version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 830
start: 6 3 118 21 34 16
data:
$ID,626
$MISSION,2
$DIVE,830
$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,37
$R_STBD_OVSHOOT,57
$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
$GPS1,030618,212631,2235.5764,-15748.0293,37,0.8,37,9.8,0.0,0.0,10,95.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-73.1
$GPS2,030618,213330,2235.5342,-15748.0625,6,0.9,6,9.8,0.0,0.0,9,245.5
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,ED5
$TGT_LATLONG,2235.500,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,94.4,124,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.65,-68.1,180,2159,695,608,0.0,0.0,0,74,0.00,0.00,-54.53,0.000,16386,0.000,0.000,180,2157,2488,2514,2463,0,0,0,0,0,0,15.07,28.83,15.07
$GC,77,-0.65,-68.1,180,2157,2514,2463,3.5,-5.8,7,87,7.50,0.00,0.00,0.000,2054,0.440,0.000,2407,2158,2488,2514,2463,0,0,0,0,0,0,14.25,14.73,14.66
$GC,378,-0.65,-68.1,2406,2157,2515,2458,78.0,-18.5,56,388,0.00,2.28,0.00,0.000,2308,0.000,0.054,2398,3511,2486,2515,2457,0,0,0,0,0,0,15.11,14.62,15.11
$GC,464,-0.65,-68.1,2397,3511,2514,2457,92.8,-16.1,69,473,0.00,2.33,0.00,0.000,3078,0.000,0.045,2397,2126,2485,2514,2457,0,0,0,0,0,0,14.72,14.66,14.74
$GC,729,-0.65,-68.1,2397,2125,2515,2457,139.7,-17.7,97,734,0.00,2.30,0.00,0.000,2564,0.000,0.059,2398,711,2486,2515,2457,0,0,0,0,0,0,15.15,14.81,15.15
$GC,764,-0.65,-68.1,2398,710,2514,2457,146.6,-17.6,100,770,0.05,2.25,0.00,0.000,3078,0.436,0.040,2406,2114,2486,2515,2457,0,0,0,0,0,0,14.53,14.85,14.80
$GC,1019,-0.65,-68.1,2405,2115,2514,2455,184.9,-13.4,125,1024,0.00,2.28,0.00,0.000,2308,0.000,0.057,2398,3523,2485,2515,2456,0,0,0,0,0,0,15.18,14.83,15.18
$GC,1111,-0.65,-68.1,2398,3523,2515,2456,195.9,-12.4,133,1118,0.00,2.25,0.00,0.000,3078,0.000,0.043,2398,2121,2485,2515,2456,0,0,0,0,0,0,14.96,14.86,14.97
$STATE,1138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1138,begin apogee
$GC,1145,-0.13,0.0,2399,1935,2514,2456,200.0,-12.6,136,1199,0.50,0.00,51.35,1.027,10246,0.270,0.000,2581,1935,2213,2289,2138,0,0,0,0,0,0,14.48,14.65,13.97
$STATE,1200,end apogee,CONTROL_FINISHED_OK
$STATE,1200,begin climb
$GC,1203,0.65,68.1,2581,1935,2286,2136,203.5,0.0,137,1258,0.57,0.00,52.03,1.031,10246,0.155,0.000,2824,1935,1936,2029,1844,0,0,0,0,0,0,14.60,14.52,13.88
$GC,1500,0.84,218.3,2823,1935,2023,1842,212.8,-3.6,145,1618,0.10,2.35,111.10,1.058,11012,0.157,0.060,2939,556,1321,1425,1217,0,0,0,0,0,0,14.81,14.52,13.89
$GC,1832,0.84,218.3,2938,555,1423,1216,163.8,18.6,165,1838,0.15,2.25,0.00,0.000,5126,0.380,0.036,2890,1952,1319,1423,1216,0,0,0,0,0,0,14.38,14.81,14.71
$GC,2089,0.84,218.3,2890,1954,1423,1213,123.5,14.1,190,2095,0.00,2.22,0.00,0.000,260,0.000,0.050,2890,3351,1318,1423,1213,0,0,0,0,0,0,15.13,14.83,15.14
$GC,2126,0.84,218.3,2890,3351,1423,1214,118.5,13.4,193,2131,0.00,2.25,0.00,0.000,5126,0.000,0.047,2901,1969,1318,1422,1214,0,0,0,0,0,0,14.94,14.83,14.95
$GC,2397,0.84,218.3,2900,1968,1422,1213,83.0,12.9,228,2406,0.00,2.40,0.00,0.000,4612,0.000,0.060,2912,545,1318,1423,1213,0,0,0,0,0,0,15.14,14.67,15.14
$GC,2533,0.84,218.3,2912,545,1422,1213,65.1,12.3,250,2543,0.05,2.33,0.00,0.000,5126,0.396,0.036,2895,1950,1317,1422,1213,0,0,0,0,0,0,14.35,14.71,14.54
$GC,2830,0.87,244.9,2894,1950,1422,1212,36.1,6.0,299,2863,0.00,2.30,20.73,0.809,10500,0.000,0.051,2894,3344,1213,1322,1104,0,0,0,0,0,0,15.13,14.66,14.16
$GC,2931,0.87,244.9,2894,3344,1323,1104,26.9,11.3,314,2941,0.00,2.35,0.00,0.000,5126,0.000,0.048,2905,1956,1213,1322,1105,0,0,0,0,0,0,14.71,14.66,14.74
$STATE,3114,end climb,SURFACE_DEPTH_REACHED
$STATE,3114,begin surface coast
$FINISH,0.3,1.022615
$STATE,3139,end surface coast,CONTROL_FINISHED_OK
$STATE,3139,begin surface
$SM_CCo,3157,91.32,0.794,1,0,647,384.13
$SM_CCo,3257,-0.05,0.000,0,0,650,384.13
$SM_CCo,3262,0.57,0.226,0,0,647,384.13
$SM_GC,1.27,5.95,0.28,0.57,0.034,0.063,0.226,180,2149,647,-7.45,-1.64,384.13,0,0,0,0,0,0,14.82,14.86,14.57
$IRIDIUM_FIX,2225.34,-15746.34,030618,212814
$TT8_MAMPS,0.019474,0.267393
$HUMID,45.74
$INTERNAL_PRESSURE,9.60256
$TCM_TEMP,23.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,6.4
$24V_AH,13.52,177.904
$10V_AH,12.10,0.000
$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,14.875,32.650,235.200,91.900,0.000,27.930,41.010,215.571,0.500,0.000,7.136,995.346,750.250,380.467,1416.928,171.603,0.000,758.463,0.000,1142.002,0.000,7.338,0.000
$DEVICE_MAMPS,439.875,76.500,1057.995,794.070,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,233.874,250.443,445.834,571.114,876.328,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343128
$DATA_FILE_SIZE,30648,348
$CAP_FILE_SIZE,49147,0
$CFSIZE,2097086464,2011103232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.061,250.88,1
$GPS,030618,222923,2235.364,-15747.894,5,1.0,5,9.8,0.7,256.8,7,131.8