version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 683
start: 6 20 118 4 57 10
data:
$ID,148
$MISSION,15
$DIVE,683
$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,51
$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
$GPS1,200618,045020,2245.1260,-15800.0137,32,1.4,71,10.1,0.2,200.9,8,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-63.8
$GPS2,200618,045645,2245.0779,-15800.0186,10,1.7,32,10.1,0.4,237.9,8,5.3
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,66.3,8572,-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,-116.8,431,1816,1352,1336,0.0,0.0,0,89,0.00,0.00,-70.82,0.000,16386,0.000,0.000,432,1814,3347,3394,3300,0,0,0,0,0,0,24.57,28.83,24.59
$GC,94,-1.22,-116.8,432,1814,3394,3301,3.8,-8.6,10,116,10.95,2.70,-0.55,0.000,18692,0.175,0.034,2367,3470,3380,3433,3327,0,0,0,0,0,0,24.11,23.42,24.28
$GC,226,-1.22,-116.8,2367,3470,3434,3327,37.2,-18.2,29,231,0.00,2.47,0.00,0.000,1030,0.000,0.018,2367,1894,3380,3434,3327,0,0,0,0,0,0,24.46,24.41,24.48
$GC,483,-1.22,-116.8,2367,1894,3434,3328,80.7,-17.1,54,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1894,3381,3434,3328,0,0,0,0,0,0,24.70,24.72,24.71
$GC,732,-1.22,-116.8,2367,1894,3434,3329,118.9,-14.3,79,737,0.00,2.53,0.00,0.000,516,0.000,0.031,2367,321,3381,3434,3329,0,0,0,0,0,0,24.73,24.46,24.75
$GC,750,-1.22,-116.8,2367,322,3434,3329,121.2,-14.6,80,757,0.00,2.47,0.00,0.000,1030,0.000,0.015,2368,1916,3381,3434,3329,0,0,0,0,0,0,24.56,24.52,24.58
$GC,996,-1.22,-116.8,2367,1916,3436,3329,157.6,-13.9,105,1002,0.00,2.60,0.00,0.000,516,0.000,0.031,2368,325,3382,3435,3329,0,0,0,0,0,0,24.76,24.49,24.77
$GC,1033,-1.22,-116.8,2367,325,3436,3329,162.4,-13.9,108,1041,0.00,2.47,0.00,0.000,1030,0.000,0.015,2367,1922,3382,3436,3329,0,0,0,0,0,0,24.59,24.55,24.60
$GC,1283,-1.22,-116.8,2367,1923,3436,3330,193.6,-12.2,133,1288,0.00,2.45,0.00,0.000,260,0.000,0.027,2367,3459,3383,3437,3329,0,0,0,0,0,0,24.78,24.52,24.79
$GC,1326,-1.22,-116.8,2367,3459,3437,3330,199.2,-12.0,137,1332,0.00,2.42,0.00,0.000,1030,0.000,0.015,2368,1890,3383,3437,3330,0,0,0,0,0,0,24.61,24.57,24.63
$GC,1580,-1.22,-116.8,2367,1890,3437,3330,225.6,-9.6,144,1586,0.00,2.53,0.00,0.000,516,0.000,0.031,2368,330,3383,3437,3330,0,0,0,0,0,0,24.79,24.53,24.82
$GC,1625,-1.22,-116.8,2367,330,3437,3331,230.3,-9.9,145,1630,0.00,2.45,0.00,0.000,1030,0.000,0.015,2368,1899,3384,3437,3331,0,0,0,0,0,0,24.63,24.58,24.64
$GC,1909,-1.22,-116.8,2367,1900,3437,3331,257.4,-9.2,152,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1900,3384,3437,3331,0,0,0,0,0,0,24.82,24.84,24.83
$GC,2148,-1.22,-116.8,2367,1900,3437,3331,281.6,-10.5,158,2154,0.00,2.58,0.00,0.000,516,0.000,0.032,2367,331,3384,3437,3331,0,0,0,0,0,0,24.82,24.56,24.84
$GC,2192,-1.22,-116.8,2367,331,3437,3331,286.4,-10.7,159,2197,0.00,2.47,0.00,0.000,1030,0.000,0.017,2368,1905,3384,3437,3331,0,0,0,0,0,0,24.65,24.60,24.67
$GC,2475,-1.22,-116.8,2367,1905,3436,3330,317.9,-11.4,166,2482,0.00,2.55,0.00,0.000,260,0.000,0.033,2367,3474,3383,3437,3330,0,0,0,0,0,0,24.84,24.57,24.85
$GC,2539,-1.22,-116.8,2367,3474,3437,3330,323.1,-11.5,167,2545,0.00,2.45,0.00,0.000,1030,0.000,0.018,2368,1905,3382,3436,3329,0,0,0,0,0,0,24.66,24.62,24.68
$GC,2803,-1.22,-116.8,2367,1905,3437,3328,352.4,-10.2,174,2809,0.00,2.60,0.00,0.000,516,0.000,0.039,2368,337,3382,3437,3328,0,0,0,0,0,0,24.84,24.56,24.87
$GC,2836,-1.22,-116.8,2367,337,3437,3327,352.4,-10.2,174,2842,0.00,2.47,0.00,0.000,1030,0.000,0.019,2367,1898,3382,3437,3328,0,0,0,0,0,0,24.67,24.61,24.68
$GC,3090,-1.22,-116.8,2367,1898,3437,3325,377.3,-8.3,181,3096,0.00,2.60,0.00,0.000,516,0.000,0.041,2368,341,3381,3437,3325,0,0,0,0,0,0,24.85,24.56,24.87
$GC,3119,-1.22,-116.8,2367,341,3436,3325,377.3,-8.3,181,3124,0.00,2.47,0.00,0.000,1030,0.000,0.020,2368,1899,3380,3437,3324,0,0,0,0,0,0,24.67,24.61,24.68
$GC,3378,-1.22,-116.8,2367,1898,3436,3321,402.4,-8.9,188,3384,0.00,2.62,0.00,0.000,260,0.000,0.042,2368,3477,3378,3436,3321,0,0,0,0,0,0,24.86,24.55,24.87
$GC,3411,-1.22,-116.8,2367,3477,3436,3321,402.4,-8.9,188,3417,0.00,2.50,0.00,0.000,1030,0.000,0.021,2368,1898,3378,3436,3321,0,0,0,0,0,0,24.68,24.62,24.69
$GC,3666,-1.22,-116.8,2367,1898,3437,3318,429.7,-9.7,195,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1897,3377,3437,3318,0,0,0,0,0,0,24.84,24.87,24.87
$GC,3905,-1.22,-116.8,2367,1898,3437,3315,452.3,-9.2,201,3910,0.00,2.65,0.00,0.000,516,0.000,0.051,2367,331,3376,3437,3315,0,0,0,0,0,0,24.84,24.54,24.87
$GC,3958,-1.22,-116.8,2367,331,3436,3314,456.5,-9.1,202,3964,0.00,2.55,0.00,0.000,1030,0.000,0.026,2368,1898,3375,3436,3314,0,0,0,0,0,0,24.68,24.60,24.69
$GC,4233,-1.22,-116.8,2367,1898,3436,3311,478.0,-7.2,209,4240,0.00,2.67,0.00,0.000,516,0.000,0.051,2368,336,3373,3436,3310,0,0,0,0,0,0,24.85,24.54,24.87
$GC,4332,-1.22,-116.8,2367,336,3436,3310,484.3,-7.1,211,4338,0.00,2.55,0.00,0.000,1030,0.000,0.028,2367,1898,3373,3436,3310,0,0,0,0,0,0,24.67,24.60,24.69
$STATE,4559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4559,begin apogee
$GC,4565,-0.26,0.0,2367,1899,3436,3306,500.8,-6.7,217,4668,1.40,0.00,98.55,0.855,10246,0.081,0.000,2682,1899,2900,2961,2839,0,0,0,0,0,0,24.54,23.75,23.10
$STATE,4669,end apogee,CONTROL_FINISHED_OK
$STATE,4669,begin climb
$GC,4672,1.22,116.8,2682,1899,2961,2837,501.6,0.0,219,4780,1.95,0.00,102.55,0.830,10758,0.044,0.000,3147,1898,2422,2485,2359,0,0,0,0,0,0,24.04,23.71,23.09
$GC,5001,1.22,116.8,3147,1898,2485,2346,473.9,10.1,228,5007,0.00,2.70,0.00,0.000,260,0.000,0.065,3147,3431,2415,2485,2346,0,0,0,0,0,0,24.58,24.25,24.60
$GC,5157,1.25,136.0,3146,3432,2481,2345,463.0,8.9,231,5182,0.00,2.60,17.08,0.774,9222,0.000,0.031,3147,1864,2343,2407,2280,0,0,0,0,0,0,24.45,24.37,23.21
$GC,5450,1.30,181.3,3147,1863,2407,2272,438.7,7.4,239,5499,0.08,2.92,40.40,0.802,10756,0.102,0.066,3178,270,2159,2211,2107,0,0,0,0,0,0,24.41,23.80,23.14
$GC,5517,1.35,222.4,3178,270,2209,2107,435.4,7.7,240,5561,0.00,2.62,38.05,0.786,9222,0.000,0.027,3178,1845,1992,2033,1951,0,0,0,0,0,0,24.26,24.18,23.13
$GC,5809,1.35,222.4,3178,1844,2031,1942,391.9,14.6,248,5814,0.00,2.78,0.00,0.000,260,0.000,0.062,3178,3432,1986,2031,1942,0,0,0,0,0,0,24.59,24.28,24.60
$GC,5897,1.35,222.4,3177,3431,2030,1942,378.6,15.3,250,5903,0.00,2.60,0.00,0.000,1030,0.000,0.028,3178,1848,1985,2030,1941,0,0,0,0,0,0,24.44,24.37,24.46
$GC,6176,1.35,222.4,3178,1848,2030,1937,333.4,16.0,257,6181,0.00,2.70,0.00,0.000,260,0.000,0.044,3179,3439,1983,2030,1937,0,0,0,0,0,0,24.68,24.36,24.70
$GC,6214,1.35,222.4,3178,3439,2030,1937,333.4,16.0,257,6221,0.00,2.62,0.00,0.000,1030,0.000,0.031,3178,1839,1983,2030,1937,0,0,0,0,0,0,24.49,24.41,24.51
$GC,6460,1.35,222.4,3178,1839,2030,1935,291.6,14.0,264,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1839,1982,2030,1934,0,0,0,0,0,0,24.71,24.73,24.73
$GC,6700,1.35,222.4,3178,1839,2030,1933,258.1,13.7,270,6705,0.00,2.70,0.00,0.000,260,0.000,0.044,3178,3440,1981,2030,1933,0,0,0,0,0,0,24.73,24.41,24.75
$GC,6803,1.35,222.4,3178,3441,2030,1933,246.3,13.9,272,6809,0.00,2.60,0.00,0.000,1030,0.000,0.026,3178,1844,1981,2030,1933,0,0,0,0,0,0,24.54,24.47,24.56
$GC,7067,1.35,222.4,3178,1844,2030,1931,209.6,13.2,279,7073,0.00,2.65,0.00,0.000,260,0.000,0.037,3178,3436,1980,2030,1931,0,0,0,0,0,0,24.75,24.44,24.77
$GC,7171,1.35,222.4,3179,3436,2030,1932,196.1,12.9,283,7177,0.00,2.58,0.00,0.000,1030,0.000,0.023,3179,1841,1980,2030,1931,0,0,0,0,0,0,24.57,24.51,24.58
$GC,7428,1.35,222.4,3178,1841,2030,1929,166.0,11.9,308,7433,0.00,2.62,0.00,0.000,260,0.000,0.032,3178,3446,1979,2030,1929,0,0,0,0,0,0,24.75,24.49,24.77
$GC,7527,1.35,222.4,3178,3446,2030,1930,154.1,12.0,317,7534,0.00,2.55,0.00,0.000,1030,0.000,0.021,3178,1844,1980,2030,1930,0,0,0,0,0,0,24.58,24.52,24.60
$GC,7775,1.35,222.4,3178,1844,2030,1929,126.9,10.1,342,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1844,1979,2030,1929,0,0,0,0,0,0,24.77,24.79,24.79
$GC,8014,1.40,259.3,3178,1844,2030,1929,106.3,7.9,366,8054,0.08,0.00,32.45,0.551,10246,0.099,0.000,3205,1844,1841,1888,1794,0,0,0,0,0,0,24.57,23.80,23.48
$GC,8295,1.40,259.3,3204,1844,1888,1789,76.5,10.2,394,8300,0.00,2.62,0.00,0.000,260,0.000,0.031,3205,3449,1838,1888,1789,0,0,0,0,0,0,24.67,24.40,24.68
$GC,8323,1.40,259.3,3205,3449,1888,1789,74.0,10.6,396,8331,0.00,2.58,0.00,0.000,1030,0.000,0.018,3205,1847,1838,1888,1789,0,0,0,0,0,0,24.47,24.45,24.49
$GC,8574,1.40,259.3,3205,1847,1888,1788,46.8,11.3,421,8579,0.00,2.60,0.00,0.000,260,0.000,0.030,3206,3450,1838,1888,1789,0,0,0,0,0,0,24.72,24.45,24.73
$GC,8723,1.40,259.3,3205,3450,1888,1789,30.1,10.8,434,8728,0.00,2.55,0.00,0.000,1030,0.000,0.018,3205,1841,1838,1888,1789,0,0,0,0,0,0,24.56,24.51,24.58
$STATE,8986,end climb,SURFACE_DEPTH_REACHED
$STATE,8987,begin surface coast
$FINISH,0.1,1.022469
$STATE,9020,end surface coast,CONTROL_FINISHED_OK
$STATE,9020,begin surface
$SM_CCo,9043,69.85,0.462,0,0,1349,380.21
$SM_GC,0.93,11.55,0.12,69.85,0.039,0.058,0.462,432,2013,1349,-7.27,-0.51,380.21,0,0,0,0,0,0,24.47,24.60,23.53
$IRIDIUM_FIX,2234.68,-15800.20,200618,020122
$TT8_MAMPS,0.021721,0.349034
$HUMID,56.45
$INTERNAL_PRESSURE,9.26193
$TCM_TEMP,22.70
$XPDR_PINGS,101
$24V_AH,23.09,78.995
$10V_AH,9.71,59.466
$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,26.000,108.650,329.075,69.850,0.000,22.482,42.098,165.690,25.250,0.000,34.924,1634.709,5400.133,540.594,1674.642,253.608,0.000,1203.711,0.000,1415.834,0.000,0.538,0.000
$DEVICE_MAMPS,175.185,91.800,854.505,462.060,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,327.677,277.786,422.205,508.879,604.585,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342848
$DATA_FILE_SIZE,40772,487
$CAP_FILE_SIZE,94517,0
$CFSIZE,259248128,219234304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118,210.19,1
$GPS,200618,073027,2245.069,-15759.351,14,1.6,42,10.1,0.3,235.8,8,6.3