version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 90
start: 3 28 118 9 55 4
data:
$ID,148
$MISSION,15
$DIVE,90
$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,46
$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
$GPS1,280318,094732,2219.2378,-15541.3896,38,1.4,49,10.1,0.3,266.1,8,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-62.2
$GPS2,280318,095439,2219.2268,-15541.4258,14,1.1,30,10.1,0.3,81.3,8,4.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T7
$TGT_LATLONG,2213.000,-15604.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,225.2,40385,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.14,-146.0,434,1890,1335,1352,0.0,0.0,0,98,0.00,0.00,-77.82,0.000,16390,0.000,0.000,434,1891,3498,3544,3452,0,0,0,0,0,0,24.60,23.72,24.62
$GC,101,-1.14,-146.0,434,1891,3544,3452,4.5,-10.9,11,117,10.43,2.60,0.00,0.000,2820,0.159,0.021,2360,3491,3499,3546,3453,0,0,0,0,0,0,24.22,24.34,24.35
$GC,356,-1.14,-146.0,2359,3491,3548,3453,57.3,-17.7,43,364,0.00,2.50,0.00,0.000,1030,0.000,0.018,2360,1902,3500,3548,3453,0,0,0,0,0,0,24.52,24.47,24.53
$GC,603,-1.14,-146.0,2360,1901,3549,3453,99.5,-17.1,68,608,0.00,2.55,0.00,0.000,260,0.000,0.028,2360,3482,3501,3549,3453,0,0,0,0,0,0,24.72,24.47,24.74
$GC,646,-1.14,-146.0,2360,3482,3549,3453,105.8,-14.7,72,651,0.00,2.50,0.00,0.000,1030,0.000,0.018,2360,1884,3501,3549,3453,0,0,0,0,0,0,24.56,24.51,24.57
$GC,901,-1.14,-146.0,2360,1884,3550,3453,139.4,-13.5,97,907,0.00,2.58,0.00,0.000,260,0.000,0.027,2360,3485,3501,3550,3453,0,0,0,0,0,0,24.75,24.51,24.77
$GC,920,-1.14,-146.0,2360,3485,3550,3453,141.4,-13.6,98,928,0.00,2.47,0.00,0.000,1030,0.000,0.017,2360,1898,3501,3550,3453,0,0,0,0,0,0,24.58,24.53,24.60
$GC,1166,-1.14,-146.0,2360,1898,3551,3453,174.8,-13.4,123,1172,0.00,2.55,0.00,0.000,260,0.000,0.028,2361,3481,3502,3551,3453,0,0,0,0,0,0,24.77,24.52,24.79
$GC,1213,-1.14,-146.0,2360,3481,3551,3453,180.8,-13.6,127,1220,0.00,2.47,0.00,0.000,1030,0.000,0.018,2360,1885,3502,3551,3453,0,0,0,0,0,0,24.61,24.56,24.63
$GC,1481,-1.14,-146.0,2360,1885,3552,3453,214.8,-11.9,145,1486,0.00,2.58,0.00,0.000,260,0.000,0.028,2360,3485,3502,3552,3453,0,0,0,0,0,0,24.80,24.55,24.82
$GC,1497,-1.14,-146.0,2360,3485,3553,3453,214.8,-11.9,145,1503,0.00,2.47,0.00,0.000,1030,0.000,0.018,2361,1890,3503,3553,3453,0,0,0,0,0,0,24.63,24.58,24.65
$GC,1765,-1.14,-146.0,2360,1890,3553,3453,249.9,-12.5,152,1770,0.00,2.53,0.00,0.000,516,0.000,0.034,2360,333,3503,3553,3453,0,0,0,0,0,0,24.82,24.56,24.84
$GC,1827,-1.14,-146.0,2360,333,3553,3453,255.5,-12.5,153,1833,0.00,2.47,0.00,0.000,1030,0.000,0.018,2360,1916,3503,3553,3453,0,0,0,0,0,0,24.65,24.60,24.67
$GC,2090,-1.14,-146.0,2360,1917,3553,3453,288.0,-11.3,160,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1917,3502,3552,3453,0,0,0,0,0,0,24.84,24.86,24.85
$GC,2330,-1.14,-146.0,2360,1917,3552,3453,315.8,-11.5,166,2335,0.00,2.62,0.00,0.000,516,0.000,0.039,2360,337,3502,3552,3453,0,0,0,0,0,0,24.79,24.57,24.81
$GC,2346,-1.14,-146.0,2360,337,3552,3453,315.8,-11.5,166,2353,0.00,2.47,0.00,0.000,1030,0.000,0.020,2360,1895,3503,3553,3453,0,0,0,0,0,0,24.68,24.62,24.69
$GC,2615,-1.14,-146.0,2360,1895,3552,3451,347.5,-11.0,173,2620,0.00,2.62,0.00,0.000,516,0.000,0.042,2360,331,3501,3552,3451,0,0,0,0,0,0,24.86,24.58,24.88
$GC,2646,-1.14,-146.0,2360,331,3552,3451,347.5,-11.0,173,2652,0.00,2.50,0.00,0.000,1030,0.000,0.021,2360,1900,3501,3552,3451,0,0,0,0,0,0,24.69,24.63,24.70
$GC,2899,-1.14,-146.0,2360,1900,3552,3448,378.9,-10.9,180,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1900,3500,3552,3448,0,0,0,0,0,0,24.87,24.89,24.89
$GC,3139,-1.14,-146.0,2360,1900,3552,3446,405.7,-11.3,186,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1900,3499,3552,3446,0,0,0,0,0,0,24.88,24.91,24.90
$GC,3379,-1.14,-146.0,2360,1900,3553,3443,434.2,-11.9,192,3385,0.00,2.67,0.00,0.000,516,0.000,0.051,2361,338,3497,3552,3443,0,0,0,0,0,0,24.89,24.60,24.91
$GC,3401,-1.14,-146.0,2360,338,3552,3443,434.2,-11.9,192,3407,0.00,2.53,0.00,0.000,1030,0.000,0.031,2360,1900,3497,3552,3443,0,0,0,0,0,0,24.71,24.65,24.72
$GC,3664,-1.14,-146.0,2360,1899,3552,3439,467.6,-11.6,199,3669,0.00,2.65,0.00,0.000,516,0.000,0.053,2360,342,3495,3552,3439,0,0,0,0,0,0,24.89,24.60,24.91
$GC,3680,-1.14,-146.0,2360,343,3552,3439,467.6,-11.6,199,3686,0.00,2.53,0.00,0.000,1030,0.000,0.028,2361,1899,3495,3552,3439,0,0,0,0,0,0,24.72,24.65,24.73
$GC,3948,-1.14,-146.0,2360,1899,3552,3436,498.5,-10.6,206,3954,0.00,2.65,0.00,0.000,516,0.000,0.054,2360,347,3494,3552,3436,0,0,0,0,0,0,24.90,24.60,24.91
$GC,3965,-1.14,-146.0,2359,347,3552,3436,498.5,-10.6,206,3971,0.00,2.55,0.00,0.000,1030,0.000,0.029,2360,1903,3494,3553,3436,0,0,0,0,0,0,24.72,24.65,24.73
$GC,4233,-1.14,-146.0,2360,1903,3552,3432,528.1,-10.0,213,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1903,3492,3552,3432,0,0,0,0,0,0,24.90,24.93,24.92
$GC,4474,-1.14,-146.0,2360,1903,3552,3430,549.0,-8.4,219,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1903,3491,3552,3430,0,0,0,0,0,0,24.91,24.94,24.93
$GC,4713,-1.14,-146.0,2360,1903,3552,3427,568.4,-8.0,225,4718,0.00,2.70,0.00,0.000,516,0.000,0.057,2360,345,3489,3552,3427,0,0,0,0,0,0,24.91,24.61,24.94
$GC,4760,-1.14,-146.0,2360,345,3551,3427,572.2,-8.3,226,4766,0.00,2.58,0.00,0.000,1030,0.000,0.033,2360,1900,3489,3551,3427,0,0,0,0,0,0,24.73,24.65,24.75
$GC,5039,-1.14,-146.0,2360,1900,3549,3425,596.9,-8.8,233,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1900,3487,3549,3425,0,0,0,0,0,0,24.92,24.94,24.94
$GC,5279,-1.14,-146.0,2360,1900,3547,3423,620.1,-9.6,239,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1900,3485,3547,3424,0,0,0,0,0,0,24.92,24.95,24.94
$GC,5519,-1.14,-146.0,2360,1902,3544,3423,644.3,-10.0,245,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1902,3483,3544,3423,0,0,0,0,0,0,24.93,24.96,24.95
$GC,5759,-1.14,-146.0,2360,1902,3544,3420,667.9,-9.8,251,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1902,3482,3544,3420,0,0,0,0,0,0,24.94,24.96,24.95
$GC,5999,-1.14,-146.0,2360,1902,3543,3419,690.0,-9.1,257,6004,0.00,2.70,0.00,0.000,516,0.000,0.060,2361,338,3481,3543,3419,0,0,0,0,0,0,24.94,24.61,24.96
$GC,6021,-1.14,-146.0,2360,339,3543,3419,690.0,-9.1,257,6026,0.00,2.60,0.00,0.000,1030,0.000,0.035,2361,1907,3481,3543,3419,0,0,0,0,0,0,24.75,24.66,24.76
$GC,6284,-1.14,-146.0,2360,1907,3541,3417,715.2,-8.6,264,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1907,3479,3542,3417,0,0,0,0,0,0,24.94,24.96,24.96
$GC,6524,-1.14,-146.0,2360,1907,3541,3417,735.5,-8.5,270,6530,0.00,2.72,0.00,0.000,516,0.000,0.063,2360,338,3478,3541,3416,0,0,0,0,0,0,24.94,24.61,24.96
$GC,6570,-1.14,-146.0,2360,338,3541,3416,739.6,-8.7,271,6576,0.00,2.60,0.00,0.000,1030,0.000,0.037,2360,1897,3478,3541,3416,0,0,0,0,0,0,24.75,24.65,24.77
$GC,6848,-1.14,-146.0,2360,1897,3539,3414,765.4,-9.2,278,6854,0.00,2.70,0.00,0.000,516,0.000,0.065,2360,348,3476,3539,3414,0,0,0,0,0,0,24.94,24.63,24.96
$GC,6906,-1.14,-146.0,2360,348,3539,3414,769.6,-9.3,279,6911,0.00,2.58,0.00,0.000,1030,0.000,0.033,2360,1914,3476,3539,3414,0,0,0,0,0,0,24.75,24.68,24.77
$GC,7174,-1.14,-146.0,2360,1914,3538,3413,796.4,-9.4,286,7179,0.00,2.70,0.00,0.000,516,0.000,0.057,2360,342,3475,3538,3413,0,0,0,0,0,0,24.94,24.62,24.95
$GC,7196,-1.14,-146.0,2360,342,3538,3413,796.4,-9.4,286,7202,0.00,2.60,0.00,0.000,1030,0.000,0.040,2360,1907,3475,3538,3413,0,0,0,0,0,0,24.75,24.68,24.77
$GC,7459,-1.14,-146.0,2360,1908,3537,3411,823.2,-9.2,293,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1908,3474,3537,3412,0,0,0,0,0,0,24.88,24.90,24.89
$GC,7700,-1.14,-146.0,2360,1908,3535,3410,845.4,-9.2,299,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1908,3472,3535,3410,0,0,0,0,0,0,24.94,24.96,24.96
$GC,7939,-1.14,-146.0,2360,1910,3534,3409,866.6,-8.8,305,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1910,3472,3535,3409,0,0,0,0,0,0,24.94,24.97,24.96
$GC,8180,-1.14,-146.0,2360,1911,3534,3408,886.6,-8.2,311,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1911,3471,3534,3408,0,0,0,0,0,0,24.95,24.97,24.96
$STATE,8377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8377,begin apogee
$GC,8381,-0.26,0.0,2360,1911,3533,3408,902.6,-8.0,316,8510,1.35,0.00,124.05,1.181,10246,0.111,0.000,2642,1911,2899,2954,2845,0,0,0,0,0,0,24.63,23.79,23.14
$STATE,8511,end apogee,CONTROL_FINISHED_OK
$STATE,8511,begin climb
$GC,8512,1.14,146.0,2642,1911,2954,2843,904.6,0.0,319,8661,1.95,2.88,132.25,1.145,10500,0.069,0.074,3086,3476,2300,2347,2254,0,0,0,0,0,0,23.97,23.61,23.11
$GC,8667,1.14,146.0,3086,3475,2346,2254,894.8,8.0,323,8672,0.00,2.60,0.00,0.000,1030,0.000,0.033,3087,1925,2300,2346,2254,0,0,0,0,0,0,24.15,24.07,24.16
$GC,8944,1.14,146.0,3086,1925,2346,2243,859.1,12.5,330,8950,0.00,2.90,0.00,0.000,516,0.000,0.077,3087,318,2294,2346,2243,0,0,0,0,0,0,24.58,24.25,24.60
$GC,8966,1.14,146.0,3086,318,2345,2242,859.1,12.5,330,8972,0.00,2.67,0.00,0.000,1030,0.000,0.033,3087,1904,2293,2345,2242,0,0,0,0,0,0,24.40,24.32,24.42
$GC,9229,1.14,146.0,3086,1903,2345,2240,823.9,12.3,337,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1903,2292,2345,2240,0,0,0,0,0,0,24.63,24.66,24.65
$GC,9469,1.14,146.0,3086,1903,2345,2238,793.9,12.5,343,9474,0.00,2.78,0.00,0.000,260,0.000,0.070,3087,3478,2291,2345,2238,0,0,0,0,0,0,24.66,24.34,24.68
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$STATE,16919,end climb,SURFACE_DEPTH_REACHED
$STATE,16919,begin surface coast
$FINISH,0.1,0.999242
$STATE,16954,end surface coast,CONTROL_FINISHED_OK
$STATE,16954,begin surface
$SM_CCo,16973,77.45,0.488,0,0,1350,380.21
$SM_GC,0.90,11.35,0.00,77.45,0.048,0.000,0.488,435,1890,1350,-7.16,-0.28,380.21,0,0,0,0,0,0,24.51,24.82,23.65
$IRIDIUM_FIX,2211.35,-15542.62,280318,045905
$TT8_MAMPS,0.021721,0.34454
$HUMID,48.18
$INTERNAL_PRESSURE,9.18381
$TCM_TEMP,21.50
$XPDR_PINGS,36
$24V_AH,23.11,13.625
$10V_AH,10.27,8.901
$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
$DEVICE_SECS,25.150,177.850,347.600,77.450,0.000,30.554,47.312,215.395,9.000,0.000,33.124,2288.563,12194.210,630.546,2162.847,205.741,0.000,1534.619,0.000,1827.529,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,470.837,316.227,518.161,542.113,651.231,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343156
$DATA_FILE_SIZE,57288,692
$CAP_FILE_SIZE,149948,0
$CFSIZE,259248128,253124608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,309.43,1
$GPS,280318,144033,2218.779,-15544.367,36,1.4,41,10.1,0.3,260.9,9,4.7