version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 221
start: 4 3 118 5 50 23
data:
$ID,626
$MISSION,2
$DIVE,221
$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,42
$R_STBD_OVSHOOT,54
$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
$GPS1,030418,054224,2226.5244,-15647.1475,43,0.8,43,9.9,0.5,170.3,10,16.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-71.1
$GPS2,030418,054941,2226.5166,-15647.2188,7,0.8,7,9.9,1.0,279.4,10,109.9
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,M8
$TGT_LATLONG,2226.000,-15700.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,258.7,21901,-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,-87.6,188,2432,682,639,0.0,0.0,0,80,0.00,0.00,-58.47,0.000,16390,0.000,0.000,187,2432,2568,2601,2536,0,0,0,0,0,0,14.96,13.97,14.90
$GC,82,-0.62,-87.6,187,2432,2600,2536,4.3,-9.2,8,101,7.07,2.33,0.00,0.000,2564,0.440,0.037,2352,998,2567,2601,2534,0,0,0,0,0,0,14.44,14.66,14.73
$GC,127,-0.62,-87.6,2351,998,2601,2533,23.1,-38.8,14,135,0.00,2.35,0.00,0.000,3078,0.000,0.040,2346,2396,2567,2601,2533,0,0,0,0,0,0,14.72,14.67,14.74
$GC,378,-0.62,-87.6,2345,2397,2601,2533,97.8,-28.6,40,383,0.00,2.35,0.00,0.000,2308,0.000,0.058,2346,3829,2567,2601,2534,0,0,0,0,0,0,15.05,14.77,15.05
$GC,436,-0.62,-87.6,2345,3830,2601,2533,110.9,-22.8,45,441,0.00,2.28,0.00,0.000,3078,0.000,0.044,2346,2423,2567,2601,2534,0,0,0,0,0,0,14.90,14.82,14.92
$GC,693,-0.62,-87.6,2345,2423,2603,2534,166.0,-21.0,70,698,0.00,2.28,0.00,0.000,2564,0.000,0.054,2346,1013,2568,2603,2534,0,0,0,0,0,0,15.11,14.85,15.11
$GC,719,-0.62,-87.6,2345,1013,2603,2533,171.5,-20.4,72,728,0.00,2.35,0.00,0.000,3078,0.000,0.041,2345,2429,2568,2603,2533,0,0,0,0,0,0,14.84,14.80,14.88
$GC,976,-0.62,-87.6,2345,2429,2605,2534,224.4,-19.6,89,981,0.00,2.33,0.00,0.000,2564,0.000,0.052,2345,1007,2569,2606,2533,0,0,0,0,0,0,15.16,14.89,15.16
$GC,1012,-0.62,-87.6,2344,1007,2605,2534,224.4,-19.6,89,1019,0.00,2.28,0.00,0.000,3078,0.000,0.041,2345,2420,2569,2605,2534,0,0,0,0,0,0,15.00,14.90,15.01
$GC,1259,-0.62,-87.6,2345,2420,2606,2534,276.0,-17.8,96,1264,0.00,2.30,0.00,0.000,2308,0.000,0.062,2344,3831,2570,2606,2534,0,0,0,0,0,0,15.20,14.90,15.20
$GC,1345,-0.62,-87.6,2344,3832,2606,2534,288.7,-16.2,98,1351,0.00,2.28,0.00,0.000,3078,0.000,0.043,2344,2414,2569,2606,2533,0,0,0,0,0,0,15.03,14.94,15.04
$GC,1623,-0.62,-87.6,2344,2413,2606,2534,334.9,-17.1,105,1629,0.00,2.28,0.00,0.000,2564,0.000,0.058,2344,1009,2569,2606,2533,0,0,0,0,0,0,15.23,14.95,15.23
$GC,1669,-0.62,-87.6,2344,1008,2606,2533,342.4,-17.2,106,1674,0.00,2.33,0.00,0.000,3078,0.000,0.055,2344,2425,2569,2606,2533,0,0,0,0,0,0,15.05,14.95,15.07
$GC,1946,-0.62,-87.6,2344,2425,2606,2533,390.2,-17.0,113,1951,0.00,2.33,0.00,0.000,2564,0.000,0.058,2344,1011,2569,2606,2533,0,0,0,0,0,0,15.24,14.96,15.24
$GC,1978,-0.62,-87.6,2344,1010,2606,2533,390.2,-17.0,113,1984,0.05,2.30,0.00,0.000,3078,0.467,0.053,2356,2420,2569,2606,2533,0,0,0,0,0,0,14.72,14.97,14.99
$GC,2231,-0.62,-87.6,2356,2420,2606,2531,432.5,-14.2,120,2236,0.00,2.33,0.00,0.000,2564,0.000,0.058,2357,1005,2568,2606,2531,0,0,0,0,0,0,15.25,14.97,15.26
$GC,2282,-0.62,-87.6,2356,1004,2606,2530,438.6,-14.1,121,2288,0.00,2.30,0.00,0.000,3078,0.000,0.050,2348,2420,2568,2606,2530,0,0,0,0,0,0,15.07,14.97,15.09
$GC,2554,-0.62,-87.6,2348,2421,2606,2527,481.1,-15.4,128,2556,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2420,2566,2606,2527,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2795,-0.62,-87.6,2348,2420,2606,2524,517.8,-15.2,134,2800,0.00,2.33,0.00,0.000,2564,0.000,0.059,2348,1010,2565,2606,2524,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2861,-0.62,-87.6,2348,1010,2606,2523,524.5,-15.3,135,2866,0.00,2.30,0.00,0.000,3078,0.000,0.047,2347,2429,2564,2606,2523,0,0,0,0,0,0,15.08,14.98,15.09
$GC,3118,-0.62,-87.6,2346,2431,2606,2519,566.5,-14.9,142,3123,0.00,2.33,0.00,0.000,2564,0.000,0.056,2346,1009,2563,2606,2520,0,0,0,0,0,0,15.26,14.98,15.26
$GC,3179,-0.62,-87.6,2345,1009,2606,2519,573.0,-15.1,143,3184,0.00,2.28,0.00,0.000,3078,0.000,0.043,2346,2419,2562,2606,2519,0,0,0,0,0,0,15.08,14.98,15.09
$STATE,3360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3360,begin apogee
$GC,3365,-0.16,0.0,2346,2169,2606,2516,602.0,-14.1,148,3435,0.45,0.00,67.28,1.712,10246,0.295,0.000,2510,2167,2208,2276,2141,0,0,0,0,0,0,14.74,14.54,13.94
$STATE,3436,end apogee,CONTROL_FINISHED_OK
$STATE,3436,begin climb
$GC,3438,0.62,87.6,2510,2168,2275,2141,605.5,0.0,149,3516,0.60,2.50,70.30,1.818,10500,0.211,0.050,2744,3614,1852,1948,1757,0,0,0,0,0,0,14.44,14.15,13.65
$GC,3561,0.62,87.6,2744,3613,1946,1757,602.9,5.1,152,3567,0.00,2.33,0.00,0.000,3078,0.000,0.041,2754,2214,1851,1946,1756,0,0,0,0,0,0,14.55,14.48,14.56
$GC,3830,0.68,134.4,2754,2213,1946,1752,580.0,8.2,159,3874,0.00,2.38,38.67,2.004,10756,0.000,0.056,2765,799,1661,1768,1555,0,0,0,0,0,0,14.98,14.33,13.76
$GC,3952,0.69,141.1,2765,799,1767,1554,567.4,9.7,162,3967,0.00,2.33,6.90,1.494,11270,0.000,0.035,2765,2216,1633,1743,1524,0,0,0,0,0,0,14.68,14.62,13.88
$GC,4234,0.69,141.1,2765,2217,1742,1520,534.5,11.6,169,4239,0.00,2.38,0.00,0.000,2564,0.000,0.057,2776,796,1631,1742,1520,0,0,0,0,0,0,15.01,14.76,15.01
$GC,4270,0.69,141.1,2776,796,1742,1520,534.5,11.6,169,4278,0.00,2.28,0.00,0.000,3078,0.000,0.035,2776,2208,1631,1742,1520,0,0,0,0,0,0,14.88,14.81,14.88
$GC,4516,0.69,141.1,2776,2210,1743,1518,499.3,12.9,176,4522,0.00,2.35,0.00,0.000,2564,0.000,0.057,2787,794,1630,1742,1518,0,0,0,0,0,0,15.09,14.85,15.10
$GC,4578,0.69,141.1,2787,794,1742,1518,493.5,13.2,177,4583,0.00,2.25,0.00,0.000,5126,0.000,0.036,2787,2201,1629,1742,1517,0,0,0,0,0,0,14.95,14.88,14.96
$GC,4840,0.69,141.1,2787,2204,1742,1516,454.1,14.0,184,4841,0.00,0.00,0.00,0.000,4102,0.000,0.000,2788,2205,1629,1742,1516,0,0,0,0,0,0,15.15,15.15,15.16
$GC,5080,0.69,141.1,2787,2204,1741,1514,420.3,14.2,190,5081,0.00,0.00,0.00,0.000,4102,0.000,0.000,2788,2204,1627,1741,1514,0,0,0,0,0,0,15.18,15.19,15.18
$GC,5320,0.69,141.1,2787,2204,1740,1513,388.6,13.0,196,5325,0.00,2.33,0.00,0.000,4612,0.000,0.057,2797,794,1627,1741,1513,0,0,0,0,0,0,15.20,14.93,15.20
$GC,5422,0.69,141.1,2798,793,1740,1513,378.0,13.0,198,5428,0.05,2.25,0.00,0.000,5126,0.415,0.036,2781,2208,1626,1740,1513,0,0,0,0,0,0,14.72,14.96,14.97
$GC,5685,0.69,141.1,2780,2210,1739,1512,344.9,11.0,205,5690,0.00,2.25,0.00,0.000,260,0.000,0.051,2781,3596,1625,1739,1512,0,0,0,0,0,0,15.21,14.95,15.21
$GC,5791,0.69,141.1,2780,3597,1738,1513,334.9,11.6,207,5797,0.00,2.25,0.00,0.000,5126,0.000,0.043,2791,2197,1625,1737,1513,0,0,0,0,0,0,15.04,14.97,15.06
$GC,6049,0.69,141.1,2791,2197,1737,1512,304.1,10.9,214,6055,0.00,2.28,0.00,0.000,4356,0.000,0.049,2791,3596,1624,1738,1511,0,0,0,0,0,0,15.22,14.96,15.23
$GC,6087,0.69,141.1,2790,3597,1737,1513,304.1,10.9,214,6095,0.05,2.28,0.00,0.000,5126,0.468,0.042,2786,2187,1625,1737,1513,0,0,0,0,0,0,14.70,14.97,14.99
$GC,6332,0.69,141.1,2785,2185,1737,1511,271.1,11.5,221,6337,0.00,2.25,0.00,0.000,4612,0.000,0.057,2795,794,1624,1737,1511,0,0,0,0,0,0,15.23,14.95,15.23
$GC,6468,0.69,141.1,2795,793,1736,1511,258.1,10.8,224,6474,0.00,2.22,0.00,0.000,5126,0.000,0.034,2796,2202,1623,1736,1511,0,0,0,0,0,0,15.06,14.99,15.07
$GC,6736,0.69,141.1,2795,2205,1736,1511,229.0,10.5,231,6742,0.05,2.25,0.00,0.000,4356,0.451,0.048,2778,3600,1623,1736,1511,0,0,0,0,0,0,14.76,14.96,14.97
$GC,7146,0.72,171.4,2778,3601,1733,1513,184.3,8.9,250,7180,0.00,2.28,22.05,1.070,11270,0.000,0.042,2788,2197,1508,1615,1401,0,0,0,0,0,0,15.05,14.97,14.40
$GC,7419,0.72,171.4,2788,2197,1615,1407,157.8,10.6,277,7424,0.00,2.28,0.00,0.000,2564,0.000,0.056,2799,798,1511,1615,1408,0,0,0,0,0,0,15.11,14.86,15.11
$GC,7473,0.72,171.4,2799,797,1615,1408,152.0,10.3,282,7479,0.00,2.25,0.00,0.000,5126,0.000,0.034,2800,2206,1511,1615,1408,0,0,0,0,0,0,14.97,14.90,14.97
$GC,7728,0.72,171.4,2799,2208,1615,1408,124.9,10.9,307,7734,0.00,2.25,0.00,0.000,4356,0.000,0.050,2799,3593,1512,1615,1409,0,0,0,0,0,0,15.12,14.88,15.13
$GC,7744,0.72,171.4,2799,3593,1615,1409,123.2,11.1,308,7754,0.03,2.30,0.00,0.000,5126,0.479,0.042,2800,2205,1512,1615,1409,0,0,0,0,0,0,14.59,14.83,14.76
$GC,7993,0.74,184.5,2800,2204,1615,1409,94.1,9.5,333,8016,0.00,2.33,11.85,0.883,12804,0.000,0.056,2811,796,1453,1558,1349,0,0,0,0,0,0,15.14,14.78,14.39
$GC,8086,0.74,184.5,2811,796,1557,1348,85.4,10.0,341,8093,0.00,2.25,0.00,0.000,5126,0.000,0.034,2811,2205,1453,1557,1349,0,0,0,0,0,0,14.94,14.87,14.95
$GC,8335,0.74,184.5,2811,2206,1557,1350,56.9,11.1,366,8344,0.00,0.00,0.00,0.000,4102,0.000,0.000,2811,2207,1453,1557,1350,0,0,0,0,0,0,15.09,15.10,15.10
$GC,8585,0.79,222.7,2810,2207,1557,1352,31.0,8.6,391,8622,0.00,2.30,27.62,0.861,8452,0.000,0.050,2811,3588,1299,1404,1195,0,0,0,0,0,0,15.10,14.71,14.35
$GC,8672,0.79,222.7,2811,3590,1403,1195,20.7,14.0,403,8680,0.00,2.33,0.00,0.000,5126,0.000,0.044,2821,2202,1298,1402,1195,0,0,0,0,0,0,14.77,14.73,14.78
$STATE,8789,end climb,SURFACE_DEPTH_REACHED
$STATE,8789,begin surface coast
$FINISH,0.3,1.010415
$STATE,8809,end surface coast,CONTROL_FINISHED_OK
$STATE,8809,begin surface
$SM_CCo,8823,91.68,0.112,0,0,657,380.21
$SM_GC,1.24,5.95,0.35,91.68,0.050,0.062,0.112,182,2423,657,-7.32,-1.36,380.21,0,0,0,0,0,0,14.81,14.80,14.69
$IRIDIUM_FIX,2218.34,-15646.55,030418,054336
$TT8_MAMPS,0.018725,0.325815
$HUMID,42.08
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.5,6.4
$24V_AH,13.65,55.044
$10V_AH,13.36,0.000
$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,14.300,106.550,244.675,91.675,0.000,32.351,43.990,253.204,0.500,0.000,8.338,1611.907,5360.589,461.364,1831.981,117.837,0.000,1147.698,0.000,1469.751,0.000,5.460,0.000
$DEVICE_MAMPS,478.890,61.965,2004.300,111.690,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,287.156,222.593,400.197,390.760,599.582,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343068
$DATA_FILE_SIZE,37372,425
$CAP_FILE_SIZE,96903,0
$CFSIZE,2097086464,2072281088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.137,251.83,1
$GPS,030418,081949,2226.295,-15648.928,17,1.2,17,9.9,0.0,0.0,7,99.1