version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 467
start: 5 30 118 7 32 4
data:
$ID,148
$MISSION,15
$DIVE,467
$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,54
$R_STBD_OVSHOOT,34
$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
$GPS1,300518,072450,2246.2024,-15721.8691,84,1.8,99,10.1,0.6,32.9,8,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-58.7
$GPS2,300518,073139,2246.3333,-15721.8438,20,1.9,30,10.1,1.5,12.7,8,5.1
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED3B
$TGT_LATLONG,2245.400,-15722.300
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,187.0,1896,-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,-116.8,434,1882,1346,1334,0.0,0.0,0,91,0.00,0.00,-71.85,0.000,16386,0.000,0.000,434,1883,3350,3400,3300,0,0,0,0,0,0,24.63,28.83,24.65
$GC,94,-1.22,-116.8,433,1882,3400,3300,3.5,-7.8,10,117,10.73,2.53,-0.52,0.000,18948,0.171,0.037,2359,329,3379,3433,3326,0,0,0,0,0,0,24.20,23.55,24.36
$GC,242,-1.22,-116.8,2359,330,3433,3326,39.4,-18.4,35,249,0.00,2.53,0.00,0.000,1030,0.000,0.016,2359,1933,3379,3433,3326,0,0,0,0,0,0,24.52,24.47,24.53
$GC,519,-1.22,-116.8,2359,1933,3434,3327,82.2,-14.6,84,526,0.00,2.47,0.00,0.000,260,0.000,0.028,2359,3460,3380,3434,3327,0,0,0,0,0,0,24.74,24.49,24.76
$GC,545,-1.22,-116.8,2359,3460,3435,3327,86.2,-15.2,88,553,0.00,2.47,0.00,0.000,1030,0.000,0.016,2359,1891,3381,3435,3327,0,0,0,0,0,0,24.58,24.53,24.59
$GC,806,-1.22,-116.8,2359,1891,3434,3328,123.9,-15.3,121,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1891,3381,3435,3328,0,0,0,0,0,0,24.78,24.80,24.80
$GC,1054,-1.22,-116.8,2359,1891,3435,3328,156.7,-13.3,146,1060,0.00,2.55,0.00,0.000,260,0.000,0.027,2359,3475,3382,3436,3328,0,0,0,0,0,0,24.81,24.56,24.82
$GC,1111,-1.22,-116.8,2359,3475,3435,3329,164.4,-13.9,151,1116,0.00,2.45,0.00,0.000,1030,0.000,0.016,2360,1888,3382,3435,3329,0,0,0,0,0,0,24.65,24.60,24.66
$GC,1365,-1.22,-116.8,2358,1888,3435,3329,195.3,-12.0,176,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1888,3382,3435,3329,0,0,0,0,0,0,24.84,24.85,24.85
$GC,1604,-1.22,-116.8,2359,1888,3436,3329,222.8,-11.3,185,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1888,3382,3436,3329,0,0,0,0,0,0,24.85,24.87,24.87
$GC,1845,-1.22,-116.8,2359,1888,3435,3329,249.1,-11.0,191,1851,0.00,2.53,0.00,0.000,516,0.000,0.033,2359,335,3382,3435,3329,0,0,0,0,0,0,24.87,24.60,24.88
$GC,1897,-1.22,-116.8,2359,335,3435,3329,254.7,-11.6,192,1903,0.00,2.45,0.00,0.000,1030,0.000,0.018,2359,1896,3382,3436,3329,0,0,0,0,0,0,24.70,24.65,24.71
$GC,2173,-1.22,-116.8,2359,1896,3435,3329,287.5,-11.5,199,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1896,3382,3436,3329,0,0,0,0,0,0,24.88,24.90,24.90
$GC,2411,-1.22,-116.8,2359,1896,3435,3329,313.9,-10.8,205,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1896,3382,3435,3329,0,0,0,0,0,0,24.89,24.91,24.91
$GC,2650,-1.22,-116.8,2359,1896,3435,3327,339.2,-10.7,211,2656,0.00,2.60,0.00,0.000,516,0.000,0.047,2359,346,3381,3436,3327,0,0,0,0,0,0,24.90,24.61,24.91
$GC,2672,-1.22,-116.8,2359,346,3435,3327,339.2,-10.7,211,2677,0.00,2.45,0.00,0.000,1030,0.000,0.020,2359,1890,3381,3436,3327,0,0,0,0,0,0,24.72,24.66,24.74
$GC,2935,-1.22,-116.8,2359,1890,3435,3324,367.8,-9.8,218,2941,0.00,2.62,0.00,0.000,516,0.000,0.044,2359,341,3379,3435,3324,0,0,0,0,0,0,24.89,24.60,24.91
$GC,2974,-1.22,-116.8,2359,341,3435,3324,367.8,-9.8,218,2981,0.00,2.50,0.00,0.000,1030,0.000,0.022,2359,1904,3379,3435,3324,0,0,0,0,0,0,24.72,24.67,24.74
$GC,3219,-1.22,-116.8,2359,1904,3435,3321,397.7,-10.7,225,3224,0.00,2.65,0.00,0.000,516,0.000,0.054,2359,349,3378,3436,3321,0,0,0,0,0,0,24.90,24.60,24.92
$GC,3266,-1.22,-116.8,2358,350,3435,3321,402.6,-11.0,226,3271,0.00,2.50,0.00,0.000,1030,0.000,0.024,2359,1896,3378,3435,3321,0,0,0,0,0,0,24.72,24.65,24.74
$GC,3544,-1.22,-116.8,2359,1897,3435,3317,432.6,-10.5,233,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1897,3376,3435,3317,0,0,0,0,0,0,24.90,24.93,24.92
$GC,3784,-1.22,-116.8,2359,1897,3435,3314,456.7,-10.0,239,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1897,3374,3435,3314,0,0,0,0,0,0,24.91,24.94,24.93
$GC,4024,-1.22,-116.8,2359,1897,3435,3311,478.6,-9.0,245,4030,0.00,2.67,0.00,0.000,516,0.000,0.054,2359,346,3373,3435,3311,0,0,0,0,0,0,24.87,24.60,24.89
$GC,4093,-1.22,-116.8,2359,346,3435,3311,482.7,-9.0,246,4098,0.00,2.55,0.00,0.000,1030,0.000,0.031,2359,1900,3373,3435,3311,0,0,0,0,0,0,24.73,24.66,24.75
$STATE,4269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4269,begin apogee
$GC,4274,-0.26,0.0,2359,1901,3435,3308,501.2,-8.9,251,4375,1.38,0.00,96.57,0.858,10246,0.081,0.000,2668,1901,2899,2959,2840,0,0,0,0,0,0,24.60,23.89,23.29
$STATE,4376,end apogee,CONTROL_FINISHED_OK
$STATE,4376,begin climb
$GC,4378,1.22,116.8,2668,1901,2959,2839,503.1,0.0,253,4484,1.98,0.00,100.43,0.835,10502,0.043,0.000,3140,1901,2422,2485,2360,0,0,0,0,0,0,24.11,23.84,23.27
$GC,4753,1.23,121.8,3139,1901,2484,2347,473.0,9.7,263,4764,0.00,2.67,4.80,0.578,8452,0.000,0.058,3140,3424,2402,2468,2336,0,0,0,0,0,0,24.61,24.03,23.58
$GC,4800,1.23,122.6,3140,3424,2467,2336,468.2,10.0,264,4807,0.00,2.58,0.00,0.000,1030,0.000,0.031,3140,1875,2401,2468,2335,0,0,0,0,0,0,24.42,24.34,24.44
$GC,5080,1.23,122.6,3140,1875,2467,2332,438.7,10.5,271,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1875,2399,2467,2332,0,0,0,0,0,0,24.65,24.68,24.68
$GC,5319,1.23,122.7,3140,1875,2467,2331,414.4,10.0,277,5325,0.00,2.65,0.00,0.000,260,0.000,0.045,3140,3429,2399,2468,2330,0,0,0,0,0,0,24.69,24.42,24.70
$GC,5402,1.23,122.7,3140,3430,2465,2330,405.6,10.2,279,5408,0.00,2.60,0.00,0.000,1030,0.000,0.029,3140,1846,2397,2465,2330,0,0,0,0,0,0,24.56,24.48,24.57
$GC,5687,1.24,133.1,3140,1847,2465,2328,378.3,9.4,286,5699,0.00,0.00,10.60,0.724,8198,0.000,0.000,3140,1847,2356,2421,2291,0,0,0,0,0,0,24.77,24.14,23.56
$GC,5926,1.25,136.3,3139,1847,2421,2287,354.9,9.9,292,5936,0.00,2.80,4.28,0.534,8708,0.000,0.063,3140,262,2342,2408,2277,0,0,0,0,0,0,24.69,24.15,23.69
$GC,6023,1.25,136.3,3140,261,2409,2277,346.1,10.1,294,6029,0.00,2.60,0.00,0.000,1030,0.000,0.024,3140,1856,2342,2408,2277,0,0,0,0,0,0,24.55,24.49,24.56
$GC,6292,1.26,144.1,3139,1856,2408,2273,318.4,9.6,301,6303,0.00,0.00,8.35,0.666,8198,0.000,0.000,3140,1856,2311,2374,2248,0,0,0,0,0,0,24.72,24.20,23.63
$GC,6532,1.26,144.1,3140,1855,2373,2246,292.8,10.8,307,6537,0.00,2.67,0.00,0.000,260,0.000,0.052,3140,3425,2309,2373,2246,0,0,0,0,0,0,24.75,24.44,24.77
$GC,6609,1.26,144.1,3140,3425,2371,2246,288.3,10.6,308,6616,0.00,2.58,0.00,0.000,1030,0.000,0.027,3140,1839,2308,2371,2245,0,0,0,0,0,0,24.57,24.51,24.59
$GC,6855,1.29,169.7,3140,1839,2371,2244,262.9,8.6,315,6883,0.05,0.00,23.05,0.703,10502,0.133,0.000,3159,1839,2206,2265,2147,0,0,0,0,0,0,24.59,23.85,23.47
$GC,7136,1.29,172.7,3159,1839,2265,2142,235.4,9.9,322,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1839,2203,2265,2142,0,0,0,0,0,0,24.71,24.74,24.73
$GC,7377,1.29,172.7,3159,1839,2265,2141,208.9,11.6,328,7382,0.00,2.67,0.00,0.000,516,0.000,0.050,3160,266,2202,2265,2140,0,0,0,0,0,0,24.72,24.46,24.73
$GC,7388,1.29,172.7,3159,266,2264,2139,208.9,11.6,328,7393,0.00,2.58,0.00,0.000,1030,0.000,0.022,3159,1861,2202,2264,2140,0,0,0,0,0,0,24.58,24.52,24.60
$GC,7644,1.32,190.6,3159,1861,2265,2139,181.6,9.0,348,7672,0.00,2.67,18.75,0.620,8452,0.000,0.041,3159,3415,2122,2176,2068,0,0,0,0,0,0,24.78,23.94,23.58
$GC,7748,1.32,190.6,3159,3416,2174,2067,171.0,11.1,356,7754,0.00,2.55,0.00,0.000,1030,0.000,0.023,3160,1837,2120,2174,2067,0,0,0,0,0,0,24.49,24.43,24.51
$GC,8007,1.32,190.6,3159,1837,2174,2065,144.2,10.6,381,8012,0.00,2.62,0.00,0.000,516,0.000,0.048,3160,272,2119,2174,2065,0,0,0,0,0,0,24.74,24.46,24.76
$GC,8034,1.32,190.6,3159,272,2174,2064,141.2,10.4,383,8039,0.00,2.58,0.00,0.000,1030,0.000,0.021,3160,1863,2119,2174,2064,0,0,0,0,0,0,24.57,24.51,24.58
$GC,8287,1.32,195.2,3159,1864,2174,2064,115.0,9.8,408,8300,0.00,2.58,5.30,0.454,8452,0.000,0.034,3160,3429,2103,2157,2049,0,0,0,0,0,0,24.78,24.22,23.88
$GC,8344,1.32,196.5,3159,3429,2157,2049,109.3,10.0,413,8350,0.00,2.53,0.00,0.000,1030,0.000,0.021,3160,1844,2103,2157,2049,0,0,0,0,0,0,24.56,24.50,24.57
$GC,8612,1.34,209.1,3159,1844,2157,2048,83.6,9.3,453,8634,0.00,2.65,13.48,0.522,8452,0.000,0.033,3160,3427,2047,2097,1997,0,0,0,0,0,0,24.78,24.23,23.77
$GC,8676,1.34,209.1,3159,3427,2096,1997,76.9,11.1,463,8684,0.00,2.53,0.00,0.000,1030,0.000,0.020,3159,1849,2046,2096,1997,0,0,0,0,0,0,24.50,24.44,24.51
$GC,8953,1.39,249.2,3159,1849,2096,1995,49.1,7.7,512,8997,0.08,2.62,36.28,0.508,10500,0.097,0.031,3195,3422,1883,1926,1841,0,0,0,0,0,0,24.55,23.93,23.63
$GC,9178,1.39,249.2,3194,3422,1926,1840,20.1,12.5,550,9187,0.00,2.50,0.00,0.000,1030,0.000,0.018,3194,1845,1882,1926,1839,0,0,0,0,0,0,24.52,24.46,24.53
$STATE,9334,end climb,SURFACE_DEPTH_REACHED
$STATE,9334,begin surface coast
$FINISH,0.2,1.023231
$STATE,9362,end surface coast,CONTROL_FINISHED_OK
$STATE,9362,begin surface
$SM_CCo,9383,75.82,0.464,0,0,1349,380.21
$SM_GC,0.93,11.57,0.08,75.82,0.042,0.090,0.464,437,1996,1349,-7.23,-1.10,380.21,0,0,0,0,0,0,24.44,24.56,23.63
$IRIDIUM_FIX,2234.68,-15721.55,300518,044404
$TT8_MAMPS,0.021721,0.283871
$HUMID,55.04
$INTERNAL_PRESSURE,9.2424
$TCM_TEMP,22.30
$XPDR_PINGS,74
$24V_AH,23.27,59.985
$10V_AH,10.02,41.888
$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,25.775,92.825,321.875,75.825,0.000,28.891,46.167,190.584,18.500,0.000,32.543,1746.336,5441.385,537.506,1952.250,199.446,0.000,1195.979,0.000,1652.005,0.000,0.537,0.000
$DEVICE_MAMPS,170.595,90.270,858.330,463.590,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,392.758,336.391,616.124,757.627,926.201,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342816
$DATA_FILE_SIZE,47161,582
$CAP_FILE_SIZE,98428,0
$CFSIZE,259248128,230285312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133,33.62,1
$GPS,300518,101217,2245.834,-15721.645,74,1.5,114,10.1,0.7,335.1,7,6.2