version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 607
start: 6 11 118 11 12 48
data:
$ID,148
$MISSION,15
$DIVE,607
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,133
$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,79
$R_STBD_OVSHOOT,44
$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
$GPS1,110618,110413,2246.2815,-15753.4834,50,1.9,90,10.1,0.7,7.9,5,11.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-61.8
$GPS2,110618,111221,2246.3340,-15753.5000,44,1.7,84,10.1,0.4,62.0,5,10.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED7
$TGT_LATLONG,2245.000,-15754.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,179.6,2745,-20.5,-10.025,-23.12,1786
$D_GRID,400
$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,16,-1.22,-116.8,432,1861,1358,1326,0.0,0.0,0,89,0.00,0.00,-70.47,0.000,16386,0.000,0.000,432,1862,3353,3402,3305,0,0,0,0,0,0,24.64,28.83,24.66
$GC,93,-1.22,-116.8,432,1861,3402,3306,3.9,-9.0,10,115,10.75,2.47,-0.43,0.000,18948,0.172,0.037,2357,348,3378,3429,3327,0,0,0,0,0,0,24.20,23.54,24.36
$GC,135,-1.22,-116.8,2357,348,3430,3327,20.8,-33.7,16,142,0.00,2.50,0.00,0.000,1030,0.000,0.015,2357,1941,3379,3431,3327,0,0,0,0,0,0,24.48,24.44,24.49
$GC,412,-1.22,-116.8,2356,1941,3431,3327,72.7,-16.3,65,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1942,3379,3431,3327,0,0,0,0,0,0,24.73,24.75,24.75
$GC,683,-1.22,-116.8,2357,1942,3431,3328,113.9,-15.1,106,689,0.00,2.55,0.00,0.000,516,0.000,0.036,2357,354,3379,3431,3328,0,0,0,0,0,0,24.78,24.52,24.79
$GC,701,-1.22,-116.8,2357,354,3431,3328,115.7,-14.8,107,709,0.00,2.40,0.00,0.000,1030,0.000,0.014,2357,1917,3379,3431,3328,0,0,0,0,0,0,24.61,24.57,24.63
$GC,949,-1.22,-116.8,2357,1917,3432,3328,150.9,-13.4,132,954,0.00,2.45,0.00,0.000,260,0.000,0.026,2357,3460,3380,3432,3329,0,0,0,0,0,0,24.81,24.56,24.82
$GC,982,-1.22,-116.8,2357,3460,3432,3328,155.8,-13.9,135,987,0.00,2.38,0.00,0.000,1030,0.000,0.015,2357,1922,3380,3432,3329,0,0,0,0,0,0,24.64,24.60,24.65
$GC,1238,-1.22,-116.8,2357,1922,3431,3329,191.1,-13.1,160,1244,0.00,2.58,0.00,0.000,516,0.000,0.037,2357,325,3380,3432,3329,0,0,0,0,0,0,24.83,24.57,24.85
$GC,1323,-1.22,-116.8,2357,326,3432,3329,203.1,-13.6,167,1328,0.00,2.42,0.00,0.000,1030,0.000,0.015,2357,1893,3380,3432,3329,0,0,0,0,0,0,24.67,24.63,24.68
$GC,1607,-1.22,-116.8,2357,1893,3432,3329,236.5,-11.6,174,1612,0.00,2.50,0.00,0.000,260,0.000,0.027,2357,3467,3380,3432,3329,0,0,0,0,0,0,24.86,24.60,24.87
$GC,1624,-1.22,-116.8,2357,3467,3432,3329,236.5,-11.6,174,1629,0.00,2.42,0.00,0.000,1030,0.000,0.016,2357,1890,3381,3433,3329,0,0,0,0,0,0,24.69,24.64,24.70
$GC,1892,-1.22,-116.8,2357,1890,3434,3329,267.2,-10.5,181,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1890,3381,3433,3329,0,0,0,0,0,0,24.87,24.89,24.89
$GC,2132,-1.22,-116.8,2357,1890,3433,3329,291.4,-10.1,187,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1890,3380,3432,3329,0,0,0,0,0,0,24.88,24.91,24.90
$GC,2372,-1.22,-116.8,2357,1889,3432,3329,317.6,-10.9,193,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1890,3381,3433,3329,0,0,0,0,0,0,24.89,24.91,24.91
$GC,2612,-1.22,-116.8,2357,1889,3432,3327,343.0,-10.4,199,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1890,3379,3432,3327,0,0,0,0,0,0,24.90,24.92,24.92
$GC,2852,-1.22,-116.8,2357,1890,3432,3325,367.1,-10.1,205,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1890,3378,3432,3324,0,0,0,0,0,0,24.91,24.93,24.93
$GC,3092,-1.22,-116.8,2357,1890,3432,3321,391.2,-10.1,211,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1890,3376,3432,3321,0,0,0,0,0,0,24.90,24.92,24.91
$STATE,3209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3209,begin apogee
$GC,3215,-0.26,0.0,2357,1890,3432,3320,403.5,-10.3,214,3315,1.38,0.00,96.38,0.758,10246,0.076,0.000,2670,1890,2899,2957,2841,0,0,0,0,0,0,24.60,23.89,23.34
$STATE,3316,end apogee,CONTROL_FINISHED_OK
$STATE,3316,begin climb
$GC,3318,1.22,116.8,2670,1890,2957,2841,405.7,0.0,216,3427,1.98,2.67,99.65,0.741,10500,0.044,0.055,3139,3395,2421,2485,2358,0,0,0,0,0,0,24.10,23.72,23.33
$GC,3444,1.22,116.8,3139,3395,2484,2356,403.1,3.5,219,3450,0.00,2.50,0.00,0.000,1030,0.000,0.028,3139,1878,2419,2483,2356,0,0,0,0,0,0,24.27,24.20,24.29
$GC,3698,1.24,128.6,3139,1878,2483,2348,376.1,9.3,226,3717,0.00,2.88,10.70,0.653,8708,0.000,0.058,3139,271,2374,2438,2310,0,0,0,0,0,0,24.64,24.07,23.51
$GC,3729,1.25,140.4,3139,272,2437,2310,376.1,9.3,226,3749,0.00,2.55,12.05,0.657,9222,0.000,0.022,3139,1829,2325,2387,2263,0,0,0,0,0,0,24.37,24.30,23.45
$GC,4023,1.26,146.4,3139,1829,2388,2256,344.3,9.7,234,4037,0.00,2.80,6.05,0.571,8452,0.000,0.056,3140,3422,2302,2365,2239,0,0,0,0,0,0,24.67,24.21,23.64
$GC,4095,1.27,151.8,3139,3422,2364,2238,340.0,9.7,235,4107,0.00,2.58,6.10,0.569,9222,0.000,0.026,3139,1842,2281,2344,2218,0,0,0,0,0,0,24.48,24.41,23.63
$GC,4346,1.27,153.7,3139,1842,2343,2213,311.9,9.9,242,4352,0.00,2.67,0.00,0.000,260,0.000,0.042,3140,3425,2278,2343,2213,0,0,0,0,0,0,24.70,24.40,24.72
$GC,4380,1.27,155.5,3139,3425,2343,2213,311.9,9.9,242,4391,0.00,2.58,4.30,0.483,9222,0.000,0.028,3140,1843,2266,2331,2202,0,0,0,0,0,0,24.53,24.46,23.72
$GC,4630,1.27,155.5,3139,1843,2330,2199,281.7,10.6,249,4635,0.00,2.67,0.00,0.000,260,0.000,0.042,3140,3428,2264,2330,2199,0,0,0,0,0,0,24.72,24.43,24.74
$GC,4708,1.27,155.5,3139,3427,2329,2199,276.9,10.8,250,4715,0.00,2.58,0.00,0.000,1030,0.000,0.033,3139,1843,2264,2329,2199,0,0,0,0,0,0,24.56,24.49,24.58
$GC,4953,1.28,165.7,3140,1844,2329,2197,248.6,9.4,257,4972,0.00,2.70,10.32,0.619,8708,0.000,0.048,3140,272,2222,2283,2161,0,0,0,0,0,0,24.77,24.03,23.65
$GC,4989,1.30,175.9,3139,272,2283,2161,248.6,9.4,257,5006,0.05,2.58,10.18,0.607,11270,0.131,0.021,3159,1863,2181,2239,2123,0,0,0,0,0,0,24.34,24.41,23.56
$GC,5281,1.31,188.9,3159,1863,2239,2120,219.2,9.3,265,5300,0.00,2.65,12.70,0.612,8452,0.000,0.047,3159,3416,2128,2186,2071,0,0,0,0,0,0,24.72,24.04,23.59
$GC,5418,1.32,191.4,3159,3416,2185,2070,206.7,9.9,268,5423,0.00,2.55,0.00,0.000,1030,0.000,0.023,3159,1833,2127,2185,2069,0,0,0,0,0,0,24.51,24.44,24.52
$GC,5668,1.32,191.4,3159,1833,2184,2067,178.5,11.3,288,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1832,2126,2185,2067,0,0,0,0,0,0,24.72,24.75,24.75
$GC,5917,1.34,209.3,3159,1832,2185,2066,154.7,9.0,313,5943,0.00,2.67,18.23,0.578,8708,0.000,0.039,3160,272,2045,2097,1994,0,0,0,0,0,0,24.77,24.10,23.61
$GC,5977,1.35,223.4,3159,272,2097,1993,149.6,9.2,318,5998,0.05,2.58,13.70,0.554,11270,0.126,0.019,3181,1868,1988,2040,1937,0,0,0,0,0,0,24.34,24.40,23.59
$GC,6237,1.37,235.6,3180,1868,2040,1933,124.0,9.3,344,6254,0.00,2.55,11.90,0.526,8452,0.000,0.031,3181,3419,1938,1981,1895,0,0,0,0,0,0,24.70,24.01,23.69
$GC,6467,1.37,235.6,3180,3419,1981,1895,99.8,11.2,366,6476,0.00,2.53,0.00,0.000,1030,0.000,0.019,3181,1839,1937,1981,1893,0,0,0,0,0,0,24.54,24.49,24.56
$GC,6742,1.38,245.1,3180,1839,1981,1892,71.0,9.5,415,6757,0.00,2.67,10.02,0.470,8452,0.000,0.031,3181,3429,1899,1942,1856,0,0,0,0,0,0,24.76,24.26,23.84
$GC,6832,1.38,245.1,3180,3429,1942,1856,61.5,11.0,430,6841,0.00,2.53,0.00,0.000,1030,0.000,0.024,3181,1848,1899,1942,1856,0,0,0,0,0,0,24.52,24.46,24.53
$GC,7110,1.41,265.9,3180,1848,1942,1854,34.5,8.8,479,7139,0.00,2.62,20.38,0.470,8452,0.000,0.030,3181,3422,1814,1861,1767,0,0,0,0,0,0,24.77,24.02,23.74
$GC,7169,1.42,273.7,3180,3422,1861,1767,29.3,9.6,488,7185,0.05,2.53,8.23,0.417,11270,0.132,0.018,3201,1842,1783,1826,1740,0,0,0,0,0,0,24.34,24.41,23.80
$STATE,7431,end climb,SURFACE_DEPTH_REACHED
$STATE,7431,begin surface coast
$FINISH,0.1,1.022928
$STATE,7455,end surface coast,CONTROL_FINISHED_OK
$STATE,7455,begin surface
$SM_CCo,7477,59.35,0.454,0,0,1349,380.21
$SM_GC,0.81,11.50,0.08,59.35,0.035,0.087,0.454,415,2008,1349,-7.28,-1.22,380.21,0,0,0,0,0,0,24.46,24.56,23.65
$IRIDIUM_FIX,2239.35,-15751.94,110618,085238
$TT8_MAMPS,0.020972,0.345289
$HUMID,56.34
$INTERNAL_PRESSURE,9.29123
$TCM_TEMP,23.10
$XPDR_PINGS,66
$24V_AH,23.33,71.536
$10V_AH,9.76,52.920
$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,25.750,82.475,350.875,59.350,0.000,26.305,47.930,211.956,16.500,0.000,86.316,1578.499,3872.565,528.505,1850.115,204.798,0.000,1138.124,0.000,1483.882,0.000,0.539,0.000
$DEVICE_MAMPS,172.125,87.210,758.115,454.410,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,360.956,331.102,497.377,733.448,901.914,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342976
$DATA_FILE_SIZE,43913,538
$CAP_FILE_SIZE,86368,0
$CFSIZE,259248128,223551488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,342.86,1
$GPS,110618,132032,2245.867,-15753.678,58,1.3,87,10.1,0.6,313.8,9,5.1