version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 668
start: 6 18 118 11 12 47
data:
$ID,148
$MISSION,15
$DIVE,668
$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,50
$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
$GPS1,180618,110503,2245.6201,-15755.4824,10,1.1,32,10.1,0.5,278.6,8,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-63.4
$GPS2,180618,111209,2245.6008,-15755.4932,10,1.2,32,10.1,0.3,207.7,8,4.2
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,137.7,1395,-23.5,-10.040,-25.95,1361
$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,-1.35,-89.1,434,1884,1363,1326,0.0,0.0,0,89,0.00,0.00,-69.25,0.000,16390,0.000,0.000,435,1884,3265,3314,3217,0,0,0,0,0,0,24.59,23.56,24.61
$GC,93,-1.38,-116.8,435,1884,3314,3218,3.5,-7.7,10,116,10.48,2.58,-2.00,0.000,18948,0.170,0.040,2317,320,3380,3436,3324,0,0,0,0,0,0,24.12,23.45,24.30
$GC,251,-1.38,-116.8,2316,320,3436,3325,43.5,-18.4,37,260,0.00,2.50,0.00,0.000,1030,0.000,0.015,2317,1916,3380,3435,3326,0,0,0,0,0,0,24.49,24.44,24.50
$GC,530,-1.38,-116.8,2316,1917,3435,3326,94.3,-18.0,86,538,0.00,2.62,0.00,0.000,516,0.000,0.032,2317,311,3381,3436,3326,0,0,0,0,0,0,24.71,24.44,24.72
$GC,552,-1.38,-116.8,2316,311,3435,3326,98.8,-19.1,89,560,0.00,2.50,0.00,0.000,1030,0.000,0.016,2317,1905,3381,3435,3327,0,0,0,0,0,0,24.54,24.50,24.56
$GC,801,-1.38,-116.8,2316,1906,3435,3328,141.0,-17.1,114,806,0.00,2.55,0.00,0.000,516,0.000,0.028,2317,318,3381,3435,3328,0,0,0,0,0,0,24.75,24.49,24.76
$GC,814,-1.38,-116.8,2316,317,3436,3328,143.5,-16.7,115,819,0.00,2.47,0.00,0.000,1030,0.000,0.015,2317,1909,3382,3436,3328,0,0,0,0,0,0,24.58,24.53,24.59
$GC,1070,-1.38,-116.8,2316,1910,3436,3328,183.7,-15.2,140,1076,0.00,2.47,0.00,0.000,260,0.000,0.025,2317,3463,3382,3436,3328,0,0,0,0,0,0,24.77,24.51,24.79
$GC,1095,-1.38,-116.8,2316,3463,3436,3328,187.7,-15.2,142,1101,0.00,2.45,0.00,0.000,1030,0.000,0.016,2317,1884,3383,3437,3329,0,0,0,0,0,0,24.60,24.56,24.61
$GC,1360,-1.38,-116.8,2316,1884,3436,3329,219.4,-11.7,156,1366,0.00,2.53,0.00,0.000,260,0.000,0.026,2317,3461,3383,3436,3330,0,0,0,0,0,0,24.79,24.53,24.81
$GC,1383,-1.38,-116.8,2316,3461,3436,3330,219.4,-11.7,156,1389,0.00,2.42,0.00,0.000,1030,0.000,0.016,2317,1887,3383,3436,3330,0,0,0,0,0,0,24.63,24.58,24.63
$GC,1647,-1.38,-116.8,2316,1887,3436,3330,255.7,-12.6,163,1652,0.00,2.53,0.00,0.000,260,0.000,0.027,2317,3461,3383,3436,3330,0,0,0,0,0,0,24.81,24.56,24.82
$GC,1690,-1.38,-116.8,2316,3461,3436,3330,261.1,-12.4,164,1695,0.00,2.42,0.00,0.000,1030,0.000,0.016,2317,1895,3383,3436,3330,0,0,0,0,0,0,24.64,24.60,24.65
$GC,1973,-1.38,-116.8,2316,1895,3436,3330,293.4,-11.4,171,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1895,3383,3436,3330,0,0,0,0,0,0,24.83,24.84,24.84
$GC,2214,-1.38,-116.8,2316,1895,3436,3330,321.2,-11.7,177,2219,0.00,2.58,0.00,0.000,516,0.000,0.044,2317,336,3383,3437,3330,0,0,0,0,0,0,24.84,24.55,24.85
$GC,2252,-1.38,-116.8,2316,336,3436,3330,321.2,-11.7,177,2259,0.00,2.45,0.00,0.000,1030,0.000,0.018,2318,1888,3383,3436,3330,0,0,0,0,0,0,24.66,24.61,24.68
$GC,2497,-1.38,-116.8,2316,1888,3437,3328,353.6,-11.1,184,2503,0.00,2.58,0.00,0.000,516,0.000,0.041,2316,341,3382,3436,3329,0,0,0,0,0,0,24.85,24.55,24.86
$GC,2531,-1.38,-116.8,2316,341,3436,3328,353.6,-11.1,184,2536,0.00,2.47,0.00,0.000,1030,0.000,0.020,2316,1900,3382,3436,3329,0,0,0,0,0,0,24.66,24.61,24.68
$GC,2784,-1.38,-116.8,2316,1900,3436,3326,385.7,-11.0,191,2789,0.00,2.62,0.00,0.000,516,0.000,0.044,2317,338,3381,3437,3326,0,0,0,0,0,0,24.85,24.55,24.87
$GC,2817,-1.38,-116.8,2316,338,3436,3326,385.7,-11.0,191,2823,0.00,2.50,0.00,0.000,1030,0.000,0.022,2317,1901,3381,3436,3326,0,0,0,0,0,0,24.67,24.61,24.68
$GC,3072,-1.38,-116.8,2316,1902,3436,3322,416.3,-10.3,198,3078,0.00,2.62,0.00,0.000,516,0.000,0.053,2317,351,3379,3436,3322,0,0,0,0,0,0,24.86,24.54,24.87
$GC,3140,-1.38,-116.8,2316,351,3436,3322,421.0,-10.3,199,3146,0.00,2.50,0.00,0.000,1030,0.000,0.024,2317,1900,3378,3436,3321,0,0,0,0,0,0,24.68,24.61,24.68
$GC,3399,-1.38,-116.8,2316,1899,3436,3318,447.5,-9.2,206,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1899,3377,3436,3318,0,0,0,0,0,0,24.85,24.87,24.87
$GC,3639,-1.38,-116.8,2316,1899,3436,3315,472.1,-10.4,212,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1900,3375,3436,3315,0,0,0,0,0,0,24.85,24.88,24.87
$GC,3879,-1.38,-116.8,2316,1899,3436,3311,499.3,-11.4,218,3885,0.00,2.67,0.00,0.000,260,0.000,0.050,2317,3470,3373,3436,3311,0,0,0,0,0,0,24.86,24.56,24.88
$STATE,3922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3922,begin apogee
$GC,3931,-0.26,0.0,2316,1872,3436,3311,504.4,-11.4,219,4034,1.65,0.00,98.28,0.858,10246,0.089,0.000,2680,1872,2900,2961,2840,0,0,0,0,0,0,24.53,23.76,23.12
$STATE,4035,end apogee,CONTROL_FINISHED_OK
$STATE,4035,begin climb
$GC,4038,1.38,116.8,2679,1872,2961,2839,507.5,0.0,221,4151,2.15,2.85,101.12,0.832,10756,0.041,0.060,3206,276,2422,2485,2359,0,0,0,0,0,0,24.08,23.77,23.11
$GC,4188,1.38,116.8,3206,276,2485,2355,498.6,7.8,225,4194,0.00,2.62,0.00,0.000,1030,0.000,0.031,3206,1840,2419,2484,2355,0,0,0,0,0,0,24.28,24.20,24.30
$GC,4467,1.38,116.8,3205,1840,2485,2346,467.8,10.5,232,4473,0.00,2.83,0.00,0.000,260,0.000,0.067,3206,3433,2415,2484,2346,0,0,0,0,0,0,24.61,24.30,24.63
$GC,4715,1.38,116.8,3205,3433,2480,2344,439.5,11.9,238,4721,0.00,2.60,0.00,0.000,1030,0.000,0.028,3206,1858,2412,2480,2344,0,0,0,0,0,0,24.49,24.41,24.51
$GC,4995,1.38,116.8,3206,1858,2480,2342,407.4,11.1,245,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1858,2411,2480,2342,0,0,0,0,0,0,24.72,24.74,24.74
$GC,5234,1.38,116.8,3206,1858,2480,2341,380.6,11.3,251,5239,0.00,2.78,0.00,0.000,516,0.000,0.061,3206,269,2410,2480,2341,0,0,0,0,0,0,24.70,24.41,24.72
$GC,5263,1.38,116.8,3206,269,2479,2341,380.6,11.3,251,5269,0.00,2.60,0.00,0.000,1030,0.000,0.024,3206,1861,2410,2479,2341,0,0,0,0,0,0,24.56,24.49,24.57
$GC,5523,1.38,116.8,3206,1861,2478,2339,349.7,10.5,258,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1861,2408,2478,2338,0,0,0,0,0,0,24.75,24.78,24.77
$GC,5762,1.39,125.5,3206,1861,2478,2337,327.0,9.4,264,5777,0.00,2.80,6.25,0.616,8708,0.000,0.047,3207,265,2387,2455,2320,0,0,0,0,0,0,24.73,24.24,23.58
$GC,5819,1.40,131.6,3206,264,2455,2320,322.7,9.6,265,5833,0.00,2.60,7.32,0.636,9222,0.000,0.024,3206,1853,2362,2429,2296,0,0,0,0,0,0,24.50,24.44,23.49
$GC,6088,1.40,131.6,3206,1853,2429,2292,293.4,10.4,272,6093,0.00,2.70,0.00,0.000,516,0.000,0.045,3206,266,2360,2429,2292,0,0,0,0,0,0,24.71,24.41,24.73
$GC,6105,1.40,131.6,3206,266,2428,2292,293.4,10.4,272,6111,0.00,2.60,0.00,0.000,1030,0.000,0.024,3207,1853,2360,2428,2292,0,0,0,0,0,0,24.53,24.46,24.54
$GC,6374,1.40,131.6,3206,1853,2428,2290,263.3,10.1,279,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1853,2359,2429,2290,0,0,0,0,0,0,24.75,24.77,24.77
$GC,6615,1.44,162.4,3206,1853,2428,2289,243.9,7.7,285,6646,0.00,0.00,27.58,0.684,8454,0.000,0.000,3206,1853,2236,2298,2175,0,0,0,0,0,0,24.77,23.87,23.33
$GC,6894,1.45,170.7,3205,1853,2297,2169,218.6,9.4,292,6909,0.00,2.70,8.02,0.581,8452,0.000,0.054,3206,3434,2203,2265,2142,0,0,0,0,0,0,24.67,24.12,23.54
$GC,6951,1.46,175.8,3206,3434,2263,2142,214.2,9.7,293,6966,0.00,2.60,6.32,0.539,9222,0.000,0.030,3206,1833,2181,2241,2122,0,0,0,0,0,0,24.42,24.36,23.54
$GC,7212,1.46,181.8,3206,1833,2241,2119,185.2,9.6,308,7224,0.00,2.72,6.68,0.535,8452,0.000,0.034,3206,3434,2156,2215,2097,0,0,0,0,0,0,24.67,24.18,23.61
$GC,7477,1.46,181.8,3206,3434,2212,2098,155.5,10.2,333,7486,0.00,2.58,0.00,0.000,1030,0.000,0.021,3206,1833,2154,2212,2097,0,0,0,0,0,0,24.52,24.47,24.53
$GC,7728,1.50,213.2,3206,1833,2212,2097,135.2,7.7,358,7767,0.08,2.72,28.48,0.578,10500,0.102,0.032,3238,3443,2029,2080,1979,0,0,0,0,0,0,24.51,23.95,23.44
$GC,7904,1.50,213.2,3237,3443,2079,1977,115.9,11.6,374,7909,0.00,2.55,0.00,0.000,1030,0.000,0.020,3238,1851,2028,2080,1977,0,0,0,0,0,0,24.46,24.41,24.48
$GC,8164,1.52,230.5,3237,1851,2080,1974,89.2,8.7,408,8185,0.00,0.00,16.10,0.518,8198,0.000,0.000,3238,1851,1958,2002,1915,0,0,0,0,0,0,24.70,23.89,23.58
$GC,8452,1.52,230.5,3237,1851,2002,1913,59.7,10.1,459,8459,0.00,2.62,0.00,0.000,260,0.000,0.032,3238,3443,1957,2002,1913,0,0,0,0,0,0,24.69,24.42,24.70
$GC,8549,1.52,230.5,3237,3443,2002,1913,49.2,10.9,476,8557,0.00,2.55,0.00,0.000,1030,0.000,0.019,3238,1850,1957,2001,1913,0,0,0,0,0,0,24.53,24.48,24.55
$GC,8825,1.53,238.6,3237,1850,2002,1913,23.3,9.4,525,8840,0.00,2.60,8.32,0.429,8452,0.000,0.029,3238,3440,1927,1972,1882,0,0,0,0,0,0,24.75,24.14,23.82
$STATE,9017,end climb,SURFACE_DEPTH_REACHED
$STATE,9017,begin surface coast
$FINISH,0.2,1.022771
$STATE,9046,end surface coast,CONTROL_FINISHED_OK
$STATE,9046,begin surface
$SM_CCo,9072,81.35,0.467,0,0,1349,380.21
$SM_GC,0.82,11.82,2.50,81.35,0.045,0.018,0.467,434,1883,1349,-7.26,0.96,380.21,0,0,0,0,0,0,24.44,24.50,23.53
$IRIDIUM_FIX,2237.01,-15757.16,180618,081739
$TT8_MAMPS,0.021721,0.346038
$HUMID,55.43
$INTERNAL_PRESSURE,9.26193
$TCM_TEMP,22.40
$XPDR_PINGS,67
$24V_AH,23.11,77.523
$10V_AH,9.63,58.212
$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,26.175,108.825,314.475,81.350,0.000,31.451,45.272,190.912,16.750,0.000,34.936,1776.889,5110.513,518.149,1938.947,250.112,0.000,1227.951,0.000,1641.268,0.000,0.539,0.000
$DEVICE_MAMPS,169.830,66.555,858.330,466.650,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,379.892,328.232,504.146,723.416,883.963,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342844
$DATA_FILE_SIZE,47138,564
$CAP_FILE_SIZE,97531,0
$CFSIZE,259248128,220069888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,258.92,1
$GPS,180618,134633,2244.871,-15755.056,10,1.1,32,10.1,1.0,309.0,9,4.2