version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 633
start: 6 14 118 8 55 23
data:
$ID,148
$MISSION,15
$DIVE,633
$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,48
$R_STBD_OVSHOOT,51
$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
$GPS1,140618,084750,2246.2163,-15801.9648,17,1.7,44,10.1,0.3,252.1,8,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-61.9
$GPS2,140618,085458,2246.2627,-15802.0088,11,1.5,34,10.1,0.9,295.1,8,5.5
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,114.9,12196,-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,14,begin dive
$GC,16,-1.22,-116.8,434,1886,1355,1328,0.0,0.0,0,89,0.00,0.00,-70.05,0.000,16386,0.000,0.000,435,1886,3294,3341,3247,0,0,0,0,0,0,24.59,28.83,24.60
$GC,93,-1.22,-116.8,434,1886,3341,3247,3.4,-7.8,10,108,10.65,0.00,-1.52,0.000,18438,0.165,0.000,2369,1887,3379,3436,3323,0,0,0,0,0,0,24.15,23.53,24.31
$GC,374,-1.22,-116.8,2369,1887,3437,3325,63.0,-17.0,60,382,0.00,2.55,0.00,0.000,516,0.000,0.038,2369,329,3380,3436,3325,0,0,0,0,0,0,24.68,24.42,24.70
$GC,401,-1.22,-116.8,2369,328,3437,3325,67.6,-17.6,64,409,0.00,2.50,0.00,0.000,1030,0.000,0.015,2369,1924,3381,3437,3325,0,0,0,0,0,0,24.52,24.48,24.53
$GC,677,-1.22,-116.8,2369,1925,3436,3327,109.5,-13.3,107,682,0.00,2.45,0.00,0.000,260,0.000,0.025,2369,3468,3382,3437,3327,0,0,0,0,0,0,24.73,24.48,24.75
$GC,701,-1.22,-116.8,2369,3468,3437,3327,113.1,-14.0,109,706,0.00,2.45,0.00,0.000,1030,0.000,0.016,2369,1885,3382,3437,3327,0,0,0,0,0,0,24.56,24.52,24.58
$GC,956,-1.22,-116.8,2369,1885,3438,3328,149.9,-14.0,134,962,0.00,2.53,0.00,0.000,516,0.000,0.031,2369,331,3382,3437,3328,0,0,0,0,0,0,24.76,24.51,24.78
$GC,985,-1.22,-116.8,2368,331,3437,3328,153.4,-13.7,136,991,0.00,2.42,0.00,0.000,1030,0.000,0.015,2369,1906,3382,3437,3328,0,0,0,0,0,0,24.60,24.56,24.61
$GC,1233,-1.22,-116.8,2368,1907,3437,3329,184.2,-12.2,161,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1907,3383,3437,3329,0,0,0,0,0,0,24.79,24.81,24.80
$GC,1511,-1.22,-116.8,2368,1908,3437,3330,213.5,-10.5,180,1516,0.00,2.47,0.00,0.000,260,0.000,0.026,2369,3456,3384,3438,3330,0,0,0,0,0,0,24.81,24.56,24.82
$GC,1584,-1.22,-116.8,2368,3456,3437,3330,218.7,-10.8,181,1590,0.00,2.40,0.00,0.000,1030,0.000,0.016,2369,1897,3383,3437,3330,0,0,0,0,0,0,24.65,24.60,24.65
$GC,1837,-1.22,-116.8,2369,1897,3437,3330,248.7,-10.4,188,1843,0.00,2.53,0.00,0.000,516,0.000,0.031,2369,334,3383,3437,3330,0,0,0,0,0,0,24.83,24.56,24.84
$GC,1920,-1.22,-116.8,2369,334,3437,3330,257.9,-10.7,190,1926,0.00,2.45,0.00,0.000,1030,0.000,0.016,2369,1902,3383,3437,3330,0,0,0,0,0,0,24.65,24.61,24.67
$GC,2205,-1.22,-116.8,2368,1902,3437,3330,288.3,-11.0,197,2210,0.00,2.53,0.00,0.000,260,0.000,0.030,2369,3470,3383,3437,3330,0,0,0,0,0,0,24.84,24.58,24.86
$GC,2308,-1.22,-116.8,2368,3470,3437,3330,298.0,-11.3,199,2314,0.00,2.42,0.00,0.000,1030,0.000,0.017,2369,1905,3383,3437,3330,0,0,0,0,0,0,24.68,24.63,24.68
$GC,2572,-1.22,-116.8,2368,1905,3436,3329,325.3,-9.4,206,2578,0.00,2.55,0.00,0.000,260,0.000,0.034,2369,3461,3383,3437,3330,0,0,0,0,0,0,24.85,24.58,24.87
$GC,2595,-1.22,-116.8,2369,3461,3437,3329,325.3,-9.4,206,2601,0.00,2.45,0.00,0.000,1030,0.000,0.018,2369,1901,3383,3437,3329,0,0,0,0,0,0,24.68,24.63,24.69
$GC,2859,-1.22,-116.8,2368,1902,3437,3327,351.5,-9.2,213,2865,0.00,2.60,0.00,0.000,516,0.000,0.041,2369,335,3382,3437,3327,0,0,0,0,0,0,24.86,24.57,24.87
$GC,2927,-1.22,-116.8,2369,336,3437,3326,356.2,-9.5,214,2933,0.00,2.47,0.00,0.000,1030,0.000,0.020,2369,1893,3381,3437,3326,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3186,-1.22,-116.8,2369,1893,3437,3322,386.5,-10.7,221,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1893,3380,3437,3323,0,0,0,0,0,0,24.85,24.88,24.87
$GC,3427,-1.22,-116.8,2368,1893,3437,3319,410.8,-10.0,227,3432,0.00,2.65,0.00,0.000,516,0.000,0.047,2369,335,3378,3437,3319,0,0,0,0,0,0,24.87,24.56,24.89
$GC,3474,-1.22,-116.8,2369,335,3437,3319,415.4,-9.9,228,3480,0.00,2.53,0.00,0.000,1030,0.000,0.024,2369,1895,3378,3437,3319,0,0,0,0,0,0,24.69,24.63,24.70
$GC,3753,-1.22,-116.8,2369,1896,3437,3315,442.7,-9.8,235,3758,0.00,2.62,0.00,0.000,260,0.000,0.044,2369,3482,3375,3436,3315,0,0,0,0,0,0,24.86,24.57,24.88
$GC,3771,-1.22,-116.8,2369,3481,3437,3315,442.7,-9.8,235,3776,0.00,2.50,0.00,0.000,1030,0.000,0.024,2369,1915,3376,3437,3315,0,0,0,0,0,0,24.69,24.63,24.71
$GC,4040,-1.22,-116.8,2369,1914,3437,3311,470.1,-9.3,242,4045,0.00,2.72,0.00,0.000,516,0.000,0.052,2369,320,3374,3437,3311,0,0,0,0,0,0,24.87,24.56,24.88
$GC,4078,-1.22,-116.8,2368,320,3437,3311,470.1,-9.3,242,4085,0.00,2.58,0.00,0.000,1030,0.000,0.028,2369,1900,3374,3437,3311,0,0,0,0,0,0,24.68,24.61,24.70
$GC,4323,-1.22,-116.8,2369,1900,3437,3308,498.7,-10.1,249,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1900,3372,3437,3308,0,0,0,0,0,0,24.87,24.89,24.89
$STATE,4361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4361,begin apogee
$GC,4368,-0.26,0.0,2369,1827,3437,3307,502.5,-10.0,250,4470,1.40,0.00,98.25,0.855,10246,0.088,0.000,2679,1827,2899,2960,2839,0,0,0,0,0,0,24.54,23.79,23.14
$STATE,4472,end apogee,CONTROL_FINISHED_OK
$STATE,4472,begin climb
$GC,4474,1.22,116.8,2679,1827,2960,2838,504.9,0.0,252,4582,1.95,0.00,102.30,0.831,10502,0.044,0.000,3143,1827,2421,2485,2358,0,0,0,0,0,0,24.06,23.75,23.14
$GC,4845,1.22,116.8,3142,1826,2485,2345,472.7,11.0,262,4851,0.00,2.83,0.00,0.000,260,0.000,0.060,3143,3431,2414,2484,2345,0,0,0,0,0,0,24.61,24.29,24.63
$GC,4929,1.22,116.8,3142,3432,2482,2345,462.5,11.7,264,4935,0.00,2.58,0.00,0.000,1030,0.000,0.030,3143,1877,2413,2482,2345,0,0,0,0,0,0,24.45,24.37,24.47
$GC,5213,1.22,116.8,3142,1877,2482,2341,430.9,10.9,271,5219,0.00,2.83,0.00,0.000,516,0.000,0.062,3143,268,2412,2482,2342,0,0,0,0,0,0,24.68,24.37,24.70
$GC,5246,1.22,116.8,3142,268,2481,2342,430.9,10.9,271,5251,0.00,2.60,0.00,0.000,1030,0.000,0.024,3143,1854,2412,2482,2342,0,0,0,0,0,0,24.51,24.44,24.53
$GC,5500,1.23,120.9,3142,1854,2482,2341,401.9,9.8,278,5505,0.00,2.75,0.00,0.000,260,0.000,0.060,3143,3433,2411,2482,2341,0,0,0,0,0,0,24.72,24.40,24.75
$GC,5583,1.23,124.3,3142,3433,2479,2340,393.4,9.8,280,5594,0.00,2.60,5.82,0.621,9222,0.000,0.027,3143,1845,2392,2460,2325,0,0,0,0,0,0,24.54,24.47,23.55
$GC,5868,1.25,133.6,3142,1844,2460,2322,366.2,9.5,287,5880,0.00,0.00,9.85,0.702,8198,0.000,0.000,3142,1844,2355,2420,2290,0,0,0,0,0,0,24.72,24.06,23.45
$GC,6107,1.25,133.6,3142,1844,2420,2284,342.5,10.0,293,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1845,2352,2420,2284,0,0,0,0,0,0,24.66,24.68,24.68
$GC,6347,1.25,133.6,3142,1844,2419,2283,316.2,11.3,299,6353,0.00,2.67,0.00,0.000,260,0.000,0.041,3143,3426,2351,2420,2283,0,0,0,0,0,0,24.74,24.43,24.76
$GC,6405,1.25,133.6,3142,3426,2418,2283,311.3,11.4,300,6412,0.00,2.58,0.00,0.000,1030,0.000,0.027,3144,1846,2350,2418,2283,0,0,0,0,0,0,24.56,24.49,24.57
$GC,6675,1.27,155.8,3142,1846,2418,2282,283.7,8.8,307,6698,0.05,0.00,20.20,0.705,10758,0.139,0.000,3160,1846,2264,2327,2201,0,0,0,0,0,0,24.56,23.92,23.37
$GC,6957,1.31,187.8,3159,1847,2327,2194,259.9,8.2,314,6996,0.00,2.75,28.95,0.695,8452,0.000,0.039,3160,3429,2132,2189,2076,0,0,0,0,0,0,24.69,23.90,23.32
$GC,7174,1.31,187.8,3160,3429,2187,2074,239.1,10.6,319,7180,0.00,2.58,0.00,0.000,1030,0.000,0.025,3160,1849,2130,2186,2074,0,0,0,0,0,0,24.45,24.39,24.47
$GC,7443,1.31,187.8,3159,1849,2186,2070,209.2,10.9,326,7448,0.00,2.65,0.00,0.000,260,0.000,0.037,3160,3428,2128,2186,2070,0,0,0,0,0,0,24.68,24.40,24.70
$GC,7516,1.31,187.8,3160,3428,2186,2071,204.6,10.8,327,7521,0.00,2.55,0.00,0.000,1030,0.000,0.023,3160,1844,2128,2186,2070,0,0,0,0,0,0,24.52,24.46,24.54
$GC,7772,1.32,192.8,3159,1844,2186,2069,175.1,9.8,352,7784,0.00,2.67,5.28,0.493,8452,0.000,0.031,3160,3433,2111,2169,2054,0,0,0,0,0,0,24.72,24.34,23.72
$GC,8004,1.34,214.6,3160,3433,2169,2054,152.7,8.8,374,8032,0.08,2.55,20.12,0.594,11270,0.116,0.020,3181,1839,2024,2072,1976,0,0,0,0,0,0,24.43,24.50,23.49
$GC,8282,1.37,232.5,3181,1839,2071,1972,126.7,9.0,401,8303,0.00,0.00,17.20,0.567,8198,0.000,0.000,3181,1838,1950,2000,1900,0,0,0,0,0,0,24.68,23.99,23.51
$GC,8548,1.37,232.5,3180,1839,2000,1897,97.3,11.2,429,8556,0.00,2.65,0.00,0.000,260,0.000,0.031,3181,3445,1948,2000,1897,0,0,0,0,0,0,24.68,24.41,24.70
$GC,8648,1.37,232.5,3180,3445,2000,1897,85.8,11.0,446,8655,0.00,2.55,0.00,0.000,1030,0.000,0.019,3181,1847,1948,2000,1897,0,0,0,0,0,0,24.52,24.47,24.54
$GC,8925,1.38,244.6,3180,1847,2000,1897,58.0,9.3,495,8948,0.00,2.65,11.80,0.499,8708,0.000,0.035,3181,273,1901,1946,1856,0,0,0,0,0,0,24.74,24.18,23.70
$GC,8967,1.38,244.6,3180,273,1944,1856,53.7,10.3,501,8975,0.00,2.55,0.00,0.000,1030,0.000,0.018,3181,1871,1900,1944,1856,0,0,0,0,0,0,24.44,24.40,24.46
$GC,9246,1.41,265.7,3180,1872,1944,1856,30.0,8.8,550,9276,0.08,2.53,20.58,0.488,10500,0.096,0.031,3211,3414,1815,1859,1772,0,0,0,0,0,0,24.51,24.07,23.63
$GC,9289,1.42,272.8,3210,3415,1858,1772,25.9,9.6,556,9306,0.00,2.53,8.15,0.431,9222,0.000,0.018,3211,1837,1785,1831,1739,0,0,0,0,0,0,24.37,24.32,23.67
$STATE,9503,end climb,SURFACE_DEPTH_REACHED
$STATE,9503,begin surface coast
$FINISH,0.1,1.021545
$STATE,9532,end surface coast,CONTROL_FINISHED_OK
$STATE,9532,begin surface
$SM_CCo,9554,58.50,0.462,0,0,1350,380.21
$SM_GC,0.88,11.60,0.08,58.50,0.037,0.088,0.462,419,1982,1350,-7.30,-1.36,380.21,0,0,0,0,0,0,24.41,24.51,23.56
$IRIDIUM_FIX,2234.68,-15802.37,140618,060033
$TT8_MAMPS,0.020972,0.282373
$HUMID,55.27
$INTERNAL_PRESSURE,9.26193
$TCM_TEMP,22.90
$XPDR_PINGS,108
$24V_AH,23.14,74.045
$10V_AH,9.81,55.168
$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,25.800,108.150,348.500,58.500,0.000,30.305,41.933,197.397,27.000,0.000,37.046,1910.111,5285.290,549.621,2050.352,248.346,0.000,1288.614,0.000,1747.106,0.000,0.539,0.000
$DEVICE_MAMPS,165.240,97.920,855.270,462.060,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,402.260,348.851,529.439,750.745,924.239,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342860
$DATA_FILE_SIZE,47114,598
$CAP_FILE_SIZE,103943,0
$CFSIZE,259248128,222056448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112,280.24,1
$GPS,140618,113709,2245.873,-15801.617,36,1.1,52,10.1,1.0,329.5,8,4.4