version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 652
start: 6 16 118 14 10 11
data:
$ID,148
$MISSION,15
$DIVE,652
$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,42
$R_STBD_OVSHOOT,44
$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
$GPS1,160618,140232,2244.5884,-15801.0381,41,1.2,69,10.1,0.4,214.5,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-62.6
$GPS2,160618,140945,2244.5801,-15801.1318,15,1.2,37,10.1,0.2,261.7,8,4.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A8
$TGT_LATLONG,2245.000,-15805.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,275.4,6652,-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,-116.8,435,1828,1356,1329,0.0,0.0,0,91,0.00,0.00,-71.75,0.000,16386,0.000,0.000,435,1829,3345,3394,3296,0,0,0,0,0,0,24.58,28.83,24.60
$GC,95,-1.22,-116.8,435,1829,3394,3297,3.5,-8.0,10,117,10.82,2.47,-0.57,0.000,18948,0.172,0.037,2367,317,3379,3432,3326,0,0,0,0,0,0,24.13,23.44,24.30
$GC,287,-1.22,-116.8,2366,317,3432,3327,49.3,-17.3,43,295,0.00,2.53,0.00,0.000,1030,0.000,0.016,2367,1912,3379,3432,3327,0,0,0,0,0,0,24.49,24.44,24.50
$GC,565,-1.22,-116.8,2366,1913,3434,3327,95.9,-16.3,92,572,0.00,2.50,0.00,0.000,260,0.000,0.027,2367,3471,3380,3434,3327,0,0,0,0,0,0,24.71,24.46,24.72
$GC,592,-1.22,-116.8,2367,3471,3434,3327,100.3,-16.6,96,597,0.00,2.47,0.00,0.000,1030,0.000,0.016,2367,1878,3380,3434,3327,0,0,0,0,0,0,24.54,24.49,24.56
$GC,850,-1.22,-116.8,2366,1878,3434,3328,136.5,-13.6,121,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1878,3381,3434,3328,0,0,0,0,0,0,24.75,24.77,24.76
$GC,1095,-1.22,-116.8,2366,1878,3436,3329,172.2,-13.3,146,1101,0.00,2.47,0.00,0.000,516,0.000,0.031,2367,333,3382,3436,3329,0,0,0,0,0,0,24.77,24.51,24.79
$GC,1131,-1.22,-116.8,2366,333,3436,3329,177.0,-14.6,149,1137,0.00,2.45,0.00,0.000,1030,0.000,0.015,2367,1912,3382,3436,3329,0,0,0,0,0,0,24.60,24.56,24.61
$GC,1385,-1.22,-116.8,2366,1912,3436,3329,205.2,-10.8,171,1390,0.00,2.47,0.00,0.000,260,0.000,0.027,2367,3466,3382,3436,3329,0,0,0,0,0,0,24.79,24.53,24.81
$GC,1428,-1.22,-116.8,2366,3466,3436,3330,210.6,-11.6,172,1434,0.00,2.45,0.00,0.000,1030,0.000,0.016,2367,1885,3383,3436,3330,0,0,0,0,0,0,24.62,24.58,24.63
$GC,1713,-1.22,-116.8,2366,1886,3436,3330,241.4,-10.3,179,1718,0.00,2.53,0.00,0.000,516,0.000,0.031,2367,327,3383,3436,3330,0,0,0,0,0,0,24.81,24.54,24.82
$GC,1790,-1.22,-116.8,2366,327,3436,3330,246.6,-10.7,180,1797,0.00,2.45,0.00,0.000,1030,0.000,0.016,2367,1903,3383,3436,3330,0,0,0,0,0,0,24.64,24.60,24.65
$GC,2036,-1.22,-116.8,2367,1903,3436,3330,277.2,-11.0,187,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1903,3383,3436,3330,0,0,0,0,0,0,24.82,24.84,24.84
$GC,2276,-1.22,-116.8,2366,1902,3436,3330,302.5,-10.4,193,2281,0.00,2.58,0.00,0.000,516,0.000,0.034,2367,333,3383,3436,3330,0,0,0,0,0,0,24.84,24.56,24.85
$GC,2299,-1.22,-116.8,2366,333,3436,3330,302.5,-10.4,193,2304,0.00,2.45,0.00,0.000,1030,0.000,0.018,2367,1894,3383,3436,3330,0,0,0,0,0,0,24.66,24.60,24.67
$GC,2562,-1.22,-116.8,2366,1893,3436,3329,332.5,-10.5,200,2567,0.00,2.58,0.00,0.000,516,0.000,0.039,2367,335,3382,3436,3329,0,0,0,0,0,0,24.84,24.56,24.86
$GC,2645,-1.22,-116.8,2366,335,3436,3329,341.4,-10.5,202,2651,0.00,2.50,0.00,0.000,1030,0.000,0.019,2367,1909,3382,3436,3329,0,0,0,0,0,0,24.67,24.61,24.68
$GC,2929,-1.22,-116.8,2366,1909,3436,3326,370.8,-10.4,209,2934,0.00,2.58,0.00,0.000,260,0.000,0.037,2367,3475,3381,3436,3326,0,0,0,0,0,0,24.85,24.56,24.87
$GC,2956,-1.22,-116.8,2366,3475,3436,3326,370.8,-10.4,209,2962,0.00,2.47,0.00,0.000,1030,0.000,0.020,2367,1903,3381,3436,3326,0,0,0,0,0,0,24.67,24.62,24.69
$GC,3215,-1.22,-116.8,2366,1903,3436,3322,401.5,-10.6,216,3220,0.00,2.62,0.00,0.000,516,0.000,0.047,2367,335,3379,3436,3322,0,0,0,0,0,0,24.84,24.55,24.86
$GC,3258,-1.22,-116.8,2366,336,3436,3322,406.2,-10.5,217,3264,0.00,2.53,0.00,0.000,1030,0.000,0.022,2367,1904,3379,3436,3322,0,0,0,0,0,0,24.68,24.62,24.69
$GC,3542,-1.22,-116.8,2366,1905,3436,3318,434.5,-10.3,224,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1905,3377,3436,3318,0,0,0,0,0,0,24.85,24.87,24.87
$GC,3782,-1.22,-116.8,2366,1905,3436,3315,460.1,-10.5,230,3788,0.00,2.67,0.00,0.000,516,0.000,0.050,2367,337,3375,3436,3315,0,0,0,0,0,0,24.85,24.54,24.87
$GC,3815,-1.22,-116.8,2366,337,3436,3315,460.1,-10.5,230,3820,0.00,2.55,0.00,0.000,1030,0.000,0.027,2367,1906,3375,3436,3315,0,0,0,0,0,0,24.68,24.61,24.69
$GC,4069,-1.22,-116.8,2366,1906,3436,3311,490.1,-10.5,237,4074,0.00,2.70,0.00,0.000,516,0.000,0.053,2367,331,3373,3436,3311,0,0,0,0,0,0,24.86,24.53,24.88
$GC,4102,-1.22,-116.8,2366,331,3436,3311,490.1,-10.5,237,4107,0.00,2.58,0.00,0.000,1030,0.000,0.029,2367,1905,3373,3436,3311,0,0,0,0,0,0,24.68,24.60,24.69
$STATE,4193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4193,begin apogee
$GC,4199,-0.26,0.0,2367,1834,3436,3310,503.6,-10.8,240,4302,1.40,0.00,98.47,0.851,10246,0.082,0.000,2681,1835,2900,2959,2841,0,0,0,0,0,0,24.53,23.77,23.13
$STATE,4303,end apogee,CONTROL_FINISHED_OK
$STATE,4303,begin climb
$GC,4305,1.22,116.8,2681,1834,2958,2840,506.2,0.0,242,4419,1.95,2.80,101.12,0.837,10756,0.040,0.057,3153,299,2421,2485,2358,0,0,0,0,0,0,24.06,23.77,23.11
$GC,4448,1.22,116.8,3152,299,2484,2356,499.7,5.6,246,4453,0.00,2.60,0.00,0.000,1030,0.000,0.031,3153,1844,2419,2484,2355,0,0,0,0,0,0,24.27,24.18,24.29
$GC,4721,1.22,116.8,3152,1844,2484,2346,468.9,10.7,253,4726,0.00,2.80,0.00,0.000,260,0.000,0.064,3153,3442,2415,2484,2346,0,0,0,0,0,0,24.60,24.29,24.63
$GC,4754,1.22,116.8,3152,3442,2482,2346,468.9,10.7,253,4760,0.00,2.58,0.00,0.000,1030,0.000,0.029,3153,1879,2414,2482,2346,0,0,0,0,0,0,24.44,24.36,24.46
$GC,5008,1.23,125.0,3152,1878,2482,2343,440.6,9.6,260,5022,0.00,2.67,7.07,0.669,8452,0.000,0.044,3153,3444,2389,2455,2323,0,0,0,0,0,0,24.67,24.12,23.44
$GC,5051,1.24,132.2,3152,3445,2455,2322,436.5,9.6,261,5065,0.00,2.65,8.23,0.685,9222,0.000,0.029,3153,1845,2360,2425,2295,0,0,0,0,0,0,24.41,24.34,23.37
$GC,5333,1.24,132.2,3152,1845,2425,2290,404.5,11.9,268,5338,0.00,2.72,0.00,0.000,260,0.000,0.045,3153,3442,2357,2425,2290,0,0,0,0,0,0,24.68,24.36,24.69
$GC,5450,1.24,132.2,3152,3443,2422,2290,395.1,11.6,270,5457,0.00,2.62,0.00,0.000,1030,0.000,0.029,3153,1842,2356,2422,2290,0,0,0,0,0,0,24.51,24.43,24.52
$GC,5698,1.26,148.2,3152,1842,2422,2288,367.9,9.1,277,5716,0.00,0.00,14.95,0.737,8710,0.000,0.000,3153,1842,2294,2355,2233,0,0,0,0,0,0,24.72,23.93,23.33
$GC,5979,1.26,149.6,3152,1842,2355,2226,340.6,10.0,284,5984,0.00,2.67,0.00,0.000,260,0.000,0.041,3153,3435,2290,2355,2226,0,0,0,0,0,0,24.68,24.37,24.70
$GC,6036,1.26,149.6,3152,3435,2354,2226,335.8,10.4,285,6041,0.00,2.60,0.00,0.000,1030,0.000,0.028,3153,1849,2290,2354,2226,0,0,0,0,0,0,24.51,24.43,24.52
$GC,6306,1.27,152.4,3153,1849,2353,2224,307.1,9.9,292,6316,0.00,2.78,4.53,0.529,8708,0.000,0.060,3153,257,2276,2340,2213,0,0,0,0,0,0,24.73,24.07,23.63
$GC,6398,1.27,155.2,3153,256,2339,2213,298.7,9.9,294,6409,0.00,2.62,3.75,0.461,9222,0.000,0.022,3153,1869,2266,2331,2202,0,0,0,0,0,0,24.52,24.46,23.61
$GC,6673,1.29,172.2,3152,1868,2331,2201,273.0,9.1,301,6695,0.00,2.70,16.50,0.684,8452,0.000,0.053,3153,3423,2197,2257,2137,0,0,0,0,0,0,24.72,23.80,23.38
$GC,6757,1.31,185.3,3152,3423,2255,2137,265.1,9.3,303,6778,0.08,2.60,13.20,0.653,11270,0.117,0.027,3173,1836,2143,2199,2087,0,0,0,0,0,0,24.30,24.35,23.37
$GC,7037,1.31,188.2,3172,1836,2199,2082,236.9,9.9,310,7042,0.00,2.70,0.00,0.000,516,0.000,0.051,3173,267,2140,2199,2082,0,0,0,0,0,0,24.65,24.36,24.68
$GC,7109,1.32,191.8,3172,267,2198,2082,232.3,9.8,311,7122,0.00,2.58,6.85,0.564,9222,0.000,0.021,3173,1863,2117,2173,2061,0,0,0,0,0,0,24.51,24.45,23.58
$GC,7360,1.35,222.2,3172,1863,2174,2059,207.1,8.3,318,7394,0.00,2.65,28.10,0.639,8452,0.000,0.044,3173,3418,1992,2041,1943,0,0,0,0,0,0,24.68,23.75,23.36
$GC,7475,1.35,222.2,3172,3418,2041,1942,196.3,10.3,323,7481,0.00,2.55,0.00,0.000,1030,0.000,0.023,3173,1842,1991,2041,1942,0,0,0,0,0,0,24.41,24.35,24.43
$GC,7730,1.35,222.2,3172,1842,2041,1938,165.6,12.8,348,7735,0.00,2.62,0.00,0.000,260,0.000,0.031,3173,3434,1989,2041,1938,0,0,0,0,0,0,24.66,24.40,24.68
$GC,7789,1.35,222.2,3172,3434,2040,1938,158.4,12.9,353,7795,0.00,2.55,0.00,0.000,1030,0.000,0.021,3173,1840,1989,2041,1938,0,0,0,0,0,0,24.50,24.44,24.52
$GC,8034,1.35,222.2,3172,1840,2041,1937,132.6,10.1,378,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1840,1989,2041,1937,0,0,0,0,0,0,24.72,24.74,24.73
$GC,8275,1.35,222.2,3172,1840,2040,1937,109.6,10.3,402,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1840,1989,2041,1937,0,0,0,0,0,0,24.75,24.77,24.76
$GC,8529,1.37,238.5,3172,1840,2041,1937,85.6,9.1,440,8551,0.08,0.00,15.05,0.508,10246,0.106,0.000,3206,1840,1927,1972,1882,0,0,0,0,0,0,24.53,23.97,23.66
$GC,8819,1.41,265.3,3205,1840,1972,1880,58.1,8.5,491,8855,0.00,2.65,26.05,0.498,8452,0.000,0.031,3206,3423,1817,1867,1767,0,0,0,0,0,0,24.72,24.01,23.56
$GC,8958,1.41,265.3,3205,3423,1867,1767,44.4,10.1,514,8966,0.00,2.53,0.00,0.000,1030,0.000,0.025,3206,1839,1817,1867,1767,0,0,0,0,0,0,24.44,24.37,24.46
$GC,9235,1.41,265.3,3205,1839,1867,1765,16.3,10.3,563,9244,0.00,2.60,0.00,0.000,516,0.000,0.036,3206,270,1815,1867,1764,0,0,0,0,0,0,24.70,24.43,24.72
$GC,9269,1.41,265.3,3205,270,1867,1764,12.6,10.8,568,9277,0.00,2.53,0.00,0.000,1030,0.000,0.018,3206,1861,1815,1867,1764,0,0,0,0,0,0,24.54,24.49,24.56
$STATE,9358,end climb,SURFACE_DEPTH_REACHED
$STATE,9358,begin surface coast
$FINISH,0.1,1.001407
$STATE,9390,end surface coast,CONTROL_FINISHED_OK
$STATE,9390,begin surface
$SM_CCo,9412,63.12,0.455,0,0,1350,380.21
$SM_GC,0.88,11.52,0.00,63.12,0.037,0.000,0.455,430,1863,1350,-7.27,-1.07,380.21,0,0,0,0,0,0,24.46,24.75,23.56
$IRIDIUM_FIX,2237.01,-15802.37,160618,111825
$TT8_MAMPS,0.021721,0.285369
$HUMID,55.47
$INTERNAL_PRESSURE,9.2717
$TCM_TEMP,22.60
$XPDR_PINGS,107
$24V_AH,23.11,75.936
$10V_AH,9.72,56.818
$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,25.850,119.125,343.875,63.125,0.000,27.425,46.068,199.518,26.750,0.000,39.720,1869.231,5219.329,534.179,2039.020,252.542,0.000,1283.677,0.000,1726.528,0.000,0.539,0.000
$DEVICE_MAMPS,172.125,97.155,850.680,455.175,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,396.496,345.495,526.016,748.769,916.436,0.000,0.000,0.000,0.000,0.000
$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,47255,589
$CAP_FILE_SIZE,105311,0
$CFSIZE,259248128,220975104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118,278.53,1
$GPS,160618,164932,2244.810,-15802.948,12,1.0,45,10.1,0.6,328.6,8,4.4