version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 659
start: 6 17 118 9 44 58
data:
$ID,148
$MISSION,15
$DIVE,659
$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,40
$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
$GPS1,170618,093726,2246.4180,-15801.6855,15,1.9,36,10.1,0.4,97.5,8,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-63.3
$GPS2,170618,094432,2246.4380,-15801.7012,8,1.3,29,10.1,0.3,43.7,9,4.2
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,123.9,11750,-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,-116.8,434,1803,1357,1329,0.0,0.0,0,91,0.00,0.15,-71.72,0.000,16390,0.000,0.256,434,2006,3378,3429,3328,0,0,0,0,0,0,24.58,23.55,24.60
$GC,95,-1.22,-116.8,433,2007,3429,3329,4.1,-9.4,10,110,10.65,0.00,0.00,0.000,2054,0.166,0.000,2368,2007,3379,3430,3329,0,0,0,0,0,0,24.14,24.32,24.28
$GC,378,-1.22,-116.8,2367,2009,3432,3329,64.5,-16.4,60,385,0.00,2.80,0.00,0.000,516,0.000,0.032,2368,314,3380,3432,3329,0,0,0,0,0,0,24.68,24.41,24.70
$GC,421,-1.22,-116.8,2367,315,3432,3329,71.5,-16.7,67,428,0.00,2.53,0.00,0.000,1030,0.000,0.015,2368,1922,3380,3432,3329,0,0,0,0,0,0,24.52,24.48,24.53
$GC,689,-1.22,-116.8,2367,1923,3434,3329,113.9,-14.4,107,694,0.00,2.45,0.00,0.000,260,0.000,0.025,2368,3463,3381,3433,3330,0,0,0,0,0,0,24.73,24.48,24.75
$GC,707,-1.22,-116.8,2367,3463,3434,3329,116.1,-14.5,108,715,0.00,2.50,0.00,0.000,1030,0.000,0.016,2368,1883,3381,3434,3329,0,0,0,0,0,0,24.54,24.52,24.56
$GC,957,-1.22,-116.8,2367,1883,3436,3329,150.2,-13.0,133,962,0.00,2.47,0.00,0.000,516,0.000,0.031,2368,336,3382,3436,3329,0,0,0,0,0,0,24.76,24.50,24.77
$GC,992,-1.22,-116.8,2367,336,3436,3329,155.3,-13.4,136,998,0.00,2.42,0.00,0.000,1030,0.000,0.015,2368,1903,3382,3436,3329,0,0,0,0,0,0,24.59,24.55,24.60
$GC,1247,-1.22,-116.8,2367,1904,3437,3329,188.9,-12.6,161,1253,0.00,2.47,0.00,0.000,260,0.000,0.026,2368,3460,3383,3437,3329,0,0,0,0,0,0,24.78,24.53,24.80
$GC,1286,-1.22,-116.8,2367,3460,3437,3329,193.7,-13.6,164,1292,0.00,2.40,0.00,0.000,1030,0.000,0.015,2368,1898,3383,3437,3329,0,0,0,0,0,0,24.62,24.58,24.63
$GC,1542,-1.22,-116.8,2367,1898,3437,3330,224.5,-11.9,175,1548,0.00,2.53,0.00,0.000,516,0.000,0.031,2367,337,3383,3437,3330,0,0,0,0,0,0,24.80,24.54,24.82
$GC,1615,-1.22,-116.8,2367,337,3437,3330,229.3,-11.8,176,1620,0.00,2.45,0.00,0.000,1030,0.000,0.015,2367,1911,3383,3437,3330,0,0,0,0,0,0,24.64,24.59,24.65
$GC,1868,-1.22,-116.8,2367,1911,3437,3330,256.9,-9.5,183,1874,0.00,2.58,0.00,0.000,516,0.000,0.031,2368,334,3383,3437,3330,0,0,0,0,0,0,24.82,24.56,24.84
$GC,1902,-1.22,-116.8,2367,334,3438,3330,256.9,-9.5,183,1908,0.00,2.42,0.00,0.000,1030,0.000,0.017,2368,1891,3383,3437,3330,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2156,-1.22,-116.8,2367,1890,3437,3330,285.8,-10.0,190,2162,0.00,2.53,0.00,0.000,260,0.000,0.030,2368,3464,3383,3437,3330,0,0,0,0,0,0,24.83,24.57,24.85
$GC,2204,-1.22,-116.8,2367,3464,3437,3330,290.7,-10.3,191,2209,0.00,2.42,0.00,0.000,1030,0.000,0.017,2368,1900,3384,3438,3330,0,0,0,0,0,0,24.66,24.61,24.68
$GC,2483,-1.22,-116.8,2367,1900,3437,3330,320.7,-10.8,198,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1900,3383,3437,3329,0,0,0,0,0,0,24.84,24.87,24.86
$GC,2723,-1.22,-116.8,2367,1899,3437,3328,343.8,-9.5,204,2729,0.00,2.60,0.00,0.000,516,0.000,0.040,2368,337,3382,3437,3327,0,0,0,0,0,0,24.85,24.56,24.87
$GC,2772,-1.22,-116.8,2367,337,3437,3327,347.7,-9.2,205,2777,0.00,2.47,0.00,0.000,1030,0.000,0.019,2368,1900,3382,3437,3327,0,0,0,0,0,0,24.68,24.63,24.69
$GC,3051,-1.22,-116.8,2367,1900,3437,3324,368.9,-7.1,212,3057,0.00,2.62,0.00,0.000,516,0.000,0.042,2368,343,3380,3437,3324,0,0,0,0,0,0,24.86,24.57,24.87
$GC,3109,-1.22,-116.8,2367,343,3438,3324,372.2,-7.1,213,3114,0.00,2.47,0.00,0.000,1030,0.000,0.021,2368,1900,3380,3437,3324,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3378,-1.22,-116.8,2367,1901,3437,3319,393.8,-7.9,220,3384,0.00,2.65,0.00,0.000,516,0.000,0.044,2368,340,3378,3437,3319,0,0,0,0,0,0,24.87,24.56,24.88
$GC,3411,-1.22,-116.8,2367,340,3437,3319,393.8,-7.9,220,3417,0.00,2.50,0.00,0.000,1030,0.000,0.022,2368,1902,3378,3437,3319,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3665,-1.22,-116.8,2367,1902,3437,3316,421.7,-9.9,227,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1902,3376,3437,3316,0,0,0,0,0,0,24.85,24.88,24.87
$GC,3905,-1.22,-116.8,2367,1902,3437,3312,446.4,-10.2,233,3911,0.00,2.62,0.00,0.000,260,0.000,0.045,2367,3468,3374,3437,3312,0,0,0,0,0,0,24.86,24.56,24.88
$GC,3938,-1.22,-116.8,2367,3468,3437,3312,446.4,-10.2,233,3943,0.00,2.47,0.00,0.000,1030,0.000,0.029,2368,1915,3374,3437,3312,0,0,0,0,0,0,24.68,24.63,24.70
$GC,4191,-1.22,-116.8,2367,1915,3437,3309,477.7,-11.0,240,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1915,3373,3437,3309,0,0,0,0,0,0,24.87,24.89,24.89
$STATE,4429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4429,begin apogee
$GC,4435,-0.26,0.0,2367,1835,3436,3305,503.9,-10.8,246,4538,1.40,0.00,98.28,0.858,10246,0.086,0.000,2678,1835,2900,2962,2838,0,0,0,0,0,0,24.54,23.76,23.11
$STATE,4539,end apogee,CONTROL_FINISHED_OK
$STATE,4539,begin climb
$GC,4542,1.22,116.8,2678,1835,2962,2837,506.9,0.0,248,4654,1.98,2.85,101.18,0.841,10500,0.045,0.059,3154,3421,2421,2485,2357,0,0,0,0,0,0,24.04,23.76,23.08
$GC,4702,1.22,116.8,3154,3421,2483,2353,500.8,5.8,252,4708,0.00,2.58,0.00,0.000,1030,0.000,0.031,3154,1879,2418,2483,2353,0,0,0,0,0,0,24.30,24.22,24.32
$GC,4972,1.24,127.2,3154,1880,2483,2345,473.8,9.4,259,4984,0.00,0.00,9.52,0.722,8198,0.000,0.000,3154,1880,2380,2445,2315,0,0,0,0,0,0,24.61,23.96,23.32
$GC,5212,1.25,135.4,3154,1879,2445,2309,450.6,9.6,265,5230,0.00,2.67,8.88,0.708,8452,0.000,0.047,3154,3417,2345,2411,2279,0,0,0,0,0,0,24.65,23.84,23.37
$GC,5273,1.26,142.1,3154,3419,2411,2278,446.3,9.7,266,5288,0.00,2.62,7.30,0.672,9222,0.000,0.031,3154,1842,2319,2384,2254,0,0,0,0,0,0,24.41,24.32,23.37
$GC,5535,1.26,142.1,3154,1842,2384,2250,416.5,10.6,273,5541,0.00,2.70,0.00,0.000,260,0.000,0.047,3154,3413,2317,2384,2250,0,0,0,0,0,0,24.66,24.34,24.68
$GC,5638,1.26,142.1,3154,3413,2381,2250,406.7,11.2,275,5643,0.00,2.58,0.00,0.000,1030,0.000,0.029,3155,1850,2316,2382,2250,0,0,0,0,0,0,24.49,24.41,24.51
$GC,5902,1.26,142.1,3154,1850,2382,2247,374.5,11.6,282,5907,0.00,2.67,0.00,0.000,260,0.000,0.044,3155,3416,2315,2382,2248,0,0,0,0,0,0,24.72,24.40,24.74
$GC,5949,1.26,142.1,3154,3417,2380,2247,369.2,11.7,283,5954,0.00,2.58,0.00,0.000,1030,0.000,0.028,3154,1845,2313,2380,2247,0,0,0,0,0,0,24.53,24.46,24.55
$GC,6227,1.26,149.7,3154,1844,2380,2246,340.3,9.6,290,6242,0.00,2.80,7.18,0.648,8708,0.000,0.058,3154,267,2288,2354,2222,0,0,0,0,0,0,24.75,24.18,23.53
$GC,6271,1.28,159.5,3154,268,2353,2222,336.1,9.5,291,6290,0.00,2.60,10.52,0.688,9222,0.000,0.023,3154,1856,2247,2310,2185,0,0,0,0,0,0,24.46,24.40,23.38
$GC,6553,1.28,165.2,3154,1857,2310,2180,309.1,9.7,298,6567,0.00,2.78,6.07,0.599,8708,0.000,0.046,3154,272,2225,2288,2162,0,0,0,0,0,0,24.69,24.18,23.53
$GC,6590,1.29,171.0,3154,272,2288,2162,309.1,9.7,298,6603,0.00,2.60,6.93,0.617,9222,0.000,0.024,3154,1856,2201,2263,2140,0,0,0,0,0,0,24.44,24.37,23.45
$GC,6881,1.29,171.0,3154,1856,2263,2136,273.7,10.7,306,6886,0.00,2.72,0.00,0.000,260,0.000,0.056,3155,3430,2199,2262,2136,0,0,0,0,0,0,24.69,24.38,24.71
$GC,6979,1.29,171.0,3154,3430,2261,2136,263.8,11.2,308,6984,0.00,2.60,0.00,0.000,1030,0.000,0.027,3155,1839,2198,2261,2136,0,0,0,0,0,0,24.51,24.44,24.53
$GC,7248,1.29,171.0,3154,1839,2261,2134,232.1,11.1,315,7253,0.00,2.70,0.00,0.000,260,0.000,0.042,3154,3428,2197,2261,2134,0,0,0,0,0,0,24.74,24.43,24.75
$GC,7392,1.29,171.0,3154,3429,2261,2134,219.0,10.8,318,7397,0.00,2.58,0.00,0.000,1030,0.000,0.025,3155,1844,2197,2260,2134,0,0,0,0,0,0,24.56,24.49,24.58
$GC,7656,1.35,221.2,3154,1844,2261,2133,197.1,7.2,325,7710,0.10,2.72,44.45,0.648,10756,0.095,0.044,3187,269,1996,2040,1952,0,0,0,0,0,0,24.53,23.72,23.34
$GC,7724,1.35,221.2,3186,269,2039,1951,190.0,10.9,331,7729,0.00,2.60,0.00,0.000,1030,0.000,0.021,3187,1862,1995,2039,1951,0,0,0,0,0,0,24.30,24.24,24.31
$GC,7980,1.35,221.2,3186,1861,2039,1946,160.7,12.1,356,7985,0.00,2.58,0.00,0.000,260,0.000,0.037,3187,3418,1993,2039,1947,0,0,0,0,0,0,24.64,24.36,24.65
$GC,8135,1.35,221.2,3187,3418,2038,1947,141.3,12.7,370,8140,0.00,2.55,0.00,0.000,1030,0.000,0.021,3187,1832,1992,2038,1947,0,0,0,0,0,0,24.51,24.44,24.52
$GC,8390,1.36,225.7,3187,1832,2038,1944,113.5,9.8,395,8397,0.00,0.00,4.57,0.417,8198,0.000,0.000,3187,1832,1977,2022,1933,0,0,0,0,0,0,24.72,24.27,23.77
$GC,8654,1.39,248.1,3187,1832,2023,1933,88.7,8.8,431,8684,0.00,2.67,21.80,0.532,8452,0.000,0.031,3187,3430,1886,1928,1844,0,0,0,0,0,0,24.73,23.87,23.53
$GC,8763,1.39,248.1,3187,3430,1928,1844,77.5,10.5,449,8771,0.00,2.55,0.00,0.000,1030,0.000,0.019,3188,1844,1886,1928,1844,0,0,0,0,0,0,24.45,24.40,24.47
$GC,9036,1.39,248.1,3187,1844,1928,1842,49.5,10.7,498,9044,0.00,2.60,0.00,0.000,260,0.000,0.031,3187,3423,1885,1928,1842,0,0,0,0,0,0,24.70,24.44,24.72
$GC,9064,1.39,248.1,3186,3423,1928,1842,46.6,10.3,502,9072,0.00,2.53,0.00,0.000,1030,0.000,0.019,3187,1840,1885,1929,1842,0,0,0,0,0,0,24.53,24.48,24.54
$GC,9339,1.42,275.8,3187,1840,1928,1842,20.5,8.4,551,9368,0.08,0.00,26.10,0.476,10246,0.097,0.000,3223,1840,1774,1820,1729,0,0,0,0,0,0,24.53,24.00,23.58
$STATE,9501,end climb,SURFACE_DEPTH_REACHED
$STATE,9501,begin surface coast
$FINISH,0.1,1.002940
$STATE,9536,end surface coast,CONTROL_FINISHED_OK
$STATE,9536,begin surface
$SM_CCo,9558,58.83,0.496,0,0,1349,380.21
$SM_GC,0.88,11.70,0.08,58.83,0.041,0.088,0.496,432,1991,1349,-7.27,-1.30,380.21,0,0,0,0,0,0,24.39,24.50,23.52
$IRIDIUM_FIX,2234.68,-15802.37,170618,064548
$TT8_MAMPS,0.021721,0.349034
$HUMID,56.49
$INTERNAL_PRESSURE,9.25217
$TCM_TEMP,22.90
$XPDR_PINGS,105
$24V_AH,23.08,76.629
$10V_AH,9.69,57.422
$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,25.900,119.200,352.775,58.825,0.000,24.837,45.246,199.209,26.250,0.000,32.127,1851.683,5399.061,531.167,2014.241,252.010,0.000,1287.065,0.000,1708.746,0.000,0.539,0.000
$DEVICE_MAMPS,166.005,255.510,857.565,495.720,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,393.649,335.770,501.645,736.849,900.852,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342840
$DATA_FILE_SIZE,47157,585
$CAP_FILE_SIZE,105811,0
$CFSIZE,259248128,220577792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,319.86,1
$GPS,170618,122657,2246.214,-15801.065,38,1.0,61,10.1,0.3,259.9,8,4.6