0.0,2276,1985,3084,3008,501.3,-24.5,90,1810,0.60,0.00,86.43,1.937,10246,0.304,0.000,2496,1985,2600,2673,2527,0,0,0,0,0,0,14.87,14.38,13.59
$STATE,1811,end apogee,CONTROL_FINISHED_OK
$STATE,1811,begin climb
$GC,1813,0.80,107.1,2496,1985,2673,2527,509.5,0.0,92,1912,0.75,2.55,89.25,2.378,10500,0.187,0.060,2788,3414,2164,2232,2097,0,0,0,0,0,0,14.31,14.18,13.41
$GC,1959,0.80,107.1,2788,3414,2231,2096,518.8,-6.9,96,1965,0.00,2.38,0.00,0.000,3078,0.000,0.044,2799,2001,2163,2231,2096,0,0,0,0,0,0,14.52,14.45,14.53
$GC,2242,1.14,379.6,2799,2001,2231,2092,538.7,-7.1,103,2473,0.20,0.00,226.95,2.155,10758,0.112,0.000,2931,2002,1051,1135,968,0,0,0,0,0,0,14.78,14.09,13.35
$GC,2683,1.14,379.6,2930,2001,1135,966,422.6,36.7,114,2685,0.05,0.00,0.00,0.000,4102,0.501,0.000,2916,2001,1050,1135,966,0,0,0,0,0,0,14.48,14.71,14.68
$GC,2921,1.14,379.6,2916,2001,1135,963,335.4,36.1,120,2923,0.00,0.00,0.00,0.000,4102,0.000,0.000,2916,2001,1049,1135,963,0,0,0,0,0,0,15.02,15.03,15.03
$GC,3162,1.14,379.6,2916,2001,1135,960,252.4,35.1,126,3163,0.00,0.00,0.00,0.000,4102,0.000,0.000,2916,2001,1047,1135,960,0,0,0,0,0,0,15.11,15.11,15.11
$GC,3402,1.14,379.6,2916,2001,1134,959,173.8,30.5,135,3403,0.00,0.00,0.00,0.000,4102,0.000,0.000,2916,2001,1047,1135,959,0,0,0,0,0,0,15.14,15.15,15.15
$GC,3644,1.14,379.6,2916,2001,1134,955,99.6,29.7,159,3649,0.00,2.33,0.00,0.000,4356,0.000,0.050,2916,3423,1045,1134,956,0,0,0,0,0,0,15.15,14.93,15.15
$GC,3660,1.14,379.6,2915,3425,1133,956,95.5,29.5,160,3669,0.03,2.38,0.00,0.000,5126,0.539,0.050,2918,2002,1045,1134,956,0,0,0,0,0,0,14.71,14.90,14.88
$GC,3915,1.14,379.6,2918,2002,1133,953,22.9,27.6,187,3924,0.00,2.35,0.00,0.000,4612,0.000,0.061,2929,596,1043,1133,954,0,0,0,0,0,0,15.14,14.88,15.14
$GC,3938,1.14,379.6,2929,596,1133,954,15.7,28.2,190,3948,0.05,2.33,0.00,0.000,5126,0.444,0.035,2913,2016,1043,1132,954,0,0,0,0,0,0,14.71,14.90,14.87
$STATE,3984,end climb,SURFACE_DEPTH_REACHED
$STATE,3984,begin surface coast
$FINISH,0.1,1.002628
$STATE,3998,end surface coast,CONTROL_FINISHED_OK
$STATE,3998,begin surface
$SM_CCo,4012,6.28,0.105,0,0,1010,390.02
$SM_GC,2.49,6.10,0.68,6.28,0.064,0.053,0.105,197,2448,1010,-7.21,-1.07,390.02,0,0,0,0,0,0,14.94,14.92,14.85
$IRIDIUM_FIX,2206.70,-15602.49,270318,192635
$TT8_MAMPS,0.018725,0.333305
$HUMID,48.38
$INTERNAL_PRESSURE,9.39748
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.7,6.6
$24V_AH,13.35,41.532
$10V_AH,13.64,0.000
$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,14.450,39.125,402.625,6.275,0.000,25.435,41.832,73.774,0.500,0.000,8.317,643.183,2354.338,455.495,762.445,48.872,0.000,754.111,0.000,597.136,0.000,5.455,0.000
$DEVICE_MAMPS,538.560,80.325,2378.385,104.805,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,134.017,105.888,191.473,195.374,299.811,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342980
$DATA_FILE_SIZE,17366,199
$CAP_FILE_SIZE,43787,0
$CFSIZE,2097086464,2079227904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.168,317.56,1
$GPS,270318,203743,2218.021,-15605.183,16,1.3,16,9.9,0.6,49.9,6,47.4