version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 871
start: 6 5 118 18 29 57
data:
$ID,626
$MISSION,2
$DIVE,871
$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,33
$R_STBD_OVSHOOT,70
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2205
$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
$GPS1,050618,182201,2235.7583,-15749.2090,16,1.1,16,9.8,0.7,264.1,8,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.5
$GPS2,050618,182914,2235.8020,-15749.2598,15,1.1,15,9.8,0.7,298.9,8,23.3
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,ED5
$TGT_LATLONG,2235.500,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,66.9,2225,-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,-68.1,178,2164,695,604,0.0,0.0,0,74,0.00,0.00,-53.62,0.000,16390,0.000,0.000,178,2166,2484,2510,2459,0,0,0,0,0,0,15.07,12.97,15.00
$GC,78,-0.62,-68.1,178,2166,2510,2459,4.3,-8.1,7,87,7.53,0.00,0.00,0.000,2054,0.435,0.000,2416,2160,2484,2510,2458,0,0,0,0,0,0,14.25,14.73,14.64
$GC,378,-0.62,-68.1,2416,2166,2510,2452,81.9,-20.6,56,387,0.00,2.25,0.00,0.000,2308,0.000,0.055,2413,3499,2480,2510,2451,0,0,0,0,0,0,15.10,14.55,15.10
$GC,539,-0.62,-68.1,2413,3499,2510,2451,107.8,-15.7,78,548,0.00,2.33,0.00,0.000,3078,0.000,0.046,2414,2118,2480,2510,2451,0,0,0,0,0,0,14.68,14.62,14.71
$GC,788,-0.62,-68.1,2413,2117,2510,2451,147.9,-14.2,103,794,0.00,2.28,0.00,0.000,2308,0.000,0.054,2413,3506,2480,2510,2451,0,0,0,0,0,0,15.16,14.79,15.16
$GC,806,-0.62,-68.1,2413,3506,2510,2451,150.0,-13.5,104,815,0.00,2.30,0.00,0.000,3078,0.000,0.042,2413,2120,2480,2510,2451,0,0,0,0,0,0,14.71,14.64,14.73
$GC,1055,-0.62,-68.1,2413,2119,2510,2451,183.3,-14.0,129,1064,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2120,2480,2510,2451,0,0,0,0,0,0,15.16,15.17,15.16
$STATE,1183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1183,begin apogee
$GC,1190,-0.13,0.0,2413,1937,2511,2451,201.1,-12.9,142,1244,0.45,0.00,51.17,1.072,10246,0.262,0.000,2579,1936,2203,2280,2127,0,0,0,0,0,0,14.45,14.64,13.94
$STATE,1245,end apogee,CONTROL_FINISHED_OK
$STATE,1245,begin climb
$GC,1248,0.62,68.1,2578,1936,2279,2128,204.1,0.0,143,1307,0.52,2.28,51.53,1.223,10756,0.157,0.058,2817,561,1926,2019,1834,0,0,0,0,0,0,14.57,14.32,13.76
$GC,1430,0.62,68.1,2816,560,2017,1834,205.4,-1.1,147,1435,0.00,2.20,0.00,0.000,3078,0.000,0.037,2817,1929,1925,2017,1834,0,0,0,0,0,0,14.82,14.73,14.83
$GC,1684,0.82,228.5,2816,1930,2017,1833,212.8,-3.0,154,1815,0.10,2.35,118.55,1.296,11012,0.159,0.058,2934,564,1273,1375,1171,0,0,0,0,0,0,14.83,14.46,13.75
$GC,2050,0.82,228.5,2934,564,1374,1171,161.2,19.0,177,2056,0.15,2.22,0.00,0.000,5126,0.366,0.035,2884,1950,1272,1374,1170,0,0,0,0,0,0,14.38,14.79,14.70
$GC,2306,0.82,228.5,2884,1951,1374,1168,124.0,13.2,202,2311,0.00,2.25,0.00,0.000,260,0.000,0.050,2884,3356,1271,1374,1168,0,0,0,0,0,0,15.12,14.81,15.13
$GC,2387,0.82,228.5,2884,3356,1374,1167,113.1,13.3,209,2393,0.00,2.28,0.00,0.000,5126,0.000,0.049,2894,1963,1271,1374,1168,0,0,0,0,0,0,14.92,14.82,14.94
$GC,2665,0.82,228.5,2894,1962,1374,1166,76.8,12.1,248,2674,0.00,2.42,0.00,0.000,4612,0.000,0.063,2906,537,1270,1374,1166,0,0,0,0,0,0,15.12,14.64,15.13
$GC,2701,0.82,228.5,2905,537,1374,1166,72.8,11.2,253,2711,0.05,2.35,0.00,0.000,5126,0.386,0.036,2888,1957,1269,1374,1165,0,0,0,0,0,0,14.33,14.69,14.51
$GC,2998,0.85,251.5,2888,1957,1374,1165,46.1,6.4,302,3023,0.00,0.00,19.33,0.828,10246,0.000,0.000,2888,1957,1179,1287,1072,0,0,0,0,0,0,15.11,14.53,14.12
$GC,3311,0.85,251.5,2888,1957,1288,1073,17.2,10.6,353,3319,0.00,2.33,0.00,0.000,2308,0.000,0.049,2888,3351,1180,1287,1073,0,0,0,0,0,0,15.09,14.62,15.09
$STATE,3428,end climb,SURFACE_DEPTH_REACHED
$STATE,3428,begin surface coast
$FINISH,0.5,1.022804
$STATE,3455,end surface coast,CONTROL_FINISHED_OK
$STATE,3456,begin surface
$SM_CCo,3475,73.22,0.112,0,0,648,381.68
$SM_CCo,3552,-0.15,0.000,0,0,651,381.44
$SM_CCo,3557,0.60,0.265,0,0,647,381.68
$SM_GC,1.16,6.03,2.03,0.60,0.048,0.042,0.265,180,2116,647,-7.49,1.05,381.68,0,0,0,0,0,0,14.85,14.81,14.62
$IRIDIUM_FIX,2225.34,-15749.38,050618,182346
$TT8_MAMPS,0.019474,0.328811
$HUMID,46.33
$INTERNAL_PRESSURE,9.61232
$TCM_TEMP,23.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,6.4
$24V_AH,12.97,184.427
$10V_AH,12.41,0.000
$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,14.825,32.100,240.575,73.825,0.000,28.563,44.693,212.339,0.500,0.000,16.353,1087.820,839.758,346.846,1563.714,182.183,0.000,778.724,0.000,1275.639,0.000,5.470,0.000
$DEVICE_MAMPS,434.520,75.735,1295.910,265.455,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,252.755,268.074,480.287,616.205,945.488,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343164
$DATA_FILE_SIZE,34124,376
$CAP_FILE_SIZE,51174,0
$CFSIZE,2097086464,2007040000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.144,253.22,1
$GPS,050618,193007,2235.733,-15749.253,14,1.2,14,9.8,1.1,275.2,6,126.0