version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 214
start: 4 2 118 13 0 5
data:
$ID,626
$MISSION,2
$DIVE,214
$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,2560
$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,45
$R_STBD_OVSHOOT,45
$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
$GPS1,020418,125455,2227.1372,-15641.9844,17,1.4,17,9.9,0.0,0.0,7,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.2
$GPS2,020418,125937,2227.1470,-15642.0039,15,1.2,15,9.9,0.5,301.1,7,31.8
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,M7
$TGT_LATLONG,2227.000,-15642.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,125.4,272,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.95,-63.2,193,2424,680,644,0.0,0.0,0,75,0.00,0.00,-56.40,0.000,16390,0.000,0.000,192,2424,2467,2501,2434,0,0,0,0,0,0,14.92,13.71,14.90
$GC,77,-1.00,-107.1,192,2424,2502,2434,2.7,-4.1,7,94,6.70,0.00,-3.53,0.000,18950,0.445,0.000,2230,2424,2647,2695,2600,0,0,0,0,0,0,14.44,14.02,14.73
$GC,349,-1.00,-107.1,2228,2424,2695,2599,106.6,-34.2,38,354,0.00,2.28,0.00,0.000,2308,0.000,0.057,2221,3817,2647,2695,2599,0,0,0,0,0,0,15.04,14.77,15.04
$GC,372,-1.00,-107.1,2221,3815,2695,2600,114.3,-32.6,40,378,0.05,2.28,0.00,0.000,3078,0.503,0.047,2234,2424,2647,2695,2599,0,0,0,0,0,0,14.55,14.80,14.81
$GC,626,-1.00,-107.1,2234,2422,2695,2599,192.0,-28.0,65,631,0.00,2.33,0.00,0.000,2308,0.000,0.063,2225,3823,2647,2695,2599,0,0,0,0,0,0,15.10,14.83,15.10
$GC,709,-1.00,-107.1,2224,3822,2695,2600,216.1,-28.6,70,714,0.00,2.28,0.00,0.000,3078,0.000,0.045,2225,2416,2647,2696,2599,0,0,0,0,0,0,14.96,14.87,14.97
$GC,992,-1.00,-107.1,2224,2415,2699,2599,288.7,-25.0,77,997,0.00,2.33,0.00,0.000,2308,0.000,0.066,2222,3815,2648,2698,2599,0,0,0,0,0,0,15.17,14.89,15.17
$GC,1037,-1.00,-107.1,2221,3815,2698,2599,299.1,-25.3,78,1043,0.00,2.25,0.00,0.000,3078,0.000,0.042,2222,2413,2648,2698,2599,0,0,0,0,0,0,15.02,14.93,15.02
$GC,1315,-1.00,-107.1,2221,2412,2699,2599,366.5,-24.7,85,1320,0.00,2.33,0.00,0.000,2308,0.000,0.062,2217,3821,2648,2697,2599,0,0,0,0,0,0,15.21,14.93,15.21
$GC,1386,-1.00,-107.1,2218,3821,2699,2599,376.8,-24.8,86,1392,0.05,2.25,0.00,0.000,3078,0.480,0.043,2232,2409,2649,2699,2599,0,0,0,0,0,0,14.71,14.96,14.97
$GC,1639,-1.00,-107.1,2231,2407,2699,2599,443.5,-23.3,93,1641,0.00,0.00,0.00,0.000,2054,0.000,0.000,2232,2407,2649,2699,2599,0,0,0,0,0,0,15.22,15.23,15.23
$GC,1879,-1.00,-107.1,2232,2407,2699,2598,498.0,-22.6,99,1884,0.00,2.33,0.00,0.000,2308,0.000,0.061,2223,3817,2648,2699,2598,0,0,0,0,0,0,15.24,14.96,15.25
$GC,1895,-1.00,-107.1,2223,3818,2699,2598,498.0,-22.6,99,1901,0.00,2.22,0.00,0.000,3078,0.000,0.041,2223,2419,2648,2698,2598,0,0,0,0,0,0,15.08,15.00,15.09
$GC,2164,-1.00,-107.1,2222,2419,2699,2595,560.7,-22.2,106,2170,0.00,2.33,0.00,0.000,2308,0.000,0.064,2222,3823,2646,2699,2594,0,0,0,0,0,0,15.25,14.96,15.25
$GC,2207,-1.00,-107.1,2222,3822,2699,2594,570.2,-22.2,107,2213,0.00,2.25,0.00,0.000,3078,0.000,0.042,2222,2419,2646,2699,2594,0,0,0,0,0,0,15.09,15.00,15.09
$STATE,2368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2368,begin apogee
$GC,2373,-0.16,0.0,2222,2175,2699,2591,606.0,-21.9,111,2460,0.80,0.00,83.57,1.647,10246,0.335,0.000,2502,2171,2208,2280,2137,0,0,0,0,0,0,14.73,14.47,13.91
$STATE,2461,end apogee,CONTROL_FINISHED_OK
$STATE,2461,begin climb
$GC,2462,1.00,107.1,2502,2171,2279,2135,613.1,0.0,113,2554,0.95,2.33,83.55,1.740,10756,0.212,0.057,2876,812,1773,1863,1683,0,0,0,0,0,0,14.38,14.14,13.61
$GC,2561,1.00,107.1,2875,811,1862,1684,610.0,6.8,115,2566,0.00,2.33,0.00,0.000,3078,0.000,0.039,2876,2196,1772,1862,1683,0,0,0,0,0,0,14.40,14.33,14.41
$GC,2813,1.00,107.1,2875,2197,1862,1679,563.0,17.5,122,2818,0.00,2.35,0.00,0.000,2308,0.000,0.057,2876,3609,1770,1862,1679,0,0,0,0,0,0,14.95,14.70,14.95
$GC,3025,1.00,107.1,2875,3609,1862,1682,526.9,17.8,127,3030,0.00,2.28,0.00,0.000,5126,0.000,0.047,2886,2218,1772,1862,1682,0,0,0,0,0,0,14.90,14.81,14.90
$GC,3298,1.00,107.1,2886,2218,1861,1679,480.1,16.1,134,3303,0.00,2.33,0.00,0.000,4612,0.000,0.055,2898,790,1770,1861,1679,0,0,0,0,0,0,15.11,14.88,15.12
$GC,3394,1.00,107.1,2897,789,1861,1679,467.6,15.3,136,3401,0.05,2.28,0.00,0.000,5126,0.474,0.039,2883,2204,1770,1861,1679,0,0,0,0,0,0,14.66,14.90,14.90
$GC,3663,1.00,107.1,2882,2205,1860,1675,428.9,13.3,143,3668,0.00,2.25,0.00,0.000,260,0.000,0.050,2883,3603,1767,1861,1674,0,0,0,0,0,0,15.16,14.92,15.17
$GC,3729,1.00,107.1,2882,3605,1859,1675,423.0,13.5,144,3735,0.00,2.28,0.00,0.000,5126,0.000,0.043,2893,2190,1767,1859,1675,0,0,0,0,0,0,15.02,14.93,15.02
$GC,3988,1.00,107.1,2893,2189,1860,1672,384.4,13.8,151,3989,0.00,0.00,0.00,0.000,4102,0.000,0.000,2893,2189,1766,1860,1672,0,0,0,0,0,0,15.19,15.20,15.20
$GC,4227,1.00,107.1,2893,2189,1858,1671,350.8,13.9,157,4228,0.00,0.00,0.00,0.000,4102,0.000,0.000,2893,2189,1764,1858,1671,0,0,0,0,0,0,15.21,15.21,15.21
$GC,4468,1.00,107.1,2893,2189,1857,1670,323.9,10.9,163,4469,0.00,0.00,0.00,0.000,4102,0.000,0.000,2894,2189,1763,1857,1670,0,0,0,0,0,0,15.23,15.23,15.23
$GC,4707,1.00,109.2,2893,2189,1856,1669,299.7,9.8,169,4713,0.00,2.33,0.00,0.000,4356,0.000,0.050,2893,3609,1763,1856,1670,0,0,0,0,0,0,15.23,14.97,15.23
$GC,4854,1.00,109.2,2893,3609,1855,1670,287.3,10.2,172,4861,0.08,2.25,0.00,0.000,5126,0.477,0.042,2881,2197,1762,1855,1670,0,0,0,0,0,0,14.68,14.98,14.97
$GC,5114,1.02,122.4,2881,2198,1854,1667,263.3,8.6,179,5133,0.00,2.25,11.57,1.131,10756,0.000,0.054,2891,790,1707,1796,1618,0,0,0,0,0,0,15.24,14.95,14.43
$GC,5156,1.03,128.0,2891,790,1796,1617,258.9,9.4,180,5169,0.00,2.28,5.53,0.934,13318,0.000,0.036,2892,2212,1685,1774,1596,0,0,0,0,0,0,15.02,14.95,14.38
$GC,5436,1.03,128.0,2891,2212,1773,1595,220.4,13.8,187,5442,0.00,2.25,0.00,0.000,4356,0.000,0.050,2892,3605,1684,1773,1595,0,0,0,0,0,0,15.19,14.93,15.19
$GC,5598,1.03,128.0,2891,3605,1771,1595,198.6,13.4,191,5604,0.00,2.25,0.00,0.000,5126,0.000,0.042,2902,2202,1683,1771,1595,0,0,0,0,0,0,15.03,14.95,15.04
$GC,5852,1.05,144.6,2902,2202,1771,1596,174.3,8.3,216,5876,0.00,2.33,13.73,1.032,12548,0.000,0.049,2902,3605,1614,1700,1529,0,0,0,0,0,0,15.18,14.85,14.40
$GC,6019,1.05,144.6,2902,3605,1700,1529,155.7,13.2,231,6029,0.03,2.33,0.00,0.000,5126,0.544,0.043,2905,2201,1614,1699,1529,0,0,0,0,0,0,14.60,14.84,14.76
$GC,6267,1.05,144.6,2906,2201,1699,1529,122.4,14.0,256,6272,0.00,2.28,0.00,0.000,4612,0.000,0.054,2917,792,1613,1699,1528,0,0,0,0,0,0,15.14,14.89,15.14
$GC,6333,1.05,144.6,2916,791,1699,1528,114.5,11.4,262,6339,0.05,2.25,0.00,0.000,5126,0.482,0.035,2901,2201,1613,1699,1528,0,0,0,0,0,0,14.63,14.91,14.90
$GC,6589,1.07,161.8,2901,2204,1698,1529,90.8,8.2,287,6612,0.00,2.35,13.55,0.911,8708,0.000,0.057,2912,797,1544,1627,1461,0,0,0,0,0,0,15.14,14.80,14.40
$GC,6921,1.07,161.8,2912,797,1627,1462,53.9,12.4,316,6926,0.00,2.25,0.00,0.000,5126,0.000,0.041,2912,2194,1544,1627,1462,0,0,0,0,0,0,14.95,14.88,14.96
$GC,7177,1.07,161.8,2912,2195,1627,1463,24.8,10.6,344,7186,0.00,2.35,0.00,0.000,4356,0.000,0.055,2912,3600,1545,1627,1464,0,0,0,0,0,0,15.09,14.81,15.10
$GC,7342,1.07,161.8,2911,3601,1627,1465,4.4,14.1,371,7351,0.05,2.33,0.00,0.000,5126,0.452,0.044,2906,2202,1546,1627,1466,0,0,0,0,0,0,14.52,14.81,14.72
$STATE,7358,end climb,SURFACE_DEPTH_REACHED
$STATE,7358,begin surface coast
$FINISH,0.3,1.023899
$STATE,7383,end surface coast,CONTROL_FINISHED_OK
$STATE,7383,begin surface
$SM_CCo,7397,137.00,0.874,1,0,658,380.45
$SM_GC,1.22,6.18,0.35,137.00,0.069,0.065,0.874,191,2427,658,-7.28,-1.33,380.45,0,0,0,0,1,0,14.86,14.86,14.02
$IRIDIUM_FIX,2216.01,-15642.27,020418,125554
$TT8_MAMPS,0.019474,0.293608
$HUMID,41.02
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,58.5,7.1
$24V_AH,13.61,53.775
$10V_AH,13.79,0.000
$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,14.975,78.550,211.500,137.000,0.000,25.423,46.677,105.620,0.750,0.000,17.397,1424.589,4327.616,451.815,1543.996,91.823,0.000,1035.452,0.000,1318.453,0.000,6.986,0.000
$DEVICE_MAMPS,543.915,65.790,1739.610,874.395,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,255.585,206.433,368.882,371.446,569.922,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343080
$DATA_FILE_SIZE,34016,377
$CAP_FILE_SIZE,81349,0
$CFSIZE,2097086464,2072969216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.156,270.04,1
$GPS,020418,150700,2226.592,-15642.210,41,0.7,41,9.9,0.6,190.6,12,152.5