version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 706
start: 6 22 118 22 35 58
data:
$ID,148
$MISSION,15
$DIVE,706
$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,40
$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
$GPS1,220618,222814,2245.3972,-15759.8125,73,1.3,113,10.1,0.9,271.0,7,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-59.5
$GPS2,220618,223532,2245.3860,-15759.8574,15,1.2,48,10.1,0.2,119.4,8,5.4
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A9
$TGT_LATLONG,2245.390,-15758.740
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,60.2,1908,-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,-116.8,429,1807,1359,1326,0.0,0.0,0,90,0.00,0.00,-71.25,0.000,16386,0.000,0.000,430,1807,3347,3395,3300,0,0,0,0,0,0,24.58,28.83,24.60
$GC,95,-1.22,-116.8,429,1807,3395,3300,3.5,-7.8,10,117,10.82,2.70,-0.55,0.000,18692,0.171,0.034,2367,3470,3379,3433,3326,0,0,0,0,0,0,24.11,23.41,24.28
$GC,152,-1.22,-116.8,2366,3470,3433,3327,22.5,-20.2,19,160,0.00,2.53,0.00,0.000,1030,0.000,0.018,2367,1881,3380,3433,3327,0,0,0,0,0,0,24.42,24.37,24.44
$GC,410,-1.22,-116.8,2366,1881,3434,3327,67.4,-16.7,47,415,0.00,2.55,0.00,0.000,516,0.000,0.034,2367,319,3380,3434,3327,0,0,0,0,0,0,24.68,24.41,24.69
$GC,429,-1.22,-116.8,2366,319,3434,3327,70.3,-16.4,48,437,0.00,2.50,0.00,0.000,1030,0.000,0.015,2367,1921,3380,3434,3327,0,0,0,0,0,0,24.51,24.46,24.52
$GC,677,-1.22,-116.8,2366,1924,3435,3328,105.4,-13.4,73,682,0.00,2.62,0.00,0.000,516,0.000,0.031,2367,319,3381,3435,3328,0,0,0,0,0,0,24.72,23.73,24.73
$GC,726,-1.22,-116.8,2366,319,3435,3328,111.4,-13.3,77,733,0.00,2.45,0.00,0.000,1030,0.000,0.015,2367,1893,3381,3435,3328,0,0,0,0,0,0,24.55,24.51,24.56
$GC,972,-1.22,-116.8,2366,1894,3436,3328,143.1,-11.9,102,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1894,3382,3437,3327,0,0,0,0,0,0,24.75,24.77,24.77
$GC,1213,-1.22,-116.8,2366,1894,3436,3329,174.9,-14.2,126,1219,0.00,2.58,0.00,0.000,516,0.000,0.039,2367,329,3382,3436,3329,0,0,0,0,0,0,24.77,24.30,24.79
$GC,1258,-1.22,-116.8,2366,329,3436,3329,181.4,-14.5,130,1265,0.00,2.45,0.00,0.000,1030,0.000,0.015,2367,1909,3382,3436,3329,0,0,0,0,0,0,24.60,24.56,24.61
$GC,1532,-1.22,-116.8,2366,1909,3437,3330,214.5,-11.7,148,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1909,3383,3437,3330,0,0,0,0,0,0,24.79,24.81,24.81
$GC,1774,-1.22,-116.8,2366,1909,3437,3329,239.2,-10.3,154,1779,0.00,2.60,0.00,0.000,516,0.000,0.031,2367,319,3383,3437,3330,0,0,0,0,0,0,24.80,24.54,24.82
$GC,1826,-1.22,-116.8,2366,319,3437,3330,243.7,-10.2,155,1831,0.00,2.45,0.00,0.000,1030,0.000,0.017,2367,1888,3383,3437,3330,0,0,0,0,0,0,24.63,24.58,24.65
$GC,2100,-1.22,-116.8,2366,1888,3437,3330,271.7,-9.6,162,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1887,3383,3437,3330,0,0,0,0,0,0,24.82,24.84,24.83
$GC,2340,-1.22,-116.8,2366,1888,3437,3330,296.6,-10.4,168,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1888,3383,3437,3330,0,0,0,0,0,0,24.83,24.85,24.84
$GC,2579,-1.22,-116.8,2366,1888,3437,3329,320.4,-9.6,174,2585,0.00,2.58,0.00,0.000,260,0.000,0.034,2367,3469,3382,3437,3328,0,0,0,0,0,0,24.84,24.56,24.85
$GC,2623,-1.22,-116.8,2366,3469,3437,3328,324.8,-9.6,175,2628,0.00,2.47,0.00,0.000,1030,0.000,0.018,2367,1894,3382,3437,3328,0,0,0,0,0,0,24.66,24.61,24.68
$GC,2908,-1.22,-116.8,2366,1894,3437,3326,351.5,-9.3,182,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1894,3381,3437,3326,0,0,0,0,0,0,24.84,24.87,24.87
$GC,3147,-1.22,-116.8,2366,1894,3437,3323,373.0,-8.9,188,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1895,3380,3437,3323,0,0,0,0,0,0,24.85,24.87,24.87
$GC,3388,-1.22,-116.8,2366,1894,3437,3320,395.9,-9.6,194,3394,0.00,2.62,0.00,0.000,260,0.000,0.041,2367,3460,3378,3437,3320,0,0,0,0,0,0,24.86,24.56,24.87
$GC,3467,-1.22,-116.8,2366,3460,3437,3319,400.4,-9.7,195,3474,0.00,2.47,0.00,0.000,1030,0.000,0.021,2367,1898,3378,3437,3319,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3711,-1.22,-116.8,2366,1898,3437,3316,430.3,-10.6,202,3717,0.00,2.65,0.00,0.000,516,0.000,0.049,2367,324,3376,3437,3316,0,0,0,0,0,0,24.86,24.55,24.88
$GC,3774,-1.22,-116.8,2366,324,3437,3316,435.0,-10.7,203,3779,0.00,2.53,0.00,0.000,1030,0.000,0.024,2367,1888,3376,3437,3315,0,0,0,0,0,0,24.68,24.61,24.69
$GC,4038,-1.22,-116.8,2366,1889,3437,3311,464.7,-10.5,210,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1890,3374,3437,3312,0,0,0,0,0,0,24.85,24.87,24.87
$GC,4277,-1.22,-116.8,2366,1889,3436,3308,489.2,-10.3,216,4283,0.00,2.67,0.00,0.000,260,0.000,0.047,2367,3479,3372,3437,3308,0,0,0,0,0,0,24.85,24.55,24.87
$GC,4305,-1.22,-116.8,2366,3479,3437,3308,489.2,-10.3,216,4311,0.00,2.55,0.00,0.000,1030,0.000,0.026,2367,1895,3372,3437,3308,0,0,0,0,0,0,24.68,24.61,24.70
$STATE,4401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4402,begin apogee
$GC,4409,-0.26,0.0,2366,1829,3436,3307,500.9,-9.4,219,4512,1.40,0.00,98.38,0.851,10246,0.084,0.000,2679,1829,2900,2961,2839,0,0,0,0,0,0,24.53,23.73,23.08
$STATE,4513,end apogee,CONTROL_FINISHED_OK
$STATE,4513,begin climb
$GC,4515,1.22,116.8,2679,1829,2961,2837,502.9,0.0,221,4627,1.98,2.83,102.75,0.825,10500,0.047,0.054,3147,3422,2421,2486,2357,0,0,0,0,0,0,24.03,23.74,23.08
$GC,4655,1.22,116.8,3146,3422,2484,2355,496.9,5.3,225,4662,0.00,2.60,0.00,0.000,1030,0.000,0.033,3147,1869,2419,2484,2354,0,0,0,0,0,0,24.25,24.17,24.27
$GC,4930,1.24,132.9,3146,1869,2485,2345,469.2,9.1,232,4953,0.00,2.72,14.48,0.759,8452,0.000,0.047,3146,3416,2356,2421,2292,0,0,0,0,0,0,24.60,23.87,23.20
$GC,4975,1.26,148.8,3146,3416,2420,2292,465.1,9.1,233,5000,0.00,2.62,15.62,0.760,9222,0.000,0.032,3147,1842,2292,2352,2233,0,0,0,0,0,0,24.31,24.23,23.16
$GC,5252,1.26,148.8,3146,1842,2351,2225,435.6,10.5,240,5258,0.00,2.72,0.00,0.000,260,0.000,0.046,3147,3431,2288,2351,2225,0,0,0,0,0,0,24.61,24.30,24.63
$GC,5325,1.26,148.8,3146,3431,2349,2225,430.6,10.8,241,5332,0.00,2.62,0.00,0.000,1030,0.000,0.030,3147,1843,2287,2349,2225,0,0,0,0,0,0,24.44,24.37,24.46
$GC,5579,1.26,148.8,3146,1843,2349,2223,400.4,10.3,248,5586,0.00,2.80,0.00,0.000,516,0.000,0.063,3147,257,2286,2349,2223,0,0,0,0,0,0,24.67,24.36,24.69
$GC,5624,1.26,148.8,3146,257,2348,2223,395.5,10.4,249,5630,0.00,2.62,0.00,0.000,1030,0.000,0.024,3147,1851,2285,2348,2223,0,0,0,0,0,0,24.50,24.43,24.52
$GC,5909,1.26,148.8,3146,1851,2348,2222,366.8,10.1,256,5914,0.00,2.72,0.00,0.000,260,0.000,0.057,3147,3435,2285,2348,2222,0,0,0,0,0,0,24.72,24.39,24.74
$GC,5967,1.26,148.8,3146,3435,2347,2222,362.2,10.1,257,5972,0.00,2.60,0.00,0.000,1030,0.000,0.028,3147,1846,2284,2347,2222,0,0,0,0,0,0,24.44,23.91,24.50
$GC,6236,1.27,152.0,3146,1846,2347,2221,333.5,9.9,264,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1846,2284,2347,2221,0,0,0,0,0,0,24.74,24.77,24.76
$GC,6476,1.27,156.2,3146,1846,2347,2220,310.0,9.8,270,6490,0.00,2.72,6.25,0.602,8452,0.000,0.041,3147,3435,2262,2327,2198,0,0,0,0,0,0,24.75,24.22,23.58
$GC,6533,1.27,157.1,3146,3434,2327,2198,305.7,10.0,271,6538,0.00,2.62,0.00,0.000,1030,0.000,0.027,3147,1837,2262,2327,2197,0,0,0,0,0,0,24.48,24.41,24.50
$GC,6802,1.27,157.1,3146,1837,2327,2195,275.9,10.1,278,6803,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1837,2261,2327,2195,0,0,0,0,0,0,24.73,24.75,24.75
$GC,7041,1.27,157.1,3146,1837,2327,2194,251.9,10.3,284,7047,0.00,2.67,0.00,0.000,260,0.000,0.040,3147,3429,2260,2327,2194,0,0,0,0,0,0,24.75,24.45,24.77
$GC,7128,1.27,157.1,3146,3429,2327,2194,243.4,10.4,286,7133,0.00,2.58,0.00,0.000,1030,0.000,0.025,3147,1839,2260,2327,2194,0,0,0,0,0,0,24.57,24.50,24.59
$GC,7407,1.32,198.3,3146,1839,2326,2192,220.4,7.7,293,7453,0.08,2.75,38.25,0.663,10756,0.103,0.048,3177,265,2089,2145,2034,0,0,0,0,0,0,24.52,23.68,23.30
$GC,7475,1.38,243.5,3177,265,2144,2032,217.4,7.4,294,7525,0.05,2.60,40.88,0.648,11270,0.129,0.021,3195,1863,1906,1946,1866,0,0,0,0,0,0,24.20,24.26,23.26
$GC,7773,1.38,243.5,3195,1864,1946,1857,180.1,12.9,314,7778,0.00,2.60,0.00,0.000,260,0.000,0.041,3195,3420,1901,1945,1857,0,0,0,0,0,0,24.60,24.31,24.63
$GC,7838,1.38,243.5,3195,3420,1946,1857,171.3,14.1,320,7843,0.00,2.55,0.00,0.000,1030,0.000,0.022,3195,1846,1901,1945,1857,0,0,0,0,0,0,24.45,24.39,24.46
$GC,8095,1.38,243.5,3195,1846,1946,1854,138.0,13.4,345,8101,0.00,2.62,0.00,0.000,516,0.000,0.040,3196,269,1899,1946,1853,0,0,0,0,0,0,24.68,24.40,24.70
$GC,8154,1.38,243.5,3195,269,1944,1853,129.2,14.0,350,8159,0.00,2.55,0.00,0.000,1030,0.000,0.021,3195,1858,1898,1944,1853,0,0,0,0,0,0,24.51,24.46,24.53
$GC,8412,1.38,243.5,3195,1858,1944,1853,101.3,10.7,375,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1858,1898,1944,1853,0,0,0,0,0,0,24.72,24.74,24.74
$GC,8659,1.39,248.7,3195,1858,1944,1853,75.9,9.7,400,8671,0.00,2.67,5.07,0.413,8708,0.000,0.037,3195,271,1884,1930,1839,0,0,0,0,0,0,24.75,24.15,23.82
$GC,8697,1.39,254.8,3195,271,1929,1839,72.2,9.7,403,8711,0.00,2.53,7.35,0.457,9222,0.000,0.018,3195,1856,1860,1907,1814,0,0,0,0,0,0,24.51,24.46,23.71
$GC,8950,1.41,270.9,3195,1856,1906,1813,49.0,9.1,428,8975,0.00,2.58,15.98,0.487,8452,0.000,0.031,3196,3429,1794,1836,1753,0,0,0,0,0,0,24.71,23.92,23.62
$GC,9065,1.41,270.9,3195,3429,1836,1753,37.3,10.7,438,9070,0.00,2.53,0.00,0.000,1030,0.000,0.018,3196,1841,1794,1836,1753,0,0,0,0,0,0,24.46,24.41,24.48
$GC,9333,1.43,282.7,3195,1841,1836,1751,9.9,9.4,480,9355,0.00,2.62,11.93,0.442,8452,0.000,0.032,3196,3413,1746,1788,1704,0,0,0,0,0,0,24.70,24.15,23.72
$STATE,9399,end climb,SURFACE_DEPTH_REACHED
$STATE,9399,begin surface coast
$FINISH,0.1,1.023015
$STATE,9430,end surface coast,CONTROL_FINISHED_OK
$STATE,9431,begin surface
$SM_CCo,9455,53.42,0.460,0,0,1349,380.21
$SM_GC,0.89,11.68,2.45,53.42,0.044,0.015,0.460,433,1883,1349,-7.27,1.02,380.21,0,0,0,0,0,0,24.36,24.43,23.51
$IRIDIUM_FIX,2237.01,-15834.92,220618,193546
$TT8_MAMPS,0.021721,0.349783
$HUMID,56.93
$INTERNAL_PRESSURE,9.26193
$TCM_TEMP,21.90
$XPDR_PINGS,88
$24V_AH,23.08,81.288
$10V_AH,9.65,61.184
$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,26.000,114.650,356.925,53.425,0.000,23.706,43.975,197.454,22.000,0.000,52.042,1607.832,5862.679,553.959,1676.077,252.167,0.000,1210.468,0.000,1360.825,0.000,0.538,0.000
$DEVICE_MAMPS,170.595,144.585,851.445,459.765,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,333.667,274.058,404.860,511.786,608.028,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342840
$DATA_FILE_SIZE,40639,496
$CAP_FILE_SIZE,97858,0
$CFSIZE,259248128,217968640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,245.38,1
$GPS,230618,011603,2245.722,-15759.173,15,1.1,55,10.1,0.8,265.0,7,5.8