version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 211
start: 4 2 118 5 52 49
data:
$ID,626
$MISSION,2
$DIVE,211
$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,34
$R_STBD_OVSHOOT,47
$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
$GPS1,020418,054730,2227.2021,-15642.2148,35,0.9,35,9.9,0.0,0.0,9,36.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.7
$GPS2,020418,055212,2227.2119,-15642.2979,7,0.9,7,9.9,0.8,296.0,9,78.5
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,M7
$TGT_LATLONG,2227.000,-15642.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,93.1,644,-23.0,-10.000,-25.40,1428
$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,-0.83,-93.1,187,2419,680,640,0.0,0.0,0,73,0.00,0.00,-56.08,0.000,16386,0.000,0.000,186,2420,2498,2532,2465,0,0,0,0,0,0,14.93,28.83,14.94
$GC,76,-0.85,-107.1,186,2420,2532,2465,3.2,-6.1,7,95,6.88,2.33,-2.75,0.000,18692,0.440,0.072,2281,3827,2647,2695,2600,0,0,0,0,0,0,14.42,13.97,14.74
$GC,121,-0.85,-107.1,2281,3826,2697,2600,20.5,-39.2,13,129,0.00,2.40,0.00,0.000,3078,0.000,0.054,2281,2418,2649,2698,2600,0,0,0,0,0,0,14.71,14.66,14.73
$GC,378,-0.85,-107.1,2281,2417,2698,2600,105.7,-30.9,40,379,0.00,0.00,0.00,0.000,2054,0.000,0.000,2281,2417,2649,2698,2600,0,0,0,0,0,0,15.05,15.05,15.04
$GC,620,-0.85,-107.1,2281,2416,2700,2600,166.0,-22.4,64,621,0.00,0.00,0.00,0.000,2054,0.000,0.000,2281,2416,2650,2700,2600,0,0,0,0,0,0,15.09,15.09,15.09
$GC,878,-0.85,-107.1,2281,2416,2702,2600,228.4,-23.3,81,883,0.00,2.30,0.00,0.000,2564,0.000,0.061,2281,1007,2651,2702,2600,0,0,0,0,0,0,15.15,14.88,15.15
$GC,934,-0.85,-107.1,2281,1007,2703,2600,238.1,-23.0,82,941,0.05,2.30,0.00,0.000,3078,0.493,0.055,2292,2410,2651,2702,2600,0,0,0,0,0,0,14.66,14.89,14.92
$GC,1203,-0.85,-107.1,2291,2410,2704,2600,298.2,-21.8,89,1208,0.00,2.33,0.00,0.000,2564,0.000,0.058,2292,998,2651,2703,2600,0,0,0,0,0,0,15.19,14.92,15.19
$GC,1219,-0.85,-107.1,2292,997,2703,2600,298.2,-21.8,89,1224,0.00,2.33,0.00,0.000,3078,0.000,0.052,2290,2423,2652,2704,2600,0,0,0,0,0,0,15.03,14.92,15.04
$GC,1486,-0.85,-107.1,2289,2423,2703,2600,355.8,-20.4,96,1492,0.00,2.30,0.00,0.000,2308,0.000,0.067,2290,3825,2652,2704,2600,0,0,0,0,0,0,15.22,14.90,15.22
$GC,1508,-0.85,-107.1,2289,3825,2703,2600,355.8,-20.4,96,1513,0.00,2.28,0.00,0.000,3078,0.000,0.047,2290,2409,2651,2703,2600,0,0,0,0,0,0,15.05,14.97,15.07
$GC,1770,-0.85,-107.1,2289,2409,2703,2600,413.5,-20.2,103,1771,0.00,0.00,0.00,0.000,2054,0.000,0.000,2289,2409,2651,2702,2600,0,0,0,0,0,0,15.23,15.23,15.23
$GC,2011,-0.85,-107.1,2290,2409,2703,2600,460.4,-19.5,109,2016,0.00,2.28,0.00,0.000,2564,0.000,0.059,2290,1006,2651,2703,2599,0,0,0,0,0,0,15.24,14.97,15.24
$GC,2038,-0.85,-107.1,2289,1005,2703,2599,460.4,-19.5,109,2043,0.00,2.33,0.00,0.000,3078,0.000,0.053,2289,2433,2651,2703,2599,0,0,0,0,0,0,15.07,14.97,15.09
$GC,2295,-0.85,-107.1,2289,2433,2703,2596,513.7,-18.2,116,2300,0.00,2.35,0.00,0.000,2564,0.000,0.057,2289,1000,2649,2703,2596,0,0,0,0,0,0,15.25,14.99,15.26
$GC,2371,-0.85,-107.1,2289,1000,2703,2595,521.9,-18.3,117,2378,0.00,2.30,0.00,0.000,3078,0.000,0.044,2289,2426,2649,2703,2595,0,0,0,0,0,0,15.09,14.98,15.09
$GC,2618,-0.85,-107.1,2289,2426,2703,2592,571.0,-17.2,124,2623,0.00,2.28,0.00,0.000,2308,0.000,0.058,2280,3829,2647,2703,2591,0,0,0,0,0,0,15.25,14.96,15.26
$GC,2644,-0.85,-107.1,2279,3830,2703,2592,571.0,-17.2,124,2650,0.00,2.25,0.00,0.000,3078,0.000,0.039,2280,2410,2646,2703,2590,0,0,0,0,0,0,15.09,15.01,15.10
$STATE,2780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2780,begin apogee
$GC,2784,-0.16,0.0,2280,2163,2704,2589,600.6,-18.0,128,2871,0.65,0.00,83.53,1.618,10246,0.311,0.000,2512,2159,2209,2283,2135,0,0,0,0,0,0,14.75,14.48,13.93
$STATE,2872,end apogee,CONTROL_FINISHED_OK
$STATE,2872,begin climb
$GC,2874,0.85,107.1,2513,2159,2281,2134,606.0,0.0,130,2967,0.82,2.50,84.95,1.755,10500,0.201,0.052,2829,3606,1775,1870,1680,0,0,0,0,0,0,14.39,14.12,13.57
$GC,3064,0.85,107.1,2830,3606,1869,1681,584.4,12.9,135,3070,0.00,2.30,0.00,0.000,1030,0.000,0.050,2840,2239,1774,1869,1680,0,0,0,0,0,0,14.62,14.55,14.64
$GC,3347,0.85,107.1,2840,2238,1869,1677,537.4,16.6,142,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2239,1772,1868,1677,0,0,0,0,0,0,15.00,15.01,15.01
$GC,3587,0.85,107.1,2840,2239,1869,1673,501.3,14.6,148,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2239,1770,1868,1673,0,0,0,0,0,0,15.09,15.09,15.09
$GC,3827,0.85,107.1,2840,2239,1868,1671,469.0,13.2,154,3832,0.00,2.35,0.00,0.000,516,0.000,0.054,2851,781,1769,1868,1671,0,0,0,0,0,0,15.14,14.89,15.14
$GC,3898,0.85,107.1,2851,780,1867,1671,463.6,12.9,155,3904,0.00,2.30,0.00,0.000,5126,0.000,0.037,2851,2212,1769,1867,1671,0,0,0,0,0,0,14.99,14.91,15.00
$GC,4151,0.85,107.1,2851,2213,1866,1669,427.2,13.0,162,4152,0.00,0.00,0.00,0.000,4102,0.000,0.000,2851,2213,1767,1866,1669,0,0,0,0,0,0,15.18,15.18,15.18
$GC,4391,0.85,107.1,2851,2213,1864,1668,396.5,13.1,168,4396,0.00,2.25,0.00,0.000,4356,0.000,0.052,2852,3603,1766,1864,1668,0,0,0,0,0,0,15.20,14.95,15.20
$GC,4468,0.85,107.1,2851,3603,1863,1669,390.9,13.2,169,4475,0.08,2.28,0.00,0.000,5126,0.470,0.043,2839,2190,1766,1863,1669,0,0,0,0,0,0,14.67,14.96,14.95
$GC,4715,0.85,107.1,2839,2189,1863,1666,356.7,11.8,176,4721,0.00,2.30,0.00,0.000,260,0.000,0.051,2839,3604,1764,1863,1666,0,0,0,0,0,0,15.21,14.95,15.21
$GC,4726,0.85,107.1,2839,3605,1863,1666,356.7,11.8,176,4732,0.00,2.28,0.00,0.000,5126,0.000,0.044,2849,2195,1764,1863,1666,0,0,0,0,0,0,15.04,14.97,15.07
$GC,4999,0.85,107.1,2849,2194,1861,1665,324.6,10.6,183,5004,0.00,2.30,0.00,0.000,4356,0.000,0.050,2849,3607,1763,1862,1665,0,0,0,0,0,0,15.22,14.96,15.23
$GC,5470,0.85,108.0,2849,3608,1860,1665,276.9,9.9,194,5477,0.05,2.28,0.00,0.000,5126,0.500,0.043,2845,2190,1762,1859,1665,0,0,0,0,0,0,14.68,14.98,14.96
$GC,5724,0.86,116.3,2845,2190,1859,1665,251.3,9.4,201,5733,0.00,0.00,7.18,1.017,8198,0.000,0.000,2845,2190,1733,1831,1636,0,0,0,0,0,0,15.23,14.96,14.38
$GC,5964,0.86,116.3,2845,2190,1828,1634,225.8,10.5,207,5969,0.00,2.25,0.00,0.000,516,0.000,0.054,2855,789,1731,1828,1634,0,0,0,0,0,0,15.21,14.96,15.21
$GC,6206,0.88,136.0,2855,788,1827,1635,203.1,8.6,213,6230,0.00,2.28,15.75,1.064,13318,0.000,0.036,2855,2210,1651,1743,1559,0,0,0,0,0,0,15.05,14.98,14.40
$GC,6478,0.90,145.1,2855,2210,1742,1557,175.5,9.3,237,6492,0.00,2.38,8.10,0.936,8708,0.000,0.053,2866,787,1615,1709,1521,0,0,0,0,0,0,15.14,14.88,14.37
$GC,6527,0.90,145.1,2865,787,1707,1520,170.6,10.3,241,6532,0.00,2.28,0.00,0.000,5126,0.000,0.037,2866,2198,1614,1707,1521,0,0,0,0,0,0,14.96,14.89,14.97
$GC,6780,0.90,146.0,2866,2199,1707,1520,140.6,9.9,266,6785,0.00,2.28,0.00,0.000,4356,0.000,0.051,2866,3601,1613,1707,1520,0,0,0,0,0,0,15.13,14.88,15.13
$GC,7181,0.91,155.2,2866,3601,1706,1522,101.2,9.3,302,7196,0.00,2.33,8.85,0.851,13318,0.000,0.043,2877,2194,1573,1665,1482,0,0,0,0,0,0,14.88,14.85,14.40
$GC,7445,0.91,160.2,2876,2194,1664,1481,73.7,9.6,328,7455,0.00,0.00,5.20,0.727,12294,0.000,0.000,2877,2194,1552,1646,1459,0,0,0,0,0,0,15.11,14.86,14.39
$GC,7695,0.91,160.2,2877,2194,1645,1461,49.1,10.4,353,7705,0.00,0.00,0.00,0.000,4102,0.000,0.000,2877,2194,1553,1646,1460,0,0,0,0,0,0,15.10,15.10,15.10
$GC,7956,0.92,160.9,2876,2194,1646,1463,22.4,10.0,384,7965,0.00,2.33,0.00,0.000,4612,0.000,0.054,2888,796,1554,1645,1463,0,0,0,0,0,0,15.09,14.80,15.09
$GC,7979,0.92,160.9,2888,795,1646,1464,19.7,10.9,387,7989,0.05,2.30,0.00,0.000,5126,0.396,0.035,2871,2203,1555,1646,1464,0,0,0,0,0,0,14.56,14.81,14.74
$STATE,8131,end climb,SURFACE_DEPTH_REACHED
$STATE,8131,begin surface coast
$FINISH,0.3,1.013638
$STATE,8163,end surface coast,CONTROL_FINISHED_OK
$STATE,8163,begin surface
$SM_CCo,8177,136.60,0.848,1,0,658,380.21
$SM_GC,1.31,6.03,0.30,136.60,0.059,0.072,0.848,186,2413,658,-7.29,-1.64,380.21,0,0,0,0,1,0,14.88,14.85,14.06
$IRIDIUM_FIX,2216.01,-15644.41,020418,054834
$TT8_MAMPS,0.019474,0.265895
$HUMID,40.70
$INTERNAL_PRESSURE,9.42678
$TCM_TEMP,21.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,6.3
$24V_AH,13.57,53.232
$10V_AH,13.57,0.000
$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,14.600,74.450,213.550,136.600,0.000,28.913,49.733,103.535,0.500,0.000,9.335,1558.270,4859.031,475.229,1640.679,93.753,0.000,1072.880,0.000,1423.933,0.000,5.462,0.000
$DEVICE_MAMPS,499.545,71.910,1754.910,848.385,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,282.945,230.196,407.311,414.386,635.807,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343088
$DATA_FILE_SIZE,37374,417
$CAP_FILE_SIZE,84044,0
$CFSIZE,2097086464,2073264128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.154,271.25,1
$GPS,020418,081220,2227.129,-15642.190,17,1.5,17,9.9,0.5,318.7,6,70.8