version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 656
start: 6 17 118 1 20 29
data:
$ID,148
$MISSION,15
$DIVE,656
$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,44
$R_STBD_OVSHOOT,51
$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
$GPS1,170618,011226,2245.4150,-15803.7188,37,1.1,64,10.1,0.4,273.1,8,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-63.6
$GPS2,170618,012003,2245.4409,-15803.8252,9,1.2,31,10.1,0.0,290.3,8,4.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,95.5,15094,-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,-116.8,418,1883,1354,1332,0.0,0.0,0,90,0.00,0.00,-71.80,0.000,16390,0.000,0.000,418,1884,3378,3428,3328,0,0,0,0,0,0,24.58,23.56,24.60
$GC,94,-1.22,-116.8,418,1884,3428,3329,4.0,-9.4,10,109,10.77,0.00,0.00,0.000,2054,0.167,0.000,2369,1884,3380,3430,3330,0,0,0,0,0,0,24.14,24.32,24.28
$GC,374,-1.22,-116.8,2368,1885,3432,3330,64.8,-16.3,60,382,0.00,2.58,0.00,0.000,516,0.000,0.031,2369,313,3380,3431,3330,0,0,0,0,0,0,24.68,24.41,24.70
$GC,412,-1.22,-116.8,2368,313,3432,3330,70.9,-16.3,66,420,0.00,2.50,0.00,0.000,1030,0.000,0.015,2369,1911,3381,3432,3330,0,0,0,0,0,0,24.52,24.47,24.53
$GC,682,-1.22,-116.8,2368,1912,3433,3330,113.3,-15.6,107,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1912,3381,3433,3330,0,0,0,0,0,0,24.73,24.75,24.75
$GC,930,-1.22,-116.8,2368,1912,3435,3330,149.7,-13.7,132,935,0.00,2.47,0.00,0.000,260,0.000,0.027,2369,3464,3382,3435,3330,0,0,0,0,0,0,24.76,24.50,24.77
$GC,946,-1.22,-116.8,2368,3464,3435,3330,151.5,-13.6,133,953,0.00,2.45,0.00,0.000,1030,0.000,0.016,2369,1878,3382,3435,3330,0,0,0,0,0,0,24.58,24.54,24.60
$GC,1195,-1.22,-116.8,2368,1878,3436,3330,183.7,-12.7,158,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1878,3383,3436,3330,0,0,0,0,0,0,24.78,24.80,24.79
$GC,1463,-1.22,-116.8,2368,1878,3436,3330,213.5,-10.9,176,1469,0.00,2.55,0.00,0.000,260,0.000,0.027,2369,3464,3384,3437,3331,0,0,0,0,0,0,24.80,24.53,24.82
$GC,1541,-1.22,-116.8,2368,3464,3436,3330,218.8,-11.2,177,1548,0.00,2.42,0.00,0.000,1030,0.000,0.016,2368,1892,3384,3437,3331,0,0,0,0,0,0,24.63,24.59,24.65
$GC,1787,-1.22,-116.8,2368,1892,3437,3331,253.6,-12.4,184,1792,0.00,2.53,0.00,0.000,516,0.000,0.031,2369,330,3384,3437,3331,0,0,0,0,0,0,24.82,24.56,24.83
$GC,1870,-1.22,-116.8,2368,330,3436,3331,264.3,-12.8,186,1876,0.00,2.45,0.00,0.000,1030,0.000,0.016,2369,1896,3383,3436,3331,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2154,-1.22,-116.8,2368,1896,3436,3331,296.7,-11.1,193,2159,0.00,2.58,0.00,0.000,516,0.000,0.033,2369,335,3383,3436,3331,0,0,0,0,0,0,24.84,24.56,24.85
$GC,2172,-1.22,-116.8,2368,336,3436,3331,296.7,-11.1,193,2178,0.00,2.45,0.00,0.000,1030,0.000,0.018,2369,1898,3384,3437,3331,0,0,0,0,0,0,24.65,24.61,24.67
$GC,2441,-1.22,-116.8,2368,1899,3436,3331,325.0,-9.6,200,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1898,3383,3436,3331,0,0,0,0,0,0,24.84,24.87,24.86
$GC,2681,-1.22,-116.8,2368,1898,3436,3329,349.8,-10.3,206,2687,0.00,2.62,0.00,0.000,516,0.000,0.039,2369,334,3382,3436,3328,0,0,0,0,0,0,24.85,24.56,24.87
$GC,2715,-1.22,-116.8,2368,335,3436,3328,349.8,-10.3,206,2720,0.00,2.47,0.00,0.000,1030,0.000,0.019,2369,1897,3382,3436,3329,0,0,0,0,0,0,24.68,24.62,24.68
$GC,2968,-1.22,-116.8,2368,1897,3436,3326,378.1,-9.7,213,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1897,3381,3436,3326,0,0,0,0,0,0,24.86,24.88,24.87
$GC,3209,-1.22,-116.8,2368,1898,3436,3323,401.0,-9.8,219,3214,0.00,2.62,0.00,0.000,516,0.000,0.047,2369,340,3379,3436,3323,0,0,0,0,0,0,24.87,24.56,24.88
$GC,3237,-1.22,-116.8,2368,340,3436,3323,401.0,-9.8,219,3242,0.00,2.50,0.00,0.000,1030,0.000,0.022,2369,1896,3379,3436,3323,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3495,-1.22,-116.8,2368,1896,3436,3319,429.3,-10.0,226,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1896,3377,3436,3319,0,0,0,0,0,0,24.84,24.87,24.87
$GC,3736,-1.22,-116.8,2368,1896,3436,3316,454.1,-10.4,232,3741,0.00,2.65,0.00,0.000,516,0.000,0.050,2369,342,3376,3436,3316,0,0,0,0,0,0,24.87,24.55,24.88
$GC,3779,-1.22,-116.8,2368,341,3436,3316,458.7,-10.3,233,3784,0.00,2.55,0.00,0.000,1030,0.000,0.026,2369,1906,3376,3436,3316,0,0,0,0,0,0,24.68,24.62,24.70
$GC,4063,-1.22,-116.8,2368,1906,3436,3311,485.4,-9.0,240,4069,0.00,2.65,0.00,0.000,260,0.000,0.047,2369,3474,3373,3436,3311,0,0,0,0,0,0,24.85,24.54,24.87
$GC,4086,-1.22,-116.8,2368,3474,3436,3311,485.4,-9.0,240,4092,0.00,2.50,0.00,0.000,1030,0.000,0.026,2369,1918,3373,3436,3311,0,0,0,0,0,0,24.68,24.61,24.70
$STATE,4227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4227,begin apogee
$GC,4234,-0.26,0.0,2368,1819,3436,3309,500.4,-8.9,244,4336,1.40,0.00,98.28,0.855,10246,0.084,0.000,2681,1819,2899,2960,2839,0,0,0,0,0,0,24.53,23.77,23.12
$STATE,4337,end apogee,CONTROL_FINISHED_OK
$STATE,4337,begin climb
$GC,4340,1.22,116.8,2680,1819,2960,2838,502.2,0.0,246,4453,1.98,2.88,101.78,0.826,10500,0.047,0.053,3145,3415,2421,2485,2357,0,0,0,0,0,0,24.02,23.77,23.12
$GC,4527,1.28,165.2,3144,3416,2483,2352,490.8,7.3,251,4576,0.08,2.55,42.85,0.800,11270,0.108,0.037,3166,1882,2226,2280,2172,0,0,0,0,0,0,24.24,24.25,23.14
$GC,4836,1.28,165.2,3166,1882,2280,2161,447.8,13.7,259,4841,0.00,2.65,0.00,0.000,260,0.000,0.047,3166,3420,2220,2280,2161,0,0,0,0,0,0,24.61,24.29,24.63
$GC,4908,1.28,165.2,3166,3420,2277,2161,441.2,13.9,260,4914,0.00,2.60,0.00,0.000,1030,0.000,0.031,3166,1852,2219,2277,2161,0,0,0,0,0,0,24.44,24.36,24.46
$GC,5163,1.28,165.2,3166,1852,2277,2159,407.2,11.5,267,5168,0.00,2.70,0.00,0.000,260,0.000,0.047,3166,3427,2217,2277,2158,0,0,0,0,0,0,24.68,24.36,24.70
$GC,5185,1.28,165.2,3166,3427,2276,2159,407.2,11.5,267,5191,0.00,2.62,0.00,0.000,1030,0.000,0.031,3166,1839,2217,2276,2159,0,0,0,0,0,0,24.49,24.41,24.51
$GC,5449,1.29,172.6,3166,1839,2276,2157,378.4,9.6,274,5457,0.00,0.00,6.30,0.629,8198,0.000,0.000,3166,1839,2195,2256,2135,0,0,0,0,0,0,24.72,24.15,23.53
$GC,5690,1.29,172.6,3166,1839,2256,2133,351.2,11.7,280,5695,0.00,2.70,0.00,0.000,260,0.000,0.043,3167,3429,2194,2256,2132,0,0,0,0,0,0,24.68,24.39,24.69
$GC,5736,1.29,172.6,3167,3429,2256,2133,345.7,12.0,281,5742,0.00,2.60,0.00,0.000,1030,0.000,0.028,3166,1843,2194,2255,2133,0,0,0,0,0,0,24.52,24.44,24.53
$GC,6014,1.29,172.6,3166,1844,2255,2130,313.7,11.2,288,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1844,2193,2256,2130,0,0,0,0,0,0,24.70,24.72,24.72
$GC,6255,1.29,172.6,3166,1844,2255,2128,287.3,10.8,294,6261,0.00,2.67,0.00,0.000,260,0.000,0.041,3167,3427,2192,2256,2128,0,0,0,0,0,0,24.76,24.45,24.77
$GC,6339,1.29,172.6,3166,3427,2255,2128,277.8,10.9,296,6345,0.00,2.60,0.00,0.000,1030,0.000,0.027,3166,1841,2191,2255,2128,0,0,0,0,0,0,24.57,24.49,24.58
$GC,6623,1.31,184.8,3166,1842,2255,2126,250.9,9.3,303,6641,0.00,2.67,11.62,0.648,8452,0.000,0.040,3166,3422,2145,2203,2088,0,0,0,0,0,0,24.77,24.10,23.51
$GC,6669,1.32,194.5,3166,3422,2202,2088,246.7,9.5,304,6687,0.00,2.58,10.32,0.622,9222,0.000,0.025,3167,1842,2105,2160,2051,0,0,0,0,0,0,24.43,24.36,23.44
$GC,6946,1.32,194.5,3166,1841,2160,2047,217.7,10.3,311,6951,0.00,2.67,0.00,0.000,260,0.000,0.039,3167,3434,2103,2160,2047,0,0,0,0,0,0,24.69,24.39,24.70
$GC,7070,1.32,194.5,3166,3434,2158,2047,202.6,11.9,314,7075,0.00,2.58,0.00,0.000,1030,0.000,0.022,3167,1838,2103,2159,2047,0,0,0,0,0,0,24.53,24.46,24.54
$GC,7325,1.35,217.8,3166,1838,2159,2046,178.4,8.7,336,7352,0.05,2.67,20.90,0.617,10500,0.141,0.031,3186,3433,2011,2059,1964,0,0,0,0,0,0,24.51,23.81,23.44
$GC,7372,1.37,233.1,3185,3433,2058,1963,174.0,9.2,340,7394,0.00,2.58,15.32,0.586,9222,0.000,0.021,3186,1839,1948,1996,1900,0,0,0,0,0,0,24.36,24.30,23.42
$GC,7635,1.37,233.1,3185,1839,1996,1896,146.2,10.3,366,7640,0.00,2.65,0.00,0.000,260,0.000,0.032,3186,3439,1946,1996,1896,0,0,0,0,0,0,24.65,24.38,24.67
$GC,7690,1.37,233.1,3185,3440,1996,1896,140.8,10.4,370,7700,0.00,2.58,0.00,0.000,1030,0.000,0.019,3186,1848,1945,1996,1895,0,0,0,0,0,0,24.47,24.44,24.49
$GC,7939,1.38,240.5,3185,1848,1996,1895,115.2,9.6,395,7953,0.00,2.62,7.78,0.490,8452,0.000,0.034,3186,3439,1919,1970,1868,0,0,0,0,0,0,24.71,24.21,23.71
$GC,8089,1.38,240.5,3185,3439,1970,1868,99.3,10.9,409,8097,0.00,2.55,0.00,0.000,1030,0.000,0.019,3186,1843,1918,1970,1867,0,0,0,0,0,0,24.52,24.46,24.53
$GC,8365,1.38,240.5,3185,1843,1970,1866,70.0,10.9,458,8373,0.00,2.62,0.00,0.000,260,0.000,0.031,3186,3439,1918,1970,1867,0,0,0,0,0,0,24.74,24.46,24.75
$GC,8382,1.38,240.5,3185,3440,1970,1867,68.1,11.4,460,8390,0.00,2.55,0.00,0.000,1030,0.000,0.019,3186,1839,1918,1970,1867,0,0,0,0,0,0,24.56,24.51,24.57
$GC,8657,1.41,263.9,3185,1840,1970,1867,40.6,8.7,509,8687,0.05,2.62,22.70,0.482,10756,0.135,0.034,3207,272,1822,1867,1778,0,0,0,0,0,0,24.56,23.93,23.64
$GC,8740,1.41,263.9,3207,272,1867,1776,31.7,11.3,522,8748,0.00,2.55,0.00,0.000,1030,0.000,0.017,3207,1870,1821,1866,1776,0,0,0,0,0,0,24.46,24.41,24.46
$STATE,9012,end climb,SURFACE_DEPTH_REACHED
$STATE,9012,begin surface coast
$FINISH,0.1,1.000743
$STATE,9041,end surface coast,CONTROL_FINISHED_OK
$STATE,9041,begin surface
$SM_CCo,9063,65.25,0.459,0,0,1349,380.21
$SM_GC,0.94,11.55,0.00,65.25,0.036,0.000,0.459,418,1874,1349,-7.30,-0.71,380.21,0,0,0,0,0,0,24.45,24.74,23.56
$IRIDIUM_FIX,2232.34,-15802.37,160618,222112
$TT8_MAMPS,0.020972,0.287616
$HUMID,54.84
$INTERNAL_PRESSURE,9.2717
$TCM_TEMP,23.20
$XPDR_PINGS,87
$24V_AH,23.12,76.333
$10V_AH,9.78,57.159
$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,25.875,108.725,337.850,65.250,0.000,23.406,50.462,226.133,21.750,0.000,33.609,1790.847,5039.902,535.140,1983.948,241.465,0.000,1243.400,0.000,1645.730,0.000,0.539,0.000
$DEVICE_MAMPS,166.770,81.855,854.505,459.000,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,386.638,334.619,510.152,726.323,887.439,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342824
$DATA_FILE_SIZE,47437,575
$CAP_FILE_SIZE,99283,0
$CFSIZE,259248128,220753920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,299.48,1
$GPS,170618,035426,2245.664,-15803.210,38,1.2,67,10.1,0.3,49.4,8,5.4