version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 158
start: 3 28 118 4 53 32
data:
$ID,626
$MISSION,2
$DIVE,158
$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,2563
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2500
$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
$GPS1,280318,044853,2217.6099,-15610.5195,19,1.6,19,9.9,0.0,0.0,5,107.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-75.7
$GPS2,280318,045306,2217.6343,-15610.5322,23,1.7,23,9.9,0.0,0.0,5,122.9
$SPEED_LIMITS,0.174,0.225
$TGT_NAME,M4
$TGT_LATLONG,2218.000,-15612.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,242.8,2604,-27.8,-10.040,-30.00,973
$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,-0.95,-63.6,187,2445,930,885,0.0,0.0,0,73,0.00,0.00,-55.53,0.000,16390,0.000,0.000,187,2445,2761,2785,2738,0,0,0,0,0,0,14.97,13.90,14.95
$GC,75,-0.97,-81.2,188,2445,2785,2738,4.2,-8.2,7,94,6.65,2.30,-1.17,0.000,18692,0.443,0.070,2235,3839,2831,2857,2805,0,0,0,0,0,0,14.53,14.09,14.80
$GC,426,-0.97,-81.2,2235,3839,2857,2805,130.6,-31.9,41,431,0.00,2.28,0.00,0.000,3078,0.000,0.051,2235,2445,2831,2857,2805,0,0,0,0,0,0,14.94,14.85,14.95
$GC,678,-0.97,-81.2,2236,2445,2860,2805,212.8,-29.9,63,683,0.00,2.30,0.00,0.000,2564,0.000,0.060,2235,1029,2832,2860,2805,0,0,0,0,0,0,15.14,14.90,15.14
$GC,699,-0.97,-81.2,2234,1028,2861,2805,212.8,-29.9,63,705,0.08,2.28,0.00,0.000,3078,0.439,0.044,2247,2434,2833,2861,2805,0,0,0,0,0,0,14.73,14.90,14.94
$GC,962,-0.97,-81.2,2245,2435,2864,2805,292.4,-27.0,70,968,0.00,2.28,0.00,0.000,2308,0.000,0.056,2239,3852,2834,2864,2805,0,0,0,0,0,0,15.19,14.95,15.19
$GC,1054,-0.97,-81.2,2238,3854,2865,2805,315.2,-27.1,72,1060,0.00,2.25,0.00,0.000,3078,0.000,0.041,2238,2432,2835,2865,2805,0,0,0,0,0,0,15.05,14.97,15.06
$GC,1326,-0.97,-81.2,2238,2432,2866,2805,388.3,-25.8,79,1328,0.00,0.00,0.00,0.000,2054,0.000,0.000,2238,2432,2835,2866,2805,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1566,-0.97,-81.2,2238,2432,2866,2805,446.9,-23.8,85,1573,0.00,2.25,0.00,0.000,2564,0.000,0.055,2238,1031,2835,2866,2805,0,0,0,0,0,0,15.25,15.00,15.25
$GC,1599,-0.97,-81.2,2237,1031,2866,2805,446.9,-23.8,85,1604,0.00,2.28,0.00,0.000,3078,0.000,0.047,2236,2441,2835,2866,2805,0,0,0,0,0,0,15.09,15.00,15.11
$STATE,1810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1810,begin apogee
$GC,1814,-0.16,0.0,2236,2181,2866,2805,504.5,-23.4,91,1882,0.75,0.00,64.32,1.682,10246,0.321,0.000,2506,2178,2499,2574,2425,0,0,0,0,0,0,14.84,14.57,13.93
$STATE,1883,end apogee,CONTROL_FINISHED_OK
$STATE,1883,begin climb
$GC,1884,0.97,81.2,2506,2178,2574,2425,509.7,0.0,92,1954,0.90,0.00,66.05,2.194,10758,0.188,0.000,2864,2177,2167,2224,2111,0,0,0,0,0,0,14.47,14.25,13.54
$GC,2171,1.18,249.1,2863,2177,2224,2108,528.7,-7.7,100,2321,0.10,2.40,141.10,2.417,10756,0.171,0.060,2952,816,1485,1579,1392,0,0,0,0,0,0,14.71,14.13,13.40
$GC,2327,1.30,351.5,2952,816,1579,1392,525.8,-0.8,103,2423,0.00,2.35,89.57,2.365,11270,0.000,0.042,2951,2205,1066,1149,984,0,0,0,0,0,0,14.33,14.25,13.37
$GC,2695,1.30,351.5,2952,2205,1147,975,381.7,38.3,113,2696,0.00,0.00,0.00,0.000,2054,0.000,0.000,2952,2205,1061,1147,975,0,0,0,0,0,0,14.92,14.93,14.92
$GC,2935,1.30,351.5,2952,2206,1145,971,292.0,36.5,119,2936,0.00,0.00,0.00,0.000,2054,0.000,0.000,2952,2206,1058,1145,971,0,0,0,0,0,0,15.05,15.04,15.06
$GC,3175,1.30,351.5,2952,2207,1143,969,206.0,35.4,125,3180,0.00,2.28,0.00,0.000,2308,0.000,0.057,2952,3603,1056,1143,969,0,0,0,0,0,0,15.13,14.88,15.13
$GC,3217,1.30,351.5,2952,3604,1141,969,191.1,35.3,126,3222,0.00,2.28,0.00,0.000,3078,0.000,0.057,2962,2223,1055,1141,969,0,0,0,0,0,0,14.99,14.90,15.00
$GC,3472,1.30,351.5,2962,2222,1140,966,107.7,32.2,151,3477,0.00,2.28,0.00,0.000,2308,0.000,0.052,2962,3615,1053,1140,966,0,0,0,0,0,0,15.14,14.90,15.14
$GC,3483,1.30,351.5,2962,3615,1140,966,103.1,31.4,152,3489,0.00,2.33,0.00,0.000,3078,0.000,0.054,2972,2200,1053,1140,966,0,0,0,0,0,0,15.00,14.92,15.01
$GC,3736,1.30,351.5,2973,2199,1138,965,23.9,33.6,178,3744,0.00,2.38,0.00,0.000,2308,0.000,0.056,2973,3610,1051,1138,965,0,0,0,0,0,0,15.13,14.88,15.13
$STATE,3798,end climb,SURFACE_DEPTH_REACHED
$STATE,3798,begin surface coast
$FINISH,1.1,1.023791
$STATE,3808,end surface coast,CONTROL_FINISHED_OK
$STATE,3808,begin surface
$SM_CCo,3823,19.45,0.132,0,0,909,390.02
$SM_GC,1.63,6.43,1.95,19.45,0.093,0.041,0.132,188,2430,909,-7.29,1.02,390.02,0,0,0,0,0,0,14.94,14.91,14.84
$IRIDIUM_FIX,2209.02,-15612.90,280318,044944
$TT8_MAMPS,0.018725,0.262899
$HUMID,48.70
$INTERNAL_PRESSURE,9.38772
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.7,6.3
$24V_AH,13.37,43.309
$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,14.900,36.800,361.050,19.450,0.000,25.751,41.017,83.706,0.500,0.000,24.084,657.595,2183.430,408.950,819.549,46.268,0.000,724.849,0.000,625.202,0.000,5.961,0.000
$DEVICE_MAMPS,442.935,69.615,2417.400,132.345,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,127.266,101.266,182.289,186.797,286.612,0.000,0.000,0.000,0.000,0.000
$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,17303,189
$CAP_FILE_SIZE,42884,0
$CFSIZE,2097086464,2078539776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,2386.39,0x2338ba,1,24
$CURRENT,0.156,310.38,1
$GPS,280318,055848,2217.720,-15611.379,40,0.9,41,9.9,0.0,0.0,9,37.1