version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 747
start: 6 27 118 11 55 4
data:
$ID,148
$MISSION,15
$DIVE,747
$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,42
$R_STBD_OVSHOOT,52
$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
$GPS1,270618,114331,2245.3081,-15758.6553,69,1.1,109,10.1,0.3,162.6,7,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-60.6
$GPS2,270618,115439,2245.2456,-15758.7812,20,1.1,60,10.1,0.6,258.0,7,4.8
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,A10
$TGT_LATLONG,2245.785,-15757.885
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,39.7,1828,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.22,-116.8,430,1863,1356,1324,0.0,0.0,0,90,0.00,0.00,-70.97,0.000,16386,0.000,0.000,430,1863,3309,3357,3262,0,0,0,0,0,0,24.59,28.83,24.61
$GC,94,-1.22,-116.8,430,1863,3357,3262,3.2,-6.2,10,117,10.73,2.58,-1.27,0.000,18692,0.167,0.032,2368,3469,3380,3437,3324,0,0,0,0,0,0,24.14,23.45,24.30
$GC,153,-1.22,-116.8,2368,3468,3437,3325,21.7,-21.5,19,160,0.00,2.50,0.00,0.000,1030,0.000,0.017,2368,1887,3381,3437,3325,0,0,0,0,0,0,24.44,24.39,24.45
$GC,415,-1.22,-116.8,2367,1887,3437,3326,64.7,-14.6,48,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1888,3381,3436,3326,0,0,0,0,0,0,24.70,24.72,24.71
$GC,662,-1.22,-116.8,2368,1888,3436,3327,97.3,-12.8,73,668,0.00,2.53,0.00,0.000,516,0.000,0.030,2368,324,3382,3437,3327,0,0,0,0,0,0,24.74,24.47,24.75
$GC,680,-1.22,-116.8,2368,324,3437,3327,99.1,-12.5,74,688,0.00,2.47,0.00,0.000,1030,0.000,0.014,2368,1921,3381,3436,3327,0,0,0,0,0,0,24.57,24.53,24.58
$GC,929,-1.22,-116.8,2368,1922,3437,3328,129.9,-10.9,99,934,0.00,2.58,0.00,0.000,516,0.000,0.037,2368,323,3382,3436,3328,0,0,0,0,0,0,24.77,24.50,24.78
$GC,946,-1.22,-116.8,2368,323,3436,3328,131.5,-10.5,100,955,0.00,2.47,0.00,0.000,1030,0.000,0.015,2368,1900,3382,3437,3328,0,0,0,0,0,0,24.58,24.56,24.59
$GC,1194,-1.22,-116.8,2368,1900,3436,3328,158.7,-10.2,125,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1900,3382,3437,3328,0,0,0,0,0,0,24.79,24.81,24.80
$GC,1433,-1.22,-116.8,2368,1901,3437,3329,182.7,-10.3,149,1439,0.00,2.55,0.00,0.000,516,0.000,0.029,2368,325,3383,3437,3329,0,0,0,0,0,0,24.80,24.54,24.82
$GC,1512,-1.22,-116.8,2368,325,3437,3329,191.2,-11.5,156,1520,0.00,2.47,0.00,0.000,1030,0.000,0.015,2368,1894,3383,3437,3329,0,0,0,0,0,0,24.62,24.60,24.63
$GC,1760,-1.22,-116.8,2368,1895,3437,3329,215.3,-9.2,169,1766,0.00,2.50,0.00,0.000,260,0.000,0.027,2368,3466,3383,3437,3329,0,0,0,0,0,0,24.82,24.56,24.84
$GC,1789,-1.22,-116.8,2368,3466,3437,3329,215.3,-9.2,169,1794,0.00,2.45,0.00,0.000,1030,0.000,0.016,2368,1883,3383,3437,3329,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2048,-1.22,-116.8,2367,1884,3437,3329,244.7,-10.0,176,2053,0.00,2.53,0.00,0.000,516,0.000,0.032,2368,326,3383,3437,3329,0,0,0,0,0,0,24.84,24.57,24.85
$GC,2086,-1.22,-116.8,2368,326,3436,3329,244.7,-10.0,176,2093,0.00,2.45,0.00,0.000,1030,0.000,0.015,2368,1904,3383,3437,3329,0,0,0,0,0,0,24.66,24.62,24.68
$GC,2331,-1.22,-116.8,2368,1904,3437,3328,273.8,-10.3,183,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1904,3382,3436,3328,0,0,0,0,0,0,24.84,24.87,24.86
$GC,2572,-1.22,-116.8,2368,1904,3436,3327,298.4,-10.1,189,2577,0.00,2.60,0.00,0.000,516,0.000,0.034,2368,330,3381,3436,3327,0,0,0,0,0,0,24.85,24.58,24.87
$GC,2620,-1.22,-116.8,2368,330,3436,3327,302.8,-10.0,190,2625,0.00,2.47,0.00,0.000,1030,0.000,0.018,2368,1900,3381,3436,3327,0,0,0,0,0,0,24.68,24.63,24.70
$GC,2898,-1.22,-116.8,2368,1900,3436,3324,330.2,-9.7,197,2905,0.00,2.58,0.00,0.000,260,0.000,0.034,2368,3477,3379,3436,3323,0,0,0,0,0,0,24.86,24.58,24.88
$GC,2948,-1.22,-116.8,2368,3477,3436,3323,334.5,-9.6,198,2953,0.00,2.47,0.00,0.000,1030,0.000,0.018,2368,1898,3379,3436,3323,0,0,0,0,0,0,24.69,24.64,24.70
$STATE,3224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3224,begin apogee
$GC,3230,-0.26,0.0,2368,1898,3436,3319,362.7,-10.1,205,3331,1.38,0.00,97.35,0.733,10246,0.083,0.000,2678,1898,2899,2961,2838,0,0,0,0,0,0,24.54,23.78,23.20
$STATE,3332,end apogee,CONTROL_FINISHED_OK
$STATE,3332,begin climb
$GC,3335,1.22,116.8,2677,1898,2961,2838,365.8,0.0,207,3447,1.92,2.80,99.12,0.718,10756,0.042,0.053,3156,295,2421,2485,2357,0,0,0,0,0,0,24.08,23.61,23.20
$GC,3483,1.22,116.8,3155,295,2485,2355,360.1,5.3,211,3488,0.00,2.53,0.00,0.000,1030,0.000,0.021,3156,1838,2419,2485,2354,0,0,0,0,0,0,24.30,24.24,24.32
$GC,3766,1.24,135.9,3155,1837,2484,2346,334.9,8.9,218,3789,0.00,2.80,17.02,0.665,8452,0.000,0.057,3155,3429,2344,2407,2281,0,0,0,0,0,0,24.64,23.74,23.34
$GC,3880,1.26,144.3,3155,3429,2405,2278,326.5,9.5,220,3895,0.00,2.55,8.50,0.597,9222,0.000,0.024,3156,1862,2310,2373,2247,0,0,0,0,0,0,24.41,24.35,23.44
$GC,4174,1.26,144.3,3155,1863,2374,2240,293.9,10.1,228,4179,0.00,2.65,0.00,0.000,260,0.000,0.039,3156,3429,2306,2373,2240,0,0,0,0,0,0,24.67,24.36,24.68
$GC,4212,1.26,144.3,3155,3429,2373,2240,293.9,10.1,228,4220,0.00,2.58,0.00,0.000,1030,0.000,0.025,3156,1844,2306,2372,2240,0,0,0,0,0,0,24.49,24.42,24.50
$GC,4459,1.28,162.6,3155,1844,2373,2238,267.5,8.9,235,4481,0.00,2.75,16.33,0.646,8708,0.000,0.052,3156,269,2235,2296,2175,0,0,0,0,0,0,24.70,23.91,23.40
$GC,4500,1.30,182.3,3155,269,2296,2176,263.8,8.9,236,4528,0.00,2.60,18.52,0.643,9222,0.000,0.021,3156,1862,2155,2211,2099,0,0,0,0,0,0,24.36,24.31,23.33
$GC,4782,1.31,192.4,3154,1862,2212,2093,237.0,9.4,243,4801,0.05,2.72,9.98,0.593,10500,0.135,0.052,3175,3417,2114,2170,2059,0,0,0,0,0,0,24.44,24.04,23.49
$GC,4808,1.33,202.5,3174,3417,2170,2059,237.0,9.4,243,4825,0.00,2.58,10.57,0.588,9222,0.000,0.025,3175,1841,2074,2130,2018,0,0,0,0,0,0,24.34,24.27,23.41
$GC,5065,1.33,202.5,3174,1841,2130,2012,206.9,10.6,250,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1841,2071,2130,2013,0,0,0,0,0,0,24.65,24.67,24.66
$GC,5307,1.33,202.5,3174,1841,2130,2011,181.3,10.8,268,5312,0.00,2.65,0.00,0.000,260,0.000,0.037,3174,3426,2070,2130,2011,0,0,0,0,0,0,24.70,24.40,24.72
$GC,5375,1.33,202.5,3174,3426,2129,2011,173.8,11.3,274,5381,0.00,2.55,0.00,0.000,1030,0.000,0.023,3175,1840,2070,2129,2011,0,0,0,0,0,0,24.53,24.46,24.55
$GC,5625,1.33,202.5,3174,1840,2129,2009,147.1,10.3,299,5630,0.00,2.62,0.00,0.000,516,0.000,0.040,3175,269,2069,2129,2009,0,0,0,0,0,0,24.74,24.46,24.76
$GC,5653,1.33,202.5,3174,269,2128,2009,144.0,10.3,301,5658,0.00,2.58,0.00,0.000,1030,0.000,0.021,3175,1864,2068,2128,2009,0,0,0,0,0,0,24.56,24.51,24.58
$GC,5907,1.35,225.2,3175,1864,2128,2009,120.1,8.7,326,5934,0.00,2.58,19.98,0.560,8452,0.000,0.035,3175,3420,1980,2028,1933,0,0,0,0,0,0,24.77,24.01,23.52
$GC,6048,1.36,231.3,3175,3420,2028,1932,107.8,9.7,339,6061,0.00,2.53,6.80,0.471,9222,0.000,0.020,3175,1838,1956,2005,1907,0,0,0,0,0,0,24.48,24.42,23.67
$GC,6310,1.37,239.2,3175,1838,2005,1904,82.7,9.5,365,6327,0.05,2.65,8.50,0.481,10756,0.138,0.037,3194,271,1922,1969,1876,0,0,0,0,0,0,24.49,24.17,23.69
$GC,6378,1.37,239.2,3194,272,1966,1876,74.7,12.4,371,6383,0.00,2.55,0.00,0.000,1030,0.000,0.019,3194,1863,1921,1967,1876,0,0,0,0,0,0,24.47,24.42,24.49
$GC,6636,1.37,239.2,3194,1862,1967,1876,48.3,10.0,396,6641,0.00,2.53,0.00,0.000,260,0.000,0.033,3194,3427,1921,1967,1876,0,0,0,0,0,0,24.72,24.44,24.74
$GC,6706,1.40,259.2,3194,3427,1966,1876,41.6,8.8,402,6733,0.00,2.53,19.38,0.489,9222,0.000,0.019,3194,1839,1842,1888,1796,0,0,0,0,0,0,24.55,24.49,23.61
$GC,6995,1.40,259.2,3194,1839,1888,1792,15.6,10.2,442,7004,0.00,2.60,0.00,0.000,260,0.000,0.031,3194,3417,1840,1888,1792,0,0,0,0,0,0,24.70,24.42,24.71
$GC,7023,1.40,259.2,3194,3417,1888,1792,12.7,11.1,446,7031,0.00,2.53,0.00,0.000,1030,0.000,0.018,3194,1837,1840,1888,1792,0,0,0,0,0,0,24.52,24.47,24.53
$STATE,7143,end climb,SURFACE_DEPTH_REACHED
$STATE,7143,begin surface coast
$FINISH,0.2,1.023092
$STATE,7194,end surface coast,CONTROL_FINISHED_OK
$STATE,7194,begin surface
$SM_CCo,7217,66.22,0.467,0,0,1350,380.21
$SM_GC,0.87,11.60,0.08,66.22,0.042,0.092,0.467,436,1935,1350,-7.26,-1.44,380.21,0,0,0,0,0,0,24.44,24.56,23.52
$IRIDIUM_FIX,2237.01,-15802.37,270618,114519
$TT8_MAMPS,0.021721,0.350532
$HUMID,58.62
$INTERNAL_PRESSURE,9.28146
$TCM_TEMP,22.30
$XPDR_PINGS,27
$24V_AH,23.20,85.132
$10V_AH,9.58,64.185
$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,25.725,97.700,332.050,66.225,0.000,58.035,90.536,237.176,6.750,0.000,62.417,1450.733,3976.934,508.913,1795.791,226.763,0.000,1121.675,0.000,1308.583,0.000,0.540,0.000
$DEVICE_MAMPS,166.770,91.800,732.870,466.650,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,319.722,300.369,433.788,571.891,684.084,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342820
$DATA_FILE_SIZE,40696,476
$CAP_FILE_SIZE,86607,0
$CFSIZE,259248128,215838720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,237.37,1
$GPS,270618,135820,2245.624,-15758.549,32,1.1,71,10.1,0.9,101.9,9,4.9