version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 766
start: 5 29 118 2 41 17
data:
$ID,626
$MISSION,2
$DIVE,766
$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,37
$R_STBD_OVSHOOT,45
$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
$GPS1,290518,023254,2245.1511,-15723.0811,42,0.9,42,9.9,1.0,27.6,9,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.2
$GPS2,290518,024032,2245.2588,-15723.0918,8,1.0,8,9.9,1.5,23.5,8,65.0
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,EDB
$TGT_LATLONG,2245.000,-15722.300
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,118.2,1435,-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,14,begin dive
$GC,16,-0.62,-68.1,182,2135,700,610,0.0,0.0,0,74,0.00,0.00,-53.97,0.000,16390,0.000,0.000,182,2134,2494,2522,2466,0,0,0,0,0,0,15.02,13.00,14.95
$GC,78,-0.62,-68.1,182,2134,2522,2465,4.1,-7.8,7,95,7.45,2.35,0.00,0.000,2564,0.431,0.041,2420,701,2494,2523,2466,0,0,0,0,0,0,14.25,14.58,14.64
$GC,105,-0.62,-68.1,2420,701,2523,2465,17.1,-36.8,10,114,0.00,2.40,0.00,0.000,3078,0.000,0.041,2413,2120,2494,2523,2465,0,0,0,0,0,0,14.65,14.60,14.67
$GC,404,-0.62,-68.1,2413,2121,2523,2464,79.8,-19.4,59,412,0.00,2.40,0.00,0.000,2308,0.000,0.055,2403,3534,2493,2523,2464,0,0,0,0,0,0,15.06,14.57,15.07
$GC,531,-0.62,-68.1,2402,3535,2523,2465,101.0,-16.1,79,539,0.05,2.30,0.00,0.000,3078,0.415,0.044,2421,2122,2494,2523,2465,0,0,0,0,0,0,14.43,14.75,14.69
$GC,779,-0.62,-68.1,2420,2121,2523,2465,141.3,-16.0,104,788,0.00,0.00,0.00,0.000,2054,0.000,0.000,2421,2121,2493,2523,2464,0,0,0,0,0,0,15.12,15.12,15.12
$GC,1029,-0.62,-68.1,2420,2121,2523,2465,177.9,-14.0,129,1034,0.00,2.33,0.00,0.000,260,0.000,0.057,2414,3537,2493,2523,2464,0,0,0,0,0,0,15.14,14.76,15.15
$GC,1065,-0.62,-68.1,2414,3537,2522,2464,182.9,-13.9,132,1070,0.00,2.30,0.00,0.000,3078,0.000,0.043,2414,2127,2494,2523,2465,0,0,0,0,0,0,14.91,14.81,14.92
$GC,1348,-0.62,-68.1,2414,2127,2523,2465,221.8,-13.6,148,1354,0.00,2.33,0.00,0.000,2308,0.000,0.058,2414,3532,2494,2523,2465,0,0,0,0,0,0,15.19,14.78,15.19
$GC,1401,-0.62,-68.1,2413,3533,2523,2465,227.1,-13.1,149,1407,0.00,2.28,0.00,0.000,3078,0.000,0.041,2413,2119,2494,2523,2465,0,0,0,0,0,0,14.93,14.83,14.95
$GC,1675,-0.62,-68.1,2413,2118,2523,2465,262.1,-12.3,156,1676,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2118,2493,2523,2464,0,0,0,0,0,0,15.20,15.21,15.21
$GC,1915,-0.62,-68.1,2413,2117,2523,2465,293.7,-13.2,162,1921,0.00,2.28,0.00,0.000,2564,0.000,0.060,2413,724,2493,2523,2464,0,0,0,0,0,0,15.21,14.80,15.21
$GC,1949,-0.62,-68.1,2413,723,2523,2464,293.7,-13.2,162,1954,0.00,2.30,0.00,0.000,3078,0.000,0.043,2413,2133,2493,2523,2464,0,0,0,0,0,0,14.95,14.84,14.97
$STATE,2000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2000,begin apogee
$GC,2007,-0.13,0.0,2413,1935,2523,2464,304.4,-12.8,164,2065,0.45,0.00,55.17,1.182,10246,0.253,0.000,2580,1936,2214,2289,2140,0,0,0,0,0,0,14.43,14.64,13.94
$STATE,2066,end apogee,CONTROL_FINISHED_OK
$STATE,2066,begin climb
$GC,2069,0.62,68.1,2580,1935,2284,2138,306.9,0.0,165,2132,0.52,2.35,53.03,1.167,10756,0.146,0.060,2820,556,1931,2021,1842,0,0,0,0,0,0,14.56,14.50,13.83
$GC,2335,0.77,192.7,2819,556,2016,1842,308.0,-0.6,171,2440,0.10,2.28,94.25,1.191,11270,0.162,0.036,2910,1966,1423,1529,1318,0,0,0,0,0,0,14.69,14.75,13.85
$GC,2705,0.77,192.7,2909,1966,1528,1315,258.7,16.4,181,2710,0.08,2.38,0.00,0.000,4612,0.415,0.057,2888,553,1421,1527,1315,0,0,0,0,0,0,14.35,14.68,14.57
$GC,3033,0.77,192.7,2887,553,1526,1314,208.1,16.1,189,3040,0.05,2.25,0.00,0.000,5126,0.443,0.036,2872,1947,1419,1526,1313,0,0,0,0,0,0,14.46,14.83,14.78
$GC,3289,0.77,192.7,2872,1948,1526,1310,176.7,11.2,208,3294,0.00,2.28,0.00,0.000,260,0.000,0.054,2872,3349,1418,1526,1310,0,0,0,0,0,0,15.14,14.79,15.15
$GC,3516,0.77,192.7,2872,3349,1524,1309,149.8,11.7,229,3522,0.00,2.30,0.00,0.000,5126,0.000,0.049,2881,1963,1417,1524,1310,0,0,0,0,0,0,14.91,14.80,14.93
$GC,3772,0.77,192.7,2881,1963,1524,1308,125.8,9.1,254,3777,0.00,2.35,0.00,0.000,4612,0.000,0.062,2893,540,1416,1524,1308,0,0,0,0,0,0,15.14,14.76,15.14
$GC,3873,0.77,192.7,2892,540,1523,1308,114.7,11.6,263,3879,0.05,2.30,0.00,0.000,5126,0.438,0.037,2875,1953,1415,1523,1308,0,0,0,0,0,0,14.43,14.82,14.75
$GC,4144,0.78,194.3,2875,1954,1524,1307,88.8,7.9,298,4153,0.00,2.38,0.00,0.000,4356,0.000,0.054,2875,3349,1415,1523,1307,0,0,0,0,0,0,15.11,14.59,15.11
$GC,4506,0.78,194.3,2875,3349,1521,1307,60.1,8.6,358,4515,0.03,2.40,0.00,0.000,5126,0.478,0.049,2878,1950,1415,1523,1307,0,0,0,0,0,0,14.31,14.57,14.42
$GC,4802,0.78,194.3,2878,1950,1523,1307,35.2,8.5,407,4812,0.00,2.42,0.00,0.000,4356,0.000,0.052,2878,3347,1415,1522,1308,0,0,0,0,0,0,15.07,14.56,15.08
$GC,4870,0.78,194.3,2878,3347,1523,1308,29.5,8.6,417,4879,0.03,2.40,0.00,0.000,5126,0.477,0.047,2879,1946,1415,1523,1308,0,0,0,0,0,0,14.27,14.57,14.40
$GC,5166,0.84,243.7,2880,1946,1523,1308,12.7,4.6,466,5215,0.00,2.38,38.12,0.809,10500,0.000,0.051,2879,3349,1217,1324,1111,0,0,0,0,0,0,15.08,14.59,14.13
$STATE,5280,end climb,SURFACE_DEPTH_REACHED
$STATE,5281,begin surface coast
$FINISH,0.2,1.023307
$STATE,5314,end surface coast,CONTROL_FINISHED_OK
$STATE,5314,begin surface
$SM_CCo,5333,97.95,0.778,1,0,646,384.13
$SM_CCo,5440,0.00,0.000,0,0,650,384.13
$SM_CCo,5444,0.40,0.239,0,0,648,384.13
$SM_GC,1.32,6.12,2.05,0.40,0.063,0.045,0.239,179,2117,648,-7.49,1.13,384.13,0,0,0,0,0,0,14.72,14.71,14.50
$IRIDIUM_FIX,2234.68,-15721.55,290518,023440
$TT8_MAMPS,0.019474,0.270389
$HUMID,44.56
$INTERNAL_PRESSURE,9.57326
$TCM_TEMP,23.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,6.4
$24V_AH,13.00,165.525
$10V_AH,12.52,0.000
$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,14.925,56.075,240.575,98.350,0.000,30.422,41.722,243.496,0.500,0.000,9.314,1508.494,1770.675,406.682,2042.920,204.684,0.000,989.280,0.000,1700.269,0.000,5.464,0.000
$DEVICE_MAMPS,478.125,64.260,1191.105,778.005,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,328.901,635.784,596.546,757.906,1162.935,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342984
$DATA_FILE_SIZE,43883,488
$CAP_FILE_SIZE,71284,0
$CFSIZE,2097086464,2017984512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,4
$CURRENT,0.148,350.12,1
$GPS,290518,041248,2245.396,-15722.882,8,1.0,8,9.9,0.6,262.8,8,78.3