version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 829
start: 6 3 118 20 23 25
data:
$ID,626
$MISSION,2
$DIVE,829
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,83
$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,38
$R_STBD_OVSHOOT,62
$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
$GPS1,030618,201532,2235.2803,-15747.8975,14,1.6,14,9.8,0.0,0.0,5,97.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.2
$GPS2,030618,202238,2235.2825,-15747.9199,17,1.6,17,9.8,0.6,209.0,5,89.2
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,ED5
$TGT_LATLONG,2235.500,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,349.8,426,-22.2,-8.032,-25.00,1330
$D_GRID,200
$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,-68.1,180,2152,695,609,0.0,0.0,0,66,0.00,0.00,-47.67,0.000,16386,0.000,0.000,180,2150,2249,2276,2222,0,0,0,0,0,0,15.07,28.83,15.08
$GC,70,-0.65,-68.1,180,2150,2276,2222,3.1,-5.4,6,89,7.45,2.20,-4.47,0.000,18692,0.436,0.067,2391,3517,2494,2530,2458,0,0,0,0,0,0,14.24,13.78,14.70
$GC,223,-0.65,-68.1,2391,3517,2530,2457,40.5,-21.0,30,233,0.03,2.35,0.00,0.000,3078,0.449,0.047,2401,2121,2493,2530,2457,0,0,0,0,0,0,14.42,14.67,14.54
$GC,524,-0.65,-68.1,2401,2121,2530,2456,98.2,-18.3,79,533,0.00,2.38,0.00,0.000,2564,0.000,0.061,2401,715,2492,2530,2455,0,0,0,0,0,0,15.12,14.64,15.12
$GC,542,-0.65,-68.1,2401,715,2530,2455,101.8,-18.9,81,548,0.00,2.25,0.00,0.000,3078,0.000,0.041,2399,2111,2492,2530,2455,0,0,0,0,0,0,14.92,14.82,14.93
$GC,800,-0.65,-68.1,2399,2112,2530,2455,145.7,-16.8,106,805,0.00,2.30,0.00,0.000,2308,0.000,0.056,2393,3535,2492,2530,2455,0,0,0,0,0,0,15.16,14.83,15.16
$GC,849,-0.65,-68.1,2393,3536,2530,2455,153.5,-15.8,110,856,0.05,2.28,0.00,0.000,3078,0.408,0.042,2411,2118,2492,2530,2455,0,0,0,0,0,0,14.56,14.85,14.81
$GC,1097,-0.65,-68.1,2411,2117,2531,2455,192.8,-15.9,135,1103,0.00,2.30,0.00,0.000,260,0.000,0.054,2401,3538,2492,2530,2455,0,0,0,0,0,0,15.18,14.83,15.19
$STATE,1152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1152,begin apogee
$GC,1161,-0.13,0.0,2401,1946,2530,2454,201.2,-14.3,140,1217,0.47,0.00,53.35,1.027,10246,0.260,0.000,2576,1946,2214,2291,2137,0,0,0,0,0,0,14.51,14.65,13.98
$STATE,1218,end apogee,CONTROL_FINISHED_OK
$STATE,1218,begin climb
$GC,1221,0.65,68.1,2577,1946,2288,2135,204.5,0.0,141,1280,0.60,2.33,50.30,1.067,10756,0.157,0.057,2839,540,1939,2029,1850,0,0,0,0,0,0,14.59,14.35,13.83
$GC,1374,0.65,68.1,2839,540,2028,1850,207.7,-1.6,145,1379,0.00,2.28,0.00,0.000,5126,0.000,0.035,2839,1959,1938,2027,1850,0,0,0,0,0,0,14.83,14.76,14.84
$GC,1642,0.83,213.7,2839,1958,2028,1849,217.2,-3.2,152,1757,0.08,2.28,106.00,1.183,10500,0.201,0.046,2926,3349,1344,1446,1242,0,0,0,0,0,0,14.83,14.33,13.81
$GC,1943,0.83,213.7,2926,3349,1446,1247,181.1,16.0,166,1950,0.15,2.30,0.00,0.000,5126,0.381,0.048,2888,1948,1346,1446,1247,0,0,0,0,0,0,14.37,14.77,14.71
$GC,2200,0.83,213.7,2888,1948,1446,1245,142.3,13.9,191,2206,0.00,2.28,0.00,0.000,260,0.000,0.048,2888,3354,1345,1446,1245,0,0,0,0,0,0,15.14,14.83,15.14
$GC,2256,0.83,213.7,2887,3355,1445,1245,134.3,14.1,196,2262,0.00,2.30,0.00,0.000,5126,0.000,0.047,2898,1945,1345,1446,1245,0,0,0,0,0,0,14.94,14.84,14.95
$GC,2514,0.83,213.7,2898,1945,1445,1244,99.3,13.6,221,2523,0.00,2.38,0.00,0.000,4612,0.000,0.061,2909,540,1345,1446,1244,0,0,0,0,0,0,15.16,14.69,15.16
$GC,2638,0.83,213.7,2909,540,1445,1244,82.1,14.2,241,2647,0.05,2.33,0.00,0.000,5126,0.400,0.037,2893,1942,1345,1446,1244,0,0,0,0,0,0,14.36,14.72,14.55
$GC,2935,0.83,213.7,2892,1943,1446,1241,50.2,9.7,290,2943,0.00,2.35,0.00,0.000,4356,0.000,0.050,2893,3349,1343,1445,1242,0,0,0,0,0,0,15.13,14.67,15.13
$GC,3006,0.83,213.7,2893,3348,1445,1242,43.6,8.9,301,3014,0.00,2.38,0.00,0.000,5126,0.000,0.047,2903,1944,1343,1445,1242,0,0,0,0,0,0,14.72,14.68,14.76
$GC,3301,0.85,229.0,2903,1944,1445,1241,24.8,6.8,350,3320,0.00,2.35,13.30,0.763,12804,0.000,0.059,2914,536,1276,1384,1168,0,0,0,0,0,0,15.12,14.76,14.12
$GC,3341,0.85,229.2,2913,536,1382,1168,21.7,8.0,355,3351,0.05,2.35,0.00,0.000,5126,0.389,0.036,2897,1951,1275,1382,1168,0,0,0,0,0,0,14.36,14.71,14.55
$STATE,3542,end climb,SURFACE_DEPTH_REACHED
$STATE,3542,begin surface coast
$FINISH,0.3,1.023243
$STATE,3579,end surface coast,CONTROL_FINISHED_OK
$STATE,3579,begin surface
$SM_CCo,3597,98.82,0.802,1,0,649,384.13
$SM_CCo,3704,-0.08,0.000,0,0,651,384.13
$SM_CCo,3709,0.43,0.257,0,0,648,384.13
$SM_GC,1.35,6.15,0.28,0.43,0.073,0.069,0.257,180,2148,648,-7.48,-1.10,384.13,0,0,0,0,0,0,14.85,14.85,14.54
$IRIDIUM_FIX,2227.67,-15748.50,030618,201714
$TT8_MAMPS,0.019474,0.268142
$HUMID,44.92
$INTERNAL_PRESSURE,9.61232
$TCM_TEMP,23.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.2,6.9
$24V_AH,13.51,177.751
$10V_AH,11.98,0.000
$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,15.075,46.825,222.950,99.250,0.000,28.255,44.883,207.915,0.500,0.000,18.310,1143.179,851.809,393.468,1598.007,184.357,0.000,816.520,0.000,1316.701,0.000,5.470,0.000
$DEVICE_MAMPS,449.055,68.850,1183.455,801.720,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,265.172,283.626,504.137,654.843,1004.793,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343112
$DATA_FILE_SIZE,33902,394
$CAP_FILE_SIZE,56057,0
$CFSIZE,2097086464,2011168768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.064,250.37,1
$GPS,030618,212631,2235.576,-15748.029,37,0.8,37,9.8,0.0,0.0,10,95.0