version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 860
start: 6 5 118 6 24 12
data:
$ID,626
$MISSION,2
$DIVE,860
$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,21
$R_STBD_OVSHOOT,49
$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
$GPS1,050618,061629,2235.7883,-15748.7402,6,0.8,6,9.8,0.7,336.7,10,88.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.2
$GPS2,050618,062328,2235.8745,-15748.8135,6,0.8,6,9.8,0.0,0.0,10,95.3
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,ED5
$TGT_LATLONG,2235.500,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,116.5,1553,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.62,-68.1,179,2130,702,608,0.0,0.0,0,72,0.00,0.00,-53.38,0.000,16390,0.000,0.000,179,2129,2493,2518,2469,0,0,0,0,0,0,15.06,13.02,15.00
$GC,76,-0.62,-68.1,180,2130,2518,2469,3.9,-7.1,7,95,7.50,2.33,0.00,0.000,2564,0.435,0.043,2418,698,2494,2519,2469,0,0,0,0,0,0,14.24,14.60,14.65
$GC,105,-0.62,-68.1,2417,698,2519,2469,17.0,-36.8,10,113,0.00,2.38,0.00,0.000,3078,0.000,0.045,2414,2108,2494,2519,2469,0,0,0,0,0,0,14.69,14.63,14.71
$GC,405,-0.62,-68.1,2413,2109,2519,2469,78.1,-18.0,59,414,0.00,2.40,0.00,0.000,2308,0.000,0.058,2413,3534,2493,2519,2468,0,0,0,0,0,0,15.10,14.62,15.10
$GC,465,-0.62,-68.1,2413,3534,2518,2468,87.6,-15.3,68,474,0.00,2.40,0.00,0.000,3078,0.000,0.044,2413,2104,2493,2518,2468,0,0,0,0,0,0,14.71,14.66,14.73
$GC,728,-0.62,-68.1,2413,2103,2519,2468,130.7,-16.9,99,734,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2103,2493,2519,2468,0,0,0,0,0,0,15.15,15.15,15.15
$GC,979,-0.62,-68.1,2413,2103,2518,2468,167.2,-14.4,124,985,0.00,2.35,0.00,0.000,2308,0.000,0.054,2413,3538,2493,2518,2468,0,0,0,0,0,0,15.17,14.81,15.17
$GC,1050,-0.62,-68.1,2413,3538,2519,2468,176.1,-12.6,130,1056,0.00,2.28,0.00,0.000,3078,0.000,0.041,2413,2114,2493,2518,2468,0,0,0,0,0,0,14.95,14.83,14.96
$STATE,1233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1233,begin apogee
$GC,1240,-0.13,0.0,2413,1926,2518,2468,200.1,-12.0,149,1294,0.45,0.00,51.15,1.068,10246,0.257,0.000,2580,1925,2214,2289,2139,0,0,0,0,0,0,14.48,14.64,13.93
$STATE,1295,end apogee,CONTROL_FINISHED_OK
$STATE,1295,begin climb
$GC,1298,0.62,68.1,2580,1925,2290,2143,202.9,0.0,150,1361,0.52,2.30,52.62,1.000,10756,0.159,0.058,2817,558,1933,2025,1842,0,0,0,0,0,0,14.57,14.55,13.90
$GC,1629,0.84,244.4,2816,558,2023,1842,213.0,-4.1,158,1772,0.15,2.25,127.78,1.206,11270,0.119,0.036,2932,1965,1221,1322,1120,0,0,0,0,0,0,14.81,14.83,13.78
$GC,2010,0.84,244.4,2932,1965,1322,1121,158.4,19.0,183,2016,0.10,2.22,0.00,0.000,4356,0.396,0.046,2892,3350,1221,1322,1121,0,0,0,0,0,0,14.40,14.71,14.59
$GC,2144,0.84,244.4,2892,3350,1322,1120,136.4,17.1,195,2150,0.00,2.25,0.00,0.000,5126,0.000,0.047,2902,1970,1221,1322,1121,0,0,0,0,0,0,14.90,14.80,14.92
$GC,2398,0.84,244.4,2902,1970,1322,1119,98.0,14.5,220,2408,0.00,2.42,0.00,0.000,4612,0.000,0.063,2914,543,1220,1322,1119,0,0,0,0,0,0,15.14,14.67,15.14
$GC,2459,0.84,244.4,2914,542,1322,1119,88.0,16.6,229,2468,0.05,2.33,0.00,0.000,5126,0.402,0.036,2897,1949,1220,1322,1119,0,0,0,0,0,0,14.34,14.71,14.54
$GC,2755,0.84,244.4,2897,1949,1322,1118,49.5,10.7,278,2764,0.00,2.33,0.00,0.000,4356,0.000,0.051,2897,3344,1219,1321,1118,0,0,0,0,0,0,15.12,14.65,15.13
$GC,2867,0.84,244.4,2897,3344,1322,1118,39.5,8.4,296,2877,0.03,2.35,0.00,0.000,5126,0.484,0.048,2899,1950,1220,1322,1118,0,0,0,0,0,0,14.37,14.66,14.52
$GC,3165,0.84,244.4,2898,1951,1322,1117,9.3,10.9,345,3173,0.00,2.38,0.00,0.000,4356,0.000,0.050,2898,3349,1219,1322,1117,0,0,0,0,0,0,15.11,14.64,15.11
$STATE,3222,end climb,SURFACE_DEPTH_REACHED
$STATE,3222,begin surface coast
$FINISH,0.4,1.023206
$STATE,3247,end surface coast,CONTROL_FINISHED_OK
$STATE,3247,begin surface
$SM_CCo,3267,89.35,0.776,1,0,648,384.13
$SM_CCo,3365,-0.10,0.000,0,0,651,384.13
$SM_CCo,3369,0.43,0.268,0,0,647,384.13
$SM_GC,1.32,6.20,2.03,0.43,0.080,0.042,0.268,180,2110,647,-7.47,0.85,384.13,0,0,0,0,0,0,14.83,14.81,14.63
$IRIDIUM_FIX,2225.34,-15751.54,050618,061814
$TT8_MAMPS,0.018725,0.268142
$HUMID,45.94
$INTERNAL_PRESSURE,9.61232
$TCM_TEMP,23.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,6.4
$24V_AH,13.02,182.725
$10V_AH,12.05,0.000
$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,15.000,37.325,231.550,89.775,0.000,28.904,42.624,210.121,0.500,0.000,7.337,1050.548,715.689,376.543,1500.247,177.599,0.000,800.714,0.000,1226.288,0.000,7.405,0.000
$DEVICE_MAMPS,484.245,120.870,1205.640,775.710,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,240.472,257.403,458.977,581.874,892.834,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343124
$DATA_FILE_SIZE,30636,358
$CAP_FILE_SIZE,51725,0
$CFSIZE,2097086464,2008154112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.127,335.37,1
$GPS,050618,072119,2235.905,-15748.663,18,1.4,18,9.8,1.2,30.7,6,29.5