version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 742
start: 6 27 118 1 34 47
data:
$ID,148
$MISSION,15
$DIVE,742
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$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,39
$R_STBD_OVSHOOT,51
$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
$GPS1,270618,012202,2245.5251,-15758.7764,59,1.2,87,10.1,0.2,18.6,8,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-62.3
$GPS2,270618,013421,2245.5259,-15758.8164,24,1.0,43,10.1,0.7,278.9,8,4.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,A10
$TGT_LATLONG,2245.785,-15757.885
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,55.2,1661,-20.5,-10.000,-23.08,1791
$D_GRID,360
$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,-1.22,-116.8,433,1862,1356,1323,0.0,0.0,0,91,0.00,0.00,-72.05,0.000,16386,0.000,0.000,433,1862,3357,3407,3308,0,0,0,0,0,0,24.58,28.83,24.60
$GC,95,-1.22,-116.8,433,1862,3407,3309,3.5,-7.9,10,117,10.70,2.60,-0.38,0.000,18692,0.166,0.034,2368,3470,3379,3432,3327,0,0,0,0,0,0,24.13,23.44,24.30
$GC,152,-1.22,-116.8,2367,3470,3432,3328,22.5,-19.9,19,160,0.00,2.53,0.00,0.000,1030,0.000,0.018,2368,1883,3379,3432,3327,0,0,0,0,0,0,24.44,24.39,24.45
$GC,415,-1.22,-116.8,2368,1883,3432,3328,62.0,-13.0,48,420,0.00,2.55,0.00,0.000,516,0.000,0.040,2368,322,3380,3432,3328,0,0,0,0,0,0,24.70,24.42,24.71
$GC,433,-1.22,-116.8,2367,322,3432,3328,64.2,-12.6,49,440,0.00,2.47,0.00,0.000,1030,0.000,0.015,2368,1911,3380,3432,3328,0,0,0,0,0,0,24.53,24.48,24.53
$GC,680,-1.22,-116.8,2368,1911,3432,3328,95.5,-12.5,74,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1911,3380,3433,3328,0,0,0,0,0,0,24.73,24.75,24.75
$GC,919,-1.22,-116.8,2368,1913,3433,3329,124.9,-12.3,98,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1912,3380,3432,3329,0,0,0,0,0,0,24.77,24.79,24.77
$GC,1160,-1.22,-116.8,2367,1912,3432,3330,154.1,-12.3,122,1165,0.00,2.58,0.00,0.000,516,0.000,0.031,2368,319,3381,3433,3329,0,0,0,0,0,0,24.79,24.52,24.80
$GC,1238,-1.22,-116.8,2367,319,3432,3330,163.4,-12.2,129,1246,0.00,2.47,0.00,0.000,1030,0.000,0.015,2368,1915,3380,3432,3329,0,0,0,0,0,0,24.62,24.58,24.63
$GC,1487,-1.22,-116.8,2368,1916,3433,3330,191.1,-11.3,154,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1916,3381,3433,3330,0,0,0,0,0,0,24.81,24.83,24.82
$GC,1765,-1.22,-116.8,2368,1916,3433,3330,220.2,-10.0,167,1771,0.00,2.60,0.00,0.000,516,0.000,0.031,2368,326,3381,3433,3330,0,0,0,0,0,0,24.82,24.56,24.84
$GC,1838,-1.22,-116.8,2368,326,3433,3330,225.0,-10.1,168,1844,0.00,2.45,0.00,0.000,1030,0.000,0.016,2368,1896,3381,3433,3330,0,0,0,0,0,0,24.65,24.61,24.67
$GC,2092,-1.22,-116.8,2368,1896,3433,3330,253.7,-10.1,175,2097,0.00,2.53,0.00,0.000,260,0.000,0.028,2368,3469,3381,3433,3330,0,0,0,0,0,0,24.84,24.58,24.85
$GC,2110,-1.22,-116.8,2367,3469,3433,3330,253.7,-10.1,175,2116,0.00,2.45,0.00,0.000,1030,0.000,0.016,2368,1883,3381,3433,3330,0,0,0,0,0,0,24.66,24.62,24.68
$GC,2379,-1.22,-116.8,2368,1883,3433,3330,282.9,-10.3,182,2385,0.00,2.50,0.00,0.000,516,0.000,0.033,2368,337,3381,3433,3330,0,0,0,0,0,0,24.84,24.57,24.86
$GC,2447,-1.22,-116.8,2367,337,3433,3329,287.6,-10.6,183,2453,0.00,2.45,0.00,0.000,1030,0.000,0.017,2368,1899,3381,3433,3329,0,0,0,0,0,0,24.67,24.62,24.69
$GC,2706,-1.22,-116.8,2367,1899,3433,3327,317.0,-10.6,190,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1899,3380,3433,3327,0,0,0,0,0,0,24.86,24.88,24.87
$GC,2945,-1.22,-116.8,2368,1899,3433,3325,342.9,-10.7,196,2951,0.00,2.58,0.00,0.000,516,0.000,0.037,2368,343,3379,3433,3325,0,0,0,0,0,0,24.87,24.58,24.88
$GC,2979,-1.22,-116.8,2367,343,3433,3324,342.9,-10.7,196,2984,0.00,2.47,0.00,0.000,1030,0.000,0.019,2368,1904,3378,3433,3324,0,0,0,0,0,0,24.68,24.63,24.70
$STATE,3109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3110,begin apogee
$GC,3117,-0.26,0.0,2368,1904,3433,3323,360.3,-10.5,200,3218,1.38,0.00,97.15,0.725,10246,0.074,0.000,2682,1904,2899,2958,2841,0,0,0,0,0,0,24.55,23.79,23.22
$STATE,3219,end apogee,CONTROL_FINISHED_OK
$STATE,3219,begin climb
$GC,3221,1.22,116.8,2682,1903,2959,2840,362.8,0.0,202,3326,1.90,0.00,98.97,0.710,10502,0.037,0.000,3147,1904,2422,2485,2360,0,0,0,0,0,0,24.08,23.75,23.22
$GC,3553,1.23,121.6,3146,1903,2485,2348,337.6,9.7,211,3564,0.00,2.60,4.75,0.489,8452,0.000,0.051,3147,3412,2403,2471,2336,0,0,0,0,0,0,24.60,23.97,23.57
$GC,3597,1.24,129.7,3146,3412,2469,2336,333.3,9.5,212,3612,0.00,2.50,8.73,0.600,9222,0.000,0.024,3147,1878,2370,2435,2306,0,0,0,0,0,0,24.40,24.34,23.44
$GC,3881,1.27,157.1,3146,1878,2435,2301,308.6,8.4,219,3908,0.00,0.00,24.80,0.672,8198,0.000,0.000,3147,1878,2258,2320,2197,0,0,0,0,0,0,24.66,23.85,23.32
$GC,4122,1.28,164.9,3146,1878,2320,2189,286.1,9.6,225,4137,0.05,2.62,7.93,0.581,10500,0.124,0.041,3173,3419,2226,2286,2166,0,0,0,0,0,0,24.44,24.08,23.51
$GC,4184,1.29,174.0,3172,3419,2283,2167,281.7,9.5,226,4199,0.00,2.58,9.30,0.597,9222,0.000,0.025,3173,1849,2189,2246,2132,0,0,0,0,0,0,24.41,24.34,23.45
$GC,4449,1.29,174.0,3172,1849,2246,2127,250.9,11.1,233,4454,0.00,2.65,0.00,0.000,260,0.000,0.041,3173,3413,2186,2246,2127,0,0,0,0,0,0,24.66,24.35,24.68
$GC,4482,1.29,174.0,3172,3413,2245,2127,250.9,11.1,233,4487,0.00,2.55,0.00,0.000,1030,0.000,0.024,3173,1842,2186,2245,2127,0,0,0,0,0,0,24.49,24.42,24.50
$GC,4735,1.29,174.0,3172,1842,2245,2126,220.4,10.5,240,4741,0.00,2.67,0.00,0.000,516,0.000,0.048,3173,270,2185,2245,2126,0,0,0,0,0,0,24.72,24.41,24.73
$GC,4844,1.29,174.0,3173,270,2245,2125,210.9,10.7,242,4850,0.00,2.55,0.00,0.000,1030,0.000,0.021,3173,1856,2185,2245,2125,0,0,0,0,0,0,24.56,24.50,24.57
$GC,5093,1.32,199.5,3172,1856,2244,2124,186.4,8.5,260,5126,0.00,2.67,22.95,0.610,8452,0.000,0.042,3173,3413,2086,2141,2031,0,0,0,0,0,0,24.75,23.96,23.44
$GC,5190,1.32,199.5,3173,3413,2140,2029,176.6,10.6,269,5196,0.00,2.55,0.00,0.000,1030,0.000,0.021,3173,1834,2084,2140,2028,0,0,0,0,0,0,24.44,24.37,24.44
$GC,5446,1.33,202.4,3173,1834,2140,2025,150.1,9.8,294,5452,0.00,2.62,0.00,0.000,260,0.000,0.032,3173,3423,2082,2140,2025,0,0,0,0,0,0,24.70,24.42,24.71
$GC,5484,1.33,202.4,3173,3423,2140,2025,146.4,10.3,297,5491,0.00,2.53,0.00,0.000,1030,0.000,0.020,3173,1838,2082,2140,2025,0,0,0,0,0,0,24.53,24.47,24.54
$GC,5731,1.34,210.6,3172,1838,2140,2023,122.1,9.5,322,5748,0.00,2.60,10.18,0.517,8708,0.000,0.037,3173,270,2040,2091,1990,0,0,0,0,0,0,24.74,24.16,23.67
$GC,5761,1.35,222.2,3172,270,2091,1990,119.8,9.3,324,5779,0.00,2.58,11.52,0.519,9222,0.000,0.020,3173,1857,1993,2040,1947,0,0,0,0,0,0,24.42,24.37,23.55
$GC,6018,1.37,241.4,3173,1857,2040,1943,95.9,8.9,350,6039,0.08,0.00,18.23,0.522,10246,0.098,0.000,3201,1857,1916,1960,1872,0,0,0,0,0,0,24.47,23.99,23.55
$GC,6279,1.37,241.4,3200,1857,1959,1868,68.0,10.9,376,6284,0.00,2.55,0.00,0.000,260,0.000,0.033,3200,3422,1913,1959,1868,0,0,0,0,0,0,24.68,24.41,24.70
$GC,6314,1.37,241.4,3200,3422,1959,1868,64.2,10.4,379,6320,0.00,2.53,0.00,0.000,1030,0.000,0.019,3201,1838,1913,1959,1868,0,0,0,0,0,0,24.51,24.46,24.52
$GC,6572,1.37,241.4,3200,1838,1959,1867,37.4,10.5,404,6578,0.00,2.58,0.00,0.000,516,0.000,0.035,3201,272,1912,1959,1866,0,0,0,0,0,0,24.73,24.46,24.75
$GC,6651,1.42,275.4,3200,272,1957,1866,30.6,8.0,411,6691,0.00,2.53,31.67,0.482,9222,0.000,0.018,3201,1868,1775,1815,1736,0,0,0,0,0,0,24.58,24.52,23.58
$STATE,6920,end climb,SURFACE_DEPTH_REACHED
$STATE,6920,begin surface coast
$FINISH,0.3,1.022821
$STATE,6946,end surface coast,CONTROL_FINISHED_OK
$STATE,6946,begin surface
$SM_CCo,6969,58.20,0.459,0,0,1350,380.21
$SM_GC,0.71,11.55,0.00,58.20,0.038,0.000,0.459,433,1872,1350,-7.25,-0.79,380.21,0,0,0,0,0,0,24.41,24.70,23.55
$IRIDIUM_FIX,2237.01,-15757.16,270618,012352
$TT8_MAMPS,0.021721,0.352779
$HUMID,57.36
$INTERNAL_PRESSURE,9.29123
$TCM_TEMP,21.80
$XPDR_PINGS,16
$24V_AH,23.22,84.706
$10V_AH,9.58,63.849
$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,25.650,81.675,346.175,58.200,0.000,57.629,81.653,247.986,4.000,0.000,46.036,1379.952,3893.284,497.020,1773.399,231.203,0.000,1066.469,0.000,1227.098,0.000,0.540,0.000
$DEVICE_MAMPS,166.005,51.255,725.220,459.000,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,309.264,295.762,416.513,543.452,648.394,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342800
$DATA_FILE_SIZE,40773,461
$CAP_FILE_SIZE,81000,0
$CFSIZE,259248128,216072192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038,274.77,1
$GPS,270618,033351,2245.960,-15758.298,37,1.5,77,10.1,0.0,230.6,6,5.3