version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 640
start: 6 15 118 4 50 5
data:
$ID,148
$MISSION,15
$DIVE,640
$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,39
$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
$GPS1,150618,044234,2246.9167,-15758.5176,54,1.2,54,10.1,0.5,343.8,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-60.2
$GPS2,150618,044939,2247.0090,-15758.5537,10,2.0,32,10.1,0.0,315.2,8,5.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,126.4,7118,-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,-116.8,433,1894,1357,1328,0.0,0.0,0,90,0.00,0.00,-72.07,0.000,16390,0.000,0.000,434,1894,3377,3426,3328,0,0,0,0,0,0,24.58,23.56,24.60
$GC,94,-1.22,-116.8,433,1894,3426,3329,3.8,-9.0,10,110,10.85,2.60,0.00,0.000,2564,0.173,0.026,2367,312,3379,3428,3330,0,0,0,0,0,0,24.13,24.30,24.29
$GC,168,-1.22,-116.8,2366,312,3429,3330,26.6,-19.8,22,175,0.00,2.55,0.00,0.000,1030,0.000,0.015,2367,1931,3379,3429,3330,0,0,0,0,0,0,24.46,24.41,24.47
$GC,441,-1.22,-116.8,2366,1932,3430,3330,79.3,-18.1,71,449,0.00,2.50,0.00,0.000,260,0.000,0.026,2367,3487,3380,3431,3330,0,0,0,0,0,0,24.70,24.44,24.71
$GC,457,-1.22,-116.8,2367,3487,3431,3330,82.3,-17.6,73,465,0.00,2.53,0.00,0.000,1030,0.000,0.017,2367,1882,3380,3431,3330,0,0,0,0,0,0,24.52,24.48,24.53
$GC,722,-1.22,-116.8,2366,1882,3431,3330,127.8,-16.8,107,727,0.00,2.53,0.00,0.000,516,0.000,0.031,2367,323,3380,3431,3330,0,0,0,0,0,0,24.74,24.48,24.75
$GC,740,-1.22,-116.8,2366,323,3432,3330,130.0,-16.3,108,747,0.00,2.47,0.00,0.000,1030,0.000,0.015,2367,1917,3380,3431,3330,0,0,0,0,0,0,24.57,24.53,24.58
$GC,989,-1.22,-116.8,2366,1917,3432,3330,166.5,-12.6,133,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1918,3381,3432,3330,0,0,0,0,0,0,24.77,24.79,24.78
$GC,1236,-1.22,-116.8,2367,1917,3433,3330,196.3,-11.9,158,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1917,3381,3433,3330,0,0,0,0,0,0,24.79,24.81,24.80
$GC,1475,-1.22,-116.8,2366,1917,3434,3330,223.1,-11.2,167,1481,0.00,2.60,0.00,0.000,516,0.000,0.031,2367,326,3382,3434,3330,0,0,0,0,0,0,24.81,24.54,24.82
$GC,1498,-1.22,-116.8,2366,326,3434,3331,223.1,-11.2,167,1504,0.00,2.45,0.00,0.000,1030,0.000,0.015,2367,1911,3382,3434,3331,0,0,0,0,0,0,24.64,24.59,24.65
$GC,1763,-1.22,-116.8,2367,1910,3435,3331,256.7,-11.5,174,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1910,3383,3435,3331,0,0,0,0,0,0,24.82,24.84,24.84
$GC,2002,-1.22,-116.8,2367,1911,3434,3331,284.3,-11.4,180,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1910,3383,3435,3331,0,0,0,0,0,0,24.83,24.86,24.85
$GC,2242,-1.22,-116.8,2366,1910,3434,3331,310.5,-10.5,186,2248,0.00,2.62,0.00,0.000,516,0.000,0.035,2367,338,3382,3434,3331,0,0,0,0,0,0,24.84,24.57,24.86
$GC,2261,-1.22,-116.8,2367,338,3434,3331,310.5,-10.5,186,2266,0.00,2.42,0.00,0.000,1030,0.000,0.018,2367,1887,3383,3435,3331,0,0,0,0,0,0,24.67,24.63,24.68
$GC,2529,-1.22,-116.8,2366,1887,3434,3330,335.6,-8.5,193,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1887,3382,3434,3330,0,0,0,0,0,0,24.85,24.87,24.87
$GC,2769,-1.22,-116.8,2367,1887,3434,3328,357.0,-9.0,199,2774,0.00,2.60,0.00,0.000,260,0.000,0.036,2367,3469,3381,3434,3328,0,0,0,0,0,0,24.86,24.58,24.88
$GC,2792,-1.22,-116.8,2367,3469,3434,3328,357.0,-9.0,199,2797,0.00,2.45,0.00,0.000,1030,0.000,0.018,2367,1905,3381,3434,3328,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3056,-1.22,-116.8,2366,1905,3434,3325,386.6,-10.5,206,3062,0.00,2.65,0.00,0.000,516,0.000,0.046,2367,333,3379,3434,3325,0,0,0,0,0,0,24.87,24.56,24.88
$GC,3086,-1.22,-116.8,2367,333,3434,3325,386.6,-10.5,206,3091,0.00,2.50,0.00,0.000,1030,0.000,0.021,2367,1896,3379,3434,3325,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3344,-1.22,-116.8,2367,1896,3434,3321,416.6,-10.0,213,3350,0.00,2.62,0.00,0.000,260,0.000,0.042,2367,3469,3377,3434,3321,0,0,0,0,0,0,24.85,24.57,24.87
$GC,3367,-1.22,-116.8,2366,3469,3434,3321,416.6,-10.0,213,3373,0.00,2.50,0.00,0.000,1030,0.000,0.023,2366,1899,3377,3434,3321,0,0,0,0,0,0,24.69,24.63,24.70
$GC,3630,-1.22,-116.8,2366,1899,3434,3317,448.3,-11.3,220,3636,0.00,2.65,0.00,0.000,516,0.000,0.050,2367,328,3375,3434,3317,0,0,0,0,0,0,24.86,24.56,24.87
$GC,3653,-1.22,-116.8,2366,328,3434,3317,448.3,-11.3,220,3660,0.00,2.58,0.00,0.000,1030,0.000,0.026,2367,1903,3375,3434,3317,0,0,0,0,0,0,24.68,24.62,24.70
$GC,3918,-1.22,-116.8,2367,1903,3434,3313,480.1,-10.6,227,3924,0.00,2.65,0.00,0.000,260,0.000,0.047,2367,3476,3373,3434,3313,0,0,0,0,0,0,24.86,24.56,24.87
$GC,3940,-1.22,-116.8,2367,3477,3434,3313,480.1,-10.6,227,3946,0.00,2.53,0.00,0.000,1030,0.000,0.026,2367,1904,3373,3434,3312,0,0,0,0,0,0,24.69,24.62,24.70
$STATE,4121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4121,begin apogee
$GC,4128,-0.26,0.0,2367,1826,3434,3311,502.0,-10.6,232,4230,1.40,0.00,97.85,0.846,10246,0.090,0.000,2677,1826,2900,2958,2842,0,0,0,0,0,0,24.53,23.79,23.15
$STATE,4231,end apogee,CONTROL_FINISHED_OK
$STATE,4231,begin climb
$GC,4234,1.22,116.8,2677,1826,2958,2841,504.8,0.0,234,4348,1.98,2.72,101.28,0.821,10756,0.047,0.060,3149,292,2422,2485,2359,0,0,0,0,0,0,24.06,23.79,23.15
$GC,4365,1.22,116.8,3149,292,2484,2357,501.9,4.2,237,4371,0.00,2.60,0.00,0.000,1030,0.000,0.030,3149,1839,2420,2484,2356,0,0,0,0,0,0,24.24,24.16,24.26
$GC,4624,1.22,116.8,3149,1839,2484,2347,471.0,11.1,244,4630,0.00,2.80,0.00,0.000,260,0.000,0.064,3149,3439,2415,2484,2347,0,0,0,0,0,0,24.62,24.30,24.64
$GC,4781,1.22,116.8,3149,3440,2481,2345,456.4,11.5,247,4788,0.00,2.58,0.00,0.000,1030,0.000,0.028,3149,1870,2413,2481,2345,0,0,0,0,0,0,24.48,24.40,24.49
$GC,5028,1.22,116.8,3149,1870,2481,2343,427.1,10.2,254,5034,0.00,2.80,0.00,0.000,516,0.000,0.062,3149,271,2411,2481,2342,0,0,0,0,0,0,24.70,24.39,24.72
$GC,5056,1.22,116.8,3149,270,2480,2343,427.1,10.2,254,5062,0.00,2.60,0.00,0.000,1030,0.000,0.025,3149,1856,2412,2481,2343,0,0,0,0,0,0,24.51,24.45,24.53
$GC,5314,1.22,116.8,3149,1856,2480,2342,397.7,10.2,261,5320,0.00,2.72,0.00,0.000,260,0.000,0.060,3149,3428,2411,2480,2342,0,0,0,0,0,0,24.73,24.41,24.75
$GC,5432,1.22,116.8,3149,3429,2477,2342,389.3,10.1,263,5439,0.00,2.58,0.00,0.000,1030,0.000,0.027,3150,1850,2409,2477,2342,0,0,0,0,0,0,24.55,24.48,24.57
$GC,5678,1.26,145.1,3149,1850,2477,2340,365.2,8.4,270,5711,0.00,2.78,23.75,0.754,8452,0.000,0.042,3149,3422,2307,2369,2245,0,0,0,0,0,0,24.76,23.91,23.29
$GC,5748,1.29,172.5,3149,3422,2367,2244,361.8,8.5,271,5782,0.05,2.60,25.15,0.741,11270,0.140,0.028,3165,1842,2195,2251,2139,0,0,0,0,0,0,24.27,24.32,23.25
$GC,6041,1.29,172.5,3164,1842,2251,2131,325.2,11.7,279,6046,0.00,2.70,0.00,0.000,260,0.000,0.043,3165,3428,2191,2251,2131,0,0,0,0,0,0,24.63,24.33,24.65
$GC,6074,1.29,172.5,3164,3428,2249,2131,325.2,11.7,279,6079,0.00,2.60,0.00,0.000,1030,0.000,0.027,3165,1841,2190,2249,2131,0,0,0,0,0,0,24.46,24.39,24.48
$GC,6327,1.29,172.5,3164,1841,2249,2129,289.1,12.6,286,6332,0.00,2.70,0.00,0.000,260,0.000,0.043,3165,3432,2189,2250,2129,0,0,0,0,0,0,24.70,24.39,24.72
$GC,6371,1.29,172.5,3165,3431,2248,2129,283.5,12.8,287,6377,0.00,2.60,0.00,0.000,1030,0.000,0.027,3165,1841,2188,2248,2129,0,0,0,0,0,0,24.52,24.45,24.54
$GC,6655,1.29,172.5,3165,1841,2248,2127,250.2,11.4,294,6660,0.00,2.70,0.00,0.000,516,0.000,0.053,3165,266,2188,2249,2127,0,0,0,0,0,0,24.72,24.43,24.75
$GC,6707,1.29,172.5,3165,266,2247,2127,245.0,11.4,295,6713,0.00,2.60,0.00,0.000,1030,0.000,0.021,3165,1864,2187,2247,2127,0,0,0,0,0,0,24.56,24.51,24.58
$GC,6982,1.31,190.3,3164,1864,2247,2126,218.1,9.0,302,7005,0.00,2.65,15.55,0.635,8452,0.000,0.048,3165,3419,2123,2179,2067,0,0,0,0,0,0,24.75,24.05,23.49
$GC,7146,1.31,190.3,3165,3420,2178,2066,201.7,10.2,306,7152,0.00,2.55,0.00,0.000,1030,0.000,0.023,3165,1839,2121,2177,2065,0,0,0,0,0,0,24.49,24.44,24.51
$GC,7400,1.34,214.8,3165,1838,2178,2063,179.5,8.6,328,7432,0.08,2.70,22.23,0.610,10500,0.107,0.033,3196,3429,2023,2070,1976,0,0,0,0,0,0,24.48,23.97,23.44
$GC,7455,1.34,214.8,3195,3429,2069,1976,173.4,10.3,333,7461,0.00,2.58,0.00,0.000,1030,0.000,0.029,3196,1844,2022,2069,1976,0,0,0,0,0,0,24.34,24.25,24.37
$GC,7713,1.34,214.8,3195,1844,2069,1972,143.6,11.6,358,7719,0.00,2.62,0.00,0.000,260,0.000,0.032,3196,3438,2020,2069,1972,0,0,0,0,0,0,24.68,24.42,24.70
$GC,7767,1.34,214.8,3195,3438,2069,1972,137.1,11.9,362,7773,0.00,2.55,0.00,0.000,1030,0.000,0.020,3196,1843,2020,2069,1972,0,0,0,0,0,0,24.52,24.46,24.53
$GC,8022,1.36,228.0,3195,1844,2069,1971,111.3,9.3,387,8044,0.00,2.65,12.70,0.529,8452,0.000,0.031,3196,3425,1969,2018,1921,0,0,0,0,0,0,24.73,24.13,23.64
$GC,8132,1.37,233.8,3195,3424,2018,1921,100.8,9.7,397,8145,0.00,2.53,6.93,0.465,9222,0.000,0.018,3196,1837,1945,1996,1895,0,0,0,0,0,0,24.49,24.44,23.71
$GC,8414,1.37,233.8,3196,1837,1996,1892,73.2,10.1,446,8421,0.00,2.62,0.00,0.000,260,0.000,0.031,3196,3431,1944,1996,1892,0,0,0,0,0,0,24.71,24.44,24.72
$GC,8469,1.37,233.8,3195,3431,1996,1892,67.6,10.4,455,8477,0.00,2.53,0.00,0.000,1030,0.000,0.018,3196,1843,1944,1996,1892,0,0,0,0,0,0,24.55,24.49,24.56
$GC,8747,1.40,263.2,3196,1844,1996,1892,42.1,8.3,504,8783,0.00,2.62,27.48,0.488,8452,0.000,0.029,3196,3432,1826,1870,1783,0,0,0,0,0,0,24.75,23.89,23.61
$GC,8837,1.43,287.3,3195,3433,1870,1783,34.2,8.7,518,8868,0.05,2.53,23.15,0.474,11270,0.133,0.018,3214,1849,1727,1772,1682,0,0,0,0,0,0,24.32,24.39,23.58
$STATE,9103,end climb,SURFACE_DEPTH_REACHED
$STATE,9103,begin surface coast
$FINISH,0.1,1.022935
$STATE,9126,end surface coast,CONTROL_FINISHED_OK
$STATE,9127,begin surface
$SM_CCo,9149,52.70,0.454,0,0,1349,380.21
$SM_GC,0.77,11.55,0.08,52.70,0.034,0.090,0.454,422,1960,1349,-7.30,-1.05,380.21,0,0,0,0,0,0,24.39,24.50,23.57
$IRIDIUM_FIX,2234.68,-15754.99,150618,015710
$TT8_MAMPS,0.021721,0.349034
$HUMID,55.47
$INTERNAL_PRESSURE,9.2717
$TCM_TEMP,23.00
$XPDR_PINGS,98
$24V_AH,23.15,74.739
$10V_AH,9.73,55.784
$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,25.950,124.950,356.050,52.700,0.000,26.292,42.190,202.249,24.500,0.000,35.902,1772.039,5132.990,533.352,1944.463,249.662,0.000,1269.155,0.000,1641.808,0.000,0.539,0.000
$DEVICE_MAMPS,172.890,99.450,846.090,454.410,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,381.154,329.499,494.454,708.050,871.666,0.000,0.000,0.000,0.000,0.000
$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,47347,568
$CAP_FILE_SIZE,102582,0
$CFSIZE,259248128,221655040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.187,350.17,1
$GPS,150618,072452,2247.243,-15757.802,26,1.2,44,10.1,0.6,292.0,9,4.7