version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 717
start: 6 24 118 5 12 56
data:
$ID,148
$MISSION,15
$DIVE,717
$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,48
$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
$GPS1,240618,050522,2245.7314,-15758.2246,128,1.2,128,10.1,0.4,158.2,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-61.5
$GPS2,240618,051229,2245.7075,-15758.2324,13,1.9,19,10.1,0.7,150.0,8,5.7
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A9
$TGT_LATLONG,2245.390,-15758.740
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,219.6,1048,-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,-63.6,431,1791,1357,1324,0.0,0.0,0,90,0.00,0.15,-66.35,0.000,16390,0.000,0.256,431,2032,3161,3204,3118,0,0,0,0,0,0,24.56,23.52,24.58
$GC,94,-1.56,-77.0,431,2032,3204,3118,3.7,-8.6,10,117,10.20,2.85,-0.98,0.000,18948,0.170,0.038,2259,315,3216,3267,3166,0,0,0,0,0,0,24.09,23.40,24.27
$GC,214,-1.56,-77.0,2258,315,3267,3167,36.3,-22.7,28,220,0.00,2.50,0.00,0.000,1030,0.000,0.014,2259,1930,3217,3267,3167,0,0,0,0,0,0,24.46,24.42,24.47
$GC,473,-1.56,-77.0,2258,1931,3267,3168,83.3,-15.7,53,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,1931,3217,3267,3168,0,0,0,0,0,0,24.68,24.70,24.70
$GC,718,-1.56,-77.0,2258,1931,3268,3169,118.4,-13.3,78,724,0.00,2.42,0.00,0.000,260,0.000,0.025,2259,3456,3218,3267,3169,0,0,0,0,0,0,24.72,24.47,24.74
$GC,764,-1.56,-77.0,2258,3456,3267,3170,125.7,-15.9,82,770,0.00,2.45,0.00,0.000,1030,0.000,0.016,2259,1878,3218,3267,3170,0,0,0,0,0,0,24.55,24.51,24.56
$GC,1020,-1.56,-77.0,2258,1878,3268,3171,165.4,-15.2,107,1025,0.00,2.53,0.00,0.000,260,0.000,0.026,2259,3455,3219,3267,3171,0,0,0,0,0,0,24.75,24.49,24.77
$GC,1059,-1.56,-77.0,2258,3455,3268,3171,171.0,-15.4,110,1065,0.00,2.40,0.00,0.000,1030,0.000,0.016,2259,1898,3219,3268,3171,0,0,0,0,0,0,24.58,24.53,24.59
$GC,1306,-1.56,-77.0,2258,1898,3269,3172,201.1,-11.0,135,1311,0.00,2.50,0.00,0.000,260,0.000,0.024,2259,3461,3220,3269,3172,0,0,0,0,0,0,24.77,24.52,24.79
$GC,1344,-1.56,-77.0,2258,3461,3270,3172,201.1,-11.0,135,1351,0.00,2.42,0.00,0.000,1030,0.000,0.015,2259,1885,3220,3269,3172,0,0,0,0,0,0,24.60,24.56,24.62
$GC,1589,-1.56,-77.0,2258,1885,3270,3173,232.5,-10.6,142,1596,0.00,2.50,0.00,0.000,516,0.000,0.035,2259,337,3221,3270,3173,0,0,0,0,0,0,24.79,24.51,24.80
$GC,1619,-1.56,-77.0,2258,337,3270,3173,232.5,-10.6,142,1624,0.00,2.40,0.00,0.000,1030,0.000,0.015,2259,1888,3221,3269,3173,0,0,0,0,0,0,24.62,24.58,24.63
$GC,1877,-1.56,-77.0,2258,1889,3269,3173,265.8,-11.7,149,1882,0.00,2.53,0.00,0.000,260,0.000,0.028,2259,3467,3221,3269,3173,0,0,0,0,0,0,24.80,24.54,24.82
$GC,1920,-1.56,-77.0,2258,3467,3269,3173,271.0,-11.9,150,1926,0.00,2.45,0.00,0.000,1030,0.000,0.017,2259,1897,3221,3270,3173,0,0,0,0,0,0,24.63,24.58,24.64
$GC,2204,-1.56,-78.2,2258,1897,3270,3173,301.3,-9.9,157,2210,0.00,2.55,0.00,0.000,516,0.000,0.035,2259,326,3221,3269,3173,0,0,0,0,0,0,24.82,24.54,24.84
$GC,2238,-1.56,-79.5,2258,326,3269,3173,301.3,-9.9,157,2243,0.00,2.45,0.00,0.000,1030,0.000,0.017,2259,1892,3221,3269,3173,0,0,0,0,0,0,24.65,24.60,24.65
$GC,2491,-1.56,-79.5,2258,1892,3269,3171,329.2,-10.4,164,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,1892,3220,3269,3171,0,0,0,0,0,0,24.82,24.85,24.84
$GC,2732,-1.56,-79.5,2258,1892,3269,3169,356.4,-11.4,170,2738,0.00,2.60,0.00,0.000,260,0.000,0.036,2259,3471,3219,3269,3169,0,0,0,0,0,0,24.84,24.56,24.85
$GC,2765,-1.56,-79.5,2258,3471,3269,3168,356.4,-11.4,170,2770,0.00,2.47,0.00,0.000,1030,0.000,0.018,2259,1904,3218,3269,3168,0,0,0,0,0,0,24.66,24.60,24.67
$GC,3018,-1.56,-79.5,2258,1904,3269,3166,388.5,-11.0,177,3023,0.00,2.60,0.00,0.000,260,0.000,0.037,2259,3470,3217,3269,3166,0,0,0,0,0,0,24.83,24.55,24.84
$GC,3056,-1.56,-79.5,2258,3469,3269,3165,388.5,-11.0,177,3063,0.00,2.50,0.00,0.000,1030,0.000,0.021,2259,1893,3217,3269,3165,0,0,0,0,0,0,24.66,24.61,24.68
$GC,3302,-1.56,-79.5,2258,1893,3269,3162,421.6,-11.9,184,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,1893,3215,3269,3162,0,0,0,0,0,0,24.83,24.86,24.85
$GC,3541,-1.56,-79.5,2258,1893,3269,3159,447.6,-10.4,190,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,1893,3214,3269,3159,0,0,0,0,0,0,24.84,24.86,24.85
$GC,3781,-1.57,-81.0,2258,1893,3269,3155,471.5,-9.9,196,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,1893,3212,3269,3155,0,0,0,0,0,0,24.84,24.86,24.86
$GC,4022,-1.57,-81.0,2258,1893,3269,3152,496.9,-10.6,202,4027,0.00,2.67,0.00,0.000,516,0.000,0.053,2259,329,3210,3269,3152,0,0,0,0,0,0,24.84,24.53,24.86
$STATE,4065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4065,begin apogee
$GC,4074,-0.26,0.0,2258,1843,3269,3150,502.2,-11.1,203,4145,1.92,0.00,65.25,0.855,10246,0.095,0.000,2677,1843,2900,2954,2846,0,0,0,0,0,0,24.50,23.74,23.08
$STATE,4146,end apogee,CONTROL_FINISHED_OK
$STATE,4146,begin climb
$GC,4149,1.57,81.0,2677,1843,2954,2846,505.1,0.0,205,4227,2.45,0.00,72.55,0.835,10246,0.040,0.000,3269,1843,2567,2622,2513,0,0,0,0,0,0,24.08,23.69,23.06
$GC,4466,1.57,81.0,3269,1843,2622,2501,479.0,10.1,213,4471,0.00,2.72,0.00,0.000,516,0.000,0.056,3269,286,2561,2622,2501,0,0,0,0,0,0,24.59,24.27,24.61
$GC,4483,1.57,81.0,3268,286,2621,2501,479.0,10.1,213,4489,0.00,2.58,0.00,0.000,1030,0.000,0.028,3269,1843,2561,2621,2501,0,0,0,0,0,0,24.41,24.33,24.44
$GC,4752,1.57,85.9,3269,1843,2620,2497,451.9,9.5,220,4763,0.00,2.83,4.22,0.541,8452,0.000,0.063,3270,3436,2548,2607,2489,0,0,0,0,0,0,24.66,23.99,23.49
$GC,4817,1.57,89.0,3269,3436,2606,2488,447.4,9.7,221,4827,0.00,2.58,4.00,0.519,9222,0.000,0.028,3269,1869,2537,2595,2479,0,0,0,0,0,0,24.45,24.38,23.46
$GC,5080,1.59,101.9,3269,1869,2595,2475,421.0,8.7,228,5095,0.00,0.00,13.15,0.756,8198,0.000,0.000,3269,1869,2483,2540,2426,0,0,0,0,0,0,24.69,23.89,23.26
$GC,5320,1.59,101.9,3269,1869,2540,2420,395.4,11.2,234,5325,0.00,2.65,0.00,0.000,260,0.000,0.041,3269,3433,2480,2540,2420,0,0,0,0,0,0,24.66,24.35,24.68
$GC,5358,1.59,101.9,3269,3432,2538,2420,395.4,11.2,234,5366,0.00,2.60,0.00,0.000,1030,0.000,0.028,3269,1851,2479,2538,2420,0,0,0,0,0,0,24.48,24.40,24.49
$GC,5604,1.59,102.7,3269,1851,2538,2418,365.2,10.0,241,5609,0.00,2.75,0.00,0.000,516,0.000,0.060,3269,266,2478,2538,2418,0,0,0,0,0,0,24.70,24.39,24.72
$GC,5651,1.60,106.2,3269,266,2539,2418,360.9,9.7,242,5662,0.00,2.60,4.22,0.528,9222,0.000,0.023,3269,1862,2466,2525,2407,0,0,0,0,0,0,24.53,24.46,23.53
$GC,5931,1.62,124.5,3269,1863,2526,2405,336.6,8.1,249,5958,0.00,2.80,17.70,0.739,8452,0.000,0.057,3270,3432,2390,2446,2335,0,0,0,0,0,0,24.69,23.89,23.25
$GC,6097,1.62,124.5,3269,3432,2445,2332,319.0,11.0,253,6102,0.00,2.60,0.00,0.000,1030,0.000,0.027,3269,1846,2388,2445,2331,0,0,0,0,0,0,24.44,24.37,24.46
$GC,6376,1.62,124.5,3269,1846,2446,2329,283.8,12.6,260,6381,0.00,2.67,0.00,0.000,260,0.000,0.041,3269,3428,2387,2445,2329,0,0,0,0,0,0,24.68,24.38,24.70
$GC,6489,1.62,124.5,3269,3428,2444,2329,273.2,12.5,262,6494,0.00,2.60,0.00,0.000,1030,0.000,0.027,3269,1840,2386,2444,2329,0,0,0,0,0,0,24.51,24.44,24.53
$GC,6743,1.63,136.7,3269,1840,2444,2327,245.4,8.8,269,6762,0.00,2.70,11.52,0.653,8452,0.000,0.040,3269,3429,2341,2396,2287,0,0,0,0,0,0,24.72,24.04,23.43
$GC,6934,1.65,150.1,3269,3429,2395,2284,231.3,8.6,273,6954,0.00,2.58,13.07,0.648,9222,0.000,0.025,3269,1847,2287,2339,2235,0,0,0,0,0,0,24.49,24.41,23.37
$GC,7228,1.65,150.1,3268,1846,2339,2230,196.2,11.6,281,7233,0.00,2.67,0.00,0.000,260,0.000,0.038,3269,3438,2284,2339,2230,0,0,0,0,0,0,24.66,24.37,24.68
$GC,7256,1.65,150.1,3269,3437,2338,2230,193.7,10.9,283,7263,0.00,2.60,0.00,0.000,1030,0.000,0.024,3269,1836,2283,2338,2229,0,0,0,0,0,0,24.49,24.43,24.51
$GC,7505,1.66,161.6,3269,1835,2337,2229,172.6,8.8,308,7528,0.05,2.70,11.02,0.588,10500,0.136,0.035,3288,3425,2239,2292,2186,0,0,0,0,0,0,24.51,24.07,23.51
$GC,7699,1.66,161.6,3287,3425,2291,2185,150.7,12.4,326,7706,0.00,2.55,0.00,0.000,1030,0.000,0.021,3288,1837,2238,2291,2185,0,0,0,0,0,0,24.50,24.44,24.51
$GC,7946,1.66,161.6,3287,1837,2291,2184,123.1,10.6,351,7951,0.00,2.65,0.00,0.000,260,0.000,0.037,3288,3441,2237,2291,2184,0,0,0,0,0,0,24.72,24.44,24.73
$GC,8096,1.66,161.6,3288,3442,2291,2184,107.3,10.3,365,8102,0.00,2.58,0.00,0.000,1030,0.000,0.021,3288,1844,2238,2292,2184,0,0,0,0,0,0,24.56,24.51,24.58
$GC,8352,1.70,194.7,3288,1844,2291,2184,86.1,6.5,390,8390,0.00,2.70,29.73,0.546,8452,0.000,0.031,3288,3440,2105,2154,2056,0,0,0,0,0,0,24.76,23.94,23.45
$GC,8547,1.70,194.7,3287,3440,2154,2053,66.5,11.6,408,8552,0.00,2.55,0.00,0.000,1030,0.000,0.019,3288,1846,2103,2154,2053,0,0,0,0,0,0,24.46,24.41,24.48
$GC,8803,1.74,222.6,3287,1846,2154,2052,44.3,7.1,433,8840,0.08,2.67,24.80,0.506,10500,0.100,0.031,3318,3433,1991,2034,1949,0,0,0,0,0,0,24.48,23.96,23.49
$GC,9036,1.74,222.6,3318,3433,2034,1948,19.1,11.2,463,9044,0.00,2.55,0.00,0.000,1030,0.000,0.019,3319,1840,1990,2034,1947,0,0,0,0,0,0,24.48,24.42,24.49
$STATE,9183,end climb,SURFACE_DEPTH_REACHED
$STATE,9186,begin surface coast
$FINISH,0.1,1.022830
$STATE,9213,end surface coast,CONTROL_FINISHED_OK
$STATE,9214,begin surface
$SM_CCo,9236,91.12,0.470,0,0,1349,380.21
$SM_GC,0.88,12.00,0.10,91.12,0.037,0.070,0.470,436,1973,1349,-7.26,-0.90,380.21,0,0,0,0,0,0,24.39,24.51,23.46
$IRIDIUM_FIX,2234.68,-15802.37,240618,021541
$TT8_MAMPS,0.021721,0.280126
$HUMID,57.36
$INTERNAL_PRESSURE,9.2424
$TCM_TEMP,22.10
$XPDR_PINGS,122
$24V_AH,23.06,82.341
$10V_AH,9.69,61.996
$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,26.700,114.150,271.250,91.125,0.000,29.066,52.388,198.627,30.500,0.000,21.324,1686.054,5570.952,526.230,1723.882,254.393,0.000,1192.861,0.000,1413.132,0.000,0.537,0.000
$DEVICE_MAMPS,169.830,256.275,854.505,470.475,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,332.458,278.836,405.554,504.718,591.342,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342816
$DATA_FILE_SIZE,40538,494
$CAP_FILE_SIZE,98141,0
$CFSIZE,259248128,217391104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,218.16,1
$GPS,240618,075002,2244.547,-15759.244,30,1.8,57,10.1,0.7,201.2,8,6.4