version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 784
start: 5 30 118 6 20 20
data:
$ID,626
$MISSION,2
$DIVE,784
$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,32
$R_STBD_OVSHOOT,46
$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
$GPS1,300518,061235,2246.6509,-15722.6797,7,1.2,7,9.9,1.7,48.0,6,53.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.1
$GPS2,300518,061937,2246.8254,-15722.6553,7,1.2,7,9.9,0.7,284.1,5,57.2
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,EDB
$TGT_LATLONG,2245.000,-15722.300
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,181.4,3435,-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,17,-0.62,-68.1,183,2108,695,607,0.0,0.0,0,72,0.00,0.00,-53.58,0.000,16390,0.000,0.000,183,2113,2494,2521,2468,0,0,0,0,0,0,15.01,13.00,14.95
$GC,76,-0.62,-68.1,184,2112,2521,2468,3.8,-6.8,7,94,7.45,2.30,0.00,0.000,2564,0.431,0.039,2415,700,2493,2521,2466,0,0,0,0,0,0,14.23,14.57,14.63
$GC,174,-0.62,-68.1,2414,701,2521,2463,34.6,-18.6,22,183,0.00,2.40,0.00,0.000,3078,0.000,0.043,2413,2119,2491,2521,2462,0,0,0,0,0,0,14.65,14.59,14.66
$GC,477,-0.62,-68.1,2413,2120,2521,2462,90.7,-17.1,71,485,0.00,2.40,0.00,0.000,2308,0.000,0.060,2413,3525,2491,2521,2462,0,0,0,0,0,0,15.07,14.57,15.07
$GC,525,-0.62,-68.1,2412,3526,2521,2462,98.9,-15.7,78,534,0.00,2.38,0.00,0.000,3078,0.000,0.044,2413,2120,2491,2521,2462,0,0,0,0,0,0,14.66,14.61,14.68
$GC,776,-0.62,-68.1,2412,2119,2521,2462,138.4,-15.8,103,782,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2119,2491,2521,2462,0,0,0,0,0,0,15.11,15.11,15.10
$GC,1023,-0.62,-68.1,2412,2119,2522,2462,178.4,-16.0,128,1029,0.00,2.33,0.00,0.000,2308,0.000,0.054,2405,3533,2492,2522,2463,0,0,0,0,0,0,15.14,14.78,15.15
$GC,1049,-0.62,-68.1,2404,3533,2522,2462,182.0,-14.7,130,1056,0.05,2.28,0.00,0.000,3078,0.413,0.041,2423,2121,2491,2521,2462,0,0,0,0,0,0,14.48,14.81,14.74
$GC,1306,-0.62,-68.1,2422,2121,2522,2463,214.7,-12.3,146,1311,0.00,2.33,0.00,0.000,260,0.000,0.054,2414,3540,2492,2522,2462,0,0,0,0,0,0,15.18,14.78,15.18
$GC,1333,-0.62,-68.1,2414,3541,2522,2463,214.7,-12.3,146,1338,0.00,2.28,0.00,0.000,3078,0.000,0.040,2414,2123,2492,2522,2462,0,0,0,0,0,0,14.93,14.84,14.95
$GC,1593,-0.62,-68.1,2414,2122,2522,2462,251.2,-12.9,153,1598,0.00,2.28,0.00,0.000,2564,0.000,0.059,2414,726,2492,2522,2462,0,0,0,0,0,0,15.20,14.79,15.20
$GC,1615,-0.62,-68.1,2414,726,2522,2462,251.2,-12.9,153,1621,0.00,2.28,0.00,0.000,3078,0.000,0.041,2414,2138,2492,2523,2462,0,0,0,0,0,0,14.95,14.84,14.97
$GC,1879,-0.62,-68.1,2414,2140,2522,2463,286.9,-12.0,160,1884,0.00,2.28,0.00,0.000,2308,0.000,0.058,2414,3533,2492,2522,2462,0,0,0,0,0,0,15.21,14.80,15.21
$GC,1971,-0.62,-68.1,2414,3533,2523,2462,296.5,-11.6,162,1977,0.00,2.28,0.00,0.000,3078,0.000,0.043,2414,2124,2492,2522,2462,0,0,0,0,0,0,14.95,14.84,14.96
$STATE,2003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2003,begin apogee
$GC,2010,-0.13,0.0,2414,1931,2522,2462,301.5,-11.6,163,2066,0.45,0.00,53.25,1.261,10246,0.255,0.000,2580,1930,2214,2289,2139,0,0,0,0,0,0,14.43,14.62,13.89
$STATE,2067,end apogee,CONTROL_FINISHED_OK
$STATE,2067,begin climb
$GC,2070,0.62,68.1,2580,1931,2289,2140,304.4,0.0,164,2127,0.55,0.00,54.10,1.398,10246,0.149,0.000,2813,1930,1936,2028,1844,0,0,0,0,0,0,14.56,14.42,13.69
$GC,2365,0.82,234.0,2813,1930,2026,1843,312.8,-3.4,172,2502,0.10,2.45,127.85,1.580,10500,0.155,0.047,2918,3354,1261,1370,1152,0,0,0,0,0,0,14.74,14.35,13.62
$GC,2795,0.82,234.0,2918,3354,1369,1155,249.4,20.3,182,2801,0.12,2.28,0.00,0.000,5126,0.379,0.047,2888,1970,1261,1369,1154,0,0,0,0,0,0,14.36,14.75,14.69
$GC,3054,0.82,234.0,2887,1970,1369,1150,199.5,17.2,189,3060,0.00,2.35,0.00,0.000,516,0.000,0.061,2899,539,1260,1369,1152,0,0,0,0,0,0,15.13,14.77,15.14
$GC,3083,0.82,234.0,2899,539,1368,1152,195.2,17.1,191,3090,0.00,2.30,0.00,0.000,5126,0.000,0.035,2899,1960,1260,1369,1152,0,0,0,0,0,0,14.92,14.83,14.93
$GC,3331,0.82,234.0,2899,1960,1368,1149,155.5,15.1,216,3339,0.00,0.00,0.00,0.000,4102,0.000,0.000,2899,1960,1258,1368,1149,0,0,0,0,0,0,15.14,15.14,15.14
$GC,3581,0.82,234.0,2899,1960,1369,1146,119.4,14.8,241,3586,0.00,2.40,0.00,0.000,4612,0.000,0.060,2910,532,1257,1368,1147,0,0,0,0,0,0,15.14,14.78,15.15
$GC,3630,0.82,234.0,2910,532,1368,1147,112.5,14.7,245,3638,0.08,2.30,0.00,0.000,5126,0.390,0.034,2885,1960,1257,1368,1147,0,0,0,0,0,0,14.42,14.84,14.73
$GC,3907,0.82,234.0,2885,1962,1368,1145,75.9,12.2,286,3915,0.00,2.35,0.00,0.000,260,0.000,0.052,2884,3350,1256,1368,1145,0,0,0,0,0,0,15.10,14.60,15.11
$GC,4185,0.82,234.0,2884,3350,1367,1145,43.2,10.1,332,4193,0.00,2.40,0.00,0.000,5126,0.000,0.047,2895,1946,1256,1368,1145,0,0,0,0,0,0,14.64,14.59,14.67
$GC,4481,0.82,234.0,2895,1946,1367,1145,13.6,8.0,381,4491,0.00,2.40,0.00,0.000,4356,0.000,0.048,2895,3349,1256,1367,1145,0,0,0,0,0,0,15.08,14.58,15.08
$STATE,4586,end climb,SURFACE_DEPTH_REACHED
$STATE,4586,begin surface coast
$FINISH,0.3,1.010894
$STATE,4613,end surface coast,CONTROL_FINISHED_OK
$STATE,4613,begin surface
$SM_CCo,4632,101.12,0.778,1,0,646,384.13
$SM_CCo,4742,-0.10,0.000,0,0,650,384.13
$SM_CCo,4746,0.35,0.311,0,0,647,384.13
$SM_GC,1.27,6.18,2.05,0.35,0.066,0.051,0.311,181,2127,647,-7.50,1.22,384.13,0,0,0,0,0,0,14.81,14.74,14.50
$IRIDIUM_FIX,2234.68,-15721.55,300518,061413
$TT8_MAMPS,0.019474,0.265895
$HUMID,47.16
$INTERNAL_PRESSURE,9.55373
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.8,7.0
$24V_AH,13.00,168.767
$10V_AH,13.78,0.000
$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,14.975,51.300,235.200,101.475,0.000,27.036,44.351,211.592,1.250,0.000,7.539,1219.371,1726.907,421.019,1650.754,183.335,0.000,886.606,0.000,1338.603,0.000,10.038,0.000
$DEVICE_MAMPS,430.695,72.675,1580.490,778.005,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,270.711,411.531,483.037,605.464,929.063,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,342964
$DATA_FILE_SIZE,37258,402
$CAP_FILE_SIZE,61844,0
$CFSIZE,2097086464,2016247808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,2
$CURRENT,0.261,17.55,1
$GPS,300518,074019,2246.998,-15722.534,14,1.9,14,9.9,0.6,70.5,4,49.8