version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 1034
start: 6 27 118 1 49 8
data:
$ID,626
$MISSION,2
$DIVE,1034
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$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,65
$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,1
$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,2630
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,37
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2100
$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,0
$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
$GPS1,270618,013919,2245.4204,-15758.6064,23,1.3,23,9.8,0.0,0.0,5,100.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.4
$GPS2,270618,014825,2245.4119,-15758.6523,43,0.8,43,9.8,0.0,0.0,11,21.2
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,A10
$TGT_LATLONG,2245.785,-15757.885
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,51.2,1481,-21.5,-10.000,-24.01,1630
$D_GRID,360
$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,14,begin dive
$GC,17,-0.66,-63.3,181,2204,707,610,0.0,0.0,0,66,0.00,0.00,-46.42,0.000,16386,0.000,0.000,181,2203,2215,2244,2187,0,0,0,0,0,0,15.00,28.83,15.00
$GC,70,-0.66,-63.3,181,2202,2244,2187,3.1,-5.8,7,86,7.72,2.38,-2.58,0.000,19204,0.443,0.064,2399,3611,2360,2396,2325,0,0,0,0,0,0,13.86,13.10,14.16
$GC,105,-0.66,-63.3,2399,3612,2397,2325,16.5,-37.3,12,113,0.03,2.42,0.00,0.000,3078,0.474,0.044,2408,2203,2361,2398,2325,0,0,0,0,0,0,14.30,14.57,14.40
$GC,364,-0.66,-63.3,2408,2203,2397,2324,72.9,-18.2,42,369,0.00,2.38,0.00,0.000,2564,0.000,0.057,2409,786,2360,2397,2324,0,0,0,0,0,0,15.07,14.65,15.08
$GC,399,-0.66,-63.3,2408,786,2397,2324,79.3,-17.6,45,405,0.05,2.33,0.00,0.000,3078,0.472,0.038,2415,2201,2360,2397,2323,0,0,0,0,0,0,14.31,14.71,14.59
$GC,657,-0.66,-63.3,2415,2202,2398,2324,121.3,-15.2,70,662,0.00,2.35,0.00,0.000,2308,0.000,0.060,2414,3605,2360,2397,2324,0,0,0,0,0,0,15.11,14.68,15.11
$GC,724,-0.66,-63.3,2413,3605,2397,2324,130.3,-13.1,76,731,0.00,2.33,0.00,0.000,3078,0.000,0.041,2414,2197,2360,2397,2324,0,0,0,0,0,0,14.84,14.73,14.85
$GC,971,-0.66,-63.3,2413,2196,2397,2324,166.2,-14.5,101,976,0.00,2.33,0.00,0.000,2564,0.000,0.056,2413,796,2360,2397,2324,0,0,0,0,0,0,15.14,14.70,15.14
$GC,1018,-0.66,-63.3,2413,796,2397,2324,172.4,-14.3,105,1026,0.00,2.30,0.00,0.000,3078,0.000,0.040,2414,2198,2360,2397,2324,0,0,0,0,0,0,14.85,14.76,14.87
$GC,1295,-0.66,-63.3,2413,2200,2397,2324,209.6,-12.0,127,1300,0.00,2.33,0.00,0.000,2308,0.000,0.058,2414,3601,2360,2397,2324,0,0,0,0,0,0,15.16,14.70,15.16
$GC,1313,-0.66,-63.3,2413,3602,2397,2324,209.6,-12.0,127,1318,0.00,2.30,0.00,0.000,3078,0.000,0.038,2414,2187,2361,2398,2324,0,0,0,0,0,0,14.87,14.76,14.89
$GC,1582,-0.66,-63.3,2413,2187,2397,2324,241.5,-10.9,134,1588,0.00,2.30,0.00,0.000,2564,0.000,0.055,2413,798,2361,2398,2324,0,0,0,0,0,0,15.17,14.73,15.17
$GC,1660,-0.66,-63.3,2413,798,2397,2324,246.6,-11.1,135,1667,0.00,2.30,0.00,0.000,3078,0.000,0.039,2413,2202,2360,2397,2324,0,0,0,0,0,0,14.88,14.78,14.89
$GC,1906,-0.66,-63.3,2413,2203,2397,2323,277.4,-11.2,142,1908,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2203,2360,2397,2324,0,0,0,0,0,0,15.18,15.18,15.18
$GC,2146,-0.66,-63.3,2413,2202,2397,2322,307.2,-12.4,148,2153,0.00,2.35,0.00,0.000,2308,0.000,0.058,2413,3598,2359,2397,2321,0,0,0,0,0,0,15.18,14.71,15.19
$GC,2191,-0.66,-63.3,2413,3598,2397,2321,312.6,-12.2,149,2197,0.00,2.30,0.00,0.000,3078,0.000,0.038,2413,2195,2359,2397,2321,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2476,-0.66,-63.3,2413,2194,2397,2317,345.8,-11.2,156,2481,0.00,2.33,0.00,0.000,2564,0.000,0.054,2413,798,2357,2397,2317,0,0,0,0,0,0,15.17,14.71,15.17
$GC,2520,-0.66,-63.3,2413,798,2397,2317,350.6,-11.0,157,2525,0.00,2.30,0.00,0.000,3078,0.000,0.039,2413,2200,2356,2397,2316,0,0,0,0,0,0,14.87,14.77,14.89
$STATE,2640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2640,begin apogee
$GC,2647,-0.14,0.0,2413,2200,2397,2315,362.2,-9.8,160,2700,0.47,0.00,49.20,1.397,10246,0.262,0.000,2585,2200,2098,2181,2015,0,0,0,0,0,0,14.26,14.45,13.53
$STATE,2701,end apogee,CONTROL_FINISHED_OK
$STATE,2701,begin climb
$GC,2704,0.66,63.3,2585,2200,2181,2023,363.9,0.0,161,2762,0.60,0.00,50.50,1.473,10246,0.152,0.000,2835,2199,1844,1939,1749,0,0,0,0,0,0,14.47,14.32,13.45
$GC,3004,0.79,174.5,2834,2200,1938,1747,355.4,3.0,169,3102,0.08,2.47,87.62,1.521,10756,0.197,0.054,2931,796,1390,1495,1285,0,0,0,0,0,0,14.68,14.34,13.45
$GC,3250,0.79,174.5,2931,796,1494,1286,323.1,16.9,175,3256,0.12,2.33,0.00,0.000,5126,0.410,0.034,2892,2207,1390,1494,1286,0,0,0,0,0,0,14.14,14.66,14.52
$GC,3530,0.79,174.5,2892,2208,1494,1282,281.0,14.7,182,3531,0.00,0.00,0.00,0.000,4102,0.000,0.000,2892,2209,1388,1494,1282,0,0,0,0,0,0,15.09,15.09,15.09
$GC,3770,0.79,174.5,2892,2208,1494,1280,245.6,14.6,188,3771,0.00,0.00,0.00,0.000,4102,0.000,0.000,2892,2208,1387,1494,1280,0,0,0,0,0,0,15.13,15.14,15.14
$GC,4010,0.79,174.5,2892,2209,1494,1277,216.7,11.5,194,4015,0.00,2.40,0.00,0.000,4612,0.000,0.054,2902,791,1385,1494,1277,0,0,0,0,0,0,15.16,14.71,15.15
$GC,4239,0.79,174.5,2902,790,1494,1277,190.8,10.8,204,4247,0.05,2.33,0.00,0.000,5126,0.457,0.035,2887,2200,1385,1493,1277,0,0,0,0,0,0,14.35,14.78,14.64
$GC,4489,0.79,174.5,2887,2200,1493,1276,163.5,11.7,229,4494,0.00,2.38,0.00,0.000,4612,0.000,0.054,2898,797,1384,1493,1276,0,0,0,0,0,0,15.12,14.71,15.13
$GC,4526,0.79,174.5,2897,799,1493,1276,159.0,12.0,232,4534,0.00,2.33,0.00,0.000,5126,0.000,0.036,2898,2204,1384,1493,1276,0,0,0,0,0,0,14.85,14.76,14.87
$GC,4776,0.85,215.2,2897,2205,1493,1275,137.6,7.4,257,4817,0.00,2.42,30.50,1.102,8708,0.000,0.054,2909,799,1224,1329,1119,0,0,0,0,0,0,15.12,14.61,13.78
$GC,4944,0.85,215.2,2908,799,1328,1122,118.5,13.1,273,4951,0.00,2.33,0.00,0.000,5126,0.000,0.036,2908,2200,1225,1328,1122,0,0,0,0,0,0,14.80,14.71,14.81
$GC,5195,0.85,215.2,2908,2201,1328,1125,89.8,11.2,298,5200,0.00,2.38,0.00,0.000,4612,0.000,0.054,2919,800,1226,1328,1125,0,0,0,0,0,0,15.08,14.68,15.08
$GC,5243,0.85,215.2,2919,799,1328,1125,84.2,11.5,302,5252,0.05,2.35,0.00,0.000,5126,0.448,0.037,2903,2212,1226,1328,1125,0,0,0,0,0,0,14.33,14.73,14.60
$GC,5496,0.86,227.4,2902,2212,1328,1126,57.8,9.2,327,5512,0.00,2.40,11.15,0.965,8708,0.000,0.052,2913,791,1174,1279,1070,0,0,0,0,0,0,15.11,14.35,13.74
$GC,5783,0.93,284.6,2913,791,1279,1074,31.9,6.4,354,5837,0.00,2.33,46.05,1.090,11270,0.000,0.036,2913,2204,940,1032,849,0,0,0,0,0,0,14.83,14.74,13.74
$STATE,6040,end climb,SURFACE_DEPTH_REACHED
$STATE,6040,begin surface coast
$FINISH,0.3,1.022814
$STATE,6063,end surface coast,CONTROL_FINISHED_OK
$STATE,6063,begin surface
$SM_CCo,6081,40.03,0.116,0,0,646,355.92
$SM_CCo,6126,-0.08,0.000,0,0,650,355.92
$SM_CCo,6131,0.30,0.448,0,0,647,355.92
$SM_GC,1.06,6.28,0.00,0.30,0.075,0.000,0.448,180,2210,647,-7.47,0.28,355.92,0,0,0,0,0,0,14.71,15.00,14.50
$IRIDIUM_FIX,2237.01,-15757.16,270618,014122
$TT8_MAMPS,0.019474,0.241178
$HUMID,50.31
$INTERNAL_PRESSURE,9.51467
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,12.95,216.961
$10V_AH,12.63,0.000
$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,15.450,65.725,275.025,40.325,0.000,31.755,44.107,278.624,0.000,0.000,44.353,1335.743,3311.870,399.479,1390.753,265.783,0.000,922.195,0.000,1016.841,0.000,0.550,0.000
$DEVICE_MAMPS,474.300,64.260,1520.820,448.290,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,269.584,255.202,459.655,0.000,309.223,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,0.000,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343036
$DATA_FILE_SIZE,33894,403
$CAP_FILE_SIZE,74810,0
$CFSIZE,2097086464,1986789376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.058,262.17,1
$GPS,270618,033207,2245.603,-15758.267,7,1.7,8,9.8,0.0,256.1,6,144.1