version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 721
start: 6 24 118 16 24 57
data:
$ID,148
$MISSION,15
$DIVE,721
$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,83
$R_STBD_OVSHOOT,24
$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
$GPS1,240618,161632,2245.6377,-15758.7969,72,1.6,112,10.1,0.4,308.3,5,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-60.6
$GPS2,240618,162432,2245.5933,-15758.8330,36,1.1,75,10.1,0.4,115.8,8,4.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A10
$TGT_LATLONG,2245.785,-15757.885
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,60.8,1657,-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,-116.8,433,1852,1352,1327,0.0,0.0,0,89,0.00,0.00,-70.15,0.000,16386,0.000,0.000,434,1853,3313,3360,3267,0,0,0,0,0,0,24.58,28.83,24.60
$GC,94,-1.22,-116.8,433,1853,3360,3268,3.6,-8.6,10,116,10.85,2.67,-1.12,0.000,18692,0.173,0.032,2367,3499,3379,3434,3325,0,0,0,0,0,0,24.10,23.42,24.28
$GC,125,-1.22,-116.8,2366,3499,3434,3325,16.7,-36.6,14,133,0.00,2.50,0.00,0.000,1030,0.000,0.017,2367,1923,3380,3435,3325,0,0,0,0,0,0,24.40,24.35,24.41
$GC,384,-1.22,-116.8,2366,1923,3434,3326,63.6,-15.4,44,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1923,3380,3434,3326,0,0,0,0,0,0,24.68,24.69,24.69
$GC,632,-1.22,-116.8,2366,1923,3434,3327,101.0,-14.3,69,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1923,3380,3434,3327,0,0,0,0,0,0,24.71,24.73,24.73
$GC,881,-1.22,-116.8,2366,1923,3434,3328,134.9,-12.5,94,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1923,3381,3434,3328,0,0,0,0,0,0,24.74,24.77,24.76
$GC,1123,-1.22,-116.8,2366,1923,3435,3329,165.6,-11.6,118,1128,0.00,2.58,0.00,0.000,516,0.000,0.031,2367,318,3382,3435,3329,0,0,0,0,0,0,24.77,24.50,24.78
$GC,1188,-1.22,-116.8,2366,318,3436,3329,173.4,-11.5,124,1193,0.00,2.53,0.00,0.000,1030,0.000,0.015,2367,1947,3382,3436,3329,0,0,0,0,0,0,24.60,24.56,24.61
$GC,1474,-1.22,-116.8,2366,1947,3436,3329,203.9,-10.0,149,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1947,3382,3436,3329,0,0,0,0,0,0,24.79,24.81,24.80
$GC,1712,-1.22,-116.8,2366,1947,3436,3330,226.7,-9.0,155,1717,0.00,2.65,0.00,0.000,516,0.000,0.030,2367,319,3383,3436,3330,0,0,0,0,0,0,24.80,24.53,24.82
$GC,1756,-1.22,-116.8,2366,319,3436,3330,230.8,-8.8,156,1761,0.00,2.45,0.00,0.000,1030,0.000,0.016,2367,1894,3383,3436,3330,0,0,0,0,0,0,24.63,24.58,24.65
$GC,2040,-1.22,-116.8,2366,1895,3436,3330,255.7,-8.8,163,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1895,3383,3436,3330,0,0,0,0,0,0,24.82,24.84,24.83
$GC,2280,-1.22,-116.8,2366,1894,3436,3330,280.4,-10.3,169,2285,0.00,2.55,0.00,0.000,260,0.000,0.029,2367,3469,3383,3436,3330,0,0,0,0,0,0,24.82,24.56,24.84
$GC,2303,-1.22,-116.8,2366,3469,3436,3330,280.4,-10.3,169,2308,0.00,2.45,0.00,0.000,1030,0.000,0.024,2367,1896,3383,3436,3330,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2567,-1.22,-116.8,2366,1896,3436,3328,310.7,-10.2,176,2572,0.00,2.58,0.00,0.000,516,0.000,0.037,2367,334,3382,3436,3328,0,0,0,0,0,0,24.83,24.56,24.85
$GC,2614,-1.22,-116.8,2366,334,3436,3328,315.3,-10.2,177,2620,0.00,2.45,0.00,0.000,1030,0.000,0.018,2367,1892,3382,3436,3329,0,0,0,0,0,0,24.65,24.61,24.67
$GC,2894,-1.22,-116.8,2366,1892,3436,3326,342.0,-9.2,184,2899,0.00,2.60,0.00,0.000,260,0.000,0.036,2367,3474,3381,3436,3326,0,0,0,0,0,0,24.84,24.56,24.86
$GC,2938,-1.22,-116.8,2366,3474,3436,3325,346.0,-9.0,185,2944,0.00,2.50,0.00,0.000,1030,0.000,0.018,2367,1892,3380,3436,3325,0,0,0,0,0,0,24.66,24.61,24.68
$GC,3222,-1.22,-116.8,2367,1892,3436,3321,372.7,-9.7,192,3228,0.00,2.62,0.00,0.000,516,0.000,0.048,2367,326,3378,3436,3321,0,0,0,0,0,0,24.84,24.55,24.87
$GC,3250,-1.22,-116.8,2366,326,3436,3321,372.7,-9.7,192,3256,0.00,2.50,0.00,0.000,1030,0.000,0.021,2367,1898,3378,3436,3321,0,0,0,0,0,0,24.67,24.61,24.68
$GC,3510,-1.22,-116.8,2366,1898,3436,3317,402.1,-10.2,199,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1897,3377,3436,3318,0,0,0,0,0,0,24.85,24.87,24.87
$GC,3749,-1.22,-116.8,2366,1898,3436,3314,427.3,-10.4,205,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1897,3375,3436,3314,0,0,0,0,0,0,24.84,24.87,24.86
$GC,3990,-1.22,-116.8,2366,1898,3436,3311,449.7,-9.3,211,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1898,3373,3436,3311,0,0,0,0,0,0,24.86,24.88,24.87
$GC,4229,-1.22,-116.8,2366,1897,3436,3309,470.3,-8.6,217,4234,0.00,2.67,0.00,0.000,516,0.000,0.051,2367,336,3372,3436,3308,0,0,0,0,0,0,24.85,24.53,24.87
$GC,4268,-1.22,-116.8,2366,336,3435,3308,470.3,-8.6,217,4274,0.00,2.53,0.00,0.000,1030,0.000,0.028,2367,1889,3372,3436,3308,0,0,0,0,0,0,24.67,24.60,24.68
$GC,4513,-1.22,-116.8,2366,1890,3436,3305,495.5,-8.7,224,4519,0.00,2.67,0.00,0.000,516,0.000,0.052,2367,344,3370,3435,3305,0,0,0,0,0,0,24.86,24.53,24.87
$GC,4536,-1.22,-116.8,2366,344,3436,3304,495.5,-8.7,224,4542,0.00,2.55,0.00,0.000,1030,0.000,0.029,2367,1902,3370,3436,3304,0,0,0,0,0,0,24.67,24.60,24.68
$STATE,4597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4597,begin apogee
$GC,4604,-0.26,0.0,2367,1901,3435,3303,503.2,-8.7,226,4706,1.38,0.00,98.03,0.863,10246,0.077,0.000,2678,1901,2900,2961,2839,0,0,0,0,0,0,24.53,23.71,23.05
$STATE,4708,end apogee,CONTROL_FINISHED_OK
$STATE,4708,begin climb
$GC,4711,1.22,116.8,2678,1901,2960,2838,504.9,0.0,228,4824,1.98,2.72,102.53,0.838,10500,0.041,0.060,3154,3415,2421,2484,2359,0,0,0,0,0,0,24.05,23.72,23.04
$GC,4884,1.29,172.7,3153,3415,2482,2355,494.1,6.8,233,4941,0.00,2.58,49.45,0.813,9222,0.000,0.031,3154,1876,2195,2248,2143,0,0,0,0,0,0,24.31,24.22,23.06
$GC,5206,1.29,172.7,3153,1876,2248,2131,455.5,12.4,241,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1876,2188,2247,2130,0,0,0,0,0,0,24.59,24.61,24.60
$GC,5444,1.29,172.7,3153,1876,2246,2128,426.1,12.4,247,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1876,2187,2246,2128,0,0,0,0,0,0,24.64,24.66,24.66
$GC,5684,1.29,172.7,3153,1876,2247,2125,398.5,11.2,253,5690,0.00,2.62,0.00,0.000,260,0.000,0.044,3154,3424,2185,2246,2125,0,0,0,0,0,0,24.68,24.37,24.71
$GC,5702,1.29,172.7,3153,3424,2245,2126,398.5,11.2,253,5708,0.00,2.60,0.00,0.000,1030,0.000,0.028,3154,1846,2185,2245,2126,0,0,0,0,0,0,24.50,24.42,24.52
$GC,5970,1.29,172.7,3153,1845,2245,2123,366.8,10.8,260,5976,0.00,2.67,0.00,0.000,260,0.000,0.043,3154,3428,2184,2245,2123,0,0,0,0,0,0,24.70,24.39,24.72
$GC,6033,1.29,172.7,3154,3428,2244,2124,362.2,10.7,261,6039,0.00,2.60,0.00,0.000,1030,0.000,0.028,3154,1844,2184,2244,2124,0,0,0,0,0,0,24.52,24.45,24.54
$GC,6297,1.29,172.7,3153,1844,2244,2122,332.6,10.6,268,6303,0.00,2.67,0.00,0.000,260,0.000,0.043,3154,3429,2183,2244,2122,0,0,0,0,0,0,24.73,24.41,24.75
$GC,6370,1.29,172.7,3153,3429,2243,2122,327.6,10.7,269,6375,0.00,2.60,0.00,0.000,1030,0.000,0.028,3154,1839,2182,2243,2122,0,0,0,0,0,0,24.54,24.46,24.56
$GC,6624,1.29,172.7,3154,1839,2243,2120,296.5,10.9,276,6629,0.00,2.67,0.00,0.000,260,0.000,0.043,3154,3424,2181,2243,2120,0,0,0,0,0,0,24.75,24.44,24.77
$GC,6657,1.29,172.7,3154,3424,2243,2121,296.5,10.9,276,6663,0.00,2.58,0.00,0.000,1030,0.000,0.027,3154,1849,2182,2243,2121,0,0,0,0,0,0,24.56,24.49,24.58
$GC,6911,1.29,172.7,3154,1849,2243,2119,266.5,10.0,283,6912,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1849,2181,2243,2119,0,0,0,0,0,0,24.76,24.78,24.77
$GC,7151,1.30,178.8,3153,1849,2243,2118,243.1,9.7,289,7161,0.05,2.67,4.10,0.473,10500,0.138,0.039,3174,3432,2169,2229,2109,0,0,0,0,0,0,24.56,24.11,23.67
$GC,7230,1.30,181.8,3173,3433,2228,2109,238.5,9.9,290,7241,0.00,2.60,4.25,0.479,9222,0.000,0.026,3174,1838,2157,2215,2100,0,0,0,0,0,0,24.53,24.46,23.63
$GC,7519,1.32,197.1,3173,1838,2215,2100,208.4,9.2,298,7537,0.00,0.00,15.48,0.638,8454,0.000,0.000,3174,1838,2095,2149,2041,0,0,0,0,0,0,24.73,23.94,23.40
$GC,7781,1.32,197.1,3174,1838,2149,2037,182.2,10.9,315,7787,0.00,2.65,0.00,0.000,260,0.000,0.035,3174,3428,2093,2149,2037,0,0,0,0,0,0,24.66,24.38,24.68
$GC,7890,1.32,197.1,3173,3428,2148,2037,170.7,10.5,325,7897,0.00,2.55,0.00,0.000,1030,0.000,0.021,3174,1838,2092,2148,2037,0,0,0,0,0,0,24.51,24.46,24.53
$GC,8141,1.32,197.1,3174,1838,2148,2036,144.9,10.3,350,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1838,2092,2148,2036,0,0,0,0,0,0,24.72,24.75,24.75
$GC,8390,1.32,197.2,3174,1838,2148,2036,120.1,10.0,375,8395,0.00,2.60,0.00,0.000,516,0.000,0.040,3174,275,2092,2148,2036,0,0,0,0,0,0,24.75,24.47,24.77
$GC,8428,1.32,197.2,3173,275,2148,2036,116.3,10.6,378,8436,0.00,2.55,0.00,0.000,1030,0.000,0.021,3174,1865,2092,2148,2036,0,0,0,0,0,0,24.58,24.52,24.59
$GC,8677,1.37,231.7,3174,1866,2149,2036,94.6,8.1,403,8714,0.05,2.58,30.95,0.551,10500,0.135,0.032,3195,3421,1953,2005,1902,0,0,0,0,0,0,24.57,23.78,23.44
$GC,8755,1.37,231.7,3194,3421,2005,1902,87.1,10.3,410,8760,0.00,2.53,0.00,0.000,1030,0.000,0.020,3195,1848,1953,2005,1902,0,0,0,0,0,0,24.38,24.32,24.39
$GC,9012,1.40,256.9,3194,1848,2005,1899,62.1,8.6,435,9047,0.00,2.65,23.73,0.513,8452,0.000,0.031,3195,3419,1851,1895,1807,0,0,0,0,0,0,24.67,23.95,23.49
$GC,9117,1.40,261.7,3194,3419,1895,1807,52.5,9.8,444,9129,0.00,2.53,5.90,0.415,9222,0.000,0.019,3195,1844,1832,1877,1787,0,0,0,0,0,0,24.41,24.36,23.66
$GC,9370,1.44,290.9,3194,1844,1878,1784,29.5,8.4,469,9406,0.08,0.00,27.20,0.483,10246,0.102,0.000,3222,1844,1714,1760,1668,0,0,0,0,0,0,24.44,23.80,23.51
$STATE,9619,end climb,SURFACE_DEPTH_REACHED
$STATE,9619,begin surface coast
$FINISH,0.1,0.998519
$STATE,9654,end surface coast,CONTROL_FINISHED_OK
$STATE,9654,begin surface
$SM_CCo,9678,50.90,0.465,0,0,1349,380.21
$SM_GC,0.76,11.75,0.08,50.90,0.043,0.088,0.465,434,1993,1349,-7.26,-1.19,380.21,0,0,0,0,0,0,24.36,24.49,23.49
$IRIDIUM_FIX,2237.01,-15802.37,240618,133321
$TT8_MAMPS,0.021721,0.34454
$HUMID,57.79
$INTERNAL_PRESSURE,9.26193
$TCM_TEMP,22.40
$XPDR_PINGS,92
$24V_AH,23.04,82.737
$10V_AH,9.59,62.293
$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,26.125,98.525,361.600,50.900,0.000,30.926,48.026,199.775,23.000,0.000,77.304,1622.220,6056.817,542.554,1747.534,244.167,0.000,1198.878,0.000,1387.611,0.000,0.537,0.000
$DEVICE_MAMPS,172.890,87.975,862.920,465.120,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,348.199,294.604,439.123,539.294,641.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342836
$DATA_FILE_SIZE,43877,518
$CAP_FILE_SIZE,95995,0
$CFSIZE,259248128,217169920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,225.47,1
$GPS,240618,190832,2245.786,-15758.112,12,1.8,45,10.1,0.6,14.3,9,4.2