version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 209
start: 4 2 118 1 26 0
data:
$ID,626
$MISSION,2
$DIVE,209
$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,44
$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
$GPS1,020418,012101,2227.0703,-15642.1455,29,0.8,32,9.9,0.0,0.0,10,12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.0
$GPS2,020418,012533,2227.0632,-15642.1680,7,0.7,7,9.9,0.7,77.6,11,101.0
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,M7
$TGT_LATLONG,2227.000,-15642.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,90.5,311,-27.8,-10.000,-30.00,971
$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,-0.95,-63.2,186,2433,678,640,0.0,0.0,0,74,0.00,0.00,-55.97,0.000,16390,0.000,0.000,186,2433,2468,2498,2439,0,0,0,0,0,0,15.00,13.69,14.96
$GC,77,-1.00,-107.1,187,2433,2498,2439,2.8,-4.3,7,95,6.70,2.25,-3.33,0.000,18692,0.439,0.073,2234,3812,2646,2691,2602,0,0,0,0,0,0,14.47,14.00,14.78
$GC,151,-1.00,-107.1,2234,3812,2692,2602,30.4,-36.3,18,161,0.00,2.33,0.00,0.000,3078,0.000,0.047,2234,2426,2646,2691,2602,0,0,0,0,0,0,14.76,14.71,14.78
$GC,402,-1.00,-107.1,2234,2426,2692,2602,122.9,-34.4,43,407,0.00,2.30,0.00,0.000,2308,0.000,0.057,2224,3819,2647,2692,2602,0,0,0,0,0,0,15.07,14.81,15.07
$GC,505,-1.00,-107.1,2224,3819,2693,2602,157.9,-31.4,52,513,0.08,2.28,0.00,0.000,3078,0.431,0.047,2246,2419,2647,2693,2602,0,0,0,0,0,0,14.59,14.84,14.85
$GC,782,-1.00,-107.1,2246,2418,2697,2602,237.3,-29.9,71,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2418,2649,2697,2602,0,0,0,0,0,0,15.15,15.15,15.15
$GC,1022,-1.00,-107.1,2246,2418,2699,2602,296.5,-23.4,77,1027,0.00,2.28,0.00,0.000,260,0.000,0.062,2237,3813,2650,2699,2602,0,0,0,0,0,0,15.19,14.91,15.19
$GC,1058,-1.00,-107.1,2237,3814,2699,2602,296.5,-23.4,77,1066,0.00,2.25,0.00,0.000,3078,0.000,0.044,2237,2410,2650,2699,2602,0,0,0,0,0,0,15.02,14.94,15.04
$GC,1304,-1.00,-107.1,2237,2410,2700,2602,357.4,-21.8,84,1309,0.00,2.25,0.00,0.000,2564,0.000,0.057,2237,1013,2650,2699,2602,0,0,0,0,0,0,15.22,14.94,15.22
$GC,1330,-1.00,-107.1,2237,1013,2700,2602,357.4,-21.8,84,1336,0.00,2.28,0.00,0.000,3078,0.000,0.054,2236,2407,2650,2699,2602,0,0,0,0,0,0,15.04,14.95,15.06
$GC,1589,-1.00,-107.1,2235,2408,2700,2602,423.2,-23.2,91,1594,0.00,2.33,0.00,0.000,2308,0.000,0.064,2235,3831,2650,2699,2602,0,0,0,0,0,0,15.23,14.94,15.23
$GC,1605,-1.00,-107.1,2235,3831,2699,2602,423.2,-23.2,91,1611,0.00,2.25,0.00,0.000,3078,0.000,0.043,2235,2418,2650,2699,2601,0,0,0,0,0,0,15.07,14.97,15.08
$GC,1873,-1.00,-107.1,2235,2418,2699,2601,488.9,-23.2,98,1878,0.00,2.33,0.00,0.000,2308,0.000,0.063,2234,3825,2650,2700,2601,0,0,0,0,0,0,15.25,14.95,15.25
$GC,1909,-1.00,-107.1,2234,3825,2699,2601,488.9,-23.2,98,1916,0.00,2.25,0.00,0.000,3078,0.000,0.042,2235,2417,2650,2699,2601,0,0,0,0,0,0,15.07,14.99,15.09
$GC,2155,-1.00,-107.1,2234,2416,2699,2600,551.2,-22.2,105,2161,0.00,2.28,0.00,0.000,2564,0.000,0.057,2234,1010,2649,2699,2599,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2171,-1.00,-107.1,2234,1009,2700,2599,551.2,-22.2,105,2178,0.08,2.30,0.00,0.000,3078,0.445,0.048,2248,2428,2649,2699,2599,0,0,0,0,0,0,14.71,14.97,15.00
$STATE,2398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2399,begin apogee
$GC,2403,-0.16,0.0,2248,2168,2699,2595,600.4,-20.0,111,2490,0.75,0.00,83.85,1.796,10246,0.325,0.000,2514,2164,2209,2282,2137,0,0,0,0,0,0,14.72,14.42,13.76
$STATE,2491,end apogee,CONTROL_FINISHED_OK
$STATE,2492,begin climb
$GC,2493,1.00,107.1,2514,2164,2282,2138,606.1,0.0,113,2587,0.95,0.00,90.32,2.386,10246,0.200,0.000,2877,2163,1772,1863,1682,0,0,0,0,0,0,14.35,14.14,13.42
$GC,2802,1.00,107.1,2877,2163,1862,1679,564.1,16.9,121,2807,0.00,2.42,0.00,0.000,2308,0.000,0.056,2877,3606,1770,1862,1678,0,0,0,0,0,0,14.88,14.64,14.88
$GC,3118,1.00,107.1,2877,3606,1859,1677,515.1,16.7,128,3124,0.00,2.28,0.00,0.000,1030,0.000,0.046,2888,2208,1768,1859,1677,0,0,0,0,0,0,14.89,14.83,14.90
$GC,3364,1.00,107.1,2888,2208,1858,1673,471.4,15.4,135,3369,0.00,2.30,0.00,0.000,516,0.000,0.054,2900,786,1766,1859,1673,0,0,0,0,0,0,15.11,14.87,15.12
$GC,3386,1.00,107.1,2900,786,1858,1673,471.4,15.4,135,3391,0.00,2.30,0.00,0.000,5126,0.000,0.041,2900,2209,1765,1858,1673,0,0,0,0,0,0,14.97,14.88,14.97
$GC,3648,1.00,107.1,2900,2210,1858,1671,428.9,14.8,142,3649,0.00,0.00,0.00,0.000,4102,0.000,0.000,2899,2210,1764,1858,1670,0,0,0,0,0,0,15.16,15.16,15.16
$GC,3888,1.00,107.1,2900,2210,1856,1669,393.0,15.0,148,3894,0.00,2.25,0.00,0.000,4356,0.000,0.049,2900,3612,1762,1856,1669,0,0,0,0,0,0,15.19,14.93,15.19
$GC,4094,1.00,107.1,2899,3612,1854,1670,361.6,15.6,153,4100,0.05,2.28,0.00,0.000,5126,0.541,0.042,2896,2196,1762,1854,1670,0,0,0,0,0,0,14.66,14.95,14.97
$GC,4372,1.00,107.1,2896,2194,1854,1667,322.8,13.2,160,4378,0.00,2.30,0.00,0.000,4356,0.000,0.050,2896,3607,1760,1854,1667,0,0,0,0,0,0,15.21,14.96,15.21
$GC,4478,1.00,107.1,2896,3608,1852,1668,311.7,13.2,162,4485,0.05,2.25,0.00,0.000,5126,0.524,0.043,2892,2200,1760,1853,1667,0,0,0,0,0,0,14.66,14.97,14.98
$GC,4738,1.00,107.1,2892,2199,1852,1666,279.7,10.7,169,4743,0.00,2.30,0.00,0.000,260,0.000,0.053,2892,3612,1759,1852,1666,0,0,0,0,0,0,15.22,14.96,15.23
$GC,4844,1.00,107.1,2892,3612,1851,1666,270.7,10.7,171,4849,0.00,2.28,0.00,0.000,5126,0.000,0.043,2903,2194,1758,1851,1666,0,0,0,0,0,0,15.06,14.98,15.07
$GC,5101,1.00,107.1,2903,2193,1851,1665,241.6,10.4,178,5106,0.00,2.25,0.00,0.000,4612,0.000,0.051,2914,786,1758,1851,1665,0,0,0,0,0,0,15.23,14.97,15.23
$GC,5292,1.02,118.2,2914,785,1850,1665,227.3,8.8,182,5308,0.05,2.25,7.50,1.038,13318,0.477,0.035,2899,2217,1725,1816,1634,0,0,0,0,0,0,14.70,15.00,14.41
$GC,5587,1.03,133.4,2898,2217,1815,1633,202.1,8.4,190,5601,0.00,0.00,12.43,1.071,8198,0.000,0.000,2898,2217,1665,1754,1576,0,0,0,0,0,0,15.21,14.92,14.42
$GC,5827,1.03,133.4,2898,2217,1752,1574,178.9,12.2,211,5832,0.00,2.20,0.00,0.000,260,0.000,0.050,2899,3588,1663,1752,1574,0,0,0,0,0,0,15.15,14.91,15.16
$GC,5844,1.03,133.4,2898,3588,1752,1574,176.9,13.4,212,5851,0.00,2.25,0.00,0.000,5126,0.000,0.044,2909,2199,1663,1752,1574,0,0,0,0,0,0,15.00,14.92,15.01
$GC,6092,1.03,133.4,2909,2199,1752,1574,144.9,12.3,237,6098,0.00,2.28,0.00,0.000,4612,0.000,0.053,2921,790,1663,1752,1574,0,0,0,0,0,0,15.15,14.91,15.16
$GC,6302,1.07,161.0,2920,790,1751,1574,125.8,7.1,256,6333,0.00,2.28,20.98,0.981,13318,0.000,0.034,2921,2192,1550,1633,1468,0,0,0,0,0,0,14.90,14.87,14.35
$GC,6574,1.07,161.0,2920,2192,1633,1468,96.1,10.7,283,6579,0.00,0.00,0.00,0.000,4102,0.000,0.000,2920,2192,1550,1633,1468,0,0,0,0,0,0,15.09,15.09,15.09
$GC,6822,1.07,161.0,2920,2192,1634,1468,67.3,12.1,308,6823,0.00,0.00,0.00,0.000,4102,0.000,0.000,2920,2192,1551,1634,1468,0,0,0,0,0,0,15.11,15.11,15.11
$GC,7062,1.07,161.0,2920,2191,1634,1469,37.2,12.6,332,7067,0.00,2.30,0.00,0.000,4612,0.000,0.052,2931,787,1552,1634,1470,0,0,0,0,0,0,15.11,14.87,15.11
$GC,7111,1.07,161.0,2931,786,1634,1470,30.1,14.7,336,7116,0.05,2.25,0.00,0.000,5126,0.510,0.034,2917,2200,1552,1634,1470,0,0,0,0,0,0,14.59,14.90,14.88
$STATE,7336,end climb,SURFACE_DEPTH_REACHED
$STATE,7336,begin surface coast
$FINISH,0.4,1.023903
$STATE,7362,end surface coast,CONTROL_FINISHED_OK
$STATE,7362,begin surface
$SM_CCo,7376,130.32,0.112,0,0,659,380.21
$SM_GC,1.12,7.05,0.30,130.32,0.221,0.061,0.112,184,2435,659,-7.31,-1.70,380.21,0,0,0,0,0,0,14.88,14.88,14.73
$IRIDIUM_FIX,2218.34,-15641.34,020418,012202
$TT8_MAMPS,0.019474,0.32207
$HUMID,41.17
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.6,6.6
$24V_AH,13.42,52.857
$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,15.800,73.600,215.075,130.325,0.000,29.437,43.892,102.651,0.500,0.000,9.341,1409.300,4340.806,477.316,1485.351,82.546,0.000,1013.189,0.000,1278.112,0.000,5.461,0.000
$DEVICE_MAMPS,540.855,72.675,2386.035,111.690,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,255.263,205.712,368.841,369.302,566.637,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343148
$DATA_FILE_SIZE,33871,377
$CAP_FILE_SIZE,77920,0
$CFSIZE,2097086464,2073460736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.140,267.74,1
$GPS,020418,033155,2226.893,-15642.026,16,1.1,16,9.9,0.6,131.2,6,29.0