version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 771
start: 5 29 118 10 37 10
data:
$ID,626
$MISSION,2
$DIVE,771
$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,36
$R_STBD_OVSHOOT,48
$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
$GPS1,290518,102855,2245.5867,-15722.4893,18,1.8,18,9.9,0.9,79.3,6,42.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.6
$GPS2,290518,103625,2245.6133,-15722.4766,16,2.0,16,9.9,0.0,0.0,5,40.1
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,EDB
$TGT_LATLONG,2245.000,-15722.300
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,170.0,1175,-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,-68.1,182,2144,700,614,0.0,0.0,0,73,0.00,0.00,-53.75,0.000,16390,0.000,0.000,182,2148,2494,2522,2466,0,0,0,0,0,0,15.01,12.99,14.95
$GC,76,-0.62,-68.1,182,2148,2522,2466,4.0,-7.8,7,94,7.47,2.35,0.00,0.000,2564,0.434,0.041,2417,708,2494,2522,2466,0,0,0,0,0,0,14.24,14.57,14.63
$GC,153,-0.62,-68.1,2416,708,2522,2465,29.4,-20.2,18,161,0.00,2.40,0.00,0.000,3078,0.000,0.044,2413,2119,2493,2522,2465,0,0,0,0,0,0,14.64,14.58,14.66
$GC,457,-0.62,-68.1,2413,2120,2522,2465,85.2,-16.3,67,466,0.00,2.42,0.00,0.000,2308,0.000,0.062,2414,3534,2493,2522,2465,0,0,0,0,0,0,15.07,14.55,15.07
$GC,568,-0.62,-68.1,2413,3533,2522,2465,102.3,-13.8,84,574,0.00,2.30,0.00,0.000,3078,0.000,0.044,2414,2121,2493,2522,2465,0,0,0,0,0,0,14.85,14.75,14.87
$GC,826,-0.62,-68.1,2413,2120,2522,2465,141.2,-15.1,109,831,0.00,2.30,0.00,0.000,2564,0.000,0.059,2413,719,2493,2522,2464,0,0,0,0,0,0,15.11,14.73,15.11
$GC,882,-0.62,-68.1,2413,717,2522,2465,150.3,-15.1,114,888,0.00,2.30,0.00,0.000,3078,0.000,0.043,2413,2133,2493,2522,2465,0,0,0,0,0,0,14.89,14.78,14.91
$GC,1141,-0.62,-68.1,2413,2133,2522,2465,185.7,-13.6,139,1147,0.00,2.33,0.00,0.000,2308,0.000,0.060,2413,3536,2493,2522,2465,0,0,0,0,0,0,15.14,14.76,15.14
$GC,1254,-0.62,-68.1,2413,3537,2522,2465,200.1,-12.0,149,1259,0.00,2.28,0.00,0.000,3078,0.000,0.041,2414,2123,2493,2522,2465,0,0,0,0,0,0,14.91,14.81,14.92
$GC,1512,-0.62,-68.1,2413,2122,2523,2465,232.9,-12.8,156,1519,0.00,2.28,0.00,0.000,2564,0.000,0.058,2413,724,2494,2523,2465,0,0,0,0,0,0,15.19,14.78,15.20
$GC,1546,-0.62,-68.1,2413,724,2523,2465,232.9,-12.8,156,1551,0.00,2.28,0.00,0.000,3078,0.000,0.041,2413,2134,2494,2523,2465,0,0,0,0,0,0,14.94,14.83,14.95
$GC,1799,-0.62,-68.1,2413,2135,2523,2465,267.0,-11.6,163,1800,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2135,2494,2523,2465,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2039,-0.62,-68.1,2413,2135,2523,2465,296.6,-12.1,169,2040,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2135,2494,2523,2465,0,0,0,0,0,0,15.21,15.22,15.21
$STATE,2077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2077,begin apogee
$GC,2084,-0.13,0.0,2414,1931,2523,2465,301.6,-12.2,170,2140,0.45,0.00,52.62,1.224,10246,0.259,0.000,2579,1931,2214,2288,2141,0,0,0,0,0,0,14.41,14.64,13.91
$STATE,2141,end apogee,CONTROL_FINISHED_OK
$STATE,2141,begin climb
$GC,2143,0.62,68.1,2578,1931,2287,2143,304.6,0.0,171,2203,0.55,2.35,52.55,1.287,10756,0.153,0.058,2826,555,1936,2025,1847,0,0,0,0,0,0,14.56,14.48,13.75
$GC,2385,0.83,240.8,2825,554,2024,1848,312.5,-3.9,177,2527,0.12,2.30,131.48,1.437,11270,0.135,0.037,2925,1957,1232,1340,1125,0,0,0,0,0,0,14.70,14.73,13.67
$GC,2780,0.83,240.8,2925,1959,1341,1131,247.9,22.6,187,2786,0.08,2.28,0.00,0.000,4356,0.428,0.046,2894,3357,1236,1341,1131,0,0,0,0,0,0,14.36,14.68,14.57
$GC,2948,0.83,240.8,2893,3357,1340,1129,215.0,20.0,191,2954,0.00,2.30,0.00,0.000,5126,0.000,0.050,2904,1964,1235,1341,1130,0,0,0,0,0,0,14.88,14.77,14.90
$GC,3199,0.83,240.8,2904,1963,1340,1126,170.5,16.1,210,3205,0.00,2.30,0.00,0.000,4356,0.000,0.050,2904,3354,1233,1340,1127,0,0,0,0,0,0,15.12,14.79,15.12
$GC,3343,0.83,240.8,2904,3354,1340,1125,147.0,16.7,223,3349,0.08,2.33,0.00,0.000,5126,0.420,0.049,2891,1948,1232,1339,1125,0,0,0,0,0,0,14.38,14.79,14.71
$GC,3598,0.83,240.8,2890,1947,1340,1122,109.6,14.1,248,3603,0.00,2.30,0.00,0.000,516,0.000,0.063,2901,543,1231,1340,1122,0,0,0,0,0,0,15.14,14.76,15.14
$GC,3719,0.83,240.8,2901,542,1339,1122,91.7,14.6,263,3728,0.00,2.35,0.00,0.000,5126,0.000,0.037,2902,1942,1230,1339,1122,0,0,0,0,0,0,14.71,14.66,14.73
$GC,4014,0.83,240.8,2901,1942,1339,1120,50.8,12.0,312,4023,0.00,2.38,0.00,0.000,4356,0.000,0.052,2902,3343,1229,1339,1120,0,0,0,0,0,0,15.09,14.59,15.09
$GC,4133,0.83,240.8,2902,3343,1339,1120,36.6,12.6,331,4142,0.05,2.40,0.00,0.000,5126,0.409,0.049,2896,1946,1229,1339,1120,0,0,0,0,0,0,14.21,14.60,14.40
$GC,4430,0.83,240.8,2896,1946,1339,1120,4.3,10.5,380,4438,0.00,2.42,0.00,0.000,4612,0.000,0.062,2907,539,1229,1339,1120,0,0,0,0,0,0,15.07,14.53,15.07
$STATE,4446,end climb,SURFACE_DEPTH_REACHED
$STATE,4446,begin surface coast
$FINISH,0.4,1.023272
$STATE,4477,end surface coast,CONTROL_FINISHED_OK
$STATE,4477,begin surface
$SM_CCo,4496,92.47,0.808,1,0,646,384.13
$SM_CCo,4598,-0.12,0.000,0,0,651,383.89
$SM_CCo,4602,0.45,0.302,0,0,648,384.13
$SM_GC,1.54,6.25,2.67,0.45,0.079,0.044,0.302,182,2124,648,-7.46,-1.41,384.13,0,0,0,0,0,0,14.80,14.76,14.54
$IRIDIUM_FIX,2239.35,-15723.71,290518,103037
$TT8_MAMPS,0.019474,0.263648
$HUMID,47.32
$INTERNAL_PRESSURE,9.5342
$TCM_TEMP,21.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.9,7.8
$24V_AH,12.99,166.421
$10V_AH,12.72,0.000
$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,15.050,51.925,236.650,92.925,0.000,30.111,44.864,229.278,1.000,0.000,17.324,1218.318,1628.389,385.805,1666.092,186.949,0.000,867.055,0.000,1330.078,0.000,8.513,0.000
$DEVICE_MAMPS,433.755,63.495,1436.670,807.840,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,261.495,451.420,465.787,575.470,883.103,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342996
$DATA_FILE_SIZE,34106,387
$CAP_FILE_SIZE,62137,0
$CFSIZE,2097086464,2017525760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.011,307.39,1
$GPS,290518,115525,2245.138,-15722.455,53,1.0,53,9.9,0.9,159.9,8,19.0