version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 206
start: 4 1 118 18 18 35
data:
$ID,626
$MISSION,2
$DIVE,206
$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,35
$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
$GPS1,010418,181131,2227.0681,-15642.3477,15,1.3,15,9.9,0.6,250.4,6,73.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-73.9
$GPS2,010418,181811,2227.1860,-15642.5947,6,1.5,7,9.9,0.9,242.4,6,342.9
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,M7
$TGT_LATLONG,2227.000,-15642.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,89.9,1075,-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,-107.1,186,2422,678,641,0.0,0.0,0,80,0.00,0.00,-60.53,0.000,16390,0.000,0.000,186,2422,2648,2688,2609,0,0,0,0,0,0,15.00,13.68,14.95
$GC,82,-0.80,-107.1,186,2422,2688,2609,3.7,-6.3,8,91,6.88,0.00,0.00,0.000,2054,0.435,0.000,2309,2421,2649,2689,2609,0,0,0,0,0,0,14.45,14.81,14.76
$GC,346,-0.80,-107.1,2309,2421,2695,2609,94.0,-31.5,38,351,0.00,2.33,0.00,0.000,2308,0.000,0.060,2299,3823,2651,2694,2609,0,0,0,0,0,0,15.06,14.78,15.06
$GC,372,-0.80,-107.1,2298,3824,2695,2609,100.1,-28.9,40,381,0.00,2.33,0.00,0.000,3078,0.000,0.048,2299,2434,2651,2694,2609,0,0,0,0,0,0,14.78,14.73,14.81
$GC,619,-0.80,-107.1,2299,2432,2696,2609,165.5,-25.1,65,624,0.00,2.33,0.00,0.000,2564,0.000,0.062,2299,1009,2653,2697,2609,0,0,0,0,0,0,15.11,14.83,15.11
$GC,688,-0.80,-107.1,2299,1008,2697,2609,182.2,-25.7,71,696,0.05,2.30,0.00,0.000,3078,0.492,0.047,2306,2416,2653,2697,2609,0,0,0,0,0,0,14.62,14.85,14.88
$GC,965,-0.80,-107.1,2305,2418,2699,2609,246.8,-23.3,84,970,0.00,2.30,0.00,0.000,2308,0.000,0.062,2299,3829,2654,2699,2609,0,0,0,0,0,0,15.17,14.89,15.17
$GC,1076,-0.80,-107.1,2299,3828,2699,2609,265.2,-22.6,86,1081,0.00,2.28,0.00,0.000,3078,0.000,0.044,2299,2409,2654,2699,2609,0,0,0,0,0,0,15.02,14.92,15.03
$GC,1328,-0.80,-107.1,2298,2408,2700,2609,322.4,-20.5,93,1330,0.00,0.00,0.00,0.000,2054,0.000,0.000,2299,2407,2654,2700,2609,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1569,-0.80,-107.1,2299,2407,2700,2609,366.1,-17.9,99,1570,0.00,0.00,0.00,0.000,2054,0.000,0.000,2299,2407,2654,2700,2609,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1808,-0.80,-107.1,2298,2407,2700,2609,409.5,-18.2,105,1814,0.00,2.28,0.00,0.000,2564,0.000,0.059,2299,1009,2654,2700,2609,0,0,0,0,0,0,15.24,14.97,15.25
$GC,1851,-0.80,-107.1,2299,1009,2700,2609,417.8,-18.7,106,1856,0.05,2.30,0.00,0.000,3078,0.480,0.049,2306,2421,2654,2700,2609,0,0,0,0,0,0,14.73,14.97,15.00
$GC,2134,-0.80,-107.1,2306,2422,2700,2606,471.3,-19.1,113,2135,0.00,0.00,0.00,0.000,2054,0.000,0.000,2306,2422,2653,2700,2606,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2373,-0.80,-107.1,2306,2422,2700,2604,517.1,-18.9,119,2379,0.00,2.30,0.00,0.000,2308,0.000,0.066,2301,3827,2651,2700,2603,0,0,0,0,0,0,15.26,14.96,15.26
$GC,2399,-0.80,-107.1,2301,3827,2700,2603,517.1,-18.9,119,2405,0.00,2.25,0.00,0.000,3078,0.000,0.044,2301,2416,2651,2700,2602,0,0,0,0,0,0,15.09,15.00,15.11
$GC,2658,-0.80,-107.1,2301,2416,2700,2600,569.4,-18.6,126,2663,0.00,2.28,0.00,0.000,2564,0.000,0.060,2301,1013,2650,2700,2600,0,0,0,0,0,0,15.26,14.98,15.26
$GC,2749,-0.80,-107.1,2301,1013,2700,2598,585.2,-19.0,128,2755,0.05,2.30,0.00,0.000,3078,0.461,0.051,2307,2422,2648,2700,2597,0,0,0,0,0,0,14.75,14.98,15.00
$STATE,2860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2860,begin apogee
$GC,2865,-0.16,0.0,2307,2192,2700,2596,607.2,-18.3,131,2952,0.57,0.00,83.65,1.673,10246,0.305,0.000,2515,2189,2209,2281,2137,0,0,0,0,0,0,14.75,14.47,13.88
$STATE,2953,end apogee,CONTROL_FINISHED_OK
$STATE,2953,begin climb
$GC,2954,0.80,107.1,2515,2189,2280,2137,613.5,0.0,133,3046,0.77,0.00,88.20,2.119,10246,0.205,0.000,2811,2189,1772,1872,1673,0,0,0,0,0,0,14.37,14.17,13.46
$GC,3264,0.80,107.1,2811,2188,1871,1670,581.0,14.0,141,3265,0.00,0.00,0.00,0.000,2054,0.000,0.000,2811,2188,1771,1871,1671,0,0,0,0,0,0,14.89,14.90,14.90
$GC,3502,0.80,107.1,2811,2188,1870,1668,548.3,13.3,147,3503,0.00,0.00,0.00,0.000,2054,0.000,0.000,2811,2188,1769,1870,1668,0,0,0,0,0,0,15.04,15.04,15.04
$GC,3742,0.80,107.1,2811,2188,1870,1665,516.6,13.2,153,3747,0.00,2.30,0.00,0.000,2564,0.000,0.062,2822,798,1767,1870,1665,0,0,0,0,0,0,15.11,14.85,15.11
$GC,3808,0.80,107.1,2822,798,1869,1665,511.2,13.0,154,3813,0.00,2.30,0.00,0.000,1030,0.000,0.041,2823,2216,1767,1869,1665,0,0,0,0,0,0,14.95,14.88,14.96
$GC,4067,0.80,107.1,2822,2217,1868,1663,476.8,12.0,161,4072,0.00,2.28,0.00,0.000,260,0.000,0.059,2822,3609,1765,1868,1663,0,0,0,0,0,0,15.14,14.89,15.16
$GC,4113,0.80,107.1,2822,3609,1867,1663,471.6,11.8,162,4119,0.00,2.28,0.00,0.000,5126,0.000,0.043,2832,2199,1765,1867,1663,0,0,0,0,0,0,15.00,14.92,15.02
$GC,4392,0.80,107.1,2832,2198,1865,1661,436.9,12.1,169,4397,0.00,2.30,0.00,0.000,4356,0.000,0.050,2832,3606,1763,1866,1661,0,0,0,0,0,0,15.18,14.92,15.19
$GC,4423,0.80,107.1,2832,3607,1865,1661,436.9,12.1,169,4429,0.05,2.28,0.00,0.000,5126,0.514,0.042,2829,2187,1763,1865,1661,0,0,0,0,0,0,14.66,14.94,14.96
$GC,4676,0.80,107.1,2829,2187,1864,1660,400.1,12.6,176,4681,0.00,2.33,0.00,0.000,4356,0.000,0.050,2829,3612,1762,1864,1660,0,0,0,0,0,0,15.21,14.94,15.21
$GC,4697,0.80,107.1,2829,3612,1864,1660,400.1,12.6,176,4702,0.00,2.28,0.00,0.000,5126,0.000,0.042,2839,2193,1761,1864,1659,0,0,0,0,0,0,15.04,14.97,15.06
$GC,4960,0.80,107.1,2839,2192,1862,1659,364.0,12.4,183,4965,0.00,2.30,0.00,0.000,4356,0.000,0.050,2839,3608,1760,1862,1659,0,0,0,0,0,0,15.21,14.95,15.22
$GC,5026,0.80,107.1,2839,3608,1861,1659,358.2,12.7,184,5032,0.08,2.25,0.00,0.000,5126,0.441,0.042,2826,2196,1760,1861,1659,0,0,0,0,0,0,14.69,14.97,14.98
$GC,5284,0.80,107.1,2826,2196,1861,1658,324.2,11.9,191,5289,0.00,2.30,0.00,0.000,260,0.000,0.051,2826,3608,1759,1861,1658,0,0,0,0,0,0,15.22,14.96,15.23
$GC,5421,0.80,107.1,2826,3608,1860,1659,309.3,11.8,194,5426,0.00,2.25,0.00,0.000,5126,0.000,0.042,2837,2201,1759,1860,1659,0,0,0,0,0,0,15.06,14.98,15.07
$GC,5689,0.81,117.3,2836,2200,1860,1657,281.1,9.4,201,5702,0.00,2.30,7.03,1.074,12548,0.000,0.051,2836,3608,1729,1829,1629,0,0,0,0,0,0,15.23,14.95,14.40
$GC,5958,0.81,117.3,2836,3608,1827,1629,254.9,11.2,207,5964,0.05,2.28,0.00,0.000,5126,0.490,0.042,2832,2195,1728,1828,1629,0,0,0,0,0,0,14.69,14.96,14.96
$GC,6211,0.84,142.2,2832,2193,1828,1628,228.4,8.4,214,6236,0.00,2.28,19.25,1.134,10756,0.000,0.053,2842,797,1627,1724,1530,0,0,0,0,0,0,15.22,14.80,14.40
$GC,6263,0.87,165.1,2841,797,1723,1531,224.4,8.6,215,6287,0.00,2.28,17.83,1.126,11270,0.000,0.037,2842,2223,1533,1623,1444,0,0,0,0,0,0,14.96,14.90,14.31
$GC,6534,0.87,165.1,2841,2223,1624,1443,183.8,13.4,228,6540,0.00,2.25,0.00,0.000,2308,0.000,0.051,2842,3598,1533,1623,1443,0,0,0,0,0,0,15.09,14.84,15.09
$GC,6748,0.87,165.1,2842,3598,1622,1443,149.9,15.8,248,6753,0.00,2.28,0.00,0.000,5126,0.000,0.043,2851,2194,1532,1622,1443,0,0,0,0,0,0,14.95,14.88,14.97
$GC,7003,0.87,165.1,2852,2193,1622,1443,116.6,12.0,273,7008,0.00,2.28,0.00,0.000,4612,0.000,0.054,2863,793,1532,1622,1443,0,0,0,0,0,0,15.11,14.87,15.12
$GC,7016,0.87,165.1,2863,793,1622,1443,114.9,12.0,274,7021,0.00,2.25,0.00,0.000,5126,0.000,0.035,2863,2200,1532,1622,1443,0,0,0,0,0,0,14.97,14.90,14.98
$GC,7271,0.87,165.1,2862,2203,1622,1443,84.9,11.1,299,7276,0.00,2.28,0.00,0.000,4356,0.000,0.053,2864,3595,1533,1622,1444,0,0,0,0,0,0,15.13,14.88,15.13
$GC,7527,0.87,165.1,2863,3594,1622,1445,56.6,11.7,321,7533,0.08,2.25,0.00,0.000,5126,0.439,0.041,2850,2196,1533,1622,1445,0,0,0,0,0,0,14.62,14.90,14.88
$GC,7778,0.87,165.1,2850,2196,1622,1447,28.9,11.3,346,7786,0.00,2.35,0.00,0.000,260,0.000,0.049,2850,3590,1535,1622,1448,0,0,0,0,0,0,15.11,14.81,15.11
$GC,7836,0.87,165.1,2850,3590,1622,1448,22.3,10.8,355,7845,0.00,2.30,0.00,0.000,5126,0.000,0.040,2860,2197,1535,1622,1448,0,0,0,0,0,0,14.85,14.82,14.87
$STATE,8023,end climb,SURFACE_DEPTH_REACHED
$STATE,8023,begin surface coast
$FINISH,0.3,1.010417
$STATE,8054,end surface coast,CONTROL_FINISHED_OK
$STATE,8054,begin surface
$SM_CCo,8068,126.00,0.113,0,0,658,380.21
$SM_GC,1.24,6.05,0.35,126.00,0.070,0.070,0.113,186,2414,658,-7.28,-1.47,380.21,0,0,0,0,0,0,14.88,14.85,14.73
$IRIDIUM_FIX,2218.34,-15644.41,010418,181443
$TT8_MAMPS,0.019474,0.325066
$HUMID,41.10
$INTERNAL_PRESSURE,9.40725
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.9,6.4
$24V_AH,13.46,52.366
$10V_AH,13.73,0.000
$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,14.675,83.025,215.950,126.000,0.000,50.448,86.392,102.399,0.500,0.000,8.112,1449.866,5011.104,466.717,1589.965,89.180,0.000,1028.233,0.000,1314.375,0.000,5.460,0.000
$DEVICE_MAMPS,514.080,70.380,2119.050,113.220,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,265.752,206.211,367.637,384.317,589.687,0.000,0.000,0.000,0.000,0.000
$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,34066,391
$CAP_FILE_SIZE,83464,0
$CFSIZE,2097086464,2073755648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.152,271.21,1
$GPS,010418,203624,2227.102,-15642.412,40,0.8,40,9.9,0.0,0.0,10,19.8