version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 733
start: 6 26 118 2 23 47
data:
$ID,148
$MISSION,15
$DIVE,733
$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,47
$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
$GPS1,260618,021044,2246.1885,-15758.0654,32,1.4,72,10.1,0.9,183.8,7,6.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-60.8
$GPS2,260618,022321,2246.1885,-15758.0762,10,2.6,50,10.1,0.4,307.3,6,8.3
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A9
$TGT_LATLONG,2245.390,-15758.740
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,194.9,1863,-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,-63.6,434,1877,1351,1330,0.0,0.0,0,89,0.00,0.00,-66.75,0.000,16390,0.000,0.000,434,1877,3161,3204,3118,0,0,0,0,0,0,24.57,23.51,24.59
$GC,93,-1.58,-95.4,434,1878,3204,3119,3.1,-6.7,10,115,10.18,2.60,-2.40,0.000,18692,0.171,0.034,2252,3478,3291,3344,3238,0,0,0,0,0,0,24.07,23.39,24.26
$GC,419,-1.58,-95.4,2252,3477,3344,3242,77.7,-18.1,48,424,0.00,2.47,0.00,0.000,1030,0.000,0.016,2252,1893,3292,3344,3241,0,0,0,0,0,0,24.50,24.46,24.51
$GC,677,-1.58,-95.4,2252,1893,3344,3242,119.6,-17.1,73,682,0.00,2.55,0.00,0.000,260,0.000,0.025,2253,3482,3293,3344,3242,0,0,0,0,0,0,24.71,24.45,24.72
$GC,747,-1.58,-95.4,2252,3482,3344,3243,131.0,-16.2,79,754,0.00,2.45,0.00,0.000,1030,0.000,0.016,2253,1897,3293,3344,3243,0,0,0,0,0,0,24.55,24.50,24.56
$GC,997,-1.58,-95.4,2252,1897,3344,3244,170.7,-16.5,104,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,1897,3294,3344,3244,0,0,0,0,0,0,24.74,24.76,24.76
$GC,1264,-1.58,-95.4,2252,1897,3344,3244,211.9,-14.4,125,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,1897,3294,3344,3244,0,0,0,0,0,0,24.77,24.79,24.78
$GC,1504,-1.58,-95.4,2252,1897,3344,3245,244.4,-13.9,131,1509,0.00,2.53,0.00,0.000,516,0.000,0.031,2253,331,3294,3344,3245,0,0,0,0,0,0,24.78,24.51,24.79
$GC,1522,-1.58,-95.4,2252,331,3344,3245,244.4,-13.9,131,1528,0.00,2.45,0.00,0.000,1030,0.000,0.016,2253,1915,3294,3344,3245,0,0,0,0,0,0,24.60,24.56,24.62
$GC,1791,-1.58,-95.4,2252,1915,3344,3245,279.4,-11.8,138,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,1915,3294,3344,3245,0,0,0,0,0,0,24.79,24.82,24.81
$GC,2031,-1.58,-95.4,2252,1915,3344,3245,310.5,-13.1,144,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,1915,3294,3344,3245,0,0,0,0,0,0,24.81,24.82,24.82
$GC,2271,-1.58,-95.4,2252,1915,3344,3245,343.5,-13.7,150,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,1915,3294,3344,3245,0,0,0,0,0,0,24.82,24.84,24.83
$GC,2513,-1.58,-95.4,2252,1916,3344,3242,374.8,-12.8,156,2518,0.00,2.65,0.00,0.000,516,0.000,0.047,2252,347,3293,3344,3242,0,0,0,0,0,0,24.82,24.52,24.84
$GC,2535,-1.58,-95.4,2252,347,3344,3242,374.8,-12.8,156,2541,0.00,2.45,0.00,0.000,1030,0.000,0.020,2252,1888,3292,3343,3242,0,0,0,0,0,0,24.64,24.59,24.65
$GC,2798,-1.58,-95.4,2252,1888,3344,3238,408.2,-11.3,163,2804,0.00,2.62,0.00,0.000,516,0.000,0.046,2252,349,3291,3344,3238,0,0,0,0,0,0,24.83,24.52,24.84
$GC,2816,-1.58,-95.4,2252,348,3344,3238,408.2,-11.3,163,2822,0.00,2.50,0.00,0.000,1030,0.000,0.023,2252,1908,3291,3344,3238,0,0,0,0,0,0,24.64,24.58,24.65
$GC,3085,-1.58,-95.4,2252,1908,3344,3234,441.8,-12.0,170,3091,0.00,2.62,0.00,0.000,260,0.000,0.043,2252,3479,3289,3344,3235,0,0,0,0,0,0,24.84,24.53,24.85
$GC,3108,-1.58,-95.4,2252,3479,3344,3234,441.8,-12.0,170,3113,0.00,2.53,0.00,0.000,1030,0.000,0.024,2253,1907,3289,3344,3234,0,0,0,0,0,0,24.65,24.58,24.66
$GC,3371,-1.58,-95.4,2252,1908,3343,3230,475.0,-11.3,177,3377,0.00,2.70,0.00,0.000,516,0.000,0.050,2252,324,3286,3343,3230,0,0,0,0,0,0,24.84,24.51,24.85
$GC,3420,-1.58,-95.4,2252,324,3344,3229,479.8,-11.0,178,3426,0.00,2.55,0.00,0.000,1030,0.000,0.027,2252,1892,3286,3344,3229,0,0,0,0,0,0,24.65,24.58,24.66
$STATE,3616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3616,begin apogee
$GC,3622,-0.26,0.0,2252,1892,3344,3226,502.0,-10.8,183,3707,1.95,0.00,80.50,0.846,10246,0.090,0.000,2679,1892,2899,2954,2845,0,0,0,0,0,0,24.49,23.71,23.04
$STATE,3708,end apogee,CONTROL_FINISHED_OK
$STATE,3708,begin climb
$GC,3711,1.58,95.4,2679,1892,2954,2845,504.2,0.0,185,3807,2.40,2.80,83.60,0.825,10500,0.041,0.061,3271,3428,2508,2563,2454,0,0,0,0,0,0,24.06,23.72,23.03
$GC,3892,1.58,95.4,3271,3429,2561,2449,493.2,8.6,189,3897,0.00,2.60,0.00,0.000,1030,0.000,0.031,3271,1864,2505,2562,2449,0,0,0,0,0,0,24.33,24.25,24.35
$GC,4146,1.58,95.4,3271,1864,2561,2443,462.0,10.8,196,4151,0.00,2.67,0.00,0.000,260,0.000,0.048,3272,3426,2501,2561,2442,0,0,0,0,0,0,24.63,24.30,24.65
$GC,4173,1.58,95.4,3271,3426,2559,2442,462.0,10.8,196,4180,0.00,2.60,0.00,0.000,1030,0.000,0.030,3272,1852,2500,2559,2442,0,0,0,0,0,0,24.44,24.35,24.46
$GC,4433,1.58,95.4,3271,1852,2559,2440,432.4,10.5,203,4439,0.00,2.70,0.00,0.000,260,0.000,0.047,3271,3431,2499,2559,2439,0,0,0,0,0,0,24.67,24.35,24.69
$GC,4531,1.58,95.4,3271,3431,2556,2439,422.4,11.3,205,4537,0.00,2.62,0.00,0.000,1030,0.000,0.029,3271,1839,2497,2556,2439,0,0,0,0,0,0,24.49,24.41,24.52
$GC,4801,1.58,95.9,3271,1838,2556,2437,392.5,10.0,212,4806,0.00,2.70,0.00,0.000,260,0.000,0.045,3272,3427,2497,2557,2437,0,0,0,0,0,0,24.70,24.39,24.72
$GC,5276,1.58,95.9,3271,3428,2553,2434,346.9,10.2,223,5281,0.00,2.60,0.00,0.000,1030,0.000,0.028,3271,1843,2493,2553,2434,0,0,0,0,0,0,24.56,24.49,24.58
$GC,5531,1.61,116.7,3271,1843,2553,2433,323.4,7.8,230,5549,0.00,0.00,16.92,0.722,8198,0.000,0.000,3272,1843,2423,2483,2364,0,0,0,0,0,0,24.75,23.89,23.28
$GC,5769,1.61,116.7,3271,1843,2482,2358,300.4,10.2,236,5775,0.00,2.70,0.00,0.000,260,0.000,0.041,3272,3432,2420,2483,2357,0,0,0,0,0,0,24.67,24.34,24.68
$GC,5867,1.61,116.7,3271,3433,2481,2357,291.2,10.6,238,5872,0.00,2.60,0.00,0.000,1030,0.000,0.027,3272,1843,2419,2481,2357,0,0,0,0,0,0,24.49,24.42,24.51
$GC,6137,1.62,128.9,3271,1843,2481,2356,265.5,8.8,245,6155,0.00,2.72,11.85,0.659,8452,0.000,0.040,3272,3432,2372,2430,2315,0,0,0,0,0,0,24.71,23.82,23.39
$GC,6524,1.63,133.2,3272,3432,2429,2312,226.2,9.6,254,6534,0.00,2.58,4.78,0.504,9222,0.000,0.025,3272,1849,2356,2413,2300,0,0,0,0,0,0,24.51,24.45,23.60
$GC,6782,1.64,139.1,3271,1849,2413,2298,203.2,9.4,261,6797,0.00,2.70,7.00,0.558,8452,0.000,0.039,3272,3426,2331,2388,2274,0,0,0,0,0,0,24.70,24.15,23.56
$GC,6887,1.64,139.1,3271,3426,2388,2272,192.9,10.2,268,6893,0.00,2.58,0.00,0.000,1030,0.000,0.023,3272,1839,2330,2388,2272,0,0,0,0,0,0,24.49,24.43,24.50
$GC,7145,1.68,171.3,3271,1839,2388,2271,173.8,6.6,293,7182,0.05,2.67,28.98,0.623,10500,0.144,0.035,3289,3429,2200,2250,2151,0,0,0,0,0,0,24.49,23.87,23.32
$GC,7244,1.68,171.3,3289,3429,2248,2150,164.3,10.9,302,7249,0.00,2.58,0.00,0.000,1030,0.000,0.021,3289,1838,2198,2248,2149,0,0,0,0,0,0,24.39,24.33,24.40
$GC,7502,1.68,171.3,3289,1838,2248,2145,137.4,10.2,327,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1838,2196,2248,2145,0,0,0,0,0,0,24.66,24.68,24.68
$GC,7747,1.68,171.3,3289,1838,2248,2145,111.4,10.8,352,7752,0.00,2.62,0.00,0.000,260,0.000,0.032,3289,3433,2196,2248,2145,0,0,0,0,0,0,24.71,24.44,24.72
$GC,7979,1.68,171.3,3289,3433,2248,2145,88.5,10.1,374,7986,0.00,2.55,0.00,0.000,1030,0.000,0.019,3289,1834,2196,2248,2145,0,0,0,0,0,0,24.56,24.51,24.58
$GC,8229,1.71,201.5,3289,1834,2248,2144,69.3,6.8,399,8264,0.00,0.00,27.25,0.521,8198,0.000,0.000,3289,1834,2076,2122,2030,0,0,0,0,0,0,24.75,23.92,23.49
$GC,8509,1.72,205.2,3289,1834,2120,2028,45.4,9.7,427,8522,0.00,2.67,4.12,0.353,8452,0.000,0.031,3289,3440,2062,2106,2019,0,0,0,0,0,0,24.67,24.26,23.77
$GC,8865,1.74,220.9,3289,3440,2106,2019,15.2,8.4,475,8887,0.08,2.55,15.20,0.456,11270,0.106,0.018,3313,1840,1998,2040,1956,0,0,0,0,0,0,24.43,24.49,23.65
$STATE,8985,end climb,SURFACE_DEPTH_REACHED
$STATE,8985,begin surface coast
$FINISH,0.0,1.009269
$STATE,9013,end surface coast,CONTROL_FINISHED_OK
$STATE,9013,begin surface
$SM_CCo,9036,86.90,0.464,0,0,1349,380.21
$SM_GC,0.91,12.18,0.10,86.90,0.042,0.068,0.464,418,2004,1349,-7.31,-0.85,380.21,0,0,0,0,0,0,24.37,24.49,23.46
$IRIDIUM_FIX,2237.01,-15801.49,260618,021236
$TT8_MAMPS,0.021721,0.350532
$HUMID,56.49
$INTERNAL_PRESSURE,9.2717
$TCM_TEMP,22.80
$XPDR_PINGS,98
$24V_AH,23.03,83.882
$10V_AH,9.57,63.193
$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,26.825,88.600,280.200,86.900,0.000,53.160,86.624,334.284,24.500,0.000,52.537,1806.674,5186.529,480.351,2163.260,248.634,0.000,1200.135,0.000,1590.394,0.000,0.539,0.000
$DEVICE_MAMPS,170.595,68.085,846.090,464.355,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,336.397,285.742,427.990,538.220,637.097,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342792
$DATA_FILE_SIZE,40598,500
$CAP_FILE_SIZE,97339,0
$CFSIZE,259248128,216514560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,314.96,1
$GPS,260618,045802,2245.463,-15758.386,56,1.7,90,10.1,0.2,308.3,9,5.0