version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 682
start: 6 20 118 2 6 54
data:
$ID,148
$MISSION,15
$DIVE,682
$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,42
$R_STBD_OVSHOOT,50
$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
$GPS1,200618,015933,2245.3228,-15800.7012,14,0.9,36,10.1,0.4,161.4,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-63.3
$GPS2,200618,020628,2245.2988,-15800.7148,13,0.9,30,10.1,0.2,66.2,9,4.7
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,78.2,9776,-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,14,begin dive
$GC,16,-1.22,-116.8,434,2005,1362,1327,0.0,0.0,0,89,0.00,0.00,-70.50,0.000,16386,0.000,0.000,435,2005,3303,3351,3256,0,0,0,0,0,0,24.58,28.83,24.59
$GC,94,-1.22,-116.8,434,2005,3351,3257,3.3,-6.8,10,116,10.68,2.38,-1.35,0.000,18692,0.166,0.034,2368,3476,3379,3434,3325,0,0,0,0,0,0,24.12,23.44,24.29
$GC,279,-1.22,-116.8,2368,3476,3435,3327,44.6,-17.1,35,284,0.00,2.47,0.00,0.000,1030,0.000,0.016,2369,1891,3380,3434,3327,0,0,0,0,0,0,24.48,24.43,24.49
$GC,534,-1.22,-116.8,2368,1891,3434,3327,87.0,-16.9,60,540,0.00,2.55,0.00,0.000,516,0.000,0.034,2369,323,3381,3434,3328,0,0,0,0,0,0,24.70,24.44,24.72
$GC,558,-1.22,-116.8,2368,323,3434,3328,91.5,-17.2,62,564,0.00,2.47,0.00,0.000,1030,0.000,0.015,2369,1912,3381,3434,3328,0,0,0,0,0,0,24.53,24.49,24.55
$GC,817,-1.22,-116.8,2368,1913,3435,3329,128.8,-13.0,87,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1913,3382,3435,3329,0,0,0,0,0,0,24.74,24.76,24.75
$GC,1062,-1.22,-116.8,2368,1913,3434,3330,158.2,-10.9,112,1068,0.00,2.58,0.00,0.000,516,0.000,0.030,2369,331,3382,3435,3330,0,0,0,0,0,0,24.76,24.50,24.78
$GC,1131,-1.22,-116.8,2368,331,3435,3330,165.8,-11.7,118,1137,0.00,2.42,0.00,0.000,1030,0.000,0.015,2369,1901,3382,3434,3331,0,0,0,0,0,0,24.60,24.56,24.61
$GC,1379,-1.22,-116.8,2368,1902,3435,3331,194.7,-12.6,143,1385,0.00,2.50,0.00,0.000,260,0.000,0.027,2369,3470,3383,3436,3331,0,0,0,0,0,0,24.79,24.53,24.80
$GC,1442,-1.22,-116.8,2368,3470,3436,3331,201.1,-13.6,147,1448,0.00,2.45,0.00,0.000,1030,0.000,0.016,2369,1887,3383,3436,3331,0,0,0,0,0,0,24.62,24.57,24.63
$GC,1707,-1.22,-116.8,2369,1887,3436,3332,232.0,-10.2,154,1712,0.00,2.53,0.00,0.000,516,0.000,0.031,2369,329,3383,3436,3331,0,0,0,0,0,0,24.81,24.54,24.82
$GC,1780,-1.22,-116.8,2368,328,3436,3331,236.6,-9.9,155,1786,0.00,2.45,0.00,0.000,1030,0.000,0.016,2369,1909,3383,3436,3331,0,0,0,0,0,0,24.64,24.60,24.65
$GC,2034,-1.22,-116.8,2368,1909,3436,3331,262.4,-9.1,162,2040,0.00,2.58,0.00,0.000,516,0.000,0.039,2369,334,3383,3436,3331,0,0,0,0,0,0,24.82,24.55,24.84
$GC,2104,-1.22,-116.8,2368,334,3436,3331,266.8,-9.3,163,2109,0.00,2.45,0.00,0.000,1030,0.000,0.018,2369,1900,3383,3436,3331,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2362,-1.22,-116.8,2368,1900,3436,3331,296.5,-10.7,170,2367,0.00,2.53,0.00,0.000,260,0.000,0.031,2369,3466,3383,3436,3331,0,0,0,0,0,0,24.83,24.57,24.85
$GC,2419,-1.22,-116.8,2368,3466,3436,3331,301.2,-10.8,171,2425,0.00,2.45,0.00,0.000,1030,0.000,0.018,2369,1894,3383,3436,3331,0,0,0,0,0,0,24.66,24.61,24.68
$GC,2688,-1.22,-116.8,2368,1894,3436,3329,331.6,-10.6,178,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1894,3382,3436,3329,0,0,0,0,0,0,24.84,24.87,24.86
$GC,2928,-1.22,-116.8,2368,1894,3436,3327,355.0,-9.4,184,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1894,3381,3436,3327,0,0,0,0,0,0,24.85,24.87,24.87
$GC,3168,-1.22,-116.8,2368,1894,3436,3324,377.0,-9.0,190,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1894,3380,3436,3324,0,0,0,0,0,0,24.86,24.88,24.87
$GC,3408,-1.22,-116.8,2368,1894,3436,3321,399.9,-9.6,196,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1894,3378,3436,3321,0,0,0,0,0,0,24.85,24.87,24.87
$GC,3648,-1.22,-116.8,2368,1894,3436,3318,424.6,-10.3,202,3654,0.00,2.67,0.00,0.000,260,0.000,0.044,2369,3465,3377,3436,3318,0,0,0,0,0,0,24.85,24.56,24.87
$GC,3716,-1.22,-116.8,2368,3466,3436,3317,429.2,-10.2,203,3722,0.00,2.50,0.00,0.000,1030,0.000,0.023,2369,1899,3376,3436,3317,0,0,0,0,0,0,24.68,24.62,24.70
$GC,3976,-1.22,-116.8,2368,1898,3435,3313,454.9,-9.0,210,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1898,3374,3435,3313,0,0,0,0,0,0,24.85,24.87,24.87
$GC,4215,-1.22,-116.8,2368,1899,3436,3310,475.9,-8.7,216,4221,0.00,2.67,0.00,0.000,516,0.000,0.052,2369,324,3373,3436,3310,0,0,0,0,0,0,24.87,24.55,24.88
$GC,4313,-1.22,-116.8,2368,323,3436,3309,483.6,-8.9,218,4319,0.00,2.55,0.00,0.000,1030,0.000,0.028,2369,1879,3372,3436,3309,0,0,0,0,0,0,24.67,24.60,24.69
$STATE,4499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4499,begin apogee
$GC,4506,-0.26,0.0,2368,1881,3436,3306,500.2,-8.1,223,4608,1.38,0.00,98.28,0.860,10246,0.080,0.000,2678,1881,2900,2960,2840,0,0,0,0,0,0,24.54,23.75,23.10
$STATE,4609,end apogee,CONTROL_FINISHED_OK
$STATE,4609,begin climb
$GC,4612,1.22,116.8,2678,1880,2960,2839,501.7,0.0,225,4719,2.00,0.00,102.70,0.835,10246,0.046,0.000,3155,1881,2422,2485,2360,0,0,0,0,0,0,24.05,23.71,23.09
$GC,4942,1.22,116.8,3154,1881,2484,2347,470.6,12.0,234,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1881,2415,2484,2347,0,0,0,0,0,0,24.58,24.60,24.60
$GC,5183,1.22,116.8,3154,1881,2483,2343,444.5,10.9,240,5188,0.00,2.83,0.00,0.000,516,0.000,0.054,3155,280,2413,2483,2343,0,0,0,0,0,0,24.65,24.34,24.68
$GC,5230,1.22,116.8,3154,279,2482,2343,439.4,10.9,241,5236,0.00,2.60,0.00,0.000,1030,0.000,0.028,3155,1844,2413,2483,2343,0,0,0,0,0,0,24.47,24.39,24.49
$GC,5508,1.22,116.8,3155,1845,2482,2342,409.6,10.4,248,5514,0.00,2.80,0.00,0.000,260,0.000,0.065,3155,3439,2412,2482,2342,0,0,0,0,0,0,24.70,24.37,24.72
$GC,5552,1.22,116.8,3154,3439,2479,2342,405.1,10.3,249,5558,0.00,2.60,0.00,0.000,1030,0.000,0.028,3155,1860,2411,2480,2342,0,0,0,0,0,0,24.51,24.44,24.53
$GC,5836,1.23,119.5,3155,1860,2480,2341,376.9,9.9,256,5842,0.00,2.67,0.00,0.000,260,0.000,0.044,3155,3433,2410,2480,2340,0,0,0,0,0,0,24.73,24.41,24.75
$GC,6070,1.24,126.9,3154,3433,2478,2339,357.1,9.6,261,6086,0.00,2.60,8.00,0.672,9222,0.000,0.027,3155,1846,2380,2447,2314,0,0,0,0,0,0,24.55,24.48,23.47
$GC,6364,1.28,160.1,3154,1846,2447,2310,329.3,8.1,269,6397,0.00,0.00,30.58,0.753,8198,0.000,0.000,3154,1846,2246,2308,2185,0,0,0,0,0,0,24.70,23.81,23.22
$GC,6606,1.28,160.1,3154,1846,2306,2179,305.4,10.5,275,6611,0.00,2.70,0.00,0.000,260,0.000,0.042,3155,3433,2242,2306,2179,0,0,0,0,0,0,24.63,24.32,24.65
$GC,6693,1.28,160.1,3154,3432,2304,2179,296.1,10.9,277,6698,0.00,2.60,0.00,0.000,1030,0.000,0.028,3155,1848,2241,2304,2179,0,0,0,0,0,0,24.46,24.39,24.49
$GC,6972,1.28,164.2,3154,1848,2304,2177,268.7,9.8,284,6982,0.00,2.70,4.28,0.496,8452,0.000,0.042,3155,3434,2229,2290,2168,0,0,0,0,0,0,24.69,24.06,23.61
$GC,7126,1.28,164.2,3154,3434,2289,2168,255.1,10.8,287,7131,0.00,2.60,0.00,0.000,1030,0.000,0.027,3155,1844,2229,2290,2168,0,0,0,0,0,0,24.51,24.43,24.52
$GC,7380,1.32,191.1,3155,1844,2290,2165,229.1,8.5,294,7413,0.08,2.75,24.92,0.669,10756,0.109,0.050,3185,260,2119,2173,2066,0,0,0,0,0,0,24.49,23.91,23.33
$GC,7441,1.35,217.6,3184,260,2172,2064,225.3,8.5,295,7474,0.00,2.62,24.80,0.658,9222,0.000,0.022,3184,1875,2010,2059,1962,0,0,0,0,0,0,24.36,24.30,23.30
$GC,7727,1.35,217.6,3184,1875,2060,1955,192.7,11.7,307,7732,0.00,2.60,0.00,0.000,260,0.000,0.044,3184,3421,2007,2059,1955,0,0,0,0,0,0,24.62,24.32,24.64
$GC,7756,1.35,217.6,3183,3421,2059,1955,189.7,11.2,309,7765,0.00,2.58,0.00,0.000,1030,0.000,0.024,3184,1839,2007,2059,1955,0,0,0,0,0,0,24.46,24.39,24.47
$GC,8006,1.35,217.6,3184,1839,2059,1952,160.2,11.7,334,8011,0.00,2.62,0.00,0.000,260,0.000,0.033,3184,3426,2006,2059,1953,0,0,0,0,0,0,24.68,24.41,24.70
$GC,8106,1.35,217.6,3184,3426,2059,1953,148.3,11.6,343,8111,0.00,2.55,0.00,0.000,1030,0.000,0.021,3184,1836,2006,2059,1953,0,0,0,0,0,0,24.52,24.46,24.53
$GC,8360,1.35,222.0,3184,1837,2059,1951,123.0,9.8,368,8369,0.00,0.00,4.12,0.400,8198,0.000,0.000,3184,1837,1994,2047,1941,0,0,0,0,0,0,24.73,24.13,23.78
$GC,8614,1.36,230.7,3184,1837,2047,1941,98.7,9.5,393,8630,0.00,2.62,9.40,0.500,8452,0.000,0.030,3184,3430,1957,2003,1912,0,0,0,0,0,0,24.73,24.03,23.70
$GC,8652,1.37,238.3,3184,3430,2003,1913,94.8,9.6,396,8670,0.00,2.55,8.43,0.483,9222,0.000,0.019,3185,1836,1927,1970,1884,0,0,0,0,0,0,24.44,24.39,23.63
$GC,8909,1.38,243.1,3184,1836,1970,1882,68.7,9.8,422,8923,0.00,2.60,6.03,0.430,8708,0.000,0.042,3185,275,1906,1950,1863,0,0,0,0,0,0,24.69,24.09,23.77
$GC,8951,1.38,243.1,3184,274,1950,1863,64.8,10.2,425,8959,0.00,2.53,0.00,0.000,1030,0.000,0.018,3184,1861,1906,1950,1863,0,0,0,0,0,0,24.47,24.42,24.48
$GC,9201,1.39,253.9,3184,1860,1950,1863,39.4,9.4,450,9219,0.00,2.53,11.43,0.463,8452,0.000,0.031,3185,3419,1864,1910,1819,0,0,0,0,0,0,24.72,24.16,23.72
$GC,9290,1.41,266.3,3184,3419,1910,1819,31.0,9.3,458,9311,0.08,2.50,12.85,0.460,11270,0.111,0.018,3208,1841,1813,1854,1772,0,0,0,0,0,0,24.37,24.43,23.65
$STATE,9575,end climb,SURFACE_DEPTH_REACHED
$STATE,9575,begin surface coast
$FINISH,0.0,1.022402
$STATE,9606,end surface coast,CONTROL_FINISHED_OK
$STATE,9606,begin surface
$SM_CCo,9628,64.65,0.462,0,0,1349,380.21
$SM_GC,0.95,11.65,0.08,64.65,0.041,0.092,0.462,432,1964,1349,-7.27,-1.27,380.21,0,0,0,0,0,0,24.41,24.52,23.52
$IRIDIUM_FIX,2234.68,-15802.37,190618,231142
$TT8_MAMPS,0.021721,0.346787
$HUMID,56.22
$INTERNAL_PRESSURE,9.26193
$TCM_TEMP,22.30
$XPDR_PINGS,142
$24V_AH,23.09,78.896
$10V_AH,9.58,59.395
$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,25.850,103.100,345.800,64.650,0.000,22.819,50.390,188.926,35.500,0.000,32.987,1742.463,5771.206,559.970,1778.248,263.423,0.000,1238.186,0.000,1486.539,0.000,0.540,0.000
$DEVICE_MAMPS,166.005,91.800,859.860,462.060,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,345.383,289.738,434.737,534.358,637.041,0.000,0.000,0.000,0.000,0.000
$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,43843,513
$CAP_FILE_SIZE,98999,0
$CFSIZE,259248128,219279360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,231.60,1
$GPS,200618,045020,2245.126,-15800.014,32,1.4,71,10.1,0.2,200.9,8,5.3