version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 642
start: 6 15 118 10 18 47
data:
$ID,148
$MISSION,15
$DIVE,642
$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,45
$R_STBD_OVSHOOT,42
$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
$GPS1,150618,101133,2246.7295,-15757.6318,35,1.0,35,10.1,0.4,349.8,8,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-61.3
$GPS2,150618,101821,2246.7346,-15757.6836,9,1.2,31,10.1,0.2,204.3,8,4.6
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,120.9,5597,-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,-116.8,429,1796,1355,1331,0.0,0.0,0,89,0.00,0.00,-69.85,0.000,16386,0.000,0.000,429,1796,3287,3335,3240,0,0,0,0,0,0,24.58,28.83,24.60
$GC,93,-1.22,-116.8,429,1796,3335,3241,3.3,-7.1,10,115,10.77,2.42,-1.62,0.000,18948,0.168,0.040,2369,314,3380,3436,3325,0,0,0,0,0,0,24.14,23.46,24.30
$GC,129,-1.22,-116.8,2369,314,3436,3325,17.5,-33.5,15,136,0.00,2.53,0.00,0.000,1030,0.000,0.015,2369,1922,3380,3436,3325,0,0,0,0,0,0,24.43,24.39,24.44
$GC,406,-1.22,-116.8,2369,1925,3435,3327,66.8,-15.1,64,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1925,3381,3436,3327,0,0,0,0,0,0,24.69,24.71,24.70
$GC,678,-1.22,-116.8,2368,1925,3436,3327,106.4,-14.4,109,685,0.00,2.62,0.00,0.000,516,0.000,0.037,2369,319,3381,3435,3328,0,0,0,0,0,0,24.73,24.47,24.75
$GC,704,-1.22,-116.8,2368,319,3435,3328,110.4,-15.0,111,711,0.00,2.45,0.00,0.000,1030,0.000,0.014,2369,1905,3382,3436,3328,0,0,0,0,0,0,24.57,24.53,24.58
$GC,960,-1.22,-116.8,2368,1906,3436,3329,146.7,-13.5,136,965,0.00,2.47,0.00,0.000,260,0.000,0.025,2369,3463,3382,3436,3329,0,0,0,0,0,0,24.77,24.51,24.78
$GC,973,-1.22,-116.8,2368,3463,3436,3329,148.7,-13.8,137,979,0.00,2.45,0.00,0.000,1030,0.000,0.016,2369,1884,3382,3436,3329,0,0,0,0,0,0,24.59,24.55,24.60
$GC,1229,-1.22,-116.8,2368,1884,3436,3330,183.8,-13.4,162,1234,0.00,2.53,0.00,0.000,516,0.000,0.031,2369,327,3383,3436,3330,0,0,0,0,0,0,24.79,24.53,24.80
$GC,1296,-1.22,-116.8,2368,327,3436,3331,192.2,-12.7,168,1303,0.00,2.47,0.00,0.000,1030,0.000,0.015,2369,1922,3383,3436,3331,0,0,0,0,0,0,24.63,24.58,24.63
$GC,1573,-1.22,-116.8,2368,1923,3437,3331,221.2,-10.1,181,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1923,3384,3437,3331,0,0,0,0,0,0,24.81,24.83,24.82
$GC,1812,-1.22,-116.8,2368,1923,3437,3331,249.7,-12.0,187,1818,0.00,2.45,0.00,0.000,260,0.000,0.028,2369,3458,3383,3436,3331,0,0,0,0,0,0,24.82,24.56,24.84
$GC,1839,-1.22,-116.8,2368,3458,3437,3332,249.7,-12.0,187,1845,0.00,2.42,0.00,0.000,1030,0.000,0.016,2369,1889,3384,3437,3332,0,0,0,0,0,0,24.65,24.61,24.67
$GC,2098,-1.22,-116.8,2368,1889,3437,3332,281.9,-11.3,194,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1890,3384,3437,3332,0,0,0,0,0,0,24.84,24.86,24.85
$GC,2341,-1.22,-116.8,2368,1890,3436,3331,308.3,-10.7,200,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1890,3384,3437,3331,0,0,0,0,0,0,24.84,24.87,24.87
$GC,2578,-1.22,-116.8,2368,1890,3436,3330,333.1,-10.3,206,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1890,3383,3437,3330,0,0,0,0,0,0,24.85,24.88,24.87
$GC,2818,-1.22,-116.8,2368,1890,3436,3328,356.2,-9.4,212,2823,0.00,2.58,0.00,0.000,516,0.000,0.041,2369,347,3382,3437,3328,0,0,0,0,0,0,24.85,24.57,24.87
$GC,2886,-1.22,-116.8,2369,347,3436,3327,360.5,-9.6,213,2892,0.00,2.45,0.00,0.000,1030,0.000,0.020,2369,1886,3381,3436,3327,0,0,0,0,0,0,24.69,24.63,24.70
$GC,3144,-1.22,-116.8,2369,1887,3436,3324,389.4,-10.1,220,3150,0.00,2.62,0.00,0.000,516,0.000,0.050,2369,341,3380,3437,3324,0,0,0,0,0,0,24.85,24.56,24.87
$GC,3188,-1.22,-116.8,2368,341,3436,3324,394.0,-10.1,221,3195,0.00,2.53,0.00,0.000,1030,0.000,0.021,2369,1912,3380,3437,3324,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3473,-1.22,-116.8,2369,1912,3436,3319,420.1,-9.0,228,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1912,3377,3436,3319,0,0,0,0,0,0,24.86,24.88,24.87
$GC,3713,-1.22,-116.8,2369,1912,3436,3317,441.7,-9.0,234,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1912,3376,3436,3317,0,0,0,0,0,0,24.86,24.88,24.88
$GC,3953,-1.22,-116.8,2368,1912,3436,3313,464.5,-9.4,240,3958,0.00,2.70,0.00,0.000,516,0.000,0.050,2369,344,3374,3436,3313,0,0,0,0,0,0,24.86,24.56,24.88
$GC,3976,-1.22,-116.8,2368,344,3437,3313,464.5,-9.4,240,3982,0.00,2.55,0.00,0.000,1030,0.000,0.027,2369,1900,3374,3436,3312,0,0,0,0,0,0,24.69,24.62,24.70
$GC,4240,-1.22,-116.8,2369,1901,3436,3310,493.2,-10.0,247,4246,0.00,2.67,0.00,0.000,516,0.000,0.052,2369,352,3373,3436,3310,0,0,0,0,0,0,24.87,24.56,24.89
$GC,4283,-1.22,-116.8,2369,352,3436,3309,497.8,-10.1,248,4290,0.00,2.55,0.00,0.000,1030,0.000,0.036,2369,1902,3372,3436,3309,0,0,0,0,0,0,24.64,24.44,24.67
$STATE,4325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4325,begin apogee
$GC,4331,-0.26,0.0,2369,1902,3436,3308,502.2,-10.1,249,4433,1.38,0.00,97.43,0.872,10246,0.080,0.000,2678,1902,2899,2958,2841,0,0,0,0,0,0,24.53,23.77,23.09
$STATE,4434,end apogee,CONTROL_FINISHED_OK
$STATE,4434,begin climb
$GC,4436,1.22,116.8,2677,1902,2958,2840,504.3,0.0,251,4547,1.98,2.72,100.45,0.854,10500,0.042,0.063,3149,3430,2422,2484,2360,0,0,0,0,0,0,24.05,23.77,23.11
$GC,4582,1.22,116.8,3148,3430,2483,2356,497.5,5.6,255,4587,0.00,2.58,0.00,0.000,1030,0.000,0.030,3149,1877,2419,2482,2356,0,0,0,0,0,0,24.28,24.21,24.30
$GC,4855,1.22,116.8,3148,1878,2482,2347,468.3,10.1,262,4860,0.00,2.85,0.00,0.000,516,0.000,0.067,3149,272,2414,2482,2347,0,0,0,0,0,0,24.61,24.29,24.63
$GC,4898,1.22,116.8,3148,272,2482,2347,463.5,10.3,263,4903,0.00,2.62,0.00,0.000,1030,0.000,0.027,3149,1849,2414,2482,2347,0,0,0,0,0,0,24.44,24.37,24.46
$GC,5183,1.24,132.6,3148,1849,2481,2343,436.3,9.1,270,5205,0.00,2.85,13.77,0.752,8452,0.000,0.063,3149,3430,2357,2421,2294,0,0,0,0,0,0,24.68,23.97,23.32
$GC,5305,1.25,134.9,3148,3430,2420,2292,423.9,9.9,273,5311,0.00,2.62,0.00,0.000,1030,0.000,0.028,3149,1838,2356,2420,2292,0,0,0,0,0,0,24.44,24.37,24.46
$GC,5589,1.27,156.2,3148,1839,2420,2289,397.7,8.8,280,5618,0.00,2.78,21.83,0.770,8452,0.000,0.043,3149,3435,2261,2322,2200,0,0,0,0,0,0,24.69,23.70,23.26
$GC,5681,1.28,163.9,3148,3436,2320,2198,389.0,9.6,282,5694,0.00,2.62,8.05,0.672,9222,0.000,0.034,3149,1842,2230,2288,2173,0,0,0,0,0,0,24.40,24.32,23.37
$GC,5953,1.28,163.9,3148,1842,2288,2169,358.6,10.9,289,5959,0.05,2.75,0.00,0.000,2564,0.135,0.057,3167,262,2228,2288,2169,0,0,0,0,0,0,24.46,24.35,24.49
$GC,5991,1.28,163.9,3167,262,2286,2169,358.6,10.9,289,5999,0.00,2.62,0.00,0.000,1030,0.000,0.023,3168,1873,2227,2286,2169,0,0,0,0,0,0,24.49,24.42,24.51
$GC,6237,1.28,163.9,3167,1873,2286,2167,323.9,12.2,296,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1873,2227,2286,2168,0,0,0,0,0,0,24.67,24.69,24.68
$GC,6477,1.28,163.9,3167,1873,2286,2166,295.1,11.7,302,6483,0.00,2.65,0.00,0.000,260,0.000,0.054,3167,3422,2226,2286,2166,0,0,0,0,0,0,24.70,24.41,24.71
$GC,6582,1.28,163.9,3167,3422,2284,2166,285.5,11.5,304,6588,0.00,2.58,0.00,0.000,1030,0.000,0.026,3167,1840,2225,2284,2166,0,0,0,0,0,0,24.56,24.49,24.57
$GC,6846,1.29,168.4,3167,1840,2284,2166,256.8,9.8,311,6857,0.00,2.70,4.62,0.514,8708,0.000,0.054,3167,269,2211,2269,2154,0,0,0,0,0,0,24.76,24.12,23.69
$GC,6875,1.29,173.0,3167,269,2269,2153,256.8,9.8,311,6891,0.00,2.58,5.75,0.562,9222,0.000,0.021,3167,1861,2193,2251,2135,0,0,0,0,0,0,24.51,24.46,23.58
$GC,7130,1.29,173.0,3167,1861,2251,2134,226.9,10.7,318,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1861,2193,2252,2134,0,0,0,0,0,0,24.72,24.75,24.74
$GC,7371,1.30,175.2,3167,1861,2251,2133,202.8,9.9,324,7376,0.00,2.62,0.00,0.000,260,0.000,0.044,3167,3425,2192,2251,2133,0,0,0,0,0,0,24.75,24.46,24.77
$GC,7718,1.34,207.0,3166,3425,2250,2133,174.2,8.2,354,7758,0.00,2.58,31.08,0.620,9222,0.000,0.021,3167,1840,2053,2106,2001,0,0,0,0,0,0,24.57,24.54,23.41
$GC,7997,1.35,218.4,3167,1840,2101,2000,147.6,9.4,382,8017,0.05,0.00,10.98,0.549,10246,0.132,0.000,3188,1840,2008,2055,1961,0,0,0,0,0,0,24.47,24.06,23.57
$GC,8257,1.36,226.2,3187,1840,2054,1959,120.9,9.6,408,8271,0.00,2.67,8.30,0.504,8452,0.000,0.031,3188,3427,1976,2023,1929,0,0,0,0,0,0,24.68,24.18,23.67
$GC,8413,1.36,226.2,3187,3428,2023,1929,105.0,10.2,422,8421,0.00,2.55,0.00,0.000,1030,0.000,0.020,3188,1832,1975,2023,1928,0,0,0,0,0,0,24.51,24.45,24.52
$GC,8678,1.38,246.1,3187,1833,2023,1928,80.5,8.9,466,8707,0.00,2.67,19.12,0.516,8452,0.000,0.031,3188,3428,1895,1939,1852,0,0,0,0,0,0,24.72,24.06,23.58
$GC,8776,1.38,246.1,3187,3429,1939,1852,70.5,10.4,482,8785,0.00,2.55,0.00,0.000,1030,0.000,0.019,3188,1838,1895,1939,1852,0,0,0,0,0,0,24.46,24.41,24.47
$GC,9055,1.41,270.3,3187,1838,1939,1850,46.0,8.6,531,9084,0.05,0.00,23.27,0.487,10246,0.132,0.000,3208,1838,1796,1837,1756,0,0,0,0,0,0,24.51,24.01,23.59
$GC,9353,1.41,270.3,3207,1838,1837,1752,15.2,10.9,583,9360,0.00,2.62,0.00,0.000,260,0.000,0.031,3208,3434,1794,1837,1752,0,0,0,0,0,0,24.69,24.42,24.70
$STATE,9459,end climb,SURFACE_DEPTH_REACHED
$STATE,9459,begin surface coast
$FINISH,0.1,1.010960
$STATE,9491,end surface coast,CONTROL_FINISHED_OK
$STATE,9491,begin surface
$SM_CCo,9515,59.47,0.459,0,0,1349,380.21
$SM_GC,0.96,11.73,2.47,59.47,0.045,0.018,0.459,432,1894,1349,-7.27,1.22,380.21,0,0,0,0,0,0,24.41,24.49,23.56
$IRIDIUM_FIX,2237.01,-15759.32,150618,072639
$TT8_MAMPS,0.021721,0.346038
$HUMID,55.71
$INTERNAL_PRESSURE,9.2717
$TCM_TEMP,23.10
$XPDR_PINGS,119
$24V_AH,23.09,74.936
$10V_AH,9.67,55.958
$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,26.000,103.900,344.650,59.475,0.000,29.607,44.191,180.298,29.750,0.000,33.991,1876.532,5320.125,527.493,2023.564,240.751,0.000,1273.370,0.000,1734.350,0.000,0.540,0.000
$DEVICE_MAMPS,168.300,67.320,872.100,459.000,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,408.206,355.589,526.317,769.982,947.766,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342844
$DATA_FILE_SIZE,50691,607
$CAP_FILE_SIZE,101665,0
$CFSIZE,259248128,221540352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,263.24,1
$GPS,150618,130002,2246.138,-15757.181,31,1.1,59,10.1,0.4,294.6,8,5.7