version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 672
start: 6 18 118 22 25 11
data:
$ID,148
$MISSION,15
$DIVE,672
$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,32
$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
$GPS1,180618,221750,2244.8210,-15759.7256,38,1.0,60,10.1,0.4,172.3,9,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-61.7
$GPS2,180618,222445,2244.8032,-15759.7656,11,1.0,15,10.1,0.4,159.4,8,5.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A8
$TGT_LATLONG,2245.000,-15805.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,252.0,8947,-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,-116.8,434,1848,1354,1333,0.0,0.0,0,91,0.00,0.00,-72.00,0.000,16386,0.000,0.000,434,1847,3362,3412,3312,0,0,0,0,0,0,24.57,28.83,24.58
$GC,95,-1.22,-116.8,434,1847,3411,3313,3.6,-7.9,10,118,10.80,2.50,-0.28,0.000,18948,0.171,0.037,2368,320,3378,3431,3326,0,0,0,0,0,0,24.12,23.42,24.29
$GC,276,-1.22,-116.8,2367,320,3432,3326,48.0,-20.8,41,284,0.00,2.53,0.00,0.000,1030,0.000,0.016,2368,1922,3379,3432,3326,0,0,0,0,0,0,24.48,24.44,24.49
$GC,555,-1.22,-116.8,2367,1922,3433,3326,92.9,-15.1,90,563,0.00,2.60,0.00,0.000,516,0.000,0.031,2368,324,3379,3433,3326,0,0,0,0,0,0,24.71,24.44,24.72
$GC,577,-1.22,-116.8,2367,324,3433,3326,96.4,-14.8,93,585,0.00,2.50,0.00,0.000,1030,0.000,0.015,2367,1922,3379,3433,3326,0,0,0,0,0,0,24.54,24.50,24.55
$GC,835,-1.22,-116.8,2367,1923,3433,3327,135.0,-15.2,120,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1923,3380,3433,3327,0,0,0,0,0,0,24.74,24.76,24.76
$GC,1085,-1.22,-116.8,2367,1923,3434,3328,168.8,-13.2,145,1091,0.00,2.45,0.00,0.000,260,0.000,0.025,2368,3463,3381,3435,3328,0,0,0,0,0,0,24.77,24.51,24.78
$GC,1099,-1.22,-116.8,2367,3463,3435,3328,170.8,-13.0,146,1105,0.00,2.45,0.00,0.000,1030,0.000,0.016,2368,1885,3381,3434,3328,0,0,0,0,0,0,24.60,24.56,24.60
$GC,1356,-1.22,-116.8,2367,1886,3436,3328,201.0,-11.9,171,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1886,3382,3436,3328,0,0,0,0,0,0,24.79,24.81,24.80
$GC,1593,-1.22,-116.8,2367,1886,3436,3328,229.2,-11.7,177,1598,0.00,2.53,0.00,0.000,260,0.000,0.027,2368,3459,3381,3435,3328,0,0,0,0,0,0,24.80,24.54,24.82
$GC,1646,-1.22,-116.8,2367,3459,3436,3328,233.9,-11.5,178,1651,0.00,2.40,0.00,0.000,1030,0.000,0.016,2367,1898,3382,3436,3329,0,0,0,0,0,0,24.63,24.59,24.65
$GC,1919,-1.22,-116.8,2367,1898,3436,3329,263.2,-10.5,185,1925,0.00,2.53,0.00,0.000,260,0.000,0.027,2368,3470,3382,3436,3329,0,0,0,0,0,0,24.82,24.56,24.84
$GC,1963,-1.22,-116.8,2367,3470,3435,3329,268.2,-10.9,186,1969,0.00,2.45,0.00,0.000,1030,0.000,0.016,2368,1890,3382,3436,3329,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2248,-1.22,-116.8,2367,1890,3436,3329,298.1,-10.3,193,2254,0.00,2.55,0.00,0.000,516,0.000,0.034,2368,334,3382,3436,3329,0,0,0,0,0,0,24.83,24.56,24.84
$GC,2331,-1.22,-116.8,2367,333,3435,3329,307.6,-10.8,195,2337,0.00,2.45,0.00,0.000,1030,0.000,0.017,2368,1893,3382,3436,3329,0,0,0,0,0,0,24.66,24.61,24.68
$GC,2617,-1.22,-116.8,2367,1893,3436,3327,334.7,-9.2,202,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1892,3382,3436,3328,0,0,0,0,0,0,24.84,24.87,24.86
$GC,2855,-1.22,-116.8,2367,1893,3435,3326,354.6,-8.0,208,2860,0.00,2.58,0.00,0.000,260,0.000,0.036,2368,3462,3381,3436,3326,0,0,0,0,0,0,24.85,24.57,24.87
$GC,2923,-1.22,-116.8,2367,3462,3436,3325,358.6,-8.3,209,2928,0.00,2.45,0.00,0.000,1030,0.000,0.018,2368,1901,3380,3436,3325,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3181,-1.22,-116.8,2367,1901,3435,3322,387.3,-10.3,216,3188,0.00,2.65,0.00,0.000,516,0.000,0.045,2367,333,3379,3436,3322,0,0,0,0,0,0,24.84,24.56,24.87
$GC,3255,-1.22,-116.8,2367,333,3436,3321,391.9,-10.2,217,3260,0.00,2.50,0.00,0.000,1030,0.000,0.021,2368,1899,3378,3436,3321,0,0,0,0,0,0,24.68,24.62,24.70
$GC,3508,-1.22,-116.8,2367,1899,3436,3318,419.2,-9.5,224,3513,0.00,2.65,0.00,0.000,516,0.000,0.047,2368,331,3376,3436,3317,0,0,0,0,0,0,24.87,24.55,24.88
$GC,3561,-1.22,-116.8,2367,331,3435,3317,423.4,-9.6,225,3568,0.00,2.53,0.00,0.000,1030,0.000,0.024,2368,1899,3376,3436,3317,0,0,0,0,0,0,24.68,24.62,24.70
$GC,3836,-1.22,-116.8,2367,1899,3435,3313,448.7,-8.4,232,3842,0.00,2.65,0.00,0.000,260,0.000,0.046,2368,3474,3374,3435,3313,0,0,0,0,0,0,24.87,24.56,24.89
$GC,3854,-1.22,-116.8,2367,3474,3435,3313,448.7,-8.4,232,3859,0.00,2.50,0.00,0.000,1030,0.000,0.024,2368,1906,3373,3435,3312,0,0,0,0,0,0,24.68,24.63,24.70
$GC,4123,-1.22,-116.8,2367,1906,3435,3310,472.6,-8.8,239,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1906,3372,3435,3309,0,0,0,0,0,0,24.85,24.88,24.87
$GC,4363,-1.22,-116.8,2367,1906,3435,3306,496.4,-10.0,245,4369,0.00,2.65,0.00,0.000,260,0.000,0.045,2368,3471,3370,3435,3306,0,0,0,0,0,0,24.87,24.56,24.89
$STATE,4404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4404,begin apogee
$GC,4413,-0.26,0.0,2367,1852,3435,3305,500.9,-10.1,246,4515,1.40,0.00,98.15,0.854,10246,0.087,0.000,2677,1852,2899,2960,2839,0,0,0,0,0,0,24.53,23.76,23.11
$STATE,4516,end apogee,CONTROL_FINISHED_OK
$STATE,4516,begin climb
$GC,4520,1.22,116.8,2677,1852,2960,2838,503.4,0.0,248,4633,1.98,2.80,101.28,0.835,10756,0.047,0.065,3152,276,2421,2485,2357,0,0,0,0,0,0,24.04,23.75,23.08
$GC,4667,1.22,116.8,3151,276,2485,2355,496.2,6.5,252,4673,0.00,2.62,0.00,0.000,1030,0.000,0.036,3152,1838,2419,2485,2354,0,0,0,0,0,0,24.27,24.19,24.29
$GC,4951,1.25,133.6,3151,1839,2485,2345,470.1,9.1,259,4974,0.00,2.85,15.12,0.766,8452,0.000,0.065,3152,3436,2354,2419,2290,0,0,0,0,0,0,24.61,23.89,23.23
$GC,5036,1.25,137.8,3151,3437,2417,2289,461.3,9.8,261,5047,0.00,2.60,5.00,0.588,9222,0.000,0.028,3152,1858,2337,2402,2273,0,0,0,0,0,0,24.39,24.31,23.41
$GC,5316,1.25,137.8,3151,1858,2402,2268,427.8,11.7,268,5321,0.00,2.72,0.00,0.000,260,0.000,0.047,3152,3442,2335,2402,2268,0,0,0,0,0,0,24.65,24.33,24.66
$GC,5433,1.25,137.8,3151,3443,2399,2268,417.9,11.6,270,5441,0.00,2.62,0.00,0.000,1030,0.000,0.028,3152,1844,2333,2399,2267,0,0,0,0,0,0,24.49,24.41,24.51
$GC,5679,1.25,137.8,3151,1845,2399,2266,387.0,10.6,277,5685,0.00,2.75,0.00,0.000,516,0.000,0.060,3152,268,2332,2399,2266,0,0,0,0,0,0,24.71,24.39,24.72
$GC,5713,1.25,137.8,3151,268,2399,2266,387.0,10.6,277,5719,0.00,2.62,0.00,0.000,1030,0.000,0.024,3152,1872,2332,2399,2266,0,0,0,0,0,0,24.53,24.46,24.54
$GC,5967,1.25,137.8,3151,1872,2399,2263,356.4,10.7,284,5972,0.00,2.75,0.00,0.000,516,0.000,0.047,3152,262,2331,2399,2263,0,0,0,0,0,0,24.74,24.43,24.75
$GC,5999,1.25,137.8,3151,262,2399,2263,356.4,10.7,284,6005,0.00,2.60,0.00,0.000,1030,0.000,0.024,3152,1856,2331,2399,2263,0,0,0,0,0,0,24.56,24.49,24.57
$GC,6253,1.26,146.7,3151,1857,2399,2261,327.6,9.5,291,6268,0.00,2.72,8.15,0.670,8452,0.000,0.060,3152,3428,2300,2366,2235,0,0,0,0,0,0,24.75,24.15,23.51
$GC,6400,1.28,159.5,3151,3428,2364,2235,316.2,9.3,294,6421,0.00,2.60,13.05,0.703,9222,0.000,0.026,3152,1845,2248,2311,2185,0,0,0,0,0,0,24.51,24.44,23.36
$GC,6700,1.32,190.6,3151,1845,2310,2178,289.5,8.3,302,6740,0.08,2.83,27.92,0.718,10756,0.103,0.055,3183,267,2122,2178,2066,0,0,0,0,0,0,24.46,23.87,23.26
$GC,6785,1.32,190.6,3182,267,2177,2064,279.7,10.0,304,6791,0.00,2.62,0.00,0.000,1030,0.000,0.022,3183,1855,2120,2177,2064,0,0,0,0,0,0,24.38,24.32,24.39
$GC,7070,1.32,190.6,3182,1855,2178,2061,245.7,11.4,311,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1855,2119,2178,2061,0,0,0,0,0,0,24.65,24.68,24.67
$GC,7310,1.32,195.8,3182,1855,2178,2059,221.8,9.7,317,7324,0.00,2.70,5.62,0.535,8452,0.000,0.050,3183,3418,2100,2158,2042,0,0,0,0,0,0,24.66,24.22,23.63
$GC,7428,1.32,195.8,3182,3418,2157,2042,212.8,10.2,319,7435,0.00,2.55,0.00,0.000,1030,0.000,0.028,3183,1843,2099,2158,2041,0,0,0,0,0,0,24.49,24.43,24.51
$GC,7672,1.32,195.8,3182,1843,2158,2039,180.2,11.6,338,7678,0.00,2.62,0.00,0.000,260,0.000,0.034,3183,3427,2099,2158,2040,0,0,0,0,0,0,24.70,24.43,24.72
$GC,7791,1.32,195.8,3182,3427,2157,2040,167.3,10.4,349,7798,0.00,2.55,0.00,0.000,1030,0.000,0.021,3183,1832,2098,2157,2040,0,0,0,0,0,0,24.55,24.49,24.56
$GC,8044,1.38,240.8,3182,1832,2157,2038,146.9,7.4,374,8094,0.00,0.00,40.35,0.599,8710,0.000,0.000,3183,1832,1916,1959,1874,0,0,0,0,0,0,24.75,23.73,23.39
$GC,8334,1.38,240.8,3182,1832,1959,1869,116.5,11.3,403,8339,0.00,2.62,0.00,0.000,260,0.000,0.031,3183,3430,1914,1959,1869,0,0,0,0,0,0,24.65,24.38,24.67
$GC,8496,1.38,240.8,3182,3430,1959,1869,96.3,13.0,420,8504,0.00,2.55,0.00,0.000,1030,0.000,0.019,3183,1841,1914,1959,1869,0,0,0,0,0,0,24.51,24.46,24.52
$GC,8772,1.38,244.6,3182,1840,1959,1869,67.2,9.8,469,8782,0.00,2.65,4.40,0.379,8452,0.000,0.031,3182,3430,1901,1946,1857,0,0,0,0,0,0,24.72,24.32,23.83
$GC,8846,1.39,252.2,3182,3430,1946,1857,59.8,9.6,481,8862,0.00,2.53,8.73,0.461,9222,0.000,0.019,3183,1845,1871,1917,1826,0,0,0,0,0,0,24.52,24.47,23.72
$GC,9131,1.42,274.8,3182,1845,1917,1824,34.1,8.7,531,9161,0.08,2.62,21.85,0.482,10756,0.098,0.034,3217,277,1778,1820,1736,0,0,0,0,0,0,24.49,23.90,23.61
$GC,9192,1.42,274.8,3216,277,1819,1735,28.0,11.5,540,9200,0.00,2.55,0.00,0.000,1030,0.000,0.018,3216,1872,1776,1818,1735,0,0,0,0,0,0,24.41,24.36,24.42
$STATE,9430,end climb,SURFACE_DEPTH_REACHED
$STATE,9430,begin surface coast
$FINISH,0.1,1.022054
$STATE,9458,end surface coast,CONTROL_FINISHED_OK
$STATE,9459,begin surface
$SM_CCo,9481,64.15,0.464,0,0,1350,380.21
$SM_GC,0.82,11.65,0.00,64.15,0.041,0.000,0.464,432,1872,1350,-7.26,-0.79,380.21,0,0,0,0,0,0,24.41,24.72,23.53
$IRIDIUM_FIX,2232.34,-15800.20,180618,192715
$TT8_MAMPS,0.021721,0.285369
$HUMID,55.86
$INTERNAL_PRESSURE,9.2717
$TCM_TEMP,22.90
$XPDR_PINGS,108
$24V_AH,23.08,77.921
$10V_AH,9.67,58.565
$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,25.975,119.550,349.625,64.150,0.000,28.692,49.483,196.164,27.000,0.000,18.977,1897.832,5215.399,537.903,2058.528,253.167,0.000,1322.678,0.000,1761.176,0.000,0.539,0.000
$DEVICE_MAMPS,170.595,65.025,853.740,463.590,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,394.759,339.605,515.031,732.998,899.655,0.000,0.000,0.000,0.000,0.000
$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,47366,587
$CAP_FILE_SIZE,105589,0
$CFSIZE,259248128,219832320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,284.46,1
$GPS,190618,010551,2244.684,-15801.314,14,1.1,54,10.1,0.5,164.1,6,4.7