version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 674
start: 6 19 118 4 5 35
data:
$ID,148
$MISSION,15
$DIVE,674
$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,37
$R_STBD_OVSHOOT,52
$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
$GPS1,190618,035803,2244.6538,-15803.0039,12,1.1,34,10.1,0.3,337.8,8,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-63.7
$GPS2,190618,040509,2244.6509,-15803.0664,13,1.3,29,10.0,0.3,187.0,8,4.5
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A8
$TGT_LATLONG,2245.000,-15805.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,273.5,3365,-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,-116.8,435,1884,1358,1332,0.0,0.0,0,90,0.00,0.00,-71.57,0.000,16390,0.000,0.000,435,1884,3378,3427,3329,0,0,0,0,0,0,24.58,23.54,24.59
$GC,94,-1.22,-116.8,435,1884,3427,3330,3.9,-8.7,10,110,10.70,2.60,0.00,0.000,2564,0.167,0.028,2368,310,3379,3429,3330,0,0,0,0,0,0,24.12,24.29,24.27
$GC,332,-1.22,-116.8,2368,310,3430,3330,56.9,-15.6,52,340,0.00,2.50,0.00,0.000,1030,0.000,0.015,2369,1911,3380,3430,3330,0,0,0,0,0,0,24.50,24.46,24.51
$GC,609,-1.22,-116.8,2368,1911,3431,3330,96.7,-12.7,101,617,0.00,2.50,0.00,0.000,260,0.000,0.027,2368,3471,3381,3432,3330,0,0,0,0,0,0,24.71,24.46,24.73
$GC,625,-1.22,-116.8,2368,3472,3432,3330,99.0,-13.2,103,633,0.00,2.50,0.00,0.000,1030,0.000,0.015,2369,1870,3381,3432,3330,0,0,0,0,0,0,24.54,24.50,24.56
$GC,873,-1.22,-116.8,2368,1870,3432,3330,132.4,-14.8,128,879,0.00,2.58,0.00,0.000,260,0.000,0.026,2369,3470,3381,3432,3330,0,0,0,0,0,0,24.75,24.49,24.76
$GC,981,-1.22,-116.8,2368,3470,3432,3331,150.0,-16.3,138,987,0.00,2.42,0.00,0.000,1030,0.000,0.015,2368,1897,3381,3433,3330,0,0,0,0,0,0,24.59,24.54,24.60
$GC,1238,-1.22,-116.8,2368,1897,3435,3330,184.2,-11.6,163,1244,0.00,2.50,0.00,0.000,516,0.000,0.031,2369,330,3382,3435,3330,0,0,0,0,0,0,24.78,24.51,24.79
$GC,1343,-1.22,-116.8,2368,330,3434,3330,196.0,-11.4,173,1349,0.00,2.42,0.00,0.000,1030,0.000,0.015,2369,1901,3382,3434,3330,0,0,0,0,0,0,24.62,24.58,24.63
$GC,1627,-1.22,-116.8,2368,1901,3436,3331,225.5,-10.3,183,1633,0.00,2.47,0.00,0.000,260,0.000,0.028,2369,3458,3383,3436,3331,0,0,0,0,0,0,24.81,24.54,24.82
$GC,1671,-1.22,-116.8,2368,3458,3436,3331,230.3,-10.3,184,1677,0.00,2.42,0.00,0.000,1030,0.000,0.016,2369,1891,3383,3436,3331,0,0,0,0,0,0,24.63,24.59,24.65
$GC,1955,-1.22,-116.8,2368,1891,3435,3331,262.1,-11.9,191,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1891,3383,3435,3331,0,0,0,0,0,0,24.82,24.84,24.84
$GC,2196,-1.22,-116.8,2368,1891,3436,3331,286.7,-9.7,197,2202,0.00,2.53,0.00,0.000,516,0.000,0.032,2369,333,3383,3436,3331,0,0,0,0,0,0,24.83,24.56,24.84
$GC,2265,-1.22,-116.8,2368,333,3435,3331,291.0,-9.4,198,2271,0.00,2.45,0.00,0.000,1030,0.000,0.017,2369,1892,3383,3436,3331,0,0,0,0,0,0,24.66,24.61,24.68
$GC,2524,-1.22,-116.8,2367,1892,3435,3331,315.6,-9.1,205,2529,0.00,2.58,0.00,0.000,516,0.000,0.034,2369,333,3383,3435,3331,0,0,0,0,0,0,24.84,24.56,24.86
$GC,2552,-1.22,-116.8,2368,333,3435,3331,315.6,-9.1,205,2558,0.00,2.45,0.00,0.000,1030,0.000,0.018,2369,1893,3383,3435,3331,0,0,0,0,0,0,24.67,24.63,24.68
$GC,2811,-1.22,-116.8,2368,1893,3436,3329,347.9,-11.4,212,2817,0.00,2.58,0.00,0.000,260,0.000,0.034,2369,3473,3382,3435,3329,0,0,0,0,0,0,24.84,24.58,24.87
$GC,2839,-1.22,-116.8,2368,3473,3435,3328,347.9,-11.4,212,2845,0.00,2.45,0.00,0.000,1030,0.000,0.018,2369,1901,3382,3436,3329,0,0,0,0,0,0,24.68,24.63,24.69
$GC,3099,-1.22,-116.8,2368,1901,3436,3326,377.3,-10.0,219,3104,0.00,2.60,0.00,0.000,260,0.000,0.038,2368,3463,3381,3436,3326,0,0,0,0,0,0,24.84,24.57,24.87
$GC,3137,-1.22,-116.8,2368,3463,3435,3326,377.3,-10.0,219,3144,0.00,2.45,0.00,0.000,1030,0.000,0.019,2369,1903,3380,3435,3326,0,0,0,0,0,0,24.68,24.63,24.69
$GC,3382,-1.22,-116.8,2368,1903,3435,3323,404.7,-9.6,226,3388,0.00,2.62,0.00,0.000,516,0.000,0.046,2369,328,3379,3435,3323,0,0,0,0,0,0,24.86,24.56,24.88
$GC,3417,-1.22,-116.8,2368,328,3436,3323,404.7,-9.6,226,3422,0.00,2.50,0.00,0.000,1030,0.000,0.022,2369,1891,3379,3435,3323,0,0,0,0,0,0,24.68,24.62,24.69
$GC,3670,-1.22,-116.8,2368,1891,3435,3319,429.0,-7.7,233,3676,0.00,2.62,0.00,0.000,516,0.000,0.047,2369,340,3377,3435,3319,0,0,0,0,0,0,24.85,24.55,24.87
$GC,3723,-1.22,-116.8,2368,340,3435,3319,432.4,-7.6,234,3729,0.00,2.53,0.00,0.000,1030,0.000,0.024,2369,1905,3377,3435,3319,0,0,0,0,0,0,24.68,24.61,24.70
$GC,3998,-1.22,-116.8,2368,1905,3435,3315,455.5,-8.8,241,4005,0.00,2.65,0.00,0.000,260,0.000,0.046,2369,3471,3375,3436,3315,0,0,0,0,0,0,24.85,24.56,24.87
$GC,4032,-1.22,-116.8,2368,3472,3436,3315,455.5,-8.8,241,4037,0.00,2.50,0.00,0.000,1030,0.000,0.024,2369,1907,3375,3435,3315,0,0,0,0,0,0,24.68,24.63,24.70
$GC,4285,-1.22,-116.8,2368,1907,3435,3311,488.3,-11.8,248,4291,0.00,2.65,0.00,0.000,260,0.000,0.044,2369,3475,3373,3435,3311,0,0,0,0,0,0,24.85,24.55,24.87
$GC,4318,-1.22,-116.8,2368,3475,3435,3311,488.3,-11.8,248,4324,0.00,2.55,0.00,0.000,1030,0.000,0.027,2369,1893,3373,3435,3311,0,0,0,0,0,0,24.68,24.62,24.70
$STATE,4410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4410,begin apogee
$GC,4417,-0.26,0.0,2368,1835,3435,3310,501.9,-10.8,251,4519,1.40,0.00,98.32,0.851,10246,0.088,0.000,2678,1835,2899,2959,2840,0,0,0,0,0,0,24.53,23.76,23.13
$STATE,4520,end apogee,CONTROL_FINISHED_OK
$STATE,4521,begin climb
$GC,4523,1.22,116.8,2678,1835,2959,2839,503.9,0.0,253,4630,2.00,0.00,102.32,0.829,10246,0.048,0.000,3146,1835,2422,2485,2359,0,0,0,0,0,0,24.04,23.72,23.11
$GC,4854,1.22,116.8,3145,1835,2485,2346,474.4,11.0,262,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1835,2415,2485,2346,0,0,0,0,0,0,24.58,24.61,24.60
$GC,5094,1.26,144.4,3145,1835,2485,2342,452.8,8.4,268,5126,0.00,2.83,24.33,0.784,8452,0.000,0.053,3146,3412,2309,2371,2248,0,0,0,0,0,0,24.66,23.85,23.20
$GC,5304,1.28,165.7,3145,3412,2369,2244,435.9,8.8,273,5335,0.05,2.55,19.60,0.766,11270,0.139,0.028,3161,1867,2223,2281,2165,0,0,0,0,0,0,24.32,24.36,23.21
$GC,5574,1.28,165.7,3160,1867,2281,2158,401.4,13.2,280,5580,0.00,2.83,0.00,0.000,516,0.000,0.060,3161,263,2219,2281,2158,0,0,0,0,0,0,24.64,24.32,24.66
$GC,5619,1.28,165.7,3161,263,2279,2158,395.7,13.2,281,5624,0.00,2.60,0.00,0.000,1030,0.000,0.024,3161,1844,2219,2280,2158,0,0,0,0,0,0,24.46,24.40,24.48
$GC,5903,1.30,179.9,3161,1845,2279,2155,366.7,9.2,288,5922,0.00,2.83,13.15,0.721,8452,0.000,0.057,3161,3426,2164,2222,2107,0,0,0,0,0,0,24.70,23.98,23.34
$GC,5946,1.33,198.7,3161,3426,2221,2107,362.8,9.0,289,5973,0.05,2.62,18.45,0.732,11270,0.141,0.027,3177,1837,2087,2141,2034,0,0,0,0,0,0,24.25,24.29,23.24
$GC,6227,1.33,198.7,3176,1836,2141,2028,327.9,12.5,296,6232,0.00,2.70,0.00,0.000,260,0.000,0.042,3176,3428,2084,2141,2028,0,0,0,0,0,0,24.63,24.33,24.65
$GC,6320,1.33,198.7,3176,3427,2141,2029,317.1,12.6,298,6325,0.00,2.60,0.00,0.000,1030,0.000,0.028,3176,1839,2084,2141,2028,0,0,0,0,0,0,24.47,24.40,24.49
$GC,6594,1.33,198.7,3176,1839,2141,2026,283.2,12.0,305,6600,0.00,2.70,0.00,0.000,260,0.000,0.042,3176,3434,2083,2141,2026,0,0,0,0,0,0,24.71,24.39,24.72
$GC,6662,1.33,198.7,3176,3434,2140,2026,277.3,12.3,306,6667,0.00,2.60,0.00,0.000,1030,0.000,0.026,3177,1838,2083,2141,2026,0,0,0,0,0,0,24.53,24.46,24.54
$GC,6920,1.33,198.7,3176,1838,2141,2024,243.7,11.8,313,6925,0.00,2.67,0.00,0.000,260,0.000,0.041,3176,3426,2082,2141,2024,0,0,0,0,0,0,24.74,24.43,24.75
$GC,6943,1.33,198.7,3176,3426,2141,2024,243.7,11.8,313,6949,0.00,2.58,0.00,0.000,1030,0.000,0.025,3176,1843,2083,2141,2025,0,0,0,0,0,0,24.56,24.49,24.57
$GC,7207,1.33,198.7,3176,1843,2141,2023,212.3,11.3,320,7212,0.00,2.65,0.00,0.000,260,0.000,0.037,3177,3433,2082,2141,2023,0,0,0,0,0,0,24.75,24.46,24.77
$GC,7262,1.33,198.7,3176,3433,2141,2024,207.0,11.6,321,7267,0.00,2.55,0.00,0.000,1030,0.000,0.023,3177,1845,2082,2141,2024,0,0,0,0,0,0,24.58,24.52,24.59
$GC,7518,1.35,219.0,3176,1845,2141,2022,180.5,8.9,341,7545,0.00,2.70,17.95,0.604,8452,0.000,0.031,3177,3433,2006,2056,1956,0,0,0,0,0,0,24.76,24.02,23.49
$GC,7676,1.35,219.0,3176,3433,2055,1955,162.6,11.3,356,7681,0.00,2.55,0.00,0.000,1030,0.000,0.020,3177,1838,2005,2055,1955,0,0,0,0,0,0,24.49,24.44,24.51
$GC,7934,1.38,245.1,3176,1838,2055,1953,138.8,8.5,381,7967,0.08,2.65,24.42,0.569,10500,0.104,0.031,3208,3434,1899,1941,1857,0,0,0,0,0,0,24.49,23.96,23.46
$GC,8103,1.38,245.1,3208,3434,1941,1856,119.3,12.4,396,8108,0.00,2.55,0.00,0.000,1030,0.000,0.019,3209,1839,1898,1941,1856,0,0,0,0,0,0,24.46,24.41,24.49
$GC,8359,1.38,245.1,3208,1839,1941,1853,89.8,11.0,429,8367,0.00,2.65,0.00,0.000,260,0.000,0.031,3208,3443,1897,1941,1853,0,0,0,0,0,0,24.70,24.43,24.72
$GC,8624,1.38,245.1,3208,3443,1941,1853,61.9,10.5,476,8632,0.00,2.55,0.00,0.000,1030,0.000,0.019,3208,1845,1897,1941,1853,0,0,0,0,0,0,24.56,24.51,24.58
$GC,8901,1.44,289.4,3208,1845,1941,1853,35.5,7.5,525,8944,0.00,0.00,40.78,0.484,8710,0.000,0.000,3208,1845,1719,1764,1675,0,0,0,0,0,0,24.77,23.95,23.55
$GC,9215,1.44,289.4,3208,1845,1764,1669,3.4,10.7,579,9223,0.00,2.62,0.00,0.000,260,0.000,0.030,3208,3443,1716,1764,1669,0,0,0,0,0,0,24.68,24.40,24.69
$STATE,9230,end climb,SURFACE_DEPTH_REACHED
$STATE,9230,begin surface coast
$FINISH,0.0,1.008959
$STATE,9259,end surface coast,CONTROL_FINISHED_OK
$STATE,9259,begin surface
$SM_CCo,9284,52.03,0.454,0,0,1349,380.21
$SM_GC,0.78,11.75,2.50,52.03,0.046,0.016,0.454,437,1877,1349,-7.26,0.99,380.21,0,0,0,0,0,0,24.37,24.46,23.56
$IRIDIUM_FIX,2234.68,-15802.37,190618,010746
$TT8_MAMPS,0.021721,0.28462
$HUMID,55.23
$INTERNAL_PRESSURE,9.2717
$TCM_TEMP,22.40
$XPDR_PINGS,92
$24V_AH,23.11,78.122
$10V_AH,9.74,58.743
$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,26.025,123.725,359.325,52.025,0.000,28.431,43.186,199.941,23.000,0.000,31.339,1873.597,5053.132,558.890,2022.751,258.691,0.000,1294.317,0.000,1724.487,0.000,0.539,0.000
$DEVICE_MAMPS,166.770,205.785,851.445,454.410,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,394.652,342.992,529.731,752.265,920.903,0.000,0.000,0.000,0.000,0.000
$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,47272,586
$CAP_FILE_SIZE,103919,0
$CFSIZE,259248128,219717632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,303.19,1
$GPS,190618,064234,2244.771,-15804.393,41,1.1,41,10.0,0.2,243.5,8,8.2