version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 634
start: 6 14 118 11 45 11
data:
$ID,148
$MISSION,15
$DIVE,634
$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,67
$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
$GPS1,140618,113709,2245.8733,-15801.6172,36,1.1,52,10.1,1.0,329.5,8,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-60.7
$GPS2,140618,114445,2245.8882,-15801.6963,15,1.2,49,10.1,0.3,306.2,8,4.5
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,89.1,11554,-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,-116.8,418,1863,1356,1328,0.0,0.0,0,91,0.00,0.00,-72.03,0.000,16386,0.000,0.000,419,1864,3360,3407,3314,0,0,0,0,0,0,24.60,28.83,24.61
$GC,95,-1.22,-116.8,419,1864,3407,3314,3.6,-7.8,10,111,10.80,0.00,-0.30,0.000,18438,0.168,0.000,2367,1864,3378,3429,3327,0,0,0,0,0,0,24.15,23.51,24.31
$GC,378,-1.22,-116.8,2366,1864,3431,3328,65.6,-16.7,60,385,0.00,2.60,0.00,0.000,260,0.000,0.025,2367,3477,3379,3431,3327,0,0,0,0,0,0,24.68,24.43,24.70
$GC,399,-1.22,-116.8,2366,3477,3431,3328,69.3,-17.5,63,406,0.00,2.47,0.00,0.000,1030,0.000,0.016,2367,1919,3379,3431,3327,0,0,0,0,0,0,24.52,24.47,24.53
$GC,667,-1.22,-116.8,2366,1919,3431,3328,110.7,-14.7,105,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1919,3379,3431,3328,0,0,0,0,0,0,24.73,24.75,24.75
$GC,916,-1.22,-116.8,2366,1919,3432,3329,145.2,-13.1,130,921,0.00,2.58,0.00,0.000,516,0.000,0.030,2367,323,3380,3432,3329,0,0,0,0,0,0,24.76,24.51,24.78
$GC,970,-1.22,-116.8,2366,323,3432,3329,152.8,-13.9,135,976,0.00,2.47,0.00,0.000,1030,0.000,0.015,2367,1917,3380,3432,3329,0,0,0,0,0,0,24.60,24.56,24.61
$GC,1228,-1.22,-116.8,2367,1917,3433,3329,184.2,-11.8,160,1234,0.00,2.60,0.00,0.000,516,0.000,0.037,2367,327,3381,3433,3329,0,0,0,0,0,0,24.79,24.53,24.80
$GC,1252,-1.22,-116.8,2367,327,3433,3330,187.3,-11.2,162,1257,0.00,2.45,0.00,0.000,1030,0.000,0.015,2367,1908,3381,3433,3329,0,0,0,0,0,0,24.62,24.58,24.63
$GC,1535,-1.22,-116.8,2366,1908,3434,3330,217.8,-11.2,178,1540,0.00,2.47,0.00,0.000,260,0.000,0.027,2367,3461,3382,3434,3330,0,0,0,0,0,0,24.81,24.55,24.82
$GC,1659,-1.22,-116.8,2366,3461,3434,3330,233.4,-12.4,181,1664,0.00,2.42,0.00,0.000,1030,0.000,0.015,2367,1893,3382,3434,3330,0,0,0,0,0,0,24.65,24.60,24.65
$GC,1942,-1.22,-116.8,2366,1892,3433,3330,264.0,-10.5,188,1948,0.00,2.53,0.00,0.000,516,0.000,0.037,2367,331,3382,3434,3330,0,0,0,0,0,0,24.83,24.54,24.84
$GC,1980,-1.22,-116.8,2366,331,3434,3330,264.0,-10.5,188,1987,0.00,2.45,0.00,0.000,1030,0.000,0.018,2367,1897,3382,3434,3330,0,0,0,0,0,0,24.65,24.60,24.67
$GC,2226,-1.22,-116.8,2366,1897,3434,3330,293.7,-10.4,195,2231,0.00,2.53,0.00,0.000,260,0.000,0.029,2367,3472,3382,3435,3330,0,0,0,0,0,0,24.84,24.58,24.85
$GC,2343,-1.22,-116.8,2366,3472,3434,3330,303.3,-11.0,197,2351,0.00,2.45,0.00,0.000,1030,0.000,0.017,2367,1893,3382,3434,3330,0,0,0,0,0,0,24.68,24.63,24.68
$GC,2590,-1.22,-116.8,2366,1893,3434,3329,331.6,-9.6,204,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1893,3381,3434,3329,0,0,0,0,0,0,24.85,24.87,24.87
$GC,2829,-1.22,-116.8,2366,1893,3433,3327,353.8,-9.1,210,2835,0.00,2.58,0.00,0.000,516,0.000,0.047,2367,341,3380,3434,3327,0,0,0,0,0,0,24.86,24.57,24.87
$GC,2862,-1.22,-116.8,2366,341,3433,3328,353.8,-9.1,210,2868,0.00,2.47,0.00,0.000,1030,0.000,0.019,2367,1903,3380,3434,3327,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3116,-1.22,-116.8,2366,1903,3434,3324,383.0,-10.4,217,3122,0.00,2.62,0.00,0.000,516,0.000,0.042,2367,331,3379,3434,3324,0,0,0,0,0,0,24.87,24.57,24.88
$GC,3140,-1.22,-116.8,2366,331,3434,3324,383.0,-10.4,217,3146,0.00,2.50,0.00,0.000,1030,0.000,0.020,2367,1900,3379,3434,3324,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3403,-1.22,-116.8,2366,1900,3434,3320,414.1,-10.6,224,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1900,3376,3433,3320,0,0,0,0,0,0,24.86,24.88,24.87
$GC,3643,-1.22,-116.8,2366,1900,3433,3317,439.1,-10.4,230,3649,0.00,2.67,0.00,0.000,516,0.000,0.050,2367,342,3375,3434,3317,0,0,0,0,0,0,24.86,24.56,24.88
$GC,3667,-1.22,-116.8,2366,343,3433,3317,439.1,-10.4,230,3673,0.00,2.53,0.00,0.000,1030,0.000,0.024,2367,1900,3375,3433,3317,0,0,0,0,0,0,24.69,24.63,24.70
$GC,3931,-1.22,-116.8,2366,1900,3433,3313,464.9,-8.5,237,3937,0.00,2.67,0.00,0.000,516,0.000,0.050,2367,345,3373,3433,3313,0,0,0,0,0,0,24.86,24.56,24.88
$GC,3959,-1.22,-116.8,2366,345,3433,3313,464.9,-8.5,237,3964,0.00,2.53,0.00,0.000,1030,0.000,0.027,2367,1896,3373,3434,3313,0,0,0,0,0,0,24.68,24.61,24.70
$GC,4218,-1.22,-116.8,2366,1896,3433,3310,490.6,-9.2,244,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1896,3371,3433,3310,0,0,0,0,0,0,24.86,24.89,24.88
$STATE,4335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4335,begin apogee
$GC,4340,-0.26,0.0,2367,1896,3433,3308,501.8,-9.3,247,4442,1.38,0.00,97.88,0.856,10246,0.079,0.000,2678,1896,2899,2957,2841,0,0,0,0,0,0,24.56,23.79,23.15
$STATE,4443,end apogee,CONTROL_FINISHED_OK
$STATE,4443,begin climb
$GC,4446,1.22,116.8,2678,1896,2957,2841,504.2,0.0,249,4553,1.95,0.00,101.53,0.830,10502,0.041,0.000,3148,1896,2422,2484,2361,0,0,0,0,0,0,24.08,23.75,23.13
$GC,4780,1.23,118.7,3148,1896,2484,2348,479.1,9.9,258,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1896,2416,2484,2348,0,0,0,0,0,0,24.59,24.61,24.61
$GC,5017,1.23,118.7,3148,1896,2483,2345,454.2,10.5,264,5022,0.00,2.67,0.00,0.000,260,0.000,0.060,3148,3423,2413,2482,2345,0,0,0,0,0,0,24.66,24.34,24.68
$GC,5039,1.23,118.7,3148,3423,2481,2345,454.2,10.5,264,5045,0.00,2.55,0.00,0.000,1030,0.000,0.029,3148,1873,2413,2481,2345,0,0,0,0,0,0,24.48,24.40,24.49
$GC,5303,1.23,125.0,3148,1873,2481,2342,425.6,9.7,271,5312,0.00,0.00,6.93,0.663,8198,0.000,0.000,3148,1873,2389,2456,2323,0,0,0,0,0,0,24.71,24.12,23.51
$GC,5543,1.24,129.3,3148,1873,2455,2320,402.1,9.8,277,5557,0.00,2.70,5.22,0.600,8452,0.000,0.044,3148,3422,2371,2437,2306,0,0,0,0,0,0,24.70,24.22,23.55
$GC,5605,1.24,132.7,3148,3422,2436,2306,398.0,9.8,278,5615,0.00,2.60,4.78,0.567,9222,0.000,0.028,3149,1843,2358,2422,2294,0,0,0,0,0,0,24.47,24.39,23.51
$GC,5868,1.26,145.0,3148,1843,2422,2291,371.5,9.3,285,5887,0.00,2.80,12.30,0.722,8708,0.000,0.062,3149,262,2308,2370,2246,0,0,0,0,0,0,24.67,23.83,23.39
$GC,5899,1.27,157.3,3148,262,2370,2246,371.5,9.3,285,5919,0.00,2.62,12.65,0.715,9222,0.000,0.023,3149,1859,2257,2319,2195,0,0,0,0,0,0,24.35,24.29,23.30
$GC,6192,1.27,157.3,3148,1859,2319,2187,335.2,11.6,293,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1859,2253,2319,2187,0,0,0,0,0,0,24.64,24.66,24.65
$GC,6432,1.27,157.3,3148,1859,2319,2186,309.3,10.9,299,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1859,2252,2318,2186,0,0,0,0,0,0,24.71,24.74,24.73
$GC,6672,1.29,171.0,3148,1859,2318,2185,286.6,9.3,305,6687,0.05,0.00,12.43,0.673,10246,0.132,0.000,3170,1859,2202,2261,2143,0,0,0,0,0,0,24.54,24.03,23.46
$GC,6913,1.30,178.6,3169,1860,2261,2139,263.3,9.6,311,6927,0.00,2.67,8.07,0.614,8452,0.000,0.050,3170,3421,2171,2229,2113,0,0,0,0,0,0,24.70,24.15,23.54
$GC,7124,1.30,178.6,3169,3422,2227,2112,240.4,11.4,316,7130,0.00,2.58,0.00,0.000,1030,0.000,0.024,3170,1835,2169,2227,2112,0,0,0,0,0,0,24.51,24.44,24.52
$GC,7398,1.34,207.3,3169,1835,2227,2110,214.9,8.4,323,7427,0.00,0.00,26.77,0.650,8198,0.000,0.000,3170,1835,2054,2106,2002,0,0,0,0,0,0,24.72,23.90,23.39
$GC,7638,1.34,211.0,3169,1835,2100,2001,192.0,9.8,335,7649,0.00,2.67,4.62,0.464,8452,0.000,0.033,3170,3437,2038,2086,1990,0,0,0,0,0,0,24.64,24.05,23.66
$GC,7886,1.34,211.0,3169,3437,2085,1990,165.8,10.2,359,7892,0.00,2.58,0.00,0.000,1030,0.000,0.021,3170,1831,2037,2085,1990,0,0,0,0,0,0,24.52,24.46,24.53
$GC,8144,1.36,225.5,3169,1831,2085,1988,142.1,9.2,384,8170,0.05,2.65,14.15,0.559,10756,0.135,0.039,3188,275,1978,2025,1932,0,0,0,0,0,0,24.53,24.09,23.58
$GC,8217,1.36,225.5,3188,275,2025,1932,133.4,11.6,390,8223,0.00,2.55,0.00,0.000,1030,0.000,0.019,3189,1865,1978,2025,1931,0,0,0,0,0,0,24.46,24.41,24.47
$GC,8472,1.37,236.2,3188,1864,2025,1931,106.4,9.4,415,8489,0.00,2.60,10.98,0.512,8452,0.000,0.031,3188,3424,1935,1983,1888,0,0,0,0,0,0,24.71,24.15,23.67
$GC,8593,1.40,256.4,3188,3425,1982,1888,95.3,8.9,431,8622,0.00,2.53,20.10,0.527,9222,0.000,0.019,3189,1846,1852,1897,1808,0,0,0,0,0,0,24.50,24.44,23.54
$GC,8893,1.40,260.4,3188,1846,1897,1804,67.3,9.8,483,8903,0.00,2.62,4.65,0.380,8452,0.000,0.029,3189,3419,1838,1885,1791,0,0,0,0,0,0,24.68,24.29,23.81
$GC,8928,1.40,260.4,3188,3419,1884,1791,63.7,10.6,488,8935,0.00,2.50,0.00,0.000,1030,0.000,0.018,3189,1848,1837,1884,1791,0,0,0,0,0,0,24.47,24.42,24.49
$GC,9202,1.41,263.7,3188,1848,1885,1790,37.4,9.8,537,9217,0.00,2.60,4.97,0.375,8452,0.000,0.030,3189,3418,1823,1872,1775,0,0,0,0,0,0,24.72,24.32,23.87
$GC,9264,1.41,263.7,3188,3418,1872,1775,30.6,11.2,547,9272,0.00,2.50,0.00,0.000,1030,0.000,0.018,3188,1850,1823,1872,1775,0,0,0,0,0,0,24.52,24.46,24.53
$STATE,9534,end climb,SURFACE_DEPTH_REACHED
$STATE,9534,begin surface coast
$FINISH,0.1,1.022862
$STATE,9558,end surface coast,CONTROL_FINISHED_OK
$STATE,9559,begin surface
$SM_CCo,9580,63.35,0.461,0,0,1349,380.21
$SM_GC,0.95,11.52,0.00,63.35,0.041,0.000,0.461,431,1849,1349,-7.27,-1.41,380.21,0,0,0,0,0,0,24.46,24.77,23.57
$IRIDIUM_FIX,2234.68,-15802.37,140618,084940
$TT8_MAMPS,0.021721,0.283122
$HUMID,54.96
$INTERNAL_PRESSURE,9.2717
$TCM_TEMP,23.10
$XPDR_PINGS,87
$24V_AH,23.13,74.144
$10V_AH,9.80,55.256
$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,25.750,97.725,348.025,63.350,0.000,30.704,47.692,203.386,21.750,0.000,51.529,1838.892,5475.563,543.274,1997.127,250.633,0.000,1248.848,0.000,1674.148,0.000,0.539,0.000
$DEVICE_MAMPS,168.300,65.790,856.035,460.530,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,403.126,349.523,522.469,753.472,922.099,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342820
$DATA_FILE_SIZE,47321,599
$CAP_FILE_SIZE,101401,0
$CFSIZE,259248128,222003200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115,272.30,1
$GPS,140618,142744,2245.854,-15801.216,28,1.7,68,10.1,0.2,267.1,6,6.5