version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 643
start: 6 15 118 13 7 52
data:
$ID,148
$MISSION,15
$DIVE,643
$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,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
$GPS1,150618,130002,2246.1384,-15757.1807,31,1.1,59,10.1,0.4,294.6,8,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-62.5
$GPS2,150618,130726,2246.1418,-15757.2598,10,1.1,43,10.1,0.4,245.4,8,5.5
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,96.1,4401,-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,-116.8,431,1888,1358,1328,0.0,0.0,0,90,0.00,0.00,-71.38,0.000,16386,0.000,0.000,432,1889,3328,3376,3280,0,0,0,0,0,0,24.59,28.83,24.61
$GC,94,-1.22,-116.8,431,1888,3376,3281,3.4,-7.7,10,109,10.88,0.00,-0.90,0.000,18950,0.174,0.000,2367,1889,3379,3433,3325,0,0,0,0,0,0,24.13,23.51,24.30
$GC,376,-1.22,-116.8,2366,1889,3436,3326,65.4,-18.3,60,383,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1889,3380,3435,3326,0,0,0,0,0,0,24.68,24.70,24.70
$GC,646,-1.22,-116.8,2366,1889,3435,3327,109.3,-14.9,103,651,0.00,2.55,0.00,0.000,516,0.000,0.031,2367,323,3381,3435,3327,0,0,0,0,0,0,24.73,24.46,24.75
$GC,673,-1.22,-116.8,2366,323,3435,3327,113.2,-15.2,105,679,0.00,2.47,0.00,0.000,1030,0.000,0.015,2367,1923,3381,3435,3327,0,0,0,0,0,0,24.56,24.52,24.57
$GC,921,-1.22,-116.8,2366,1924,3435,3328,148.2,-12.7,130,928,0.00,2.45,0.00,0.000,260,0.000,0.026,2367,3462,3382,3436,3328,0,0,0,0,0,0,24.76,24.51,24.77
$GC,966,-1.22,-116.8,2366,3462,3436,3328,154.8,-14.1,134,972,0.00,2.45,0.00,0.000,1030,0.000,0.015,2367,1878,3382,3436,3328,0,0,0,0,0,0,24.59,24.55,24.60
$GC,1221,-1.22,-116.8,2366,1878,3436,3328,185.2,-11.1,159,1227,0.00,2.47,0.00,0.000,516,0.000,0.030,2367,337,3382,3436,3328,0,0,0,0,0,0,24.79,24.52,24.80
$GC,1255,-1.22,-116.8,2366,337,3436,3328,189.0,-11.0,162,1261,0.00,2.42,0.00,0.000,1030,0.000,0.015,2367,1906,3382,3436,3328,0,0,0,0,0,0,24.62,24.58,24.63
$GC,1529,-1.22,-116.8,2366,1905,3438,3329,215.2,-9.3,177,1535,0.00,2.47,0.00,0.000,260,0.000,0.028,2367,3460,3382,3436,3329,0,0,0,0,0,0,24.81,24.54,24.82
$GC,1628,-1.22,-116.8,2366,3460,3437,3330,224.6,-10.3,179,1633,0.00,2.40,0.00,0.000,1030,0.000,0.016,2367,1902,3383,3437,3329,0,0,0,0,0,0,24.65,24.60,24.65
$GC,1896,-1.22,-116.8,2366,1901,3437,3329,252.2,-9.9,186,1901,0.00,2.55,0.00,0.000,516,0.000,0.032,2367,328,3383,3437,3329,0,0,0,0,0,0,24.82,24.56,24.84
$GC,1940,-1.22,-116.8,2366,328,3437,3329,256.9,-10.1,187,1945,0.00,2.45,0.00,0.000,1030,0.000,0.017,2367,1895,3383,3437,3329,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2223,-1.22,-116.8,2367,1895,3437,3329,284.1,-9.5,194,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1895,3383,3437,3329,0,0,0,0,0,0,24.84,24.86,24.85
$GC,2463,-1.22,-116.8,2366,1895,3437,3328,308.0,-10.3,200,2468,0.00,2.58,0.00,0.000,516,0.000,0.035,2367,339,3382,3437,3328,0,0,0,0,0,0,24.84,24.57,24.87
$GC,2490,-1.22,-116.8,2367,339,3437,3328,308.0,-10.3,200,2496,0.00,2.47,0.00,0.000,1030,0.000,0.019,2367,1902,3382,3437,3328,0,0,0,0,0,0,24.68,24.63,24.68
$GC,2749,-1.22,-116.8,2366,1901,3437,3326,340.5,-11.3,207,2755,0.00,2.55,0.00,0.000,260,0.000,0.035,2367,3465,3381,3437,3326,0,0,0,0,0,0,24.85,24.58,24.87
$GC,2767,-1.22,-116.8,2366,3464,3437,3326,340.5,-11.3,207,2772,0.00,2.45,0.00,0.000,1030,0.000,0.018,2367,1897,3381,3437,3326,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3035,-1.22,-116.8,2366,1897,3437,3323,370.7,-10.1,214,3040,0.00,2.60,0.00,0.000,516,0.000,0.043,2367,338,3380,3437,3323,0,0,0,0,0,0,24.86,24.57,24.88
$GC,3079,-1.22,-116.8,2366,338,3437,3323,375.2,-10.2,215,3084,0.00,2.50,0.00,0.000,1030,0.000,0.021,2367,1901,3380,3437,3323,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3362,-1.22,-116.8,2367,1900,3437,3318,404.9,-10.4,222,3368,0.00,2.62,0.00,0.000,516,0.000,0.045,2367,341,3378,3437,3319,0,0,0,0,0,0,24.85,24.56,24.87
$GC,3446,-1.22,-116.8,2367,341,3437,3318,413.8,-10.4,224,3452,0.00,2.53,0.00,0.000,1030,0.000,0.023,2367,1904,3377,3437,3318,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3731,-1.22,-116.8,2366,1905,3437,3314,441.0,-9.5,231,3736,0.00,2.70,0.00,0.000,516,0.000,0.052,2367,335,3375,3437,3314,0,0,0,0,0,0,24.87,23.83,24.89
$GC,3754,-1.22,-116.8,2366,335,3437,3314,441.0,-9.5,231,3759,0.00,2.55,0.00,0.000,1030,0.000,0.026,2367,1909,3375,3437,3314,0,0,0,0,0,0,24.68,24.62,24.70
$GC,4018,-1.22,-116.8,2366,1908,3437,3311,468.6,-9.4,238,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1908,3373,3436,3311,0,0,0,0,0,0,24.86,24.89,24.88
$GC,4257,-1.22,-116.8,2366,1909,3436,3308,490.4,-9.0,244,4262,0.00,2.72,0.00,0.000,516,0.000,0.054,2367,334,3372,3437,3308,0,0,0,0,0,0,24.87,24.55,24.89
$GC,4301,-1.22,-116.8,2366,334,3436,3307,494.6,-9.2,245,4306,0.00,2.58,0.00,0.000,1030,0.000,0.028,2367,1902,3371,3436,3307,0,0,0,0,0,0,24.68,24.61,24.70
$STATE,4381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4382,begin apogee
$GC,4388,-0.26,0.0,2367,1902,3436,3305,502.2,-9.3,247,4490,1.40,0.00,98.00,0.855,10246,0.081,0.000,2681,1902,2900,2961,2839,0,0,0,0,0,0,24.54,23.77,23.13
$STATE,4492,end apogee,CONTROL_FINISHED_OK
$STATE,4492,begin climb
$GC,4494,1.22,116.8,2680,1902,2961,2837,504.2,0.0,249,4606,1.92,2.72,100.70,0.840,10500,0.040,0.063,3150,3432,2421,2485,2357,0,0,0,0,0,0,24.08,23.77,23.11
$GC,4645,1.22,116.8,3149,3432,2483,2355,496.3,6.8,253,4651,0.00,2.60,0.00,0.000,1030,0.000,0.031,3149,1877,2418,2483,2354,0,0,0,0,0,0,24.29,24.21,24.31
$GC,4923,1.22,116.8,3149,1877,2483,2345,466.9,10.2,260,4929,0.00,2.88,0.00,0.000,516,0.000,0.074,3150,263,2414,2483,2345,0,0,0,0,0,0,24.63,24.29,24.65
$GC,4941,1.22,116.8,3149,263,2483,2345,466.9,10.2,260,4946,0.00,2.62,0.00,0.000,1030,0.000,0.027,3150,1847,2414,2483,2345,0,0,0,0,0,0,24.44,24.35,24.46
$GC,5210,1.25,134.7,3149,1846,2482,2342,440.2,9.0,267,5233,0.00,2.83,15.73,0.774,8452,0.000,0.064,3150,3439,2348,2414,2283,0,0,0,0,0,0,24.68,23.93,23.27
$GC,5285,1.27,153.5,3149,3438,2411,2283,436.4,9.0,268,5310,0.00,2.62,17.52,0.771,9222,0.000,0.034,3150,1845,2273,2334,2213,0,0,0,0,0,0,24.40,24.32,23.22
$GC,5573,1.27,153.5,3150,1845,2334,2204,402.8,10.4,276,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1845,2269,2334,2204,0,0,0,0,0,0,24.65,24.67,24.67
$GC,5814,1.27,153.5,3149,1845,2333,2202,377.6,10.7,282,5819,0.00,2.78,0.00,0.000,516,0.000,0.061,3149,266,2267,2332,2202,0,0,0,0,0,0,24.70,24.37,24.71
$GC,5843,1.27,153.5,3149,265,2332,2202,377.6,10.7,282,5848,0.00,2.60,0.00,0.000,1030,0.000,0.023,3150,1861,2267,2332,2202,0,0,0,0,0,0,24.51,24.46,24.53
$GC,6101,1.27,153.5,3149,1861,2332,2200,345.9,11.0,289,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1861,2266,2332,2200,0,0,0,0,0,0,24.69,24.71,24.71
$GC,6343,1.28,165.7,3149,1861,2332,2198,322.7,9.3,295,6361,0.00,2.72,10.93,0.689,8452,0.000,0.055,3150,3432,2223,2285,2161,0,0,0,0,0,0,24.72,24.09,23.46
$GC,6408,1.30,182.0,3149,3432,2284,2161,318.9,9.1,296,6433,0.08,2.60,15.65,0.705,11270,0.120,0.027,3169,1847,2157,2215,2100,0,0,0,0,0,0,24.33,24.37,23.32
$GC,6708,1.30,182.0,3169,1847,2215,2094,283.7,11.6,304,6713,0.00,2.70,0.00,0.000,260,0.000,0.042,3169,3432,2154,2215,2094,0,0,0,0,0,0,24.68,24.37,24.69
$GC,6792,1.30,182.0,3169,3432,2213,2095,273.2,12.2,306,6797,0.00,2.62,0.00,0.000,1030,0.000,0.028,3169,1845,2153,2213,2094,0,0,0,0,0,0,24.50,24.43,24.52
$GC,7076,1.30,182.0,3169,1845,2213,2092,238.3,12.4,313,7081,0.00,2.67,0.00,0.000,260,0.000,0.042,3169,3426,2152,2213,2092,0,0,0,0,0,0,24.72,24.42,24.75
$GC,7104,1.30,182.0,3169,3427,2212,2092,238.3,12.4,313,7109,0.00,2.60,0.00,0.000,1030,0.000,0.025,3169,1842,2152,2212,2093,0,0,0,0,0,0,24.54,24.47,24.56
$GC,7362,1.30,182.0,3169,1842,2212,2092,210.6,10.4,320,7367,0.00,2.65,0.00,0.000,260,0.000,0.037,3169,3428,2152,2212,2092,0,0,0,0,0,0,24.74,24.46,24.75
$GC,7682,1.33,203.5,3169,3428,2211,2092,180.3,8.8,342,7709,0.00,2.55,19.83,0.617,9222,0.000,0.021,3169,1835,2069,2125,2013,0,0,0,0,0,0,24.59,24.53,23.47
$GC,7956,1.33,203.5,3169,1836,2125,2007,152.6,11.4,369,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1836,2066,2126,2007,0,0,0,0,0,0,24.70,24.72,24.71
$GC,8198,1.35,221.1,3169,1836,2126,2007,128.9,9.0,393,8222,0.05,2.67,15.93,0.554,10500,0.125,0.031,3192,3440,1998,2046,1950,0,0,0,0,0,0,24.55,23.91,23.57
$GC,8259,1.35,221.1,3191,3440,2046,1950,122.8,10.2,398,8265,0.00,2.55,0.00,0.000,1030,0.000,0.025,3192,1847,1998,2046,1950,0,0,0,0,0,0,24.42,24.37,24.44
$GC,8512,1.38,243.0,3191,1848,2046,1947,99.0,8.8,423,8542,0.00,2.62,21.23,0.535,8452,0.000,0.031,3192,3431,1907,1959,1856,0,0,0,0,0,0,24.70,23.87,23.54
$GC,8673,1.38,243.0,3192,3432,1959,1856,82.6,10.9,450,8680,0.00,2.55,0.00,0.000,1030,0.000,0.019,3192,1842,1907,1959,1855,0,0,0,0,0,0,24.47,24.42,24.49
$GC,8946,1.40,262.9,3192,1841,1959,1853,57.6,8.9,499,8975,0.00,2.65,19.00,0.493,8708,0.000,0.035,3192,272,1827,1872,1782,0,0,0,0,0,0,24.71,24.06,23.61
$GC,8995,1.40,262.9,3192,272,1870,1782,52.8,10.3,506,9002,0.00,2.58,0.00,0.000,1030,0.000,0.018,3192,1877,1825,1870,1781,0,0,0,0,0,0,24.39,24.34,24.41
$GC,9269,1.49,334.6,3191,1877,1871,1780,28.3,5.9,555,9342,0.10,2.60,65.47,0.479,10500,0.078,0.031,3237,3423,1534,1573,1495,0,0,0,0,0,0,24.49,23.95,23.53
$GC,9401,1.49,334.6,3237,3423,1573,1495,11.2,16.2,575,9408,0.00,2.55,0.00,0.000,1030,0.000,0.019,3237,1838,1533,1573,1493,0,0,0,0,0,0,24.37,24.32,24.39
$STATE,9458,end climb,SURFACE_DEPTH_REACHED
$STATE,9458,begin surface coast
$FINISH,0.2,1.022047
$STATE,9482,end surface coast,CONTROL_FINISHED_OK
$STATE,9482,begin surface
$SM_CCo,9505,26.30,0.448,0,0,1349,380.21
$SM_GC,0.81,11.73,0.08,26.30,0.037,0.090,0.448,431,1969,1349,-7.27,-1.39,380.21,0,0,0,0,0,0,24.33,24.43,23.59
$IRIDIUM_FIX,2237.01,-15757.16,150618,101323
$TT8_MAMPS,0.021721,0.285369
$HUMID,55.82
$INTERNAL_PRESSURE,9.26193
$TCM_TEMP,23.00
$XPDR_PINGS,92
$24V_AH,23.11,75.038
$10V_AH,9.79,56.045
$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,26.150,119.175,399.975,26.300,0.000,31.639,43.283,201.064,23.000,0.000,45.499,1860.640,5292.293,522.545,2041.852,262.376,0.000,1306.803,0.000,1721.985,0.000,0.539,0.000
$DEVICE_MAMPS,173.655,89.505,855.270,448.290,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,395.353,345.061,507.496,727.790,886.449,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342804
$DATA_FILE_SIZE,47238,589
$CAP_FILE_SIZE,105128,0
$CFSIZE,259248128,221483008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,271.57,1
$GPS,150618,154810,2246.012,-15756.729,41,1.0,47,10.1,0.2,278.3,8,5.4