version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 877
start: 6 6 118 0 53 15
data:
$ID,626
$MISSION,2
$DIVE,877
$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,38
$R_STBD_OVSHOOT,45
$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
$GPS1,060618,004500,2235.5449,-15749.5938,27,0.9,27,9.8,0.0,0.0,8,49.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.9
$GPS2,060618,005232,2235.5415,-15749.7021,16,0.9,16,9.8,0.8,259.0,8,20.7
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,ED5
$TGT_LATLONG,2235.500,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,65.7,2911,-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,-68.1,181,2109,699,603,0.0,0.0,0,68,0.00,0.00,-48.83,0.000,16386,0.000,0.000,181,2110,2297,2322,2272,0,0,0,0,0,0,15.07,28.83,15.07
$GC,72,-0.62,-68.1,181,2110,2323,2271,3.2,-5.6,6,90,7.50,2.25,-3.30,0.000,18948,0.434,0.062,2417,702,2484,2517,2452,0,0,0,0,0,0,14.21,13.73,14.66
$GC,100,-0.62,-68.1,2417,700,2517,2452,14.4,-29.2,9,109,0.00,2.38,0.00,0.000,3078,0.000,0.044,2413,2116,2484,2516,2452,0,0,0,0,0,0,14.69,14.63,14.71
$GC,404,-0.62,-68.1,2413,2117,2516,2452,84.3,-20.9,58,413,0.00,2.38,0.00,0.000,2308,0.000,0.056,2409,3535,2483,2516,2451,0,0,0,0,0,0,15.11,14.64,15.11
$GC,575,-0.62,-68.1,2409,3536,2516,2451,111.3,-14.1,79,582,0.00,2.30,0.00,0.000,3078,0.000,0.044,2409,2117,2483,2516,2451,0,0,0,0,0,0,14.90,14.81,14.92
$GC,820,-0.62,-68.1,2409,2117,2517,2451,146.3,-13.3,104,825,0.00,2.33,0.00,0.000,2308,0.000,0.054,2400,3537,2483,2516,2451,0,0,0,0,0,0,15.16,14.80,15.16
$GC,867,-0.62,-68.1,2399,3537,2516,2451,152.3,-12.9,108,873,0.05,2.28,0.00,0.000,3078,0.404,0.041,2418,2115,2483,2516,2451,0,0,0,0,0,0,14.54,14.84,14.78
$GC,1124,-0.62,-68.1,2418,2114,2516,2452,183.6,-12.5,133,1129,0.00,2.25,0.00,0.000,2564,0.000,0.060,2419,724,2483,2516,2451,0,0,0,0,0,0,15.17,14.81,15.18
$GC,1160,-0.62,-68.1,2418,724,2516,2451,188.4,-12.8,136,1165,0.00,2.25,0.00,0.000,3078,0.000,0.040,2414,2135,2483,2516,2451,0,0,0,0,0,0,14.95,14.85,14.96
$STATE,1253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1253,begin apogee
$GC,1260,-0.13,0.0,2414,1928,2516,2451,200.7,-12.9,145,1315,0.45,0.00,52.12,1.067,10246,0.263,0.000,2580,1928,2203,2280,2127,0,0,0,0,0,0,14.47,14.64,13.93
$STATE,1316,end apogee,CONTROL_FINISHED_OK
$STATE,1316,begin climb
$GC,1319,0.62,68.1,2580,1928,2279,2127,203.9,0.0,146,1378,0.52,2.25,51.62,1.193,10756,0.156,0.056,2817,561,1926,2018,1834,0,0,0,0,0,0,14.57,14.33,13.78
$GC,1501,0.62,68.1,2817,561,2016,1834,207.8,-2.8,150,1506,0.00,2.22,0.00,0.000,1030,0.000,0.035,2817,1953,1925,2016,1834,0,0,0,0,0,0,14.82,14.75,14.83
$GC,1755,0.82,234.3,2817,1953,2016,1833,217.9,-3.4,157,1887,0.10,2.33,122.65,1.257,10500,0.158,0.048,2924,3348,1248,1350,1146,0,0,0,0,0,0,14.83,14.47,13.78
$GC,2145,0.82,234.3,2924,3348,1349,1147,160.7,19.5,179,2153,0.15,2.25,0.00,0.000,5126,0.381,0.048,2886,1970,1248,1350,1146,0,0,0,0,0,0,14.35,14.77,14.70
$GC,2391,0.82,234.3,2886,1970,1349,1145,121.7,15.2,204,2396,0.00,2.25,0.00,0.000,260,0.000,0.051,2886,3357,1247,1349,1145,0,0,0,0,0,0,15.13,14.81,15.14
$GC,2496,0.82,234.3,2885,3357,1349,1144,107.7,13.0,213,2503,0.00,2.30,0.00,0.000,5126,0.000,0.049,2896,1947,1247,1349,1145,0,0,0,0,0,0,14.92,14.82,14.94
$GC,2780,0.82,234.3,2896,1947,1349,1143,75.0,8.4,257,2789,0.00,2.38,0.00,0.000,4356,0.000,0.052,2896,3339,1246,1349,1143,0,0,0,0,0,0,15.12,14.65,15.12
$GC,2839,0.82,234.3,2896,3340,1349,1143,69.3,10.3,266,2849,0.05,2.35,0.00,0.000,5126,0.398,0.049,2890,1951,1246,1349,1143,0,0,0,0,0,0,14.30,14.65,14.50
$GC,3136,0.84,246.9,2889,1951,1349,1142,45.4,7.2,315,3154,0.00,2.33,10.55,0.832,8708,0.000,0.060,2901,537,1200,1308,1093,0,0,0,0,0,0,15.11,14.50,14.04
$GC,3164,0.86,264.5,2901,537,1306,1093,43.4,6.8,318,3190,0.00,2.33,15.60,0.874,13318,0.000,0.034,2900,1945,1124,1234,1015,0,0,0,0,0,0,14.75,14.70,14.03
$GC,3478,0.86,264.5,2900,1945,1234,1014,10.6,9.9,369,3487,0.00,2.30,0.00,0.000,260,0.000,0.049,2901,3341,1124,1234,1014,0,0,0,0,0,0,15.09,14.64,15.09
$STATE,3542,end climb,SURFACE_DEPTH_REACHED
$STATE,3542,begin surface coast
$FINISH,0.3,1.022077
$STATE,3567,end surface coast,CONTROL_FINISHED_OK
$STATE,3568,begin surface
$SM_CCo,3587,67.32,0.107,0,0,648,381.68
$SM_CCo,3658,-0.15,0.000,0,0,652,381.44
$SM_CCo,3663,0.57,0.283,0,0,647,381.68
$SM_GC,1.13,6.07,2.03,0.57,0.050,0.047,0.283,180,2123,647,-7.50,1.02,381.68,0,0,0,0,0,0,14.83,14.80,14.72
$IRIDIUM_FIX,2225.34,-15748.50,060618,004656
$TT8_MAMPS,0.018725,0.268891
$HUMID,46.65
$INTERNAL_PRESSURE,9.61232
$TCM_TEMP,23.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,56.0,8.1
$24V_AH,13.20,185.419
$10V_AH,12.38,0.000
$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,14.900,46.025,252.550,67.900,0.000,37.110,55.859,209.935,1.000,0.000,17.329,1136.660,834.465,358.214,1626.795,188.636,0.000,811.621,0.000,1319.338,0.000,9.785,0.000
$DEVICE_MAMPS,433.755,61.965,1256.895,283.050,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,257.442,276.059,489.713,626.965,962.017,0.000,0.000,0.000,0.000,0.000
$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,33980,383
$CAP_FILE_SIZE,56583,0
$CFSIZE,2097086464,2006450176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.178,257.91,1
$GPS,060618,015513,2235.527,-15749.850,16,1.1,16,9.8,0.6,284.1,7,21.6