version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 728
start: 5 26 118 16 45 24
data:
$ID,626
$MISSION,2
$DIVE,728
$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,69
$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
$GPS1,260518,163721,2245.2534,-15722.9316,16,1.4,16,9.9,0.5,312.6,5,105.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.5
$GPS2,260518,164438,2245.3191,-15722.9277,15,1.4,15,9.9,0.0,0.0,5,111.8
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,EDA
$TGT_LATLONG,2245.000,-15723.500
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,203.5,1142,-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,-68.1,181,2168,699,611,0.0,0.0,0,73,0.00,0.00,-53.42,0.000,16390,0.000,0.000,181,2166,2494,2522,2466,0,0,0,0,0,0,15.00,13.02,14.94
$GC,76,-0.62,-68.1,181,2166,2522,2466,4.3,-8.7,7,93,7.43,2.42,0.00,0.000,2564,0.430,0.047,2417,705,2492,2522,2463,0,0,0,0,0,0,14.27,14.57,14.64
$GC,174,-0.62,-68.1,2417,704,2522,2455,35.5,-20.6,22,183,0.00,2.35,0.00,0.000,3078,0.000,0.044,2413,2090,2488,2522,2455,0,0,0,0,0,0,14.64,14.59,14.64
$GC,485,-0.62,-68.1,2413,2091,2522,2455,98.8,-19.1,71,493,0.00,2.45,0.00,0.000,2308,0.000,0.059,2409,3533,2488,2522,2455,0,0,0,0,0,0,15.07,14.57,15.07
$GC,538,-0.62,-68.1,2409,3533,2522,2454,107.2,-16.2,76,546,0.00,2.38,0.00,0.000,3078,0.000,0.044,2409,2119,2488,2522,2455,0,0,0,0,0,0,14.66,14.61,14.68
$GC,790,-0.62,-68.1,2409,2119,2522,2455,148.6,-16.2,101,796,0.00,2.30,0.00,0.000,2564,0.000,0.062,2409,720,2489,2523,2455,0,0,0,0,0,0,15.11,14.73,15.11
$GC,839,-0.62,-68.1,2409,720,2522,2455,156.9,-16.4,105,849,0.05,2.38,0.00,0.000,3078,0.364,0.042,2418,2137,2488,2522,2455,0,0,0,0,0,0,14.27,14.64,14.46
$GC,1090,-0.62,-68.1,2418,2137,2522,2455,192.9,-14.7,130,1096,0.00,2.28,0.00,0.000,2308,0.000,0.059,2413,3530,2488,2522,2455,0,0,0,0,0,0,15.14,14.76,15.15
$GC,1184,-0.62,-68.1,2413,3530,2522,2455,204.0,-12.1,136,1190,0.00,2.28,0.00,0.000,3078,0.000,0.043,2413,2119,2488,2522,2455,0,0,0,0,0,0,14.92,14.81,14.93
$GC,1458,-0.62,-68.1,2413,2119,2522,2455,237.3,-12.1,143,1464,0.00,2.28,0.00,0.000,2564,0.000,0.059,2413,723,2488,2522,2455,0,0,0,0,0,0,15.20,14.79,15.20
$GC,1531,-0.62,-68.1,2413,723,2522,2455,243.4,-12.7,144,1536,0.00,2.28,0.00,0.000,3078,0.000,0.043,2413,2133,2488,2522,2455,0,0,0,0,0,0,14.94,14.83,14.95
$GC,1784,-0.62,-68.1,2413,2134,2523,2455,281.1,-13.5,151,1790,0.00,2.28,0.00,0.000,2308,0.000,0.058,2414,3528,2488,2522,2455,0,0,0,0,0,0,15.21,14.80,15.21
$GC,1886,-0.62,-68.1,2413,3530,2522,2455,291.5,-13.2,153,1892,0.00,2.28,0.00,0.000,3078,0.000,0.041,2413,2120,2489,2523,2455,0,0,0,0,0,0,14.94,14.83,14.95
$STATE,1947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1947,begin apogee
$GC,1954,-0.13,0.0,2413,1921,2522,2455,301.2,-12.0,155,2012,0.45,0.00,54.50,1.143,10246,0.256,0.000,2579,1921,2214,2288,2141,0,0,0,0,0,0,14.42,14.65,13.97
$STATE,2013,end apogee,CONTROL_FINISHED_OK
$STATE,2013,begin climb
$GC,2015,0.62,68.1,2579,1921,2283,2139,303.9,0.0,156,2077,0.55,2.28,53.70,1.138,10756,0.153,0.060,2822,565,1931,2021,1841,0,0,0,0,0,0,14.58,14.51,13.86
$GC,2331,0.79,206.0,2821,564,2014,1841,308.7,-1.5,164,2445,0.10,2.25,104.47,1.151,11270,0.161,0.037,2910,1965,1368,1472,1265,0,0,0,0,0,0,14.70,14.77,13.86
$GC,2719,0.79,206.0,2910,1965,1468,1258,247.3,20.1,174,2725,0.08,2.35,0.00,0.000,4612,0.415,0.057,2889,564,1363,1469,1258,0,0,0,0,0,0,14.36,14.67,14.56
$GC,2938,0.79,206.0,2888,564,1468,1257,212.7,16.4,179,2943,0.00,2.22,0.00,0.000,5126,0.000,0.037,2889,1941,1362,1467,1257,0,0,0,0,0,0,14.90,14.81,14.92
$GC,3190,0.79,206.0,2888,1943,1468,1255,174.0,14.1,199,3195,0.00,2.28,0.00,0.000,4356,0.000,0.047,2889,3357,1361,1468,1255,0,0,0,0,0,0,15.13,14.80,15.13
$GC,3259,0.79,206.0,2888,3359,1467,1255,163.2,16.1,205,3267,0.08,2.28,0.00,0.000,5126,0.421,0.046,2875,1973,1361,1467,1255,0,0,0,0,0,0,14.37,14.79,14.74
$GC,3506,0.79,206.0,2875,1972,1467,1254,131.1,12.4,230,3512,0.00,2.38,0.00,0.000,516,0.000,0.065,2886,535,1360,1467,1254,0,0,0,0,0,0,15.14,14.76,15.15
$GC,3608,0.79,206.0,2886,536,1466,1254,118.6,13.3,239,3613,0.00,2.30,0.00,0.000,5126,0.000,0.037,2886,1956,1360,1466,1254,0,0,0,0,0,0,14.92,14.83,14.93
$GC,3875,0.79,206.0,2886,1957,1466,1250,88.3,10.5,272,3884,0.00,2.33,0.00,0.000,4356,0.000,0.049,2886,3347,1358,1466,1250,0,0,0,0,0,0,15.11,14.61,15.11
$GC,4113,0.79,206.0,2886,3347,1465,1251,64.3,9.2,311,4122,0.05,2.40,0.00,0.000,5126,0.422,0.049,2881,1950,1358,1466,1251,0,0,0,0,0,0,14.19,14.58,14.40
$GC,4409,0.80,214.4,2880,1950,1466,1251,38.5,7.4,360,4420,0.00,2.33,5.22,0.661,8452,0.000,0.053,2881,3359,1338,1448,1228,0,0,1,0,0,0,15.07,14.73,14.04
$GC,4815,0.80,214.4,2880,3359,1447,1234,3.0,9.2,427,4823,0.00,2.42,0.00,0.000,5126,0.000,0.050,2891,1947,1341,1448,1234,0,0,0,0,0,0,14.64,14.58,14.66
$STATE,4830,end climb,SURFACE_DEPTH_REACHED
$STATE,4831,begin surface coast
$FINISH,0.3,1.016626
$STATE,4868,end surface coast,CONTROL_FINISHED_OK
$STATE,4868,begin surface
$SM_CCo,4885,115.82,0.781,1,0,647,384.13
$SM_CCo,5009,0.00,0.000,0,0,649,384.13
$SM_CCo,5013,0.28,0.377,0,0,648,384.13
$SM_GC,1.29,6.03,0.30,0.28,0.046,0.060,0.377,182,2150,648,-7.45,-1.50,384.13,0,0,0,0,0,0,14.81,14.79,14.59
$IRIDIUM_FIX,2237.01,-15724.61,260518,163903
$TT8_MAMPS,0.019474,0.328062
$HUMID,46.02
$INTERNAL_PRESSURE,9.54397
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,66.3,8.6
$24V_AH,13.02,158.830
$10V_AH,12.66,0.000
$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,14.800,56.300,217.900,116.100,0.000,30.011,41.113,223.768,2.000,0.000,16.474,1407.074,1618.984,421.422,1844.220,190.893,0.000,947.942,0.000,1535.039,0.000,18.395,0.000
$DEVICE_MAMPS,429.930,71.910,1150.560,781.065,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,293.606,311.423,527.799,663.423,1017.946,0.000,0.000,0.000,0.000,0.000
$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,37270,435
$CAP_FILE_SIZE,68064,0
$CFSIZE,2097086464,2021720064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,2,1
$CURRENT,0.093,39.86,1
$GPS,260518,181018,2245.253,-15722.983,42,1.0,42,9.9,0.5,57.5,7,19.1