version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 723
start: 5 26 118 8 52 4
data:
$ID,626
$MISSION,2
$DIVE,723
$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,34
$R_STBD_OVSHOOT,42
$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
$GPS1,260518,084410,2245.0896,-15722.8330,7,1.2,7,9.9,1.9,273.8,7,118.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.9
$GPS2,260518,085119,2245.1504,-15722.8359,8,1.2,8,9.9,0.6,47.4,7,86.0
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,EDB
$TGT_LATLONG,2245.000,-15722.300
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,127.4,958,-22.2,-8.000,-25.00,1327
$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,-0.65,-68.1,183,2102,695,611,0.0,0.0,0,74,0.00,0.00,-54.03,0.000,16390,0.000,0.000,183,2106,2494,2521,2468,0,0,0,0,0,0,15.00,13.03,14.93
$GC,77,-0.65,-68.1,183,2106,2521,2468,4.1,-8.1,7,94,7.35,2.30,0.00,0.000,2564,0.425,0.043,2408,703,2494,2522,2466,0,0,0,0,0,0,14.25,14.57,14.64
$GC,110,-0.65,-68.1,2408,703,2522,2462,19.2,-41.9,11,118,0.00,2.40,0.00,0.000,3078,0.000,0.043,2399,2121,2492,2522,2463,0,0,0,0,0,0,14.64,14.59,14.66
$GC,413,-0.65,-68.1,2398,2123,2522,2462,83.5,-19.1,60,421,0.00,2.38,0.00,0.000,2308,0.000,0.050,2389,3541,2492,2522,2462,0,0,0,0,0,0,15.05,14.59,15.06
$GC,478,-0.65,-68.1,2388,3542,2522,2462,94.8,-16.1,70,488,0.05,2.40,0.00,0.000,3078,0.334,0.043,2407,2117,2492,2522,2462,0,0,0,0,0,0,14.28,14.60,14.45
$GC,736,-0.65,-68.1,2407,2117,2522,2463,136.8,-15.3,97,742,0.00,2.30,0.00,0.000,2564,0.000,0.062,2408,717,2492,2522,2463,0,0,0,0,0,0,15.11,14.73,15.11
$GC,814,-0.65,-68.1,2407,717,2522,2463,150.7,-17.0,104,819,0.00,2.30,0.00,0.000,3078,0.000,0.042,2400,2137,2492,2522,2462,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1069,-0.65,-68.1,2399,2138,2522,2462,187.5,-14.3,129,1075,0.00,2.28,0.00,0.000,2308,0.000,0.061,2397,3528,2492,2522,2463,0,0,0,0,0,0,15.14,14.76,15.14
$GC,1141,-0.65,-68.1,2396,3529,2523,2462,196.9,-12.8,135,1149,0.00,2.35,0.00,0.000,3078,0.000,0.043,2397,2121,2492,2522,2462,0,0,0,0,0,0,14.69,14.64,14.72
$GC,1407,-0.65,-68.1,2396,2121,2522,2462,236.0,-14.7,144,1413,0.00,2.28,0.00,0.000,2564,0.000,0.058,2396,727,2492,2523,2462,0,0,0,0,0,0,15.19,14.78,15.19
$GC,1435,-0.65,-68.1,2396,726,2522,2462,236.0,-14.7,144,1441,0.08,2.30,0.00,0.000,3078,0.376,0.045,2415,2136,2492,2522,2462,0,0,0,0,0,0,14.45,14.82,14.74
$GC,1694,-0.65,-68.1,2414,2137,2523,2462,275.5,-13.4,151,1700,0.00,2.25,0.00,0.000,260,0.000,0.057,2414,3531,2492,2522,2462,0,0,0,0,0,0,15.20,14.79,15.21
$GC,1802,-0.65,-68.1,2414,3531,2522,2462,285.2,-12.4,153,1807,0.00,2.25,0.00,0.000,1030,0.000,0.041,2414,2130,2492,2522,2462,0,0,0,0,0,0,14.93,14.83,14.95
$STATE,1938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1938,begin apogee
$GC,1945,-0.13,0.0,2414,1932,2523,2462,304.3,-11.8,157,2002,0.45,0.00,54.33,1.146,10246,0.259,0.000,2579,1932,2214,2288,2141,0,0,0,0,0,0,14.42,14.66,13.99
$STATE,2003,end apogee,CONTROL_FINISHED_OK
$STATE,2003,begin climb
$GC,2006,0.65,68.1,2579,1932,2284,2139,307.0,0.0,158,2063,0.55,0.00,53.35,1.128,10502,0.150,0.000,2818,1932,1935,2024,1847,0,0,0,0,0,0,14.57,14.49,13.88
$GC,2302,0.81,191.4,2817,1931,2019,1840,311.3,-1.5,166,2400,0.08,2.30,90.70,1.167,10756,0.200,0.058,2920,563,1434,1537,1331,0,0,0,0,0,0,14.72,14.32,13.83
$GC,2557,0.81,191.4,2920,562,1536,1338,279.4,18.7,172,2563,0.12,2.25,0.00,0.000,5126,0.382,0.034,2879,1953,1437,1537,1337,0,0,0,0,0,0,14.30,14.71,14.63
$GC,2826,0.81,191.4,2879,1959,1537,1334,237.5,14.5,179,2831,0.00,2.25,0.00,0.000,260,0.000,0.050,2879,3353,1435,1537,1334,0,0,0,0,0,0,15.10,14.77,15.11
$GC,2965,0.81,191.4,2879,3353,1536,1333,218.7,14.8,182,2971,0.00,2.25,0.00,0.000,5126,0.000,0.045,2889,1967,1434,1536,1333,0,0,0,0,0,0,14.90,14.81,14.92
$GC,3216,0.81,191.4,2889,1966,1536,1331,183.4,12.0,196,3221,0.00,2.28,0.00,0.000,4356,0.000,0.047,2889,3355,1433,1536,1331,0,0,0,0,0,0,15.14,14.81,15.15
$GC,3450,0.81,191.4,2889,3354,1536,1329,151.5,12.7,218,3456,0.05,2.33,0.00,0.000,5126,0.480,0.044,2885,1939,1432,1536,1329,0,0,0,0,0,0,14.41,14.81,14.72
$GC,3706,0.81,191.4,2885,1938,1536,1327,124.9,11.5,243,3712,0.00,2.30,0.00,0.000,4612,0.000,0.058,2895,539,1431,1536,1326,0,0,0,0,0,0,15.14,14.76,15.15
$GC,3754,0.81,191.4,2895,539,1536,1326,119.9,10.5,247,3760,0.00,2.30,0.00,0.000,5126,0.000,0.037,2895,1962,1431,1536,1326,0,0,0,0,0,0,14.91,14.83,14.93
$GC,4015,0.81,191.4,2895,1962,1535,1325,93.1,11.1,276,4024,0.00,2.47,0.00,0.000,4612,0.000,0.060,2907,544,1430,1535,1325,0,0,0,0,0,0,15.13,14.59,15.13
$GC,4151,0.81,191.4,2906,543,1535,1325,78.6,10.1,298,4161,0.05,2.35,0.00,0.000,5126,0.394,0.037,2888,1947,1430,1535,1325,0,0,0,0,0,0,14.23,14.62,14.41
$GC,4448,0.82,203.2,2888,1946,1535,1325,56.5,7.1,347,4464,0.00,0.00,9.75,0.809,12294,0.000,0.000,2889,1946,1383,1490,1277,0,0,0,0,0,0,15.09,14.51,14.09
$GC,4751,0.82,203.2,2888,1947,1490,1280,28.0,9.2,397,4760,0.00,2.35,0.00,0.000,4356,0.000,0.047,2888,3349,1385,1490,1280,0,0,0,0,0,0,15.07,14.59,15.07
$STATE,5163,end climb,SURFACE_DEPTH_REACHED
$STATE,5163,begin surface coast
$FINISH,0.2,1.000574
$STATE,5213,end surface coast,CONTROL_FINISHED_OK
$STATE,5213,begin surface
$SM_CCo,5232,106.05,0.112,0,0,647,384.13
$SM_CCo,5342,-0.10,0.000,0,0,651,384.13
$SM_CCo,5346,0.52,0.267,0,0,648,384.13
$SM_GC,1.41,6.07,2.05,0.52,0.054,0.045,0.267,182,2114,648,-7.46,0.99,384.13,0,0,0,0,0,0,14.79,14.73,14.60
$IRIDIUM_FIX,2234.68,-15721.55,260518,084546
$TT8_MAMPS,0.018725,0.266644
$HUMID,46.06
$INTERNAL_PRESSURE,9.54397
$TCM_TEMP,23.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,55.8,6.3
$24V_AH,13.03,157.967
$10V_AH,12.61,0.000
$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,14.850,55.525,208.125,106.575,0.000,26.003,41.737,226.542,1.000,0.000,9.315,1443.876,1872.625,389.773,1917.426,184.623,0.000,925.863,0.000,1607.463,0.000,9.770,0.000
$DEVICE_MAMPS,479.655,72.675,1166.625,266.985,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,320.171,390.451,576.865,734.275,1126.671,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342956
$DATA_FILE_SIZE,40826,474
$CAP_FILE_SIZE,68353,0
$CFSIZE,2097086464,2022211584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.051,77.69,1
$GPS,260518,102231,2244.875,-15722.324,25,0.9,42,9.9,0.7,308.2,10,14.2