version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 622
start: 6 13 118 1 47 52
data:
$ID,148
$MISSION,15
$DIVE,622
$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,40
$R_STBD_OVSHOOT,50
$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
$GPS1,130618,013945,2245.7080,-15755.6055,16,1.6,56,10.1,1.3,289.3,5,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-62.4
$GPS2,130618,014726,2245.8269,-15755.6699,21,1.2,60,10.1,1.0,319.7,9,4.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A8
$TGT_LATLONG,2245.000,-15805.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,227.9,16009,-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,-116.8,432,1834,1359,1327,0.0,0.0,0,90,0.00,0.00,-71.25,0.000,16386,0.000,0.000,432,1834,3313,3359,3268,0,0,0,0,0,0,24.60,28.83,24.63
$GC,94,-1.22,-116.8,432,1834,3360,3268,3.1,-6.1,10,117,10.70,2.50,-1.17,0.000,18948,0.170,0.041,2357,318,3379,3435,3324,0,0,0,0,0,0,24.15,23.48,24.32
$GC,237,-1.22,-116.8,2357,319,3436,3324,37.7,-19.4,34,244,0.00,2.50,0.00,0.000,1030,0.000,0.015,2357,1913,3380,3436,3324,0,0,0,0,0,0,24.49,24.45,24.51
$GC,515,-1.22,-116.8,2357,1914,3436,3325,84.4,-15.4,83,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1914,3380,3436,3325,0,0,0,0,0,0,24.72,24.74,24.73
$GC,776,-1.22,-116.8,2357,1915,3436,3326,121.1,-13.9,117,782,0.00,2.60,0.00,0.000,516,0.000,0.037,2357,318,3381,3436,3326,0,0,0,0,0,0,24.75,24.49,24.77
$GC,814,-1.22,-116.8,2357,318,3436,3326,126.6,-14.4,120,821,0.00,2.47,0.00,0.000,1030,0.000,0.015,2357,1913,3381,3436,3327,0,0,0,0,0,0,24.58,24.55,24.60
$GC,1063,-1.22,-116.8,2357,1913,3437,3327,161.5,-13.7,145,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1913,3381,3436,3327,0,0,0,0,0,0,24.78,24.79,24.79
$GC,1312,-1.22,-116.8,2357,1914,3437,3328,192.9,-11.7,170,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1914,3382,3437,3328,0,0,0,0,0,0,24.79,24.82,24.82
$GC,1570,-1.22,-116.8,2357,1914,3436,3328,223.8,-11.7,181,1577,0.00,2.60,0.00,0.000,516,0.000,0.032,2357,316,3382,3437,3328,0,0,0,0,0,0,24.82,24.55,24.83
$GC,1640,-1.22,-116.8,2357,316,3437,3328,229.1,-11.6,182,1645,0.00,2.45,0.00,0.000,1030,0.000,0.015,2357,1899,3382,3437,3328,0,0,0,0,0,0,24.65,24.60,24.66
$GC,1898,-1.22,-116.8,2357,1900,3437,3328,261.0,-10.7,189,1903,0.00,2.53,0.00,0.000,260,0.000,0.028,2357,3468,3382,3437,3328,0,0,0,0,0,0,24.83,24.57,24.85
$GC,1981,-1.22,-116.8,2357,3468,3437,3328,269.5,-10.2,191,1987,0.00,2.50,0.00,0.000,1030,0.000,0.016,2357,1872,3382,3437,3328,0,0,0,0,0,0,24.67,24.62,24.68
$GC,2266,-1.22,-116.8,2357,1873,3437,3328,297.7,-9.7,198,2272,0.00,2.47,0.00,0.000,516,0.000,0.034,2357,339,3383,3438,3328,0,0,0,0,0,0,24.84,24.57,24.86
$GC,2310,-1.22,-116.8,2357,339,3437,3328,302.2,-9.8,199,2316,0.00,2.45,0.00,0.000,1030,0.000,0.018,2357,1899,3382,3437,3328,0,0,0,0,0,0,24.68,24.63,24.69
$GC,2594,-1.22,-116.8,2357,1899,3437,3328,331.9,-10.6,206,2599,0.00,2.55,0.00,0.000,260,0.000,0.034,2357,3468,3382,3437,3328,0,0,0,0,0,0,24.86,24.58,24.87
$GC,2616,-1.22,-116.8,2356,3468,3437,3328,331.9,-10.6,206,2622,0.00,2.45,0.00,0.000,1030,0.000,0.018,2357,1899,3382,3437,3328,0,0,0,0,0,0,24.68,24.63,24.70
$GC,2880,-1.22,-116.8,2357,1899,3437,3326,360.0,-10.0,213,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1899,3381,3437,3326,0,0,0,0,0,0,24.87,24.89,24.88
$GC,3119,-1.22,-116.8,2356,1899,3437,3323,385.1,-10.4,219,3125,0.00,2.60,0.00,0.000,260,0.000,0.040,2357,3461,3380,3437,3323,0,0,0,0,0,0,24.87,24.58,24.89
$GC,3147,-1.22,-116.8,2357,3461,3437,3323,385.1,-10.4,219,3152,0.00,2.47,0.00,0.000,1030,0.000,0.021,2357,1891,3380,3437,3323,0,0,0,0,0,0,24.70,24.64,24.70
$GC,3405,-1.22,-116.8,2357,1891,3437,3319,414.4,-10.2,226,3411,0.00,2.62,0.00,0.000,516,0.000,0.048,2357,336,3378,3437,3319,0,0,0,0,0,0,24.87,24.57,24.89
$GC,3439,-1.22,-116.8,2356,335,3437,3319,414.4,-10.2,226,3444,0.00,2.50,0.00,0.000,1030,0.000,0.023,2357,1893,3378,3437,3319,0,0,0,0,0,0,24.69,24.63,24.70
$GC,3693,-1.22,-116.8,2357,1894,3437,3316,442.0,-9.2,233,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1893,3376,3437,3316,0,0,0,0,0,0,24.87,24.89,24.88
$GC,3932,-1.22,-116.8,2357,1893,3437,3312,464.7,-9.8,239,3938,0.00,2.65,0.00,0.000,260,0.000,0.046,2357,3474,3374,3437,3312,0,0,0,0,0,0,24.87,24.57,24.88
$GC,3955,-1.22,-116.8,2357,3474,3437,3312,464.7,-9.8,239,3962,0.00,2.53,0.00,0.000,1030,0.000,0.025,2357,1900,3374,3437,3312,0,0,0,0,0,0,24.69,24.63,24.70
$GC,4220,-1.22,-116.8,2357,1900,3437,3308,494.9,-10.7,246,4225,0.00,2.70,0.00,0.000,516,0.000,0.060,2357,324,3372,3437,3308,0,0,0,0,0,0,24.87,24.56,24.89
$GC,4258,-1.22,-116.8,2356,324,3437,3308,494.9,-10.7,246,4265,0.00,2.58,0.00,0.000,1030,0.000,0.029,2357,1897,3372,3437,3308,0,0,0,0,0,0,24.69,24.61,24.70
$STATE,4300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4300,begin apogee
$GC,4307,-0.26,0.0,2357,1826,3437,3307,503.4,-10.5,248,4408,1.38,0.00,97.62,0.848,10246,0.076,0.000,2669,1826,2899,2962,2837,0,0,0,0,0,0,24.55,23.80,23.17
$STATE,4409,end apogee,CONTROL_FINISHED_OK
$STATE,4409,begin climb
$GC,4412,1.22,116.8,2668,1826,2962,2836,505.4,0.0,250,4518,2.00,0.00,101.95,0.826,10246,0.047,0.000,3139,1826,2421,2486,2357,0,0,0,0,0,0,24.05,23.76,23.16
$GC,4743,1.22,116.8,3139,1826,2485,2345,475.2,11.1,259,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1826,2415,2485,2345,0,0,0,0,0,0,24.59,24.61,24.60
$GC,4983,1.22,116.8,3139,1826,2485,2342,450.3,10.4,265,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1826,2413,2485,2342,0,0,0,0,0,0,24.65,24.68,24.68
$GC,5223,1.25,133.7,3139,1826,2484,2342,428.5,9.1,271,5246,0.00,2.88,14.45,0.752,8452,0.000,0.060,3140,3419,2354,2420,2288,0,0,0,0,0,0,24.70,23.98,23.34
$GC,5359,1.25,138.5,3139,3420,2419,2285,416.4,9.8,274,5372,0.00,2.55,5.78,0.612,9222,0.000,0.028,3140,1868,2333,2400,2267,0,0,0,0,0,0,24.46,24.39,23.50
$GC,5625,1.27,157.2,3139,1868,2400,2263,391.0,9.0,281,5650,0.00,2.72,17.30,0.751,8452,0.000,0.044,3140,3432,2258,2319,2197,0,0,0,0,0,0,24.69,23.76,23.32
$GC,5708,1.28,165.5,3139,3432,2317,2196,382.5,9.6,283,5723,0.00,2.62,8.82,0.676,9222,0.000,0.030,3140,1852,2224,2283,2165,0,0,0,0,0,0,24.41,24.34,23.39
$GC,5991,1.28,165.5,3139,1852,2283,2159,351.8,10.6,290,5996,0.00,2.70,0.00,0.000,260,0.000,0.046,3139,3429,2221,2283,2159,0,0,0,0,0,0,24.68,24.36,24.69
$GC,6053,1.28,165.5,3139,3429,2282,2159,347.2,10.6,291,6059,0.00,2.60,0.00,0.000,1030,0.000,0.029,3139,1844,2220,2282,2159,0,0,0,0,0,0,24.49,24.41,24.51
$GC,6317,1.28,165.5,3139,1845,2282,2157,316.4,11.0,298,6323,0.00,2.72,0.00,0.000,516,0.000,0.056,3140,269,2219,2282,2157,0,0,0,0,0,0,24.72,24.41,24.74
$GC,6339,1.28,165.5,3139,269,2281,2157,316.4,11.0,298,6346,0.00,2.60,0.00,0.000,1030,0.000,0.022,3140,1871,2219,2281,2157,0,0,0,0,0,0,24.55,24.49,24.56
$GC,6604,1.28,165.5,3139,1871,2281,2156,283.8,11.3,305,6609,0.00,2.65,0.00,0.000,260,0.000,0.054,3140,3419,2218,2281,2156,0,0,0,0,0,0,24.74,24.43,24.76
$GC,6786,1.28,165.5,3139,3420,2280,2156,265.6,11.2,309,6792,0.00,2.58,0.00,0.000,1030,0.000,0.026,3140,1848,2218,2280,2156,0,0,0,0,0,0,24.58,24.50,24.60
$GC,7051,1.32,191.1,3139,1848,2279,2154,240.3,8.6,316,7083,0.08,2.70,22.48,0.672,10500,0.094,0.041,3174,3425,2119,2172,2067,0,0,0,0,0,0,24.57,23.80,23.40
$GC,7305,1.32,191.1,3173,3425,2170,2065,213.1,12.0,322,7310,0.00,2.55,0.00,0.000,1030,0.000,0.024,3174,1845,2117,2170,2065,0,0,0,0,0,0,24.51,24.44,24.52
$GC,7554,1.33,200.7,3173,1845,2170,2062,186.2,9.5,336,7571,0.00,2.65,9.68,0.577,8708,0.000,0.042,3174,268,2080,2133,2028,0,0,0,0,0,0,24.71,24.15,23.61
$GC,7603,1.33,200.7,3174,268,2133,2027,181.5,10.3,340,7610,0.00,2.55,0.00,0.000,1030,0.000,0.020,3174,1860,2080,2133,2027,0,0,0,0,0,0,24.45,24.40,24.46
$GC,7852,1.33,200.7,3173,1860,2133,2026,155.8,10.3,365,7857,0.00,2.67,0.00,0.000,516,0.000,0.039,3174,268,2079,2133,2026,0,0,0,0,0,0,24.72,24.44,24.73
$GC,7899,1.33,200.7,3173,268,2133,2025,150.8,11.0,369,7908,0.00,2.55,0.00,0.000,1030,0.000,0.020,3174,1863,2079,2133,2025,0,0,0,0,0,0,24.56,24.51,24.57
$GC,8146,1.38,245.2,3173,1863,2133,2025,128.8,7.5,394,8194,0.00,2.58,39.78,0.571,8452,0.000,0.032,3174,3418,1899,1940,1858,0,0,0,0,0,0,24.75,23.95,23.46
$GC,8347,1.39,249.9,3173,3418,1940,1857,109.3,9.8,412,8360,0.00,2.53,5.78,0.444,9222,0.000,0.020,3174,1837,1880,1923,1837,0,0,0,0,0,0,24.46,24.41,23.71
$GC,8615,1.39,249.9,3173,1837,1923,1835,82.2,11.2,452,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1837,1879,1923,1835,0,0,0,0,0,0,24.69,24.71,24.70
$GC,8886,1.42,279.6,3173,1837,1923,1835,57.6,8.3,501,8922,0.08,2.62,27.80,0.496,10500,0.095,0.030,3212,3415,1759,1798,1720,0,0,0,0,0,0,24.52,23.89,23.59
$GC,8981,1.42,279.6,3211,3415,1798,1720,47.8,11.3,516,8989,0.00,2.53,0.00,0.000,1030,0.000,0.020,3212,1841,1759,1798,1720,0,0,0,0,0,0,24.44,24.38,24.45
$GC,9258,1.42,279.6,3211,1841,1798,1717,15.4,11.5,565,9266,0.00,2.60,0.00,0.000,516,0.000,0.037,3212,273,1757,1798,1717,0,0,0,0,0,0,24.70,24.43,24.72
$GC,9291,1.42,279.6,3211,274,1797,1716,11.6,11.6,570,9299,0.00,2.53,0.00,0.000,1030,0.000,0.018,3212,1863,1756,1797,1715,0,0,0,0,0,0,24.53,24.49,24.55
$STATE,9366,end climb,SURFACE_DEPTH_REACHED
$STATE,9366,begin surface coast
$FINISH,0.1,1.009578
$STATE,9395,end surface coast,CONTROL_FINISHED_OK
$STATE,9395,begin surface
$SM_CCo,9416,58.78,0.456,0,0,1350,380.21
$SM_GC,0.75,11.57,0.00,58.78,0.036,0.000,0.456,416,1867,1350,-7.28,-0.93,380.21,0,0,0,0,0,0,24.45,24.75,23.59
$IRIDIUM_FIX,2234.68,-15754.99,120618,225439
$TT8_MAMPS,0.02247,0.347536
$HUMID,55.00
$INTERNAL_PRESSURE,9.28146
$TCM_TEMP,23.00
$XPDR_PINGS,114
$24V_AH,23.16,72.949
$10V_AH,9.72,54.199
$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,25.800,108.575,351.425,58.775,0.000,31.333,46.437,199.564,28.500,0.000,64.685,1881.016,5186.624,562.567,2073.468,238.469,0.000,1303.024,0.000,1732.151,0.000,0.539,0.000
$DEVICE_MAMPS,169.830,95.625,848.385,455.940,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,394.879,339.261,527.095,744.446,911.930,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342804
$DATA_FILE_SIZE,47253,588
$CAP_FILE_SIZE,103518,0
$CFSIZE,259248128,222687232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,336.23,1
$GPS,130618,042743,2245.876,-15756.928,35,1.3,75,10.1,0.3,334.8,7,5.2