version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 110
start: 4 1 118 10 16 29
data:
$ID,148
$MISSION,15
$DIVE,110
$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,1860
$C_ROLL_CLIMB,1890
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,47
$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
$GPS1,010418,100921,2248.2874,-15640.9199,26,1.2,43,10.2,0.4,153.2,8,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-61.5
$GPS2,010418,101604,2248.3230,-15641.0137,12,1.2,12,10.2,1.2,278.8,8,9.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T9
$TGT_LATLONG,2308.000,-15611.800
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,79.6,61672,-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,-146.0,423,1866,1339,1345,0.0,0.0,0,97,0.00,0.00,-78.15,0.000,16390,0.000,0.000,423,1866,3497,3544,3450,0,0,0,0,0,0,24.59,23.72,24.60
$GC,100,-1.14,-146.0,423,1867,3544,3451,4.0,-8.6,11,116,10.43,2.62,0.00,0.000,2564,0.157,0.036,2360,275,3499,3546,3452,0,0,0,0,0,0,24.22,24.33,24.34
$GC,124,-1.14,-146.0,2359,275,3547,3452,15.4,-37.1,14,132,0.00,2.53,0.00,0.000,1030,0.000,0.017,2360,1880,3499,3547,3451,0,0,0,0,0,0,24.44,24.39,24.45
$GC,385,-1.14,-146.0,2359,1880,3548,3451,63.7,-16.9,45,392,0.00,2.47,0.00,0.000,260,0.000,0.027,2360,3434,3499,3548,3451,0,0,0,0,0,0,24.69,24.44,24.70
$GC,423,-1.14,-146.0,2359,3435,3548,3452,69.7,-16.7,48,431,0.00,2.50,0.00,0.000,1030,0.000,0.018,2360,1857,3500,3548,3452,0,0,0,0,0,0,24.51,24.48,24.52
$GC,672,-1.14,-146.0,2359,1857,3549,3451,111.1,-16.0,73,678,0.00,2.53,0.00,0.000,260,0.000,0.028,2360,3435,3500,3549,3452,0,0,0,0,0,0,24.72,24.48,24.74
$GC,717,-1.14,-146.0,2359,3436,3549,3452,118.6,-16.7,77,723,0.00,2.45,0.00,0.000,1030,0.000,0.017,2360,1855,3500,3549,3452,0,0,0,0,0,0,24.56,24.51,24.58
$GC,970,-1.14,-146.0,2360,1855,3550,3452,157.9,-14.1,102,976,0.00,2.50,0.00,0.000,260,0.000,0.027,2360,3424,3500,3550,3451,0,0,0,0,0,0,24.76,24.51,24.77
$GC,993,-1.14,-146.0,2359,3424,3550,3452,161.3,-14.5,104,999,0.00,2.42,0.00,0.000,1030,0.000,0.018,2360,1858,3501,3550,3452,0,0,0,0,0,0,24.59,24.54,24.60
$GC,1246,-1.14,-146.0,2360,1858,3551,3452,196.4,-14.0,129,1252,0.00,2.50,0.00,0.000,260,0.000,0.028,2360,3424,3501,3551,3452,0,0,0,0,0,0,24.78,24.53,24.79
$GC,1281,-1.14,-146.0,2359,3424,3552,3452,201.0,-13.4,132,1286,0.00,2.42,0.00,0.000,1030,0.000,0.018,2360,1858,3502,3552,3452,0,0,0,0,0,0,24.61,24.56,24.63
$GC,1534,-1.14,-146.0,2360,1858,3552,3452,232.0,-11.8,139,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1858,3502,3552,3452,0,0,0,0,0,0,24.80,24.82,24.82
$GC,1773,-1.14,-146.0,2360,1858,3551,3452,258.9,-11.0,145,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1858,3502,3552,3453,0,0,0,0,0,0,24.82,24.84,24.83
$GC,2013,-1.14,-146.0,2359,1858,3552,3452,287.5,-11.9,151,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1858,3502,3552,3452,0,0,0,0,0,0,24.84,24.86,24.85
$GC,2253,-1.14,-146.0,2359,1858,3552,3452,318.5,-12.9,157,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1858,3501,3551,3452,0,0,0,0,0,0,24.79,24.82,24.81
$GC,2494,-1.14,-146.0,2360,1858,3552,3451,348.5,-12.4,163,2499,0.00,2.58,0.00,0.000,516,0.000,0.042,2360,300,3502,3552,3452,0,0,0,0,0,0,24.79,24.58,24.82
$GC,2504,-1.14,-146.0,2360,300,3552,3451,348.5,-12.4,163,2510,0.00,2.45,0.00,0.000,1030,0.000,0.020,2360,1856,3501,3551,3451,0,0,0,0,0,0,24.69,24.63,24.70
$GC,2778,-1.14,-146.0,2359,1856,3552,3449,377.3,-9.5,170,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1856,3500,3552,3449,0,0,0,0,0,0,24.87,24.89,24.89
$GC,3018,-1.14,-146.0,2359,1856,3552,3446,398.9,-8.9,176,3023,0.00,2.58,0.00,0.000,260,0.000,0.040,2360,3423,3499,3552,3447,0,0,0,0,0,0,24.88,24.60,24.89
$GC,3040,-1.14,-146.0,2359,3423,3552,3446,398.9,-8.9,176,3045,0.00,2.45,0.00,0.000,1030,0.000,0.024,2360,1873,3499,3552,3446,0,0,0,0,0,0,24.70,24.64,24.72
$GC,3302,-1.14,-146.0,2360,1873,3552,3443,429.1,-11.0,183,3308,0.00,2.67,0.00,0.000,516,0.000,0.057,2360,290,3497,3552,3443,0,0,0,0,0,0,24.89,24.59,24.90
$GC,3320,-1.14,-146.0,2359,290,3552,3443,429.1,-11.0,183,3325,0.00,2.50,0.00,0.000,1030,0.000,0.026,2360,1851,3497,3551,3443,0,0,0,0,0,0,24.70,24.64,24.72
$GC,3587,-1.14,-146.0,2359,1851,3552,3439,464.0,-12.1,190,3593,0.00,2.65,0.00,0.000,260,0.000,0.047,2361,3442,3495,3551,3439,0,0,0,0,0,0,24.89,24.60,24.91
$GC,3614,-1.14,-146.0,2359,3442,3551,3439,464.0,-12.1,190,3619,0.00,2.53,0.00,0.000,1030,0.000,0.028,2360,1860,3495,3551,3439,0,0,0,0,0,0,24.71,24.65,24.72
$GC,3871,-1.14,-146.0,2359,1860,3551,3436,499.1,-12.2,197,3877,0.00,2.62,0.00,0.000,260,0.000,0.044,2360,3434,3493,3551,3436,0,0,0,0,0,0,24.89,24.60,24.91
$GC,3889,-1.14,-146.0,2359,3434,3551,3435,499.1,-12.2,197,3894,0.00,2.53,0.00,0.000,1030,0.000,0.028,2360,1855,3493,3551,3435,0,0,0,0,0,0,24.72,24.65,24.73
$GC,4156,-1.14,-146.0,2359,1855,3552,3432,530.5,-10.7,204,4162,0.00,2.65,0.00,0.000,260,0.000,0.044,2360,3443,3492,3552,3432,0,0,0,0,0,0,24.90,24.61,24.91
$GC,4173,-1.14,-146.0,2359,3443,3551,3432,530.5,-10.7,204,4179,0.00,2.55,0.00,0.000,1030,0.000,0.031,2360,1855,3491,3551,3432,0,0,0,0,0,0,24.71,24.63,24.72
$GC,4441,-1.14,-146.0,2359,1854,3551,3430,560.0,-10.1,211,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1854,3490,3551,3430,0,0,0,0,0,0,24.90,24.93,24.92
$GC,4681,-1.14,-146.0,2359,1855,3551,3426,582.4,-9.3,217,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1854,3488,3551,3426,0,0,0,0,0,0,24.91,24.94,24.93
$GC,4921,-1.14,-146.0,2359,1854,3549,3425,603.7,-8.8,223,4927,0.00,2.72,0.00,0.000,516,0.000,0.065,2360,280,3487,3549,3425,0,0,0,0,0,0,24.91,24.60,24.94
$GC,4979,-1.14,-146.0,2359,280,3548,3424,607.7,-8.9,224,4984,0.00,2.58,0.00,0.000,1030,0.000,0.034,2360,1859,3486,3548,3425,0,0,0,0,0,0,24.73,24.65,24.75
$GC,5247,-1.14,-146.0,2360,1858,3546,3422,633.5,-9.2,231,5252,0.00,2.67,0.00,0.000,260,0.000,0.064,2360,3449,3484,3546,3422,0,0,0,0,0,0,24.91,24.62,24.94
$GC,5294,-1.14,-146.0,2359,3449,3545,3422,637.8,-9.4,232,5299,0.00,2.58,0.00,0.000,1030,0.000,0.038,2360,1856,3483,3545,3422,0,0,0,0,0,0,24.73,24.66,24.75
$GC,5571,-1.14,-146.0,2359,1856,3544,3421,665.8,-10.0,239,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1856,3482,3544,3421,0,0,0,0,0,0,24.91,24.94,24.94
$GC,5811,-1.14,-146.0,2360,1850,3541,3421,691.5,-10.8,245,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1850,3480,3540,3421,0,0,0,0,0,0,24.87,24.89,24.89
$GC,6051,-1.14,-146.0,2359,1850,3540,3419,717.5,-10.8,251,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1850,3480,3541,3419,0,0,0,0,0,0,24.87,24.90,24.89
$GC,6291,-1.14,-146.0,2359,1850,3541,3417,742.0,-10.1,257,6296,0.00,2.72,0.00,0.000,516,0.000,0.070,2360,283,3478,3540,3417,0,0,0,0,0,0,24.94,24.60,24.95
$GC,6312,-1.14,-146.0,2359,283,3540,3417,742.0,-10.1,257,6318,0.00,2.58,0.00,0.000,1030,0.000,0.033,2360,1862,3478,3540,3417,0,0,0,0,0,0,24.75,24.67,24.76
$GC,6575,-1.14,-146.0,2360,1862,3539,3415,768.4,-8.9,264,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1862,3477,3539,3415,0,0,0,0,0,0,24.87,24.89,24.89
$GC,6815,-1.14,-146.0,2360,1863,3538,3414,788.2,-8.2,270,6821,0.00,2.72,0.00,0.000,516,0.000,0.063,2360,279,3476,3538,3414,0,0,0,0,0,0,24.94,24.62,24.95
$GC,6847,-1.14,-146.0,2360,279,3538,3413,788.2,-8.2,270,6853,0.00,2.60,0.00,0.000,1030,0.000,0.034,2360,1869,3476,3538,3414,0,0,0,0,0,0,24.75,24.67,24.77
$GC,7101,-1.14,-146.0,2360,1868,3536,3412,810.7,-7.8,277,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1868,3474,3536,3412,0,0,0,0,0,0,24.93,24.96,24.95
$GC,7341,-1.14,-146.0,2360,1869,3535,3411,829.9,-8.0,283,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1869,3473,3535,3411,0,0,0,0,0,0,24.94,24.96,24.96
$GC,7581,-1.14,-146.0,2359,1870,3534,3409,850.2,-8.5,289,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1870,3471,3534,3409,0,0,0,0,0,0,24.94,24.96,24.96
$GC,7821,-1.14,-146.0,2359,1870,3533,3408,871.3,-8.9,295,7826,0.00,2.72,0.00,0.000,516,0.000,0.061,2360,281,3471,3534,3409,0,0,0,0,0,0,24.89,24.63,24.91
$GC,7894,-1.14,-146.0,2359,282,3533,3408,875.5,-9.1,296,7900,0.00,2.60,0.00,0.000,1030,0.000,0.035,2360,1870,3470,3533,3408,0,0,0,0,0,0,24.76,24.68,24.77
$STATE,8146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8146,begin apogee
$GC,8150,-0.26,0.0,2360,1870,3532,3407,901.7,-9.1,303,8278,1.33,0.00,123.65,1.200,10246,0.102,0.000,2644,1870,2900,2955,2845,0,0,0,0,0,0,24.63,23.79,23.13
$STATE,8279,end apogee,CONTROL_FINISHED_OK
$STATE,8279,begin climb
$GC,8281,1.14,146.0,2644,1870,2954,2844,905.2,0.0,306,8422,1.95,2.88,132.85,1.155,10500,0.059,0.070,3088,3466,2302,2349,2255,0,0,0,0,0,0,23.99,23.61,23.11
$GC,8434,1.14,146.0,3087,3466,2346,2255,897.1,6.6,310,8439,0.00,2.60,0.00,0.000,1030,0.000,0.036,3088,1893,2300,2346,2254,0,0,0,0,0,0,24.15,24.06,24.16
$GC,8711,1.14,146.0,3087,1892,2346,2243,865.7,10.8,317,8717,0.00,2.85,0.00,0.000,516,0.000,0.077,3088,300,2294,2346,2243,0,0,0,0,0,0,24.58,24.27,24.60
$GC,8748,1.14,146.0,3087,300,2345,2242,865.7,10.8,317,8755,0.00,2.65,0.00,0.000,1030,0.000,0.035,3088,1890,2293,2345,2242,0,0,0,0,0,0,24.41,24.32,24.43
$GC,8994,1.14,146.0,3087,1890,2345,2240,834.9,10.7,324,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1890,2292,2345,2240,0,0,0,0,0,0,24.63,24.65,24.65
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$STATE,16627,end climb,SURFACE_DEPTH_REACHED
$STATE,16627,begin surface coast
$FINISH,0.1,1.011418
$STATE,16654,end surface coast,CONTROL_FINISHED_OK
$STATE,16654,begin surface
$SM_CCo,16677,72.18,0.490,0,0,1349,380.21
$SM_GC,0.86,11.25,2.45,72.18,0.040,0.018,0.490,436,1866,1349,-7.15,-1.53,380.21,0,0,0,0,0,0,24.52,24.59,23.67
$IRIDIUM_FIX,2237.01,-15640.72,010418,051234
$TT8_MAMPS,0.021721,0.280126
$HUMID,48.62
$INTERNAL_PRESSURE,9.19357
$TCM_TEMP,22.40
$XPDR_PINGS,63
$24V_AH,23.11,16.248
$10V_AH,10.29,10.669
$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,25.050,176.750,349.225,72.175,0.000,26.087,46.061,214.590,15.750,0.000,14.789,2218.179,11984.702,646.970,2099.177,205.922,0.000,1520.895,0.000,1786.847,0.000,0.538,0.000
$DEVICE_MAMPS,156.825,77.265,1199.520,489.600,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,456.706,302.497,523.075,520.216,625.400,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343160
$DATA_FILE_SIZE,53772,671
$CAP_FILE_SIZE,145990,0
$CFSIZE,259248128,251817984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,721.87,0x212b66,0,24
$CURRENT,0.170,290.48,1
$GPS,010418,145658,2248.785,-15640.200,43,1.1,43,10.2,0.0,304.6,9,8.4