version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 154
start: 3 27 118 23 7 50
data:
$ID,626
$MISSION,2
$DIVE,154
$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,32
$R_STBD_OVSHOOT,46
$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
$GPS1,270318,230328,2217.7024,-15606.8730,7,0.9,7,9.9,0.0,0.0,9,84.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.7
$GPS2,270318,230726,2217.7136,-15606.8818,8,0.8,8,9.9,1.0,257.6,10,77.9
$SPEED_LIMITS,0.174,0.225
$TGT_NAME,M4
$TGT_LATLONG,2218.000,-15612.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,239.0,8785,-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,-107.1,192,2451,1053,958,0.0,0.0,0,65,0.00,0.00,-47.70,0.000,16386,0.000,0.000,193,2451,2533,2551,2516,0,0,0,0,0,0,15.04,28.83,15.04
$GC,68,-0.80,-107.1,192,2451,2551,2517,3.1,-5.8,6,94,6.70,2.30,-8.75,0.000,18692,0.444,0.082,2273,3841,3040,3073,3007,0,0,0,0,0,0,14.59,14.00,14.85
$GC,176,-0.80,-107.1,2272,3842,3074,3008,43.2,-32.7,19,186,0.00,2.38,0.00,0.000,3078,0.000,0.060,2272,2445,3040,3073,3008,0,0,0,0,0,0,14.82,14.77,14.84
$GC,425,-0.80,-107.1,2272,2444,3075,3008,140.2,-37.3,44,430,0.00,2.33,0.00,0.000,2564,0.000,0.065,2272,1024,3041,3075,3008,0,0,0,0,0,0,15.10,14.87,15.11
$GC,458,-0.80,-107.1,2272,1024,3075,3008,154.4,-39.7,47,464,0.08,2.28,0.00,0.000,3078,0.448,0.042,2286,2431,3041,3075,3008,0,0,0,0,0,0,14.71,14.88,14.92
$GC,721,-0.80,-107.1,2286,2432,3079,3008,236.8,-29.4,64,723,0.00,0.00,0.00,0.000,2054,0.000,0.000,2286,2432,3044,3080,3008,0,0,0,0,0,0,15.16,15.17,15.16
$GC,961,-0.80,-107.1,2286,2432,3082,3008,304.3,-27.2,70,966,0.00,2.30,0.00,0.000,2564,0.000,0.057,2286,1018,3045,3082,3008,0,0,0,0,0,0,15.20,14.97,15.20
$GC,1007,-0.80,-107.1,2286,1017,3082,3008,316.7,-27.1,71,1013,0.00,2.28,0.00,0.000,3078,0.000,0.045,2277,2437,3045,3083,3008,0,0,0,0,0,0,15.06,14.97,15.07
$GC,1285,-0.80,-107.1,2277,2437,3084,3009,394.0,-26.6,78,1291,0.00,2.33,0.00,0.000,2564,0.000,0.057,2277,1012,3046,3084,3008,0,0,0,0,0,0,15.23,15.00,15.23
$GC,1301,-0.80,-107.1,2276,1012,3084,3008,394.0,-26.6,78,1308,0.00,2.30,0.00,0.000,3078,0.000,0.047,2277,2439,3046,3084,3008,0,0,0,0,0,0,15.09,15.00,15.09
$GC,1569,-0.80,-107.1,2276,2440,3084,3008,467.6,-26.2,85,1575,0.00,2.33,0.00,0.000,2564,0.000,0.057,2277,1016,3046,3084,3008,0,0,0,0,0,0,15.25,15.01,15.25
$GC,1625,-0.80,-107.1,2276,1016,3084,3008,478.5,-25.6,86,1631,0.00,2.30,0.00,0.000,3078,0.000,0.047,2276,2442,3046,3084,3008,0,0,0,0,0,0,15.10,15.01,15.11
$STATE,1731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1732,begin apogee
$GC,1736,-0.16,0.0,2276,1978,3084,3008,507.3,-24.2,89,1827,0.60,0.00,87.50,2.055,10246,0.306,0.000,2496,1977,2600,2673,2527,0,0,0,0,0,0,14.86,14.34,13.54
$STATE,1828,end apogee,CONTROL_FINISHED_OK
$STATE,1828,begin climb
$GC,1829,0.80,107.1,2496,1978,2673,2527,515.4,0.0,91,1921,0.77,0.00,88.68,2.179,10246,0.190,0.000,2796,1974,2162,2229,2095,0,0,0,0,0,0,14.28,14.17,13.42
$GC,2133,1.10,351.3,2795,1974,2229,2092,530.6,-5.3,99,2348,0.17,2.50,206.80,2.430,11012,0.117,0.051,2919,3406,1167,1262,1072,0,0,0,0,0,0,14.69,13.96,13.34
$GC,2364,1.10,351.3,2919,3406,1260,1072,502.1,19.0,104,2370,0.10,2.40,0.00,0.000,5126,0.448,0.052,2901,2015,1165,1260,1071,0,0,0,0,0,0,14.07,14.24,14.28
$GC,2617,1.10,351.3,2900,2014,1260,1067,405.9,32.3,111,2622,0.00,2.38,0.00,0.000,516,0.000,0.062,2912,583,1163,1260,1066,0,0,0,0,0,0,14.91,14.69,14.92
$GC,2648,1.10,351.3,2912,583,1259,1067,405.9,32.3,111,2654,0.00,2.33,0.00,0.000,5126,0.000,0.037,2912,2009,1162,1259,1066,0,0,0,0,0,0,14.81,14.73,14.81
$GC,2901,1.10,351.3,2912,2017,1259,1064,311.0,32.2,118,2902,0.00,0.00,0.00,0.000,4102,0.000,0.000,2912,2017,1161,1259,1064,0,0,0,0,0,0,15.07,15.07,15.07
$GC,3141,1.10,351.3,2911,2017,1258,1061,234.6,31.9,124,3147,0.00,2.25,0.00,0.000,4356,0.000,0.049,2912,3408,1160,1259,1061,0,0,0,0,0,0,15.13,14.91,15.13
$GC,3158,1.10,351.3,2911,3408,1259,1060,234.6,31.9,124,3164,0.08,2.33,0.00,0.000,5126,0.462,0.050,2899,1986,1159,1258,1061,0,0,0,0,0,0,14.73,14.91,14.95
$GC,3407,1.10,351.3,2898,1985,1258,1057,159.6,28.9,141,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1985,1158,1259,1057,0,0,0,0,0,0,15.14,15.16,15.15
$GC,3648,1.10,351.3,2898,1985,1258,1054,96.1,25.7,165,3653,0.00,2.33,0.00,0.000,260,0.000,0.053,2899,3409,1156,1258,1054,0,0,0,0,0,0,15.15,14.94,15.15
$GC,3736,1.10,351.3,2898,3409,1257,1054,74.9,23.9,173,3742,0.00,2.33,0.00,0.000,5126,0.000,0.051,2909,1995,1155,1257,1054,0,0,0,0,0,0,15.02,14.94,15.03
$GC,3998,1.10,351.3,2909,1994,1257,1054,10.8,24.0,204,4006,0.00,2.35,0.00,0.000,4612,0.000,0.060,2920,586,1156,1258,1054,0,0,0,0,0,0,15.13,14.88,15.14
$GC,4021,1.10,351.3,2920,586,1257,1054,4.9,26.1,207,4030,0.05,2.33,0.00,0.000,5126,0.435,0.035,2904,2004,1155,1257,1054,0,0,0,0,0,0,14.71,14.90,14.86
$STATE,4037,end climb,SURFACE_DEPTH_REACHED
$STATE,4037,begin surface coast
$FINISH,0.2,1.013438
$STATE,4051,end surface coast,CONTROL_FINISHED_OK
$STATE,4051,begin surface
$SM_CCo,4065,24.73,0.119,0,0,1010,390.02
$SM_GC,0.90,6.12,0.68,24.73,0.074,0.049,0.119,189,2440,1010,-7.21,-1.41,390.02,0,0,0,0,0,0,14.94,14.92,14.85
$IRIDIUM_FIX,2211.35,-15607.69,270318,230418
$TT8_MAMPS,0.018725,0.264397
$HUMID,47.08
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,6.6
$24V_AH,13.34,42.397
$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,14.675,48.025,382.975,24.725,0.000,26.344,49.039,75.502,0.500,0.000,8.337,705.420,2290.447,456.131,844.103,51.385,0.000,789.363,0.000,665.570,0.000,5.455,0.000
$DEVICE_MAMPS,462.060,81.855,2429.640,118.575,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,142.112,116.461,208.616,214.703,329.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342968
$DATA_FILE_SIZE,17164,211
$CAP_FILE_SIZE,47848,0
$CFSIZE,2097086464,2078932992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.169,318.07,1
$GPS,280318,001649,2217.624,-15607.795,17,1.4,17,9.9,0.0,0.0,6,89.9