version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 616
start: 6 12 118 9 14 44
data:
$ID,148
$MISSION,15
$DIVE,616
$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,39
$R_STBD_OVSHOOT,46
$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
$GPS1,120618,090702,2245.3845,-15753.8291,9,1.8,42,10.1,0.3,155.5,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-60.8
$GPS2,120618,091416,2245.4468,-15753.8838,8,1.6,14,10.1,0.9,281.6,8,5.3
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED7
$TGT_LATLONG,2245.000,-15754.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,171.1,989,-27.8,-10.040,-30.00,973
$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,-1.54,-63.6,433,1805,1357,1327,0.0,0.0,0,90,0.00,0.12,-66.40,0.000,16390,0.000,0.301,433,2017,3162,3204,3120,0,0,0,0,0,0,24.58,23.57,24.60
$GC,94,-1.56,-80.1,433,2017,3204,3120,3.7,-8.3,10,116,10.10,2.80,-1.17,0.000,18948,0.170,0.037,2248,319,3229,3280,3179,0,0,0,0,0,0,24.13,23.47,24.31
$GC,248,-1.56,-80.1,2247,319,3280,3180,46.5,-24.9,36,256,0.00,2.53,0.00,0.000,1030,0.000,0.015,2248,1924,3230,3280,3180,0,0,0,0,0,0,24.49,24.45,24.50
$GC,527,-1.56,-80.1,2248,1925,3280,3181,100.4,-17.5,85,534,0.00,2.65,0.00,0.000,516,0.000,0.035,2248,313,3230,3280,3180,0,0,0,0,0,0,24.72,24.44,24.73
$GC,545,-1.56,-80.1,2248,313,3280,3181,102.8,-17.2,86,553,0.00,2.47,0.00,0.000,1030,0.000,0.015,2248,1906,3230,3280,3181,0,0,0,0,0,0,24.55,24.51,24.56
$GC,796,-1.56,-80.1,2248,1905,3280,3182,142.8,-14.2,111,802,0.00,2.60,0.00,0.000,516,0.000,0.029,2248,307,3231,3281,3182,0,0,0,0,0,0,24.75,24.49,24.77
$GC,809,-1.56,-80.1,2248,307,3280,3182,145.2,-13.8,112,815,0.00,2.47,0.00,0.000,1030,0.000,0.015,2248,1902,3231,3280,3182,0,0,0,0,0,0,24.58,24.54,24.59
$GC,1064,-1.56,-80.1,2248,1902,3281,3183,180.7,-14.2,137,1070,0.00,2.47,0.00,0.000,260,0.000,0.026,2248,3456,3232,3281,3183,0,0,0,0,0,0,24.77,24.53,24.79
$GC,1140,-1.56,-80.1,2248,3456,3281,3183,192.0,-14.3,144,1145,0.00,2.45,0.00,0.000,1030,0.000,0.015,2248,1874,3232,3281,3183,0,0,0,0,0,0,24.61,24.57,24.63
$GC,1403,-1.56,-80.1,2247,1874,3280,3184,227.3,-13.5,155,1408,0.00,2.50,0.00,0.000,516,0.000,0.031,2248,331,3232,3281,3184,0,0,0,0,0,0,24.80,24.54,24.82
$GC,1461,-1.56,-80.1,2248,331,3281,3184,233.3,-13.7,156,1466,0.00,2.42,0.00,0.000,1030,0.000,0.016,2248,1892,3232,3281,3184,0,0,0,0,0,0,24.64,24.59,24.65
$GC,1729,-1.56,-80.1,2248,1892,3281,3184,268.7,-12.3,163,1735,0.00,2.53,0.00,0.000,260,0.000,0.029,2249,3465,3232,3281,3184,0,0,0,0,0,0,24.82,24.56,24.84
$GC,1782,-1.56,-80.1,2248,3465,3280,3185,274.5,-12.6,164,1788,0.00,2.45,0.00,0.000,1030,0.000,0.017,2248,1898,3233,3281,3185,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2056,-1.56,-80.1,2248,1898,3281,3185,306.5,-10.5,171,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1898,3233,3281,3185,0,0,0,0,0,0,24.84,24.86,24.85
$GC,2295,-1.56,-80.1,2248,1898,3281,3185,332.0,-10.5,177,2301,0.00,2.60,0.00,0.000,516,0.000,0.039,2248,332,3233,3281,3185,0,0,0,0,0,0,24.85,24.57,24.87
$GC,2339,-1.56,-80.1,2248,332,3281,3184,336.9,-10.6,178,2345,0.00,2.47,0.00,0.000,1030,0.000,0.019,2248,1885,3233,3281,3185,0,0,0,0,0,0,24.67,24.62,24.68
$GC,2624,-1.56,-80.1,2248,1885,3281,3182,369.5,-11.9,185,2629,0.00,2.62,0.00,0.000,516,0.000,0.044,2248,338,3231,3280,3182,0,0,0,0,0,0,24.86,24.56,24.87
$GC,2741,-1.56,-80.1,2248,338,3280,3182,380.4,-12.5,187,2748,0.00,2.53,0.00,0.000,1030,0.000,0.022,2248,1903,3230,3280,3181,0,0,0,0,0,0,24.68,24.63,24.70
$GC,2987,-1.56,-80.1,2248,1903,3281,3178,419.0,-13.8,194,2993,0.00,2.67,0.00,0.000,516,0.000,0.048,2248,342,3229,3281,3178,0,0,0,0,0,0,24.85,24.56,24.87
$GC,3066,-1.56,-80.1,2248,342,3280,3177,425.1,-13.7,195,3073,0.00,2.53,0.00,0.000,1030,0.000,0.024,2248,1896,3228,3280,3177,0,0,0,0,0,0,24.68,24.62,24.70
$GC,3311,-1.56,-80.1,2248,1896,3280,3173,460.3,-12.3,202,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1896,3226,3280,3173,0,0,0,0,0,0,24.87,24.89,24.89
$GC,3551,-1.56,-80.1,2248,1896,3280,3170,490.6,-12.6,208,3557,0.00,2.70,0.00,0.000,516,0.000,0.052,2248,337,3224,3280,3169,0,0,0,0,0,0,24.86,24.56,24.88
$GC,3575,-1.56,-80.1,2248,337,3280,3169,490.6,-12.6,208,3581,0.00,2.55,0.00,0.000,1030,0.000,0.029,2248,1896,3224,3280,3169,0,0,0,0,0,0,24.68,24.62,24.70
$STATE,3637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3637,begin apogee
$GC,3642,-0.26,0.0,2248,1896,3280,3169,501.4,-12.5,210,3718,1.90,0.00,67.45,0.842,10246,0.083,0.000,2670,1896,2900,2954,2846,0,0,0,0,0,0,24.53,23.65,23.20
$STATE,3719,end apogee,CONTROL_FINISHED_OK
$STATE,3719,begin climb
$GC,3722,1.56,80.1,2670,1896,2954,2846,504.1,0.0,212,3801,2.35,2.78,69.90,0.827,10500,0.040,0.060,3254,3429,2572,2628,2516,0,0,0,0,0,0,24.16,23.82,23.17
$GC,3830,1.56,80.1,3253,3429,2626,2514,501.5,4.5,214,3835,0.00,2.58,0.00,0.000,1030,0.000,0.031,3254,1880,2570,2626,2514,0,0,0,0,0,0,24.28,24.20,24.30
$GC,4088,1.56,80.1,3253,1880,2626,2506,472.2,10.3,221,4093,0.00,2.85,0.00,0.000,516,0.000,0.067,3254,270,2566,2626,2506,0,0,0,0,0,0,24.62,24.30,24.63
$GC,4101,1.56,80.1,3253,270,2626,2506,472.2,10.3,221,4106,0.00,2.62,0.00,0.000,1030,0.000,0.028,3254,1849,2565,2625,2506,0,0,0,0,0,0,24.44,24.36,24.46
$GC,4375,1.56,80.4,3253,1849,2625,2502,443.5,10.0,228,4381,0.00,2.78,0.00,0.000,260,0.000,0.063,3254,3436,2563,2625,2502,0,0,0,0,0,0,24.68,24.37,24.70
$GC,4542,1.56,80.4,3253,3437,2620,2501,425.8,10.8,232,4547,0.00,2.60,0.00,0.000,1030,0.000,0.034,3254,1851,2560,2620,2501,0,0,0,0,0,0,24.53,24.45,24.55
$GC,4821,1.58,93.4,3253,1851,2620,2500,400.3,8.7,239,4834,0.00,0.00,10.82,0.724,8198,0.000,0.000,3254,1851,2518,2577,2460,0,0,0,0,0,0,24.75,24.06,23.44
$GC,5061,1.59,103.7,3253,1851,2577,2455,378.8,8.9,245,5079,0.00,2.75,10.15,0.708,8452,0.000,0.042,3253,3434,2476,2535,2417,0,0,0,0,0,0,24.71,24.08,23.45
$GC,5206,1.59,103.7,3253,3435,2534,2415,364.8,11.1,248,5211,0.00,2.60,0.00,0.000,1030,0.000,0.028,3254,1850,2474,2534,2415,0,0,0,0,0,0,24.49,24.41,24.51
$GC,5464,1.59,103.7,3253,1850,2534,2411,334.8,10.5,255,5469,0.00,2.78,0.00,0.000,516,0.000,0.067,3254,266,2473,2534,2412,0,0,0,0,0,0,24.73,24.41,24.75
$GC,5516,1.59,103.7,3253,265,2535,2411,329.9,10.6,256,5522,0.00,2.62,0.00,0.000,1030,0.000,0.023,3254,1866,2473,2535,2411,0,0,0,0,0,0,24.55,24.49,24.56
$GC,5791,1.63,131.4,3253,1867,2534,2409,307.2,7.1,263,5823,0.00,2.80,24.73,0.724,8708,0.000,0.046,3254,262,2363,2419,2308,0,0,0,0,0,0,24.73,23.94,23.34
$GC,5902,1.65,149.8,3253,261,2418,2305,299.6,8.1,265,5927,0.05,2.60,17.52,0.692,11270,0.135,0.024,3272,1848,2288,2339,2237,0,0,0,0,0,0,24.32,24.37,23.34
$GC,6197,1.65,149.8,3271,1848,2339,2229,260.7,12.5,273,6202,0.00,2.75,0.00,0.000,260,0.000,0.057,3272,3427,2284,2339,2229,0,0,0,0,0,0,24.67,24.36,24.68
$GC,6314,1.65,149.8,3271,3427,2337,2229,249.9,12.4,275,6321,0.00,2.58,0.00,0.000,1030,0.000,0.031,3272,1847,2283,2337,2229,0,0,0,0,0,0,24.50,24.43,24.52
$GC,6562,1.65,149.8,3271,1848,2337,2227,216.2,11.5,282,6567,0.00,2.67,0.00,0.000,260,0.000,0.039,3272,3436,2282,2337,2227,0,0,0,0,0,0,24.72,24.42,24.73
$GC,6863,1.65,151.5,3271,3436,2335,2227,183.8,9.9,299,6871,0.00,2.55,0.00,0.000,1030,0.000,0.022,3272,1840,2281,2335,2227,0,0,0,0,0,0,24.58,24.51,24.59
$GC,7112,1.67,165.4,3271,1840,2335,2226,163.0,8.6,324,7135,0.00,2.62,13.75,0.581,8452,0.000,0.032,3272,3432,2223,2275,2172,0,0,0,0,0,0,24.77,24.13,23.61
$GC,7497,1.67,168.8,3271,3432,2274,2170,125.2,9.7,357,7509,0.00,2.53,4.28,0.407,9222,0.000,0.021,3272,1846,2210,2261,2159,0,0,0,0,0,0,24.57,24.51,23.82
$GC,7748,1.71,199.3,3271,1846,2261,2158,104.2,6.8,382,7779,0.05,0.00,28.00,0.543,10758,0.133,0.000,3293,1846,2086,2136,2037,0,0,0,0,0,0,24.55,23.98,23.53
$GC,8041,1.71,199.3,3292,1845,2132,2036,72.4,11.6,431,8049,0.00,2.62,0.00,0.000,260,0.000,0.032,3293,3437,2084,2132,2036,0,0,0,0,0,0,24.69,24.42,24.71
$GC,8458,1.71,201.6,3292,3437,2130,2036,36.8,9.8,506,8465,0.00,2.55,0.00,0.000,1030,0.000,0.019,3293,1834,2083,2131,2036,0,0,0,0,0,0,24.58,24.53,24.60
$GC,8733,1.71,201.6,3292,1834,2131,2037,12.7,10.1,555,8741,0.00,2.62,0.00,0.000,260,0.000,0.031,3293,3434,2083,2131,2036,0,0,0,0,0,0,24.79,24.52,24.80
$STATE,8836,end climb,SURFACE_DEPTH_REACHED
$STATE,8837,begin surface coast
$FINISH,0.0,1.023117
$STATE,8871,end surface coast,CONTROL_FINISHED_OK
$STATE,8872,begin surface
$SM_CCo,8896,96.05,0.452,0,0,1349,380.21
$SM_GC,0.95,11.93,2.47,96.05,0.038,0.018,0.452,421,1885,1349,-7.27,1.07,380.21,0,0,0,0,0,0,24.51,24.58,23.58
$IRIDIUM_FIX,2234.68,-15752.82,120618,062113
$TT8_MAMPS,0.021721,0.346787
$HUMID,54.33
$INTERNAL_PRESSURE,9.28146
$TCM_TEMP,23.10
$XPDR_PINGS,113
$24V_AH,23.17,72.353
$10V_AH,9.72,53.680
$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,26.375,109.600,246.600,96.050,0.000,38.359,45.686,209.736,28.250,0.000,18.150,1933.024,4638.092,490.076,2126.620,244.446,0.000,1237.212,0.000,1814.416,0.000,0.540,0.000
$DEVICE_MAMPS,169.830,301.410,841.500,452.115,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,390.065,338.646,527.322,751.624,930.823,0.000,0.000,0.000,0.000,0.000
$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,47327,579
$CAP_FILE_SIZE,100376,0
$CFSIZE,259248128,223035392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107,293.56,1
$GPS,120618,114609,2244.891,-15754.129,12,1.3,52,10.1,0.5,251.9,7,5.5