version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 730
start: 6 25 118 17 57 36
data:
$ID,148
$MISSION,15
$DIVE,730
$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,46
$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
$GPS1,250618,174833,2246.1487,-15757.8975,51,1.1,91,10.1,0.2,122.8,7,5.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-61.7
$GPS2,250618,175709,2246.1250,-15757.8896,14,1.1,54,10.1,0.1,42.4,7,5.2
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A9
$TGT_LATLONG,2245.390,-15758.740
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,208.5,1991,-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,-63.6,423,1827,1358,1326,0.0,0.0,0,90,0.00,0.10,-66.93,0.000,16390,0.000,0.380,423,1982,3161,3204,3118,0,0,0,0,0,0,24.57,23.51,24.58
$GC,95,-1.58,-96.6,422,1982,3204,3118,3.2,-6.6,10,117,10.23,2.75,-2.42,0.000,18948,0.170,0.037,2254,319,3296,3349,3244,0,0,0,0,0,0,24.09,23.39,24.27
$GC,269,-1.58,-96.6,2253,319,3349,3245,49.3,-22.8,33,275,0.00,2.50,0.00,0.000,1030,0.000,0.015,2254,1913,3297,3349,3246,0,0,0,0,0,0,24.47,24.42,24.48
$GC,526,-1.58,-96.6,2253,1914,3349,3247,96.1,-16.6,58,531,0.00,2.60,0.00,0.000,516,0.000,0.037,2254,321,3297,3349,3246,0,0,0,0,0,0,24.69,24.36,24.70
$GC,560,-1.58,-96.6,2253,321,3349,3247,102.5,-17.8,61,565,0.00,2.47,0.00,0.000,1030,0.000,0.014,2254,1915,3298,3349,3247,0,0,0,0,0,0,24.52,24.49,24.53
$GC,816,-1.58,-96.6,2253,1915,3349,3248,142.6,-16.0,86,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,1915,3298,3349,3247,0,0,0,0,0,0,24.72,24.75,24.74
$GC,1063,-1.58,-96.6,2253,1915,3350,3249,181.5,-13.6,111,1069,0.00,2.45,0.00,0.000,260,0.000,0.026,2254,3454,3299,3349,3249,0,0,0,0,0,0,24.75,24.49,24.76
$GC,1109,-1.58,-96.6,2253,3454,3349,3250,187.4,-13.2,115,1114,0.00,2.45,0.00,0.000,1030,0.000,0.015,2254,1877,3299,3349,3250,0,0,0,0,0,0,24.58,24.53,24.59
$GC,1373,-1.58,-96.6,2253,1877,3349,3251,221.1,-12.9,129,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,1877,3300,3350,3251,0,0,0,0,0,0,24.77,24.79,24.79
$GC,1612,-1.58,-96.6,2253,1877,3349,3251,253.8,-13.4,135,1618,0.00,2.50,0.00,0.000,516,0.000,0.031,2254,337,3300,3350,3251,0,0,0,0,0,0,24.79,24.52,24.80
$GC,1671,-1.58,-96.6,2253,338,3349,3251,259.5,-13.2,136,1676,0.00,2.42,0.00,0.000,1030,0.000,0.016,2254,1894,3300,3349,3251,0,0,0,0,0,0,24.62,24.57,24.63
$GC,1940,-1.58,-96.6,2253,1894,3349,3251,293.2,-12.0,143,1945,0.00,2.55,0.00,0.000,260,0.000,0.037,2254,3472,3300,3349,3251,0,0,0,0,0,0,24.80,24.53,24.82
$GC,1967,-1.58,-96.6,2253,3472,3349,3251,293.2,-12.0,143,1973,0.00,2.45,0.00,0.000,1030,0.000,0.017,2254,1895,3300,3349,3251,0,0,0,0,0,0,24.63,24.58,24.64
$GC,2226,-1.58,-96.6,2253,1895,3349,3251,329.2,-12.2,150,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,1894,3300,3349,3251,0,0,0,0,0,0,24.81,24.83,24.82
$GC,2466,-1.58,-96.6,2253,1895,3349,3249,358.3,-12.0,156,2471,0.00,2.60,0.00,0.000,516,0.000,0.040,2254,330,3299,3349,3249,0,0,0,0,0,0,24.82,24.53,24.84
$GC,2489,-1.58,-96.6,2253,330,3349,3248,358.3,-12.0,156,2494,0.00,2.50,0.00,0.000,1030,0.000,0.020,2254,1890,3298,3349,3248,0,0,0,0,0,0,24.64,24.58,24.65
$GC,2752,-1.58,-96.6,2254,1889,3349,3246,394.1,-12.3,163,2758,0.00,2.62,0.00,0.000,516,0.000,0.044,2254,344,3297,3349,3246,0,0,0,0,0,0,24.82,24.53,24.84
$GC,2811,-1.58,-96.6,2253,344,3349,3245,399.7,-12.3,164,2816,0.00,2.50,0.00,0.000,1030,0.000,0.023,2254,1902,3297,3349,3245,0,0,0,0,0,0,24.64,24.58,24.65
$GC,3079,-1.58,-96.6,2253,1902,3349,3242,434.2,-12.5,171,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,1902,3295,3349,3242,0,0,0,0,0,0,24.84,24.86,24.85
$GC,3319,-1.58,-96.6,2253,1902,3349,3238,461.6,-11.1,177,3324,0.00,2.65,0.00,0.000,260,0.000,0.044,2254,3475,3293,3349,3238,0,0,0,0,0,0,24.82,24.54,24.84
$GC,3366,-1.58,-96.6,2253,3476,3349,3237,466.5,-10.9,178,3373,0.00,2.53,0.00,0.000,1030,0.000,0.025,2254,1911,3293,3349,3237,0,0,0,0,0,0,24.65,24.59,24.67
$GC,3646,-1.58,-96.6,2253,1911,3349,3233,498.0,-11.5,185,3652,0.00,2.70,0.00,0.000,516,0.000,0.051,2254,329,3291,3349,3233,0,0,0,0,0,0,24.83,24.52,24.84
$GC,3664,-1.58,-96.6,2253,329,3349,3232,498.0,-11.5,185,3670,0.00,2.58,0.00,0.000,1030,0.000,0.029,2254,1905,3290,3349,3232,0,0,0,0,0,0,24.65,24.58,24.66
$STATE,3690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3691,begin apogee
$GC,3698,-0.26,0.0,2254,1831,3349,3233,503.8,-11.7,186,3785,1.92,0.00,81.82,0.855,10246,0.086,0.000,2678,1830,2899,2954,2845,0,0,0,0,0,0,24.49,23.70,23.03
$STATE,3786,end apogee,CONTROL_FINISHED_OK
$STATE,3786,begin climb
$GC,3788,1.58,96.6,2678,1830,2954,2845,506.9,0.0,188,3879,2.45,0.00,85.95,0.832,10246,0.037,0.000,3276,1830,2505,2559,2452,0,0,0,0,0,0,24.06,23.67,23.02
$GC,4093,1.58,96.6,3276,1831,2558,2441,480.9,11.1,196,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1831,2499,2558,2441,0,0,0,0,0,0,24.57,24.59,24.59
$GC,4334,1.58,96.6,3276,1831,2558,2437,451.9,12.2,202,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1831,2498,2558,2438,0,0,0,0,0,0,24.64,24.66,24.66
$GC,4573,1.58,96.6,3276,1831,2557,2434,422.7,12.1,208,4578,0.00,2.80,0.00,0.000,260,0.000,0.059,3276,3422,2495,2556,2434,0,0,0,0,0,0,24.68,24.36,24.70
$GC,4882,1.58,96.6,3276,3423,2553,2434,389.4,11.5,215,4888,0.00,2.55,0.00,0.000,1030,0.000,0.028,3276,1880,2493,2553,2434,0,0,0,0,0,0,24.53,24.45,24.55
$GC,5142,1.59,105.3,3276,1880,2553,2433,362.2,9.1,222,5151,0.00,0.00,7.05,0.649,8198,0.000,0.000,3276,1880,2468,2529,2408,0,0,0,0,0,0,24.72,24.10,23.46
$GC,5382,1.60,107.5,3276,1880,2529,2406,338.8,9.8,228,5387,0.00,2.83,0.00,0.000,516,0.000,0.061,3277,269,2467,2529,2405,0,0,0,0,0,0,24.67,24.38,24.68
$GC,5416,1.60,109.7,3276,269,2529,2406,338.8,9.8,228,5428,0.00,2.60,5.28,0.579,9222,0.000,0.024,3277,1858,2451,2512,2391,0,0,0,0,0,0,24.52,24.45,23.50
$GC,5666,1.61,117.9,3276,1858,2512,2389,312.8,9.2,235,5677,0.00,0.00,8.93,0.662,8198,0.000,0.000,3277,1858,2418,2478,2358,0,0,0,0,0,0,24.70,24.02,23.41
$GC,5905,1.61,117.9,3276,1859,2478,2354,287.2,10.8,241,5911,0.00,2.72,0.00,0.000,260,0.000,0.063,3276,3428,2416,2479,2354,0,0,0,0,0,0,24.69,24.36,24.70
$GC,6209,1.61,117.9,3276,3428,2475,2353,256.0,10.7,248,6214,0.00,2.60,0.00,0.000,1030,0.000,0.027,3277,1839,2413,2475,2352,0,0,0,0,0,0,24.53,24.46,24.55
$GC,6474,1.63,136.7,3276,1839,2475,2352,231.0,8.1,255,6500,0.00,2.80,17.40,0.664,8452,0.000,0.041,3277,3438,2341,2396,2286,0,0,0,0,0,0,24.73,23.94,23.34
$GC,6517,1.65,153.9,3276,3438,2395,2286,227.2,8.2,256,6542,0.00,2.62,16.83,0.648,9222,0.000,0.026,3277,1838,2269,2322,2217,0,0,0,0,0,0,24.34,24.27,23.27
$GC,6796,1.65,153.9,3276,1838,2322,2210,195.8,11.5,263,6801,0.00,2.70,0.00,0.000,260,0.000,0.039,3276,3439,2266,2322,2210,0,0,0,0,0,0,24.63,24.34,24.65
$GC,6900,1.65,153.9,3276,3439,2322,2210,183.1,11.9,273,6906,0.00,2.60,0.00,0.000,1030,0.000,0.027,3277,1839,2265,2322,2209,0,0,0,0,0,0,24.48,24.41,24.49
$GC,7158,1.65,153.9,3276,1839,2322,2208,154.9,11.2,298,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1839,2264,2321,2208,0,0,0,0,0,0,24.70,24.72,24.72
$GC,7408,1.67,166.7,3276,1839,2321,2207,132.0,8.7,323,7431,0.00,2.72,11.45,0.558,8452,0.000,0.032,3277,3444,2219,2271,2167,0,0,0,0,0,0,24.73,24.09,23.55
$GC,7439,1.69,183.4,3276,3444,2270,2167,129.8,8.3,325,7463,0.05,2.60,16.17,0.568,11270,0.140,0.021,3292,1835,2151,2201,2101,0,0,0,0,0,0,24.25,24.32,23.39
$GC,7711,1.70,187.6,3293,1835,2200,2096,102.6,9.6,352,7724,0.00,2.65,4.78,0.429,8452,0.000,0.032,3292,3436,2135,2186,2084,0,0,0,0,0,0,24.65,24.20,23.67
$GC,7853,1.70,187.6,3292,3436,2186,2084,87.5,11.6,365,7858,0.00,2.55,0.00,0.000,1030,0.000,0.020,3293,1845,2134,2186,2083,0,0,0,0,0,0,24.49,24.44,24.50
$GC,8110,1.70,190.8,3292,1846,2186,2082,62.6,9.7,390,8119,0.00,0.00,4.55,0.392,8198,0.000,0.000,3293,1846,2121,2173,2069,0,0,0,0,0,0,24.70,24.24,23.77
$GC,8361,1.73,211.1,3292,1845,2173,2068,38.8,7.9,415,8386,0.00,2.70,19.15,0.495,8452,0.000,0.031,3292,3437,2038,2084,1992,0,0,0,0,0,0,24.72,24.02,23.56
$GC,8504,1.73,217.9,3292,3437,2083,1991,26.8,9.3,430,8519,0.00,2.55,7.32,0.428,9222,0.000,0.018,3293,1845,2010,2058,1963,0,0,0,0,0,0,24.46,24.41,23.69
$STATE,8753,end climb,SURFACE_DEPTH_REACHED
$STATE,8753,begin surface coast
$FINISH,0.1,1.022931
$STATE,8788,end surface coast,CONTROL_FINISHED_OK
$STATE,8788,begin surface
$SM_CCo,8811,98.65,0.472,0,0,1349,380.21
$SM_GC,0.90,12.07,0.10,98.65,0.041,0.070,0.472,420,2023,1349,-7.30,-0.74,380.21,0,0,0,0,0,0,24.40,24.51,23.44
$IRIDIUM_FIX,2234.68,-15814.95,250618,145439
$TT8_MAMPS,0.021721,0.286118
$HUMID,56.85
$INTERNAL_PRESSURE,9.2424
$TCM_TEMP,22.20
$XPDR_PINGS,92
$24V_AH,23.02,83.583
$10V_AH,9.68,62.963
$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,26.725,88.800,286.675,98.650,0.000,29.510,48.314,253.973,23.000,0.000,57.052,1625.561,5275.392,522.785,1760.504,248.873,0.000,1149.526,0.000,1366.971,0.000,0.538,0.000
$DEVICE_MAMPS,169.830,380.205,855.270,472.005,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,323.415,273.458,392.505,510.777,609.079,0.000,0.000,0.000,0.000,0.000
$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,40494,480
$CAP_FILE_SIZE,92127,0
$CFSIZE,259248128,216678400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,222.96,1
$GPS,250618,202808,2245.138,-15758.644,40,1.1,80,10.1,0.4,311.7,7,5.3