version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 680
start: 6 19 118 20 29 5
data:
$ID,148
$MISSION,15
$DIVE,680
$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,45
$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
$GPS1,190618,202132,2245.0359,-15802.6416,40,1.1,51,10.1,0.0,100.9,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-63.1
$GPS2,190618,202839,2245.0127,-15802.6514,13,1.4,29,10.1,0.3,241.2,9,5.0
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,67.4,13067,-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,-116.8,433,1799,1360,1328,0.0,0.0,0,91,0.00,0.00,-72.25,0.000,16386,0.000,0.000,433,1798,3367,3414,3320,0,0,0,0,0,0,24.58,28.83,24.59
$GC,96,-1.22,-116.8,433,1798,3414,3321,3.6,-8.0,10,118,10.88,2.72,0.00,0.000,2308,0.173,0.021,2369,3481,3369,3417,3321,0,0,0,0,0,0,24.11,24.30,24.27
$GC,288,-1.22,-116.8,2369,3481,3418,3321,49.9,-19.7,35,293,0.00,2.50,0.00,0.000,1030,0.000,0.017,2369,1887,3369,3418,3321,0,0,0,0,0,0,24.48,24.43,24.50
$GC,544,-1.22,-116.8,2369,1886,3420,3321,95.1,-17.1,60,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1886,3370,3419,3322,0,0,0,0,0,0,24.71,24.72,24.72
$GC,793,-1.22,-116.8,2368,1886,3421,3321,133.2,-14.1,85,798,0.00,2.53,0.00,0.000,516,0.000,0.031,2369,325,3370,3420,3321,0,0,0,0,0,0,24.74,24.48,24.76
$GC,818,-1.22,-116.8,2369,325,3421,3321,136.6,-13.4,87,823,0.00,2.47,0.00,0.000,1030,0.000,0.015,2369,1919,3371,3421,3321,0,0,0,0,0,0,24.57,24.53,24.58
$GC,1074,-1.22,-116.8,2369,1920,3421,3321,170.1,-12.1,112,1080,0.00,2.60,0.00,0.000,516,0.000,0.031,2369,324,3371,3422,3321,0,0,0,0,0,0,24.77,24.51,24.78
$GC,1129,-1.22,-116.8,2369,324,3422,3321,177.2,-12.3,117,1134,0.00,2.45,0.00,0.000,1030,0.000,0.015,2369,1910,3371,3422,3321,0,0,0,0,0,0,24.60,24.56,24.62
$GC,1393,-1.22,-116.8,2369,1911,3423,3321,210.8,-12.4,137,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1911,3372,3424,3321,0,0,0,0,0,0,24.79,24.82,24.80
$GC,1632,-1.22,-116.8,2368,1911,3424,3321,239.8,-12.0,143,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1911,3372,3424,3321,0,0,0,0,0,0,24.81,24.83,24.82
$GC,1872,-1.22,-116.8,2369,1911,3424,3321,264.0,-10.0,149,1878,0.00,2.58,0.00,0.000,516,0.000,0.031,2369,321,3372,3424,3321,0,0,0,0,0,0,24.82,24.55,24.84
$GC,1941,-1.22,-116.8,2369,321,3424,3321,268.3,-9.7,150,1947,0.00,2.45,0.00,0.000,1030,0.000,0.017,2369,1893,3373,3424,3322,0,0,0,0,0,0,24.65,24.60,24.67
$GC,2203,-1.22,-116.8,2369,1893,3424,3321,292.8,-8.9,157,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1893,3372,3424,3321,0,0,0,0,0,0,24.83,24.85,24.84
$GC,2440,-1.22,-116.8,2369,1893,3424,3321,315.7,-9.8,163,2446,0.00,2.58,0.00,0.000,516,0.000,0.037,2369,331,3372,3424,3321,0,0,0,0,0,0,24.84,24.56,24.86
$GC,2474,-1.22,-116.8,2368,331,3424,3321,315.7,-9.8,163,2479,0.00,2.47,0.00,0.000,1030,0.000,0.018,2369,1898,3372,3424,3321,0,0,0,0,0,0,24.66,24.61,24.68
$GC,2728,-1.22,-116.8,2369,1897,3424,3319,341.9,-8.8,170,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1897,3371,3424,3319,0,0,0,0,0,0,24.85,24.87,24.87
$GC,2968,-1.22,-116.8,2369,1897,3424,3317,364.6,-9.3,176,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1897,3370,3424,3317,0,0,0,0,0,0,24.86,24.88,24.87
$GC,3209,-1.22,-116.8,2369,1898,3424,3314,386.9,-9.3,182,3214,0.00,2.62,0.00,0.000,516,0.000,0.044,2369,338,3368,3424,3313,0,0,0,0,0,0,24.87,24.56,24.88
$GC,3236,-1.22,-116.8,2369,338,3424,3314,386.9,-9.3,182,3241,0.00,2.50,0.00,0.000,1030,0.000,0.022,2369,1900,3369,3424,3314,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3494,-1.22,-116.8,2369,1901,3424,3311,416.1,-10.4,189,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1900,3367,3424,3311,0,0,0,0,0,0,24.85,24.87,24.87
$GC,3736,-1.22,-116.8,2369,1900,3424,3308,439.9,-9.8,195,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1900,3365,3424,3307,0,0,0,0,0,0,24.86,24.88,24.88
$GC,3976,-1.22,-116.8,2369,1900,3424,3304,461.8,-9.1,201,3982,0.00,2.62,0.00,0.000,260,0.000,0.046,2369,3472,3364,3424,3304,0,0,0,0,0,0,24.86,24.56,24.88
$GC,4034,-1.22,-116.8,2369,3473,3424,3303,466.2,-9.2,202,4039,0.00,2.53,0.00,0.000,1030,0.000,0.026,2369,1907,3363,3423,3303,0,0,0,0,0,0,24.68,24.61,24.70
$GC,4304,-1.22,-116.8,2369,1906,3424,3299,492.9,-9.3,209,4309,0.00,2.70,0.00,0.000,516,0.000,0.053,2369,318,3361,3424,3299,0,0,0,0,0,0,24.87,24.55,24.89
$GC,4341,-1.22,-116.8,2369,319,3423,3299,492.9,-9.3,209,4349,0.00,2.58,0.00,0.000,1030,0.000,0.028,2369,1893,3361,3424,3299,0,0,0,0,0,0,24.68,24.60,24.69
$STATE,4384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4384,begin apogee
$GC,4391,-0.26,0.0,2369,1822,3424,3297,501.1,-9.6,211,4491,1.38,0.00,96.35,0.851,10246,0.080,0.000,2679,1822,2899,2960,2838,0,0,0,0,0,0,24.53,23.76,23.11
$STATE,4492,end apogee,CONTROL_FINISHED_OK
$STATE,4493,begin climb
$GC,4496,1.22,116.8,2678,1823,2960,2837,503.0,0.0,213,4603,2.00,0.00,102.28,0.829,10502,0.045,0.000,3148,1822,2422,2485,2359,0,0,0,0,0,0,24.04,23.72,23.11
$GC,4827,1.22,116.8,3147,1822,2485,2346,475.4,10.5,222,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1822,2415,2484,2346,0,0,0,0,0,0,24.58,24.60,24.60
$GC,5067,1.22,116.8,3147,1822,2484,2342,450.7,10.1,228,5072,0.00,2.83,0.00,0.000,260,0.000,0.061,3148,3433,2413,2484,2342,0,0,0,0,0,0,24.66,24.33,24.68
$GC,5176,1.22,116.8,3147,3433,2481,2342,442.1,10.2,230,5182,0.00,2.58,0.00,0.000,1030,0.000,0.030,3148,1871,2411,2481,2342,0,0,0,0,0,0,24.49,24.41,24.51
$GC,5435,1.24,131.8,3147,1871,2481,2342,415.5,9.2,237,5453,0.00,2.70,12.93,0.747,8452,0.000,0.046,3148,3427,2360,2427,2294,0,0,0,0,0,0,24.71,23.79,23.32
$GC,5507,1.26,145.0,3147,3427,2426,2293,411.4,9.3,238,5527,0.00,2.60,13.00,0.736,9222,0.000,0.028,3148,1850,2306,2370,2243,0,0,0,0,0,0,24.41,24.34,23.27
$GC,5800,1.26,145.2,3147,1850,2370,2237,378.3,10.0,246,5805,0.00,2.70,0.00,0.000,260,0.000,0.046,3148,3426,2303,2370,2237,0,0,0,0,0,0,24.66,24.34,24.68
$GC,5898,1.26,145.2,3147,3426,2368,2238,369.5,10.2,248,5903,0.00,2.60,0.00,0.000,1030,0.000,0.028,3148,1844,2302,2368,2237,0,0,0,0,0,0,24.49,24.41,24.51
$GC,6167,1.27,152.7,3147,1844,2368,2235,342.1,9.6,255,6176,0.00,0.00,7.28,0.647,8198,0.000,0.000,3148,1844,2276,2342,2210,0,0,0,0,0,0,24.72,24.11,23.51
$GC,6406,1.28,165.1,3147,1844,2342,2207,319.5,9.3,261,6425,0.05,2.72,12.70,0.695,10500,0.135,0.044,3168,3427,2224,2285,2163,0,0,0,0,0,0,24.51,23.82,23.39
$GC,6483,1.30,178.5,3167,3427,2283,2163,315.3,9.3,262,6503,0.00,2.60,12.88,0.687,9222,0.000,0.028,3168,1843,2171,2228,2114,0,0,0,0,0,0,24.42,24.35,23.33
$GC,6771,1.30,178.5,3167,1844,2228,2109,281.1,10.8,270,6777,0.00,2.70,0.00,0.000,260,0.000,0.044,3168,3433,2168,2228,2109,0,0,0,0,0,0,24.66,24.35,24.68
$GC,6829,1.30,178.5,3167,3433,2226,2109,275.9,11.1,271,6835,0.00,2.60,0.00,0.000,1030,0.000,0.027,3168,1843,2167,2226,2109,0,0,0,0,0,0,24.49,24.41,24.50
$GC,7098,1.30,178.5,3167,1843,2226,2107,245.1,11.2,278,7104,0.00,2.67,0.00,0.000,260,0.000,0.042,3168,3428,2166,2226,2107,0,0,0,0,0,0,24.70,24.41,24.72
$GC,7115,1.30,178.5,3168,3428,2226,2107,245.1,11.2,278,7121,0.00,2.58,0.00,0.000,1030,0.000,0.025,3168,1841,2166,2226,2107,0,0,0,0,0,0,24.53,24.46,24.55
$GC,7384,1.31,182.6,3167,1842,2226,2106,215.4,9.8,285,7395,0.00,2.67,4.32,0.468,8708,0.000,0.047,3168,269,2154,2213,2096,0,0,0,0,0,0,24.73,24.30,23.70
$GC,7408,1.31,186.6,3168,269,2213,2096,215.4,9.8,285,7419,0.00,2.60,5.40,0.514,9222,0.000,0.021,3168,1876,2139,2198,2081,0,0,0,0,0,0,24.50,24.45,23.61
$GC,7662,1.36,223.4,3168,1876,2198,2079,191.3,7.9,297,7706,0.05,2.62,33.55,0.633,10500,0.135,0.039,3188,3412,1988,2031,1945,0,0,0,0,0,0,24.49,23.89,23.36
$GC,7815,1.36,223.4,3187,3412,2031,1943,174.4,12.1,311,7822,0.00,2.53,0.00,0.000,1030,0.000,0.021,3188,1839,1986,2031,1942,0,0,0,0,0,0,24.43,24.37,24.44
$GC,8066,1.36,223.4,3188,1839,2031,1939,143.6,12.4,336,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1839,1985,2031,1939,0,0,0,0,0,0,24.68,24.70,24.69
$GC,8316,1.36,223.4,3188,1840,2031,1939,114.5,11.4,361,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1839,1985,2031,1939,0,0,0,0,0,0,24.72,24.74,24.73
$GC,8563,1.39,248.6,3188,1839,2031,1939,88.4,8.6,386,8597,0.00,2.67,23.70,0.530,8708,0.000,0.044,3188,270,1884,1933,1836,0,0,0,0,0,0,24.75,23.65,23.53
$GC,8613,1.41,264.7,3188,270,1932,1835,84.1,9.1,390,8637,0.00,2.55,15.95,0.507,9222,0.000,0.018,3188,1861,1819,1858,1780,0,0,0,0,0,0,24.37,24.32,23.51
$GC,8886,1.41,264.7,3187,1861,1858,1775,56.5,10.4,417,8891,0.00,2.55,0.00,0.000,260,0.000,0.030,3188,3428,1817,1858,1776,0,0,0,0,0,0,24.65,24.39,24.68
$GC,8986,1.41,270.9,3187,3428,1858,1776,46.6,9.7,426,9000,0.05,2.53,6.65,0.419,11270,0.139,0.018,3205,1834,1794,1835,1754,0,0,0,0,0,0,24.38,24.45,23.77
$GC,9249,1.42,272.9,3205,1834,1835,1753,21.8,9.9,458,9257,0.00,2.60,0.00,0.000,260,0.000,0.030,3205,3418,1794,1835,1753,0,0,0,0,0,0,24.70,24.44,24.72
$GC,9309,1.42,272.9,3204,3418,1835,1753,15.2,11.1,468,9317,0.00,2.50,0.00,0.000,1030,0.000,0.018,3205,1843,1794,1835,1753,0,0,0,0,0,0,24.53,24.49,24.55
$STATE,9426,end climb,SURFACE_DEPTH_REACHED
$STATE,9426,begin surface coast
$FINISH,0.1,1.022502
$STATE,9461,end surface coast,CONTROL_FINISHED_OK
$STATE,9461,begin surface
$SM_CCo,9484,63.03,0.463,0,0,1349,380.21
$SM_GC,0.89,11.57,0.08,63.03,0.041,0.091,0.463,435,1988,1349,-7.25,-1.19,380.21,0,0,0,0,0,0,24.45,24.56,23.54
$IRIDIUM_FIX,2234.68,-15814.95,190618,173723
$TT8_MAMPS,0.021721,0.283122
$HUMID,55.82
$INTERNAL_PRESSURE,9.2717
$TCM_TEMP,22.90
$XPDR_PINGS,106
$24V_AH,23.11,78.696
$10V_AH,9.70,59.246
$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,25.975,98.850,346.975,63.025,0.000,25.046,43.542,202.448,26.500,0.000,31.507,1587.529,5959.402,542.020,1656.297,235.123,0.000,1185.190,0.000,1345.307,0.000,0.540,0.000
$DEVICE_MAMPS,172.890,95.625,850.680,462.825,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,332.225,270.981,410.048,508.567,599.089,0.000,0.000,0.000,0.000,0.000
$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,40611,495
$CAP_FILE_SIZE,96909,0
$CFSIZE,259248128,219394048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7102.01,0x212b6e,1,24
$CURRENT,0.022,299.75,1
$GPS,190618,230950,2245.441,-15801.666,40,1.2,56,10.1,0.5,99.7,8,4.5