version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 861
start: 6 5 118 7 29 46
data:
$ID,626
$MISSION,2
$DIVE,861
$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,44
$R_STBD_OVSHOOT,48
$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
$GPS1,050618,072119,2235.9053,-15748.6631,18,1.4,18,9.8,1.2,30.7,6,29.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-69.4
$GPS2,050618,072902,2235.9939,-15748.7236,23,1.5,23,9.8,0.6,259.4,4,34.0
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,ED5
$TGT_LATLONG,2235.500,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,136.3,1538,-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,17,-0.62,-68.1,180,2099,698,604,0.0,0.0,0,74,0.00,0.00,-53.95,0.000,16390,0.000,0.000,180,2098,2494,2517,2472,0,0,0,0,0,0,15.07,13.02,15.00
$GC,78,-0.62,-68.1,180,2098,2517,2471,4.0,-6.9,7,97,7.50,2.22,0.00,0.000,2564,0.434,0.038,2419,712,2494,2518,2471,0,0,0,0,0,0,14.23,14.57,14.64
$GC,159,-0.62,-68.1,2419,711,2518,2470,29.1,-18.2,19,169,0.00,2.35,0.00,0.000,3078,0.000,0.044,2414,2112,2494,2519,2470,0,0,0,0,0,0,14.69,14.64,14.71
$GC,459,-0.62,-68.1,2413,2112,2518,2470,85.1,-17.5,68,468,0.00,2.38,0.00,0.000,2308,0.000,0.058,2414,3524,2494,2518,2470,0,0,0,0,0,0,15.11,14.62,15.11
$GC,525,-0.62,-68.1,2413,3525,2518,2470,95.4,-14.4,78,533,0.00,2.33,0.00,0.000,3078,0.000,0.044,2413,2131,2494,2518,2470,0,0,0,0,0,0,14.69,14.64,14.71
$GC,783,-0.62,-68.1,2413,2131,2519,2470,134.7,-15.5,105,788,0.00,2.30,0.00,0.000,2564,0.000,0.060,2413,714,2493,2518,2469,0,0,0,0,0,0,15.14,14.79,15.15
$GC,809,-0.62,-68.1,2413,712,2518,2469,139.2,-16.4,107,814,0.00,2.28,0.00,0.000,3078,0.000,0.041,2413,2133,2493,2518,2469,0,0,0,0,0,0,14.94,14.83,14.95
$GC,1064,-0.62,-68.1,2413,2132,2518,2469,177.3,-14.5,132,1070,0.00,2.25,0.00,0.000,2308,0.000,0.058,2413,3523,2493,2518,2468,0,0,0,0,0,0,15.17,14.81,15.17
$GC,1193,-0.62,-68.1,2413,3524,2519,2469,193.1,-11.3,144,1199,0.00,2.25,0.00,0.000,3078,0.000,0.041,2413,2119,2493,2518,2469,0,0,0,0,0,0,14.95,14.85,14.97
$STATE,1266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1266,begin apogee
$GC,1274,-0.13,0.0,2413,1931,2518,2469,201.1,-10.9,151,1330,0.45,0.00,53.45,1.001,10246,0.259,0.000,2579,1931,2213,2289,2138,0,0,0,0,0,0,14.47,14.65,14.00
$STATE,1331,end apogee,CONTROL_FINISHED_OK
$STATE,1331,begin climb
$GC,1334,0.62,68.1,2579,1931,2285,2137,203.7,0.0,152,1390,0.52,0.00,52.28,0.996,10502,0.156,0.000,2807,1931,1936,2030,1843,0,0,0,0,0,0,14.58,14.52,13.88
$GC,1627,0.80,215.9,2807,1931,2023,1841,209.1,-2.1,160,1747,0.10,2.35,109.72,1.022,10500,0.155,0.048,2920,3354,1329,1435,1224,0,0,0,0,0,0,14.78,14.53,13.90
$GC,2004,0.80,215.9,2920,3355,1433,1225,156.3,17.4,184,2010,0.15,2.25,0.00,0.000,5126,0.373,0.044,2882,1969,1329,1433,1226,0,0,0,0,0,0,14.38,14.78,14.71
$GC,2261,0.80,215.9,2882,1969,1433,1224,122.1,12.7,209,2267,0.00,0.00,0.00,0.000,4102,0.000,0.000,2882,1968,1328,1433,1224,0,0,0,0,0,0,15.14,15.14,15.14
$GC,2524,0.80,215.9,2881,1968,1434,1223,88.4,13.1,241,2532,0.00,0.00,0.00,0.000,4102,0.000,0.000,2882,1968,1328,1434,1223,0,0,0,0,0,0,15.13,15.14,15.14
$GC,2820,0.80,215.9,2882,1968,1434,1222,55.8,9.2,290,2828,0.00,0.00,0.00,0.000,4102,0.000,0.000,2882,1968,1327,1433,1222,0,0,0,0,0,0,15.12,15.12,15.12
$GC,3115,0.81,225.9,2881,1968,1433,1221,34.2,7.3,339,3133,0.00,2.28,8.88,0.719,8452,0.000,0.047,2882,3354,1287,1399,1175,0,0,0,0,0,0,15.11,14.49,14.05
$STATE,3484,end climb,SURFACE_DEPTH_REACHED
$STATE,3484,begin surface coast
$FINISH,0.5,1.023169
$STATE,3516,end surface coast,CONTROL_FINISHED_OK
$STATE,3516,begin surface
$SM_CCo,3535,106.07,0.771,1,0,649,384.13
$SM_CCo,3650,-0.08,0.000,0,0,650,384.13
$SM_CCo,3655,0.55,0.252,0,0,648,384.13
$SM_GC,1.22,6.05,2.05,0.55,0.057,0.048,0.252,180,2115,648,-7.49,0.93,384.13,0,0,0,0,0,0,14.85,14.79,14.54
$IRIDIUM_FIX,2225.34,-15749.38,050618,061827
$TT8_MAMPS,0.019474,0.267393
$HUMID,45.07
$INTERNAL_PRESSURE,9.62209
$TCM_TEMP,23.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,6.5
$24V_AH,13.02,182.884
$10V_AH,12.16,0.000
$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,14.775,27.525,224.325,106.625,0.000,32.917,61.684,211.881,0.500,0.000,24.349,1127.426,801.707,382.213,1658.654,180.542,0.000,803.187,0.000,1341.452,0.000,5.468,0.000
$DEVICE_MAMPS,433.755,74.970,1022.040,771.120,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,272.664,291.447,521.697,680.615,1044.316,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343108
$DATA_FILE_SIZE,37336,405
$CAP_FILE_SIZE,51178,0
$CFSIZE,2097086464,2008023040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.087,338.04,1
$GPS,050618,083144,2235.930,-15748.613,24,1.7,24,9.8,0.8,16.2,6,120.1