version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 720
start: 5 26 118 4 43 17
data:
$ID,626
$MISSION,2
$DIVE,720
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$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,125
$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,33
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2215
$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
$GPS1,260518,043249,2245.2258,-15722.4883,35,1.0,52,9.9,0.6,19.4,8,17.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.1
$GPS2,260518,044234,2245.3218,-15722.5615,7,1.2,8,9.9,1.2,346.9,7,131.4
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,EDA
$TGT_LATLONG,2245.000,-15723.500
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,220.4,1710,-20.9,-8.000,-23.78,1494
$D_GRID,300
$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,-68.1,181,2154,700,613,0.0,0.0,0,74,0.00,0.00,-53.15,0.000,16390,0.000,0.000,181,2150,2494,2523,2465,0,0,0,0,0,0,15.01,13.05,14.94
$GC,77,-0.62,-68.1,181,2152,2522,2464,4.7,-10.2,7,94,7.43,2.38,0.00,0.000,2820,0.431,0.044,2415,706,2493,2523,2464,0,0,0,0,0,0,14.27,14.58,14.66
$GC,223,-0.62,-68.1,2414,705,2523,2461,44.8,-20.9,30,232,0.00,2.38,0.00,0.000,3078,0.000,0.044,2414,2106,2491,2523,2460,0,0,0,0,0,0,14.64,14.59,14.67
$GC,523,-0.62,-68.1,2413,2107,2523,2460,103.9,-17.3,77,529,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2108,2491,2523,2460,0,0,0,0,0,0,15.08,15.08,15.09
$GC,771,-0.62,-68.1,2413,2108,2523,2460,144.4,-15.9,102,776,0.00,2.35,0.00,0.000,2308,0.000,0.062,2410,3537,2492,2524,2460,0,0,0,0,0,0,15.13,14.75,15.13
$GC,851,-0.62,-68.1,2409,3538,2523,2460,155.2,-13.5,109,859,0.00,2.30,0.00,0.000,3078,0.000,0.044,2409,2118,2492,2523,2461,0,0,0,0,0,0,14.90,14.79,14.92
$GC,1100,-0.62,-68.1,2409,2118,2523,2459,193.0,-14.1,134,1105,0.00,2.28,0.00,0.000,2564,0.000,0.061,2410,724,2491,2523,2460,0,0,0,0,0,0,15.15,14.76,15.15
$GC,1128,-0.62,-68.1,2409,723,2523,2460,196.6,-13.7,136,1136,0.05,2.28,0.00,0.000,3078,0.430,0.041,2418,2130,2491,2523,2460,0,0,0,0,0,0,14.47,14.81,14.74
$GC,1395,-0.62,-68.1,2418,2131,2523,2460,232.4,-13.3,145,1400,0.00,2.28,0.00,0.000,2308,0.000,0.059,2414,3530,2491,2523,2460,0,0,0,0,0,0,15.20,14.79,15.20
$GC,1462,-0.62,-68.1,2413,3530,2523,2460,237.9,-13.3,146,1468,0.00,2.25,0.00,0.000,3078,0.000,0.041,2414,2124,2491,2523,2460,0,0,0,0,0,0,14.95,14.85,14.96
$GC,1722,-0.62,-68.1,2413,2123,2523,2460,271.8,-11.6,153,1723,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2123,2491,2523,2460,0,0,0,0,0,0,15.21,15.21,15.21
$STATE,1959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1959,begin apogee
$GC,1965,-0.13,0.0,2414,1936,2523,2460,300.7,-12.0,159,2023,0.45,0.00,54.58,1.142,10246,0.256,0.000,2580,1936,2213,2287,2140,0,0,0,0,0,0,14.44,14.67,14.00
$STATE,2024,end apogee,CONTROL_FINISHED_OK
$STATE,2024,begin climb
$GC,2027,0.62,68.1,2580,1936,2283,2138,303.3,0.0,160,2086,0.52,2.40,52.47,1.133,10500,0.150,0.049,2808,3360,1932,2022,1842,0,0,0,0,0,0,14.58,14.36,13.88
$GC,2133,0.62,68.1,2808,3360,2018,1842,303.9,-0.8,162,2140,0.00,2.30,0.00,0.000,1030,0.000,0.044,2819,1962,1930,2019,1842,0,0,0,0,0,0,14.69,14.61,14.71
$GC,2379,0.81,223.8,2818,1961,2019,1838,309.6,-2.7,169,2505,0.12,2.35,117.50,1.162,10500,0.135,0.046,2920,3364,1295,1399,1192,0,0,0,0,0,0,14.78,14.31,13.85
$GC,2562,0.81,223.8,2920,3364,1398,1194,294.6,9.0,173,2569,0.15,2.35,0.00,0.000,5126,0.389,0.048,2884,1952,1296,1398,1194,0,0,0,0,0,0,14.23,14.59,14.54
$GC,2827,0.81,223.8,2884,1951,1398,1192,236.0,20.8,180,2832,0.00,2.30,0.00,0.000,260,0.000,0.049,2884,3359,1295,1398,1192,0,0,0,0,0,0,15.07,14.76,15.08
$GC,2925,0.81,223.8,2883,3359,1397,1191,220.4,19.4,182,2930,0.00,2.30,0.00,0.000,5126,0.000,0.045,2894,1946,1294,1397,1191,0,0,0,0,0,0,14.88,14.78,14.90
$GC,3175,0.81,223.8,2894,1947,1398,1188,173.4,16.8,199,3181,0.00,0.00,0.00,0.000,4102,0.000,0.000,2894,1947,1292,1397,1188,0,0,0,0,0,0,15.14,15.14,15.14
$GC,3423,0.81,223.8,2893,1947,1397,1185,133.1,16.3,224,3428,0.00,2.33,0.00,0.000,4356,0.000,0.050,2894,3363,1291,1398,1185,0,0,0,0,0,0,15.15,14.79,15.15
$GC,3485,0.81,223.8,2894,3363,1397,1184,123.9,16.4,229,3492,0.08,2.33,0.00,0.000,5126,0.435,0.047,2880,1945,1290,1397,1184,0,0,0,0,0,0,14.35,14.79,14.73
$GC,3751,0.81,223.8,2881,1945,1397,1182,85.8,12.9,263,3760,0.00,2.40,0.00,0.000,260,0.000,0.050,2881,3353,1289,1397,1182,0,0,0,0,0,0,15.11,14.62,15.11
$GC,3851,0.81,223.8,2881,3353,1397,1181,72.8,12.6,279,3861,0.00,2.40,0.00,0.000,5126,0.000,0.049,2891,1950,1289,1397,1182,0,0,0,0,0,0,14.67,14.62,14.69
$GC,4149,0.81,223.8,2891,1949,1397,1180,37.4,10.8,328,4158,0.00,2.40,0.00,0.000,4612,0.000,0.062,2902,545,1288,1397,1180,0,0,0,0,0,0,15.09,14.56,15.09
$GC,4387,0.81,223.8,2902,544,1396,1181,11.4,11.7,367,4398,0.05,2.38,0.00,0.000,5126,0.385,0.037,2885,1965,1288,1396,1181,0,0,0,0,0,0,14.23,14.62,14.42
$STATE,4457,end climb,SURFACE_DEPTH_REACHED
$STATE,4457,begin surface coast
$FINISH,0.3,1.023345
$STATE,4490,end surface coast,CONTROL_FINISHED_OK
$STATE,4490,begin surface
$SM_CCo,4507,107.22,0.785,1,0,646,384.13
$SM_CCo,4624,-0.08,0.000,0,0,651,384.13
$SM_CCo,4628,0.70,0.177,0,0,648,384.13
$SM_GC,1.41,6.18,0.22,0.70,0.073,0.074,0.177,182,2141,648,-7.46,-1.61,384.13,0,0,0,0,0,0,14.80,14.79,14.49
$IRIDIUM_FIX,2237.01,-15721.55,260518,043701
$TT8_MAMPS,0.019474,0.326564
$HUMID,47.08
$INTERNAL_PRESSURE,9.52444
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,55.1,7.1
$24V_AH,13.05,157.474
$10V_AH,13.93,0.000
$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,15.025,47.175,224.550,107.925,0.000,57.234,99.343,221.374,1.000,0.000,9.326,1136.920,1881.947,414.710,1640.256,171.394,0.000,850.497,0.000,1245.633,0.000,9.776,0.000
$DEVICE_MAMPS,435.285,74.205,1162.035,784.890,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,257.998,259.415,457.618,568.998,873.045,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343000
$DATA_FILE_SIZE,33897,383
$CAP_FILE_SIZE,60140,0
$CFSIZE,2097086464,2022539264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.085,358.03,1
$GPS,260518,060129,2245.234,-15722.971,24,1.8,24,9.9,0.0,0.0,5,120.1