version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 204
start: 4 1 118 13 30 57
data:
$ID,626
$MISSION,2
$DIVE,204
$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,41
$R_STBD_OVSHOOT,48
$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
$GPS1,010418,132555,2225.9094,-15639.5303,14,1.1,14,9.9,0.0,0.0,9,29.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.9
$GPS2,010418,133031,2225.9053,-15639.5918,14,1.1,14,9.9,0.7,284.1,9,28.3
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,M7
$TGT_LATLONG,2227.000,-15642.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,294.4,4593,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.80,-107.1,188,2423,677,642,0.0,0.0,0,80,0.00,0.00,-59.95,0.000,16390,0.000,0.000,188,2424,2647,2687,2608,0,0,0,0,0,0,14.92,13.71,14.88
$GC,83,-0.80,-107.1,188,2423,2687,2608,4.4,-8.9,8,101,6.95,2.30,0.00,0.000,2308,0.443,0.049,2298,3818,2646,2687,2605,0,0,0,0,0,0,14.44,14.63,14.71
$GC,263,-0.80,-107.1,2298,3818,2688,2606,65.6,-31.0,27,273,0.00,2.35,0.00,0.000,3078,0.000,0.052,2298,2425,2646,2687,2606,0,0,0,0,0,0,14.73,14.69,14.75
$GC,511,-0.80,-107.1,2297,2424,2689,2606,145.4,-30.4,52,516,0.00,2.30,0.00,0.000,2564,0.000,0.054,2298,1003,2647,2688,2606,0,0,0,0,0,0,15.07,14.83,15.07
$GC,534,-0.80,-107.1,2298,1003,2688,2606,152.0,-29.1,54,540,0.05,2.28,0.00,0.000,3078,0.507,0.041,2305,2403,2647,2688,2606,0,0,0,0,0,0,14.59,14.83,14.85
$GC,788,-0.80,-107.1,2305,2404,2691,2606,210.8,-23.3,76,789,0.00,0.00,0.00,0.000,2054,0.000,0.000,2305,2404,2648,2691,2606,0,0,0,0,0,0,15.12,15.13,15.13
$GC,1027,-0.80,-107.1,2305,2404,2693,2606,264.3,-21.2,82,1028,0.00,0.00,0.00,0.000,2054,0.000,0.000,2305,2404,2649,2693,2606,0,0,0,0,0,0,15.17,15.18,15.18
$GC,1267,-0.80,-107.1,2305,2404,2695,2606,314.6,-20.5,88,1268,0.00,0.00,0.00,0.000,2054,0.000,0.000,2305,2404,2650,2695,2606,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1507,-0.80,-107.1,2305,2404,2695,2606,362.4,-20.1,94,1512,0.00,2.30,0.00,0.000,2564,0.000,0.061,2304,1007,2650,2695,2606,0,0,0,0,0,0,15.23,14.95,15.23
$GC,1538,-0.80,-107.1,2305,1007,2695,2606,362.4,-20.1,94,1544,0.00,2.30,0.00,0.000,3078,0.000,0.047,2304,2429,2650,2695,2606,0,0,0,0,0,0,15.06,14.96,15.07
$GC,1791,-0.80,-107.1,2304,2431,2694,2606,418.8,-19.1,101,1797,0.00,2.25,0.00,0.000,2308,0.000,0.059,2298,3827,2650,2695,2606,0,0,0,0,0,0,15.24,14.96,15.24
$GC,1823,-0.80,-107.1,2297,3827,2695,2606,418.8,-19.1,101,1829,0.00,2.25,0.00,0.000,3078,0.000,0.037,2298,2400,2650,2695,2606,0,0,0,0,0,0,15.08,15.00,15.09
$GC,2076,-0.80,-107.1,2297,2399,2695,2604,470.7,-17.8,108,2077,0.00,0.00,0.00,0.000,2054,0.000,0.000,2298,2398,2649,2695,2604,0,0,0,0,0,0,15.25,15.25,15.25
$GC,2315,-0.80,-107.1,2297,2398,2695,2601,513.6,-17.7,114,2322,0.00,2.22,0.00,0.000,2564,0.000,0.054,2298,1013,2647,2695,2600,0,0,0,0,0,0,15.26,14.99,15.26
$GC,2378,-0.80,-107.1,2297,1013,2695,2600,521.8,-18.1,115,2385,0.05,2.28,0.00,0.000,3078,0.488,0.044,2306,2425,2647,2694,2600,0,0,0,0,0,0,14.75,14.99,15.01
$GC,2642,-0.80,-107.1,2305,2425,2695,2596,572.0,-17.6,122,2647,0.00,2.30,0.00,0.000,2564,0.000,0.054,2306,1013,2645,2695,2596,0,0,0,0,0,0,15.26,14.99,15.26
$GC,2693,-0.80,-107.1,2306,1013,2695,2596,579.8,-17.8,123,2699,0.00,2.28,0.00,0.000,3078,0.000,0.046,2304,2418,2645,2694,2596,0,0,0,0,0,0,15.09,14.99,15.10
$STATE,2804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2804,begin apogee
$GC,2809,-0.16,0.0,2304,2172,2695,2594,600.9,-17.5,126,2895,0.60,0.00,82.85,1.625,10246,0.307,0.000,2520,2169,2209,2280,2138,0,0,0,0,0,0,14.77,14.48,13.92
$STATE,2896,end apogee,CONTROL_FINISHED_OK
$STATE,2896,begin climb
$GC,2898,0.80,107.1,2521,2169,2280,2138,606.5,0.0,128,2991,0.73,2.38,86.15,1.977,10756,0.200,0.058,2815,815,1772,1872,1673,0,0,0,0,0,0,14.38,14.21,13.51
$GC,3013,0.80,107.1,2815,815,1872,1673,600.7,7.2,131,3019,0.00,2.35,0.00,0.000,3078,0.000,0.041,2815,2211,1772,1872,1672,0,0,0,0,0,0,14.43,14.36,14.45
$GC,3285,0.80,107.1,2815,2211,1871,1669,560.8,14.2,138,3291,0.00,2.33,0.00,0.000,2308,0.000,0.057,2816,3607,1770,1872,1669,0,0,0,0,0,0,14.96,14.71,14.96
$GC,3502,0.80,107.1,2815,3608,1868,1669,531.5,14.5,143,3508,0.00,2.28,0.00,0.000,1030,0.000,0.047,2826,2214,1768,1868,1669,0,0,0,0,0,0,14.89,14.83,14.90
$GC,3770,0.80,107.1,2825,2213,1868,1665,494.0,13.1,150,3775,0.00,2.30,0.00,0.000,516,0.000,0.056,2837,789,1766,1868,1665,0,0,0,0,0,0,15.11,14.88,15.11
$GC,3821,0.80,107.1,2837,788,1868,1665,487.8,13.6,151,3827,0.00,2.28,0.00,0.000,5126,0.000,0.037,2837,2210,1766,1867,1665,0,0,0,0,0,0,14.97,14.90,14.98
$GC,4093,0.80,107.1,2837,2210,1867,1663,449.6,13.6,158,4099,0.00,2.28,0.00,0.000,4356,0.000,0.054,2837,3603,1765,1867,1664,0,0,0,0,0,0,15.16,14.91,15.16
$GC,4160,0.80,107.1,2837,3603,1865,1664,443.5,13.7,159,4166,0.08,2.28,0.00,0.000,5126,0.453,0.044,2824,2193,1765,1866,1664,0,0,0,0,0,0,14.68,14.92,14.95
$GC,4418,0.80,107.1,2824,2190,1865,1660,406.2,13.0,166,4424,0.00,2.30,0.00,0.000,260,0.000,0.052,2824,3601,1762,1865,1660,0,0,0,0,0,0,15.19,14.94,15.19
$GC,4655,0.80,107.1,2824,3600,1862,1661,380.9,12.7,171,4661,0.00,2.25,0.00,0.000,5126,0.000,0.044,2834,2200,1761,1862,1661,0,0,0,0,0,0,15.04,14.96,15.05
$GC,4901,0.80,107.1,2834,2200,1862,1659,347.7,12.0,178,4906,0.00,2.28,0.00,0.000,4356,0.000,0.051,2835,3600,1760,1862,1659,0,0,0,0,0,0,15.21,14.96,15.22
$GC,4963,0.80,107.1,2834,3601,1861,1660,342.2,12.1,179,4969,0.05,2.25,0.00,0.000,5126,0.492,0.044,2830,2196,1760,1861,1659,0,0,0,0,0,0,14.70,14.97,14.99
$GC,5226,0.80,107.1,2830,2195,1861,1658,310.5,11.1,186,5232,0.00,2.30,0.00,0.000,4356,0.000,0.050,2830,3609,1760,1861,1659,0,0,0,0,0,0,15.22,14.96,15.22
$GC,5359,0.80,107.1,2830,3609,1860,1659,296.9,11.0,189,5364,0.00,2.28,0.00,0.000,5126,0.000,0.044,2840,2199,1760,1861,1659,0,0,0,0,0,0,15.06,14.98,15.07
$GC,5631,0.82,122.9,2840,2199,1860,1657,270.0,9.0,196,5651,0.00,2.30,11.10,1.119,12804,0.000,0.054,2852,790,1707,1805,1609,0,0,0,0,0,0,15.23,14.93,14.40
$GC,5673,0.84,139.2,2851,791,1804,1608,266.2,9.0,197,5692,0.00,2.28,13.73,1.133,13318,0.000,0.036,2852,2213,1639,1735,1544,0,0,0,0,0,0,15.02,14.95,14.35
$GC,5954,0.84,139.2,2851,2213,1733,1541,228.4,14.5,204,5960,0.00,2.25,0.00,0.000,4356,0.000,0.052,2852,3597,1637,1733,1541,0,0,0,0,0,0,15.15,14.90,15.15
$GC,6102,0.84,139.2,2851,3598,1732,1542,211.5,14.1,207,6108,0.08,2.25,0.00,0.000,5126,0.441,0.044,2838,2200,1637,1732,1542,0,0,0,0,0,0,14.66,14.92,14.92
$GC,6351,0.84,140.8,2838,2199,1732,1541,184.8,9.9,225,6357,0.00,2.28,0.00,0.000,260,0.000,0.050,2838,3603,1636,1732,1541,0,0,0,0,0,0,15.16,14.92,15.16
$GC,6637,0.84,140.8,2838,3603,1732,1541,149.7,11.1,252,6642,0.00,2.28,0.00,0.000,5126,0.000,0.044,2848,2195,1636,1732,1541,0,0,0,0,0,0,15.01,14.92,15.02
$GC,6893,0.86,155.5,2848,2195,1732,1541,125.0,9.1,277,6917,0.00,2.35,13.00,0.942,12548,0.000,0.050,2848,3603,1571,1665,1477,0,0,0,0,0,0,15.15,14.83,14.38
$GC,6963,0.86,155.5,2848,3604,1664,1477,117.6,11.0,283,6968,0.00,2.28,0.00,0.000,5126,0.000,0.043,2858,2196,1570,1664,1477,0,0,0,0,0,0,14.95,14.88,14.96
$GC,7216,0.88,174.7,2858,2195,1664,1477,93.6,8.8,308,7240,0.00,2.33,14.85,0.908,12548,0.000,0.049,2858,3596,1494,1584,1404,0,0,0,0,0,0,15.12,14.81,14.37
$GC,7379,0.88,174.7,2858,3596,1584,1410,75.0,11.7,322,7389,0.00,2.30,0.00,0.000,5126,0.000,0.043,2869,2206,1497,1584,1410,0,0,0,0,0,0,14.84,14.78,14.85
$GC,7629,0.88,174.7,2869,2206,1584,1410,44.6,12.2,347,7637,0.05,0.00,0.00,0.000,4102,0.488,0.000,2854,2206,1496,1584,1409,0,0,0,0,0,0,14.63,14.90,14.86
$GC,7901,0.88,174.7,2854,2206,1584,1413,12.9,10.2,385,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2206,1498,1584,1412,0,0,0,0,0,0,15.07,15.08,15.07
$STATE,7987,end climb,SURFACE_DEPTH_REACHED
$STATE,7987,begin surface coast
$FINISH,0.3,1.023837
$STATE,8013,end surface coast,CONTROL_FINISHED_OK
$STATE,8013,begin surface
$SM_CCo,8026,121.80,0.115,0,0,658,380.21
$SM_GC,1.29,6.05,0.32,121.80,0.070,0.059,0.115,185,2433,658,-7.31,-1.58,380.21,0,0,0,0,0,0,14.87,14.87,14.73
$IRIDIUM_FIX,2216.01,-15637.06,010418,132658
$TT8_MAMPS,0.019474,0.266644
$HUMID,41.14
$INTERNAL_PRESSURE,9.40725
$TCM_TEMP,21.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,53.0,6.5
$24V_AH,13.51,52.029
$10V_AH,13.79,0.000
$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,14.675,83.050,221.675,121.800,0.000,28.999,43.270,101.366,0.500,0.000,16.344,1527.660,4714.649,455.264,1647.405,94.323,0.000,1090.280,0.000,1428.390,0.000,6.158,0.000
$DEVICE_MAMPS,507.195,61.200,1976.760,114.750,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,273.271,218.461,389.921,390.766,599.575,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343188
$DATA_FILE_SIZE,37199,403
$CAP_FILE_SIZE,86309,0
$CFSIZE,2097086464,2073952256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.171,272.30,1
$GPS,010418,154800,2226.323,-15641.192,41,0.8,41,9.9,0.8,268.4,9,28.3