version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 220
start: 4 3 118 3 19 55
data:
$ID,626
$MISSION,2
$DIVE,220
$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,45
$R_STBD_OVSHOOT,52
$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
$GPS1,030418,031049,2226.7764,-15645.4717,14,1.4,14,9.9,0.9,239.0,5,42.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.2
$GPS2,030418,031913,2226.7014,-15645.5566,16,1.4,16,9.9,0.9,218.5,5,37.2
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,M8
$TGT_LATLONG,2226.000,-15700.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,250.6,24759,-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,-87.6,186,2432,678,642,0.0,0.0,0,80,0.00,0.00,-59.08,0.000,16390,0.000,0.000,186,2432,2565,2598,2532,0,0,0,0,0,0,14.97,13.97,14.90
$GC,83,-0.62,-87.6,186,2433,2598,2531,3.6,-5.7,8,101,7.12,2.33,0.00,0.000,2564,0.443,0.039,2358,1004,2566,2601,2531,0,0,0,0,0,0,14.45,14.66,14.73
$GC,138,-0.62,-87.6,2358,1004,2602,2531,24.6,-29.7,16,147,0.00,2.38,0.00,0.000,3078,0.000,0.056,2358,2388,2566,2602,2531,0,0,0,0,0,0,14.73,14.67,14.74
$GC,391,-0.62,-87.6,2357,2388,2603,2531,92.2,-25.5,42,396,0.00,2.35,0.00,0.000,2308,0.000,0.054,2349,3836,2567,2603,2531,0,0,0,0,0,0,15.06,14.79,15.06
$GC,524,-0.62,-87.6,2348,3836,2603,2531,121.7,-21.3,54,533,0.00,2.33,0.00,0.000,3078,0.000,0.042,2349,2433,2567,2604,2531,0,0,0,0,0,0,14.81,14.76,14.83
$GC,773,-0.62,-87.6,2348,2432,2604,2531,176.6,-22.3,79,779,0.00,2.35,0.00,0.000,2308,0.000,0.070,2346,3833,2567,2604,2531,0,0,0,0,0,0,15.11,14.83,15.12
$GC,885,-0.62,-87.6,2346,3833,2604,2531,196.6,-17.6,89,892,0.00,2.30,0.00,0.000,3078,0.000,0.047,2346,2411,2567,2604,2531,0,0,0,0,0,0,14.97,14.88,14.98
$GC,1141,-0.62,-87.6,2345,2411,2604,2531,240.8,-16.7,97,1142,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2410,2567,2604,2531,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1381,-0.62,-87.6,2346,2410,2605,2531,278.5,-15.4,103,1386,0.00,2.28,0.00,0.000,2564,0.000,0.058,2346,1004,2567,2604,2531,0,0,0,0,0,0,15.21,14.93,15.21
$GC,1482,-0.62,-87.6,2346,1004,2604,2531,292.6,-16.7,105,1487,0.00,2.33,0.00,0.000,3078,0.000,0.051,2346,2438,2567,2604,2531,0,0,0,0,0,0,15.04,14.95,15.06
$GC,1744,-0.62,-87.6,2345,2439,2604,2531,336.0,-15.4,112,1750,0.00,2.25,0.00,0.000,2308,0.000,0.060,2346,3822,2567,2604,2531,0,0,0,0,0,0,15.24,14.94,15.24
$GC,1787,-0.62,-87.6,2345,3822,2604,2531,342.7,-15.7,113,1793,0.00,2.22,0.00,0.000,3078,0.000,0.037,2345,2412,2567,2604,2531,0,0,0,0,0,0,15.07,14.99,15.08
$GC,2070,-0.62,-87.6,2345,2412,2604,2530,387.7,-16.0,120,2076,0.00,2.25,0.00,0.000,2564,0.000,0.055,2346,1015,2566,2604,2529,0,0,0,0,0,0,15.25,14.97,15.25
$GC,2137,-0.62,-87.6,2345,1014,2604,2528,394.7,-16.1,121,2142,0.00,2.28,0.00,0.000,3078,0.000,0.047,2345,2421,2566,2604,2528,0,0,0,0,0,0,15.08,14.98,15.09
$GC,2394,-0.62,-87.6,2344,2422,2604,2527,438.6,-15.2,128,2400,0.00,2.30,0.00,0.000,2564,0.000,0.055,2345,1015,2565,2604,2526,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2426,-0.62,-87.6,2345,1015,2604,2526,438.6,-15.2,128,2431,0.00,2.28,0.00,0.000,3078,0.000,0.044,2345,2419,2565,2604,2526,0,0,0,0,0,0,15.08,14.98,15.09
$GC,2678,-0.62,-87.6,2345,2419,2604,2522,481.7,-15.2,135,2679,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2419,2563,2604,2522,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2918,-0.62,-87.6,2345,2419,2605,2518,518.9,-15.5,141,2924,0.00,2.30,0.00,0.000,2564,0.000,0.054,2345,1013,2560,2604,2517,0,0,0,0,0,0,15.26,14.99,15.27
$GC,2995,-0.62,-87.6,2345,1012,2604,2514,526.3,-15.9,142,3002,0.00,2.28,0.00,0.000,3078,0.000,0.044,2345,2419,2559,2604,2514,0,0,0,0,0,0,15.09,14.99,15.10
$GC,3241,-0.62,-87.6,2345,2418,2604,2508,569.1,-14.8,149,3242,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2419,2556,2604,2509,0,0,0,0,0,0,15.26,15.27,15.27
$STATE,3480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3480,begin apogee
$GC,3484,-0.16,0.0,2346,2171,2604,2505,603.5,-14.3,155,3553,0.45,0.00,65.78,1.652,10246,0.298,0.000,2509,2168,2209,2277,2141,0,0,0,0,0,0,14.75,14.57,13.98
$STATE,3554,end apogee,CONTROL_FINISHED_OK
$STATE,3554,begin climb
$GC,3556,0.62,87.6,2509,2168,2277,2141,606.7,0.0,156,3633,0.60,2.47,70.18,1.769,10500,0.216,0.048,2743,3617,1851,1948,1754,0,0,0,0,0,0,14.47,14.19,13.69
$GC,3719,0.62,87.6,2743,3618,1945,1754,599.2,7.1,160,3725,0.00,2.30,0.00,0.000,3078,0.000,0.041,2753,2222,1849,1945,1754,0,0,0,0,0,0,14.64,14.57,14.64
$GC,3987,0.68,132.1,2753,2221,1945,1749,574.8,8.3,167,4028,0.00,2.42,35.47,1.570,10756,0.000,0.057,2764,797,1669,1775,1564,0,0,0,0,0,0,15.01,14.54,13.97
$GC,4080,0.72,166.7,2764,796,1775,1565,566.7,8.7,169,4115,0.00,2.33,28.10,1.726,11270,0.000,0.038,2764,2215,1529,1642,1417,0,0,0,0,0,0,14.71,14.64,13.78
$GC,4393,0.72,166.7,2764,2216,1642,1413,523.6,13.7,177,4398,0.00,2.38,0.00,0.000,2564,0.000,0.058,2775,797,1528,1643,1413,0,0,0,0,0,0,14.98,14.74,14.98
$GC,4438,0.72,166.7,2774,796,1642,1413,517.2,13.9,178,4444,0.00,2.28,0.00,0.000,3078,0.000,0.037,2774,2203,1527,1642,1413,0,0,0,0,0,0,14.86,14.78,14.87
$GC,4716,0.72,166.7,2774,2205,1642,1411,473.4,15.1,185,4717,0.00,0.00,0.00,0.000,2054,0.000,0.000,2775,2206,1526,1642,1411,0,0,0,0,0,0,15.09,15.10,15.10
$GC,4956,0.72,166.7,2775,2205,1642,1408,439.7,13.7,191,4962,0.00,2.35,0.00,0.000,2564,0.000,0.058,2786,789,1525,1642,1408,0,0,0,0,0,0,15.14,14.88,15.14
$GC,4987,0.72,166.7,2785,787,1642,1408,439.7,13.7,191,4993,0.00,2.28,0.00,0.000,3078,0.000,0.037,2785,2205,1524,1641,1408,0,0,0,0,0,0,14.98,14.91,15.00
$GC,5239,0.72,166.7,2786,2207,1642,1406,400.4,13.7,198,5245,0.00,2.35,0.00,0.000,2564,0.000,0.058,2796,787,1524,1642,1407,0,0,0,0,0,0,15.17,14.91,15.18
$GC,5291,0.72,166.7,2796,787,1641,1406,394.2,14.0,199,5296,0.00,2.28,0.00,0.000,5126,0.000,0.037,2797,2210,1523,1641,1406,0,0,0,0,0,0,15.02,14.93,15.02
$GC,5564,0.72,166.7,2796,2211,1639,1406,350.7,15.7,206,5565,0.00,0.00,0.00,0.000,4102,0.000,0.000,2796,2211,1522,1639,1406,0,0,0,0,0,0,15.19,15.20,15.19
$GC,5803,0.72,166.7,2796,2211,1639,1405,315.0,14.6,212,5804,0.00,0.00,0.00,0.000,4102,0.000,0.000,2796,2211,1521,1638,1405,0,0,0,0,0,0,15.21,15.21,15.21
$GC,6044,0.72,166.7,2796,2211,1638,1404,281.8,13.7,218,6049,0.00,2.22,0.00,0.000,4356,0.000,0.050,2796,3596,1521,1638,1404,0,0,0,0,0,0,15.22,14.96,15.23
$GC,6054,0.72,166.7,2796,3598,1638,1405,281.8,13.7,218,6060,0.05,2.28,0.00,0.000,5126,0.477,0.044,2791,2189,1521,1638,1404,0,0,0,0,0,0,14.70,14.97,14.99
$GC,6327,0.72,166.7,2791,2188,1638,1403,246.5,11.9,225,6333,0.00,2.25,0.00,0.000,516,0.000,0.057,2802,794,1521,1638,1404,0,0,0,0,0,0,15.22,14.96,15.23
$GC,6370,0.72,166.7,2802,793,1638,1403,241.5,11.7,226,6375,0.00,2.25,0.00,0.000,5126,0.000,0.037,2802,2203,1520,1636,1404,0,0,0,0,0,0,15.06,14.98,15.07
$GC,6652,0.72,166.7,2800,2205,1638,1403,207.5,12.2,233,6658,0.00,2.30,0.00,0.000,4612,0.000,0.057,2813,794,1520,1638,1403,0,0,0,0,0,0,15.23,14.96,15.23
$GC,6679,0.72,166.7,2812,793,1638,1403,207.5,12.2,233,6684,0.05,2.25,0.00,0.000,5126,0.429,0.037,2795,2208,1520,1638,1403,0,0,0,0,0,0,14.73,14.99,15.00
$GC,6929,0.72,166.7,2794,2210,1638,1403,172.0,11.3,254,6934,0.00,2.33,0.00,0.000,4612,0.000,0.056,2805,787,1520,1638,1403,0,0,0,0,0,0,15.21,14.95,15.21
$GC,6985,0.72,166.7,2805,787,1638,1403,165.6,11.3,259,6991,0.00,2.25,0.00,0.000,5126,0.000,0.036,2805,2198,1520,1638,1403,0,0,0,0,0,0,15.04,14.97,15.06
$GC,7239,0.73,178.3,2805,2198,1638,1403,139.9,9.6,284,7250,0.00,0.00,8.85,0.947,12294,0.000,0.000,2805,2198,1479,1595,1364,0,0,0,0,0,0,15.19,14.92,14.40
$GC,7491,0.73,178.3,2805,2198,1595,1373,111.2,12.3,309,7496,0.00,2.28,0.00,0.000,4356,0.000,0.050,2805,3602,1484,1594,1374,0,0,0,0,0,0,15.14,14.90,15.15
$GC,7589,0.73,178.3,2805,3602,1594,1377,99.1,12.4,318,7595,0.05,2.28,0.00,0.000,5126,0.466,0.043,2800,2196,1485,1594,1377,0,0,0,0,0,0,14.64,14.91,14.91
$GC,7845,0.79,224.5,2799,2196,1594,1379,74.2,8.3,343,7888,0.00,2.33,34.53,0.963,10756,0.000,0.057,2810,794,1294,1399,1189,0,0,0,0,0,0,15.14,14.74,14.27
$GC,7911,0.80,237.2,2810,794,1399,1189,68.4,9.5,348,7932,0.00,2.33,10.27,0.893,11270,0.000,0.035,2810,2205,1242,1348,1137,0,0,0,0,0,0,14.77,14.73,14.26
$GC,8171,0.80,237.2,2810,2206,1348,1138,30.2,13.9,374,8177,0.00,2.35,0.00,0.000,2564,0.000,0.057,2821,793,1243,1348,1138,0,0,0,0,0,0,15.02,14.77,15.02
$GC,8197,0.80,237.2,2821,793,1348,1138,26.7,13.4,377,8206,0.00,2.33,0.00,0.000,5126,0.000,0.036,2821,2197,1243,1348,1138,0,0,0,0,0,0,14.78,14.74,14.81
$STATE,8355,end climb,SURFACE_DEPTH_REACHED
$STATE,8355,begin surface coast
$FINISH,0.2,1.023837
$STATE,8374,end surface coast,CONTROL_FINISHED_OK
$STATE,8375,begin surface
$SM_CCo,8388,83.05,0.114,0,0,659,380.21
$SM_GC,1.10,6.07,0.32,83.05,0.077,0.070,0.114,187,2429,659,-7.31,-1.44,380.21,0,0,0,0,0,0,14.83,14.82,14.70
$IRIDIUM_FIX,2218.34,-15646.55,030418,031219
$TT8_MAMPS,0.019474,0.327313
$HUMID,42.67
$INTERNAL_PRESSURE,9.40725
$TCM_TEMP,20.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.5,6.5
$24V_AH,13.69,54.860
$10V_AH,13.38,0.000
$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,14.400,92.875,253.175,83.050,0.000,33.642,73.195,272.101,0.500,0.000,17.671,1431.909,5309.830,433.164,1721.006,108.948,0.000,1037.548,0.000,1297.571,0.000,5.458,0.000
$DEVICE_MAMPS,476.595,69.615,1768.680,113.985,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,274.989,215.524,383.196,375.741,576.504,0.000,0.000,0.000,0.000,0.000
$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,37234,406
$CAP_FILE_SIZE,88112,0
$CFSIZE,2097086464,2072379392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.108,264.49,1
$GPS,030418,054224,2226.524,-15647.147,43,0.8,43,9.9,0.5,170.3,10,16.2