version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 712
start: 6 23 118 15 6 5
data:
$ID,148
$MISSION,15
$DIVE,712
$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,41
$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
$GPS1,230618,145339,2245.6775,-15759.1689,45,1.8,85,10.1,0.8,258.3,5,7.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-60.3
$GPS2,230618,150539,2245.6462,-15759.2246,38,1.8,78,10.1,0.3,267.4,5,8.6
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A9
$TGT_LATLONG,2245.390,-15758.740
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,91.6,954,-27.8,-10.040,-30.00,973
$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,-1.54,-63.6,433,1791,1360,1321,0.0,0.0,0,90,0.00,0.15,-66.57,0.000,16390,0.000,0.257,433,1994,3161,3205,3117,0,0,0,0,0,0,24.59,23.54,24.60
$GC,94,-1.58,-94.0,433,1994,3205,3117,3.3,-6.8,10,109,10.05,0.00,-2.33,0.000,18694,0.166,0.000,2255,1996,3286,3338,3234,0,0,0,0,0,0,24.12,23.51,24.29
$GC,360,-1.58,-94.0,2254,1997,3338,3236,62.4,-18.5,44,365,0.00,2.38,0.00,0.000,260,0.000,0.025,2255,3486,3287,3339,3236,0,0,0,0,0,0,24.68,24.41,24.68
$GC,406,-1.58,-94.0,2255,3486,3339,3236,70.7,-18.3,48,412,0.00,2.50,0.00,0.000,1030,0.000,0.017,2255,1883,3287,3339,3236,0,0,0,0,0,0,24.51,24.46,24.52
$GC,665,-1.58,-94.0,2255,1883,3339,3237,112.9,-15.0,73,670,0.00,2.53,0.00,0.000,516,0.000,0.038,2255,319,3288,3339,3237,0,0,0,0,0,0,24.72,24.45,24.73
$GC,710,-1.58,-94.0,2255,319,3339,3237,120.7,-16.0,77,715,0.00,2.47,0.00,0.000,1030,0.000,0.015,2255,1918,3288,3339,3237,0,0,0,0,0,0,24.56,24.51,24.57
$GC,966,-1.58,-94.0,2255,1920,3339,3238,162.5,-16.6,102,971,0.00,2.60,0.00,0.000,516,0.000,0.030,2255,320,3288,3339,3238,0,0,0,0,0,0,24.75,24.49,24.77
$GC,1029,-1.58,-94.0,2255,320,3339,3238,173.1,-15.0,108,1035,0.00,2.45,0.00,0.000,1030,0.000,0.015,2255,1904,3288,3339,3238,0,0,0,0,0,0,24.59,24.55,24.60
$GC,1313,-1.58,-94.0,2255,1904,3339,3239,210.2,-11.8,130,1318,0.00,2.58,0.00,0.000,516,0.000,0.030,2255,319,3289,3339,3239,0,0,0,0,0,0,24.78,24.51,24.79
$GC,1416,-1.58,-94.0,2255,319,3339,3239,221.4,-12.8,132,1421,0.00,2.47,0.00,0.000,1030,0.000,0.015,2255,1911,3289,3339,3239,0,0,0,0,0,0,24.62,24.58,24.63
$GC,1679,-1.58,-94.0,2255,1911,3339,3239,252.2,-10.6,139,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1911,3289,3339,3239,0,0,0,0,0,0,24.80,24.82,24.82
$GC,1920,-1.58,-94.0,2255,1911,3339,3239,279.9,-11.5,145,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1911,3289,3339,3239,0,0,0,0,0,0,24.81,24.83,24.83
$GC,2159,-1.58,-94.0,2255,1912,3339,3239,311.2,-13.4,151,2165,0.00,2.62,0.00,0.000,516,0.000,0.036,2255,327,3289,3339,3239,0,0,0,0,0,0,24.82,24.54,24.84
$GC,2203,-1.58,-94.0,2255,327,3339,3239,317.4,-13.4,152,2210,0.00,2.47,0.00,0.000,1030,0.000,0.018,2255,1893,3288,3338,3239,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2489,-1.58,-94.0,2255,1893,3338,3237,352.9,-12.1,159,2495,0.00,2.60,0.00,0.000,516,0.000,0.040,2255,341,3288,3339,3237,0,0,0,0,0,0,24.83,24.53,24.85
$GC,2508,-1.58,-94.0,2255,341,3339,3237,352.9,-12.1,159,2513,0.00,2.47,0.00,0.000,1030,0.000,0.020,2255,1902,3287,3339,3236,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2776,-1.58,-94.0,2254,1903,3338,3234,385.7,-11.3,166,2782,0.00,2.65,0.00,0.000,516,0.000,0.044,2255,340,3286,3339,3234,0,0,0,0,0,0,24.84,24.53,24.86
$GC,2809,-1.58,-94.0,2255,340,3339,3233,385.7,-11.3,166,2814,0.00,2.50,0.00,0.000,1030,0.000,0.028,2255,1907,3285,3338,3233,0,0,0,0,0,0,24.65,24.60,24.67
$GC,3063,-1.58,-94.0,2255,1907,3339,3230,417.1,-11.0,173,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1907,3283,3338,3229,0,0,0,0,0,0,24.84,24.87,24.86
$GC,3302,-1.58,-94.0,2255,1907,3338,3226,444.0,-11.1,179,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1907,3282,3339,3226,0,0,0,0,0,0,24.84,24.86,24.85
$GC,3542,-1.58,-94.0,2255,1907,3338,3223,470.2,-10.7,185,3548,0.00,2.70,0.00,0.000,516,0.000,0.051,2255,344,3280,3338,3223,0,0,0,0,0,0,24.84,24.53,24.86
$GC,3590,-1.58,-94.0,2255,344,3338,3222,475.2,-10.8,186,3595,0.00,2.53,0.00,0.000,1030,0.000,0.028,2255,1896,3280,3338,3222,0,0,0,0,0,0,24.66,24.59,24.68
$STATE,3826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3826,begin apogee
$GC,3833,-0.26,0.0,2255,1896,3338,3218,501.4,-10.6,192,3916,1.90,0.00,79.12,0.846,10246,0.083,0.000,2678,1896,2899,2955,2844,0,0,0,0,0,0,24.51,23.75,23.10
$STATE,3917,end apogee,CONTROL_FINISHED_OK
$STATE,3917,begin climb
$GC,3920,1.58,94.0,2678,1896,2955,2844,503.2,0.0,194,4013,2.40,2.70,82.03,0.829,10500,0.037,0.058,3273,3421,2514,2570,2459,0,0,0,0,0,0,24.07,23.74,23.07
$GC,4053,1.58,94.0,3273,3422,2568,2455,496.0,7.6,197,4059,0.00,2.58,0.00,0.000,1030,0.000,0.031,3273,1878,2511,2568,2455,0,0,0,0,0,0,24.28,24.20,24.30
$GC,4317,1.58,94.0,3273,1878,2568,2448,462.0,11.8,204,4322,0.00,2.65,0.00,0.000,260,0.000,0.047,3273,3428,2508,2568,2448,0,0,0,0,0,0,24.61,24.30,24.63
$GC,4410,1.58,94.0,3273,3429,2566,2447,451.6,12.2,206,4416,0.00,2.62,0.00,0.000,1030,0.000,0.031,3273,1849,2506,2566,2447,0,0,0,0,0,0,24.45,24.37,24.48
$GC,4684,1.58,94.0,3273,1849,2566,2444,420.0,10.9,213,4689,0.00,2.70,0.00,0.000,260,0.000,0.046,3273,3429,2504,2566,2443,0,0,0,0,0,0,24.68,24.37,24.70
$GC,4731,1.58,94.0,3273,3429,2564,2443,415.0,11.0,214,4737,0.00,2.62,0.00,0.000,1030,0.000,0.030,3273,1843,2503,2563,2443,0,0,0,0,0,0,24.50,24.41,24.53
$GC,5011,1.58,94.0,3273,1843,2563,2441,382.7,11.8,221,5016,0.00,2.70,0.00,0.000,260,0.000,0.044,3274,3431,2502,2563,2441,0,0,0,0,0,0,24.72,24.41,24.75
$GC,5194,1.58,94.0,3273,3432,2562,2440,363.4,11.8,225,5200,0.00,2.60,0.00,0.000,1030,0.000,0.028,3274,1847,2501,2562,2440,0,0,0,0,0,0,24.54,24.47,24.57
$GC,5459,1.59,103.6,3273,1846,2562,2438,336.3,9.0,232,5473,0.00,2.67,6.90,0.635,8452,0.000,0.043,3273,3424,2476,2537,2416,0,0,0,0,0,0,24.75,24.18,23.53
$GC,5743,1.59,103.6,3273,3424,2536,2412,308.0,10.3,239,5749,0.00,2.62,0.00,0.000,1030,0.000,0.028,3274,1843,2474,2536,2412,0,0,0,0,0,0,24.53,24.45,24.55
$GC,6027,1.60,107.7,3273,1842,2536,2410,280.3,9.6,246,6038,0.00,2.78,4.85,0.537,8708,0.000,0.058,3274,265,2458,2520,2397,0,0,0,0,0,0,24.74,24.07,23.62
$GC,6065,1.60,111.8,3273,265,2520,2397,280.3,9.6,246,6077,0.00,2.60,5.28,0.550,9222,0.000,0.022,3274,1858,2443,2504,2382,0,0,0,0,0,0,24.49,24.43,23.54
$GC,6356,1.62,124.3,3273,1857,2504,2379,250.3,8.7,254,6375,0.00,2.78,12.45,0.659,8708,0.000,0.044,3274,262,2391,2450,2333,0,0,0,0,0,0,24.71,23.83,23.42
$GC,6412,1.64,142.6,3273,262,2450,2332,246.9,8.1,255,6439,0.00,2.62,17.60,0.666,9222,0.000,0.024,3274,1860,2317,2373,2262,0,0,0,0,0,0,24.41,24.34,23.30
$GC,6679,1.65,149.0,3273,1860,2372,2255,220.5,9.4,262,6693,0.00,2.78,6.60,0.558,8452,0.000,0.058,3274,3426,2291,2347,2236,0,0,0,0,0,0,24.63,24.13,23.53
$GC,6741,1.66,159.3,3273,3426,2346,2236,216.8,8.9,263,6761,0.00,2.60,10.93,0.610,9222,0.000,0.025,3274,1833,2248,2304,2193,0,0,0,0,0,0,24.42,24.35,23.41
$GC,7002,1.66,159.3,3273,1833,2304,2187,189.2,11.5,276,7007,0.00,2.67,0.00,0.000,516,0.000,0.048,3274,267,2245,2304,2187,0,0,0,0,0,0,24.64,24.35,24.65
$GC,7132,1.66,159.3,3273,268,2303,2186,173.4,12.2,288,7141,0.00,2.60,0.00,0.000,1030,0.000,0.021,3274,1862,2244,2303,2186,0,0,0,0,0,0,24.49,24.46,24.50
$GC,7386,1.69,180.4,3273,1862,2303,2185,149.3,7.8,313,7411,0.08,2.67,18.70,0.591,10500,0.109,0.039,3297,3424,2163,2214,2113,0,0,0,0,0,0,24.49,23.97,23.44
$GC,7566,1.69,180.4,3296,3423,2212,2111,129.8,11.3,328,7572,0.00,2.55,0.00,0.000,1030,0.000,0.021,3297,1837,2161,2212,2111,0,0,0,0,0,0,24.48,24.41,24.49
$GC,7822,1.69,180.4,3296,1837,2212,2109,102.0,10.8,353,7827,0.00,2.60,0.00,0.000,516,0.000,0.038,3297,269,2160,2212,2109,0,0,0,0,0,0,24.70,24.43,24.72
$GC,7951,1.69,180.4,3296,269,2212,2108,88.6,10.1,365,7956,0.00,2.53,0.00,0.000,1030,0.000,0.019,3297,1855,2160,2212,2108,0,0,0,0,0,0,24.55,24.50,24.56
$GC,8209,1.74,226.0,3296,1855,2212,2108,69.7,5.2,390,8256,0.00,2.72,40.22,0.526,8708,0.000,0.035,3297,272,1975,2017,1934,0,0,0,0,0,0,24.75,23.92,23.46
$GC,8339,1.74,226.0,3296,272,2012,1934,57.0,12.7,401,8347,0.00,2.53,0.00,0.000,1030,0.000,0.019,3297,1850,1972,2012,1933,0,0,0,0,0,0,24.41,24.37,24.43
$GC,8587,1.74,226.0,3296,1850,2012,1933,29.8,10.2,426,8594,0.00,2.58,0.00,0.000,260,0.000,0.034,3297,3425,1972,2012,1933,0,0,0,0,0,0,24.67,24.39,24.68
$GC,8729,1.74,226.0,3296,3426,2011,1933,13.5,11.2,451,8737,0.00,2.53,0.00,0.000,1030,0.000,0.019,3297,1846,1972,2011,1933,0,0,0,0,0,0,24.51,24.46,24.53
$STATE,8808,end climb,SURFACE_DEPTH_REACHED
$STATE,8809,begin surface coast
$FINISH,0.1,1.022952
$STATE,8832,end surface coast,CONTROL_FINISHED_OK
$STATE,8832,begin surface
$SM_CCo,8855,90.80,0.469,0,0,1350,380.21
$SM_GC,0.76,12.18,0.08,90.80,0.047,0.090,0.469,421,2015,1350,-7.30,-1.13,380.21,0,0,0,0,0,0,24.43,24.54,23.48
$IRIDIUM_FIX,2239.35,-15759.32,230618,145522
$TT8_MAMPS,0.021721,0.350532
$HUMID,57.12
$INTERNAL_PRESSURE,9.26193
$TCM_TEMP,22.40
$XPDR_PINGS,115
$24V_AH,23.07,81.852
$10V_AH,9.58,61.623
$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,26.600,109.425,284.675,90.800,0.000,49.313,92.405,278.288,28.750,0.000,80.233,1669.448,5267.443,487.986,1985.756,261.921,0.000,1185.815,0.000,1452.737,0.000,0.538,0.000
$DEVICE_MAMPS,166.005,257.040,846.090,468.945,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,315.791,263.248,392.763,489.624,577.797,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342776
$DATA_FILE_SIZE,40542,469
$CAP_FILE_SIZE,98908,0
$CFSIZE,259248128,217657344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,243.24,1
$GPS,230618,173737,2245.456,-15758.630,64,1.2,104,10.1,0.8,261.1,7,5.7