version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 847
start: 6 4 118 16 15 3
data:
$ID,626
$MISSION,2
$DIVE,847
$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,32
$R_STBD_OVSHOOT,73
$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
$GPS1,040618,160708,2235.5486,-15748.2998,17,1.4,17,9.8,0.0,0.0,5,41.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.4
$GPS2,040618,161419,2235.5654,-15748.3555,17,1.4,17,9.8,0.5,296.1,5,63.7
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,ED5
$TGT_LATLONG,2235.500,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,61.0,619,-20.9,-8.032,-23.78,1496
$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,-0.62,-68.1,180,2165,692,605,0.0,0.0,0,72,0.00,0.08,-53.50,0.000,16390,0.000,0.831,180,2127,2495,2520,2470,0,0,0,0,0,0,15.06,13.05,15.00
$GC,76,-0.62,-68.1,180,2126,2521,2469,4.2,-7.9,7,95,7.50,2.28,0.00,0.000,2308,0.436,0.040,2407,3516,2494,2521,2468,0,0,0,0,0,0,14.25,14.62,14.65
$GC,139,-0.62,-68.1,2407,3516,2521,2465,26.8,-20.7,16,149,0.00,2.35,0.00,0.000,3078,0.000,0.047,2407,2121,2492,2521,2464,0,0,0,0,0,0,14.69,14.64,14.71
$GC,440,-0.62,-68.1,2407,2120,2521,2463,88.5,-18.0,65,449,0.00,2.33,0.00,0.000,2308,0.000,0.051,2399,3496,2491,2521,2462,0,0,0,0,0,0,15.11,14.62,15.10
$GC,527,-0.62,-68.1,2398,3496,2521,2463,103.4,-16.0,77,533,0.05,2.22,0.00,0.000,3078,0.422,0.043,2417,2115,2492,2521,2463,0,0,0,0,0,0,14.50,14.81,14.76
$GC,784,-0.62,-68.1,2417,2114,2521,2463,143.5,-14.7,102,789,0.00,2.28,0.00,0.000,2308,0.000,0.053,2414,3508,2492,2521,2463,0,0,0,0,0,0,15.16,14.81,15.16
$GC,811,-0.62,-68.1,2413,3508,2521,2462,147.3,-14.6,104,820,0.00,2.30,0.00,0.000,3078,0.000,0.042,2414,2117,2491,2521,2462,0,0,0,0,0,0,14.73,14.68,14.76
$GC,1058,-0.62,-68.1,2413,2117,2521,2463,185.1,-14.1,129,1063,0.00,2.25,0.00,0.000,2308,0.000,0.054,2414,3499,2491,2521,2462,0,0,0,0,0,0,15.18,14.82,15.19
$GC,1104,-0.62,-68.1,2413,3498,2521,2462,191.3,-13.9,133,1110,0.00,2.20,0.00,0.000,3078,0.000,0.041,2413,2122,2492,2521,2463,0,0,0,0,0,0,14.95,14.85,14.97
$STATE,1175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1175,begin apogee
$GC,1182,-0.13,0.0,2413,1935,2521,2462,201.4,-13.2,140,1238,0.45,0.00,52.05,1.174,10246,0.260,0.000,2580,1934,2214,2289,2139,0,0,0,0,0,0,14.49,14.63,13.90
$STATE,1238,end apogee,CONTROL_FINISHED_OK
$STATE,1239,begin climb
$GC,1241,0.62,68.1,2580,1934,2290,2139,204.7,0.0,141,1303,0.55,2.30,51.58,1.095,10756,0.151,0.060,2825,564,1937,2029,1845,0,0,0,0,0,0,14.57,14.53,13.84
$GC,1375,0.62,68.1,2824,564,2027,1844,206.9,-1.4,144,1383,0.00,2.20,0.00,0.000,5126,0.000,0.035,2825,1933,1935,2027,1844,0,0,0,0,0,0,14.79,14.71,14.80
$GC,1622,0.81,223.8,2824,1933,2027,1844,214.3,-2.7,151,1746,0.08,2.35,114.75,1.220,10756,0.201,0.059,2926,562,1301,1407,1195,0,0,0,0,0,0,14.81,14.48,13.80
$GC,1870,0.81,223.8,2926,562,1406,1197,186.9,17.0,160,1876,0.12,2.22,0.00,0.000,5126,0.383,0.034,2884,1944,1301,1406,1196,0,0,0,0,0,0,14.35,14.75,14.67
$GC,2125,0.81,223.8,2885,1948,1406,1194,149.8,14.0,185,2130,0.00,2.28,0.00,0.000,4356,0.000,0.050,2885,3359,1300,1406,1194,0,0,0,0,0,0,15.11,14.80,15.12
$GC,2315,0.81,223.8,2885,3359,1405,1193,122.9,13.8,202,2320,0.00,2.25,0.00,0.000,5126,0.000,0.047,2895,1972,1299,1405,1193,0,0,0,0,0,0,14.93,14.83,14.95
$GC,2575,0.81,223.8,2895,1971,1405,1192,93.6,11.0,231,2583,0.00,2.42,0.00,0.000,4612,0.000,0.061,2907,540,1298,1405,1192,0,0,0,0,0,0,15.14,14.66,15.14
$GC,2594,0.81,223.8,2906,540,1405,1193,91.5,11.5,233,2603,0.05,2.33,0.00,0.000,5126,0.391,0.037,2889,1945,1298,1405,1192,0,0,0,0,0,0,14.34,14.71,14.54
$GC,2891,0.81,223.8,2889,1946,1405,1191,56.5,12.4,282,2899,0.00,0.00,0.00,0.000,4102,0.000,0.000,2889,1945,1297,1405,1190,0,0,0,0,0,0,15.12,15.12,15.11
$GC,3186,0.81,223.8,2889,1945,1405,1190,29.1,8.4,331,3194,0.00,2.35,0.00,0.000,4356,0.000,0.051,2889,3351,1297,1405,1190,0,0,0,0,0,0,15.11,14.64,15.11
$GC,3370,0.81,223.8,2889,3352,1405,1190,10.5,9.9,361,3379,0.03,2.38,0.00,0.000,5126,0.494,0.047,2891,1944,1297,1405,1190,0,0,0,0,0,0,14.35,14.64,14.50
$STATE,3439,end climb,SURFACE_DEPTH_REACHED
$STATE,3439,begin surface coast
$FINISH,0.4,1.023299
$STATE,3472,end surface coast,CONTROL_FINISHED_OK
$STATE,3472,begin surface
$SM_CCo,3490,101.15,0.802,1,0,646,384.13
$SM_CCo,3600,-0.10,0.000,0,0,649,384.13
$SM_CCo,3605,0.00,0.000,0,0,649,384.13
$SM_GC,1.28,6.22,0.30,0.00,0.082,0.065,0.000,179,2134,649,-7.50,-1.55,384.13,0,0,0,0,0,0,14.84,14.83,14.85
$IRIDIUM_FIX,2225.34,-15751.54,040618,160850
$TT8_MAMPS,0.019474,0.328811
$HUMID,45.35
$INTERNAL_PRESSURE,9.60256
$TCM_TEMP,23.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,6.7
$24V_AH,13.05,180.620
$10V_AH,13.91,0.000
$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,15.050,41.900,218.375,101.150,0.000,26.398,41.298,217.100,0.500,0.000,18.305,1094.446,854.697,385.950,1548.883,183.997,0.000,812.173,0.000,1260.776,0.000,5.469,0.000
$DEVICE_MAMPS,494.190,830.790,1220.175,802.485,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,253.414,270.635,483.235,609.744,935.597,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343132
$DATA_FILE_SIZE,34062,377
$CAP_FILE_SIZE,54809,0
$CFSIZE,2097086464,2009399296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.127,238.61,1
$GPS,040618,171630,2235.551,-15748.246,43,0.8,43,9.8,0.5,9.9,9,22.2