version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 857
start: 6 5 118 3 5 40
data:
$ID,626
$MISSION,2
$DIVE,857
$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,47
$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
$GPS1,050618,025737,2235.4932,-15748.4014,21,1.3,21,9.8,1.2,256.5,6,34.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.8
$GPS2,050618,030456,2235.5056,-15748.5137,19,1.3,19,9.8,0.5,348.7,6,37.7
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,ED5
$TGT_LATLONG,2235.500,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,67.2,878,-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,-68.1,180,2134,699,602,0.0,0.0,0,74,0.00,0.00,-54.65,0.000,16390,0.000,0.000,180,2134,2494,2521,2467,0,0,0,0,0,0,15.06,13.03,15.00
$GC,78,-0.62,-68.1,180,2134,2520,2469,3.9,-6.8,7,96,7.53,2.33,0.00,0.000,2564,0.437,0.037,2418,696,2494,2521,2468,0,0,0,0,0,0,14.23,14.62,14.64
$GC,106,-0.62,-68.1,2418,696,2520,2468,17.7,-39.3,10,115,0.00,2.38,0.00,0.000,3078,0.000,0.041,2413,2118,2494,2521,2467,0,0,0,0,0,0,14.69,14.65,14.72
$GC,412,-0.62,-68.1,2413,2119,2521,2466,84.9,-18.5,59,420,0.00,2.35,0.00,0.000,2308,0.000,0.055,2406,3523,2493,2521,2466,0,0,0,0,0,0,15.11,14.63,15.10
$GC,501,-0.62,-68.1,2406,3524,2520,2466,98.8,-14.4,73,510,0.00,2.35,0.00,0.000,3078,0.000,0.044,2406,2120,2493,2521,2466,0,0,0,0,0,0,14.71,14.65,14.73
$GC,750,-0.62,-68.1,2406,2119,2521,2466,139.4,-15.8,98,758,0.00,0.00,0.00,0.000,2054,0.000,0.000,2406,2119,2493,2521,2465,0,0,0,0,0,0,15.16,15.16,15.16
$GC,998,-0.62,-68.1,2406,2119,2521,2466,177.5,-15.3,123,1004,0.00,2.33,0.00,0.000,2308,0.000,0.055,2400,3538,2493,2521,2466,0,0,0,0,0,0,15.18,14.81,15.18
$GC,1085,-0.62,-68.1,2399,3537,2521,2466,189.7,-13.8,131,1091,0.05,2.28,0.00,0.000,3078,0.403,0.041,2418,2117,2493,2521,2466,0,0,0,0,0,0,14.54,14.85,14.80
$STATE,1176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1177,begin apogee
$GC,1184,-0.13,0.0,2419,1930,2521,2466,201.1,-11.6,140,1239,0.43,0.00,52.42,1.011,10246,0.255,0.000,2577,1929,2214,2290,2138,0,0,0,0,0,0,14.50,14.65,14.00
$STATE,1240,end apogee,CONTROL_FINISHED_OK
$STATE,1240,begin climb
$GC,1243,0.62,68.1,2577,1929,2288,2136,203.7,0.0,141,1304,0.55,2.30,51.90,1.006,10756,0.155,0.059,2820,557,1934,2025,1843,0,0,0,0,0,0,14.59,14.56,13.90
$GC,1427,0.81,221.3,2820,557,2024,1842,208.3,-2.5,146,1555,0.10,2.25,114.30,1.029,11270,0.160,0.036,2915,1962,1308,1416,1200,0,0,0,0,0,0,14.71,14.76,13.89
$GC,1798,0.81,221.3,2914,1962,1416,1199,161.4,16.7,171,1805,0.08,2.33,0.00,0.000,4612,0.418,0.056,2893,559,1307,1416,1199,0,0,0,0,0,0,14.42,14.72,14.62
$GC,2090,0.81,221.3,2893,559,1416,1198,119.5,12.4,198,2096,0.00,2.22,0.00,0.000,5126,0.000,0.034,2893,1956,1307,1416,1198,0,0,0,0,0,0,14.94,14.86,14.95
$GC,2356,0.81,221.3,2894,1957,1415,1195,88.5,12.4,230,2364,0.00,2.33,0.00,0.000,4356,0.000,0.052,2893,3351,1305,1415,1195,0,0,0,0,0,0,15.14,14.66,15.14
$GC,2392,0.81,221.3,2893,3351,1414,1195,83.6,14.2,235,2402,0.05,2.33,0.00,0.000,5126,0.394,0.049,2886,1973,1304,1414,1195,0,0,0,0,0,0,14.33,14.66,14.52
$GC,2689,0.81,221.3,2886,1973,1414,1194,52.4,8.7,284,2697,0.00,2.30,0.00,0.000,4356,0.000,0.050,2886,3341,1304,1414,1194,0,0,0,0,0,0,15.12,14.64,15.12
$GC,2736,0.81,221.3,2886,3341,1414,1194,48.5,8.2,291,2747,0.03,2.35,0.00,0.000,5126,0.487,0.047,2888,1945,1304,1414,1194,0,0,0,0,0,0,14.39,14.66,14.52
$GC,3034,0.82,228.8,2888,1945,1414,1193,26.4,7.5,340,3051,0.00,2.30,6.03,0.666,12548,0.000,0.047,2888,3341,1278,1392,1165,0,0,0,0,0,0,15.11,14.62,14.09
$STATE,3278,end climb,SURFACE_DEPTH_REACHED
$STATE,3278,begin surface coast
$FINISH,0.3,0.998927
$STATE,3309,end surface coast,CONTROL_FINISHED_OK
$STATE,3309,begin surface
$SM_CCo,3328,100.75,0.778,1,0,647,384.13
$SM_CCo,3438,0.00,0.000,0,0,648,384.13
$SM_CCo,3442,-0.05,0.000,0,0,650,384.13
$SM_GC,1.26,6.15,2.00,-0.05,0.076,0.044,0.000,181,2134,650,-7.45,1.22,384.13,0,0,0,0,0,0,14.85,14.80,13.95
$IRIDIUM_FIX,2227.67,-15755.87,050618,025937
$TT8_MAMPS,0.018725,0.267393
$HUMID,45.19
$INTERNAL_PRESSURE,9.62209
$TCM_TEMP,23.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,61.0,6.4
$24V_AH,13.03,182.251
$10V_AH,12.11,0.000
$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,14.950,36.950,224.650,100.750,0.000,32.983,50.554,203.606,1.500,0.000,20.330,1112.213,628.579,398.741,1597.951,174.813,0.000,819.995,0.000,1299.646,0.000,16.016,0.000
$DEVICE_MAMPS,487.305,74.970,1028.925,778.005,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,258.917,280.287,498.812,646.246,991.665,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343116
$DATA_FILE_SIZE,33939,385
$CAP_FILE_SIZE,52667,0
$CFSIZE,2097086464,2008416256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.174,273.30,1
$GPS,050618,040355,2235.528,-15748.612,14,1.8,14,9.8,0.5,354.9,4,59.3