version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 200
start: 4 1 118 3 59 20
data:
$ID,626
$MISSION,2
$DIVE,200
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,950
$D_NO_BLEED,100
$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,200
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,380
$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,0
$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,2569
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,32
$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,2420
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2210
$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
$GPS1,010418,035413,2223.8074,-15633.4941,17,1.1,17,9.9,0.6,310.0,6,31.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-72.2
$GPS2,010418,035855,2223.8135,-15633.5127,18,1.1,18,9.9,0.6,294.3,6,30.3
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,M7
$TGT_LATLONG,2227.000,-15642.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,296.3,15680,-21.4,-10.000,-23.94,1642
$D_GRID,600
$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,16,-0.80,-107.1,187,2445,674,645,0.0,0.0,0,76,0.00,0.00,-58.03,0.000,16386,0.000,0.000,187,2445,2572,2604,2540,0,0,0,0,0,0,15.00,28.83,15.00
$GC,78,-0.80,-107.1,187,2445,2605,2540,3.2,-5.8,7,96,6.85,2.40,-1.35,0.000,18948,0.435,0.067,2303,1009,2648,2690,2606,0,0,0,0,0,0,14.46,13.98,14.78
$GC,193,-0.80,-107.1,2303,1009,2692,2605,43.9,-33.2,22,200,0.05,2.30,0.00,0.000,3078,0.491,0.051,2308,2395,2648,2692,2605,0,0,0,0,0,0,14.53,14.76,14.78
$GC,451,-0.80,-107.1,2308,2397,2695,2606,123.5,-28.0,47,456,0.00,2.35,0.00,0.000,2308,0.000,0.064,2298,3827,2650,2695,2606,0,0,0,0,0,0,15.07,14.80,15.08
$GC,505,-0.80,-107.1,2297,3827,2695,2606,138.0,-24.4,52,512,0.00,2.30,0.00,0.000,3078,0.000,0.050,2298,2425,2650,2695,2606,0,0,0,0,0,0,14.93,14.83,14.94
$GC,789,-0.80,-107.1,2297,2425,2698,2606,210.0,-24.0,77,791,0.00,0.00,0.00,0.000,2054,0.000,0.000,2298,2425,2652,2698,2606,0,0,0,0,0,0,15.13,15.14,15.14
$GC,1029,-0.80,-107.1,2297,2425,2700,2606,264.5,-22.5,83,1030,0.00,0.00,0.00,0.000,2054,0.000,0.000,2298,2425,2653,2700,2606,0,0,0,0,0,0,15.18,15.19,15.19
$GC,1269,-0.80,-107.1,2297,2425,2701,2606,314.0,-21.0,89,1274,0.00,2.33,0.00,0.000,2564,0.000,0.063,2298,1004,2653,2700,2606,0,0,0,0,0,0,15.21,14.93,15.21
$GC,1305,-0.80,-107.1,2298,1004,2701,2606,314.0,-21.0,89,1313,0.05,2.33,0.00,0.000,3078,0.493,0.053,2306,2427,2653,2701,2606,0,0,0,0,0,0,14.70,14.94,14.97
$GC,1553,-0.80,-107.1,2305,2429,2701,2606,373.1,-20.0,96,1554,0.00,0.00,0.00,0.000,2054,0.000,0.000,2306,2429,2653,2701,2606,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1791,-0.80,-107.1,2305,2429,2701,2606,419.7,-19.1,102,1792,0.00,0.00,0.00,0.000,2054,0.000,0.000,2305,2429,2653,2701,2605,0,0,0,0,0,0,15.24,15.24,15.24
$GC,2031,-0.80,-107.1,2305,2429,2701,2606,465.0,-18.7,108,2032,0.00,0.00,0.00,0.000,2054,0.000,0.000,2306,2429,2653,2700,2606,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2271,-0.80,-107.1,2305,2429,2701,2604,511.3,-19.6,114,2276,0.00,2.28,0.00,0.000,2308,0.000,0.062,2304,3828,2652,2701,2603,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2372,-0.80,-107.1,2303,3828,2700,2602,526.6,-18.8,116,2378,0.00,2.25,0.00,0.000,3078,0.000,0.041,2304,2415,2651,2700,2602,0,0,0,0,0,0,15.09,15.00,15.10
$GC,2635,-0.80,-107.1,2303,2415,2700,2599,575.7,-16.8,123,2641,0.00,2.28,0.00,0.000,2564,0.000,0.054,2304,998,2649,2700,2598,0,0,0,0,0,0,15.26,15.00,15.26
$GC,2737,-0.80,-107.1,2303,998,2701,2597,590.5,-17.2,125,2743,0.05,2.30,0.00,0.000,3078,0.458,0.043,2311,2426,2648,2700,2597,0,0,0,0,0,0,14.76,14.99,15.01
$STATE,2799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2799,begin apogee
$GC,2804,-0.16,0.0,2311,2192,2700,2594,603.7,-17.0,127,2891,0.57,0.00,83.47,1.708,10246,0.305,0.000,2519,2189,2208,2280,2137,0,0,0,0,0,0,14.76,14.45,13.84
$STATE,2892,end apogee,CONTROL_FINISHED_OK
$STATE,2892,begin climb
$GC,2893,0.80,107.1,2519,2189,2282,2137,608.5,0.0,129,2984,0.77,0.00,87.15,1.938,10246,0.201,0.000,2817,2189,1772,1872,1673,0,0,0,0,0,0,14.36,14.20,13.56
$GC,3200,0.80,107.1,2817,2189,1871,1670,573.3,14.0,137,3201,0.00,0.00,0.00,0.000,2054,0.000,0.000,2818,2189,1770,1871,1670,0,0,0,0,0,0,14.90,14.90,14.90
$GC,3441,0.80,107.1,2817,2189,1871,1667,541.2,13.4,143,3442,0.00,0.00,0.00,0.000,2054,0.000,0.000,2817,2189,1769,1871,1667,0,0,0,0,0,0,15.03,15.04,15.04
$GC,3680,0.80,107.1,2817,2189,1870,1664,509.3,13.4,149,3681,0.00,0.00,0.00,0.000,2054,0.000,0.000,2817,2189,1767,1870,1665,0,0,0,0,0,0,15.10,15.11,15.11
$GC,3921,0.80,107.1,2817,2189,1869,1663,477.4,12.9,155,3926,0.00,2.35,0.00,0.000,2308,0.000,0.058,2818,3614,1766,1869,1663,0,0,0,0,0,0,15.15,14.88,15.15
$GC,4132,0.80,107.1,2817,3613,1866,1663,451.4,12.8,160,4137,0.00,2.28,0.00,0.000,1030,0.000,0.046,2827,2201,1764,1865,1663,0,0,0,0,0,0,15.00,14.92,15.02
$GC,4404,0.80,107.1,2827,2199,1866,1660,416.1,12.6,167,4409,0.00,2.33,0.00,0.000,260,0.000,0.053,2828,3622,1763,1866,1660,0,0,0,0,0,0,15.19,14.92,15.19
$GC,4425,0.80,107.1,2827,3622,1865,1660,416.1,12.6,167,4430,0.00,2.30,0.00,0.000,5126,0.000,0.044,2838,2191,1762,1865,1660,0,0,0,0,0,0,15.03,14.95,15.04
$GC,4688,0.80,107.1,2838,2191,1863,1660,376.7,13.9,174,4689,0.00,0.00,0.00,0.000,4102,0.000,0.000,2839,2191,1761,1863,1659,0,0,0,0,0,0,15.21,15.21,15.21
$GC,4927,0.80,107.1,2838,2191,1862,1658,348.4,11.4,180,4932,0.00,2.33,0.00,0.000,4356,0.000,0.053,2838,3615,1760,1862,1659,0,0,0,0,0,0,15.22,14.95,15.22
$GC,5003,0.80,107.1,2838,3615,1861,1659,343.6,11.1,181,5011,0.08,2.28,0.00,0.000,5126,0.439,0.045,2826,2199,1760,1861,1659,0,0,0,0,0,0,14.71,14.97,14.99
$GC,5250,0.82,123.6,2825,2198,1861,1658,317.9,9.0,188,5264,0.00,0.00,11.43,1.200,10502,0.000,0.000,2826,2197,1706,1806,1607,0,0,0,0,0,0,15.23,14.93,14.39
$GC,5530,0.82,123.6,2825,2198,1803,1605,283.2,12.8,195,5536,0.00,2.28,0.00,0.000,2564,0.000,0.056,2836,798,1703,1802,1605,0,0,0,0,0,0,15.19,14.94,15.19
$GC,5816,0.82,123.6,2836,797,1802,1605,250.6,10.2,202,5822,0.00,2.28,0.00,0.000,5126,0.000,0.037,2836,2224,1703,1802,1605,0,0,0,0,0,0,15.04,14.97,15.05
$GC,6095,0.82,123.7,2836,2224,1802,1604,224.0,10.0,209,6100,0.00,2.35,0.00,0.000,4612,0.000,0.054,2847,787,1703,1802,1604,0,0,0,0,0,0,15.22,14.96,15.22
$GC,6186,0.82,123.7,2846,786,1802,1604,214.8,11.0,211,6192,0.00,2.25,0.00,0.000,5126,0.000,0.037,2847,2207,1703,1802,1604,0,0,0,0,0,0,15.05,14.98,15.07
$GC,6439,0.86,158.8,2846,2208,1802,1604,192.1,7.8,222,6473,0.00,2.25,26.52,1.101,8452,0.000,0.050,2847,3593,1559,1650,1468,0,0,0,0,0,0,15.21,14.74,14.37
$GC,6633,0.86,158.8,2846,3593,1649,1468,168.9,13.3,240,6638,0.00,2.28,0.00,0.000,5126,0.000,0.046,2857,2202,1558,1649,1468,0,0,0,0,0,0,14.94,14.86,14.95
$GC,6889,0.86,158.8,2857,2202,1650,1467,137.2,14.3,265,6894,0.00,2.30,0.00,0.000,4612,0.000,0.054,2868,787,1558,1649,1467,0,0,0,0,0,0,15.11,14.87,15.11
$GC,6989,0.86,158.8,2868,786,1649,1467,122.1,14.4,274,6995,0.08,2.28,0.00,0.000,5126,0.392,0.036,2844,2209,1558,1649,1467,0,0,0,0,0,0,14.65,14.90,14.89
$GC,7244,0.86,158.8,2843,2211,1649,1468,92.1,12.4,299,7249,0.00,2.25,0.00,0.000,260,0.000,0.051,2844,3594,1558,1649,1468,0,0,0,0,0,0,15.12,14.88,15.13
$GC,7485,0.86,158.8,2843,3594,1649,1469,64.2,11.5,320,7491,0.00,2.25,0.00,0.000,5126,0.000,0.043,2854,2195,1559,1649,1470,0,0,0,0,0,0,14.97,14.89,14.98
$GC,7741,0.86,158.8,2853,2194,1649,1471,37.6,10.7,345,7749,0.00,0.00,0.00,0.000,4102,0.000,0.000,2854,2194,1560,1649,1471,0,0,0,0,0,0,15.11,15.12,15.12
$GC,8021,0.86,158.8,2853,2193,1649,1473,7.0,11.5,387,8029,0.00,2.35,0.00,0.000,4356,0.000,0.049,2854,3594,1561,1649,1474,0,0,0,0,0,0,15.09,14.79,15.09
$STATE,8060,end climb,SURFACE_DEPTH_REACHED
$STATE,8060,begin surface coast
$FINISH,0.3,1.023885
$STATE,8091,end surface coast,CONTROL_FINISHED_OK
$STATE,8091,begin surface
$SM_CCo,8107,127.50,0.117,0,0,658,380.21
$SM_GC,1.37,6.18,1.95,127.50,0.093,0.044,0.117,189,2422,658,-7.30,1.36,380.21,0,0,0,0,0,0,14.88,14.85,14.73
$IRIDIUM_FIX,2213.68,-15631.85,010418,035515
$TT8_MAMPS,0.019474,0.267393
$HUMID,40.74
$INTERNAL_PRESSURE,9.40725
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.7,6.4
$24V_AH,13.56,51.299
$10V_AH,13.82,0.000
$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,14.675,64.350,208.575,127.500,0.000,27.979,41.992,106.288,0.500,0.000,19.224,1451.656,5004.524,450.236,1542.516,83.463,0.000,994.577,0.000,1316.761,0.000,5.459,0.000
$DEVICE_MAMPS,492.660,67.320,1937.745,117.045,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,270.384,210.325,378.164,390.763,599.570,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343152
$DATA_FILE_SIZE,33957,398
$CAP_FILE_SIZE,78417,0
$CFSIZE,2097086464,2074345472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.179,279.20,1
$GPS,010418,061748,2224.389,-15635.121,40,0.9,40,9.9,0.4,176.6,9,20.1