version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 217
start: 4 2 118 19 52 3
data:
$ID,626
$MISSION,2
$DIVE,217
$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,38
$R_STBD_OVSHOOT,40
$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
$GPS1,020418,194445,2226.9155,-15642.2041,34,1.7,34,9.9,0.0,0.0,4,123.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.4
$GPS2,020418,195131,2226.9304,-15642.2959,41,0.8,41,9.9,0.8,289.9,9,147.7
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,M7
$TGT_LATLONG,2227.000,-15642.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,83.3,522,-23.5,-10.000,-25.92,1361
$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,-0.84,-88.7,186,2422,681,641,0.0,0.0,0,79,0.00,0.00,-58.60,0.000,16390,0.000,0.000,186,2422,2573,2609,2537,0,0,0,0,0,0,14.97,13.71,14.92
$GC,81,-0.87,-107.1,186,2422,2608,2537,3.8,-7.4,8,100,6.85,2.33,-1.33,0.000,18692,0.443,0.071,2269,3822,2648,2693,2604,0,0,0,0,0,0,14.45,13.98,14.76
$GC,295,-0.87,-107.1,2269,3822,2694,2604,76.8,-30.4,30,300,0.00,2.33,0.00,0.000,3078,0.000,0.054,2269,2418,2649,2694,2604,0,0,0,0,0,0,14.88,14.78,14.88
$GC,549,-0.87,-107.1,2269,2417,2695,2604,151.9,-29.9,55,555,0.00,2.35,0.00,0.000,2308,0.000,0.063,2263,3827,2649,2695,2604,0,0,0,0,0,0,15.08,14.81,15.08
$GC,597,-0.87,-107.1,2262,3828,2695,2604,165.3,-28.9,59,605,0.05,2.30,0.00,0.000,3078,0.454,0.046,2278,2410,2649,2695,2604,0,0,0,0,0,0,14.62,14.85,14.86
$GC,843,-0.87,-107.1,2277,2409,2698,2604,229.4,-24.2,75,845,0.00,0.00,0.00,0.000,2054,0.000,0.000,2278,2409,2650,2697,2604,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1083,-0.87,-107.1,2278,2409,2699,2604,286.9,-23.7,81,1089,0.00,2.35,0.00,0.000,2308,0.000,0.067,2277,3821,2651,2698,2604,0,0,0,0,0,0,15.18,14.90,15.19
$GC,1110,-0.87,-107.1,2276,3821,2699,2604,286.9,-23.7,81,1115,0.00,2.25,0.00,0.000,3078,0.000,0.044,2277,2415,2651,2699,2604,0,0,0,0,0,0,15.02,14.94,15.04
$GC,1367,-0.87,-107.1,2276,2415,2699,2604,349.2,-21.8,88,1373,0.00,2.28,0.00,0.000,2564,0.000,0.057,2276,1010,2651,2699,2604,0,0,0,0,0,0,15.21,14.94,15.21
$GC,1384,-0.87,-107.1,2276,1010,2699,2604,349.2,-21.8,88,1389,0.00,2.30,0.00,0.000,3078,0.000,0.055,2276,2413,2651,2699,2604,0,0,0,0,0,0,15.05,14.94,15.06
$GC,1651,-0.87,-107.1,2275,2415,2699,2604,408.0,-20.3,95,1652,0.00,0.00,0.00,0.000,2054,0.000,0.000,2276,2415,2651,2699,2604,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1891,-0.87,-107.1,2275,2415,2699,2602,457.4,-20.5,101,1897,0.00,2.30,0.00,0.000,2564,0.000,0.058,2276,1015,2650,2699,2602,0,0,0,0,0,0,15.24,14.97,15.25
$GC,1923,-0.87,-107.1,2276,1015,2698,2602,457.4,-20.5,101,1928,0.00,2.30,0.00,0.000,3078,0.000,0.049,2276,2435,2650,2699,2601,0,0,0,0,0,0,15.07,14.98,15.09
$GC,2175,-0.87,-107.1,2275,2435,2699,2599,514.9,-20.1,108,2176,0.00,0.00,0.00,0.000,2054,0.000,0.000,2276,2435,2648,2697,2600,0,0,0,0,0,0,15.25,15.25,15.26
$GC,2415,-0.87,-107.1,2276,2435,2699,2596,563.1,-20.2,114,2421,0.00,2.33,0.00,0.000,2564,0.000,0.054,2276,1012,2647,2699,2596,0,0,0,0,0,0,15.26,14.98,15.26
$GC,2447,-0.87,-107.1,2276,1012,2699,2596,563.1,-20.2,114,2452,0.00,2.28,0.00,0.000,3078,0.000,0.045,2276,2421,2647,2699,2595,0,0,0,0,0,0,15.09,14.99,15.10
$STATE,2618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2618,begin apogee
$GC,2622,-0.16,0.0,2276,2169,2699,2592,603.3,-19.3,119,2709,0.65,0.00,83.85,1.861,10246,0.314,0.000,2509,2167,2210,2282,2138,0,0,0,0,0,0,14.75,14.42,13.80
$STATE,2710,end apogee,CONTROL_FINISHED_OK
$STATE,2710,begin climb
$GC,2712,0.87,107.1,2509,2167,2283,2138,609.2,0.0,121,2814,0.80,2.53,90.45,2.242,10500,0.206,0.050,2819,3606,1775,1870,1680,0,0,0,0,0,0,14.33,14.17,13.47
$GC,2850,0.87,107.1,2818,3606,1870,1682,602.6,8.1,124,2855,0.00,2.33,0.00,0.000,3078,0.000,0.043,2829,2219,1776,1870,1682,0,0,0,0,0,0,14.47,14.40,14.48
$GC,3104,0.87,107.1,2829,2219,1869,1674,560.2,15.1,131,3109,0.00,2.38,0.00,0.000,2564,0.000,0.059,2840,790,1772,1869,1675,0,0,0,0,0,0,14.95,14.71,14.95
$GC,3130,0.87,107.1,2840,789,1869,1674,560.2,15.1,131,3136,0.00,2.33,0.00,0.000,5126,0.000,0.043,2840,2207,1771,1869,1674,0,0,0,0,0,0,14.82,14.74,14.83
$GC,3388,0.87,107.1,2840,2208,1868,1671,517.4,15.1,138,3389,0.00,0.00,0.00,0.000,4102,0.000,0.000,2840,2208,1769,1868,1671,0,0,0,0,0,0,15.07,15.08,15.07
$GC,3628,0.87,107.1,2840,2208,1868,1670,481.6,14.5,144,3629,0.00,0.00,0.00,0.000,4102,0.000,0.000,2840,2208,1769,1868,1670,0,0,0,0,0,0,15.13,15.14,15.13
$GC,3868,0.87,107.1,2840,2208,1866,1668,447.1,14.0,150,3873,0.00,2.35,0.00,0.000,4612,0.000,0.060,2851,793,1767,1866,1668,0,0,0,0,0,0,15.16,14.91,15.16
$GC,3884,0.87,107.1,2851,792,1866,1668,447.1,14.0,150,3890,0.00,2.28,0.00,0.000,5126,0.000,0.041,2851,2202,1767,1866,1668,0,0,0,0,0,0,15.01,14.92,15.02
$GC,4152,0.87,107.1,2851,2202,1864,1666,411.0,12.1,157,4153,0.00,0.00,0.00,0.000,4102,0.000,0.000,2851,2202,1765,1864,1666,0,0,0,0,0,0,15.19,15.19,15.19
$GC,4392,0.87,107.1,2851,2202,1862,1665,382.7,11.6,163,4394,0.00,0.00,0.00,0.000,4102,0.000,0.000,2851,2202,1763,1862,1665,0,0,0,0,0,0,15.21,15.21,15.21
$GC,4632,0.87,107.1,2851,2203,1861,1664,354.2,11.4,169,4637,0.00,2.28,0.00,0.000,4356,0.000,0.057,2851,3605,1763,1861,1665,0,0,0,0,0,0,15.22,14.96,15.22
$GC,4928,0.87,107.1,2851,3605,1859,1665,320.4,12.0,176,4934,0.08,2.28,0.00,0.000,5126,0.456,0.042,2839,2181,1761,1858,1664,0,0,0,0,0,0,14.69,14.97,14.99
$GC,5197,0.89,125.5,2839,2180,1859,1663,294.7,8.6,183,5212,0.00,0.00,13.40,1.200,10246,0.000,0.000,2838,2180,1696,1793,1600,0,0,0,0,0,0,15.23,14.92,14.38
$GC,5436,0.89,125.5,2838,2179,1789,1597,266.4,12.5,189,5441,0.00,2.25,0.00,0.000,2564,0.000,0.055,2849,800,1693,1789,1597,0,0,0,0,0,0,15.18,14.93,15.19
$GC,5542,0.89,125.5,2849,799,1789,1597,256.8,12.2,191,5548,0.00,2.25,0.00,0.000,5126,0.000,0.036,2849,2216,1693,1789,1597,0,0,0,0,0,0,15.03,14.96,15.04
$GC,5801,0.89,125.5,2849,2217,1789,1596,225.2,11.3,198,5806,0.00,2.22,0.00,0.000,4356,0.000,0.051,2849,3592,1692,1789,1596,0,0,0,0,0,0,15.21,14.95,15.21
$GC,6245,0.92,150.6,2849,3592,1788,1597,178.6,8.1,223,6271,0.00,2.25,19.23,1.057,13318,0.000,0.044,2860,2194,1590,1682,1499,0,0,0,0,0,0,15.04,14.96,14.38
$GC,6519,0.92,150.6,2859,2194,1682,1498,148.7,11.9,250,6524,0.00,2.28,0.00,0.000,4612,0.000,0.053,2870,790,1589,1681,1498,0,0,0,0,0,0,15.12,14.88,15.13
$GC,6543,0.92,150.6,2870,790,1681,1498,145.9,11.7,252,6548,0.00,2.25,0.00,0.000,5126,0.000,0.034,2870,2198,1590,1681,1499,0,0,0,0,0,0,14.97,14.89,14.98
$GC,6798,0.92,150.6,2870,2200,1681,1498,113.9,12.5,277,6803,0.00,2.28,0.00,0.000,4356,0.000,0.050,2870,3598,1590,1681,1499,0,0,0,0,0,0,15.13,14.88,15.13
$GC,7129,0.92,150.6,2870,3598,1681,1499,73.6,10.3,307,7140,0.08,2.33,0.00,0.000,5126,0.412,0.045,2858,2197,1590,1681,1499,0,0,0,0,0,0,14.56,14.82,14.76
$GC,7380,0.93,159.9,2857,2197,1681,1501,50.3,9.3,332,7394,0.00,2.33,8.07,0.796,8452,0.000,0.047,2857,3597,1555,1647,1463,0,0,0,0,0,0,15.12,14.87,14.40
$GC,7470,0.93,159.9,2857,3598,1646,1463,41.1,11.2,339,7479,0.00,2.30,0.00,0.000,5126,0.000,0.044,2867,2203,1554,1646,1463,0,0,0,0,0,0,14.85,14.81,14.85
$GC,7747,0.95,177.8,2866,2203,1647,1464,14.5,8.6,379,7765,0.00,2.33,13.60,0.796,8708,0.000,0.051,2878,794,1481,1571,1392,0,0,0,0,0,0,15.07,14.81,14.38
$STATE,7842,end climb,SURFACE_DEPTH_REACHED
$STATE,7843,begin surface coast
$FINISH,0.3,1.023869
$STATE,7868,end surface coast,CONTROL_FINISHED_OK
$STATE,7869,begin surface
$SM_CCo,7885,119.35,0.112,0,0,659,380.21
$SM_GC,1.20,6.18,2.67,119.35,0.080,0.039,0.112,190,2403,659,-7.27,-1.50,380.21,0,0,0,0,0,0,14.84,14.79,14.71
$IRIDIUM_FIX,2218.34,-15641.34,020418,194726
$TT8_MAMPS,0.018725,0.324317
$HUMID,40.66
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.5,6.5
$24V_AH,13.47,54.319
$10V_AH,13.55,0.000
$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,14.675,74.475,228.600,119.350,0.000,61.531,48.666,101.598,0.500,0.000,42.279,1443.862,4827.752,440.435,1629.623,90.689,0.000,1019.818,0.000,1346.273,0.000,6.069,0.000
$DEVICE_MAMPS,455.940,71.145,2242.215,112.455,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,269.924,216.452,385.968,397.208,609.465,0.000,0.000,0.000,0.000,0.000
$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,33987,398
$CAP_FILE_SIZE,80441,0
$CFSIZE,2097086464,2072674304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1387.66,0x212b6e,0,24
$CURRENT,0.180,274.14,1
$GPS,020418,220620,2226.934,-15642.292,19,1.6,19,9.9,0.0,0.0,5,96.6