version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 618
start: 6 12 118 14 40 20
data:
$ID,148
$MISSION,15
$DIVE,618
$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,61
$R_STBD_OVSHOOT,31
$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
$GPS1,120618,143214,2246.1367,-15754.9375,34,1.2,74,10.1,0.3,8.5,7,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-60.8
$GPS2,120618,143955,2246.2229,-15754.9463,15,1.2,55,10.1,0.7,43.7,7,5.3
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED7
$TGT_LATLONG,2245.000,-15754.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,134.6,2599,-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,17,-1.22,-116.8,435,1873,1351,1331,0.0,0.0,0,91,0.00,0.00,-72.03,0.000,16386,0.000,0.000,435,1873,3342,3392,3293,0,0,0,0,0,0,24.60,28.83,24.62
$GC,95,-1.22,-116.8,434,1873,3392,3294,3.4,-7.2,10,117,10.60,2.53,-0.62,0.000,18948,0.166,0.038,2357,327,3378,3433,3324,0,0,0,0,0,0,24.16,23.48,24.32
$GC,175,-1.22,-116.8,2357,327,3433,3324,27.4,-19.9,23,182,0.00,2.53,0.00,0.000,1030,0.000,0.015,2357,1934,3379,3434,3324,0,0,0,0,0,0,24.47,24.43,24.49
$GC,453,-1.22,-116.8,2357,1935,3434,3325,81.1,-17.0,72,460,0.00,2.47,0.00,0.000,260,0.000,0.027,2357,3459,3379,3434,3324,0,0,0,0,0,0,24.71,24.46,24.72
$GC,495,-1.22,-116.8,2357,3459,3435,3325,88.2,-16.4,79,502,0.00,2.47,0.00,0.000,1030,0.000,0.016,2357,1896,3380,3435,3325,0,0,0,0,0,0,24.55,24.50,24.56
$GC,750,-1.22,-116.8,2357,1896,3435,3326,127.2,-13.2,110,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1896,3380,3435,3326,0,0,0,0,0,0,24.75,24.77,24.77
$GC,990,-1.22,-116.8,2357,1896,3435,3327,161.0,-13.6,134,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1896,3381,3435,3327,0,0,0,0,0,0,24.77,24.79,24.79
$GC,1231,-1.22,-116.8,2357,1896,3436,3327,192.0,-12.0,158,1236,0.00,2.55,0.00,0.000,516,0.000,0.039,2357,323,3381,3436,3327,0,0,0,0,0,0,24.80,24.04,24.82
$GC,1298,-1.22,-116.8,2357,324,3436,3327,199.7,-11.4,164,1305,0.00,2.45,0.00,0.000,1030,0.000,0.015,2357,1914,3382,3436,3328,0,0,0,0,0,0,24.63,24.59,24.65
$GC,1545,-1.22,-116.8,2357,1914,3436,3328,225.6,-10.3,171,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1914,3382,3436,3328,0,0,0,0,0,0,24.82,24.84,24.84
$GC,1785,-1.22,-116.8,2357,1914,3436,3328,251.0,-10.4,177,1790,0.00,2.47,0.00,0.000,260,0.000,0.028,2357,3463,3382,3436,3328,0,0,0,0,0,0,24.84,24.58,24.85
$GC,1823,-1.22,-116.8,2357,3463,3436,3328,251.0,-10.4,177,1829,0.00,2.42,0.00,0.000,1030,0.000,0.016,2357,1893,3382,3436,3328,0,0,0,0,0,0,24.66,24.62,24.68
$GC,2069,-1.22,-116.8,2357,1893,3436,3328,283.6,-10.7,184,2074,0.00,2.55,0.00,0.000,516,0.000,0.033,2357,324,3382,3436,3328,0,0,0,0,0,0,24.84,24.58,24.86
$GC,2115,-1.22,-116.8,2357,324,3436,3328,288.2,-10.4,185,2121,0.00,2.45,0.00,0.000,1030,0.000,0.017,2357,1893,3382,3436,3328,0,0,0,0,0,0,24.68,24.63,24.69
$GC,2394,-1.22,-116.8,2357,1893,3436,3328,315.3,-9.4,192,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1893,3382,3436,3328,0,0,0,0,0,0,24.86,24.88,24.87
$GC,2634,-1.22,-116.8,2357,1893,3436,3326,338.2,-9.7,198,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1893,3381,3436,3326,0,0,0,0,0,0,24.87,24.89,24.89
$GC,2873,-1.22,-116.8,2356,1893,3436,3323,363.1,-10.4,204,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1893,3380,3436,3324,0,0,0,0,0,0,24.87,24.89,24.88
$GC,3114,-1.22,-116.8,2357,1893,3436,3320,389.0,-10.9,210,3120,0.00,2.62,0.00,0.000,516,0.000,0.044,2357,343,3379,3437,3321,0,0,0,0,0,0,24.88,24.58,24.89
$GC,3167,-1.22,-116.8,2357,343,3436,3320,394.2,-11.3,211,3172,0.00,2.47,0.00,0.000,1030,0.000,0.022,2357,1886,3378,3436,3320,0,0,0,0,0,0,24.70,24.64,24.72
$GC,3440,-1.22,-116.8,2357,1886,3436,3317,424.1,-10.1,218,3445,0.00,2.62,0.00,0.000,516,0.000,0.047,2357,337,3376,3436,3316,0,0,0,0,0,0,24.87,24.58,24.89
$GC,3468,-1.22,-116.8,2357,337,3436,3316,424.1,-10.1,218,3474,0.00,2.53,0.00,0.000,1030,0.000,0.024,2357,1903,3376,3436,3316,0,0,0,0,0,0,24.70,24.64,24.72
$GC,3727,-1.22,-116.8,2357,1904,3436,3312,452.9,-9.8,225,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1904,3374,3436,3312,0,0,0,0,0,0,24.87,24.89,24.89
$GC,3967,-1.22,-116.8,2357,1903,3437,3309,475.7,-9.6,231,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1903,3373,3436,3310,0,0,0,0,0,0,24.89,24.91,24.91
$GC,4208,-1.22,-116.8,2357,1903,3436,3306,497.3,-8.9,237,4213,0.00,2.67,0.00,0.000,516,0.000,0.053,2357,345,3371,3436,3306,0,0,0,0,0,0,24.89,24.58,24.91
$GC,4231,-1.22,-116.8,2357,345,3436,3306,497.3,-8.9,237,4236,0.00,2.55,0.00,0.000,1030,0.000,0.029,2357,1903,3371,3436,3306,0,0,0,0,0,0,24.71,24.64,24.72
$STATE,4252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4252,begin apogee
$GC,4258,-0.26,0.0,2357,1903,3436,3305,501.6,-9.0,238,4359,1.38,0.00,97.43,0.851,10246,0.077,0.000,2668,1903,2899,2961,2838,0,0,0,0,0,0,24.57,23.81,23.18
$STATE,4360,end apogee,CONTROL_FINISHED_OK
$STATE,4360,begin climb
$GC,4363,1.22,116.8,2668,1903,2961,2838,503.2,0.0,240,4469,1.98,0.00,101.70,0.833,10246,0.044,0.000,3140,1903,2422,2485,2360,0,0,0,0,0,0,24.07,23.77,23.17
$GC,4695,1.22,116.8,3139,1903,2484,2348,475.2,10.5,249,4701,0.00,2.67,0.00,0.000,260,0.000,0.061,3139,3429,2416,2484,2348,0,0,0,0,0,0,24.59,24.27,24.60
$GC,4728,1.22,116.8,3139,3429,2482,2348,475.2,10.5,249,4733,0.00,2.58,0.00,0.000,1030,0.000,0.031,3140,1873,2415,2482,2348,0,0,0,0,0,0,24.41,24.34,24.44
$GC,4981,1.23,123.3,3139,1873,2482,2344,445.9,9.7,256,4996,0.00,2.70,5.70,0.623,8452,0.000,0.046,3140,3421,2396,2462,2330,0,0,0,0,0,0,24.66,24.18,23.51
$GC,5049,1.24,129.1,3139,3421,2461,2330,441.6,9.7,257,5065,0.00,2.60,6.90,0.666,9222,0.000,0.029,3140,1843,2371,2436,2307,0,0,0,0,0,0,24.46,24.38,23.45
$GC,5304,1.25,135.8,3139,1843,2437,2304,414.8,9.6,264,5319,0.00,2.75,7.25,0.670,8452,0.000,0.046,3140,3421,2345,2411,2280,0,0,0,0,0,0,24.68,24.14,23.49
$GC,5361,1.25,138.4,3139,3421,2410,2279,410.3,9.9,265,5372,0.00,2.60,4.00,0.514,9222,0.000,0.028,3139,1850,2334,2399,2269,0,0,0,0,0,0,24.44,24.36,23.52
$GC,5630,1.27,152.3,3139,1850,2399,2266,383.5,9.2,272,5652,0.00,2.83,13.50,0.741,8708,0.000,0.065,3140,259,2277,2338,2216,0,0,0,0,0,0,24.70,23.81,23.37
$GC,5665,1.29,166.2,3139,259,2337,2217,383.5,9.2,272,5685,0.00,2.62,13.77,0.728,9222,0.000,0.023,3140,1857,2221,2279,2163,0,0,0,0,0,0,24.36,24.30,23.30
$GC,5954,1.29,166.2,3139,1858,2279,2156,347.9,11.3,280,5960,0.00,2.70,0.00,0.000,260,0.000,0.056,3140,3422,2217,2279,2156,0,0,0,0,0,0,24.65,24.34,24.68
$GC,6002,1.29,166.2,3139,3423,2277,2157,342.9,11.2,281,6008,0.00,2.60,0.00,0.000,1030,0.000,0.028,3140,1848,2217,2278,2157,0,0,0,0,0,0,24.49,24.41,24.50
$GC,6281,1.29,166.2,3140,1848,2278,2154,311.5,11.1,288,6287,0.05,2.67,0.00,0.000,2308,0.139,0.041,3157,3432,2215,2277,2154,0,0,0,0,0,0,24.51,24.41,24.55
$GC,6379,1.29,166.2,3156,3432,2276,2154,301.6,11.4,290,6385,0.00,2.60,0.00,0.000,1030,0.000,0.028,3157,1843,2215,2276,2154,0,0,0,0,0,0,24.53,24.46,24.56
$GC,6647,1.29,166.2,3156,1843,2276,2153,271.6,10.4,297,6653,0.00,2.67,0.00,0.000,260,0.000,0.044,3157,3430,2214,2276,2153,0,0,0,0,0,0,24.74,24.44,24.76
$GC,6696,1.29,166.2,3157,3431,2274,2153,267.4,10.1,298,6702,0.00,2.60,0.00,0.000,1030,0.000,0.027,3157,1837,2214,2275,2153,0,0,0,0,0,0,24.57,24.49,24.59
$GC,6975,1.30,178.8,3157,1838,2275,2152,242.3,9.3,305,6993,0.00,2.72,11.00,0.640,8452,0.000,0.041,3157,3447,2170,2227,2113,0,0,0,0,0,0,24.76,24.14,23.56
$GC,7087,1.31,185.1,3157,3448,2225,2113,234.0,9.7,307,7100,0.00,2.62,7.30,0.582,9222,0.000,0.024,3157,1841,2144,2199,2089,0,0,0,0,0,0,24.50,24.44,23.58
$GC,7336,1.31,185.1,3157,1841,2199,2086,204.9,10.3,314,7342,0.00,2.65,0.00,0.000,260,0.000,0.037,3157,3426,2143,2199,2087,0,0,0,0,0,0,24.70,24.41,24.71
$GC,7584,1.35,220.3,3157,3426,2198,2086,180.7,8.0,332,7627,0.08,2.55,31.88,0.623,11270,0.129,0.021,3177,1834,2000,2048,1952,0,0,0,0,0,0,24.42,24.51,23.42
$GC,7865,1.35,220.3,3176,1834,2048,1947,152.3,10.7,360,7872,0.00,2.65,0.00,0.000,260,0.000,0.032,3177,3432,1998,2049,1947,0,0,0,0,0,0,24.67,24.40,24.68
$GC,7964,1.35,220.3,3176,3432,2048,1947,142.0,10.4,368,7971,0.00,2.55,0.00,0.000,1030,0.000,0.021,3177,1847,1997,2048,1947,0,0,0,0,0,0,24.51,24.46,24.53
$GC,8220,1.35,220.3,3177,1847,2048,1946,111.0,12.5,393,8225,0.00,2.60,0.00,0.000,260,0.000,0.032,3177,3432,1997,2048,1946,0,0,0,0,0,0,24.72,24.46,24.75
$GC,8315,1.35,220.3,3176,3432,2048,1947,99.2,11.8,402,8323,0.00,2.55,0.00,0.000,1030,0.000,0.020,3177,1836,1997,2048,1946,0,0,0,0,0,0,24.56,24.51,24.58
$GC,8593,1.39,252.1,3176,1836,2048,1946,73.9,8.2,451,8629,0.00,2.67,29.23,0.518,8452,0.000,0.030,3176,3439,1871,1916,1827,0,0,0,0,0,0,24.77,23.87,23.56
$GC,8777,1.44,292.2,3176,3439,1915,1827,58.6,7.7,482,8821,0.10,2.55,36.90,0.501,11270,0.098,0.018,3204,1841,1707,1745,1669,0,0,0,0,0,0,24.38,24.44,23.54
$GC,9093,1.44,292.2,3204,1841,1745,1662,23.6,12.4,536,9101,0.00,2.62,0.00,0.000,260,0.000,0.030,3204,3437,1703,1745,1662,0,0,0,0,0,0,24.66,24.40,24.68
$GC,9170,1.44,292.2,3204,3437,1745,1662,13.5,13.6,549,9178,0.00,2.55,0.00,0.000,1030,0.000,0.019,3205,1843,1703,1745,1662,0,0,0,0,0,0,24.51,24.45,24.52
$STATE,9256,end climb,SURFACE_DEPTH_REACHED
$STATE,9256,begin surface coast
$FINISH,0.2,1.022925
$STATE,9288,end surface coast,CONTROL_FINISHED_OK
$STATE,9288,begin surface
$SM_CCo,9311,49.97,0.454,0,0,1349,380.21
$SM_GC,0.79,11.55,0.10,49.97,0.038,0.070,0.454,432,1974,1349,-7.24,-0.82,380.21,0,0,0,0,0,0,24.43,24.53,23.59
$IRIDIUM_FIX,2232.34,-15757.16,120618,114752
$TT8_MAMPS,0.021721,0.28462
$HUMID,55.74
$INTERNAL_PRESSURE,9.2717
$TCM_TEMP,22.30
$XPDR_PINGS,121
$24V_AH,23.17,72.538
$10V_AH,9.85,53.854
$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,25.725,108.975,366.550,49.975,0.000,30.015,47.605,206.202,30.250,0.000,59.196,1769.356,5323.300,557.437,1945.622,230.424,0.000,1255.281,0.000,1603.324,0.000,0.540,0.000
$DEVICE_MAMPS,166.005,70.380,850.680,453.645,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,381.907,325.385,494.842,704.891,858.334,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342980
$DATA_FILE_SIZE,47268,569
$CAP_FILE_SIZE,100362,0
$CFSIZE,259248128,222920704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.158,325.25,1
$GPS,120618,171802,2246.198,-15754.552,32,1.1,60,10.1,0.4,358.9,8,4.9