version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 159
start: 3 28 118 6 3 15
data:
$ID,626
$MISSION,2
$DIVE,159
$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,42
$R_STBD_OVSHOOT,37
$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
$GPS1,280318,055848,2217.7197,-15611.3789,40,0.9,41,9.9,0.0,0.0,9,37.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-74.5
$GPS2,280318,060249,2217.7419,-15611.3965,18,0.9,18,9.9,0.5,327.9,9,23.2
$SPEED_LIMITS,0.174,0.225
$TGT_NAME,M4
$TGT_LATLONG,2218.000,-15612.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,270.8,1139,-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,-63.6,187,2427,943,872,0.0,0.0,0,74,0.00,0.00,-56.08,0.000,16390,0.000,0.000,187,2427,2761,2785,2737,0,0,0,0,0,0,15.05,13.98,15.02
$GC,76,-0.96,-75.5,187,2427,2785,2738,4.3,-8.8,7,95,6.55,2.35,-0.82,0.000,18692,0.436,0.070,2234,3851,2812,2839,2785,0,0,0,0,0,0,14.59,13.97,14.86
$GC,533,-0.96,-75.5,2234,3851,2845,2785,164.8,-28.7,51,543,0.05,2.33,0.00,0.000,3078,0.408,0.053,2250,2451,2815,2846,2785,0,0,0,0,0,0,14.73,14.85,14.85
$GC,780,-0.96,-75.5,2249,2450,2849,2785,236.5,-28.3,67,786,0.00,2.30,0.00,0.000,2564,0.000,0.054,2250,1017,2817,2849,2785,0,0,0,0,0,0,15.18,14.93,15.17
$GC,807,-0.96,-75.5,2250,1016,2849,2785,236.5,-28.3,67,813,0.00,2.30,0.00,0.000,3078,0.000,0.045,2250,2439,2817,2849,2785,0,0,0,0,0,0,15.03,14.93,15.04
$GC,1065,-0.96,-75.5,2249,2440,2853,2785,313.9,-26.8,74,1070,0.00,2.28,0.00,0.000,2308,0.000,0.062,2249,3847,2819,2853,2785,0,0,0,0,0,0,15.21,14.95,15.22
$GC,1116,-0.96,-75.5,2248,3848,2853,2785,325.0,-27.0,75,1122,0.00,2.25,0.00,0.000,3078,0.000,0.044,2249,2435,2818,2852,2785,0,0,0,0,0,0,15.07,14.99,15.08
$GC,1389,-0.96,-75.5,2248,2435,2854,2785,394.4,-24.1,82,1395,0.00,2.25,0.00,0.000,2564,0.000,0.053,2247,1028,2819,2854,2785,0,0,0,0,0,0,15.23,15.00,15.24
$GC,1405,-0.96,-75.5,2248,1029,2854,2785,394.4,-24.1,82,1411,0.00,2.28,0.00,0.000,3078,0.000,0.041,2238,2451,2819,2854,2784,0,0,0,0,0,0,15.09,15.00,15.10
$GC,1672,-0.96,-75.5,2238,2452,2854,2785,465.5,-24.8,89,1674,0.00,0.00,0.00,0.000,2054,0.000,0.000,2238,2452,2819,2854,2785,0,0,0,0,0,0,15.25,15.26,15.25
$STATE,1831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1831,begin apogee
$GC,1836,-0.16,0.0,2238,2172,2854,2784,502.6,-23.1,93,1901,0.75,0.00,61.80,1.693,10246,0.317,0.000,2508,2170,2499,2574,2424,0,0,0,0,0,0,14.85,14.58,13.95
$STATE,1902,end apogee,CONTROL_FINISHED_OK
$STATE,1902,begin climb
$GC,1903,0.96,75.5,2508,2170,2574,2424,507.7,0.0,94,1973,0.90,2.47,61.95,2.246,10500,0.185,0.056,2863,3606,2191,2246,2137,0,0,0,0,0,0,14.50,14.14,13.50
$GC,2165,1.19,261.6,2862,3606,2242,2137,526.3,-9.6,101,2331,0.12,2.28,156.50,2.419,11270,0.142,0.047,2954,2219,1436,1528,1345,0,0,0,0,0,0,14.70,14.71,13.38
$GC,2598,1.19,261.6,2955,2220,1528,1341,435.2,30.0,112,2603,0.00,2.35,0.00,0.000,4612,0.000,0.056,2966,796,1434,1528,1341,0,0,0,0,0,0,14.94,14.71,14.93
$GC,2654,1.19,261.6,2966,795,1528,1341,422.4,29.6,113,2660,0.08,2.30,0.00,0.000,5126,0.440,0.039,2945,2215,1435,1528,1342,0,0,0,0,0,0,14.57,14.76,14.78
$GC,2923,1.19,261.6,2944,2217,1528,1338,339.7,29.6,120,2928,0.00,2.22,0.00,0.000,260,0.000,0.051,2945,3605,1432,1527,1338,0,0,0,0,0,0,15.08,14.86,15.09
$GC,2989,1.19,261.6,2945,3606,1528,1338,327.2,29.5,121,2994,0.00,2.28,0.00,0.000,5126,0.000,0.045,2954,2197,1433,1528,1338,0,0,0,0,0,0,14.96,14.88,14.97
$GC,3246,1.19,261.6,2954,2197,1527,1335,250.5,27.1,128,3251,0.00,2.30,0.00,0.000,4612,0.000,0.056,2965,784,1431,1528,1334,0,0,0,0,0,0,15.16,14.92,15.16
$GC,3262,1.19,261.6,2965,784,1527,1334,250.5,27.1,128,3268,0.05,2.28,0.00,0.000,5126,0.471,0.037,2951,2212,1431,1528,1334,0,0,0,0,0,0,14.74,14.94,14.95
$GC,3513,1.19,261.6,2950,2214,1528,1333,184.4,24.5,139,3518,0.00,2.22,0.00,0.000,4356,0.000,0.049,2951,3602,1430,1528,1333,0,0,0,0,0,0,15.18,14.95,15.17
$GC,3665,1.19,261.6,2950,3602,1527,1333,147.7,22.2,153,3670,0.00,2.28,0.00,0.000,5126,0.000,0.046,2960,2194,1430,1527,1333,0,0,0,0,0,0,15.04,14.96,15.04
$GC,3917,1.19,261.6,2960,2195,1527,1331,95.4,19.9,178,3923,0.00,2.30,0.00,0.000,4356,0.000,0.050,2960,3606,1428,1527,1330,0,0,0,0,0,0,15.17,14.95,15.17
$GC,3931,1.19,261.6,2960,3606,1527,1331,92.9,19.8,179,3937,0.08,2.28,0.00,0.000,5126,0.448,0.045,2948,2194,1429,1527,1331,0,0,0,0,0,0,14.76,14.95,14.97
$GC,4187,1.19,261.6,2948,2193,1527,1330,48.4,19.3,204,4192,0.00,2.30,0.00,0.000,4356,0.000,0.050,2948,3604,1428,1527,1330,0,0,0,0,0,0,15.16,14.94,15.16
$STATE,4411,end climb,SURFACE_DEPTH_REACHED
$STATE,4411,begin surface coast
$FINISH,0.2,1.023837
$STATE,4430,end surface coast,CONTROL_FINISHED_OK
$STATE,4430,begin surface
$SM_CCo,4445,77.35,0.118,0,0,910,390.02
$SM_GC,1.65,6.32,1.92,77.35,0.089,0.044,0.118,187,2434,910,-7.28,1.33,390.02,0,0,0,0,0,0,14.95,14.92,14.82
$IRIDIUM_FIX,2211.35,-15612.90,280318,055938
$TT8_MAMPS,0.017976,0.295106
$HUMID,44.84
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,53.7,6.5
$24V_AH,13.38,43.524
$10V_AH,13.55,0.000
$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,14.900,50.500,280.250,77.350,0.000,28.596,42.744,74.948,0.500,0.000,19.364,900.880,2365.046,408.971,1057.573,55.189,0.000,808.911,0.000,867.532,0.000,6.124,0.000
$DEVICE_MAMPS,471.240,69.615,2418.930,117.810,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,160.487,134.049,240.587,249.060,382.145,0.000,0.000,0.000,0.000,0.000
$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,20659,237
$CAP_FILE_SIZE,53130,0
$CFSIZE,2097086464,2078441472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,4181.52,0x212b66,7,24
$CURRENT,0.166,312.14,1
$GPS,280318,071925,2218.080,-15612.234,14,1.1,14,9.9,0.6,103.5,7,26.1