version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 649
start: 6 16 118 5 50 28
data:
$ID,148
$MISSION,15
$DIVE,649
$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,47
$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
$GPS1,160618,054213,2245.4514,-15756.8262,28,1.7,69,10.1,0.3,348.1,6,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-61.9
$GPS2,160618,055002,2245.5173,-15756.8604,14,1.8,41,10.1,0.3,53.2,9,5.7
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A8
$TGT_LATLONG,2245.000,-15805.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,233.6,13934,-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,-116.8,433,2004,1355,1330,0.0,0.0,0,91,0.00,0.00,-72.32,0.000,16386,0.000,0.000,433,2005,3366,3415,3317,0,0,0,0,0,0,24.59,28.83,24.60
$GC,96,-1.22,-116.8,433,2004,3415,3318,3.5,-7.7,10,118,10.75,2.75,-0.20,0.000,18948,0.170,0.033,2367,313,3378,3430,3327,0,0,0,0,0,0,24.14,23.44,24.30
$GC,266,-1.22,-116.8,2366,313,3431,3327,45.3,-19.5,39,274,0.00,2.53,0.00,0.000,1030,0.000,0.015,2367,1921,3379,3431,3327,0,0,0,0,0,0,24.49,24.45,24.51
$GC,539,-1.22,-116.8,2366,1922,3432,3327,92.4,-16.8,88,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1922,3380,3432,3328,0,0,0,0,0,0,24.71,24.73,24.73
$GC,799,-1.22,-116.8,2366,1922,3432,3328,132.1,-14.6,117,805,0.00,2.45,0.00,0.000,260,0.000,0.026,2367,3460,3380,3432,3328,0,0,0,0,0,0,24.75,24.49,24.76
$GC,837,-1.22,-116.8,2366,3460,3432,3328,138.0,-15.3,120,846,0.00,2.47,0.00,0.000,1030,0.000,0.015,2367,1870,3380,3432,3328,0,0,0,0,0,0,24.58,24.53,24.59
$GC,1086,-1.22,-116.8,2366,1870,3432,3329,172.7,-12.3,145,1092,0.00,2.50,0.00,0.000,516,0.000,0.031,2367,326,3380,3432,3328,0,0,0,0,0,0,24.77,24.51,24.79
$GC,1162,-1.22,-116.8,2366,326,3432,3329,182.9,-13.3,152,1168,0.00,2.45,0.00,0.000,1030,0.000,0.015,2367,1911,3381,3433,3329,0,0,0,0,0,0,24.61,24.57,24.63
$GC,1416,-1.22,-116.8,2366,1911,3434,3329,209.1,-10.3,171,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1911,3381,3433,3329,0,0,0,0,0,0,24.80,24.82,24.82
$GC,1656,-1.22,-116.8,2366,1911,3435,3329,237.5,-12.1,177,1662,0.00,2.47,0.00,0.000,260,0.000,0.027,2367,3461,3381,3434,3329,0,0,0,0,0,0,24.82,24.56,24.83
$GC,1734,-1.22,-116.8,2366,3461,3435,3329,243.0,-12.2,178,1741,0.00,2.42,0.00,0.000,1030,0.000,0.016,2367,1891,3382,3435,3329,0,0,0,0,0,0,24.64,24.60,24.65
$GC,1981,-1.22,-116.8,2366,1892,3434,3329,272.4,-9.8,185,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1891,3382,3435,3329,0,0,0,0,0,0,24.83,24.85,24.84
$GC,2221,-1.22,-116.8,2366,1892,3434,3329,297.5,-10.7,191,2227,0.00,2.53,0.00,0.000,260,0.000,0.028,2367,3453,3382,3435,3329,0,0,0,0,0,0,24.84,24.58,24.86
$GC,2239,-1.22,-116.8,2366,3453,3435,3329,297.5,-10.7,191,2244,0.00,2.40,0.00,0.000,1030,0.000,0.017,2367,1902,3382,3435,3329,0,0,0,0,0,0,24.67,24.62,24.68
$GC,2507,-1.22,-116.8,2366,1902,3434,3329,327.6,-10.0,198,2513,0.00,2.58,0.00,0.000,516,0.000,0.037,2367,338,3381,3434,3329,0,0,0,0,0,0,24.85,24.56,24.87
$GC,2535,-1.22,-116.8,2366,338,3434,3329,327.6,-10.0,198,2540,0.00,2.45,0.00,0.000,1030,0.000,0.018,2367,1888,3381,3434,3329,0,0,0,0,0,0,24.68,24.62,24.68
$GC,2794,-1.22,-116.8,2366,1889,3434,3327,356.3,-9.8,205,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1889,3380,3434,3327,0,0,0,0,0,0,24.85,24.87,24.87
$GC,3033,-1.22,-116.8,2366,1889,3434,3324,378.8,-9.4,211,3039,0.00,2.60,0.00,0.000,260,0.000,0.038,2367,3468,3379,3434,3324,0,0,0,0,0,0,24.86,24.58,24.88
$GC,3051,-1.22,-116.8,2366,3467,3434,3324,378.8,-9.4,211,3057,0.00,2.47,0.00,0.000,1030,0.000,0.020,2367,1895,3379,3434,3324,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3321,-1.22,-116.8,2366,1895,3434,3321,407.0,-10.0,218,3327,0.00,2.60,0.00,0.000,516,0.000,0.047,2367,338,3377,3434,3320,0,0,0,0,0,0,24.87,24.56,24.88
$GC,3404,-1.22,-116.8,2366,338,3434,3320,415.9,-10.2,220,3411,0.00,2.50,0.00,0.000,1030,0.000,0.023,2367,1895,3376,3434,3319,0,0,0,0,0,0,24.69,24.63,24.70
$GC,3689,-1.22,-116.8,2366,1895,3434,3316,442.5,-9.3,227,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1896,3375,3434,3316,0,0,0,0,0,0,24.86,24.89,24.87
$GC,3929,-1.22,-116.8,2366,1896,3434,3312,464.0,-9.1,233,3935,0.00,2.70,0.00,0.000,516,0.000,0.051,2367,333,3373,3434,3312,0,0,0,0,0,0,24.86,24.55,24.88
$GC,3958,-1.22,-116.8,2366,332,3434,3312,464.0,-9.1,233,3963,0.00,2.55,0.00,0.000,1030,0.000,0.027,2367,1903,3373,3434,3312,0,0,0,0,0,0,24.69,24.62,24.70
$GC,4217,-1.22,-116.8,2366,1903,3434,3308,491.8,-9.6,240,4222,0.00,2.67,0.00,0.000,516,0.000,0.052,2367,338,3371,3434,3308,0,0,0,0,0,0,24.86,24.54,24.87
$GC,4240,-1.22,-116.8,2366,338,3434,3308,491.8,-9.6,240,4245,0.00,2.55,0.00,0.000,1030,0.000,0.028,2367,1901,3371,3434,3308,0,0,0,0,0,0,24.68,24.61,24.70
$STATE,4341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4341,begin apogee
$GC,4346,-0.26,0.0,2367,1901,3434,3306,503.6,-9.4,243,4448,1.38,0.00,97.68,0.855,10246,0.079,0.000,2679,1901,2899,2959,2840,0,0,0,0,0,0,24.55,23.78,23.13
$STATE,4449,end apogee,CONTROL_FINISHED_OK
$STATE,4449,begin climb
$GC,4452,1.22,116.8,2678,1901,2959,2840,505.2,0.0,245,4559,1.98,0.00,102.40,0.827,10246,0.041,0.000,3148,1901,2422,2485,2359,0,0,0,0,0,0,24.04,23.75,23.14
$GC,4784,1.22,116.8,3147,1901,2484,2346,476.7,10.9,254,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1901,2415,2485,2346,0,0,0,0,0,0,24.58,24.61,24.60
$GC,5024,1.23,121.6,3147,1901,2484,2343,452.8,9.8,260,5034,0.00,2.85,4.22,0.535,8708,0.000,0.053,3148,280,2403,2471,2335,0,0,0,0,0,0,24.65,24.01,23.54
$GC,5127,1.23,121.6,3147,280,2470,2335,444.0,10.2,262,5133,0.00,2.60,0.00,0.000,1030,0.000,0.027,3148,1844,2402,2470,2334,0,0,0,0,0,0,24.47,24.39,24.49
$GC,5390,1.23,121.6,3147,1844,2470,2331,414.5,10.2,269,5396,0.00,2.78,0.00,0.000,260,0.000,0.062,3148,3433,2400,2470,2331,0,0,0,0,0,0,24.70,24.38,24.72
$GC,5417,1.23,121.6,3147,3434,2468,2332,414.5,10.2,269,5424,0.00,2.58,0.00,0.000,1030,0.000,0.028,3148,1859,2399,2468,2331,0,0,0,0,0,0,24.51,24.44,24.53
$GC,5678,1.24,130.9,3147,1858,2468,2331,386.7,9.5,276,5696,0.00,2.85,9.32,0.701,8708,0.000,0.059,3148,266,2364,2430,2299,0,0,0,0,0,0,24.73,24.10,23.46
$GC,5763,1.24,132.3,3147,265,2430,2299,378.0,10.0,278,5768,0.00,2.60,0.00,0.000,1030,0.000,0.023,3148,1861,2364,2430,2298,0,0,0,0,0,0,24.48,24.41,24.49
$GC,6041,1.26,149.5,3147,1862,2429,2295,351.1,9.0,285,6065,0.00,2.75,17.67,0.732,8452,0.000,0.055,3148,3429,2288,2351,2226,0,0,0,0,0,0,24.68,23.76,23.33
$GC,6133,1.28,161.0,3147,3429,2349,2225,342.9,9.4,287,6152,0.00,2.60,11.55,0.689,9222,0.000,0.027,3148,1843,2241,2302,2181,0,0,0,0,0,0,24.43,24.35,23.35
$GC,6406,1.28,161.0,3147,1843,2302,2175,314.8,10.4,294,6411,0.00,2.67,0.00,0.000,260,0.000,0.042,3148,3421,2238,2302,2175,0,0,0,0,0,0,24.67,24.36,24.68
$GC,6429,1.28,161.0,3147,3421,2301,2175,314.8,10.4,294,6434,0.00,2.58,0.00,0.000,1030,0.000,0.028,3148,1845,2238,2301,2175,0,0,0,0,0,0,24.49,24.41,24.50
$GC,6692,1.28,161.0,3147,1846,2300,2174,282.6,11.3,301,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1845,2237,2301,2174,0,0,0,0,0,0,24.72,24.74,24.73
$GC,6933,1.28,165.2,3147,1845,2301,2172,259.1,9.8,307,6943,0.05,2.67,4.28,0.489,10500,0.142,0.041,3166,3429,2224,2287,2162,0,0,0,0,0,0,24.53,24.12,23.69
$GC,7019,1.29,167.6,3165,3429,2288,2162,250.5,9.9,309,7024,0.00,2.58,0.00,0.000,1030,0.000,0.026,3166,1850,2224,2286,2162,0,0,0,0,0,0,24.53,24.45,24.54
$GC,7302,1.33,202.8,3165,1850,2287,2161,225.4,8.0,316,7343,0.00,2.83,34.33,0.667,8708,0.000,0.050,3166,269,2072,2128,2016,0,0,0,0,0,0,24.75,23.90,23.35
$GC,7380,1.38,240.0,3165,269,2127,2013,222.3,7.9,317,7426,0.10,2.58,34.10,0.647,11270,0.090,0.021,3195,1857,1920,1967,1873,0,0,0,0,0,0,24.27,24.32,23.32
$GC,7667,1.38,240.0,3195,1857,1966,1864,182.9,13.0,334,7672,0.00,2.62,0.00,0.000,260,0.000,0.041,3195,3428,1915,1966,1864,0,0,0,0,0,0,24.61,24.33,24.63
$GC,7832,1.38,240.0,3195,3429,1966,1864,161.9,13.1,350,7837,0.00,2.58,0.00,0.000,1030,0.000,0.022,3196,1830,1915,1966,1864,0,0,0,0,0,0,24.49,24.43,24.50
$GC,8090,1.38,240.0,3195,1830,1966,1862,134.9,10.2,375,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1830,1914,1966,1862,0,0,0,0,0,0,24.71,24.73,24.72
$GC,8339,1.38,240.0,3195,1830,1966,1862,107.8,11.1,400,8345,0.00,2.62,0.00,0.000,260,0.000,0.031,3196,3433,1914,1966,1862,0,0,0,0,0,0,24.74,24.47,24.76
$GC,8491,1.38,240.0,3195,3433,1966,1862,91.5,11.4,421,8498,0.00,2.55,0.00,0.000,1030,0.000,0.020,3196,1836,1914,1966,1862,0,0,0,0,0,0,24.58,24.52,24.59
$GC,8767,1.41,265.7,3195,1836,1966,1861,65.4,8.6,470,8796,0.00,2.67,23.45,0.504,8452,0.000,0.030,3195,3423,1814,1858,1771,0,0,0,0,0,0,24.77,24.05,23.60
$GC,8901,1.43,286.3,3195,3423,1858,1771,53.4,8.9,492,8931,0.05,2.53,19.75,0.487,11270,0.138,0.019,3212,1845,1730,1773,1687,0,0,0,0,0,0,24.36,24.42,23.58
$GC,9201,1.43,286.3,3212,1845,1773,1684,22.0,11.0,544,9210,0.00,2.60,0.00,0.000,260,0.000,0.031,3212,3424,1728,1773,1684,0,0,0,0,0,0,24.68,24.41,24.70
$GC,9289,1.43,286.3,3212,3424,1773,1684,11.2,13.0,559,9296,0.00,2.53,0.00,0.000,1030,0.000,0.019,3212,1840,1728,1773,1684,0,0,0,0,0,0,24.52,24.47,24.53
$STATE,9357,end climb,SURFACE_DEPTH_REACHED
$STATE,9358,begin surface coast
$FINISH,0.1,1.010029
$STATE,9387,end surface coast,CONTROL_FINISHED_OK
$STATE,9387,begin surface
$SM_CCo,9410,55.08,0.459,0,0,1349,380.21
$SM_GC,0.77,11.62,0.08,55.08,0.041,0.088,0.459,431,1979,1349,-7.27,-1.27,380.21,0,0,0,0,0,0,24.42,24.55,23.57
$IRIDIUM_FIX,2237.01,-15754.11,160618,025722
$TT8_MAMPS,0.021721,0.348285
$HUMID,55.82
$INTERNAL_PRESSURE,9.2717
$TCM_TEMP,23.00
$XPDR_PINGS,104
$24V_AH,23.13,75.639
$10V_AH,9.74,56.560
$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,25.925,109.000,358.750,55.075,0.000,29.771,51.376,222.971,26.000,0.000,43.854,1793.504,5384.646,560.321,1957.244,245.181,0.000,1260.955,0.000,1612.089,0.000,0.539,0.000
$DEVICE_MAMPS,169.830,87.975,854.505,459.000,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,387.356,332.711,490.122,716.665,868.550,0.000,0.000,0.000,0.000,0.000
$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,47373,576
$CAP_FILE_SIZE,101355,0
$CFSIZE,259248128,221147136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142,347.74,1
$GPS,160618,082957,2245.665,-15757.977,56,1.0,62,10.1,0.7,311.6,8,5.3