version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 725
start: 6 25 118 3 42 13
data:
$ID,148
$MISSION,15
$DIVE,725
$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,68
$R_STBD_OVSHOOT,34
$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
$GPS1,250618,033415,2245.7039,-15758.6025,13,2.0,53,10.1,0.5,233.3,5,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-62.6
$GPS2,250618,034145,2245.6970,-15758.6289,11,1.8,51,10.1,0.4,112.9,5,7.1
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A10
$TGT_LATLONG,2245.785,-15757.885
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,78.7,1280,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.54,-63.6,420,1866,1351,1333,0.0,0.0,0,88,0.00,0.00,-66.75,0.000,16390,0.000,0.000,420,1867,3160,3205,3116,0,0,0,0,0,0,24.57,23.51,24.59
$GC,93,-1.57,-87.7,420,1867,3205,3117,3.3,-7.5,10,115,10.30,2.50,-1.80,0.000,18948,0.172,0.040,2256,347,3259,3312,3206,0,0,0,0,0,0,24.09,23.40,24.27
$GC,224,-1.57,-87.7,2255,348,3312,3207,37.3,-22.8,30,229,0.00,2.47,0.00,0.000,1030,0.000,0.015,2256,1940,3259,3312,3207,0,0,0,0,0,0,24.46,24.43,24.48
$GC,481,-1.57,-87.7,2255,1941,3312,3209,86.9,-17.1,55,486,0.00,2.42,0.00,0.000,260,0.000,0.024,2255,3465,3260,3312,3209,0,0,0,0,0,0,24.69,24.44,24.70
$GC,506,-1.57,-87.7,2255,3465,3312,3209,91.6,-17.0,57,511,0.00,2.42,0.00,0.000,1030,0.000,0.016,2255,1909,3261,3313,3210,0,0,0,0,0,0,24.51,24.47,24.53
$GC,761,-1.57,-87.7,2255,1910,3312,3210,130.0,-14.6,82,766,0.00,2.55,0.00,0.000,516,0.000,0.029,2256,330,3261,3312,3211,0,0,0,0,0,0,24.72,24.46,24.74
$GC,838,-1.57,-87.7,2255,330,3312,3211,141.5,-15.5,89,843,0.00,2.42,0.00,0.000,1030,0.000,0.015,2256,1898,3261,3312,3211,0,0,0,0,0,0,24.56,24.53,24.58
$GC,1094,-1.57,-87.7,2255,1900,3313,3212,181.1,-16.9,114,1099,0.00,2.58,0.00,0.000,516,0.000,0.032,2256,320,3262,3313,3212,0,0,0,0,0,0,24.75,24.49,24.77
$GC,1171,-1.57,-87.7,2255,320,3312,3212,193.1,-15.6,121,1176,0.00,2.45,0.00,0.000,1030,0.000,0.014,2255,1914,3262,3312,3212,0,0,0,0,0,0,24.60,24.56,24.61
$GC,1454,-1.57,-87.7,2255,1914,3314,3212,230.8,-11.9,131,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1914,3263,3314,3213,0,0,0,0,0,0,24.78,24.81,24.79
$GC,1694,-1.57,-87.7,2255,1914,3314,3213,257.9,-10.8,137,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,1914,3263,3314,3213,0,0,0,0,0,0,24.80,24.82,24.82
$GC,1934,-1.57,-87.7,2255,1914,3314,3213,285.1,-11.3,143,1940,0.00,2.60,0.00,0.000,516,0.000,0.033,2255,333,3263,3314,3213,0,0,0,0,0,0,24.81,24.54,24.83
$GC,1993,-1.57,-87.7,2255,333,3314,3213,290.9,-11.8,144,1999,0.00,2.42,0.00,0.000,1030,0.000,0.016,2255,1885,3263,3314,3213,0,0,0,0,0,0,24.64,24.60,24.65
$GC,2262,-1.57,-87.7,2254,1885,3314,3213,325.0,-12.3,151,2267,0.00,2.58,0.00,0.000,516,0.000,0.036,2256,336,3263,3313,3213,0,0,0,0,0,0,24.82,24.54,24.84
$GC,2325,-1.57,-87.7,2255,336,3313,3213,330.5,-12.4,152,2330,0.00,2.47,0.00,0.000,1030,0.000,0.018,2256,1903,3263,3314,3213,0,0,0,0,0,0,24.65,24.59,24.66
$GC,2588,-1.57,-87.7,2255,1903,3313,3210,366.2,-12.4,159,2594,0.00,2.58,0.00,0.000,260,0.000,0.037,2256,3470,3261,3313,3210,0,0,0,0,0,0,24.83,24.54,24.85
$GC,2606,-1.57,-87.7,2255,3471,3313,3210,366.2,-12.4,159,2612,0.00,2.47,0.00,0.000,1030,0.000,0.018,2256,1896,3261,3313,3210,0,0,0,0,0,0,24.65,24.60,24.67
$GC,2875,-1.57,-87.7,2255,1895,3313,3208,400.0,-11.7,166,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,1895,3260,3313,3207,0,0,0,0,0,0,24.84,24.87,24.86
$GC,3115,-1.57,-87.7,2255,1896,3313,3205,426.0,-10.8,172,3121,0.00,2.65,0.00,0.000,516,0.000,0.048,2256,333,3258,3313,3204,0,0,0,0,0,0,24.85,24.54,24.87
$GC,3159,-1.57,-87.7,2255,333,3313,3204,431.1,-11.0,173,3165,0.00,2.53,0.00,0.000,1030,0.000,0.024,2256,1890,3258,3313,3204,0,0,0,0,0,0,24.66,24.60,24.68
$GC,3443,-1.57,-87.7,2255,1890,3313,3201,460.4,-10.1,180,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,1890,3257,3313,3201,0,0,0,0,0,0,24.84,24.86,24.86
$GC,3684,-1.57,-87.7,2255,1890,3313,3197,486.5,-11.1,186,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,1891,3255,3313,3198,0,0,0,0,0,0,24.84,24.87,24.86
$STATE,3840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3841,begin apogee
$GC,3847,-0.26,0.0,2255,1890,3313,3195,504.0,-10.9,190,3925,1.90,0.00,74.18,0.854,10246,0.085,0.000,2678,1890,2900,2955,2845,0,0,0,0,0,0,24.52,23.72,23.06
$STATE,3926,end apogee,CONTROL_FINISHED_OK
$STATE,3926,begin climb
$GC,3929,1.57,87.7,2678,1890,2954,2844,506.0,0.0,192,4012,2.40,0.00,76.95,0.836,10502,0.038,0.000,3274,1890,2541,2595,2487,0,0,0,0,0,0,24.06,23.68,23.03
$GC,4246,1.57,87.7,3274,1890,2595,2475,477.2,11.2,200,4251,0.00,2.70,0.00,0.000,260,0.000,0.059,3274,3429,2534,2594,2475,0,0,0,0,0,0,24.58,24.26,24.60
$GC,4409,1.57,87.7,3273,3429,2591,2474,458.9,11.0,204,4415,0.00,2.60,0.00,0.000,1030,0.000,0.030,3274,1868,2532,2591,2474,0,0,0,0,0,0,24.45,24.37,24.47
$GC,4694,1.57,89.0,3273,1868,2591,2471,430.1,9.9,211,4699,0.00,2.62,0.00,0.000,260,0.000,0.044,3274,3421,2531,2591,2471,0,0,0,0,0,0,24.68,24.37,24.70
$GC,4853,1.58,90.3,3274,3421,2588,2470,417.7,9.9,214,4861,0.00,2.60,0.00,0.000,1030,0.000,0.028,3274,1843,2529,2588,2470,0,0,0,0,0,0,24.51,24.43,24.53
$GC,5099,1.59,100.8,3274,1843,2588,2468,392.3,8.9,221,5117,0.00,2.85,10.38,0.718,8708,0.000,0.063,3274,262,2488,2547,2429,0,0,0,0,0,0,24.72,24.03,23.35
$GC,5140,1.60,111.9,3274,262,2547,2428,388.3,8.9,222,5159,0.00,2.62,11.62,0.718,9222,0.000,0.025,3274,1845,2442,2501,2383,0,0,0,0,0,0,24.39,24.31,23.25
$GC,5423,1.60,111.9,3274,1845,2501,2377,356.3,11.6,229,5429,0.00,2.78,0.00,0.000,260,0.000,0.061,3274,3436,2439,2501,2377,0,0,0,0,0,0,24.66,24.33,24.68
$GC,5491,1.60,111.9,3274,3436,2498,2377,350.6,12.1,230,5496,0.00,2.62,0.00,0.000,1030,0.000,0.028,3274,1838,2438,2499,2377,0,0,0,0,0,0,24.48,24.40,24.50
$GC,5749,1.60,111.9,3274,1838,2499,2374,320.3,10.4,237,5754,0.00,2.72,0.00,0.000,260,0.000,0.044,3274,3439,2436,2499,2374,0,0,0,0,0,0,24.71,24.39,24.73
$GC,5967,1.60,111.9,3274,3440,2497,2374,296.8,11.4,242,5973,0.00,2.62,0.00,0.000,1030,0.000,0.027,3274,1841,2435,2497,2373,0,0,0,0,0,0,24.54,24.46,24.56
$GC,6236,1.60,112.9,3274,1841,2497,2373,267.3,9.9,249,6242,0.00,2.70,0.00,0.000,260,0.000,0.041,3274,3439,2435,2497,2373,0,0,0,0,0,0,24.75,24.44,24.77
$GC,6284,1.61,117.0,3274,3439,2496,2372,262.9,9.6,250,6294,0.00,2.60,4.38,0.500,9222,0.000,0.026,3274,1845,2422,2483,2362,0,0,0,0,0,0,24.56,24.49,23.63
$GC,6562,1.63,133.9,3274,1845,2483,2360,238.1,8.3,257,6585,0.00,2.70,16.60,0.665,8452,0.000,0.040,3274,3432,2353,2408,2298,0,0,0,0,0,0,24.74,23.96,23.35
$GC,6613,1.65,150.7,3274,3432,2407,2298,234.6,8.3,258,6637,0.00,2.60,16.30,0.653,9222,0.000,0.025,3274,1843,2284,2336,2232,0,0,0,0,0,0,24.37,24.30,23.29
$GC,6886,1.65,150.7,3274,1843,2336,2225,205.2,11.3,265,6891,0.00,2.70,0.00,0.000,260,0.000,0.038,3274,3445,2280,2336,2225,0,0,0,0,0,0,24.63,24.34,24.65
$GC,7085,1.65,153.4,3274,3445,2333,2225,185.6,9.8,278,7090,0.00,2.60,0.00,0.000,1030,0.000,0.023,3274,1843,2279,2334,2225,0,0,0,0,0,0,24.51,24.44,24.52
$GC,7341,1.67,169.1,3274,1843,2333,2223,163.8,8.4,303,7359,0.00,0.00,16.58,0.601,8710,0.000,0.000,3275,1843,2209,2260,2159,0,0,0,0,0,0,24.72,23.94,23.43
$GC,7601,1.68,176.3,3274,1843,2260,2154,138.6,9.3,329,7617,0.05,2.67,7.40,0.516,10500,0.143,0.031,3293,3446,2180,2232,2129,0,0,0,0,0,0,24.46,23.96,23.60
$GC,7765,1.68,176.3,3292,3446,2231,2129,120.9,10.6,344,7770,0.00,2.58,0.00,0.000,1030,0.000,0.020,3293,1845,2180,2231,2129,0,0,0,0,0,0,24.49,24.44,24.51
$GC,8024,1.68,176.3,3292,1845,2232,2128,95.6,10.1,369,8030,0.00,2.62,0.00,0.000,260,0.000,0.031,3293,3442,2179,2231,2128,0,0,0,0,0,0,24.71,24.45,24.73
$GC,8079,1.68,176.3,3292,3442,2231,2128,89.3,10.6,374,8084,0.00,2.55,0.00,0.000,1030,0.000,0.020,3293,1845,2180,2232,2128,0,0,0,0,0,0,24.54,24.49,24.56
$GC,8337,1.70,188.6,3292,1845,2231,2128,67.5,8.7,399,8352,0.00,0.00,12.57,0.498,8198,0.000,0.000,3293,1845,2129,2180,2079,0,0,0,0,0,0,24.75,24.09,23.65
$GC,8596,1.72,205.1,3293,1845,2180,2076,41.3,8.3,425,8621,0.00,2.67,15.57,0.485,8452,0.000,0.030,3293,3436,2062,2106,2018,0,0,0,0,0,0,24.70,23.90,23.60
$GC,8982,1.75,231.6,3293,3436,2105,2018,9.2,7.2,482,9012,0.08,2.55,23.70,0.466,11270,0.108,0.018,3316,1840,1955,1994,1916,0,0,0,0,0,0,24.41,24.48,23.58
$STATE,9041,end climb,SURFACE_DEPTH_REACHED
$STATE,9041,begin surface coast
$FINISH,0.1,1.022855
$STATE,9072,end surface coast,CONTROL_FINISHED_OK
$STATE,9072,begin surface
$SM_CCo,9095,84.38,0.467,0,0,1349,380.21
$SM_GC,0.80,12.07,0.12,84.38,0.036,0.057,0.467,419,2050,1349,-7.31,-0.54,380.21,0,0,0,0,0,0,24.32,24.43,23.46
$IRIDIUM_FIX,2237.01,-15801.49,250618,004925
$TT8_MAMPS,0.021721,0.28462
$HUMID,57.32
$INTERNAL_PRESSURE,9.26193
$TCM_TEMP,22.60
$XPDR_PINGS,87
$24V_AH,23.03,83.099
$10V_AH,9.70,62.590
$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,26.800,98.550,286.225,84.375,0.000,28.981,44.614,193.418,21.750,0.000,53.864,1708.112,5361.939,472.246,1830.860,263.947,0.000,1163.718,0.000,1502.294,0.000,0.538,0.000
$DEVICE_MAMPS,172.125,62.730,853.740,467.415,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,334.199,283.046,426.898,534.485,641.461,0.000,0.000,0.000,0.000,0.000
$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,40641,496
$CAP_FILE_SIZE,94840,0
$CFSIZE,259248128,216952832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,249.87,1
$GPS,250618,061634,2245.878,-15757.823,39,1.2,39,10.1,0.9,271.2,8,9.4