version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 673
start: 6 19 118 1 13 28
data:
$ID,148
$MISSION,15
$DIVE,673
$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,43
$R_STBD_OVSHOOT,49
$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
$GPS1,190618,010551,2244.6838,-15801.3145,14,1.1,54,10.1,0.5,164.1,6,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-62.2
$GPS2,190618,011302,2244.6777,-15801.3857,11,1.1,27,10.1,0.8,285.7,8,4.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A8
$TGT_LATLONG,2245.000,-15805.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,262.4,6200,-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,-116.8,432,1876,1359,1330,0.0,0.0,0,89,0.00,0.00,-70.18,0.000,16386,0.000,0.000,432,1877,3316,3364,3269,0,0,0,0,0,0,24.57,28.83,24.59
$GC,93,-1.22,-116.8,432,1877,3364,3269,3.4,-7.5,10,115,10.62,2.58,-1.10,0.000,18948,0.164,0.038,2369,315,3378,3433,3324,0,0,0,0,0,0,24.13,23.44,24.30
$GC,314,-1.22,-116.8,2369,315,3434,3325,54.9,-19.5,48,321,0.00,2.50,0.00,0.000,1030,0.000,0.015,2369,1913,3380,3435,3325,0,0,0,0,0,0,24.49,24.46,24.51
$GC,592,-1.22,-116.8,2368,1913,3434,3326,101.7,-16.2,96,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1913,3380,3435,3326,0,0,0,0,0,0,24.72,24.73,24.73
$GC,842,-1.22,-116.8,2369,1913,3435,3327,138.1,-14.0,121,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1913,3381,3435,3327,0,0,0,0,0,0,24.75,24.77,24.76
$GC,1081,-1.22,-116.8,2369,1913,3435,3328,169.3,-13.0,145,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1913,3381,3435,3328,0,0,0,0,0,0,24.77,24.79,24.78
$GC,1321,-1.22,-116.8,2369,1913,3436,3329,198.1,-10.4,169,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1913,3382,3436,3329,0,0,0,0,0,0,24.79,24.81,24.80
$GC,1581,-1.22,-116.8,2369,1913,3437,3329,225.3,-11.0,177,1587,0.00,2.47,0.00,0.000,260,0.000,0.028,2369,3463,3383,3436,3330,0,0,0,0,0,0,24.80,24.55,24.82
$GC,1699,-1.22,-116.8,2369,3463,3437,3329,234.4,-10.8,179,1706,0.00,2.42,0.00,0.000,1030,0.000,0.016,2369,1887,3383,3437,3329,0,0,0,0,0,0,24.64,24.59,24.65
$GC,1946,-1.22,-116.8,2369,1887,3437,3329,261.2,-9.1,186,1951,0.00,2.53,0.00,0.000,516,0.000,0.032,2369,326,3383,3437,3329,0,0,0,0,0,0,24.82,24.56,24.84
$GC,2014,-1.22,-116.8,2369,326,3436,3329,265.3,-9.3,187,2019,0.00,2.45,0.00,0.000,1030,0.000,0.017,2369,1902,3383,3437,3329,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2272,-1.22,-116.8,2369,1902,3437,3329,291.7,-9.4,194,2278,0.00,2.58,0.00,0.000,516,0.000,0.034,2369,338,3383,3437,3329,0,0,0,0,0,0,24.84,24.56,24.85
$GC,2331,-1.22,-116.8,2369,338,3437,3329,296.1,-9.5,195,2337,0.00,2.45,0.00,0.000,1030,0.000,0.018,2369,1900,3383,3437,3329,0,0,0,0,0,0,24.66,24.61,24.67
$GC,2600,-1.22,-116.8,2369,1899,3437,3327,325.8,-11.1,202,2605,0.00,2.55,0.00,0.000,260,0.000,0.034,2369,3467,3382,3437,3327,0,0,0,0,0,0,24.84,24.57,24.86
$GC,2637,-1.22,-116.8,2369,3468,3436,3327,325.8,-11.1,202,2644,0.00,2.45,0.00,0.000,1030,0.000,0.018,2369,1895,3382,3437,3327,0,0,0,0,0,0,24.67,24.62,24.68
$GC,2883,-1.22,-116.8,2369,1896,3436,3324,359.9,-11.5,209,2890,0.00,2.60,0.00,0.000,260,0.000,0.038,2369,3466,3380,3436,3324,0,0,0,0,0,0,24.85,24.56,24.87
$GC,2917,-1.22,-116.8,2369,3466,3436,3324,359.9,-11.5,209,2922,0.00,2.45,0.00,0.000,1030,0.000,0.018,2369,1899,3380,3437,3324,0,0,0,0,0,0,24.68,24.63,24.69
$GC,3170,-1.22,-116.8,2369,1900,3437,3321,386.1,-8.7,216,3176,0.00,2.62,0.00,0.000,516,0.000,0.050,2369,334,3378,3436,3321,0,0,0,0,0,0,24.86,24.56,24.87
$GC,3229,-1.22,-116.8,2369,334,3436,3320,389.9,-8.5,217,3235,0.00,2.50,0.00,0.000,1030,0.000,0.021,2369,1901,3377,3436,3319,0,0,0,0,0,0,24.68,24.61,24.69
$GC,3498,-1.22,-116.8,2369,1900,3436,3317,411.5,-7.6,224,3504,0.00,2.65,0.00,0.000,516,0.000,0.046,2369,342,3376,3436,3317,0,0,0,0,0,0,24.86,24.56,24.88
$GC,3542,-1.22,-116.8,2369,342,3437,3316,415.1,-7.8,225,3548,0.00,2.53,0.00,0.000,1030,0.000,0.023,2369,1909,3376,3436,3316,0,0,0,0,0,0,24.68,24.61,24.70
$GC,3827,-1.22,-116.8,2368,1910,3436,3312,439.0,-8.8,232,3833,0.00,2.62,0.00,0.000,260,0.000,0.046,2369,3475,3374,3436,3312,0,0,0,0,0,0,24.85,24.56,24.87
$GC,3871,-1.22,-116.8,2369,3475,3436,3311,443.4,-9.1,233,3876,0.00,2.50,0.00,0.000,1030,0.000,0.024,2369,1912,3373,3436,3311,0,0,0,0,0,0,24.68,24.63,24.70
$GC,4154,-1.22,-116.8,2369,1912,3436,3308,472.8,-10.5,240,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1912,3372,3436,3308,0,0,0,0,0,0,24.87,24.89,24.88
$GC,4395,-1.22,-116.8,2369,1912,3436,3304,499.5,-11.1,246,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1912,3370,3436,3304,0,0,0,0,0,0,24.86,24.89,24.88
$STATE,4431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4432,begin apogee
$GC,4438,-0.26,0.0,2369,1831,3437,3303,503.8,-10.9,247,4540,1.38,0.00,98.00,0.861,10246,0.083,0.000,2678,1830,2900,2961,2839,0,0,0,0,0,0,24.54,23.75,23.11
$STATE,4541,end apogee,CONTROL_FINISHED_OK
$STATE,4541,begin climb
$GC,4544,1.22,116.8,2678,1831,2961,2838,506.7,0.0,249,4658,1.95,2.72,101.60,0.837,10756,0.048,0.057,3152,293,2421,2485,2357,0,0,0,0,0,0,24.05,23.76,23.10
$GC,4711,1.22,116.8,3152,293,2485,2353,499.2,6.7,253,4717,0.00,2.58,0.00,0.000,1030,0.000,0.030,3152,1835,2419,2485,2353,0,0,0,0,0,0,24.31,24.22,24.32
$GC,4974,1.22,116.8,3152,1836,2484,2345,468.8,10.6,260,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1836,2414,2484,2344,0,0,0,0,0,0,24.61,24.64,24.63
$GC,5216,1.23,117.6,3152,1836,2483,2342,444.2,10.0,266,5221,0.00,2.80,0.00,0.000,260,0.000,0.064,3152,3436,2412,2482,2342,0,0,0,0,0,0,24.68,24.35,24.70
$GC,5549,1.25,138.6,3152,3436,2478,2342,413.6,8.8,274,5573,0.00,2.58,18.55,0.780,9222,0.000,0.033,3152,1868,2333,2397,2269,0,0,0,0,0,0,24.53,24.46,23.24
$GC,5814,1.26,144.8,3152,1868,2397,2263,387.6,9.7,280,5829,0.00,2.83,6.65,0.653,8708,0.000,0.059,3152,262,2308,2373,2243,0,0,0,0,0,0,24.65,24.11,23.44
$GC,5851,1.27,150.9,3152,262,2373,2243,387.6,9.7,280,5864,0.00,2.62,7.15,0.661,9222,0.000,0.024,3153,1863,2283,2347,2219,0,0,0,0,0,0,24.40,24.34,23.37
$GC,6143,1.27,150.9,3152,1864,2347,2214,353.5,10.3,288,6149,0.00,2.78,0.00,0.000,516,0.000,0.048,3152,264,2280,2347,2214,0,0,0,0,0,0,24.66,24.37,24.68
$GC,6206,1.27,150.9,3152,265,2346,2214,348.5,10.5,289,6212,0.00,2.60,0.00,0.000,1030,0.000,0.024,3152,1855,2280,2346,2214,0,0,0,0,0,0,24.51,24.44,24.51
$GC,6471,1.29,172.6,3152,1855,2346,2212,322.4,8.8,296,6498,0.00,2.78,19.58,0.732,8452,0.000,0.056,3152,3421,2194,2254,2135,0,0,0,0,0,0,24.72,23.91,23.28
$GC,6595,1.31,184.4,3152,3420,2252,2135,310.9,9.4,299,6614,0.08,2.60,11.82,0.682,11270,0.112,0.027,3173,1837,2148,2204,2092,0,0,0,0,0,0,24.32,24.36,23.34
$GC,6877,1.31,184.4,3173,1837,2204,2086,280.6,10.7,306,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1837,2144,2204,2085,0,0,0,0,0,0,24.66,24.68,24.68
$GC,7117,1.31,184.4,3173,1837,2204,2084,254.5,10.8,312,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1838,2144,2204,2084,0,0,0,0,0,0,24.69,24.71,24.70
$GC,7356,1.31,184.4,3173,1837,2204,2083,229.1,10.4,318,7362,0.00,2.67,0.00,0.000,260,0.000,0.039,3173,3428,2143,2204,2083,0,0,0,0,0,0,24.73,24.43,24.75
$GC,7394,1.31,184.4,3173,3428,2202,2083,229.1,10.4,318,7401,0.00,2.58,0.00,0.000,1030,0.000,0.024,3173,1837,2142,2202,2083,0,0,0,0,0,0,24.55,24.48,24.56
$GC,7641,1.35,216.9,3173,1837,2202,2082,204.1,8.2,325,7680,0.00,2.75,28.88,0.651,8452,0.000,0.036,3173,3430,2014,2062,1966,0,0,0,0,0,0,24.75,23.91,23.34
$GC,7835,1.35,221.1,3172,3430,2061,1963,186.0,9.8,338,7847,0.00,2.58,4.93,0.478,9222,0.000,0.022,3173,1837,1997,2046,1949,0,0,0,0,0,0,24.46,24.39,23.61
$GC,8085,1.36,223.9,3173,1837,2045,1947,160.4,9.9,363,8098,0.00,2.65,4.18,0.424,8708,0.000,0.039,3173,263,1985,2036,1935,0,0,0,0,0,0,24.68,24.08,23.69
$GC,8211,1.37,237.4,3173,263,2035,1935,148.1,9.3,374,8231,0.08,2.58,13.32,0.562,11270,0.109,0.019,3197,1873,1932,1974,1890,0,0,0,0,0,0,24.39,24.46,23.53
$GC,8480,1.37,237.4,3197,1873,1974,1886,123.3,10.4,400,8486,0.00,2.53,0.00,0.000,260,0.000,0.033,3197,3423,1930,1974,1886,0,0,0,0,0,0,24.68,24.41,24.70
$GC,8687,1.38,246.3,3196,3423,1974,1886,101.3,9.5,420,8704,0.00,2.53,9.90,0.503,9222,0.000,0.019,3197,1833,1893,1938,1849,0,0,0,0,0,0,24.54,24.49,23.67
$GC,8976,1.38,246.3,3197,1834,1938,1848,74.1,10.6,469,8983,0.00,2.62,0.00,0.000,260,0.000,0.031,3197,3426,1893,1938,1848,0,0,0,0,0,0,24.71,24.44,24.72
$GC,9037,1.38,246.3,3196,3426,1938,1848,67.3,11.1,479,9044,0.00,2.53,0.00,0.000,1030,0.000,0.018,3197,1843,1893,1938,1848,0,0,0,0,0,0,24.54,24.49,24.56
$GC,9316,1.41,267.6,3196,1843,1938,1848,39.5,8.8,528,9345,0.00,2.60,20.58,0.481,8708,0.000,0.036,3197,276,1808,1852,1764,0,0,0,0,0,0,24.75,24.07,23.63
$GC,9381,1.41,267.6,3197,276,1849,1764,32.7,11.0,538,9390,0.00,2.53,0.00,0.000,1030,0.000,0.017,3197,1859,1806,1849,1764,0,0,0,0,0,0,24.43,24.39,24.44
$GC,9662,1.41,271.2,3197,1859,1849,1764,4.2,9.8,587,9677,0.00,2.55,4.18,0.330,8452,0.000,0.031,3197,3413,1793,1835,1752,0,0,0,0,0,0,24.71,24.33,23.89
$STATE,9682,end climb,SURFACE_DEPTH_REACHED
$STATE,9683,begin surface coast
$FINISH,0.0,0.999045
$STATE,9710,end surface coast,CONTROL_FINISHED_OK
$STATE,9710,begin surface
$SM_CCo,9735,64.00,0.462,0,0,1349,380.21
$SM_GC,0.95,11.55,2.42,64.00,0.040,0.016,0.462,436,1905,1349,-7.26,1.36,380.21,0,0,0,0,0,0,24.39,24.47,23.53
$IRIDIUM_FIX,2232.34,-15802.37,180618,221944
$TT8_MAMPS,0.020972,0.285369
$HUMID,55.27
$INTERNAL_PRESSURE,9.26193
$TCM_TEMP,23.00
$XPDR_PINGS,105
$24V_AH,23.10,78.021
$10V_AH,9.71,58.655
$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,25.650,108.500,349.300,64.000,0.000,30.893,46.699,197.754,26.250,0.000,29.745,1958.577,5374.404,530.423,2122.681,247.785,0.000,1318.466,0.000,1809.761,0.000,0.539,0.000
$DEVICE_MAMPS,163.710,100.215,861.390,462.060,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,400.515,344.642,519.399,736.302,905.238,0.000,0.000,0.000,0.000,0.000
$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,47297,595
$CAP_FILE_SIZE,106652,0
$CFSIZE,259248128,219770880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,273.99,1
$GPS,190618,035803,2244.654,-15803.004,12,1.1,34,10.1,0.3,337.8,8,4.6