version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 93
start: 3 29 118 0 31 22
data:
$ID,148
$MISSION,15
$DIVE,93
$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,41
$R_STBD_OVSHOOT,48
$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
$GPS1,290318,002356,2217.4912,-15548.5059,39,1.1,74,10.1,0.3,278.7,8,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-61.4
$GPS2,290318,003057,2217.5059,-15548.5254,8,1.2,30,10.1,0.3,108.6,8,4.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T7
$TGT_LATLONG,2213.000,-15604.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,225.2,27812,-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,-146.0,435,1906,1339,1345,0.0,0.0,0,97,0.00,0.00,-78.62,0.000,16390,0.000,0.000,435,1906,3497,3545,3450,0,0,0,0,0,0,24.60,23.72,24.62
$GC,100,-1.14,-146.0,435,1906,3544,3450,3.7,-8.1,11,117,10.27,2.58,0.00,0.000,2308,0.153,0.027,2361,3482,3498,3546,3451,0,0,0,0,0,0,24.22,24.34,24.31
$GC,207,-1.14,-146.0,2361,3482,3547,3451,30.4,-17.0,29,214,0.00,2.50,0.00,0.000,1030,0.000,0.018,2361,1890,3499,3548,3451,0,0,0,0,0,0,24.49,24.44,24.50
$GC,464,-1.14,-146.0,2360,1890,3549,3451,73.4,-17.2,54,469,0.00,2.55,0.00,0.000,516,0.000,0.033,2361,317,3500,3549,3451,0,0,0,0,0,0,24.70,24.44,24.72
$GC,487,-1.14,-146.0,2361,317,3549,3452,77.8,-17.1,56,492,0.00,2.50,0.00,0.000,1030,0.000,0.016,2361,1917,3500,3549,3451,0,0,0,0,0,0,24.54,24.49,24.55
$GC,742,-1.14,-146.0,2361,1917,3549,3451,117.2,-14.2,81,748,0.00,2.47,0.00,0.000,260,0.000,0.028,2361,3465,3501,3550,3452,0,0,0,0,0,0,24.73,24.49,24.75
$GC,766,-1.14,-146.0,2361,3465,3549,3451,121.2,-14.8,83,772,0.00,2.45,0.00,0.000,1030,0.000,0.018,2361,1897,3500,3550,3451,0,0,0,0,0,0,24.57,24.52,24.58
$GC,1020,-1.14,-146.0,2361,1897,3550,3452,158.7,-14.8,108,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1897,3500,3550,3451,0,0,0,0,0,0,24.76,24.78,24.77
$GC,1259,-1.14,-146.0,2361,1897,3552,3451,191.9,-13.8,132,1265,0.00,2.53,0.00,0.000,260,0.000,0.028,2361,3462,3501,3551,3451,0,0,0,0,0,0,24.78,24.53,24.79
$GC,1306,-1.14,-146.0,2361,3462,3552,3452,197.8,-14.0,136,1313,0.00,2.45,0.00,0.000,1030,0.000,0.018,2361,1886,3501,3551,3452,0,0,0,0,0,0,24.62,24.57,24.63
$GC,1562,-1.14,-146.0,2360,1886,3552,3452,229.5,-11.9,144,1567,0.00,2.55,0.00,0.000,260,0.000,0.028,2362,3468,3502,3552,3452,0,0,0,0,0,0,24.80,24.56,24.82
$GC,1578,-1.14,-146.0,2360,3468,3552,3452,229.5,-11.9,144,1584,0.00,2.45,0.00,0.000,1030,0.000,0.017,2361,1889,3502,3552,3452,0,0,0,0,0,0,24.64,24.59,24.65
$GC,1846,-1.14,-146.0,2361,1889,3552,3452,261.8,-11.0,151,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1889,3502,3552,3452,0,0,0,0,0,0,24.82,24.84,24.84
$GC,2086,-1.14,-146.0,2360,1889,3552,3452,289.8,-11.3,157,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1889,3502,3552,3452,0,0,0,0,0,0,24.84,24.86,24.85
$GC,2326,-1.14,-146.0,2361,1889,3552,3452,316.0,-10.9,163,2331,0.00,2.58,0.00,0.000,516,0.000,0.039,2361,331,3502,3552,3452,0,0,0,0,0,0,24.85,24.58,24.87
$GC,2369,-1.14,-146.0,2360,331,3552,3452,321.3,-11.3,164,2374,0.00,2.47,0.00,0.000,1030,0.000,0.020,2361,1883,3501,3552,3451,0,0,0,0,0,0,24.68,24.63,24.69
$GC,2651,-1.14,-146.0,2361,1883,3552,3449,355.6,-12.0,171,2657,0.00,2.62,0.00,0.000,260,0.000,0.037,2361,3477,3500,3552,3449,0,0,0,0,0,0,24.79,24.60,24.82
$GC,2703,-1.14,-146.0,2360,3477,3552,3448,361.0,-12.1,172,2709,0.00,2.50,0.00,0.000,1030,0.000,0.021,2361,1901,3500,3552,3448,0,0,0,0,0,0,24.69,24.63,24.70
$GC,2976,-1.14,-146.0,2360,1900,3551,3445,391.7,-10.5,179,2982,0.00,2.62,0.00,0.000,516,0.000,0.047,2361,324,3498,3552,3445,0,0,0,0,0,0,24.87,24.58,24.89
$GC,3003,-1.14,-146.0,2361,324,3552,3445,391.7,-10.5,179,3008,0.00,2.55,0.00,0.000,1030,0.000,0.023,2361,1902,3498,3551,3445,0,0,0,0,0,0,24.70,24.64,24.71
$GC,3261,-1.14,-146.0,2361,1902,3552,3442,418.3,-9.2,186,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1902,3496,3551,3442,0,0,0,0,0,0,24.88,24.91,24.89
$GC,3501,-1.14,-146.0,2360,1902,3552,3439,443.1,-10.7,192,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1902,3495,3552,3439,0,0,0,0,0,0,24.89,24.91,24.91
$GC,3740,-1.14,-146.0,2360,1902,3552,3436,468.2,-10.3,198,3746,0.00,2.70,0.00,0.000,516,0.000,0.056,2361,334,3493,3551,3435,0,0,0,0,0,0,24.89,24.60,24.91
$GC,3762,-1.14,-146.0,2361,334,3552,3435,468.2,-10.3,198,3767,0.00,2.55,0.00,0.000,1030,0.000,0.028,2361,1899,3493,3552,3435,0,0,0,0,0,0,24.72,24.65,24.73
$GC,4025,-1.14,-146.0,2361,1899,3551,3432,498.1,-10.7,205,4030,0.00,2.70,0.00,0.000,516,0.000,0.054,2361,324,3491,3551,3431,0,0,0,0,0,0,24.90,24.60,24.91
$GC,4051,-1.14,-146.0,2361,324,3551,3432,498.1,-10.7,205,4057,0.00,2.58,0.00,0.000,1030,0.000,0.030,2361,1899,3491,3551,3432,0,0,0,0,0,0,24.72,24.65,24.73
$GC,4309,-1.14,-146.0,2361,1900,3551,3429,525.8,-9.4,212,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1900,3490,3551,3430,0,0,0,0,0,0,24.90,24.93,24.92
$GC,4550,-1.14,-146.0,2361,1900,3551,3425,547.2,-8.9,218,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1900,3488,3551,3425,0,0,0,0,0,0,24.91,24.94,24.93
$GC,4789,-1.14,-146.0,2361,1900,3549,3424,569.6,-9.4,224,4794,0.00,2.72,0.00,0.000,516,0.000,0.058,2361,332,3486,3549,3424,0,0,0,0,0,0,24.91,24.60,24.94
$GC,4841,-1.14,-146.0,2360,332,3548,3424,573.8,-9.5,225,4847,0.00,2.58,0.00,0.000,1030,0.000,0.032,2361,1897,3486,3548,3424,0,0,0,0,0,0,24.74,24.67,24.75
$GC,5115,-1.14,-146.0,2360,1897,3546,3421,600.7,-9.3,232,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1897,3483,3546,3421,0,0,0,0,0,0,24.86,24.89,24.88
$GC,5354,-1.14,-146.0,2360,1897,3544,3420,622.9,-9.3,238,5360,0.00,2.72,0.00,0.000,516,0.000,0.060,2361,334,3482,3544,3420,0,0,0,0,0,0,24.92,24.60,24.94
$GC,5397,-1.14,-146.0,2361,334,3544,3420,627.2,-9.5,239,5403,0.00,2.60,0.00,0.000,1030,0.000,0.034,2361,1897,3481,3544,3419,0,0,0,0,0,0,24.74,24.65,24.75
$GC,5681,-1.14,-146.0,2361,1901,3541,3420,654.7,-9.8,246,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1901,3480,3541,3419,0,0,0,0,0,0,24.92,24.94,24.94
$GC,5920,-1.14,-146.0,2361,1901,3541,3417,678.9,-10.2,252,5925,0.00,2.72,0.00,0.000,516,0.000,0.062,2361,329,3479,3541,3417,0,0,0,0,0,0,24.87,24.61,24.89
$GC,5946,-1.14,-146.0,2360,329,3541,3417,678.9,-10.2,252,5952,0.00,2.62,0.00,0.000,1030,0.000,0.038,2361,1900,3479,3541,3417,0,0,0,0,0,0,24.74,24.65,24.75
$GC,6204,-1.14,-146.0,2361,1900,3540,3415,708.4,-10.0,259,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1900,3477,3540,3415,0,0,0,0,0,0,24.92,24.95,24.94
$GC,6444,-1.14,-146.0,2361,1900,3538,3414,729.6,-8.7,265,6450,0.00,2.78,0.00,0.000,516,0.000,0.066,2361,328,3476,3538,3414,0,0,0,0,0,0,24.87,24.60,24.89
$GC,6471,-1.14,-146.0,2361,328,3538,3413,729.6,-8.7,265,6477,0.00,2.65,0.00,0.000,1030,0.000,0.044,2361,1905,3475,3538,3413,0,0,0,0,0,0,24.74,24.65,24.75
$GC,6730,-1.14,-146.0,2361,1905,3537,3412,753.4,-8.2,272,6735,0.00,2.75,0.00,0.000,516,0.000,0.068,2361,337,3474,3537,3411,0,0,0,0,0,0,24.87,24.60,24.89
$GC,6747,-1.14,-146.0,2361,337,3537,3411,753.4,-8.2,272,6753,0.00,2.62,0.00,0.000,1030,0.000,0.041,2361,1901,3474,3537,3411,0,0,0,0,0,0,24.73,24.64,24.75
$GC,7015,-1.14,-146.0,2361,1901,3535,3410,779.2,-9.3,279,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1901,3472,3535,3410,0,0,0,0,0,0,24.92,24.95,24.94
$GC,7256,-1.14,-146.0,2361,1904,3534,3409,802.6,-9.8,285,7261,0.00,2.72,0.00,0.000,516,0.000,0.063,2361,335,3471,3534,3409,0,0,0,0,0,0,24.87,24.60,24.89
$GC,7313,-1.14,-146.0,2360,335,3535,3409,807.2,-10.0,286,7319,0.00,2.62,0.00,0.000,1030,0.000,0.037,2361,1914,3472,3535,3409,0,0,0,0,0,0,24.75,24.66,24.76
$GC,7581,-1.14,-146.0,2360,1914,3533,3407,834.1,-9.3,293,7586,0.00,2.75,0.00,0.000,516,0.000,0.060,2361,327,3470,3533,3408,0,0,0,0,0,0,24.93,24.61,24.95
$GC,7603,-1.14,-146.0,2361,326,3533,3408,834.1,-9.3,293,7608,0.00,2.62,0.00,0.000,1030,0.000,0.037,2361,1905,3470,3533,3408,0,0,0,0,0,0,24.74,24.65,24.76
$GC,7866,-1.14,-146.0,2361,1905,3532,3407,858.6,-8.4,300,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1905,3470,3533,3407,0,0,0,0,0,0,24.93,24.96,24.95
$GC,8105,-1.14,-146.0,2361,1906,3531,3406,878.9,-8.5,306,8111,0.00,2.72,0.00,0.000,516,0.000,0.061,2361,334,3468,3531,3406,0,0,0,0,0,0,24.94,24.61,24.96
$GC,8148,-1.14,-146.0,2361,334,3531,3406,882.8,-8.7,307,8153,0.00,2.62,0.00,0.000,1030,0.000,0.037,2361,1904,3468,3531,3406,0,0,0,0,0,0,24.75,24.67,24.77
$STATE,8349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8349,begin apogee
$GC,8353,-0.26,0.0,2361,1905,3531,3405,900.3,-8.5,312,8481,1.33,0.00,123.35,1.183,10246,0.107,0.000,2642,1904,2899,2954,2845,0,0,0,0,0,0,24.61,23.79,23.13
$STATE,8482,end apogee,CONTROL_FINISHED_OK
$STATE,8482,begin climb
$GC,8483,1.14,146.0,2642,1905,2954,2843,903.1,0.0,315,8622,2.00,0.00,133.60,1.149,10246,0.068,0.000,3086,1904,2303,2350,2256,0,0,0,0,0,0,23.97,23.72,23.11
$GC,8830,1.14,146.0,3085,1904,2346,2245,869.9,12.1,324,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1904,2296,2347,2245,0,0,0,0,0,0,24.56,24.58,24.57
$GC,9071,1.14,146.0,3085,1904,2347,2241,839.8,12.6,330,9076,0.00,2.80,0.00,0.000,516,0.000,0.064,3086,333,2294,2347,2241,0,0,0,0,0,0,24.61,24.29,24.63
$GC,9103,1.14,146.0,3085,332,2346,2240,839.8,12.6,330,9108,0.00,2.65,0.00,0.000,1030,0.000,0.036,3086,1900,2292,2345,2240,0,0,0,0,0,0,24.44,24.35,24.45
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$STATE,16753,end climb,SURFACE_DEPTH_REACHED
$STATE,16753,begin surface coast
$FINISH,0.1,1.012952
$STATE,16784,end surface coast,CONTROL_FINISHED_OK
$STATE,16784,begin surface
$SM_CCo,16803,66.95,0.491,0,0,1350,380.21
$SM_GC,0.77,11.50,0.00,66.95,0.050,0.000,0.491,436,1897,1350,-7.16,-0.08,380.21,0,0,0,0,0,0,24.49,24.80,23.65
$IRIDIUM_FIX,2209.02,-15544.74,280318,193300
$TT8_MAMPS,0.021721,0.28462
$HUMID,48.74
$INTERNAL_PRESSURE,9.17404
$TCM_TEMP,21.20
$XPDR_PINGS,39
$24V_AH,23.11,14.023
$10V_AH,10.32,9.166
$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
$DEVICE_SECS,25.250,199.675,361.700,66.950,0.000,29.410,49.117,210.178,9.750,0.000,33.111,2278.256,12011.869,681.249,2119.295,205.467,0.000,1571.162,0.000,1787.256,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,455.396,300.166,491.343,504.164,604.284,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343124
$DATA_FILE_SIZE,54049,669
$CAP_FILE_SIZE,151847,0
$CFSIZE,259248128,252919808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,326.45,1
$GPS,290318,051402,2217.415,-15551.301,42,1.3,52,10.1,0.0,347.8,8,4.3