version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 872
start: 6 5 118 19 37 50
data:
$ID,626
$MISSION,2
$DIVE,872
$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,43
$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,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
$GPS1,050618,193007,2235.7329,-15749.2529,14,1.2,14,9.8,1.1,275.2,6,126.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.7
$GPS2,050618,193707,2235.7439,-15749.2793,7,1.5,7,9.8,0.6,188.0,5,117.5
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,ED5
$TGT_LATLONG,2235.500,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,69.8,2233,-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,-68.1,180,2100,694,603,0.0,0.0,0,73,0.00,0.00,-53.70,0.000,16386,0.000,0.000,180,2104,2470,2494,2446,0,0,0,0,0,0,15.07,28.83,15.07
$GC,77,-0.62,-68.1,180,2104,2494,2446,3.7,-6.9,7,96,7.53,2.33,-0.30,0.000,18692,0.435,0.061,2405,3531,2485,2512,2458,0,0,0,0,0,0,14.21,13.31,14.67
$GC,112,-0.62,-68.1,2404,3533,2513,2458,18.7,-39.6,11,120,0.00,2.38,0.00,0.000,3078,0.000,0.047,2405,2128,2485,2513,2458,0,0,0,0,0,0,14.67,14.62,14.70
$GC,412,-0.62,-68.1,2404,2127,2513,2457,83.6,-18.8,60,422,0.05,2.35,0.00,0.000,2308,0.477,0.050,2413,3516,2484,2513,2456,0,0,0,0,0,0,14.52,14.62,14.65
$GC,514,-0.62,-68.1,2413,3517,2513,2457,100.0,-14.7,76,520,0.00,2.25,0.00,0.000,3078,0.000,0.043,2413,2119,2485,2513,2457,0,0,0,0,0,0,14.89,14.79,14.90
$GC,772,-0.62,-68.1,2413,2118,2513,2457,143.7,-16.6,101,777,0.00,2.28,0.00,0.000,2564,0.000,0.059,2413,715,2485,2513,2457,0,0,0,0,0,0,15.14,14.78,15.15
$GC,790,-0.62,-68.1,2414,715,2513,2456,146.4,-16.3,102,799,0.00,2.33,0.00,0.000,3078,0.000,0.041,2413,2118,2484,2513,2456,0,0,0,0,0,0,14.71,14.66,14.73
$GC,1042,-0.62,-68.1,2413,2118,2513,2456,182.0,-12.3,127,1047,0.00,2.28,0.00,0.000,2308,0.000,0.057,2413,3525,2484,2513,2455,0,0,0,0,0,0,15.16,14.79,15.16
$GC,1060,-0.62,-68.1,2413,3525,2513,2456,184.2,-12.6,128,1066,0.00,2.25,0.00,0.000,3078,0.000,0.042,2413,2126,2484,2513,2456,0,0,0,0,0,0,14.93,14.83,14.95
$STATE,1182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1182,begin apogee
$GC,1190,-0.13,0.0,2413,1927,2513,2456,200.8,-12.7,141,1245,0.45,0.00,52.33,1.066,10246,0.264,0.000,2578,1927,2203,2280,2127,0,0,0,0,0,0,14.45,14.64,13.93
$STATE,1246,end apogee,CONTROL_FINISHED_OK
$STATE,1246,begin climb
$GC,1249,0.62,68.1,2578,1927,2280,2127,203.7,0.0,142,1307,0.55,2.30,51.47,1.083,10756,0.158,0.059,2820,561,1926,2018,1834,0,0,0,0,0,0,14.57,14.53,13.85
$GC,1536,0.84,249.4,2820,560,2016,1834,213.0,-4.4,149,1683,0.12,2.22,134.90,1.247,11270,0.136,0.036,2923,1958,1188,1293,1084,0,0,0,0,0,0,14.77,14.81,13.76
$GC,1928,0.84,249.4,2923,1959,1293,1084,155.0,18.3,175,1934,0.08,2.22,0.00,0.000,4356,0.422,0.047,2891,3346,1188,1293,1084,0,0,0,0,0,0,14.42,14.72,14.61
$GC,2098,0.84,249.4,2890,3347,1293,1084,126.9,16.5,190,2107,0.00,2.33,0.00,0.000,5126,0.000,0.050,2901,1970,1188,1293,1083,0,0,0,0,0,0,14.73,14.67,14.76
$GC,2359,0.84,249.4,2901,1970,1293,1083,88.4,14.8,221,2369,0.00,2.42,0.00,0.000,4612,0.000,0.063,2913,543,1188,1293,1083,0,0,0,0,0,0,15.12,14.66,15.13
$GC,2378,0.84,249.4,2912,542,1293,1083,85.5,15.2,223,2388,0.05,2.33,0.00,0.000,5126,0.398,0.037,2895,1949,1188,1293,1083,0,0,0,0,0,0,14.35,14.70,14.54
$GC,2675,0.84,249.4,2895,1950,1292,1081,48.3,9.2,272,2683,0.00,0.00,0.00,0.000,4102,0.000,0.000,2895,1950,1186,1292,1081,0,0,0,0,0,0,15.11,15.11,15.11
$GC,2971,0.84,249.4,2895,1950,1293,1081,20.2,10.8,321,2980,0.00,2.33,0.00,0.000,4356,0.000,0.050,2895,3343,1187,1292,1082,0,0,0,0,0,0,15.11,14.63,15.11
$STATE,3116,end climb,SURFACE_DEPTH_REACHED
$STATE,3116,begin surface coast
$FINISH,0.5,1.023191
$STATE,3145,end surface coast,CONTROL_FINISHED_OK
$STATE,3145,begin surface
$SM_CCo,3164,83.03,0.776,1,0,647,381.68
$SM_CCo,3256,-0.10,0.000,0,0,650,381.68
$SM_CCo,3261,0.15,0.764,0,0,647,381.68
$SM_GC,1.41,6.18,2.03,0.15,0.074,0.050,0.764,179,2108,647,-7.51,1.13,381.68,0,0,0,0,0,0,14.85,14.83,14.52
$IRIDIUM_FIX,2227.67,-15748.50,050618,193153
$TT8_MAMPS,0.019474,0.328062
$HUMID,45.15
$INTERNAL_PRESSURE,9.61232
$TCM_TEMP,23.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,8.5
$24V_AH,13.31,184.590
$10V_AH,12.42,0.000
$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,15.000,36.875,238.700,83.175,0.000,28.227,42.540,209.202,0.500,0.000,8.312,1027.921,656.339,378.050,1469.935,178.610,0.000,787.275,0.000,1196.810,0.000,5.474,0.000
$DEVICE_MAMPS,476.595,69.615,1246.950,775.710,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,234.225,251.295,447.165,573.277,879.613,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343136
$DATA_FILE_SIZE,30502,349
$CAP_FILE_SIZE,50625,0
$CFSIZE,2097086464,2006974464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.090,253.12,1
$GPS,050618,203300,2235.778,-15749.119,9,1.4,9,9.8,0.0,0.0,5,314.8