version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 202
start: 4 1 118 8 44 14
data:
$ID,626
$MISSION,2
$DIVE,202
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$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,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,43
$R_STBD_OVSHOOT,51
$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
$GPS1,010418,083907,2224.9202,-15636.7109,19,2.0,19,9.9,0.5,161.9,6,50.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.7
$GPS2,010418,084349,2224.8945,-15636.7764,18,1.3,18,9.9,0.6,92.2,7,49.6
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,M7
$TGT_LATLONG,2227.000,-15642.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,292.1,9753,-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,-107.1,187,2415,675,643,0.0,0.0,0,79,0.00,0.00,-60.03,0.000,16390,0.000,0.000,187,2415,2648,2690,2607,0,0,0,0,0,0,14.92,13.72,14.90
$GC,82,-0.80,-107.1,187,2415,2690,2606,3.8,-6.9,8,100,6.85,2.30,0.00,0.000,2820,0.431,0.045,2305,1010,2648,2690,2606,0,0,0,0,0,0,14.42,14.64,14.71
$GC,259,-0.80,-107.1,2305,1010,2690,2606,68.7,-33.0,26,265,0.05,2.33,0.00,0.000,3078,0.480,0.054,2310,2408,2648,2690,2606,0,0,0,0,0,0,14.54,14.75,14.78
$GC,514,-0.80,-107.1,2309,2409,2691,2606,140.8,-26.0,51,519,0.00,2.30,0.00,0.000,260,0.000,0.061,2300,3825,2649,2692,2606,0,0,0,0,0,0,15.07,14.80,15.07
$GC,642,-0.80,-107.1,2299,3827,2692,2606,173.5,-24.1,63,647,0.00,2.28,0.00,0.000,3078,0.000,0.048,2300,2428,2648,2691,2606,0,0,0,0,0,0,14.94,14.85,14.95
$GC,914,-0.80,-107.1,2299,2427,2695,2606,236.4,-22.4,78,919,0.00,2.33,0.00,0.000,2308,0.000,0.063,2289,3828,2650,2695,2606,0,0,0,0,0,0,15.15,14.87,15.15
$GC,1130,-0.80,-107.1,2290,3828,2696,2606,279.2,-20.8,83,1136,0.05,2.28,0.00,0.000,3078,0.446,0.047,2306,2413,2651,2696,2606,0,0,0,0,0,0,14.71,14.92,14.95
$GC,1399,-0.80,-107.1,2306,2412,2697,2606,337.6,-20.5,90,1404,0.00,2.28,0.00,0.000,2564,0.000,0.062,2307,1009,2651,2697,2606,0,0,0,0,0,0,15.21,14.94,15.21
$GC,1515,-0.80,-107.1,2306,1008,2697,2606,355.0,-20.8,92,1522,0.00,2.30,0.00,0.000,3078,0.000,0.045,2305,2432,2651,2697,2606,0,0,0,0,0,0,15.05,14.95,15.06
$GC,1761,-0.80,-107.1,2304,2434,2697,2606,408.3,-18.4,99,1766,0.00,2.25,0.00,0.000,2308,0.000,0.060,2304,3821,2651,2697,2606,0,0,0,0,0,0,15.23,14.95,15.23
$GC,1807,-0.80,-107.1,2303,3821,2697,2605,416.1,-18.4,100,1813,0.00,2.22,0.00,0.000,3078,0.000,0.037,2304,2412,2651,2697,2605,0,0,0,0,0,0,15.07,14.99,15.08
$GC,2085,-0.80,-107.1,2304,2412,2697,2603,470.0,-18.9,107,2090,0.00,2.25,0.00,0.000,2564,0.000,0.055,2304,1013,2649,2697,2602,0,0,0,0,0,0,15.24,14.97,15.24
$GC,2128,-0.80,-107.1,2303,1013,2697,2601,478.1,-18.6,108,2133,0.00,2.30,0.00,0.000,3078,0.000,0.047,2304,2429,2649,2697,2601,0,0,0,0,0,0,15.07,14.97,15.09
$GC,2410,-0.80,-107.1,2303,2429,2697,2599,530.9,-18.8,115,2416,0.00,2.28,0.00,0.000,2308,0.000,0.057,2293,3833,2648,2697,2599,0,0,0,0,0,0,15.25,14.97,15.25
$GC,2431,-0.80,-107.1,2293,3833,2697,2599,530.9,-18.8,115,2437,0.05,2.25,0.00,0.000,3078,0.438,0.038,2310,2410,2648,2697,2600,0,0,0,0,0,0,14.77,15.01,15.01
$GC,2695,-0.80,-107.1,2310,2409,2697,2596,581.6,-17.7,122,2700,0.00,2.22,0.00,0.000,516,0.000,0.054,2310,1013,2646,2697,2596,0,0,0,0,0,0,15.25,14.99,15.26
$GC,2786,-0.80,-107.1,2310,1012,2697,2594,596.3,-17.8,124,2791,0.00,2.28,0.00,0.000,3078,0.000,0.044,2305,2419,2645,2697,2593,0,0,0,0,0,0,15.08,14.99,15.09
$STATE,2817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2817,begin apogee
$GC,2822,-0.16,0.0,2305,2186,2697,2593,603.3,-17.7,125,2908,0.57,0.00,83.00,1.667,10246,0.311,0.000,2512,2183,2208,2280,2137,0,0,0,0,0,0,14.76,14.47,13.88
$STATE,2909,end apogee,CONTROL_FINISHED_OK
$STATE,2909,begin climb
$GC,2911,0.80,107.1,2512,2183,2280,2137,609.3,0.0,127,3003,0.80,0.00,89.40,2.307,10246,0.207,0.000,2817,2183,1772,1871,1674,0,0,0,0,0,0,14.37,14.15,13.42
$GC,3218,0.80,107.1,2817,2183,1871,1671,575.5,14.0,135,3224,0.00,2.40,0.00,0.000,2308,0.000,0.051,2818,3619,1770,1870,1671,0,0,0,0,0,0,14.89,14.65,14.89
$GC,3261,0.80,107.1,2817,3619,1870,1671,569.5,13.9,136,3266,0.00,2.30,0.00,0.000,1030,0.000,0.043,2828,2216,1770,1870,1671,0,0,0,0,0,0,14.76,14.69,14.78
$GC,3543,0.80,107.1,2828,2216,1870,1669,531.6,13.4,143,3548,0.00,2.33,0.00,0.000,516,0.000,0.057,2839,787,1769,1870,1669,0,0,0,0,0,0,15.05,14.81,15.06
$GC,3619,0.80,107.1,2839,787,1869,1669,525.9,13.2,144,3627,0.00,2.33,0.00,0.000,5126,0.000,0.042,2839,2217,1768,1869,1668,0,0,0,0,0,0,14.92,14.85,14.93
$GC,3865,0.80,107.1,2839,2217,1868,1666,489.0,13.2,151,3871,0.00,2.35,0.00,0.000,4612,0.000,0.054,2850,792,1767,1868,1666,0,0,0,0,0,0,15.13,14.88,15.13
$GC,3886,0.80,107.1,2850,791,1868,1666,489.0,13.2,151,3893,0.08,2.28,0.00,0.000,5126,0.458,0.038,2828,2208,1767,1868,1666,0,0,0,0,0,0,14.64,14.90,14.90
$GC,4150,0.80,107.1,2827,2210,1867,1664,450.6,13.8,158,4155,0.00,2.33,0.00,0.000,516,0.000,0.054,2838,784,1765,1867,1664,0,0,0,0,0,0,15.16,14.92,15.16
$GC,4166,0.80,107.1,2837,783,1867,1664,450.6,13.8,158,4172,0.00,2.28,0.00,0.000,5126,0.000,0.037,2838,2208,1765,1867,1664,0,0,0,0,0,0,15.02,14.94,15.02
$GC,4434,0.80,107.1,2837,2209,1865,1662,414.1,12.7,165,4439,0.00,2.25,0.00,0.000,4356,0.000,0.053,2838,3602,1764,1865,1663,0,0,0,0,0,0,15.19,14.94,15.19
$GC,4531,0.80,107.1,2838,3603,1863,1663,403.5,12.7,167,4537,0.08,2.28,0.00,0.000,5126,0.450,0.044,2825,2189,1763,1863,1663,0,0,0,0,0,0,14.70,14.95,14.97
$GC,4800,0.80,107.1,2825,2187,1863,1660,372.7,10.4,174,4805,0.00,2.30,0.00,0.000,260,0.000,0.052,2825,3601,1762,1863,1661,0,0,0,0,0,0,15.20,14.96,15.21
$GC,4946,0.80,107.1,2824,3602,1861,1661,358.5,11.3,177,4952,0.00,2.25,0.00,0.000,5126,0.000,0.045,2835,2200,1761,1862,1661,0,0,0,0,0,0,15.05,14.97,15.07
$GC,5203,0.80,107.1,2834,2200,1861,1659,327.5,10.8,184,5209,0.00,2.28,0.00,0.000,4356,0.000,0.050,2835,3602,1760,1861,1659,0,0,0,0,0,0,15.22,14.97,15.23
$GC,5220,0.80,107.1,2834,3602,1861,1659,327.5,10.8,184,5226,0.05,2.25,0.00,0.000,5126,0.487,0.044,2831,2199,1760,1861,1659,0,0,0,0,0,0,14.71,14.98,15.00
$GC,5488,0.82,124.1,2830,2199,1861,1659,300.5,8.9,191,5508,0.00,2.28,12.12,1.183,8708,0.000,0.055,2841,787,1701,1799,1603,0,0,0,0,0,0,15.23,14.92,14.36
$GC,5640,0.82,124.1,2840,786,1797,1603,286.3,10.9,194,5645,0.00,2.28,0.00,0.000,5126,0.000,0.036,2841,2208,1699,1796,1603,0,0,0,0,0,0,15.02,14.94,15.02
$GC,5892,0.82,124.1,2840,2208,1797,1602,251.5,12.2,201,5897,0.00,2.25,0.00,0.000,4356,0.000,0.053,2841,3596,1699,1796,1603,0,0,0,0,0,0,15.19,14.95,15.20
$GC,6025,0.82,124.1,2841,3597,1796,1603,238.5,10.9,204,6031,0.05,2.25,0.00,0.000,5126,0.491,0.044,2837,2194,1699,1796,1603,0,0,0,0,0,0,14.69,14.96,14.96
$GC,6299,0.84,143.2,2836,2194,1796,1602,213.0,8.8,211,6322,0.00,2.35,14.75,1.089,10500,0.000,0.050,2836,3602,1624,1720,1528,0,0,0,0,0,0,15.21,14.90,14.41
$GC,6373,0.86,157.2,2836,3602,1718,1528,209.0,9.1,212,6390,0.00,2.25,11.77,1.040,9222,0.000,0.044,2846,2202,1569,1663,1475,0,0,0,0,0,0,14.98,14.91,14.35
$GC,6634,0.86,157.2,2845,2202,1658,1474,170.3,14.6,235,6639,0.00,2.28,0.00,0.000,260,0.000,0.049,2846,3602,1566,1658,1474,0,0,0,0,0,0,15.11,14.87,15.11
$GC,6754,0.86,157.2,2845,3603,1657,1474,152.4,13.9,246,6763,0.00,2.33,0.00,0.000,5126,0.000,0.046,2856,2205,1566,1658,1474,0,0,0,0,0,0,14.88,14.84,14.90
$GC,7003,0.86,157.2,2855,2205,1657,1473,120.8,12.9,271,7008,0.00,2.30,0.00,0.000,4612,0.000,0.054,2868,785,1565,1657,1474,0,0,0,0,0,0,15.12,14.88,15.12
$GC,7019,0.86,157.2,2867,784,1657,1474,119.0,12.7,272,7029,0.05,2.30,0.00,0.000,5126,0.384,0.034,2850,2196,1565,1657,1473,0,0,0,0,0,0,14.62,14.85,14.79
$GC,7268,0.86,157.2,2850,2197,1657,1474,88.4,12.6,297,7273,0.00,2.28,0.00,0.000,4356,0.000,0.050,2850,3600,1565,1658,1473,0,0,0,0,0,0,15.14,14.89,15.14
$GC,7391,0.86,157.2,2850,3601,1657,1475,73.0,11.7,308,7398,0.00,2.28,0.00,0.000,5126,0.000,0.043,2860,2191,1566,1657,1475,0,0,0,0,0,0,14.98,14.91,15.00
$GC,7648,0.86,158.9,2859,2192,1658,1476,50.5,9.9,333,7653,0.00,2.33,0.00,0.000,4356,0.000,0.050,2860,3611,1567,1658,1477,0,0,0,0,0,0,15.12,14.88,15.12
$GC,7779,0.86,158.9,2859,3611,1657,1478,36.5,10.9,344,7789,0.05,2.33,0.00,0.000,5126,0.423,0.043,2854,2199,1568,1658,1478,0,0,0,0,0,0,14.59,14.83,14.77
$GC,8060,0.89,176.8,2854,2199,1658,1481,9.1,8.9,387,8086,0.00,2.33,15.05,0.790,8452,0.000,0.048,2854,3600,1486,1575,1397,0,0,0,0,0,0,15.08,14.73,14.38
$STATE,8122,end climb,SURFACE_DEPTH_REACHED
$STATE,8122,begin surface coast
$FINISH,0.2,1.011169
$STATE,8154,end surface coast,CONTROL_FINISHED_OK
$STATE,8155,begin surface
$SM_CCo,8170,120.95,0.113,0,0,659,380.45
$SM_GC,1.27,6.12,1.98,120.95,0.082,0.044,0.113,187,2426,659,-7.29,1.22,380.45,0,0,0,0,0,0,14.84,14.81,14.71
$IRIDIUM_FIX,2216.01,-15639.20,010418,084009
$TT8_MAMPS,0.019474,0.321321
$HUMID,41.49
$INTERNAL_PRESSURE,9.40725
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,68.7,6.5
$24V_AH,13.42,51.677
$10V_AH,13.47,0.000
$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,14.850,105.275,226.100,120.950,0.000,31.891,42.726,100.950,2.000,0.000,20.341,1604.343,4695.936,493.310,1701.236,91.871,0.000,1137.181,0.000,1468.154,0.000,18.993,0.000
$DEVICE_MAMPS,491.130,63.495,2307.240,113.220,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,272.071,214.533,382.060,397.206,609.479,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343080
$DATA_FILE_SIZE,37276,401
$CAP_FILE_SIZE,92595,0
$CFSIZE,2097086464,2074148864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.160,288.44,1
$GPS,010418,110330,2225.460,-15638.196,32,0.8,32,9.9,0.7,283.0,10,25.8