version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 210
start: 4 2 118 3 36 59
data:
$ID,626
$MISSION,2
$DIVE,210
$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,46
$R_STBD_OVSHOOT,70
$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
$GPS1,020418,033155,2226.8928,-15642.0264,16,1.1,16,9.9,0.6,131.2,6,29.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.3
$GPS2,020418,033631,2226.8845,-15642.0723,17,1.1,17,9.9,1.3,284.3,6,31.5
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,M7
$TGT_LATLONG,2227.000,-15642.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,63.3,247,-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,-63.2,184,2438,677,638,0.0,0.0,0,74,0.00,0.00,-56.17,0.000,16390,0.000,0.000,184,2438,2468,2502,2434,0,0,0,0,0,0,15.00,13.68,14.97
$GC,76,-1.00,-107.1,184,2438,2502,2434,2.8,-4.5,7,95,6.70,2.22,-3.45,0.000,18692,0.441,0.073,2231,3797,2649,2698,2600,0,0,0,0,0,0,14.48,13.99,14.79
$GC,170,-1.00,-107.1,2230,3797,2698,2600,37.0,-36.6,20,179,0.00,2.30,0.00,0.000,3078,0.000,0.051,2231,2432,2649,2698,2601,0,0,0,0,0,0,14.77,14.72,14.79
$GC,419,-1.00,-107.1,2231,2432,2699,2600,125.7,-33.2,45,420,0.00,0.00,0.00,0.000,2054,0.000,0.000,2231,2432,2649,2698,2600,0,0,0,0,0,0,15.08,15.08,15.08
$GC,657,-1.00,-107.1,2231,2432,2699,2600,193.5,-30.4,69,663,0.00,2.25,0.00,0.000,2308,0.000,0.059,2222,3793,2650,2700,2600,0,0,0,0,0,0,15.13,14.84,15.12
$GC,715,-1.00,-107.1,2222,3793,2700,2600,206.3,-29.5,72,721,0.08,2.22,0.00,0.000,3078,0.437,0.045,2244,2411,2650,2700,2600,0,0,0,0,0,0,14.62,14.88,14.89
$GC,983,-1.00,-107.1,2244,2409,2703,2600,277.7,-24.4,79,988,0.00,2.28,0.00,0.000,2564,0.000,0.060,2244,1012,2651,2703,2600,0,0,0,0,0,0,15.18,14.90,15.17
$GC,1014,-1.00,-107.1,2244,1012,2703,2600,277.7,-24.4,79,1020,0.00,2.22,0.00,0.000,3078,0.000,0.046,2236,2386,2651,2703,2600,0,0,0,0,0,0,15.02,14.91,15.03
$GC,1267,-1.00,-107.1,2236,2386,2704,2600,346.3,-23.0,86,1273,0.00,2.35,0.00,0.000,2308,0.000,0.064,2236,3824,2652,2704,2600,0,0,0,0,0,0,15.21,14.92,15.22
$GC,1329,-1.00,-107.1,2235,3825,2704,2600,356.1,-22.9,87,1335,0.00,2.25,0.00,0.000,3078,0.000,0.044,2235,2416,2652,2704,2600,0,0,0,0,0,0,15.05,14.96,15.06
$GC,1592,-1.00,-107.1,2235,2415,2704,2600,419.7,-22.2,94,1593,0.00,0.00,0.00,0.000,2054,0.000,0.000,2235,2416,2652,2704,2600,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1832,-1.00,-107.1,2235,2415,2703,2600,469.9,-20.3,100,1833,0.00,0.00,0.00,0.000,2054,0.000,0.000,2235,2415,2652,2704,2600,0,0,0,0,0,0,15.25,15.25,15.25
$GC,2072,-1.00,-107.1,2235,2415,2704,2598,518.4,-20.1,106,2077,0.00,2.28,0.00,0.000,2564,0.000,0.059,2235,1013,2650,2703,2597,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2098,-1.00,-107.1,2235,1013,2703,2597,518.4,-20.1,106,2104,0.00,2.30,0.00,0.000,3078,0.000,0.047,2235,2437,2650,2704,2597,0,0,0,0,0,0,15.08,14.99,15.09
$GC,2356,-1.00,-107.1,2235,2438,2704,2594,577.8,-20.8,113,2362,0.00,2.25,0.00,0.000,2308,0.000,0.056,2226,3831,2648,2703,2594,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2417,-1.00,-107.1,2225,3831,2703,2593,586.9,-21.0,114,2424,0.05,2.25,0.00,0.000,3078,0.474,0.038,2240,2406,2647,2703,2592,0,0,0,0,0,0,14.72,15.01,15.00
$STATE,2480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2480,begin apogee
$GC,2485,-0.16,0.0,2240,2160,2704,2592,604.6,-21.1,116,2572,0.77,0.00,83.55,1.664,10246,0.324,0.000,2516,2155,2209,2283,2135,0,0,0,0,0,0,14.73,14.47,13.89
$STATE,2573,end apogee,CONTROL_FINISHED_OK
$STATE,2573,begin climb
$GC,2574,1.00,107.1,2516,2155,2283,2135,610.9,0.0,118,2671,0.95,2.53,87.32,1.977,10500,0.196,0.052,2881,3606,1772,1862,1683,0,0,0,0,0,0,14.38,14.20,13.57
$GC,2712,1.00,107.1,2881,3606,1861,1682,602.8,9.3,121,2717,0.00,2.30,0.00,0.000,1030,0.000,0.044,2892,2232,1771,1860,1682,0,0,0,0,0,0,14.50,14.44,14.52
$GC,2964,1.00,107.1,2892,2231,1861,1678,554.8,17.0,128,2969,0.00,2.30,0.00,0.000,260,0.000,0.055,2892,3605,1769,1861,1678,0,0,0,0,0,0,14.96,14.71,14.97
$GC,3250,1.00,107.1,2892,3605,1857,1677,509.8,15.4,135,3256,0.00,2.30,0.00,0.000,5126,0.000,0.046,2903,2200,1767,1857,1677,0,0,0,0,0,0,14.92,14.84,14.93
$GC,3528,1.00,107.1,2903,2200,1857,1673,467.1,15.3,142,3534,0.00,2.30,0.00,0.000,4612,0.000,0.059,2914,788,1765,1857,1673,0,0,0,0,0,0,15.13,14.87,15.14
$GC,3545,1.00,107.1,2914,789,1856,1673,467.1,15.3,142,3552,0.08,2.30,0.00,0.000,5126,0.454,0.041,2891,2215,1764,1856,1673,0,0,0,0,0,0,14.62,14.90,14.91
$GC,3814,1.00,107.1,2890,2217,1856,1671,425.3,14.9,149,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2217,1763,1856,1671,0,0,0,0,0,0,15.16,15.17,15.17
$GC,4054,1.00,107.1,2890,2217,1856,1669,391.0,14.6,155,4059,0.00,2.25,0.00,0.000,260,0.000,0.056,2890,3598,1762,1856,1669,0,0,0,0,0,0,15.19,14.92,15.19
$GC,4170,1.00,107.1,2890,3599,1854,1669,378.9,14.4,157,4178,0.00,2.28,0.00,0.000,5126,0.000,0.048,2901,2196,1761,1854,1669,0,0,0,0,0,0,15.03,14.95,15.04
$GC,4416,1.00,107.1,2900,2196,1853,1667,339.9,13.9,164,4417,0.00,0.00,0.00,0.000,4102,0.000,0.000,2901,2196,1760,1854,1667,0,0,0,0,0,0,15.21,15.21,15.21
$GC,4656,1.00,107.1,2901,2196,1852,1666,310.2,12.2,170,4662,0.00,2.30,0.00,0.000,4356,0.000,0.054,2901,3596,1759,1852,1666,0,0,0,0,0,0,15.22,14.95,15.23
$GC,5029,1.00,107.1,2901,3596,1849,1666,269.5,10.0,179,5035,0.05,2.28,0.00,0.000,5126,0.535,0.049,2897,2189,1758,1850,1666,0,0,0,0,0,0,14.66,14.97,14.98
$GC,5302,1.00,107.1,2897,2187,1849,1666,240.9,10.8,186,5307,0.00,2.33,0.00,0.000,4356,0.000,0.054,2897,3607,1757,1849,1666,0,0,0,0,0,0,15.23,14.95,15.23
$GC,5655,1.00,109.1,2897,3607,1848,1666,207.0,9.8,194,5661,0.05,2.28,0.00,0.000,5126,0.526,0.048,2893,2198,1756,1847,1666,0,0,0,0,0,0,14.66,14.98,14.98
$GC,5909,1.04,138.4,2893,2197,1847,1666,187.6,6.9,213,5938,0.00,2.28,21.73,1.073,10756,0.000,0.054,2904,786,1640,1727,1554,0,0,0,0,0,0,15.21,14.87,14.40
$GC,6117,1.04,138.4,2902,786,1726,1554,165.0,11.8,232,6125,0.00,2.28,0.00,0.000,1030,0.000,0.037,2904,2200,1640,1726,1554,0,0,0,0,0,0,14.95,14.88,14.96
$GC,6368,1.04,138.4,2903,2200,1726,1554,134.0,10.4,257,6373,0.00,2.28,0.00,0.000,260,0.000,0.050,2904,3605,1640,1727,1554,0,0,0,0,0,0,15.12,14.89,15.13
$GC,6922,1.07,165.4,2904,3605,1725,1556,83.1,7.1,307,6951,0.00,2.25,20.50,0.905,9222,0.000,0.041,2915,2200,1531,1613,1449,0,0,0,0,0,0,14.97,14.91,14.38
$GC,7190,1.07,165.4,2914,2200,1612,1447,50.2,13.2,334,7195,0.00,2.30,0.00,0.000,260,0.000,0.048,2915,3605,1530,1612,1448,0,0,0,0,0,0,15.07,14.84,15.07
$STATE,7578,end climb,SURFACE_DEPTH_REACHED
$STATE,7578,begin surface coast
$FINISH,0.3,1.023834
$STATE,7604,end surface coast,CONTROL_FINISHED_OK
$STATE,7604,begin surface
$SM_CCo,7619,137.65,0.839,1,0,658,380.21
$SM_GC,1.21,6.28,1.98,137.65,0.083,0.042,0.839,186,2425,658,-7.30,1.22,380.21,0,0,0,0,1,0,14.87,14.83,14.06
$IRIDIUM_FIX,2218.34,-15639.20,020418,033256
$TT8_MAMPS,0.019474,0.262899
$HUMID,41.41
$INTERNAL_PRESSURE,9.40725
$TCM_TEMP,21.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,62.6,8.5
$24V_AH,13.57,53.047
$10V_AH,13.82,0.000
$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,15.000,68.550,213.100,137.650,0.000,28.565,41.827,99.386,1.250,0.000,19.592,1578.462,4241.098,464.941,1684.252,88.624,0.000,1074.252,0.000,1459.038,0.000,11.297,0.000
$DEVICE_MAMPS,534.735,73.440,1976.760,839.205,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,263.940,214.114,380.760,377.893,579.814,0.000,0.000,0.000,0.000,0.000
$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,33968,389
$CAP_FILE_SIZE,80244,0
$CFSIZE,2097086464,2073362432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.163,275.14,1
$GPS,020418,054730,2227.202,-15642.215,35,0.9,35,9.9,0.0,0.0,9,36.0