version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 670
start: 6 18 118 16 46 41
data:
$ID,148
$MISSION,15
$DIVE,670
$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,34
$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
$GPS1,180618,163904,2244.3840,-15756.8076,43,0.9,43,10.1,0.1,191.9,9,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-62.8
$GPS2,180618,164615,2244.3662,-15756.8711,13,1.4,29,10.1,0.2,246.2,8,4.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A8
$TGT_LATLONG,2245.000,-15805.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,283.0,13933,-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,16,-1.22,-116.8,432,1811,1356,1332,0.0,0.0,0,91,0.00,0.00,-71.65,0.000,16386,0.000,0.000,432,1811,3337,3385,3289,0,0,0,0,0,0,24.58,28.83,24.59
$GC,95,-1.22,-116.8,432,1811,3385,3290,3.4,-7.1,10,117,10.88,2.72,-0.73,0.000,18692,0.173,0.034,2369,3487,3379,3433,3326,0,0,0,0,0,0,24.11,23.42,24.28
$GC,293,-1.22,-116.8,2368,3487,3435,3327,51.2,-19.5,44,301,0.00,2.53,0.00,0.000,1030,0.000,0.018,2369,1887,3381,3436,3327,0,0,0,0,0,0,24.48,24.43,24.49
$GC,571,-1.22,-116.8,2368,1887,3436,3327,100.7,-16.3,93,577,0.00,2.58,0.00,0.000,260,0.000,0.027,2369,3490,3381,3436,3327,0,0,0,0,0,0,24.70,24.45,24.72
$GC,596,-1.22,-116.8,2368,3490,3436,3327,105.0,-17.1,95,602,0.00,2.50,0.00,0.000,1030,0.000,0.016,2369,1882,3382,3437,3327,0,0,0,0,0,0,24.53,24.49,24.55
$GC,852,-1.22,-116.8,2368,1882,3436,3328,142.8,-13.8,120,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1882,3382,3437,3328,0,0,0,0,0,0,24.75,24.76,24.75
$GC,1101,-1.22,-116.8,2368,1882,3437,3328,175.6,-13.0,145,1106,0.00,2.58,0.00,0.000,260,0.000,0.027,2369,3487,3383,3438,3328,0,0,0,0,0,0,24.77,24.51,24.78
$GC,1176,-1.22,-116.8,2368,3487,3437,3328,186.1,-14.2,152,1182,0.00,2.47,0.00,0.000,1030,0.000,0.016,2369,1891,3382,3437,3328,0,0,0,0,0,0,24.60,24.56,24.61
$GC,1450,-1.22,-116.8,2368,1891,3438,3329,217.4,-10.6,167,1455,0.00,2.53,0.00,0.000,516,0.000,0.031,2368,325,3383,3438,3329,0,0,0,0,0,0,24.79,24.53,24.80
$GC,1528,-1.22,-116.8,2368,325,3438,3329,221.8,-10.2,168,1535,0.00,2.47,0.00,0.000,1030,0.000,0.015,2369,1926,3383,3438,3329,0,0,0,0,0,0,24.63,24.58,24.64
$GC,1773,-1.22,-116.8,2368,1926,3438,3329,250.5,-10.4,175,1778,0.00,2.45,0.00,0.000,260,0.000,0.028,2369,3463,3383,3438,3329,0,0,0,0,0,0,24.81,24.55,24.82
$GC,1800,-1.22,-116.8,2368,3463,3438,3329,250.5,-10.4,175,1806,0.00,2.42,0.00,0.000,1030,0.000,0.016,2369,1892,3383,3438,3329,0,0,0,0,0,0,24.64,24.59,24.65
$GC,2060,-1.22,-116.8,2368,1892,3438,3329,280.0,-9.9,182,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1892,3383,3438,3329,0,0,0,0,0,0,24.82,24.84,24.84
$GC,2299,-1.22,-116.8,2368,1892,3438,3329,302.1,-8.9,188,2305,0.00,2.55,0.00,0.000,260,0.000,0.031,2369,3460,3383,3438,3329,0,0,0,0,0,0,24.83,24.56,24.84
$GC,2332,-1.22,-116.8,2368,3460,3438,3329,302.1,-8.9,188,2338,0.00,2.42,0.00,0.000,1030,0.000,0.017,2369,1901,3383,3438,3329,0,0,0,0,0,0,24.65,24.61,24.67
$GC,2586,-1.22,-116.8,2368,1902,3438,3328,332.6,-10.8,195,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1901,3383,3438,3328,0,0,0,0,0,0,24.84,24.86,24.85
$GC,2827,-1.22,-116.8,2368,1901,3438,3327,357.2,-10.0,201,2832,0.00,2.58,0.00,0.000,516,0.000,0.041,2369,337,3382,3438,3327,0,0,0,0,0,0,24.84,24.56,24.87
$GC,2856,-1.22,-116.8,2368,337,3438,3326,357.2,-10.0,201,2862,0.00,2.45,0.00,0.000,1030,0.000,0.027,2369,1880,3382,3438,3326,0,0,0,0,0,0,24.67,24.61,24.68
$GC,3116,-1.22,-116.8,2368,1880,3438,3323,383.8,-8.8,208,3121,0.00,2.62,0.00,0.000,260,0.000,0.040,2369,3471,3380,3438,3323,0,0,0,0,0,0,24.84,24.56,24.86
$GC,3203,-1.22,-116.8,2368,3471,3438,3322,391.6,-9.0,210,3209,0.00,2.47,0.00,0.000,1030,0.000,0.020,2369,1909,3380,3438,3322,0,0,0,0,0,0,24.68,24.63,24.69
$GC,3482,-1.22,-116.8,2368,1909,3438,3318,417.9,-9.5,217,3488,0.00,2.62,0.00,0.000,260,0.000,0.043,2369,3472,3378,3438,3318,0,0,0,0,0,0,24.86,24.56,24.87
$GC,3517,-1.22,-116.8,2368,3473,3438,3318,417.9,-9.5,217,3522,0.00,2.50,0.00,0.000,1030,0.000,0.022,2369,1899,3378,3438,3318,0,0,0,0,0,0,24.68,24.63,24.69
$GC,3772,-1.22,-116.8,2368,1899,3438,3315,446.6,-9.8,224,3777,0.00,2.65,0.00,0.000,516,0.000,0.049,2369,325,3376,3438,3315,0,0,0,0,0,0,24.86,24.55,24.87
$GC,3830,-1.22,-116.8,2368,324,3438,3314,451.0,-9.8,225,3836,0.00,2.55,0.00,0.000,1030,0.000,0.025,2369,1900,3376,3438,3314,0,0,0,0,0,0,24.67,24.60,24.68
$GC,4100,-1.22,-116.8,2368,1900,3438,3311,477.8,-9.2,232,4105,0.00,2.70,0.00,0.000,516,0.000,0.051,2369,332,3374,3438,3311,0,0,0,0,0,0,24.84,24.53,24.87
$GC,4117,-1.22,-116.8,2368,333,3438,3311,477.8,-9.2,232,4122,0.00,2.55,0.00,0.000,1030,0.000,0.028,2369,1898,3374,3438,3311,0,0,0,0,0,0,24.66,24.59,24.68
$STATE,4343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4343,begin apogee
$GC,4349,-0.26,0.0,2369,1898,3438,3308,500.2,-9.1,238,4451,1.40,0.00,98.05,0.862,10246,0.083,0.000,2682,1898,2900,2963,2837,0,0,0,0,0,0,24.53,23.75,23.11
$STATE,4452,end apogee,CONTROL_FINISHED_OK
$STATE,4452,begin climb
$GC,4454,1.22,116.8,2681,1898,2963,2836,502.6,0.0,240,4568,1.92,2.90,101.32,0.834,10756,0.045,0.057,3147,278,2422,2489,2356,0,0,0,0,0,0,24.04,23.75,23.10
$GC,4605,1.22,116.8,3147,278,2487,2352,496.1,6.2,244,4610,0.00,2.62,0.00,0.000,1030,0.000,0.029,3147,1850,2419,2487,2352,0,0,0,0,0,0,24.28,24.20,24.30
$GC,4884,1.23,124.5,3147,1850,2486,2343,468.7,9.6,251,4902,0.00,2.85,7.10,0.672,8452,0.000,0.067,3147,3429,2391,2459,2323,0,0,0,0,0,0,24.61,24.06,23.38
$GC,5131,1.23,124.5,3147,3429,2456,2320,440.9,11.3,257,5136,0.00,2.60,0.00,0.000,1030,0.000,0.029,3147,1859,2388,2457,2320,0,0,0,0,0,0,24.47,24.39,24.49
$GC,5415,1.26,144.1,3146,1858,2457,2318,414.8,8.9,264,5435,0.00,0.00,18.48,0.769,8198,0.000,0.000,3147,1858,2311,2375,2248,0,0,0,0,0,0,24.70,23.86,23.24
$GC,5654,1.26,144.7,3147,1858,2374,2242,391.1,10.0,270,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1858,2308,2374,2242,0,0,0,0,0,0,24.65,24.68,24.67
$GC,5895,1.26,144.7,3146,1859,2374,2240,365.4,10.7,276,5901,0.00,2.70,0.00,0.000,260,0.000,0.047,3147,3439,2307,2374,2240,0,0,0,0,0,0,24.70,24.38,24.72
$GC,6007,1.26,144.7,3146,3440,2372,2240,355.4,11.4,278,6013,0.00,2.60,0.00,0.000,1030,0.000,0.028,3147,1850,2306,2372,2240,0,0,0,0,0,0,24.52,24.44,24.53
$GC,6260,1.26,144.7,3147,1850,2373,2239,324.8,10.4,285,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1850,2305,2372,2239,0,0,0,0,0,0,24.73,24.76,24.75
$GC,6502,1.27,150.8,3147,1850,2373,2238,301.3,9.7,291,6510,0.00,0.00,6.43,0.604,8198,0.000,0.000,3147,1850,2284,2350,2218,0,0,0,0,0,0,24.75,24.18,23.59
$GC,6740,1.27,150.8,3146,1850,2350,2216,276.0,10.5,297,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1850,2283,2350,2216,0,0,0,0,0,0,24.69,24.71,24.70
$GC,6981,1.32,191.2,3147,1850,2350,2215,256.5,7.7,303,7026,0.08,2.75,36.67,0.695,10500,0.103,0.041,3178,3439,2118,2174,2063,0,0,0,0,0,0,24.52,23.87,23.29
$GC,7059,1.37,236.1,3178,3439,2172,2063,253.5,7.5,304,7105,0.00,2.62,40.30,0.679,9222,0.000,0.026,3179,1835,1936,1974,1899,0,0,0,0,0,0,24.34,24.27,23.25
$GC,7344,1.37,236.1,3178,1835,1973,1891,215.6,12.0,312,7349,0.00,2.70,0.00,0.000,260,0.000,0.039,3179,3436,1931,1973,1890,0,0,0,0,0,0,24.61,24.30,24.63
$GC,7571,1.37,236.1,3178,3436,1973,1890,188.4,11.1,322,7577,0.00,2.58,0.00,0.000,1030,0.000,0.022,3179,1838,1931,1973,1889,0,0,0,0,0,0,24.49,24.42,24.50
$GC,7826,1.37,236.1,3178,1838,1973,1887,158.1,11.9,347,7832,0.00,2.65,0.00,0.000,260,0.000,0.033,3179,3446,1930,1973,1887,0,0,0,0,0,0,24.70,24.43,24.72
$GC,8031,1.37,236.1,3178,3446,1973,1887,135.0,10.5,364,8039,0.00,2.58,0.00,0.000,1030,0.000,0.020,3178,1836,1929,1972,1887,0,0,0,0,0,0,24.55,24.49,24.56
$GC,8282,1.37,236.1,3178,1836,1973,1886,110.7,10.4,389,8288,0.00,2.62,0.00,0.000,260,0.000,0.032,3179,3446,1929,1973,1886,0,0,0,0,0,0,24.75,24.47,24.77
$GC,8374,1.37,236.1,3178,3446,1973,1886,100.9,10.3,397,8381,0.00,2.53,0.00,0.000,1030,0.000,0.020,3179,1848,1929,1973,1886,0,0,0,0,0,0,24.58,24.52,24.60
$GC,8652,1.42,272.1,3178,1848,1973,1886,74.8,8.0,446,8696,0.08,2.67,32.92,0.518,10500,0.097,0.032,3213,3436,1789,1828,1750,0,0,0,0,0,0,24.56,23.97,23.51
$GC,8786,1.42,272.1,3212,3436,1829,1750,60.2,11.8,468,8794,0.00,2.55,0.00,0.000,1030,0.000,0.020,3213,1846,1788,1828,1749,0,0,0,0,0,0,24.44,24.39,24.46
$GC,9059,1.42,272.1,3212,1846,1828,1746,31.1,10.6,517,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1846,1788,1829,1747,0,0,0,0,0,0,24.70,24.72,24.71
$STATE,9321,end climb,SURFACE_DEPTH_REACHED
$STATE,9321,begin surface coast
$FINISH,0.1,1.022853
$STATE,9350,end surface coast,CONTROL_FINISHED_OK
$STATE,9350,begin surface
$SM_CCo,9373,61.42,0.461,0,0,1349,380.21
$SM_GC,0.95,11.60,0.10,61.42,0.040,0.071,0.461,433,1984,1349,-7.26,-0.74,380.21,0,0,0,0,0,0,24.45,24.57,23.54
$IRIDIUM_FIX,2237.01,-15757.16,180618,134822
$TT8_MAMPS,0.021721,0.346038
$HUMID,55.19
$INTERNAL_PRESSURE,9.26193
$TCM_TEMP,22.50
$XPDR_PINGS,84
$24V_AH,23.10,77.722
$10V_AH,9.64,58.387
$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,25.950,98.700,341.275,61.425,0.000,26.356,48.509,201.264,21.000,0.000,31.552,1834.435,5272.390,517.545,2009.996,236.968,0.000,1247.907,0.000,1696.088,0.000,0.539,0.000
$DEVICE_MAMPS,172.890,71.145,862.155,461.295,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,383.271,324.821,487.120,709.744,877.220,0.000,0.000,0.000,0.000,0.000
$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,47353,569
$CAP_FILE_SIZE,99428,0
$CFSIZE,259248128,219951104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4893.41,0x2338b8,1,24
$CURRENT,0.077,230.92,1
$GPS,180618,192520,2244.371,-15758.264,10,1.5,43,10.1,0.8,283.0,8,5.3