version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 465
start: 5 30 118 2 5 57
data:
$ID,148
$MISSION,15
$DIVE,465
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,950
$D_NO_BLEED,80
$D_BOOST,0
$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,166
$T_MISSION,650
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52526
$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,0
$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,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,19
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3840
$ROLL_DEG,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3960
$C_VBD,2900
$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,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.13635
$PRESSURE_SLOPE,0.00014082
$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,0
$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,1.01
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,51
$DEVICE5,70
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044221841
$SEABIRD_T_H,0.00065212161
$SEABIRD_T_I,2.6582115e-05
$SEABIRD_T_J,3.3042504e-06
$SEABIRD_C_G,-9.8996115
$SEABIRD_C_H,1.1410365
$SEABIRD_C_I,-0.0018685539
$SEABIRD_C_J,0.00022855515
$GPS1,300518,015639,2246.4211,-15722.3594,37,1.4,77,10.1,0.4,334.0,6,5.0
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-60.6
$GPS2,300518,020533,2246.5994,-15722.3955,8,1.5,48,10.1,0.5,311.0,5,5.7
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED3B
$TGT_LATLONG,2245.400,-15722.300
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,167.3,2227,-20.5,-10.040,-23.14,1785
$D_GRID,500
$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,16,-1.22,-116.8,434,1890,1346,1333,0.0,0.0,0,96,0.00,0.00,-73.90,0.000,16390,0.000,0.000,435,1890,3377,3425,3329,0,0,0,0,0,0,24.66,24.06,24.68
$GC,99,-1.22,-116.8,434,1890,3425,3330,4.6,-11.7,11,115,10.20,2.55,0.00,0.000,2564,0.152,0.030,2356,314,3378,3426,3330,0,0,0,0,0,0,24.27,24.06,24.36
$GC,190,-1.22,-116.8,2356,314,3427,3330,30.4,-18.8,26,198,0.00,2.53,0.00,0.000,1030,0.000,0.016,2357,1921,3378,3427,3330,0,0,0,0,0,0,24.54,24.49,24.56
$GC,467,-1.22,-116.8,2356,1923,3429,3330,77.5,-17.6,75,475,0.00,2.50,0.00,0.000,260,0.000,0.027,2357,3488,3379,3428,3330,0,0,0,0,0,0,24.78,24.53,24.79
$GC,494,-1.22,-116.8,2356,3488,3428,3330,81.6,-15.2,79,502,0.00,2.50,0.00,0.000,1030,0.000,0.016,2357,1871,3379,3428,3330,0,0,0,0,0,0,24.61,24.57,24.63
$GC,754,-1.22,-116.8,2356,1871,3429,3330,119.7,-13.6,114,760,0.00,2.58,0.00,0.000,260,0.000,0.027,2357,3468,3379,3429,3330,0,0,0,0,0,0,24.82,24.56,24.84
$GC,799,-1.22,-116.8,2356,3468,3429,3330,126.0,-13.8,118,804,0.00,2.42,0.00,0.000,1030,0.000,0.016,2357,1901,3379,3429,3330,0,0,0,0,0,0,24.65,24.61,24.67
$GC,1053,-1.22,-116.8,2356,1901,3430,3330,161.6,-12.4,143,1059,0.00,2.53,0.00,0.000,260,0.000,0.027,2357,3472,3380,3430,3330,0,0,0,0,0,0,24.85,24.60,24.87
$GC,1128,-1.22,-116.8,2356,3472,3430,3330,172.5,-14.7,150,1133,0.00,2.45,0.00,0.000,1030,0.000,0.016,2356,1886,3380,3430,3330,0,0,0,0,0,0,24.70,24.65,24.70
$GC,1403,-1.22,-116.8,2356,1886,3431,3330,205.6,-12.1,174,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1886,3380,3431,3330,0,0,0,0,0,0,24.88,24.90,24.90
$GC,1641,-1.22,-116.8,2356,1886,3431,3330,232.8,-11.3,180,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1886,3380,3431,3330,0,0,0,0,0,0,24.90,24.92,24.91
$GC,1881,-1.22,-116.8,2356,1887,3431,3330,262.3,-12.3,186,1886,0.00,2.55,0.00,0.000,260,0.000,0.032,2357,3466,3380,3431,3330,0,0,0,0,0,0,24.91,24.65,24.93
$GC,1938,-1.22,-116.8,2356,3466,3431,3330,267.7,-12.2,187,1943,0.00,2.42,0.00,0.000,1030,0.000,0.018,2357,1901,3380,3431,3330,0,0,0,0,0,0,24.75,24.70,24.75
$GC,2206,-1.22,-116.8,2356,1901,3431,3330,299.6,-11.2,194,2212,0.00,2.55,0.00,0.000,260,0.000,0.032,2357,3466,3380,3430,3330,0,0,0,0,0,0,24.93,24.65,24.94
$GC,2244,-1.22,-116.8,2356,3466,3430,3329,299.6,-11.2,194,2250,0.00,2.45,0.00,0.000,1030,0.000,0.018,2356,1894,3380,3431,3329,0,0,0,0,0,0,24.75,24.70,24.77
$GC,2490,-1.22,-116.8,2356,1894,3431,3327,331.6,-11.4,201,2495,0.00,2.58,0.00,0.000,260,0.000,0.037,2356,3456,3378,3430,3327,0,0,0,0,0,0,24.93,24.65,24.95
$GC,2527,-1.22,-116.8,2356,3456,3430,3327,331.6,-11.4,201,2534,0.00,2.45,0.00,0.000,1030,0.000,0.020,2357,1893,3378,3430,3327,0,0,0,0,0,0,24.76,24.70,24.77
$GC,2772,-1.22,-116.8,2356,1893,3431,3324,364.0,-11.2,208,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1893,3377,3431,3324,0,0,0,0,0,0,24.92,24.95,24.94
$GC,3012,-1.22,-116.8,2356,1893,3430,3321,390.4,-10.8,214,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1893,3375,3430,3321,0,0,0,0,0,0,24.93,24.95,24.94
$GC,3253,-1.22,-116.8,2356,1893,3430,3318,414.5,-10.0,220,3259,0.00,2.62,0.00,0.000,260,0.000,0.045,2356,3453,3374,3430,3318,0,0,0,0,0,0,24.95,24.65,24.97
$GC,3276,-1.22,-116.8,2356,3455,3431,3317,414.5,-10.0,220,3282,0.00,2.47,0.00,0.000,1030,0.000,0.024,2356,1895,3373,3430,3317,0,0,0,0,0,0,24.77,24.71,24.79
$GC,3540,-1.22,-116.8,2356,1896,3430,3314,444.7,-10.5,227,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1895,3371,3430,3313,0,0,0,0,0,0,24.94,24.96,24.95
$GC,3780,-1.22,-116.8,2356,1895,3430,3311,471.6,-11.2,233,3786,0.00,2.67,0.00,0.000,516,0.000,0.053,2356,331,3370,3430,3311,0,0,0,0,0,0,24.96,24.65,24.97
$GC,3803,-1.22,-116.8,2356,331,3430,3311,471.6,-11.2,233,3809,0.00,2.53,0.00,0.000,1030,0.000,0.029,2356,1877,3370,3430,3311,0,0,0,0,0,0,24.77,24.70,24.79
$STATE,4065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4065,begin apogee
$GC,4070,-0.26,0.0,2356,1878,3430,3306,501.8,-10.2,240,4169,1.40,0.00,95.45,0.864,10246,0.082,0.000,2671,1877,2899,2958,2841,0,0,0,0,0,0,24.65,23.94,23.36
$STATE,4170,end apogee,CONTROL_FINISHED_OK
$STATE,4170,begin climb
$GC,4172,1.22,116.8,2671,1877,2958,2840,504.2,0.0,242,4277,1.98,0.00,100.45,0.838,10246,0.046,0.000,3143,1877,2422,2485,2360,0,0,0,0,0,0,24.15,23.89,23.34
$GC,4507,1.24,126.5,3143,1877,2484,2347,479.8,9.5,251,4522,0.00,2.85,9.15,0.718,8708,0.000,0.057,3143,277,2382,2446,2318,0,0,0,0,0,0,24.63,23.95,23.52
$GC,4544,1.25,136.3,3142,277,2446,2319,479.8,9.5,251,4561,0.00,2.62,9.98,0.727,9222,0.000,0.030,3143,1846,2343,2405,2281,0,0,0,0,0,0,24.39,24.32,23.47
$GC,4834,1.25,136.3,3143,1846,2404,2273,445.5,10.4,259,4839,0.00,2.72,0.00,0.000,516,0.000,0.052,3143,281,2338,2404,2273,0,0,0,0,0,0,24.65,24.38,24.68
$GC,4871,1.25,136.3,3143,281,2404,2273,445.5,10.4,259,4878,0.00,2.60,0.00,0.000,1030,0.000,0.028,3143,1852,2338,2404,2273,0,0,0,0,0,0,24.51,24.44,24.53
$GC,5117,1.25,136.3,3142,1852,2403,2271,415.7,10.1,266,5123,0.00,2.72,0.00,0.000,516,0.000,0.051,3143,284,2337,2403,2271,0,0,0,0,0,0,24.75,24.44,24.77
$GC,5140,1.25,136.3,3143,284,2403,2271,415.7,10.1,266,5146,0.00,2.60,0.00,0.000,1030,0.000,0.025,3144,1856,2337,2403,2271,0,0,0,0,0,0,24.57,24.50,24.59
$GC,5404,1.25,137.8,3143,1856,2402,2269,386.6,10.0,273,5409,0.00,2.72,0.00,0.000,260,0.000,0.060,3144,3429,2335,2402,2269,0,0,0,0,0,0,24.74,24.47,24.75
$GC,5462,1.25,138.3,3142,3429,2401,2269,382.2,10.0,274,5468,0.00,2.55,0.00,0.000,1030,0.000,0.026,3143,1857,2335,2401,2269,0,0,0,0,0,0,24.60,24.53,24.63
$GC,5731,1.26,143.0,3142,1857,2401,2267,354.3,9.8,281,5739,0.00,0.00,5.88,0.625,8198,0.000,0.000,3143,1857,2315,2380,2251,0,0,0,0,0,0,24.82,24.33,23.76
$GC,5970,1.27,151.9,3142,1856,2380,2249,331.2,9.5,287,5984,0.00,0.00,9.18,0.689,8710,0.000,0.000,3143,1857,2279,2343,2215,0,0,0,0,0,0,24.75,24.21,23.67
$GC,6251,1.28,158.2,3143,1857,2343,2211,304.4,9.7,294,6260,0.00,0.00,6.60,0.630,8198,0.000,0.000,3143,1856,2254,2319,2190,0,0,0,0,0,0,24.77,24.27,23.72
$GC,6492,1.29,172.8,3142,1857,2319,2187,281.8,9.2,300,6515,0.00,2.72,13.95,0.698,8452,0.000,0.039,3144,3431,2194,2253,2135,0,0,0,0,0,0,24.73,24.14,23.58
$GC,6608,1.30,181.3,3143,3431,2251,2135,273.5,9.5,302,6624,0.05,2.58,9.05,0.644,11270,0.145,0.025,3157,1842,2158,2215,2102,0,0,0,0,0,0,24.40,24.46,23.63
$GC,6897,1.30,181.3,3157,1842,2216,2098,235.7,11.5,310,6904,0.00,2.67,0.00,0.000,260,0.000,0.039,3158,3438,2157,2216,2098,0,0,0,0,0,0,24.70,24.44,24.72
$GC,6920,1.30,181.3,3157,3438,2214,2098,235.7,11.5,310,6927,0.00,2.58,0.00,0.000,1030,0.000,0.024,3157,1839,2156,2215,2098,0,0,0,0,0,0,24.56,24.51,24.58
$GC,7184,1.30,181.3,3157,1839,2215,2097,203.1,10.7,317,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1839,2156,2215,2097,0,0,0,0,0,0,24.79,24.81,24.80
$GC,7425,1.32,191.0,3157,1839,2215,2096,178.7,9.5,338,7441,0.00,2.67,9.48,0.585,8452,0.000,0.034,3157,3432,2120,2176,2064,0,0,0,0,0,0,24.81,24.30,23.79
$GC,7488,1.32,191.0,3157,3432,2176,2064,172.7,10.1,343,7494,0.00,2.58,0.00,0.000,1030,0.000,0.022,3157,1836,2119,2175,2064,0,0,0,0,0,0,24.54,24.48,24.56
$GC,7744,1.32,191.0,3157,1836,2175,2062,146.3,11.3,368,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1836,2118,2175,2062,0,0,0,0,0,0,24.79,24.81,24.80
$GC,7994,1.32,191.0,3157,1836,2176,2062,119.8,10.7,393,8000,0.00,2.62,0.00,0.000,260,0.000,0.033,3158,3439,2118,2176,2061,0,0,0,0,0,0,24.82,24.56,24.83
$GC,8028,1.32,191.0,3157,3439,2175,2062,116.2,10.2,396,8033,0.00,2.55,0.00,0.000,1030,0.000,0.020,3158,1833,2118,2175,2061,0,0,0,0,0,0,24.65,24.59,24.66
$GC,8278,1.36,229.2,3157,1832,2176,2062,97.1,7.8,423,8322,0.08,2.70,33.72,0.555,10500,0.101,0.033,3188,3446,1964,2007,1921,0,0,0,0,0,0,24.60,23.96,23.64
$GC,8531,1.36,229.2,3188,3446,2007,1920,69.2,12.8,466,8539,0.00,2.55,0.00,0.000,1030,0.000,0.019,3188,1844,1962,2007,1918,0,0,0,0,0,0,24.56,24.50,24.56
$GC,8808,1.38,240.5,3188,1844,2007,1917,41.0,9.4,515,8831,0.00,2.65,11.38,0.464,8452,0.000,0.031,3188,3439,1919,1965,1873,0,0,0,0,0,0,24.77,24.29,23.88
$STATE,9117,end climb,SURFACE_DEPTH_REACHED
$STATE,9117,begin surface coast
$FINISH,0.2,1.010360
$STATE,9142,end surface coast,CONTROL_FINISHED_OK
$STATE,9142,begin surface
$SM_CCo,9166,74.72,0.460,0,0,1349,380.21
$SM_GC,0.88,11.65,2.47,74.72,0.045,0.020,0.460,423,1896,1349,-7.26,1.30,380.21,0,0,0,0,0,0,24.50,24.56,23.70
$IRIDIUM_FIX,2237.01,-15721.55,300518,001534
$TT8_MAMPS,0.020972,0.280126
$HUMID,55.78
$INTERNAL_PRESSURE,9.2717
$TCM_TEMP,22.60
$XPDR_PINGS,68
$24V_AH,23.34,59.794
$10V_AH,10.10,41.715
$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,25.350,98.100,314.250,74.725,0.000,31.045,49.194,290.223,17.000,0.000,50.988,1685.135,5354.393,543.260,1999.605,201.266,0.000,1178.574,0.000,1584.650,0.000,0.540,0.000
$DEVICE_MAMPS,152.235,60.435,864.450,459.765,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,386.942,339.937,593.584,735.219,895.849,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342800
$DATA_FILE_SIZE,47211,574
$CAP_FILE_SIZE,96290,0
$CFSIZE,259248128,230395904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,338.60,1
$GPS,300518,044226,2246.173,-15722.584,81,1.4,109,10.1,0.8,28.3,8,5.3