version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 218
start: 4 2 118 22 11 56
data:
$ID,626
$MISSION,2
$DIVE,218
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,1
$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,47
$R_STBD_OVSHOOT,33
$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
$GPS1,020418,220620,2226.9341,-15642.2920,19,1.6,19,9.9,0.0,0.0,5,96.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.7
$GPS2,020418,221114,2226.9302,-15642.3262,20,2.0,20,9.9,0.0,0.0,4,120.2
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,M8
$TGT_LATLONG,2226.000,-15700.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,252.3,30305,-16.4,-10.000,-19.35,2738
$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,-0.62,-87.6,190,2407,678,641,0.0,0.0,0,75,0.00,0.00,-57.50,0.000,16386,0.000,0.000,190,2407,2528,2563,2494,0,0,0,0,0,0,15.00,28.83,15.01
$GC,78,-0.62,-87.6,190,2407,2562,2494,3.0,-5.6,7,97,7.05,2.30,-0.77,0.000,18948,0.441,0.066,2351,1019,2569,2609,2529,0,0,0,0,0,0,14.47,14.00,14.78
$GC,111,-0.62,-87.6,2350,1019,2609,2530,16.1,-34.9,11,119,0.00,2.38,0.00,0.000,3078,0.000,0.047,2345,2424,2569,2609,2529,0,0,0,0,0,0,14.76,14.71,14.78
$GC,369,-0.62,-87.6,2345,2425,2610,2529,87.5,-24.6,39,374,0.00,2.28,0.00,0.000,2308,0.000,0.054,2336,3828,2569,2610,2529,0,0,0,0,0,0,15.06,14.80,15.06
$GC,445,-0.62,-87.6,2335,3829,2611,2530,106.6,-23.3,46,451,0.08,2.28,0.00,0.000,3078,0.396,0.042,2360,2421,2570,2611,2529,0,0,0,0,0,0,14.61,14.83,14.84
$GC,699,-0.62,-87.6,2359,2419,2612,2530,161.9,-20.3,71,704,0.00,2.28,0.00,0.000,516,0.000,0.061,2360,1013,2571,2612,2530,0,0,0,0,0,0,15.11,14.85,15.11
$GC,755,-0.62,-87.6,2359,1012,2612,2529,173.0,-20.6,76,760,0.00,2.33,0.00,0.000,1030,0.000,0.054,2359,2425,2570,2612,2529,0,0,0,0,0,0,14.95,14.87,14.97
$GC,1027,-0.62,-87.6,2359,2425,2614,2529,221.1,-17.4,94,1033,0.00,2.25,0.00,0.000,260,0.000,0.057,2359,3828,2571,2614,2529,0,0,0,0,0,0,15.16,14.88,15.17
$GC,1049,-0.62,-87.6,2359,3829,2615,2529,221.1,-17.4,94,1055,0.00,2.25,0.00,0.000,1030,0.000,0.039,2359,2413,2571,2614,2529,0,0,0,0,0,0,15.00,14.92,15.01
$GC,1312,-0.62,-87.6,2358,2413,2616,2529,268.8,-16.3,101,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2413,2572,2616,2529,0,0,0,0,0,0,15.20,15.21,15.21
$GC,1552,-0.62,-87.6,2358,2413,2617,2529,308.6,-16.2,107,1558,0.00,2.25,0.00,0.000,516,0.000,0.056,2359,1000,2573,2617,2529,0,0,0,0,0,0,15.22,14.96,15.23
$GC,1669,-0.62,-87.6,2359,1000,2616,2529,321.5,-15.5,109,1676,0.00,2.30,0.00,0.000,1030,0.000,0.045,2358,2426,2573,2617,2529,0,0,0,0,0,0,15.05,14.97,15.07
$GC,1915,-0.62,-87.6,2358,2426,2617,2529,362.6,-14.7,116,1920,0.00,2.28,0.00,0.000,260,0.000,0.060,2358,3831,2573,2617,2529,0,0,0,0,0,0,15.23,14.95,15.24
$GC,1946,-0.62,-87.6,2359,3831,2616,2529,362.6,-14.7,116,1952,0.00,2.25,0.00,0.000,1030,0.000,0.037,2359,2406,2573,2617,2529,0,0,0,0,0,0,15.07,15.00,15.08
$GC,2199,-0.62,-87.6,2358,2406,2616,2529,403.3,-14.2,123,2205,0.00,2.25,0.00,0.000,516,0.000,0.054,2359,1004,2572,2616,2529,0,0,0,0,0,0,15.25,14.98,15.26
$GC,2327,-0.62,-87.6,2358,1004,2616,2528,421.7,-14.9,126,2332,0.00,2.30,0.00,0.000,1030,0.000,0.045,2359,2429,2572,2616,2528,0,0,0,0,0,0,15.07,14.98,15.08
$GC,2604,-0.62,-87.6,2358,2430,2616,2525,462.8,-14.7,133,2605,0.00,0.00,0.00,0.000,2054,0.000,0.000,2359,2430,2571,2616,2526,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2844,-0.62,-87.6,2358,2430,2616,2522,497.7,-14.4,139,2850,0.00,2.30,0.00,0.000,516,0.000,0.054,2358,1005,2569,2616,2522,0,0,0,0,0,0,15.26,15.00,15.27
$GC,2921,-0.62,-87.6,2359,1006,2616,2522,504.1,-14.5,140,2927,0.00,2.30,0.00,0.000,1030,0.000,0.044,2359,2428,2569,2616,2522,0,0,0,0,0,0,15.08,14.99,15.09
$GC,3167,-0.62,-87.6,2358,2428,2616,2518,542.4,-13.8,147,3172,0.00,2.30,0.00,0.000,516,0.000,0.054,2359,1004,2566,2616,2517,0,0,0,0,0,0,15.26,14.99,15.26
$GC,3249,-0.62,-87.6,2358,1004,2616,2517,554.3,-14.2,149,3254,0.00,2.30,0.00,0.000,1030,0.000,0.045,2359,2419,2566,2616,2517,0,0,0,0,0,0,15.08,14.98,15.09
$GC,3531,-0.62,-87.6,2359,2419,2616,2513,588.3,-11.7,156,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2419,2564,2616,2513,0,0,0,0,0,0,15.26,15.27,15.26
$STATE,3650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3650,begin apogee
$GC,3654,-0.16,0.0,2359,2172,2616,2511,602.4,-11.7,159,3725,0.40,0.00,67.90,1.642,10246,0.291,0.000,2506,2169,2208,2278,2139,0,0,0,0,0,0,14.77,14.56,13.97
$STATE,3726,end apogee,CONTROL_FINISHED_OK
$STATE,3726,begin climb
$GC,3728,0.62,87.6,2506,2169,2278,2139,605.2,0.0,160,3802,0.60,0.00,70.55,1.750,10246,0.215,0.000,2740,2168,1851,1948,1754,0,0,0,0,0,0,14.44,14.28,13.64
$GC,4011,0.71,161.9,2740,2168,1948,1752,589.7,7.2,168,4082,0.08,2.50,60.40,2.168,10500,0.197,0.050,2824,3608,1550,1657,1444,0,0,0,0,0,0,14.68,14.26,13.53
$GC,4114,0.71,164.0,2825,3609,1656,1446,579.1,9.9,170,4125,0.15,2.33,3.78,1.475,13318,0.391,0.043,2789,2221,1541,1650,1433,0,0,0,0,0,0,14.26,14.44,13.66
$GC,4378,0.71,164.0,2788,2221,1650,1431,530.9,16.6,177,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2221,1541,1650,1432,0,0,0,0,0,0,14.96,14.96,14.96
$GC,4617,0.71,164.0,2789,2221,1650,1429,492.3,16.0,183,4622,0.00,2.33,0.00,0.000,516,0.000,0.059,2800,792,1539,1650,1429,0,0,0,0,0,0,15.06,14.81,15.07
$GC,4739,0.71,164.0,2800,791,1649,1429,472.1,16.4,186,4744,0.00,2.30,0.00,0.000,5126,0.000,0.038,2800,2213,1539,1649,1429,0,0,0,0,0,0,14.94,14.86,14.95
$GC,5022,0.71,164.0,2800,2216,1649,1425,427.2,16.0,193,5023,0.00,0.00,0.00,0.000,4102,0.000,0.000,2800,2216,1537,1649,1425,0,0,0,0,0,0,15.14,15.14,15.14
$GC,5261,0.71,164.0,2800,2216,1649,1423,388.9,15.8,199,5266,0.00,2.38,0.00,0.000,4612,0.000,0.058,2811,783,1536,1649,1423,0,0,0,0,0,0,15.17,14.91,15.18
$GC,5353,0.71,164.0,2811,782,1648,1423,375.9,15.6,201,5359,0.05,2.28,0.00,0.000,5126,0.437,0.038,2794,2205,1535,1648,1423,0,0,0,0,0,0,14.70,14.94,14.94
$GC,5626,0.71,164.0,2794,2208,1648,1421,335.5,13.8,208,5632,0.00,2.25,0.00,0.000,4356,0.000,0.050,2794,3596,1534,1648,1421,0,0,0,0,0,0,15.19,14.94,15.20
$GC,5709,0.71,164.0,2794,3597,1647,1422,323.7,13.9,210,5714,0.00,2.28,0.00,0.000,5126,0.000,0.043,2804,2190,1534,1647,1422,0,0,0,0,0,0,15.04,14.95,15.04
$GC,5991,0.71,164.0,2804,2190,1647,1421,284.5,14.2,217,5996,0.00,2.28,0.00,0.000,4612,0.000,0.057,2815,791,1534,1647,1421,0,0,0,0,0,0,15.21,14.95,15.21
$GC,6079,0.71,164.0,2815,791,1646,1420,270.8,15.8,219,6085,0.08,2.25,0.00,0.000,5126,0.392,0.038,2789,2202,1533,1646,1420,0,0,0,0,0,0,14.72,14.97,14.98
$GC,6360,0.71,164.0,2789,2207,1646,1420,234.3,11.9,226,6365,0.00,2.30,0.00,0.000,516,0.000,0.057,2800,794,1533,1646,1420,0,0,0,0,0,0,15.21,14.96,15.22
$GC,6411,0.71,164.0,2800,794,1646,1419,229.3,11.2,227,6417,0.00,2.25,0.00,0.000,5126,0.000,0.037,2800,2208,1533,1646,1420,0,0,0,0,0,0,15.06,14.98,15.07
$GC,6683,0.71,164.0,2800,2210,1646,1419,197.4,11.5,234,6689,0.00,2.30,0.00,0.000,4612,0.000,0.054,2810,793,1533,1646,1420,0,0,0,0,0,0,15.23,14.97,15.23
$GC,6711,0.71,164.0,2810,792,1646,1420,194.5,12.0,236,6719,0.05,2.25,0.00,0.000,5126,0.443,0.037,2793,2211,1533,1646,1420,0,0,0,0,0,0,14.72,14.99,15.00
$GC,6958,0.72,166.2,2793,2213,1646,1419,166.6,9.9,261,6963,0.00,2.25,0.00,0.000,4356,0.000,0.049,2794,3596,1533,1646,1420,0,0,0,0,0,0,15.21,14.95,15.21
$GC,7177,0.72,166.2,2793,3597,1646,1421,141.0,11.9,281,7183,0.00,2.25,0.00,0.000,5126,0.000,0.042,2804,2200,1533,1646,1421,0,0,0,0,0,0,15.03,14.95,15.04
$GC,7424,0.72,170.6,2803,2199,1646,1422,113.4,9.8,306,7439,0.00,2.28,5.88,0.832,12804,0.000,0.054,2814,794,1511,1624,1398,0,0,0,0,0,0,15.18,14.78,14.37
$GC,7582,0.73,173.5,2814,794,1624,1399,96.7,9.9,320,7597,0.05,2.25,3.70,0.669,13318,0.440,0.036,2798,2209,1501,1613,1389,0,0,0,0,0,0,14.67,14.92,14.36
$GC,7836,0.77,207.9,2797,2209,1613,1391,71.4,8.7,345,7874,0.00,2.28,25.88,0.928,10500,0.000,0.047,2797,3596,1361,1468,1255,0,0,0,0,0,0,15.14,14.72,14.32
$GC,7889,0.77,207.9,2797,3596,1468,1256,65.7,10.6,349,7894,0.00,2.28,0.00,0.000,1030,0.000,0.041,2808,2196,1361,1467,1256,0,0,0,0,0,0,14.87,14.80,14.88
$GC,8144,0.77,207.9,2807,2196,1468,1260,32.5,13.2,374,8149,0.00,2.28,0.00,0.000,516,0.000,0.057,2819,790,1364,1468,1260,0,0,0,0,0,0,15.06,14.82,15.07
$GC,8175,0.77,207.9,2818,788,1468,1261,28.1,13.7,377,8184,0.00,2.30,0.00,0.000,5126,0.000,0.035,2819,2189,1364,1468,1261,0,0,0,0,0,0,14.83,14.79,14.84
$STATE,8361,end climb,SURFACE_DEPTH_REACHED
$STATE,8362,begin surface coast
$FINISH,0.5,1.023843
$STATE,8381,end surface coast,CONTROL_FINISHED_OK
$STATE,8381,begin surface
$SM_CCo,8395,105.25,0.109,0,0,659,380.21
$SM_GC,1.21,5.90,0.32,105.25,0.050,0.067,0.109,189,2423,659,-7.28,-1.61,380.21,0,0,0,0,0,0,14.86,14.84,14.73
$IRIDIUM_FIX,2218.34,-15644.41,020418,220722
$TT8_MAMPS,0.018725,0.265895
$HUMID,42.00
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.8,6.4
$24V_AH,13.53,54.494
$10V_AH,13.41,0.000
$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,14.475,92.225,238.075,105.250,0.000,27.963,47.237,107.575,0.500,0.000,21.294,1529.873,5125.797,473.245,1602.091,95.312,0.000,1083.520,0.000,1371.118,0.000,5.458,0.000
$DEVICE_MAMPS,442.935,67.320,2168.010,108.630,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,278.498,220.372,391.207,384.329,589.693,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343152
$DATA_FILE_SIZE,37366,411
$CAP_FILE_SIZE,88770,0
$CFSIZE,2097086464,2072576000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.119,283.07,1
$GPS,030418,003448,2226.860,-15643.870,38,0.8,38,9.9,0.0,0.0,9,16.9