version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 73
start: 3 24 118 23 12 13
data:
$ID,148
$MISSION,15
$DIVE,73
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$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,300
$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,150
$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,1
$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,2736
$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,1874
$C_ROLL_CLIMB,1864
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3960
$C_VBD,2880
$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
$GPS1,240318,230522,2209.2151,-15536.2500,93,1.0,93,10.1,0.5,16.6,8,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-58.0
$GPS2,240318,231147,2209.2622,-15536.2783,11,1.0,11,10.1,1.1,271.8,8,7.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T5
$TGT_LATLONG,2206.000,-15544.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,203.4,14562,-18.3,-10.000,-21.04,2236
$D_GRID,900
$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,15,-1.14,-146.0,433,1874,1317,1323,0.0,0.0,0,99,0.00,0.00,-79.10,0.000,16390,0.000,0.000,433,1874,3476,3523,3430,0,0,0,0,0,0,24.58,23.70,24.60
$GC,102,-1.14,-146.0,432,1874,3524,3430,3.8,-8.7,11,119,10.40,2.60,0.00,0.000,2564,0.158,0.031,2360,291,3478,3525,3431,0,0,0,0,0,0,24.21,24.34,24.34
$GC,176,-1.14,-146.0,2359,291,3526,3430,26.1,-19.9,23,184,0.00,2.53,0.00,0.000,1030,0.000,0.017,2360,1874,3478,3526,3431,0,0,0,0,0,0,24.46,24.43,24.46
$GC,434,-1.14,-146.0,2359,1875,3526,3430,69.0,-16.4,50,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1875,3479,3527,3431,0,0,0,0,0,0,24.70,24.72,24.71
$GC,683,-1.14,-146.0,2359,1875,3527,3430,108.4,-15.0,75,688,0.00,2.50,0.00,0.000,260,0.000,0.032,2360,3440,3479,3528,3430,0,0,0,0,0,0,24.73,24.46,24.75
$GC,720,-1.14,-146.0,2359,3440,3527,3431,113.6,-14.9,78,729,0.00,2.50,0.00,0.000,1030,0.000,0.018,2360,1853,3478,3527,3430,0,0,0,0,0,0,24.56,24.51,24.58
$GC,968,-1.14,-146.0,2359,1853,3529,3431,149.5,-13.5,103,974,0.00,2.55,0.00,0.000,260,0.000,0.028,2360,3438,3480,3529,3431,0,0,0,0,0,0,24.76,24.51,24.77
$GC,1005,-1.14,-146.0,2359,3438,3529,3431,154.2,-13.9,106,1012,0.00,2.45,0.00,0.000,1030,0.000,0.018,2360,1861,3480,3529,3431,0,0,0,0,0,0,24.59,24.55,24.60
$GC,1252,-1.14,-146.0,2359,1861,3530,3431,187.7,-13.6,131,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1861,3480,3530,3431,0,0,0,0,0,0,24.78,24.80,24.79
$GC,1511,-1.14,-146.0,2359,1861,3531,3431,220.3,-12.4,145,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1861,3481,3531,3431,0,0,0,0,0,0,24.80,24.82,24.82
$GC,1752,-1.14,-146.0,2359,1862,3531,3431,251.1,-12.8,151,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1861,3481,3531,3431,0,0,0,0,0,0,24.82,24.84,24.84
$GC,1991,-1.14,-146.0,2359,1861,3531,3431,279.4,-12.0,157,1996,0.00,2.58,0.00,0.000,260,0.000,0.033,2360,3444,3481,3531,3431,0,0,0,0,0,0,24.84,24.58,24.85
$GC,2017,-1.14,-146.0,2359,3444,3530,3431,279.4,-12.0,157,2023,0.00,2.45,0.00,0.000,1030,0.000,0.020,2360,1878,3481,3531,3431,0,0,0,0,0,0,24.67,24.62,24.68
$GC,2276,-1.14,-146.0,2359,1878,3531,3431,310.8,-10.7,164,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1878,3480,3530,3431,0,0,0,0,0,0,24.79,24.82,24.81
$GC,2515,-1.14,-146.0,2359,1878,3530,3430,338.8,-12.0,170,2521,0.00,2.55,0.00,0.000,260,0.000,0.035,2360,3434,3480,3531,3430,0,0,0,0,0,0,24.79,24.60,24.82
$GC,2532,-1.14,-146.0,2359,3434,3530,3430,338.8,-12.0,170,2537,0.00,2.47,0.00,0.000,1030,0.000,0.021,2360,1867,3480,3531,3430,0,0,0,0,0,0,24.69,24.63,24.70
$GC,2800,-1.14,-146.0,2359,1867,3530,3428,372.1,-11.5,177,2805,0.00,2.60,0.00,0.000,260,0.000,0.038,2360,3442,3479,3530,3428,0,0,0,0,0,0,24.87,24.60,24.89
$GC,2816,-1.14,-146.0,2359,3442,3530,3427,372.1,-11.5,177,2822,0.00,2.50,0.00,0.000,1030,0.000,0.022,2360,1866,3478,3530,3427,0,0,0,0,0,0,24.70,24.65,24.71
$GC,3084,-1.14,-146.0,2359,1866,3530,3424,403.9,-11.1,184,3089,0.00,2.62,0.00,0.000,516,0.000,0.054,2360,306,3477,3530,3424,0,0,0,0,0,0,24.88,24.59,24.90
$GC,3117,-1.14,-146.0,2359,306,3530,3424,403.9,-11.1,184,3123,0.00,2.50,0.00,0.000,1030,0.000,0.024,2360,1866,3477,3530,3424,0,0,0,0,0,0,24.70,24.65,24.72
$GC,3370,-1.14,-146.0,2359,1866,3530,3420,435.1,-10.5,191,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1866,3475,3530,3420,0,0,0,0,0,0,24.89,24.91,24.91
$GC,3610,-1.14,-146.0,2359,1866,3530,3418,457.8,-9.4,197,3615,0.00,2.65,0.00,0.000,516,0.000,0.053,2360,306,3473,3530,3417,0,0,0,0,0,0,24.89,24.60,24.91
$GC,3632,-1.14,-146.0,2359,306,3530,3417,457.8,-9.4,197,3637,0.00,2.55,0.00,0.000,1030,0.000,0.027,2360,1884,3473,3530,3417,0,0,0,0,0,0,24.72,24.66,24.74
$GC,3895,-1.14,-146.0,2359,1884,3530,3414,484.5,-9.5,204,3900,0.00,2.62,0.00,0.000,260,0.000,0.053,2360,3451,3472,3530,3414,0,0,0,0,0,0,24.90,24.60,24.92
$GC,3922,-1.14,-146.0,2359,3451,3530,3413,484.5,-9.5,204,3927,0.00,2.55,0.00,0.000,1030,0.000,0.028,2360,1871,3471,3530,3413,0,0,0,0,0,0,24.72,24.65,24.74
$GC,4179,-1.14,-146.0,2359,1871,3530,3410,513.8,-10.3,211,4185,0.00,2.67,0.00,0.000,516,0.000,0.057,2360,293,3469,3530,3409,0,0,0,0,0,0,24.91,24.60,24.92
$GC,4211,-1.14,-146.0,2359,293,3530,3409,513.8,-10.3,211,4217,0.00,2.58,0.00,0.000,1030,0.000,0.031,2360,1872,3469,3530,3409,0,0,0,0,0,0,24.72,24.65,24.74
$GC,4465,-1.14,-146.0,2359,1872,3530,3406,542.6,-9.9,218,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1872,3468,3530,3406,0,0,0,0,0,0,24.91,24.94,24.93
$GC,4704,-1.14,-146.0,2359,1873,3530,3403,566.8,-10.2,224,4709,0.00,2.65,0.00,0.000,260,0.000,0.059,2360,3455,3466,3530,3403,0,0,0,0,0,0,24.91,24.61,24.94
$GC,4730,-1.14,-146.0,2359,3455,3529,3403,566.8,-10.2,224,4737,0.00,2.58,0.00,0.000,1030,0.000,0.034,2360,1876,3466,3529,3403,0,0,0,0,0,0,24.74,24.67,24.75
$GC,4989,-1.14,-146.0,2359,1870,3526,3403,596.2,-10.2,231,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1870,3464,3526,3403,0,0,0,0,0,0,24.91,24.94,24.94
$GC,5229,-1.14,-146.0,2359,1870,3525,3401,620.5,-10.1,237,5234,0.00,2.72,0.00,0.000,516,0.000,0.064,2360,293,3463,3525,3401,0,0,0,0,0,0,24.92,24.60,24.94
$GC,5301,-1.14,-146.0,2359,293,3524,3401,625.0,-10.1,238,5306,0.00,2.62,0.00,0.000,1030,0.000,0.034,2359,1881,3462,3524,3401,0,0,0,0,0,0,24.74,24.67,24.76
$GC,5554,-1.14,-146.0,2359,1881,3523,3400,652.2,-9.4,245,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1881,3461,3523,3400,0,0,0,0,0,0,24.92,24.95,24.94
$GC,5794,-1.14,-146.0,2359,1881,3521,3397,674.4,-9.3,251,5799,0.00,2.78,0.00,0.000,516,0.000,0.067,2359,292,3459,3521,3398,0,0,0,0,0,0,24.93,24.61,24.95
$GC,5826,-1.14,-146.0,2359,292,3521,3397,674.4,-9.3,251,5831,0.00,2.62,0.00,0.000,1030,0.000,0.035,2360,1877,3459,3521,3397,0,0,0,0,0,0,24.74,24.65,24.76
$GC,6079,-1.14,-146.0,2359,1877,3519,3396,701.7,-9.4,258,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1877,3457,3519,3395,0,0,0,0,0,0,24.93,24.96,24.95
$GC,6319,-1.14,-146.0,2359,1879,3518,3395,724.4,-9.5,264,6324,0.00,2.75,0.00,0.000,516,0.000,0.066,2360,300,3456,3518,3395,0,0,0,0,0,0,24.94,24.61,24.96
$GC,6346,-1.14,-146.0,2359,300,3518,3395,724.4,-9.5,264,6352,0.00,2.65,0.00,0.000,1030,0.000,0.038,2360,1883,3456,3518,3395,0,0,0,0,0,0,24.75,24.66,24.76
$GC,6605,-1.14,-146.0,2359,1883,3517,3393,751.5,-9.4,271,6610,0.00,2.75,0.00,0.000,260,0.000,0.073,2360,3467,3455,3518,3393,0,0,0,0,0,0,24.91,24.61,24.94
$GC,6627,-1.14,-146.0,2359,3467,3517,3393,751.5,-9.4,271,6632,0.00,2.65,0.00,0.000,1030,0.000,0.039,2360,1878,3455,3517,3393,0,0,0,0,0,0,24.75,24.67,24.76
$GC,6890,-1.14,-146.0,2359,1878,3516,3391,777.9,-9.2,278,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1877,3453,3516,3391,0,0,0,0,0,0,24.87,24.89,24.89
$GC,7130,-1.14,-146.0,2360,1877,3515,3390,800.4,-9.4,284,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1877,3453,3516,3390,0,0,0,0,0,0,24.93,24.96,24.96
$GC,7370,-1.14,-146.0,2359,1878,3515,3389,823.8,-9.8,290,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1878,3451,3514,3388,0,0,0,0,0,0,24.94,24.96,24.96
$GC,7610,-1.14,-146.0,2359,1876,3514,3387,846.5,-9.4,296,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1876,3450,3514,3387,0,0,0,0,0,0,24.94,24.97,24.96
$GC,7850,-1.14,-146.0,2359,1876,3513,3387,868.3,-9.1,302,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1876,3450,3513,3387,0,0,0,0,0,0,24.95,24.97,24.97
$GC,8090,-1.14,-146.0,2359,1876,3512,3386,889.2,-8.7,308,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1876,3449,3512,3386,0,0,0,0,0,0,24.95,24.98,24.97
$STATE,8248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8248,begin apogee
$GC,8252,-0.26,0.0,2359,1876,3512,3386,902.8,-8.5,312,8380,1.35,0.00,123.68,1.185,10246,0.110,0.000,2643,1876,2879,2934,2825,0,0,0,0,0,0,24.62,23.79,23.12
$STATE,8381,end apogee,CONTROL_FINISHED_OK
$STATE,8381,begin climb
$GC,8383,1.14,146.0,2643,1876,2933,2824,905.2,0.0,315,8531,1.92,2.92,132.30,1.148,10756,0.066,0.074,3085,286,2281,2326,2237,0,0,0,0,0,0,23.98,23.60,23.10
$GC,8537,1.14,146.0,3085,286,2324,2236,895.2,8.1,319,8542,0.00,2.70,0.00,0.000,1030,0.000,0.034,3085,1871,2280,2324,2236,0,0,0,0,0,0,24.14,24.06,24.16
$GC,8814,1.14,146.0,3085,1870,2324,2224,858.5,12.7,326,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1870,2274,2325,2224,0,0,0,0,0,0,24.58,24.60,24.60
$GC,9055,1.14,146.0,3084,1870,2324,2222,827.3,13.1,332,9060,0.00,2.78,0.00,0.000,260,0.000,0.068,3085,3447,2273,2325,2222,0,0,0,0,0,0,24.62,24.30,24.64
$GC,9071,1.14,146.0,3085,3447,2324,2222,827.3,13.1,332,9077,0.00,2.65,0.00,0.000,1030,0.000,0.032,3085,1857,2272,2323,2222,0,0,0,0,0,0,24.44,24.35,24.46
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$STATE,16523,end climb,SURFACE_DEPTH_REACHED
$STATE,16523,begin surface coast
$FINISH,0.3,1.023902
$STATE,16551,end surface coast,CONTROL_FINISHED_OK
$STATE,16551,begin surface
$SM_CCo,16570,75.97,0.494,0,0,1329,380.21
$SM_GC,0.88,11.40,0.00,75.97,0.044,0.000,0.494,422,1852,1329,-7.20,-0.62,380.21,0,0,0,0,0,0,24.49,24.82,23.63
$IRIDIUM_FIX,2204.37,-15535.29,240318,181453
$TT8_MAMPS,0.021721,0.345289
$HUMID,48.54
$INTERNAL_PRESSURE,9.16428
$TCM_TEMP,21.80
$XPDR_PINGS,40
$24V_AH,23.10,11.386
$10V_AH,10.33,7.397
$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,25.200,167.750,342.575,75.975,0.000,31.456,43.441,198.120,10.000,0.000,14.295,2145.593,12101.337,613.656,2011.203,167.540,0.000,1474.767,0.000,1694.183,0.000,0.537,0.000
$DEVICE_MAMPS,158.355,78.030,1184.985,494.190,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,455.307,300.176,488.052,512.216,614.301,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343044
$DATA_FILE_SIZE,54029,669
$CAP_FILE_SIZE,143658,0
$CFSIZE,259248128,254242816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14988.38,0x2338ba,1,24
$CURRENT,0.102,356.65,1
$GPS,250318,035208,2208.318,-15537.615,71,1.2,111,10.1,0.5,247.9,7,4.7