version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 626
start: 6 13 118 13 0 49
data:
$ID,148
$MISSION,15
$DIVE,626
$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,2770
$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,41
$R_STBD_OVSHOOT,53
$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
$GPS1,130618,125246,2245.1887,-15800.5830,48,1.7,155,10.1,0.7,357.6,6,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-60.0
$GPS2,130618,130023,2245.2593,-15800.6279,17,1.1,53,10.1,0.0,304.6,8,5.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A8
$TGT_LATLONG,2245.000,-15805.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,246.0,7482,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.22,-116.8,432,1868,1362,1324,0.0,0.0,0,90,0.00,0.00,-71.15,0.000,16386,0.000,0.000,433,1869,3346,3394,3298,0,0,0,0,0,0,24.60,28.83,24.63
$GC,94,-1.22,-116.8,432,1869,3394,3299,3.7,-8.3,10,110,10.27,2.58,-0.55,0.000,18948,0.152,0.038,2368,312,3378,3430,3326,0,0,0,0,0,0,24.19,23.48,24.34
$GC,223,-1.22,-116.8,2367,312,3432,3326,36.8,-19.2,32,231,0.00,2.50,0.00,0.000,1030,0.000,0.015,2368,1907,3379,3432,3326,0,0,0,0,0,0,24.49,24.45,24.51
$GC,498,-1.22,-116.8,2368,1911,3432,3327,89.7,-17.8,81,507,0.00,2.62,0.00,0.000,516,0.000,0.039,2368,315,3379,3432,3327,0,0,0,0,0,0,24.72,24.45,24.73
$GC,547,-1.22,-116.8,2367,315,3432,3327,98.2,-16.8,89,556,0.00,2.50,0.00,0.000,1030,0.000,0.015,2368,1922,3379,3432,3327,0,0,0,0,0,0,24.56,24.52,24.57
$GC,808,-1.22,-116.8,2368,1923,3432,3328,135.1,-13.4,115,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1923,3380,3432,3328,0,0,0,0,0,0,24.76,24.77,24.77
$GC,1054,-1.22,-116.8,2367,1923,3432,3329,169.7,-12.4,140,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1923,3380,3432,3329,0,0,0,0,0,0,24.78,24.80,24.79
$GC,1296,-1.22,-116.8,2367,1923,3433,3329,198.5,-11.6,164,1301,0.00,2.60,0.00,0.000,516,0.000,0.030,2368,309,3381,3433,3329,0,0,0,0,0,0,24.80,24.53,24.82
$GC,1313,-1.22,-116.8,2367,308,3433,3329,200.2,-11.7,165,1318,0.00,2.45,0.00,0.000,1030,0.000,0.015,2368,1901,3381,3433,3329,0,0,0,0,0,0,24.63,24.59,24.65
$GC,1582,-1.22,-116.8,2367,1901,3434,3329,230.1,-11.0,172,1587,0.00,2.47,0.00,0.000,260,0.000,0.028,2368,3455,3381,3433,3329,0,0,0,0,0,0,24.82,24.56,24.83
$GC,1619,-1.22,-116.8,2367,3455,3434,3329,230.1,-11.0,172,1627,0.00,2.45,0.00,0.000,1030,0.000,0.017,2368,1883,3381,3434,3329,0,0,0,0,0,0,24.64,24.59,24.65
$GC,1865,-1.22,-116.8,2367,1883,3434,3330,260.5,-11.6,179,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1884,3381,3434,3329,0,0,0,0,0,0,24.83,24.85,24.84
$GC,2105,-1.22,-116.8,2367,1883,3434,3329,289.2,-11.5,185,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1883,3381,3434,3329,0,0,0,0,0,0,24.84,24.87,24.86
$GC,2345,-1.22,-116.8,2368,1884,3434,3329,312.1,-9.2,191,2351,0.00,2.58,0.00,0.000,260,0.000,0.031,2368,3460,3381,3433,3330,0,0,0,0,0,0,24.85,24.58,24.87
$GC,2394,-1.22,-116.8,2367,3460,3433,3329,316.8,-9.7,192,2400,0.00,2.45,0.00,0.000,1030,0.000,0.018,2368,1892,3381,3433,3329,0,0,0,0,0,0,24.68,24.63,24.69
$GC,2673,-1.22,-116.8,2367,1892,3433,3327,346.8,-10.7,199,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1892,3380,3434,3327,0,0,0,0,0,0,24.86,24.89,24.88
$GC,2913,-1.22,-116.8,2367,1892,3433,3325,368.5,-8.7,205,2918,0.00,2.58,0.00,0.000,260,0.000,0.037,2368,3446,3379,3433,3325,0,0,0,0,0,0,24.87,24.59,24.89
$GC,2936,-1.22,-116.8,2368,3446,3433,3325,368.5,-8.7,205,2942,0.00,2.42,0.00,0.000,1030,0.000,0.019,2368,1900,3379,3433,3325,0,0,0,0,0,0,24.69,24.64,24.70
$GC,3200,-1.22,-116.8,2367,1900,3434,3321,393.1,-8.5,212,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1900,3377,3433,3321,0,0,0,0,0,0,24.87,24.88,24.88
$GC,3440,-1.22,-116.8,2367,1900,3433,3318,415.7,-9.8,218,3445,0.00,2.65,0.00,0.000,516,0.000,0.048,2368,334,3376,3434,3318,0,0,0,0,0,0,24.86,24.57,24.88
$GC,3483,-1.22,-116.8,2368,334,3433,3318,420.4,-10.1,219,3489,0.00,2.47,0.00,0.000,1030,0.000,0.023,2368,1870,3375,3433,3318,0,0,0,0,0,0,24.69,24.63,24.71
$GC,3767,-1.22,-116.8,2368,1871,3433,3313,449.1,-9.7,226,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1871,3373,3433,3313,0,0,0,0,0,0,24.86,24.89,24.88
$GC,4007,-1.22,-116.8,2368,1871,3433,3311,469.6,-8.4,232,4012,0.00,2.62,0.00,0.000,516,0.000,0.052,2368,337,3372,3433,3311,0,0,0,0,0,0,24.87,24.56,24.88
$GC,4030,-1.22,-116.8,2367,337,3433,3311,469.6,-8.4,232,4036,0.00,2.55,0.00,0.000,1030,0.000,0.028,2368,1897,3371,3433,3310,0,0,0,0,0,0,24.69,24.62,24.70
$GC,4294,-1.22,-116.8,2367,1897,3433,3307,497.1,-9.9,239,4300,0.00,2.67,0.00,0.000,516,0.000,0.052,2367,335,3370,3433,3307,0,0,0,0,0,0,24.87,24.55,24.88
$GC,4317,-1.22,-116.8,2367,336,3433,3307,497.1,-9.9,239,4322,0.00,2.58,0.00,0.000,1030,0.000,0.029,2368,1911,3370,3433,3307,0,0,0,0,0,0,24.69,24.61,24.70
$STATE,4338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4338,begin apogee
$GC,4345,-0.26,0.0,2368,1838,3434,3306,501.9,-9.9,240,4447,1.38,0.00,97.68,0.850,10246,0.079,0.000,2679,1837,2899,2958,2841,0,0,0,0,0,0,24.54,23.80,23.16
$STATE,4448,end apogee,CONTROL_FINISHED_OK
$STATE,4448,begin climb
$GC,4451,1.22,116.8,2678,1838,2958,2841,504.7,0.0,242,4558,1.98,0.00,102.62,0.827,10246,0.041,0.000,3155,1838,2423,2485,2361,0,0,0,0,0,0,24.08,23.75,23.15
$GC,4780,1.22,116.8,3155,1838,2484,2349,478.9,10.2,251,4786,0.00,2.67,0.00,0.000,516,0.000,0.056,3155,297,2416,2484,2348,0,0,0,0,0,0,24.58,24.27,24.60
$GC,4814,1.22,116.8,3155,297,2483,2348,478.9,10.2,251,4819,0.00,2.58,0.00,0.000,1030,0.000,0.030,3155,1841,2415,2483,2348,0,0,0,0,0,0,24.42,24.34,24.44
$GC,5067,1.23,121.3,3155,1842,2483,2344,450.0,9.8,258,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1842,2413,2483,2344,0,0,0,0,0,0,24.66,24.68,24.68
$GC,5307,1.25,134.9,3155,1842,2482,2342,427.4,9.3,264,5331,0.00,2.83,15.75,0.767,8452,0.000,0.063,3155,3442,2347,2411,2284,0,0,0,0,0,0,24.71,23.96,23.30
$GC,5374,1.27,150.3,3155,3443,2409,2283,423.6,9.2,265,5395,0.00,2.60,14.65,0.758,9222,0.000,0.028,3155,1868,2286,2347,2226,0,0,0,0,0,0,24.40,24.33,23.27
$GC,5673,1.27,150.3,3155,1868,2346,2220,389.4,11.1,273,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1868,2283,2346,2220,0,0,0,0,0,0,24.66,24.69,24.68
$GC,5913,1.27,150.3,3155,1868,2345,2218,362.6,11.1,279,5919,0.00,2.67,0.00,0.000,260,0.000,0.043,3155,3444,2282,2346,2218,0,0,0,0,0,0,24.67,24.39,24.68
$GC,5961,1.27,150.3,3155,3444,2344,2218,357.4,11.3,280,5967,0.00,2.62,0.00,0.000,1030,0.000,0.028,3156,1839,2281,2344,2218,0,0,0,0,0,0,24.53,24.45,24.54
$GC,6240,1.28,162.8,3155,1839,2344,2216,329.1,9.3,287,6258,0.00,2.72,11.48,0.695,8452,0.000,0.041,3155,3433,2234,2295,2174,0,0,0,0,0,0,24.70,24.08,23.45
$GC,6430,1.28,162.8,3155,3433,2291,2174,312.9,10.1,291,6436,0.00,2.60,0.00,0.000,1030,0.000,0.027,3155,1843,2232,2291,2174,0,0,0,0,0,0,24.50,24.43,24.52
$GC,6684,1.28,163.4,3155,1844,2291,2171,284.7,10.0,298,6690,0.00,2.70,0.00,0.000,260,0.000,0.041,3155,3436,2231,2291,2171,0,0,0,0,0,0,24.72,24.42,24.73
$GC,6778,1.28,163.4,3155,3437,2291,2171,275.3,10.6,300,6783,0.00,2.58,0.00,0.000,1030,0.000,0.026,3156,1849,2230,2290,2171,0,0,0,0,0,0,24.56,24.49,24.57
$GC,7051,1.31,184.0,3155,1849,2290,2170,247.9,8.9,307,7080,0.05,2.75,19.30,0.672,10500,0.138,0.040,3175,3434,2148,2205,2092,0,0,0,0,0,0,24.56,23.99,23.42
$GC,7149,1.32,193.9,3174,3434,2203,2092,239.4,9.5,309,7167,0.00,2.58,10.50,0.617,9222,0.000,0.024,3175,1846,2107,2161,2053,0,0,0,0,0,0,24.45,24.39,23.48
$GC,7416,1.32,193.9,3174,1846,2161,2049,208.6,11.1,316,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1846,2105,2161,2049,0,0,0,0,0,0,24.67,24.69,24.68
$GC,7656,1.32,193.9,3174,1845,2162,2048,184.2,10.3,331,7661,0.00,2.65,0.00,0.000,260,0.000,0.033,3175,3446,2105,2162,2048,0,0,0,0,0,0,24.71,24.44,24.73
$GC,7994,1.32,193.9,3175,3446,2161,2048,147.4,11.2,362,8000,0.00,2.58,0.00,0.000,1030,0.000,0.020,3175,1832,2104,2161,2048,0,0,0,0,0,0,24.58,24.53,24.60
$GC,8249,1.35,219.1,3174,1832,2161,2046,123.4,8.6,387,8282,0.00,2.70,22.38,0.560,8452,0.000,0.031,3175,3438,2005,2051,1959,0,0,0,0,0,0,24.78,24.03,23.54
$GC,8346,1.35,219.1,3175,3438,2051,1959,113.2,11.0,396,8351,0.00,2.55,0.00,0.000,1030,0.000,0.019,3175,1840,2004,2051,1958,0,0,0,0,0,0,24.46,24.41,24.47
$GC,8606,1.37,235.1,3175,1840,2051,1956,88.2,9.1,431,8629,0.05,2.67,15.38,0.517,10756,0.133,0.036,3195,268,1939,1989,1890,0,0,0,0,0,0,24.51,24.10,23.63
$GC,8673,1.38,241.8,3195,268,1988,1890,81.8,9.7,441,8688,0.00,2.60,7.43,0.457,9222,0.000,0.018,3196,1889,1913,1958,1868,0,0,0,0,0,0,24.45,24.39,23.68
$GC,8955,1.40,261.8,3195,1889,1958,1866,57.8,8.9,491,8984,0.00,2.53,19.80,0.493,8452,0.000,0.031,3195,3417,1830,1876,1785,0,0,0,0,0,0,24.70,23.91,23.62
$GC,9088,1.44,288.2,3195,3416,1876,1785,45.6,8.5,513,9124,0.05,2.50,24.70,0.484,11270,0.136,0.018,3213,1848,1723,1767,1679,0,0,0,0,0,0,24.35,24.42,23.58
$GC,9394,1.44,288.2,3213,1848,1768,1674,10.4,12.7,566,9402,0.00,2.58,0.00,0.000,260,0.000,0.031,3214,3416,1721,1768,1674,0,0,0,0,0,0,24.68,24.41,24.69
$GC,9450,1.44,288.2,3213,3416,1768,1674,3.8,10.9,575,9458,0.00,2.50,0.00,0.000,1030,0.000,0.018,3214,1837,1721,1768,1674,0,0,0,0,0,0,24.51,24.46,24.53
$STATE,9463,end climb,SURFACE_DEPTH_REACHED
$STATE,9463,begin surface coast
$FINISH,0.1,1.022934
$STATE,9493,end surface coast,CONTROL_FINISHED_OK
$STATE,9493,begin surface
$SM_CCo,9516,51.70,0.455,0,0,1350,380.21
$SM_GC,0.71,11.62,0.08,51.70,0.040,0.088,0.455,432,2000,1350,-7.27,-1.33,380.21,0,0,0,0,0,0,24.41,24.52,23.58
$IRIDIUM_FIX,2234.68,-15757.16,130618,100752
$TT8_MAMPS,0.021721,0.286867
$HUMID,54.72
$INTERNAL_PRESSURE,9.2717
$TCM_TEMP,23.20
$XPDR_PINGS,119
$24V_AH,23.15,73.349
$10V_AH,9.82,54.549
$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,25.400,103.650,361.650,51.700,0.000,24.372,51.828,204.100,29.750,0.000,55.275,1803.914,5456.730,553.223,1983.510,233.282,0.000,1253.233,0.000,1646.373,0.000,0.539,0.000
$DEVICE_MAMPS,152.235,94.860,849.915,455.175,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,390.843,334.773,527.879,724.394,884.066,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342824
$DATA_FILE_SIZE,47380,582
$CAP_FILE_SIZE,101496,0
$CFSIZE,259248128,222461952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133,293.51,1
$GPS,130618,154227,2245.080,-15802.382,60,1.2,89,10.1,0.6,109.9,8,6.1