version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 610
start: 6 11 118 17 57 42
data:
$ID,148
$MISSION,15
$DIVE,610
$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,85
$R_STBD_OVSHOOT,49
$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
$GPS1,110618,175003,2245.5327,-15753.8818,34,1.4,74,10.1,0.8,57.7,8,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-60.3
$GPS2,110618,175715,2245.5898,-15753.9033,15,1.4,31,10.1,0.4,8.9,8,5.4
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED7
$TGT_LATLONG,2245.000,-15754.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,169.4,1204,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.22,-116.8,422,1863,1354,1329,0.0,0.0,0,90,0.00,0.00,-70.70,0.000,16386,0.000,0.000,422,1862,3306,3353,3259,0,0,0,0,0,0,24.61,28.83,24.63
$GC,94,-1.22,-116.8,421,1863,3353,3260,3.4,-7.5,10,116,10.80,2.47,-1.27,0.000,18948,0.171,0.041,2359,363,3379,3435,3324,0,0,0,0,0,0,24.18,23.53,24.34
$GC,232,-1.22,-116.8,2358,364,3435,3324,39.8,-20.2,33,240,0.00,2.45,0.00,0.000,1030,0.000,0.015,2359,1909,3380,3436,3325,0,0,0,0,0,0,24.49,24.47,24.53
$GC,505,-1.22,-116.8,2358,1910,3436,3325,91.0,-17.1,82,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1910,3380,3436,3325,0,0,0,0,0,0,24.74,24.76,24.76
$GC,763,-1.22,-116.8,2358,1910,3436,3326,134.2,-15.6,112,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1910,3381,3436,3326,0,0,0,0,0,0,24.78,24.80,24.79
$GC,1005,-1.22,-116.8,2358,1910,3435,3327,168.4,-12.3,136,1011,0.00,2.53,0.00,0.000,516,0.000,0.030,2359,355,3381,3436,3327,0,0,0,0,0,0,24.81,24.55,24.82
$GC,1042,-1.22,-116.8,2359,355,3436,3327,172.6,-11.8,139,1049,0.00,2.40,0.00,0.000,1030,0.000,0.015,2359,1919,3382,3436,3328,0,0,0,0,0,0,24.64,24.60,24.65
$GC,1311,-1.22,-116.8,2358,1919,3437,3328,205.4,-12.6,163,1316,0.00,2.53,0.00,0.000,516,0.000,0.029,2359,362,3382,3437,3327,0,0,0,0,0,0,24.83,24.57,24.84
$GC,1328,-1.22,-116.8,2358,361,3436,3328,205.4,-12.6,163,1334,0.00,2.38,0.00,0.000,1030,0.000,0.015,2359,1897,3382,3437,3327,0,0,0,0,0,0,24.66,24.62,24.67
$GC,1597,-1.22,-116.8,2358,1897,3437,3328,238.7,-11.5,170,1603,0.00,2.47,0.00,0.000,516,0.000,0.030,2359,363,3382,3437,3328,0,0,0,0,0,0,24.84,24.58,24.87
$GC,1705,-1.22,-116.8,2358,364,3437,3328,249.0,-11.8,172,1711,0.00,2.40,0.00,0.000,1030,0.000,0.017,2359,1904,3382,3437,3328,0,0,0,0,0,0,24.68,24.63,24.70
$GC,1963,-1.22,-116.8,2358,1904,3436,3328,278.6,-10.3,179,1969,0.00,2.53,0.00,0.000,260,0.000,0.030,2359,3473,3382,3437,3328,0,0,0,0,0,0,24.87,24.60,24.88
$GC,1981,-1.22,-116.8,2358,3473,3437,3328,278.6,-10.3,179,1987,0.00,2.40,0.00,0.000,1030,0.000,0.017,2359,1925,3382,3437,3328,0,0,0,0,0,0,24.70,24.65,24.70
$GC,2250,-1.22,-116.8,2358,1925,3436,3328,309.7,-10.8,186,2256,0.00,2.60,0.00,0.000,516,0.000,0.037,2359,333,3382,3437,3328,0,0,0,0,0,0,24.87,24.60,24.89
$GC,2280,-1.22,-116.8,2358,332,3437,3328,309.7,-10.8,186,2285,0.00,2.47,0.00,0.000,1030,0.000,0.018,2359,1903,3382,3437,3328,0,0,0,0,0,0,24.70,24.65,24.71
$GC,2538,-1.22,-116.8,2358,1903,3437,3325,341.5,-10.8,193,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1903,3381,3437,3325,0,0,0,0,0,0,24.89,24.91,24.90
$GC,2779,-1.22,-116.8,2358,1903,3437,3322,365.4,-9.7,199,2785,0.00,2.60,0.00,0.000,516,0.000,0.049,2359,345,3379,3437,3322,0,0,0,0,0,0,24.89,24.60,24.91
$GC,2812,-1.22,-116.8,2358,345,3437,3322,365.4,-9.7,199,2818,0.00,2.47,0.00,0.000,1030,0.000,0.021,2359,1897,3379,3436,3322,0,0,0,0,0,0,24.71,24.65,24.72
$GC,3066,-1.22,-116.8,2358,1897,3436,3319,392.1,-9.1,206,3071,0.00,2.60,0.00,0.000,260,0.000,0.041,2359,3468,3378,3437,3319,0,0,0,0,0,0,24.88,24.60,24.90
$GC,3110,-1.22,-116.8,2358,3468,3436,3318,396.3,-9.2,207,3115,0.00,2.47,0.00,0.000,1030,0.000,0.021,2359,1910,3377,3437,3318,0,0,0,0,0,0,24.72,24.66,24.73
$STATE,3151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3151,begin apogee
$GC,3157,-0.26,0.0,2359,1806,3436,3317,400.2,-9.2,208,3258,1.38,0.00,96.68,0.754,10246,0.083,0.000,2668,1806,2899,2961,2838,0,0,0,0,0,0,24.57,23.88,23.33
$STATE,3259,end apogee,CONTROL_FINISHED_OK
$STATE,3259,begin climb
$GC,3261,1.22,116.8,2668,1806,2961,2837,401.8,0.0,210,3365,1.98,0.00,99.62,0.739,10246,0.044,0.000,3140,1806,2421,2486,2357,0,0,0,0,0,0,24.10,23.84,23.31
$GC,3594,1.25,139.8,3139,1806,2485,2346,377.5,8.7,219,3622,0.00,2.88,20.10,0.696,8452,0.000,0.056,3140,3412,2329,2393,2266,0,0,0,0,0,0,24.60,23.95,23.39
$GC,3721,1.28,163.2,3139,3412,2391,2262,366.8,8.7,222,3749,0.00,2.50,20.98,0.703,9222,0.000,0.028,3140,1890,2233,2292,2175,0,0,0,0,0,0,24.43,24.36,23.38
$GC,3997,1.28,163.2,3139,1890,2291,2168,339.2,10.1,229,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1890,2229,2291,2168,0,0,0,0,0,0,24.65,24.68,24.66
$GC,4236,1.28,163.2,3139,1890,2290,2165,312.8,11.4,235,4242,0.00,2.60,0.00,0.000,260,0.000,0.042,3140,3425,2228,2291,2165,0,0,0,0,0,0,24.70,24.41,24.72
$GC,4289,1.28,163.2,3139,3425,2289,2165,307.4,11.7,236,4295,0.00,2.60,0.00,0.000,1030,0.000,0.028,3140,1844,2227,2289,2165,0,0,0,0,0,0,24.53,24.46,24.55
$GC,4565,1.28,163.2,3140,1844,2289,2163,275.1,11.1,243,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1843,2226,2289,2163,0,0,0,0,0,0,24.75,24.78,24.77
$GC,4803,1.28,163.2,3140,1844,2289,2161,250.0,10.4,249,4809,0.00,2.65,0.00,0.000,260,0.000,0.041,3140,3425,2225,2289,2161,0,0,0,0,0,0,24.77,24.48,24.79
$GC,5032,1.28,163.2,3139,3425,2287,2161,228.9,10.2,254,5038,0.00,2.58,0.00,0.000,1030,0.000,0.025,3140,1835,2223,2286,2161,0,0,0,0,0,0,24.60,24.53,24.63
$GC,5291,1.32,195.8,3139,1835,2286,2160,205.6,8.2,261,5325,0.08,2.70,27.90,0.637,10500,0.096,0.038,3176,3418,2099,2154,2045,0,0,0,0,0,0,24.59,23.85,23.49
$GC,5376,1.35,216.5,3175,3419,2152,2044,197.8,8.8,263,5403,0.00,2.58,19.02,0.609,9222,0.000,0.023,3176,1839,2014,2063,1966,0,0,0,0,0,0,24.44,24.38,23.50
$GC,5651,1.35,216.5,3175,1839,2064,1960,166.3,11.4,290,5657,0.00,2.62,0.00,0.000,260,0.000,0.033,3176,3425,2012,2064,1960,0,0,0,0,0,0,24.68,24.41,24.70
$GC,5679,1.35,216.5,3176,3425,2064,1961,163.3,11.7,292,5686,0.00,2.55,0.00,0.000,1030,0.000,0.021,3176,1837,2012,2064,1960,0,0,0,0,0,0,24.51,24.45,24.52
$GC,5927,1.35,216.5,3175,1837,2063,1959,137.5,10.7,317,5932,0.00,2.62,0.00,0.000,260,0.000,0.038,3176,3430,2011,2064,1959,0,0,0,0,0,0,24.74,24.46,24.75
$GC,6019,1.35,216.5,3176,3430,2063,1959,128.2,10.1,325,6027,0.00,2.55,0.00,0.000,1030,0.000,0.020,3176,1838,2010,2063,1958,0,0,0,0,0,0,24.57,24.52,24.58
$GC,6267,1.40,258.5,3176,1838,2063,1956,106.6,7.6,350,6312,0.00,2.65,37.58,0.549,8452,0.000,0.031,3176,3428,1844,1893,1796,0,0,0,0,0,0,24.78,23.87,23.56
$GC,6386,1.40,258.5,3175,3428,1893,1796,95.3,11.3,364,6394,0.00,2.55,0.00,0.000,1030,0.000,0.020,3176,1843,1844,1893,1795,0,0,0,0,0,0,24.45,24.39,24.46
$GC,6658,1.40,258.5,3176,1843,1893,1791,67.6,10.6,413,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1843,1842,1893,1791,0,0,0,0,0,0,24.71,24.73,24.73
$GC,6932,1.41,269.8,3176,1843,1893,1790,39.6,9.4,462,6949,0.05,2.65,10.65,0.454,10500,0.119,0.030,3206,3427,1800,1844,1756,0,0,0,0,0,0,24.58,24.25,23.84
$GC,6969,1.41,269.8,3206,3428,1844,1755,36.0,10.4,467,6978,0.00,2.53,0.00,0.000,1030,0.000,0.019,3206,1847,1800,1845,1755,0,0,0,0,0,0,24.48,24.42,24.49
$GC,7245,1.41,269.8,3206,1847,1844,1754,5.8,10.3,516,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1847,1799,1844,1754,0,0,0,0,0,0,24.76,24.78,24.77
$STATE,7268,end climb,SURFACE_DEPTH_REACHED
$STATE,7269,begin surface coast
$FINISH,0.1,1.009833
$STATE,7299,end surface coast,CONTROL_FINISHED_OK
$STATE,7299,begin surface
$SM_CCo,7321,62.20,0.454,0,0,1350,380.21
$SM_GC,0.84,11.43,0.08,62.20,0.034,0.085,0.454,432,2010,1350,-7.23,-1.05,380.21,0,0,0,0,0,0,24.50,24.60,23.65
$IRIDIUM_FIX,2234.68,-15754.99,110618,153649
$TT8_MAMPS,0.021721,0.283122
$HUMID,55.43
$INTERNAL_PRESSURE,9.29123
$TCM_TEMP,22.50
$XPDR_PINGS,58
$24V_AH,23.31,71.801
$10V_AH,9.81,53.162
$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,25.700,81.875,332.525,62.200,0.000,26.268,45.337,210.416,14.500,0.000,33.399,1597.997,3689.525,521.578,1807.076,207.442,0.000,1135.537,0.000,1495.653,0.000,0.540,0.000
$DEVICE_MAMPS,170.595,97.155,754.290,453.645,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,352.857,321.568,486.117,714.848,877.283,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342988
$DATA_FILE_SIZE,43959,525
$CAP_FILE_SIZE,85248,0
$CFSIZE,259248128,223395840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,344.74,1
$GPS,110618,200244,2245.186,-15753.817,40,1.0,80,10.1,0.2,225.3,7,4.9