version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 153
start: 3 27 118 21 53 50
data:
$ID,626
$MISSION,2
$DIVE,153
$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,47
$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
$GPS1,270318,214931,2217.9336,-15606.0400,35,0.8,35,9.9,1.2,114.8,10,55.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-73.9
$GPS2,270318,215326,2217.9509,-15606.0459,6,0.9,6,9.9,0.5,2.0,8,107.8
$SPEED_LIMITS,0.174,0.225
$TGT_NAME,M4
$TGT_LATLONG,2218.000,-15612.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,228.4,10202,-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,-107.1,189,2441,1062,956,0.0,0.0,0,73,0.00,0.00,-55.42,0.000,16386,0.000,0.000,189,2440,2817,2840,2795,0,0,0,0,0,0,15.05,28.83,15.05
$GC,76,-0.80,-107.1,189,2441,2841,2795,4.0,-7.0,7,93,6.68,2.28,-3.50,0.000,18692,0.440,0.078,2272,3843,3039,3069,3009,0,0,0,0,0,0,14.60,14.21,14.86
$GC,191,-0.80,-107.1,2271,3843,3072,3011,53.1,-33.9,20,198,0.03,2.33,0.00,0.000,3078,0.558,0.061,2280,2445,3041,3072,3011,0,0,0,0,0,0,14.68,14.83,14.88
$GC,447,-0.80,-107.1,2281,2445,3074,3011,148.9,-34.5,45,453,0.00,2.33,0.00,0.000,2564,0.000,0.066,2282,1028,3042,3074,3011,0,0,0,0,0,0,15.11,14.87,15.11
$GC,505,-0.80,-107.1,2281,1028,3074,3011,167.3,-33.3,50,512,0.00,2.30,0.00,0.000,3078,0.000,0.052,2277,2430,3042,3074,3011,0,0,0,0,0,0,14.98,14.88,14.99
$GC,761,-0.80,-107.1,2276,2431,3078,3011,251.9,-30.9,64,762,0.00,0.00,0.00,0.000,2054,0.000,0.000,2276,2431,3044,3078,3011,0,0,0,0,0,0,15.17,15.18,15.18
$GC,1002,-0.80,-107.1,2276,2431,3081,3011,319.4,-27.9,70,1003,0.00,0.00,0.00,0.000,2054,0.000,0.000,2276,2431,3046,3081,3011,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1241,-0.80,-107.1,2276,2431,3082,3011,382.6,-25.8,76,1246,0.00,2.33,0.00,0.000,2564,0.000,0.065,2276,1022,3046,3082,3011,0,0,0,0,0,0,15.23,14.99,15.23
$GC,1287,-0.80,-107.1,2276,1022,3082,3011,393.0,-24.9,77,1293,0.00,2.33,0.00,0.000,3078,0.000,0.057,2276,2444,3046,3082,3011,0,0,0,0,0,0,15.09,14.99,15.09
$GC,1565,-0.80,-107.1,2276,2445,3082,3012,460.4,-24.9,84,1571,0.00,2.35,0.00,0.000,2564,0.000,0.064,2276,1021,3046,3082,3011,0,0,0,0,0,0,15.25,15.00,15.25
$GC,1636,-0.80,-107.1,2276,1020,3082,3011,471.0,-24.8,85,1642,0.00,2.33,0.00,0.000,3078,0.000,0.056,2276,2441,3046,3082,3011,0,0,0,0,0,0,15.10,15.00,15.11
$STATE,1767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1767,begin apogee
$GC,1772,-0.16,0.0,2276,1989,3082,3010,509.2,-23.6,89,1864,0.60,0.00,88.95,2.301,10246,0.306,0.000,2496,1988,2600,2673,2527,0,0,0,0,0,0,14.87,14.30,13.54
$STATE,1865,end apogee,CONTROL_FINISHED_OK
$STATE,1865,begin climb
$GC,1866,0.80,107.1,2496,1988,2673,2528,517.2,0.0,91,1964,0.75,2.50,89.32,2.409,10500,0.191,0.052,2789,3426,2162,2230,2094,0,0,0,0,0,0,14.24,14.04,13.40
$GC,2020,0.80,107.1,2789,3425,2229,2094,525.4,-6.6,95,2025,0.00,2.38,0.00,0.000,1030,0.000,0.044,2800,2004,2161,2229,2094,0,0,0,0,0,0,14.52,14.45,14.53
$GC,2292,1.12,369.2,2799,2004,2229,2091,543.6,-6.4,102,2523,0.17,2.45,220.52,2.342,11012,0.119,0.054,2922,3415,1094,1181,1008,0,0,0,0,0,0,14.77,14.09,13.33
$GC,2544,1.12,369.2,2922,3416,1181,1012,502.8,26.3,108,2550,0.08,2.45,0.00,0.000,5126,0.461,0.053,2911,1998,1096,1181,1012,0,0,0,0,0,0,14.11,14.27,14.31
$GC,2817,1.12,369.2,2911,1995,1181,1006,401.2,35.4,115,2822,0.00,2.35,0.00,0.000,4612,0.000,0.062,2922,588,1093,1181,1006,0,0,0,0,0,0,14.94,14.71,14.94
$GC,2843,1.12,369.2,2922,587,1181,1006,401.2,35.4,115,2849,0.05,2.33,0.00,0.000,5126,0.495,0.036,2908,2020,1092,1180,1005,0,0,0,0,0,0,14.56,14.75,14.76
$GC,3101,1.12,369.2,2907,2028,1180,1002,303.2,32.7,122,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2028,1090,1179,1002,0,0,0,0,0,0,15.07,15.07,15.07
$GC,3341,1.12,369.2,2907,2028,1179,1000,224.5,32.7,128,3346,0.00,2.35,0.00,0.000,516,0.000,0.058,2918,586,1090,1180,1000,0,0,0,0,0,0,15.13,14.90,15.14
$GC,3351,1.12,369.2,2918,586,1180,1000,224.5,32.7,128,3358,0.00,2.25,0.00,0.000,5126,0.000,0.034,2918,2002,1090,1180,1000,0,0,0,0,0,0,15.00,14.93,15.00
$GC,3606,1.12,369.2,2918,2010,1180,996,138.8,32.9,148,3611,0.00,2.28,0.00,0.000,4356,0.000,0.050,2918,3408,1088,1180,996,0,0,0,0,0,0,15.14,14.93,15.14
$GC,3644,1.12,369.2,2918,3408,1180,996,128.8,29.9,151,3652,0.05,2.33,0.00,0.000,5126,0.519,0.050,2912,1985,1088,1180,996,0,0,0,0,0,0,14.73,14.92,14.95
$GC,3893,1.12,369.2,2912,1984,1180,994,56.3,29.4,176,3898,0.00,2.33,0.00,0.000,4356,0.000,0.047,2912,3411,1087,1180,994,0,0,0,0,0,0,15.14,14.93,15.14
$GC,3988,1.12,369.2,2912,3411,1179,994,30.1,26.7,184,3994,0.05,2.33,0.00,0.000,5126,0.518,0.055,2909,2003,1087,1180,994,0,0,0,0,0,0,14.73,14.92,14.97
$STATE,4089,end climb,SURFACE_DEPTH_REACHED
$STATE,4089,begin surface coast
$FINISH,0.2,1.011348
$STATE,4103,end surface coast,CONTROL_FINISHED_OK
$STATE,4103,begin surface
$SM_CCo,4117,15.55,0.372,1,0,1009,390.02
$SM_GC,1.78,6.22,0.73,15.55,0.084,0.047,0.372,192,2448,1009,-7.26,-1.19,390.02,0,0,0,0,1,0,14.93,14.92,14.44
$IRIDIUM_FIX,2209.02,-15605.56,270318,215023
$TT8_MAMPS,0.018725,0.263648
$HUMID,48.11
$INTERNAL_PRESSURE,9.40725
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,53.1,6.4
$24V_AH,13.33,42.117
$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,14.675,48.325,398.800,15.550,0.000,29.826,43.888,77.592,0.500,0.000,7.345,707.537,2330.102,433.169,872.208,50.610,0.000,800.284,0.000,691.828,0.000,5.969,0.000
$DEVICE_MAMPS,557.685,78.030,2408.985,371.790,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,136.111,106.621,192.785,193.234,296.499,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343016
$DATA_FILE_SIZE,17299,202
$CAP_FILE_SIZE,48820,0
$CFSIZE,2097086464,2079031296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.165,307.99,1
$GPS,270318,230328,2217.702,-15606.873,7,0.9,7,9.9,0.0,0.0,9,84.6