version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 695
start: 6 21 118 14 56 26
data:
$ID,148
$MISSION,15
$DIVE,695
$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
$GPS1,210618,144908,2244.3718,-15800.5742,40,1.0,80,10.1,0.3,178.7,7,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-61.9
$GPS2,210618,145602,2244.3252,-15800.6035,14,1.0,53,10.1,0.2,265.2,8,5.7
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A8
$TGT_LATLONG,2245.000,-15805.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,280.6,7612,-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,-116.8,429,1840,1358,1327,0.0,0.0,0,90,0.00,0.00,-71.03,0.000,16386,0.000,0.000,429,1840,3307,3353,3262,0,0,0,0,0,0,24.58,28.83,24.60
$GC,94,-1.22,-116.8,429,1840,3354,3263,3.2,-6.8,10,117,10.88,2.50,-1.25,0.000,19204,0.172,0.036,2368,307,3379,3434,3324,0,0,0,0,0,0,24.11,23.42,24.29
$GC,312,-1.22,-116.8,2367,308,3435,3325,52.3,-16.7,38,317,0.00,2.50,0.00,0.000,1030,0.000,0.015,2368,1912,3380,3435,3325,0,0,0,0,0,0,24.49,24.46,24.51
$GC,570,-1.22,-116.8,2367,1913,3436,3326,90.4,-14.9,63,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1913,3381,3436,3326,0,0,0,0,0,0,24.71,24.73,24.72
$GC,815,-1.22,-116.8,2367,1913,3436,3327,124.3,-12.6,88,820,0.00,2.58,0.00,0.000,516,0.000,0.029,2368,316,3381,3436,3327,0,0,0,0,0,0,24.74,24.48,24.75
$GC,838,-1.22,-116.8,2367,316,3437,3327,127.4,-12.9,90,843,0.00,2.47,0.00,0.000,1030,0.000,0.015,2368,1909,3381,3436,3327,0,0,0,0,0,0,24.57,24.53,24.58
$GC,1096,-1.22,-116.8,2367,1909,3436,3328,159.0,-11.1,115,1102,0.00,2.47,0.00,0.000,260,0.000,0.026,2368,3459,3382,3436,3328,0,0,0,0,0,0,24.77,24.51,24.78
$GC,1145,-1.22,-116.8,2367,3459,3437,3328,164.8,-11.9,119,1152,0.00,2.45,0.00,0.000,1030,0.000,0.015,2368,1873,3382,3437,3328,0,0,0,0,0,0,24.60,24.56,24.61
$GC,1395,-1.22,-116.8,2367,1873,3437,3329,192.2,-10.4,144,1400,0.00,2.55,0.00,0.000,260,0.000,0.027,2368,3460,3382,3437,3328,0,0,0,0,0,0,24.79,24.53,24.80
$GC,1448,-1.22,-116.8,2367,3460,3437,3329,198.5,-11.2,149,1455,0.00,2.42,0.00,0.000,1030,0.000,0.016,2368,1896,3383,3437,3329,0,0,0,0,0,0,24.62,24.58,24.63
$GC,1713,-1.22,-116.8,2367,1896,3437,3329,225.9,-10.6,157,1719,0.00,2.50,0.00,0.000,516,0.000,0.035,2368,334,3383,3437,3329,0,0,0,0,0,0,24.81,24.53,24.82
$GC,1758,-1.22,-116.8,2367,335,3437,3329,231.2,-10.9,158,1763,0.00,2.45,0.00,0.000,1030,0.000,0.016,2368,1905,3383,3437,3329,0,0,0,0,0,0,24.63,24.58,24.65
$GC,2041,-1.22,-116.8,2367,1905,3437,3329,263.3,-11.0,165,2047,0.00,2.53,0.00,0.000,260,0.000,0.028,2368,3473,3383,3437,3329,0,0,0,0,0,0,24.82,24.56,24.84
$GC,2064,-1.22,-116.8,2367,3473,3437,3329,263.3,-11.0,165,2069,0.00,2.45,0.00,0.000,1030,0.000,0.017,2368,1895,3383,3437,3329,0,0,0,0,0,0,24.65,24.60,24.65
$GC,2328,-1.22,-116.8,2367,1895,3437,3329,291.5,-9.4,172,2334,0.00,2.53,0.00,0.000,516,0.000,0.037,2368,338,3383,3437,3329,0,0,0,0,0,0,24.83,24.55,24.84
$GC,2346,-1.22,-116.8,2367,338,3437,3329,291.5,-9.4,172,2352,0.00,2.45,0.00,0.000,1030,0.000,0.018,2368,1898,3383,3437,3329,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2615,-1.22,-116.8,2367,1898,3437,3327,319.3,-9.6,179,2621,0.00,2.55,0.00,0.000,260,0.000,0.033,2368,3467,3382,3437,3328,0,0,0,0,0,0,24.84,24.57,24.85
$GC,2654,-1.22,-116.8,2367,3467,3437,3327,319.3,-9.6,179,2661,0.00,2.45,0.00,0.000,1030,0.000,0.018,2368,1903,3382,3437,3327,0,0,0,0,0,0,24.66,24.61,24.68
$GC,2899,-1.22,-116.8,2367,1903,3437,3325,347.8,-10.0,186,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1903,3381,3437,3325,0,0,0,0,0,0,24.84,24.87,24.86
$GC,3139,-1.22,-116.8,2367,1903,3436,3322,369.3,-8.7,192,3144,0.00,2.60,0.00,0.000,516,0.000,0.043,2368,338,3379,3437,3322,0,0,0,0,0,0,24.85,24.56,24.87
$GC,3162,-1.22,-116.8,2367,338,3437,3322,369.3,-8.7,192,3168,0.00,2.50,0.00,0.000,1030,0.000,0.021,2368,1893,3379,3437,3322,0,0,0,0,0,0,24.67,24.61,24.68
$GC,3427,-1.22,-116.8,2367,1893,3437,3318,397.7,-9.8,199,3432,0.00,2.65,0.00,0.000,516,0.000,0.047,2368,335,3377,3437,3318,0,0,0,0,0,0,24.84,24.55,24.86
$GC,3464,-1.22,-116.8,2367,336,3437,3319,397.7,-9.8,199,3472,0.00,2.53,0.00,0.000,1030,0.000,0.023,2368,1907,3377,3437,3318,0,0,0,0,0,0,24.67,24.61,24.69
$GC,3711,-1.22,-116.8,2367,1907,3437,3315,423.2,-8.2,206,3716,0.00,2.65,0.00,0.000,516,0.000,0.047,2367,342,3376,3437,3315,0,0,0,0,0,0,24.84,24.55,24.86
$GC,3769,-1.22,-116.8,2367,343,3437,3314,426.6,-7.9,207,3774,0.00,2.53,0.00,0.000,1030,0.000,0.024,2368,1906,3375,3437,3314,0,0,0,0,0,0,24.67,24.61,24.69
$GC,4038,-1.22,-116.8,2367,1905,3437,3310,450.9,-9.1,214,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1905,3373,3436,3310,0,0,0,0,0,0,24.84,24.87,24.87
$GC,4278,-1.22,-116.8,2367,1905,3436,3307,476.6,-11.0,220,4284,0.00,2.65,0.00,0.000,260,0.000,0.049,2368,3469,3372,3437,3307,0,0,0,0,0,0,24.85,24.54,24.87
$GC,4311,-1.22,-116.8,2367,3470,3437,3307,476.6,-11.0,220,4316,0.00,2.53,0.00,0.000,1030,0.000,0.025,2368,1909,3371,3437,3306,0,0,0,0,0,0,24.68,24.61,24.70
$STATE,4522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4522,begin apogee
$GC,4529,-0.26,0.0,2368,1829,3437,3303,503.1,-10.5,226,4631,1.42,0.00,98.18,0.860,10246,0.093,0.000,2680,1829,2900,2962,2838,0,0,0,0,0,0,24.52,23.73,23.08
$STATE,4632,end apogee,CONTROL_FINISHED_OK
$STATE,4632,begin climb
$GC,4636,1.22,116.8,2680,1829,2961,2836,505.8,0.0,228,4743,2.00,0.00,102.20,0.836,10502,0.047,0.000,3165,1829,2422,2486,2358,0,0,0,0,0,0,24.05,23.70,23.08
$GC,4965,1.22,116.8,3164,1829,2485,2345,478.0,10.9,237,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1829,2415,2485,2345,0,0,0,0,0,0,24.58,24.60,24.60
$GC,5205,1.22,116.8,3164,1829,2485,2342,453.0,10.3,243,5210,0.00,2.78,0.00,0.000,260,0.000,0.058,3165,3419,2413,2484,2342,0,0,0,0,0,0,24.65,24.32,24.68
$GC,5318,1.22,116.8,3164,3420,2481,2342,444.4,10.3,245,5324,0.00,2.55,0.00,0.000,1030,0.000,0.028,3165,1869,2411,2481,2342,0,0,0,0,0,0,24.49,24.41,24.51
$GC,5572,1.22,117.2,3164,1869,2481,2342,415.8,10.0,252,5578,0.00,2.62,0.00,0.000,260,0.000,0.045,3165,3418,2411,2481,2342,0,0,0,0,0,0,24.71,24.39,24.72
$GC,5591,1.23,117.7,3164,3418,2480,2341,415.8,10.0,252,5597,0.00,2.60,0.00,0.000,1030,0.000,0.029,3165,1840,2410,2480,2341,0,0,0,0,0,0,24.51,24.44,24.54
$GC,5860,1.23,120.2,3165,1840,2480,2340,387.1,9.9,259,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1840,2410,2480,2340,0,0,0,0,0,0,24.73,24.75,24.75
$GC,6100,1.24,132.3,3165,1840,2480,2337,364.8,9.3,265,6119,0.00,2.72,12.70,0.727,8452,0.000,0.045,3165,3419,2359,2426,2292,0,0,0,0,0,0,24.75,24.01,23.34
$GC,6143,1.25,139.2,3164,3419,2425,2292,360.4,9.6,266,6157,0.00,2.62,7.50,0.656,9222,0.000,0.028,3165,1839,2331,2397,2266,0,0,0,0,0,0,24.38,24.30,23.34
$GC,6425,1.26,146.4,3165,1839,2397,2260,332.3,9.6,273,6435,0.00,0.00,7.65,0.655,8198,0.000,0.000,3165,1839,2303,2369,2237,0,0,0,0,0,0,24.68,24.05,23.44
$GC,6666,1.28,161.3,3164,1839,2364,2236,310.3,9.2,279,6689,0.00,2.78,14.43,0.709,8452,0.000,0.043,3165,3425,2241,2302,2180,0,0,0,0,0,0,24.68,23.94,23.32
$GC,6853,1.28,164.0,3164,3424,2301,2178,294.2,9.9,283,6859,0.00,2.60,0.00,0.000,1030,0.000,0.027,3165,1841,2239,2301,2178,0,0,0,0,0,0,24.46,24.39,24.47
$GC,7111,1.28,164.0,3164,1841,2301,2174,266.5,10.1,290,7117,0.00,2.72,0.00,0.000,516,0.000,0.053,3165,262,2237,2301,2174,0,0,0,0,0,0,24.68,24.38,24.70
$GC,7130,1.28,164.0,3164,262,2300,2174,266.5,10.1,290,7136,0.00,2.60,0.00,0.000,1030,0.000,0.023,3165,1854,2237,2301,2174,0,0,0,0,0,0,24.51,24.45,24.53
$GC,7399,1.29,171.5,3165,1854,2300,2173,237.0,9.6,297,7417,0.00,2.70,9.70,0.631,8452,0.000,0.051,3165,3419,2200,2261,2139,0,0,0,0,0,0,24.73,23.91,23.49
$GC,7465,1.31,186.5,3164,3420,2260,2138,233.0,9.2,298,7485,0.00,2.58,14.80,0.657,9222,0.000,0.024,3165,1843,2138,2193,2084,0,0,0,0,0,0,24.45,24.38,23.34
$GC,7764,1.31,186.5,3164,1843,2192,2080,199.4,10.7,306,7770,0.00,2.70,0.00,0.000,516,0.000,0.045,3165,261,2135,2192,2079,0,0,0,0,0,0,24.65,24.37,24.68
$GC,7788,1.31,186.5,3165,261,2191,2079,196.8,10.9,308,7794,0.00,2.60,0.00,0.000,1030,0.000,0.021,3165,1860,2135,2191,2079,0,0,0,0,0,0,24.49,24.44,24.51
$GC,8046,1.36,224.9,3165,1861,2191,2079,173.2,7.8,333,8090,0.08,2.65,34.10,0.630,10500,0.109,0.039,3193,3413,1982,2026,1939,0,0,0,0,0,0,24.46,23.87,23.32
$GC,8283,1.36,224.9,3193,3413,2025,1937,148.2,12.5,355,8290,0.00,2.53,0.00,0.000,1030,0.000,0.020,3193,1843,1980,2025,1935,0,0,0,0,0,0,24.45,24.39,24.46
$GC,8529,1.36,224.9,3193,1843,2025,1933,119.5,10.9,380,8534,0.00,2.60,0.00,0.000,260,0.000,0.031,3193,3426,1979,2025,1933,0,0,0,0,0,0,24.68,24.41,24.70
$GC,8578,1.36,224.9,3193,3426,2025,1933,114.5,11.3,384,8587,0.00,2.55,0.00,0.000,1030,0.000,0.020,3193,1850,1979,2025,1933,0,0,0,0,0,0,24.49,24.46,24.51
$GC,8829,1.36,224.9,3192,1850,2025,1932,88.7,10.2,409,8835,0.00,2.60,0.00,0.000,260,0.000,0.031,3193,3434,1978,2025,1932,0,0,0,0,0,0,24.72,24.45,24.74
$GC,8990,1.37,236.0,3193,3434,2025,1932,72.4,9.4,424,9008,0.00,2.53,11.15,0.497,9222,0.000,0.018,3194,1843,1936,1985,1888,0,0,0,0,0,0,24.57,24.51,23.68
$GC,9258,1.38,246.3,3193,1843,1985,1886,48.0,9.4,450,9276,0.00,0.00,10.65,0.467,8198,0.000,0.000,3194,1843,1894,1938,1850,0,0,0,0,0,0,24.71,24.00,23.70
$GC,9525,1.42,273.1,3193,1843,1938,1848,27.1,8.5,479,9554,0.00,0.00,25.45,0.477,8198,0.000,0.000,3194,1843,1785,1825,1745,0,0,0,0,0,0,24.70,23.96,23.56
$STATE,9762,end climb,SURFACE_DEPTH_REACHED
$STATE,9762,begin surface coast
$FINISH,0.1,1.022787
$STATE,9792,end surface coast,CONTROL_FINISHED_OK
$STATE,9792,begin surface
$SM_CCo,9815,62.75,0.463,0,0,1349,380.21
$SM_GC,1.00,11.57,0.08,62.75,0.041,0.090,0.463,435,1982,1349,-7.25,-1.22,380.21,0,0,0,0,0,0,24.38,24.50,23.51
$IRIDIUM_FIX,2234.68,-15757.16,210618,120046
$TT8_MAMPS,0.021721,0.346787
$HUMID,56.97
$INTERNAL_PRESSURE,9.26193
$TCM_TEMP,21.90
$XPDR_PINGS,99
$24V_AH,23.08,80.177
$10V_AH,9.59,60.359
$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,25.950,113.375,348.500,62.750,0.000,27.488,44.531,165.909,24.750,0.000,56.219,1723.150,5984.861,553.244,1765.904,268.210,0.000,1243.622,0.000,1477.722,0.000,0.541,0.000
$DEVICE_MAMPS,172.125,99.450,859.860,462.825,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,353.891,299.607,447.952,553.340,658.344,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342788
$DATA_FILE_SIZE,43856,526
$CAP_FILE_SIZE,101507,0
$CFSIZE,259248128,218578944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,227.69,1
$GPS,210618,174232,2244.145,-15802.222,14,1.2,47,10.0,0.3,185.6,8,5.5