version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 216
start: 4 2 118 17 30 51
data:
$ID,626
$MISSION,2
$DIVE,216
$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,48
$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
$GPS1,020418,172550,2226.9116,-15642.2939,17,1.2,17,9.9,0.5,259.1,6,29.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.7
$GPS2,020418,173026,2226.9199,-15642.3691,17,1.2,17,9.9,0.7,284.3,6,29.7
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,M7
$TGT_LATLONG,2227.000,-15642.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,85.8,649,-21.4,-10.000,-23.94,1642
$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,15,-0.80,-107.1,186,2417,681,640,0.0,0.0,0,79,0.00,0.00,-60.67,0.000,16390,0.000,0.000,186,2418,2648,2689,2608,0,0,0,0,0,0,14.92,13.71,14.90
$GC,82,-0.80,-107.1,186,2418,2689,2608,3.6,-6.7,8,100,6.90,2.30,0.00,0.000,2308,0.441,0.047,2287,3819,2649,2690,2608,0,0,0,0,0,0,14.43,14.65,14.71
$GC,196,-0.80,-107.1,2287,3820,2691,2608,45.4,-29.8,22,202,0.00,2.30,0.00,0.000,3078,0.000,0.053,2287,2429,2649,2690,2608,0,0,0,0,0,0,14.83,14.73,14.84
$GC,452,-0.80,-107.1,2287,2428,2692,2608,121.6,-27.4,47,457,0.00,2.33,0.00,0.000,2564,0.000,0.062,2287,1012,2650,2692,2608,0,0,0,0,0,0,15.06,14.80,15.06
$GC,476,-0.80,-107.1,2286,1011,2691,2607,128.2,-27.3,49,482,0.08,2.30,0.00,0.000,3078,0.425,0.048,2301,2409,2649,2691,2607,0,0,0,0,0,0,14.59,14.81,14.83
$GC,730,-0.80,-107.1,2301,2410,2693,2608,194.9,-24.4,74,735,0.00,2.33,0.00,0.000,260,0.000,0.060,2291,3833,2650,2693,2608,0,0,0,0,0,0,15.11,14.83,15.11
$GC,794,-0.80,-107.1,2290,3834,2693,2608,204.7,-21.5,78,799,0.00,2.30,0.00,0.000,3078,0.000,0.046,2291,2407,2650,2694,2607,0,0,0,0,0,0,14.96,14.88,14.97
$GC,1056,-0.80,-107.1,2290,2407,2697,2608,266.4,-22.3,85,1061,0.00,2.38,0.00,0.000,2308,0.000,0.067,2289,3834,2652,2697,2608,0,0,0,0,0,0,15.18,14.88,15.18
$GC,1092,-0.80,-107.1,2289,3834,2697,2608,266.4,-22.3,85,1099,0.00,2.28,0.00,0.000,3078,0.000,0.046,2290,2420,2652,2697,2607,0,0,0,0,0,0,15.02,14.92,15.02
$GC,1339,-0.80,-107.1,2290,2419,2697,2608,323.3,-20.5,92,1340,0.00,0.00,0.00,0.000,2054,0.000,0.000,2290,2419,2653,2698,2608,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1578,-0.80,-107.1,2290,2419,2698,2608,369.3,-19.1,98,1583,0.00,2.28,0.00,0.000,2564,0.000,0.053,2290,1000,2652,2697,2608,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1610,-0.80,-107.1,2289,999,2697,2608,369.3,-19.1,98,1615,0.00,2.30,0.00,0.000,3078,0.000,0.044,2289,2425,2652,2698,2607,0,0,0,0,0,0,15.06,14.96,15.07
$GC,1862,-0.80,-107.1,2289,2425,2697,2607,424.3,-19.3,105,1863,0.00,0.00,0.00,0.000,2054,0.000,0.000,2290,2425,2651,2696,2607,0,0,0,0,0,0,15.23,15.24,15.24
$GC,2102,-0.80,-107.1,2289,2425,2697,2605,468.5,-18.5,111,2107,0.00,2.33,0.00,0.000,2564,0.000,0.060,2289,1013,2651,2697,2605,0,0,0,0,0,0,15.25,14.97,15.25
$GC,2158,-0.80,-107.1,2289,1012,2697,2604,476.5,-18.5,112,2163,0.00,2.28,0.00,0.000,3078,0.000,0.045,2289,2425,2650,2697,2604,0,0,0,0,0,0,15.08,14.98,15.09
$GC,2426,-0.80,-107.1,2288,2426,2697,2601,531.3,-19.4,119,2427,0.00,0.00,0.00,0.000,2054,0.000,0.000,2289,2426,2649,2697,2601,0,0,0,0,0,0,15.24,15.26,15.26
$GC,2665,-0.80,-107.1,2289,2426,2697,2598,579.5,-20.0,125,2670,0.00,2.33,0.00,0.000,2564,0.000,0.053,2289,1000,2647,2697,2597,0,0,0,0,0,0,15.26,15.00,15.26
$GC,2711,-0.80,-107.1,2289,1000,2697,2597,588.0,-19.8,126,2717,0.00,2.30,0.00,0.000,3078,0.000,0.045,2289,2422,2647,2697,2597,0,0,0,0,0,0,15.09,14.99,15.10
$STATE,2788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2788,begin apogee
$GC,2792,-0.16,0.0,2289,2171,2697,2596,604.2,-19.7,128,2878,0.60,0.00,82.55,1.645,10246,0.313,0.000,2505,2168,2209,2281,2137,0,0,0,0,0,0,14.76,14.47,13.91
$STATE,2879,end apogee,CONTROL_FINISHED_OK
$STATE,2879,begin climb
$GC,2881,0.80,107.1,2505,2167,2280,2138,610.9,0.0,130,2975,0.77,2.47,86.12,1.856,10500,0.213,0.049,2800,3607,1775,1873,1677,0,0,0,0,0,0,14.38,14.12,13.56
$GC,2992,0.80,107.1,2799,3608,1873,1682,605.1,7.0,133,2998,0.00,2.35,0.00,0.000,3078,0.000,0.042,2810,2216,1778,1873,1683,0,0,0,0,0,0,14.43,14.36,14.45
$GC,3275,0.80,107.1,2809,2215,1873,1678,567.5,13.5,140,3280,0.00,2.35,0.00,0.000,2564,0.000,0.058,2821,794,1775,1873,1678,0,0,0,0,0,0,14.97,14.72,14.97
$GC,3311,0.80,107.1,2820,794,1873,1678,567.5,13.5,140,3318,0.00,2.33,0.00,0.000,5126,0.000,0.042,2821,2214,1775,1872,1678,0,0,0,0,0,0,14.84,14.76,14.85
$GC,3557,0.80,107.1,2821,2214,1873,1674,530.0,13.1,147,3558,0.00,0.00,0.00,0.000,4102,0.000,0.000,2821,2214,1773,1873,1674,0,0,0,0,0,0,15.08,15.08,15.09
$GC,3797,0.80,107.1,2821,2214,1873,1671,499.5,12.7,153,3802,0.00,2.30,0.00,0.000,4356,0.000,0.059,2821,3605,1772,1873,1672,0,0,0,0,0,0,15.14,14.87,15.14
$GC,3834,0.80,107.1,2821,3606,1872,1671,499.5,12.7,153,3840,0.00,2.30,0.00,0.000,5126,0.000,0.048,2831,2195,1771,1872,1671,0,0,0,0,0,0,14.98,14.90,15.00
$GC,4079,0.80,107.1,2831,2195,1871,1670,466.0,11.8,160,4080,0.00,0.00,0.00,0.000,4102,0.000,0.000,2831,2195,1770,1871,1670,0,0,0,0,0,0,15.17,15.17,15.17
$GC,4321,0.80,107.1,2831,2195,1869,1669,438.8,11.0,166,4322,0.00,0.00,0.00,0.000,4102,0.000,0.000,2831,2195,1769,1870,1669,0,0,0,0,0,0,15.19,15.19,15.19
$GC,4559,0.80,107.1,2831,2195,1868,1668,411.6,11.3,172,4566,0.03,2.28,0.00,0.000,4612,0.668,0.052,2833,784,1768,1868,1668,0,0,0,0,0,0,14.78,14.95,14.98
$GC,4647,0.80,107.1,2832,784,1868,1668,401.6,11.9,174,4653,0.05,2.28,0.00,0.000,5126,0.490,0.037,2818,2213,1768,1868,1668,0,0,0,0,0,0,14.69,14.97,14.96
$GC,4925,0.80,107.1,2817,2214,1867,1666,368.4,12.1,181,4930,0.00,2.33,0.00,0.000,516,0.000,0.055,2828,790,1767,1868,1666,0,0,0,0,0,0,15.21,14.97,15.22
$GC,4952,0.80,107.1,2828,789,1867,1666,368.4,12.1,181,4957,0.00,2.25,0.00,0.000,5126,0.000,0.037,2828,2200,1766,1867,1665,0,0,0,0,0,0,15.06,14.98,15.07
$GC,5209,0.80,107.1,2828,2201,1866,1665,334.3,11.4,188,5215,0.00,2.25,0.00,0.000,4356,0.000,0.051,2828,3600,1766,1866,1666,0,0,0,0,0,0,15.23,14.97,15.23
$GC,5311,0.80,107.1,2828,3600,1865,1666,324.6,11.2,190,5318,0.08,2.28,0.00,0.000,5126,0.451,0.044,2815,2185,1765,1865,1666,0,0,0,0,0,0,14.69,14.98,14.99
$GC,5575,0.84,137.7,2815,2185,1866,1665,299.6,8.1,197,5604,0.00,2.33,23.45,1.238,10500,0.000,0.047,2815,3605,1644,1741,1548,0,0,0,0,0,0,15.23,14.78,14.35
$GC,5631,0.88,168.5,2815,3605,1739,1548,295.8,8.1,198,5661,0.00,2.28,23.92,1.211,11270,0.000,0.044,2826,2200,1519,1607,1431,0,0,0,0,0,0,14.95,14.88,14.24
$GC,5938,0.88,168.5,2825,2200,1604,1426,246.8,16.3,206,5944,0.00,2.30,0.00,0.000,2564,0.000,0.055,2836,794,1514,1602,1426,0,0,0,0,0,0,15.08,14.83,15.08
$GC,5986,0.88,168.5,2836,794,1604,1426,239.7,16.3,207,5991,0.00,2.28,0.00,0.000,3078,0.000,0.037,2836,2207,1515,1604,1426,0,0,0,0,0,0,14.93,14.85,14.95
$GC,6235,0.88,168.5,2836,2210,1604,1425,197.8,16.6,214,6236,0.00,0.00,0.00,0.000,2054,0.000,0.000,2836,2210,1514,1604,1425,0,0,0,0,0,0,15.14,15.14,15.13
$GC,6475,0.88,168.5,2836,2210,1604,1424,164.3,12.3,238,6480,0.00,2.35,0.00,0.000,2564,0.000,0.063,2847,796,1514,1604,1424,0,0,0,0,0,0,15.14,14.88,15.14
$GC,6497,0.88,168.5,2847,794,1604,1424,161.1,12.9,240,6502,0.00,2.28,0.00,0.000,5126,0.000,0.043,2846,2196,1514,1604,1424,0,0,0,0,0,0,14.99,14.90,15.00
$GC,6752,0.88,168.5,2847,2197,1604,1424,128.6,14.1,265,6758,0.00,2.30,0.00,0.000,4356,0.000,0.058,2846,3606,1514,1604,1424,0,0,0,0,0,0,15.14,14.88,15.14
$GC,7025,0.88,168.5,2846,3606,1603,1425,90.4,15.0,290,7034,0.03,2.35,0.00,0.000,5126,0.513,0.052,2850,2206,1514,1604,1425,0,0,0,0,0,0,14.59,14.84,14.76
$GC,7274,0.88,168.5,2850,2206,1603,1426,59.1,12.5,315,7280,0.00,2.30,0.00,0.000,4612,0.000,0.059,2860,793,1515,1604,1426,0,0,0,0,0,0,15.13,14.88,15.14
$GC,7291,0.88,168.5,2859,793,1603,1426,57.2,12.5,316,7300,0.05,2.33,0.00,0.000,5126,0.399,0.040,2843,2208,1515,1604,1426,0,0,0,0,0,0,14.59,14.83,14.76
$GC,7540,0.88,168.5,2843,2208,1604,1428,29.2,11.2,341,7550,0.00,2.40,0.00,0.000,516,0.000,0.060,2853,788,1516,1604,1429,0,0,0,0,0,0,15.11,14.80,15.12
$GC,7700,0.88,169.2,2853,788,1604,1430,11.3,10.0,367,7709,0.00,2.33,0.00,0.000,5126,0.000,0.040,2853,2189,1517,1604,1431,0,0,0,0,0,0,14.85,14.81,14.85
$STATE,7780,end climb,SURFACE_DEPTH_REACHED
$STATE,7780,begin surface coast
$FINISH,0.2,1.006031
$STATE,7811,end surface coast,CONTROL_FINISHED_OK
$STATE,7812,begin surface
$SM_CCo,7826,134.50,0.848,1,0,658,380.21
$SM_GC,1.25,6.12,0.35,134.50,0.082,0.078,0.848,187,2419,658,-7.28,-1.27,380.21,0,0,0,0,1,0,14.88,14.85,14.07
$IRIDIUM_FIX,2218.34,-15641.34,020418,172651
$TT8_MAMPS,0.019474,0.322819
$HUMID,41.49
$INTERNAL_PRESSURE,9.40725
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.5,6.4
$24V_AH,13.56,54.140
$10V_AH,13.74,0.000
$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,14.700,88.550,216.050,134.500,0.000,28.510,42.459,100.410,0.500,0.000,19.327,1333.188,4922.773,488.482,1424.982,88.146,0.000,1020.974,0.000,1210.249,0.000,5.459,0.000
$DEVICE_MAMPS,667.845,78.030,1855.890,848.385,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,261.202,203.195,364.830,375.737,576.518,0.000,0.000,0.000,0.000,0.000
$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,34075,385
$CAP_FILE_SIZE,81679,0
$CFSIZE,2097086464,2072772608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$INTR,0,2789.47,0x212b6e,2,24
$CURRENT,0.165,277.68,1
$GPS,020418,194445,2226.916,-15642.204,34,1.7,34,9.9,0.0,0.0,4,123.7