version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 720
start: 6 24 118 13 39 31
data:
$ID,148
$MISSION,15
$DIVE,720
$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,71
$R_STBD_OVSHOOT,26
$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
$GPS1,240618,133126,2245.3545,-15759.3193,39,1.5,70,10.1,0.2,359.6,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-61.9
$GPS2,240618,133857,2245.2944,-15759.3652,8,1.1,48,10.1,1.1,248.4,7,4.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A9
$TGT_LATLONG,2245.390,-15758.740
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,55.5,1082,-22.9,-10.040,-25.33,1440
$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,-1.32,-94.2,436,1868,1356,1326,0.0,0.0,0,89,0.00,0.00,-70.07,0.000,16390,0.000,0.000,436,1869,3286,3331,3242,0,0,0,0,0,0,24.58,23.52,24.60
$GC,94,-1.35,-116.8,436,1868,3332,3243,3.3,-6.8,10,116,10.57,2.65,-1.67,0.000,18692,0.171,0.035,2327,3499,3380,3436,3325,0,0,0,0,0,0,24.10,23.41,24.27
$GC,147,-1.35,-116.8,2326,3499,3436,3326,21.1,-24.0,18,155,0.00,2.53,0.00,0.000,1030,0.000,0.018,2327,1915,3381,3436,3326,0,0,0,0,0,0,24.41,24.37,24.43
$GC,405,-1.35,-116.8,2326,1916,3435,3327,72.4,-17.8,46,410,0.00,2.55,0.00,0.000,260,0.000,0.027,2327,3497,3381,3436,3327,0,0,0,0,0,0,24.67,24.41,24.69
$GC,420,-1.35,-116.8,2326,3497,3435,3327,75.8,-18.6,47,425,0.00,2.53,0.00,0.000,1030,0.000,0.017,2327,1887,3381,3435,3327,0,0,0,0,0,0,24.50,24.45,24.51
$GC,675,-1.35,-116.8,2326,1887,3436,3328,118.0,-15.6,72,681,0.00,2.60,0.00,0.000,260,0.000,0.024,2327,3507,3381,3435,3328,0,0,0,0,0,0,24.71,24.46,24.73
$GC,694,-1.35,-116.8,2326,3507,3435,3328,120.4,-15.7,73,701,0.00,2.50,0.00,0.000,1030,0.000,0.015,2327,1896,3381,3435,3328,0,0,0,0,0,0,24.54,24.49,24.56
$GC,940,-1.35,-116.8,2327,1896,3435,3329,154.3,-12.6,98,945,0.00,2.53,0.00,0.000,516,0.000,0.030,2327,333,3382,3436,3329,0,0,0,0,0,0,24.74,24.48,24.76
$GC,964,-1.35,-116.8,2326,333,3436,3329,157.6,-13.0,100,970,0.00,2.50,0.00,0.000,1030,0.000,0.015,2327,1948,3383,3436,3330,0,0,0,0,0,0,24.58,24.53,24.58
$GC,1220,-1.35,-116.8,2327,1950,3435,3331,190.7,-12.6,125,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1950,3383,3436,3330,0,0,0,0,0,0,24.76,24.78,24.78
$GC,1498,-1.35,-116.8,2326,1950,3436,3332,225.7,-12.7,138,1504,0.00,2.65,0.00,0.000,516,0.000,0.037,2327,324,3384,3436,3332,0,0,0,0,0,0,24.78,24.49,24.80
$GC,1546,-1.35,-116.8,2327,324,3436,3331,231.0,-12.6,139,1552,0.00,2.45,0.00,0.000,1030,0.000,0.015,2327,1906,3383,3436,3331,0,0,0,0,0,0,24.61,24.57,24.63
$GC,1825,-1.35,-116.8,2326,1906,3436,3331,261.9,-10.5,146,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1906,3383,3436,3331,0,0,0,0,0,0,24.79,24.82,24.82
$GC,2065,-1.35,-116.8,2326,1906,3437,3331,286.7,-10.1,152,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1906,3383,3436,3331,0,0,0,0,0,0,24.81,24.84,24.83
$GC,2305,-1.35,-116.8,2326,1906,3436,3331,310.7,-10.0,158,2310,0.00,2.60,0.00,0.000,516,0.000,0.035,2327,341,3383,3436,3331,0,0,0,0,0,0,24.82,24.54,24.84
$GC,2324,-1.35,-116.8,2326,341,3436,3331,310.7,-10.0,158,2329,0.00,2.45,0.00,0.000,1030,0.000,0.018,2327,1900,3383,3436,3331,0,0,0,0,0,0,24.65,24.59,24.65
$GC,2592,-1.35,-116.8,2326,1900,3436,3329,340.1,-10.3,165,2598,0.00,2.60,0.00,0.000,516,0.000,0.038,2327,343,3382,3436,3329,0,0,0,0,0,0,24.83,24.54,24.84
$GC,2626,-1.35,-116.8,2326,343,3436,3329,340.1,-10.3,165,2631,0.00,2.45,0.00,0.000,1030,0.000,0.018,2327,1897,3382,3436,3328,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2880,-1.35,-116.8,2326,1898,3436,3326,370.2,-10.5,172,2885,0.00,2.58,0.00,0.000,260,0.000,0.037,2327,3464,3381,3436,3326,0,0,0,0,0,0,24.84,24.55,24.85
$GC,2892,-1.35,-116.8,2326,3465,3436,3326,370.2,-10.5,172,2898,0.00,2.45,0.00,0.000,1030,0.000,0.019,2327,1906,3381,3436,3326,0,0,0,0,0,0,24.65,24.60,24.67
$GC,3166,-1.35,-116.8,2327,1906,3436,3322,402.4,-11.3,179,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1907,3379,3436,3322,0,0,0,0,0,0,24.84,24.86,24.86
$GC,3407,-1.35,-116.8,2326,1906,3437,3319,429.6,-11.3,185,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1906,3377,3436,3319,0,0,0,0,0,0,24.83,24.86,24.85
$GC,3646,-1.35,-116.8,2326,1906,3436,3316,455.6,-10.6,191,3652,0.00,2.65,0.00,0.000,516,0.000,0.050,2327,337,3376,3436,3316,0,0,0,0,0,0,24.83,24.53,24.85
$GC,3699,-1.35,-116.8,2327,337,3436,3316,460.6,-10.7,192,3705,0.00,2.53,0.00,0.000,1030,0.000,0.026,2327,1898,3376,3436,3316,0,0,0,0,0,0,24.66,24.60,24.68
$GC,3973,-1.35,-116.8,2326,1897,3436,3312,491.4,-11.0,199,3978,0.00,2.67,0.00,0.000,516,0.000,0.051,2327,337,3373,3436,3311,0,0,0,0,0,0,24.84,24.52,24.85
$GC,4021,-1.35,-116.8,2327,337,3436,3311,496.2,-11.0,200,4026,0.00,2.55,0.00,0.000,1030,0.000,0.028,2327,1899,3373,3436,3311,0,0,0,0,0,0,24.65,24.58,24.67
$STATE,4056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4057,begin apogee
$GC,4062,-0.26,0.0,2327,1899,3436,3311,501.0,-11.0,201,4165,1.58,0.00,98.75,0.851,10246,0.080,0.000,2680,1899,2899,2960,2839,0,0,0,0,0,0,24.51,23.72,23.06
$STATE,4166,end apogee,CONTROL_FINISHED_OK
$STATE,4167,begin climb
$GC,4169,1.35,116.8,2680,1899,2960,2839,503.1,0.0,203,4283,2.15,2.75,101.93,0.828,10500,0.041,0.057,3191,3427,2422,2484,2360,0,0,0,0,0,0,24.02,23.72,23.05
$GC,4332,1.35,116.8,3191,3426,2482,2356,495.2,6.6,207,4337,0.00,2.60,0.00,0.000,1030,0.000,0.030,3191,1869,2419,2482,2356,0,0,0,0,0,0,24.29,24.21,24.31
$GC,4585,1.35,116.8,3191,1869,2482,2349,458.0,13.0,214,4591,0.00,2.65,0.00,0.000,260,0.000,0.045,3192,3423,2415,2482,2348,0,0,0,0,0,0,24.60,24.29,24.62
$GC,4630,1.35,116.8,3191,3424,2480,2348,451.9,13.3,215,4635,0.00,2.62,0.00,0.000,1030,0.000,0.031,3191,1849,2414,2480,2349,0,0,0,0,0,0,24.43,24.35,24.45
$GC,4913,1.35,116.8,3191,1849,2480,2345,415.7,12.6,222,4919,0.00,2.78,0.00,0.000,516,0.000,0.063,3191,266,2412,2480,2345,0,0,0,0,0,0,24.68,24.35,24.70
$GC,4936,1.35,116.8,3191,266,2480,2345,415.7,12.6,222,4942,0.00,2.60,0.00,0.000,1030,0.000,0.025,3191,1848,2412,2480,2345,0,0,0,0,0,0,24.49,24.41,24.51
$GC,5201,1.35,116.8,3191,1849,2480,2343,383.6,10.6,229,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1849,2411,2480,2342,0,0,0,0,0,0,24.70,24.72,24.72
$GC,5441,1.36,125.3,3191,1849,2479,2342,360.5,9.4,235,5454,0.00,2.78,6.80,0.641,8452,0.000,0.058,3191,3438,2387,2454,2321,0,0,0,0,0,0,24.73,24.15,23.49
$GC,5574,1.36,125.3,3191,3438,2454,2320,347.2,10.6,238,5580,0.00,2.62,0.00,0.000,1030,0.000,0.028,3191,1841,2387,2454,2320,0,0,0,0,0,0,24.49,24.42,24.51
$GC,5848,1.36,125.3,3191,1841,2454,2318,317.9,10.1,245,5853,0.00,2.70,0.00,0.000,260,0.000,0.042,3191,3431,2386,2454,2318,0,0,0,0,0,0,24.71,24.40,24.72
$GC,5885,1.36,125.3,3191,3432,2452,2318,317.9,10.1,245,5892,0.00,2.60,0.00,0.000,1030,0.000,0.027,3191,1842,2385,2453,2318,0,0,0,0,0,0,24.53,24.46,24.54
$GC,6132,1.36,130.0,3191,1842,2453,2316,289.4,9.7,252,6140,0.00,0.00,5.25,0.558,8198,0.000,0.000,3192,1842,2368,2435,2302,0,0,0,0,0,0,24.73,24.19,23.58
$GC,6373,1.39,146.8,3191,1842,2435,2301,267.7,8.8,258,6395,0.00,2.72,16.50,0.682,8452,0.000,0.039,3191,3431,2298,2360,2237,0,0,0,0,0,0,24.70,23.75,23.34
$GC,6574,1.39,153.4,3191,3431,2358,2235,248.4,9.6,263,6588,0.00,2.60,6.90,0.586,9222,0.000,0.025,3192,1849,2272,2334,2210,0,0,0,0,0,0,24.46,24.39,23.49
$GC,6858,1.41,166.1,3191,1849,2334,2206,221.6,9.1,270,6872,0.00,0.00,12.27,0.632,8198,0.000,0.000,3191,1849,2222,2282,2163,0,0,0,0,0,0,24.67,23.96,23.42
$GC,7097,1.44,191.5,3191,1850,2282,2159,201.6,8.2,276,7127,0.08,2.72,23.65,0.640,10500,0.112,0.035,3219,3442,2118,2170,2066,0,0,0,0,0,0,24.41,23.70,23.32
$GC,7195,1.44,191.5,3219,3442,2169,2064,191.4,11.5,282,7201,0.00,2.62,0.00,0.000,1030,0.000,0.024,3219,1844,2116,2169,2064,0,0,0,0,0,0,24.39,24.32,24.40
$GC,7453,1.44,191.5,3218,1844,2169,2061,164.1,10.5,307,7458,0.00,2.65,0.00,0.000,260,0.000,0.033,3220,3442,2114,2168,2061,0,0,0,0,0,0,24.65,24.38,24.67
$GC,7538,1.44,191.5,3219,3443,2169,2061,154.4,10.2,315,7543,0.00,2.58,0.00,0.000,1030,0.000,0.021,3219,1843,2114,2168,2061,0,0,0,0,0,0,24.49,24.44,24.51
$GC,7792,1.46,204.7,3219,1843,2169,2060,131.6,9.1,340,7815,0.00,2.67,12.60,0.552,8452,0.000,0.034,3219,3449,2063,2116,2010,0,0,0,0,0,0,24.71,23.90,23.54
$GC,7863,1.46,204.7,3219,3449,2116,2011,124.6,10.9,346,7872,0.00,2.60,0.00,0.000,1030,0.000,0.021,3220,1853,2063,2116,2010,0,0,0,0,0,0,24.41,24.39,24.43
$GC,8114,1.46,204.7,3219,1852,2117,2008,99.2,10.1,371,8119,0.00,2.62,0.00,0.000,260,0.000,0.031,3219,3449,2062,2116,2008,0,0,0,0,0,0,24.70,24.42,24.71
$GC,8149,1.46,204.7,3219,3449,2116,2008,95.3,10.5,374,8154,0.00,2.58,0.00,0.000,1030,0.000,0.019,3219,1848,2062,2117,2008,0,0,0,0,0,0,24.52,24.47,24.54
$GC,8405,1.46,205.7,3219,1848,2116,2008,70.7,10.0,399,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1848,2062,2116,2008,0,0,0,0,0,0,24.73,24.75,24.75
$GC,8655,1.47,214.2,3219,1848,2117,2008,46.8,9.4,424,8673,0.00,2.65,9.35,0.461,8452,0.000,0.030,3219,3440,2025,2074,1977,0,0,0,0,0,0,24.75,24.22,23.75
$GC,8738,1.49,235.5,3219,3440,2074,1978,39.5,8.5,431,8768,0.00,2.53,20.33,0.486,9222,0.000,0.017,3219,1842,1938,1986,1890,0,0,0,0,0,0,24.51,24.46,23.56
$GC,9027,1.49,235.5,3219,1842,1986,1887,13.4,10.5,473,9034,0.00,2.65,0.00,0.000,260,0.000,0.031,3220,3447,1936,1986,1887,0,0,0,0,0,0,24.68,24.40,24.69
$GC,9115,1.50,237.1,3219,3448,1986,1887,4.0,9.9,488,9123,0.00,2.55,0.00,0.000,1030,0.000,0.018,3219,1852,1936,1986,1887,0,0,0,0,0,0,24.51,24.46,24.53
$STATE,9130,end climb,SURFACE_DEPTH_REACHED
$STATE,9130,begin surface coast
$FINISH,0.1,1.013179
$STATE,9164,end surface coast,CONTROL_FINISHED_OK
$STATE,9164,begin surface
$SM_CCo,9187,80.68,0.463,0,0,1349,380.21
$SM_GC,0.87,11.65,0.10,80.68,0.040,0.067,0.463,434,2023,1349,-7.26,-0.54,380.21,0,0,0,0,0,0,24.41,24.53,23.48
$IRIDIUM_FIX,2234.68,-15807.58,240618,104432
$TT8_MAMPS,0.021721,0.345289
$HUMID,56.65
$INTERNAL_PRESSURE,9.2717
$TCM_TEMP,22.80
$XPDR_PINGS,96
$24V_AH,23.05,82.637
$10V_AH,9.59,62.218
$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,26.025,114.650,314.325,80.675,0.000,29.398,46.418,202.479,24.000,0.000,52.075,1621.518,5589.921,546.622,1706.350,268.373,0.000,1204.495,0.000,1383.454,0.000,0.538,0.000
$DEVICE_MAMPS,171.360,78.030,850.680,462.825,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,333.774,284.114,427.686,524.633,624.736,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342824
$DATA_FILE_SIZE,40591,496
$CAP_FILE_SIZE,97613,0
$CFSIZE,259248128,217223168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,237.46,1
$GPS,240618,161632,2245.638,-15758.797,72,1.6,112,10.1,0.4,308.3,5,8.1