version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 207
start: 4 1 118 20 41 46
data:
$ID,626
$MISSION,2
$DIVE,207
$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,47
$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,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
$GPS1,010418,203624,2227.1023,-15642.4121,40,0.8,40,9.9,0.0,0.0,10,19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.9
$GPS2,010418,204108,2227.1279,-15642.4873,19,0.8,19,9.9,0.0,0.0,9,19.9
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,M7
$TGT_LATLONG,2227.000,-15642.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,86.0,867,-21.6,-10.000,-24.09,1618
$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,-105.5,187,2417,678,641,0.0,0.0,0,75,0.00,0.00,-57.40,0.000,16386,0.000,0.000,187,2416,2544,2579,2510,0,0,0,0,0,0,15.01,28.83,15.01
$GC,77,-0.81,-107.1,187,2417,2579,2510,3.3,-5.8,7,94,6.88,0.00,-1.90,0.000,18438,0.436,0.000,2307,2417,2648,2692,2605,0,0,0,0,0,0,14.45,14.01,14.79
$GC,349,-0.81,-107.1,2307,2417,2694,2604,96.2,-30.4,38,350,0.00,0.00,0.00,0.000,2054,0.000,0.000,2307,2417,2649,2694,2604,0,0,0,0,0,0,15.07,15.07,15.07
$GC,589,-0.81,-107.1,2306,2417,2696,2604,163.2,-26.3,62,590,0.00,0.00,0.00,0.000,2054,0.000,0.000,2306,2417,2650,2696,2605,0,0,0,0,0,0,15.11,15.11,15.11
$GC,829,-0.81,-107.1,2306,2417,2698,2605,218.8,-23.1,80,834,0.00,2.28,0.00,0.000,2308,0.000,0.059,2298,3815,2651,2698,2604,0,0,0,0,0,0,15.16,14.87,15.16
$GC,890,-0.81,-107.1,2297,3815,2699,2604,228.2,-22.7,81,895,0.00,2.22,0.00,0.000,3078,0.000,0.047,2298,2431,2651,2698,2605,0,0,0,0,0,0,15.00,14.90,15.01
$GC,1152,-0.81,-107.1,2297,2431,2700,2604,287.3,-20.6,88,1158,0.00,2.30,0.00,0.000,2564,0.000,0.054,2298,1001,2652,2700,2605,0,0,0,0,0,0,15.20,14.93,15.20
$GC,1163,-0.81,-107.1,2298,1000,2700,2604,287.3,-20.6,88,1169,0.05,2.28,0.00,0.000,3078,0.493,0.040,2306,2412,2652,2700,2604,0,0,0,0,0,0,14.68,14.92,14.95
$GC,1436,-0.81,-107.1,2306,2412,2700,2604,345.0,-19.7,95,1441,0.00,2.33,0.00,0.000,2564,0.000,0.060,2307,1004,2652,2700,2604,0,0,0,0,0,0,15.22,14.94,15.23
$GC,1452,-0.81,-107.1,2306,1004,2700,2605,345.0,-19.7,95,1457,0.00,2.30,0.00,0.000,3078,0.000,0.050,2304,2418,2652,2700,2604,0,0,0,0,0,0,15.05,14.94,15.07
$GC,1720,-0.81,-107.1,2304,2418,2700,2604,401.3,-19.9,102,1721,0.00,0.00,0.00,0.000,2054,0.000,0.000,2304,2418,2652,2701,2604,0,0,0,0,0,0,15.23,15.24,15.24
$GC,1959,-0.81,-107.1,2304,2418,2700,2603,446.8,-18.8,108,1960,0.00,0.00,0.00,0.000,2054,0.000,0.000,2304,2418,2652,2700,2604,0,0,0,0,0,0,15.25,15.26,15.25
$GC,2200,-0.81,-107.1,2304,2418,2700,2601,491.7,-18.5,114,2205,0.00,2.30,0.00,0.000,2308,0.000,0.060,2294,3836,2650,2700,2600,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2236,-0.81,-107.1,2294,3836,2700,2600,491.7,-18.5,114,2243,0.00,2.28,0.00,0.000,3078,0.000,0.041,2294,2407,2650,2700,2600,0,0,0,0,0,0,15.09,15.00,15.10
$GC,2482,-0.81,-107.1,2294,2405,2700,2598,544.6,-18.7,121,2487,0.00,2.25,0.00,0.000,2564,0.000,0.052,2294,1003,2648,2700,2597,0,0,0,0,0,0,15.26,14.99,15.26
$GC,2528,-0.81,-107.1,2293,1003,2700,2597,552.4,-18.3,122,2535,0.05,2.30,0.00,0.000,3078,0.501,0.044,2305,2429,2648,2700,2596,0,0,0,0,0,0,14.71,14.98,15.00
$GC,2807,-0.81,-107.1,2305,2429,2700,2593,599.6,-16.2,129,2812,0.00,2.33,0.00,0.000,2564,0.000,0.057,2305,1010,2645,2699,2592,0,0,0,0,0,0,15.26,14.99,15.26
$STATE,2848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2848,begin apogee
$GC,2855,-0.16,0.0,2305,2204,2700,2592,606.7,-16.0,130,2941,0.60,0.00,83.22,1.678,10246,0.314,0.000,2518,2205,2209,2282,2137,0,0,0,0,0,0,14.74,14.46,13.83
$STATE,2942,end apogee,CONTROL_FINISHED_OK
$STATE,2942,begin climb
$GC,2944,0.81,107.1,2518,2206,2282,2137,611.6,0.0,132,3039,0.77,2.42,86.00,1.770,10500,0.201,0.052,2817,3609,1772,1870,1674,0,0,0,0,0,0,14.38,14.23,13.55
$GC,3065,0.81,107.1,2817,3609,1869,1675,603.7,8.7,135,3071,0.00,2.38,0.00,0.000,1030,0.000,0.044,2828,2197,1771,1869,1674,0,0,0,0,0,0,14.47,14.40,14.48
$GC,3333,0.81,107.1,2827,2196,1869,1671,559.1,15.5,142,3338,0.00,2.30,0.00,0.000,516,0.000,0.060,2839,789,1770,1869,1671,0,0,0,0,0,0,14.95,14.72,14.97
$GC,3369,0.81,107.1,2839,788,1869,1671,559.1,15.5,142,3376,0.00,2.33,0.00,0.000,5126,0.000,0.040,2839,2214,1770,1869,1671,0,0,0,0,0,0,14.83,14.76,14.84
$GC,3617,0.81,107.1,2839,2214,1868,1668,516.1,15.1,149,3622,0.00,2.38,0.00,0.000,4612,0.000,0.057,2850,780,1768,1869,1668,0,0,0,0,0,0,15.07,14.83,15.07
$GC,3693,0.81,107.1,2850,780,1867,1668,509.9,14.7,150,3702,0.08,2.30,0.00,0.000,5126,0.448,0.041,2827,2207,1768,1868,1668,0,0,0,0,0,0,14.60,14.85,14.86
$GC,3939,0.81,107.1,2827,2208,1868,1665,472.1,13.2,157,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2208,1766,1867,1665,0,0,0,0,0,0,15.14,15.14,15.14
$GC,4180,0.81,107.1,2827,2208,1866,1663,442.9,12.1,163,4185,0.00,2.25,0.00,0.000,260,0.000,0.052,2827,3600,1764,1866,1663,0,0,0,0,0,0,15.16,14.92,15.17
$GC,4432,0.81,107.1,2827,3601,1862,1664,410.9,13.3,169,4437,0.00,2.28,0.00,0.000,5126,0.000,0.043,2837,2191,1763,1862,1664,0,0,0,0,0,0,15.02,14.94,15.04
$GC,4704,0.81,107.1,2837,2190,1862,1661,377.6,11.5,176,4709,0.00,2.30,0.00,0.000,4356,0.000,0.050,2837,3604,1761,1862,1661,0,0,0,0,0,0,15.21,14.95,15.21
$GC,4940,0.81,107.1,2837,3604,1860,1661,352.7,12.3,181,4947,0.05,2.28,0.00,0.000,5126,0.490,0.044,2833,2190,1760,1860,1661,0,0,0,0,0,0,14.68,14.96,14.97
$GC,5189,0.81,108.3,2832,2189,1859,1660,323.7,9.9,188,5190,0.00,0.00,0.00,0.000,4102,0.000,0.000,2833,2188,1759,1860,1659,0,0,0,0,0,0,15.21,15.22,15.22
$GC,5426,0.84,138.1,2832,2187,1860,1659,303.8,8.1,194,5450,0.00,0.00,21.92,1.241,10246,0.000,0.000,2832,2188,1646,1742,1551,0,0,0,0,0,0,15.23,14.88,14.36
$GC,5667,0.84,138.1,2832,2188,1741,1548,276.3,12.3,200,5672,0.00,2.33,0.00,0.000,2308,0.000,0.052,2833,3601,1644,1741,1548,0,0,0,0,0,0,15.14,14.90,15.14
$GC,5792,0.84,138.1,2832,3602,1741,1553,258.6,14.1,203,5798,0.00,2.28,0.00,0.000,1030,0.000,0.044,2842,2197,1647,1741,1553,0,0,0,0,0,0,14.99,14.92,15.00
$GC,6070,0.84,138.1,2842,2197,1741,1555,225.4,11.2,210,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2197,1648,1742,1555,0,0,0,0,0,0,15.19,15.19,15.19
$GC,6312,0.85,143.1,2842,2197,1741,1555,200.9,9.7,216,6326,0.00,2.33,5.80,0.921,8452,0.000,0.050,2842,3602,1624,1720,1529,0,0,0,0,0,0,15.20,14.93,14.42
$GC,6637,0.85,143.1,2842,3602,1719,1530,160.4,11.6,244,6643,0.00,2.28,0.00,0.000,5126,0.000,0.043,2853,2195,1624,1719,1530,0,0,0,0,0,0,15.01,14.93,15.02
$GC,6893,0.85,143.1,2853,2194,1719,1530,133.8,10.0,269,6898,0.00,2.28,0.00,0.000,4612,0.000,0.053,2864,786,1624,1719,1530,0,0,0,0,0,0,15.16,14.91,15.16
$GC,7037,0.88,170.4,2864,785,1719,1530,120.4,8.3,282,7065,0.00,2.28,20.80,0.975,13318,0.000,0.036,2864,2210,1513,1601,1425,0,0,0,0,0,0,15.01,14.93,14.39
$GC,7314,0.88,170.4,2864,2210,1601,1425,88.1,12.2,309,7319,0.00,2.25,0.00,0.000,4356,0.000,0.049,2864,3601,1513,1600,1426,0,0,0,0,0,0,15.09,14.85,15.10
$GC,7487,0.88,170.4,2864,3601,1601,1427,66.2,12.1,324,7493,0.08,2.28,0.00,0.000,5126,0.438,0.041,2852,2193,1514,1602,1427,0,0,0,0,0,0,14.61,14.88,14.87
$GC,7743,0.88,170.4,2851,2193,1602,1429,35.6,12.2,349,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2193,1515,1601,1429,0,0,0,0,0,0,15.10,15.11,15.11
$STATE,8026,end climb,SURFACE_DEPTH_REACHED
$STATE,8026,begin surface coast
$FINISH,0.2,1.016912
$STATE,8051,end surface coast,CONTROL_FINISHED_OK
$STATE,8052,begin surface
$SM_CCo,8065,127.40,0.111,0,0,657,380.21
$SM_GC,1.14,6.05,0.38,127.40,0.071,0.071,0.111,187,2419,657,-7.30,-1.22,380.21,0,0,0,0,0,0,14.88,14.83,14.72
$IRIDIUM_FIX,2218.34,-15644.41,010418,203725
$TT8_MAMPS,0.018725,0.264397
$HUMID,40.74
$INTERNAL_PRESSURE,9.42678
$TCM_TEMP,21.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,6.4
$24V_AH,13.55,52.524
$10V_AH,13.56,0.000
$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,14.600,68.975,217.750,127.400,0.000,27.953,47.055,101.998,0.500,0.000,22.215,1485.498,4911.466,463.794,1558.511,85.993,0.000,1022.711,0.000,1335.308,0.000,5.459,0.000
$DEVICE_MAMPS,501.075,71.145,1770.210,110.925,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,270.005,212.887,379.570,380.026,583.101,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343136
$DATA_FILE_SIZE,33987,398
$CAP_FILE_SIZE,79582,0
$CFSIZE,2097086464,2073657344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.142,279.90,1
$GPS,010418,225908,2227.260,-15642.263,15,1.5,15,9.9,1.1,309.1,7,74.1