version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 691
start: 5 24 118 12 53 52
data:
$ID,626
$MISSION,2
$DIVE,691
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,950
$D_NO_BLEED,60
$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,80
$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,70
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,400
$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,1
$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,2622
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,39
$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,2126
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2200
$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
$GPS1,240518,124624,2245.1726,-15722.6963,7,1.1,7,9.9,0.9,25.3,8,111.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.2
$GPS2,240518,125309,2245.2053,-15722.6699,7,1.1,7,9.9,1.2,75.0,7,121.5
$SPEED_LIMITS,0.179,0.189
$TGT_NAME,EDA
$TGT_LATLONG,2245.000,-15723.500
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,240.5,1467,-21.0,-8.333,-23.83,1518
$D_GRID,200
$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,16,-0.62,-68.1,182,2145,693,611,0.0,0.0,0,73,0.00,0.00,-54.00,0.000,16390,0.000,0.000,182,2144,2479,2508,2451,0,0,0,0,0,0,15.05,13.14,15.00
$GC,77,-0.62,-68.1,182,2145,2508,2450,3.7,-6.8,7,95,7.43,2.33,0.00,0.000,2564,0.437,0.038,2418,710,2479,2509,2450,0,0,0,0,0,0,14.31,14.65,14.71
$GC,198,-0.62,-68.1,2418,709,2509,2445,37.2,-20.6,26,207,0.00,2.33,0.00,0.000,3078,0.000,0.042,2413,2101,2476,2509,2444,0,0,0,0,0,0,14.71,14.67,14.74
$GC,511,-0.62,-68.1,2413,2102,2509,2444,99.1,-17.8,75,519,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2103,2476,2509,2444,0,0,0,0,0,0,15.11,15.11,15.11
$GC,757,-0.62,-68.1,2413,2103,2509,2444,142.7,-17.1,100,758,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2103,2476,2509,2444,0,0,0,0,0,0,15.16,15.16,15.16
$GC,999,-0.62,-68.1,2413,2103,2509,2444,180.1,-14.0,124,1005,0.00,2.33,0.00,0.000,2308,0.000,0.058,2409,3537,2476,2509,2444,0,0,0,0,0,0,15.18,14.83,15.18
$GC,1111,-0.62,-68.1,2409,3537,2508,2444,195.1,-13.5,134,1118,0.00,2.28,0.00,0.000,3078,0.000,0.043,2409,2119,2476,2509,2444,0,0,0,0,0,0,14.96,14.87,14.98
$STATE,1145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1145,begin apogee
$GC,1151,-0.13,0.0,2409,1931,2509,2444,200.6,-13.9,138,1207,0.47,0.00,52.90,1.008,10246,0.274,0.000,2582,1931,2199,2273,2125,0,0,0,0,0,0,14.49,14.71,14.12
$STATE,1208,end apogee,CONTROL_FINISHED_OK
$STATE,1208,begin climb
$GC,1211,0.62,68.1,2582,1931,2270,2123,203.7,0.0,139,1270,0.52,2.28,51.70,1.002,10756,0.170,0.058,2816,558,1918,2009,1827,0,0,0,0,0,0,14.59,14.43,14.00
$GC,1514,0.82,227.0,2815,558,2006,1827,208.6,-2.4,146,1646,0.12,2.25,118.25,1.030,11270,0.138,0.035,2919,1972,1268,1373,1164,0,0,0,0,0,0,14.79,14.83,13.96
$GC,1883,0.82,227.0,2919,1973,1373,1163,154.3,17.2,171,1889,0.08,2.22,0.00,0.000,4356,0.431,0.046,2888,3352,1267,1372,1163,0,0,0,0,0,0,14.41,14.73,14.62
$GC,2051,0.82,227.0,2887,3353,1372,1163,126.3,17.1,186,2059,0.00,2.33,0.00,0.000,5126,0.000,0.047,2898,1971,1267,1372,1163,0,0,0,0,0,0,14.76,14.70,14.78
$GC,2315,0.82,227.0,2897,1971,1372,1160,84.7,15.2,219,2323,0.00,0.00,0.00,0.000,4102,0.000,0.000,2898,1971,1266,1372,1160,0,0,0,0,0,0,15.13,15.14,15.14
$GC,2610,0.82,227.0,2898,1970,1372,1158,48.1,10.9,268,2618,0.00,2.33,0.00,0.000,4356,0.000,0.050,2898,3344,1265,1372,1158,0,0,0,0,0,0,15.12,14.69,15.12
$GC,2817,0.82,227.0,2897,3344,1372,1158,22.8,12.9,302,2827,0.05,2.35,0.00,0.000,5126,0.409,0.048,2892,1953,1264,1372,1156,0,0,0,0,0,0,14.32,14.69,14.52
$STATE,3052,end climb,SURFACE_DEPTH_REACHED
$STATE,3052,begin surface coast
$FINISH,0.3,1.012116
$STATE,3101,end surface coast,CONTROL_FINISHED_OK
$STATE,3101,begin surface
$SM_CCo,3118,95.70,0.780,1,0,647,380.45
$SM_CCo,3222,-0.03,0.000,0,0,650,380.45
$SM_CCo,3226,0.22,0.444,0,0,648,380.45
$SM_GC,1.27,6.12,0.28,0.22,0.070,0.060,0.444,180,2139,648,-7.47,-1.72,380.45,0,0,0,0,0,0,14.85,14.87,14.66
$IRIDIUM_FIX,2237.01,-15721.55,240518,124757
$TT8_MAMPS,0.019474,0.326564
$HUMID,45.23
$INTERNAL_PRESSURE,9.59279
$TCM_TEMP,22.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,7.0
$24V_AH,13.14,152.613
$10V_AH,12.69,0.000
$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,14.800,23.525,222.850,95.925,0.000,28.584,45.867,201.332,2.500,0.000,8.128,1033.084,630.117,359.798,1496.524,145.847,0.000,763.331,0.000,1211.766,0.000,22.777,0.000
$DEVICE_MAMPS,436.815,73.440,1030.455,780.300,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,235.179,250.948,448.666,579.692,889.461,0.000,0.000,0.000,0.000,0.000
$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,30551,349
$CAP_FILE_SIZE,48656,0
$CFSIZE,2097086464,2025422848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.140,45.30,1
$GPS,240518,134823,2245.288,-15722.715,7,1.7,7,9.9,0.0,0.0,4,268.8