version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 84
start: 3 27 118 4 37 58
data:
$ID,148
$MISSION,15
$DIVE,84
$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,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,45
$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
$GPS1,270318,043056,2218.7053,-15534.1035,37,1.4,59,10.2,0.2,259.3,8,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-64.7
$GPS2,270318,043732,2218.7351,-15534.1553,11,1.1,32,10.2,0.6,16.7,8,5.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T6
$TGT_LATLONG,2222.000,-15531.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,53.9,8110,-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,-146.0,436,1881,1338,1346,0.0,0.0,0,97,0.00,0.00,-79.10,0.000,16386,0.000,0.000,436,1882,3495,3543,3447,0,0,0,0,0,0,24.60,28.83,24.63
$GC,100,-1.14,-146.0,436,1882,3543,3448,3.5,-7.4,11,116,10.38,2.60,0.00,0.000,2564,0.157,0.034,2361,311,3496,3544,3448,0,0,0,0,0,0,24.22,24.34,24.35
$GC,300,-1.14,-146.0,2360,311,3546,3448,47.8,-17.4,38,305,0.00,2.50,0.00,0.000,1030,0.000,0.016,2361,1911,3497,3546,3448,0,0,0,0,0,0,24.51,24.47,24.53
$GC,554,-1.14,-146.0,2360,1912,3547,3448,88.8,-14.9,63,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1912,3497,3547,3448,0,0,0,0,0,0,24.72,24.74,24.73
$GC,793,-1.14,-146.0,2360,1912,3548,3448,128.3,-15.9,87,799,0.00,2.50,0.00,0.000,260,0.000,0.030,2361,3473,3498,3548,3448,0,0,0,0,0,0,24.74,24.49,24.76
$GC,841,-1.14,-146.0,2360,3473,3549,3448,135.0,-15.4,91,848,0.00,2.47,0.00,0.000,1030,0.000,0.017,2361,1879,3498,3549,3448,0,0,0,0,0,0,24.58,24.53,24.59
$GC,1087,-1.14,-146.0,2360,1879,3550,3449,171.5,-14.0,116,1093,0.00,2.55,0.00,0.000,260,0.000,0.028,2361,3466,3499,3550,3448,0,0,0,0,0,0,24.77,24.52,24.79
$GC,1104,-1.14,-146.0,2360,3466,3549,3449,173.1,-13.6,117,1113,0.00,2.47,0.00,0.000,1030,0.000,0.018,2361,1901,3499,3550,3449,0,0,0,0,0,0,24.58,24.56,24.60
$GC,1352,-1.14,-146.0,2360,1901,3550,3449,204.8,-11.9,139,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1901,3499,3550,3449,0,0,0,0,0,0,24.79,24.82,24.81
$GC,1591,-1.14,-146.0,2360,1901,3550,3449,232.8,-11.8,145,1596,0.00,2.53,0.00,0.000,260,0.000,0.029,2361,3464,3499,3550,3449,0,0,0,0,0,0,24.81,24.56,24.83
$GC,1613,-1.14,-146.0,2360,3465,3550,3449,232.8,-11.8,145,1618,0.00,2.45,0.00,0.000,1030,0.000,0.018,2360,1889,3500,3551,3449,0,0,0,0,0,0,24.65,24.60,24.65
$GC,1875,-1.14,-146.0,2360,1889,3551,3449,266.0,-11.2,152,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1889,3499,3550,3449,0,0,0,0,0,0,24.83,24.85,24.84
$GC,2116,-1.14,-146.0,2360,1889,3550,3449,294.7,-12.1,158,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1889,3499,3550,3449,0,0,0,0,0,0,24.84,24.87,24.86
$GC,2355,-1.14,-146.0,2361,1890,3550,3449,322.8,-11.6,164,2360,0.00,2.58,0.00,0.000,260,0.000,0.033,2361,3464,3499,3550,3449,0,0,0,0,0,0,24.85,24.60,24.87
$GC,2372,-1.14,-146.0,2360,3465,3550,3448,322.8,-11.6,164,2377,0.00,2.45,0.00,0.000,1030,0.000,0.020,2361,1905,3499,3550,3449,0,0,0,0,0,0,24.69,24.63,24.70
$GC,2640,-1.14,-146.0,2360,1905,3550,3447,352.5,-10.0,171,2645,0.00,2.58,0.00,0.000,260,0.000,0.034,2361,3467,3498,3550,3447,0,0,0,0,0,0,24.87,24.60,24.88
$GC,2656,-1.14,-146.0,2360,3467,3550,3446,352.5,-10.0,171,2662,0.00,2.47,0.00,0.000,1030,0.000,0.021,2361,1900,3498,3550,3446,0,0,0,0,0,0,24.70,24.64,24.71
$GC,2924,-1.14,-146.0,2360,1900,3550,3444,382.6,-10.6,178,2930,0.00,2.62,0.00,0.000,516,0.000,0.046,2361,333,3497,3550,3444,0,0,0,0,0,0,24.87,24.59,24.89
$GC,2946,-1.14,-146.0,2360,333,3550,3444,382.6,-10.6,178,2951,0.00,2.47,0.00,0.000,1030,0.000,0.021,2361,1887,3497,3550,3444,0,0,0,0,0,0,24.70,24.65,24.72
$GC,3209,-1.14,-146.0,2360,1887,3550,3441,410.8,-9.9,185,3215,0.00,2.62,0.00,0.000,516,0.000,0.048,2361,333,3495,3550,3441,0,0,0,0,0,0,24.88,24.59,24.90
$GC,3281,-1.14,-146.0,2360,333,3550,3440,415.4,-10.0,186,3286,0.00,2.53,0.00,0.000,1030,0.000,0.025,2361,1900,3495,3550,3440,0,0,0,0,0,0,24.71,24.65,24.72
$GC,3534,-1.14,-146.0,2360,1900,3550,3437,442.3,-9.3,193,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1900,3493,3550,3437,0,0,0,0,0,0,24.89,24.91,24.91
$GC,3774,-1.14,-146.0,2360,1900,3550,3434,466.3,-10.2,199,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1901,3491,3550,3433,0,0,0,0,0,0,24.90,24.92,24.92
$GC,4015,-1.14,-146.0,2360,1900,3550,3431,491.3,-10.3,205,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1900,3490,3550,3431,0,0,0,0,0,0,24.91,24.94,24.92
$GC,4254,-1.14,-146.0,2360,1900,3549,3429,516.6,-10.7,211,4259,0.00,2.72,0.00,0.000,516,0.000,0.061,2361,329,3489,3550,3429,0,0,0,0,0,0,24.91,24.60,24.93
$GC,4270,-1.14,-146.0,2360,328,3550,3428,516.6,-10.7,211,4277,0.00,2.58,0.00,0.000,1030,0.000,0.031,2361,1902,3489,3550,3429,0,0,0,0,0,0,24.73,24.66,24.75
$GC,4539,-1.14,-146.0,2360,1902,3550,3424,547.3,-10.7,218,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1902,3486,3549,3424,0,0,0,0,0,0,24.91,24.94,24.93
$GC,4779,-1.14,-146.0,2360,1902,3549,3421,572.1,-10.2,224,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1902,3484,3548,3421,0,0,0,0,0,0,24.92,24.94,24.94
$GC,5019,-1.14,-146.0,2360,1902,3546,3421,595.1,-9.4,230,5025,0.00,2.65,0.00,0.000,260,0.000,0.057,2361,3478,3483,3546,3421,0,0,0,0,0,0,24.93,24.63,24.94
$GC,5041,-1.14,-146.0,2360,3479,3545,3421,595.1,-9.4,230,5046,0.00,2.55,0.00,0.000,1030,0.000,0.032,2361,1908,3482,3545,3420,0,0,0,0,0,0,24.75,24.68,24.76
$GC,5304,-1.14,-146.0,2360,1908,3544,3419,621.6,-9.2,237,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1908,3481,3544,3419,0,0,0,0,0,0,24.92,24.95,24.94
$GC,5544,-1.14,-146.0,2360,1907,3543,3418,644.7,-9.7,243,5549,0.00,2.75,0.00,0.000,516,0.000,0.068,2361,322,3480,3542,3418,0,0,0,0,0,0,24.93,24.61,24.95
$GC,5587,-1.14,-146.0,2360,322,3542,3417,649.2,-9.8,244,5592,0.00,2.62,0.00,0.000,1030,0.000,0.034,2361,1904,3480,3543,3417,0,0,0,0,0,0,24.74,24.66,24.76
$GC,5870,-1.14,-146.0,2360,1903,3541,3416,675.4,-9.2,251,5876,0.00,2.75,0.00,0.000,516,0.000,0.063,2361,324,3478,3541,3416,0,0,0,0,0,0,24.93,24.60,24.95
$GC,5897,-1.14,-146.0,2360,324,3541,3416,675.4,-9.2,251,5903,0.00,2.62,0.00,0.000,1030,0.000,0.037,2361,1902,3479,3542,3416,0,0,0,0,0,0,24.74,24.65,24.76
$GC,6155,-1.14,-146.0,2360,1902,3540,3414,700.8,-8.7,258,6160,0.00,2.75,0.00,0.000,516,0.000,0.067,2361,321,3477,3540,3414,0,0,0,0,0,0,24.93,24.60,24.95
$GC,6198,-1.14,-146.0,2360,320,3540,3414,704.7,-8.6,259,6203,0.00,2.65,0.00,0.000,1030,0.000,0.039,2361,1899,3477,3540,3414,0,0,0,0,0,0,24.74,24.65,24.75
$GC,6481,-1.14,-146.0,2360,1899,3538,3412,730.3,-9.2,266,6487,0.00,2.75,0.00,0.000,260,0.000,0.070,2361,3485,3475,3538,3412,0,0,0,0,0,0,24.93,24.61,24.95
$GC,6498,-1.14,-146.0,2360,3485,3538,3412,730.3,-9.2,266,6504,0.00,2.62,0.00,0.000,1030,0.000,0.044,2361,1893,3475,3538,3412,0,0,0,0,0,0,24.75,24.67,24.76
$GC,6766,-1.14,-146.0,2360,1891,3537,3411,758.7,-10.1,273,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1891,3473,3537,3410,0,0,0,0,0,0,24.93,24.95,24.94
$GC,7007,-1.14,-146.0,2360,1891,3535,3409,782.9,-10.0,279,7013,0.00,2.80,0.00,0.000,516,0.000,0.083,2361,322,3472,3536,3409,0,0,0,0,0,0,24.94,24.57,24.95
$GC,7030,-1.14,-146.0,2360,322,3535,3409,782.9,-10.0,279,7035,0.00,2.67,0.00,0.000,1030,0.000,0.044,2361,1910,3472,3535,3409,0,0,0,0,0,0,24.74,24.65,24.75
$GC,7292,-1.14,-146.0,2360,1909,3534,3408,809.9,-9.2,286,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1909,3471,3534,3408,0,0,0,0,0,0,24.93,24.96,24.95
$GC,7533,-1.14,-146.0,2360,1910,3534,3407,830.3,-8.3,292,7539,0.00,2.85,0.00,0.000,516,0.000,0.080,2361,322,3470,3533,3407,0,0,0,0,0,0,24.94,24.61,24.96
$GC,7577,-1.14,-146.0,2360,322,3534,3407,833.9,-8.2,293,7582,0.00,2.65,0.00,0.000,1030,0.000,0.038,2361,1906,3470,3534,3407,0,0,0,0,0,0,24.75,24.66,24.77
$GC,7859,-1.14,-146.0,2360,1907,3533,3406,856.8,-8.3,300,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1907,3469,3533,3406,0,0,0,0,0,0,24.94,24.96,24.96
$GC,8100,-1.14,-146.0,2360,1907,3531,3405,876.4,-8.2,306,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1907,3468,3532,3404,0,0,0,0,0,0,24.94,24.96,24.96
$GC,8340,-1.14,-146.0,2360,1907,3531,3403,895.4,-7.9,312,8345,0.00,2.75,0.00,0.000,516,0.000,0.063,2361,322,3467,3531,3403,0,0,0,0,0,0,24.94,24.62,24.96
$GC,8382,-1.14,-146.0,2360,322,3531,3403,899.0,-7.9,313,8388,0.00,2.65,0.00,0.000,1030,0.000,0.038,2360,1906,3467,3531,3403,0,0,0,0,0,0,24.76,24.68,24.77
$STATE,8423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8423,begin apogee
$GC,8428,-0.26,0.0,2360,1907,3531,3403,902.5,-8.1,314,8555,1.33,0.00,123.30,1.183,10246,0.102,0.000,2644,1907,2899,2954,2845,0,0,0,0,0,0,24.62,23.79,23.13
$STATE,8556,end apogee,CONTROL_FINISHED_OK
$STATE,8556,begin climb
$GC,8558,1.14,146.0,2644,1907,2954,2843,904.0,0.0,317,8696,1.95,0.00,133.62,1.145,10246,0.060,0.000,3085,1906,2303,2350,2256,0,0,0,0,0,0,23.98,23.73,23.11
$GC,8905,1.14,146.0,3084,1906,2347,2245,867.5,12.8,326,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1906,2296,2347,2245,0,0,0,0,0,0,24.56,24.58,24.58
$GC,9145,1.14,146.0,3084,1906,2347,2241,837.2,12.5,332,9151,0.00,2.85,0.00,0.000,516,0.000,0.066,3085,317,2294,2348,2241,0,0,0,0,0,0,24.61,24.29,24.63
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$STATE,16765,end climb,SURFACE_DEPTH_REACHED
$STATE,16765,begin surface coast
$FINISH,0.1,1.008949
$STATE,16795,end surface coast,CONTROL_FINISHED_OK
$STATE,16795,begin surface
$SM_CCo,16814,70.88,0.487,0,0,1349,380.21
$SM_GC,0.88,11.45,0.00,70.88,0.050,0.000,0.487,435,1899,1349,-7.15,-0.03,380.21,0,0,0,0,0,0,24.51,24.81,23.66
$IRIDIUM_FIX,2206.70,-15532.21,260318,234216
$TT8_MAMPS,0.021721,0.345289
$HUMID,47.59
$INTERNAL_PRESSURE,9.18381
$TCM_TEMP,21.60
$XPDR_PINGS,32
$24V_AH,23.11,12.839
$10V_AH,10.25,8.374
$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
$DEVICE_SECS,25.225,184.375,355.150,70.875,0.000,31.457,41.026,185.873,8.000,0.000,34.622,2261.918,12080.687,656.069,2088.054,201.681,0.000,1539.760,0.000,1772.990,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,461.113,304.509,506.814,523.400,624.410,0.000,0.000,0.000,0.000,0.000
$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,54021,678
$CAP_FILE_SIZE,148997,0
$CFSIZE,259248128,253513728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,309.38,1
$GPS,270318,092043,2220.337,-15532.898,32,1.5,42,10.2,0.6,260.0,8,5.9