version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 726
start: 6 25 118 6 24 0
data:
$ID,148
$MISSION,15
$DIVE,726
$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,42
$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
$GPS1,250618,061634,2245.8777,-15757.8232,39,1.2,39,10.1,0.9,271.2,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-61.3
$GPS2,250618,062333,2245.8354,-15757.8486,12,1.5,28,10.1,0.6,196.2,8,4.7
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A9
$TGT_LATLONG,2245.390,-15758.740
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,230.4,1732,-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,16,-1.54,-63.6,418,1817,1351,1328,0.0,0.0,0,89,0.00,0.15,-65.93,0.000,16390,0.000,0.256,418,2023,3162,3207,3117,0,0,0,0,0,0,24.56,23.51,24.58
$GC,94,-1.56,-73.0,418,2023,3206,3117,3.9,-9.0,10,116,10.20,2.83,-0.68,0.000,18948,0.166,0.037,2262,320,3200,3250,3150,0,0,0,0,0,0,24.09,23.39,24.27
$GC,332,-1.56,-73.0,2262,320,3251,3151,56.7,-16.3,39,337,0.00,2.53,0.00,0.000,1030,0.000,0.015,2263,1933,3201,3251,3151,0,0,0,0,0,0,24.49,24.44,24.49
$GC,588,-1.56,-73.0,2262,1933,3253,3153,96.6,-15.3,64,593,0.00,2.45,0.00,0.000,260,0.000,0.026,2262,3470,3203,3253,3153,0,0,0,0,0,0,24.70,24.44,24.72
$GC,615,-1.56,-73.0,2262,3470,3253,3154,100.8,-15.6,66,622,0.00,2.47,0.00,0.000,1030,0.000,0.016,2263,1882,3203,3253,3154,0,0,0,0,0,0,24.53,24.49,24.54
$GC,866,-1.56,-73.0,2262,1882,3253,3154,136.9,-13.7,91,871,0.00,2.55,0.00,0.000,260,0.000,0.024,2263,3473,3203,3253,3154,0,0,0,0,0,0,24.73,24.48,24.75
$GC,883,-1.56,-73.0,2262,3473,3253,3154,139.4,-14.2,92,891,0.00,2.47,0.00,0.000,1030,0.000,0.015,2263,1880,3204,3253,3155,0,0,0,0,0,0,24.56,24.52,24.58
$GC,1131,-1.56,-73.0,2262,1880,3253,3155,172.8,-11.6,117,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1881,3204,3254,3155,0,0,0,0,0,0,24.75,24.77,24.77
$GC,1410,-1.56,-73.0,2262,1881,3254,3155,205.7,-12.5,142,1416,0.00,2.55,0.00,0.000,260,0.000,0.025,2263,3471,3204,3254,3155,0,0,0,0,0,0,24.78,24.52,24.79
$GC,1463,-1.56,-73.0,2262,3471,3254,3155,212.2,-13.5,143,1468,0.00,2.45,0.00,0.000,1030,0.000,0.016,2262,1892,3204,3254,3155,0,0,0,0,0,0,24.61,24.57,24.62
$GC,1737,-1.57,-87.7,2262,1892,3254,3155,240.0,-8.5,150,1743,0.00,2.53,0.00,0.000,260,0.000,0.025,2262,3469,3204,3254,3155,0,0,0,0,0,0,24.79,24.54,24.82
$GC,1750,-1.59,-102.4,2262,3469,3254,3156,240.0,-8.5,150,1756,0.00,2.42,0.00,0.000,1030,0.000,0.016,2263,1898,3204,3254,3155,0,0,0,0,0,0,24.63,24.58,24.63
$GC,2024,-1.59,-102.4,2262,1898,3254,3155,267.1,-11.0,157,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1898,3204,3254,3155,0,0,0,0,0,0,24.81,24.83,24.82
$GC,2264,-1.59,-102.4,2262,1898,3254,3155,294.6,-11.4,163,2269,0.00,2.53,0.00,0.000,516,0.000,0.034,2263,338,3204,3254,3155,0,0,0,0,0,0,24.82,24.55,24.84
$GC,2312,-1.59,-102.4,2262,338,3254,3156,299.2,-10.9,164,2317,0.00,2.45,0.00,0.000,1030,0.000,0.017,2263,1894,3204,3254,3155,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2590,-1.59,-102.5,2261,1894,3254,3154,327.6,-10.0,171,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1894,3204,3254,3154,0,0,0,0,0,0,24.83,24.85,24.84
$GC,2830,-1.59,-102.5,2262,1894,3254,3152,353.8,-11.0,177,2836,0.00,2.58,0.00,0.000,516,0.000,0.044,2263,341,3202,3254,3151,0,0,0,0,0,0,24.84,24.55,24.86
$GC,2863,-1.59,-102.5,2262,341,3254,3151,353.8,-11.0,177,2869,0.00,2.47,0.00,0.000,1030,0.000,0.020,2263,1903,3202,3254,3151,0,0,0,0,0,0,24.66,24.60,24.68
$GC,3118,-1.59,-104.0,2262,1902,3253,3148,383.5,-9.9,184,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1902,3200,3253,3148,0,0,0,0,0,0,24.84,24.87,24.86
$GC,3358,-1.59,-104.0,2262,1902,3255,3146,408.3,-10.4,190,3363,0.00,2.58,0.00,0.000,260,0.000,0.040,2263,3469,3200,3254,3146,0,0,0,0,0,0,24.85,24.56,24.87
$GC,3376,-1.59,-104.0,2262,3469,3254,3145,408.3,-10.4,190,3381,0.00,2.47,0.00,0.000,1030,0.000,0.021,2262,1912,3199,3254,3145,0,0,0,0,0,0,24.67,24.61,24.68
$GC,3645,-1.59,-104.0,2262,1912,3254,3142,438.5,-10.5,197,3651,0.00,2.65,0.00,0.000,516,0.000,0.049,2263,334,3198,3254,3142,0,0,0,0,0,0,24.85,24.54,24.87
$GC,3708,-1.59,-104.0,2262,334,3254,3142,443.5,-10.7,198,3714,0.00,2.53,0.00,0.000,1030,0.000,0.024,2263,1899,3197,3254,3141,0,0,0,0,0,0,24.67,24.60,24.68
$GC,3973,-1.60,-106.4,2262,1899,3254,3137,471.9,-9.8,205,3978,0.00,2.67,0.00,0.000,516,0.000,0.056,2263,325,3195,3254,3137,0,0,0,0,0,0,24.85,24.53,24.87
$GC,4060,-1.60,-106.4,2262,325,3254,3136,480.6,-10.1,207,4065,0.00,2.58,0.00,0.000,1030,0.000,0.028,2263,1907,3195,3254,3136,0,0,0,0,0,0,24.67,24.60,24.68
$STATE,4255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4255,begin apogee
$GC,4262,-0.26,0.0,2262,1832,3254,3133,500.3,-9.6,212,4329,1.90,0.00,61.92,0.855,10246,0.090,0.000,2678,1832,2899,2955,2844,0,0,0,0,0,0,24.51,23.73,23.07
$STATE,4330,end apogee,CONTROL_FINISHED_OK
$STATE,4330,begin climb
$GC,4333,1.60,106.4,2677,1832,2955,2844,501.8,0.0,213,4437,2.45,2.90,92.95,0.838,10500,0.042,0.059,3277,3421,2464,2519,2410,0,0,0,0,0,0,24.08,23.72,23.03
$GC,4524,1.60,106.4,3276,3421,2516,2404,484.3,10.9,218,4530,0.00,2.58,0.00,0.000,1030,0.000,0.034,3277,1878,2460,2516,2404,0,0,0,0,0,0,24.33,24.25,24.35
$GC,4808,1.60,106.4,3276,1878,2515,2397,446.0,13.3,225,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1879,2456,2516,2397,0,0,0,0,0,0,24.63,24.65,24.64
$GC,5048,1.60,106.4,3276,1878,2515,2395,416.8,11.9,231,5053,0.00,2.85,0.00,0.000,516,0.000,0.064,3277,258,2454,2515,2394,0,0,0,0,0,0,24.67,24.36,24.69
$GC,5092,1.60,106.4,3276,258,2514,2395,411.7,11.7,232,5097,0.00,2.62,0.00,0.000,1030,0.000,0.026,3277,1849,2454,2514,2395,0,0,0,0,0,0,24.49,24.42,24.51
$GC,5375,1.60,109.3,3276,1849,2513,2392,382.4,9.7,239,5381,0.00,2.78,0.00,0.000,260,0.000,0.063,3277,3431,2452,2513,2391,0,0,0,0,0,0,24.72,24.39,24.74
$GC,5438,1.60,112.8,3276,3431,2510,2391,378.0,9.7,240,5449,0.00,2.60,4.68,0.559,9222,0.000,0.028,3277,1843,2440,2500,2380,0,0,0,0,0,0,24.53,24.45,23.53
$GC,5703,1.60,112.8,3276,1843,2500,2378,348.0,10.5,247,5708,0.00,2.70,0.00,0.000,260,0.000,0.043,3277,3432,2438,2500,2377,0,0,0,0,0,0,24.72,24.40,24.73
$GC,6080,1.60,112.8,3276,3433,2498,2376,305.8,11.6,256,6087,0.00,2.60,0.00,0.000,1030,0.000,0.027,3277,1844,2437,2498,2376,0,0,0,0,0,0,24.56,24.49,24.57
$GC,6350,1.61,119.2,3276,1845,2498,2375,278.3,9.4,263,6365,0.00,2.72,6.82,0.609,8452,0.000,0.041,3276,3426,2413,2474,2352,0,0,0,0,0,0,24.76,24.19,23.55
$GC,6382,1.62,125.6,3276,3426,2474,2352,278.3,9.4,263,6398,0.00,2.60,7.80,0.620,9222,0.000,0.027,3277,1840,2385,2444,2327,0,0,0,0,0,0,24.45,24.37,23.43
$GC,6677,1.64,140.0,3276,1840,2444,2323,249.7,8.5,271,6699,0.00,2.75,13.80,0.664,8452,0.000,0.040,3277,3426,2327,2384,2271,0,0,0,0,0,0,24.70,23.96,23.36
$GC,6793,1.64,140.0,3276,3426,2384,2269,240.0,10.3,273,6801,0.00,2.58,0.00,0.000,1030,0.000,0.025,3277,1849,2326,2384,2268,0,0,0,0,0,0,24.44,24.37,23.69
$GC,7038,1.64,140.0,3276,1849,2384,2266,206.1,11.1,280,7043,0.00,2.67,0.00,0.000,260,0.000,0.040,3277,3435,2325,2384,2266,0,0,0,0,0,0,24.68,24.38,24.70
$GC,7557,1.67,166.9,3276,3435,2383,2264,158.3,7.2,324,7588,0.00,2.60,24.00,0.615,9222,0.000,0.022,3277,1836,2218,2272,2165,0,0,0,0,0,0,24.56,24.51,23.37
$GC,7831,1.67,166.9,3277,1836,2272,2159,134.5,10.3,351,7836,0.00,2.65,0.00,0.000,260,0.000,0.034,3277,3439,2215,2272,2159,0,0,0,0,0,0,24.66,24.39,24.68
$GC,8249,1.70,187.4,3276,3439,2271,2159,93.5,7.9,390,8280,0.08,2.55,18.52,0.543,11270,0.119,0.019,3298,1841,2135,2185,2085,0,0,0,0,0,0,24.43,24.51,23.51
$GC,8521,1.71,200.3,3297,1841,2185,2082,68.5,8.7,417,8545,0.00,2.67,12.82,0.502,8452,0.000,0.031,3298,3433,2082,2132,2033,0,0,0,0,0,0,24.68,24.06,23.58
$GC,8616,1.71,200.3,3297,3433,2132,2032,58.9,11.2,425,8623,0.00,2.55,0.00,0.000,1030,0.000,0.019,3298,1839,2082,2132,2032,0,0,0,0,0,0,24.45,24.40,24.46
$GC,8867,1.72,206.2,3297,1838,2132,2030,34.8,9.4,450,8881,0.00,2.70,6.65,0.425,8452,0.000,0.031,3298,3446,2057,2108,2006,0,0,0,0,0,0,24.69,24.22,23.75
$STATE,9201,end climb,SURFACE_DEPTH_REACHED
$STATE,9202,begin surface coast
$FINISH,0.1,1.019765
$STATE,9239,end surface coast,CONTROL_FINISHED_OK
$STATE,9239,begin surface
$SM_CCo,9264,99.65,0.473,0,0,1350,380.21
$SM_GC,0.87,12.07,2.50,99.65,0.044,0.017,0.473,434,1899,1350,-7.26,1.16,380.21,0,0,0,0,0,0,24.43,24.49,23.45
$IRIDIUM_FIX,2234.68,-15800.20,250618,033608
$TT8_MAMPS,0.021721,0.347536
$HUMID,57.28
$INTERNAL_PRESSURE,9.26193
$TCM_TEMP,21.50
$XPDR_PINGS,94
$24V_AH,23.03,83.183
$10V_AH,9.58,62.666
$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,26.700,104.375,249.975,99.650,0.000,30.337,46.614,185.162,23.500,0.000,30.532,1857.930,5262.396,477.807,1944.611,247.861,0.000,1228.789,0.000,1631.516,0.000,0.538,0.000
$DEVICE_MAMPS,166.005,255.510,855.270,472.770,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,344.860,290.817,433.508,541.180,640.474,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342808
$DATA_FILE_SIZE,43866,512
$CAP_FILE_SIZE,98723,0
$CFSIZE,259248128,216895488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,206.28,1
$GPS,250618,090138,2244.760,-15758.700,11,99.0,51,10.1,0.3,178.7,5,-1.0