version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 113
start: 4 2 118 0 41 29
data:
$ID,148
$MISSION,15
$DIVE,113
$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,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
$GPS1,020418,003358,2250.4795,-15638.6943,66,1.1,66,10.2,0.5,334.7,8,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-61.6
$GPS2,020418,004104,2250.5591,-15638.8037,12,1.2,29,10.2,0.4,339.9,8,5.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T9
$TGT_LATLONG,2308.000,-15611.800
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,85.1,56199,-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,-146.0,433,1896,1342,1341,0.0,0.0,0,96,0.00,0.00,-78.28,0.000,16386,0.000,0.000,433,1896,3490,3538,3443,0,0,0,0,0,0,24.60,28.83,24.63
$GC,99,-1.14,-146.0,433,1896,3537,3443,3.6,-7.7,11,116,10.50,2.47,0.00,0.000,2308,0.163,0.023,2361,3437,3491,3539,3444,0,0,0,0,0,0,24.22,24.35,24.35
$GC,184,-1.14,-146.0,2360,3438,3541,3444,27.0,-18.4,25,193,0.00,2.53,0.00,0.000,1030,0.000,0.019,2360,1852,3492,3541,3444,0,0,0,0,0,0,24.46,24.43,24.47
$GC,436,-1.14,-146.0,2360,1852,3541,3444,70.2,-16.8,51,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1852,3492,3541,3444,0,0,0,0,0,0,24.70,24.72,24.72
$GC,676,-1.14,-146.0,2359,1852,3542,3444,108.3,-15.2,75,681,0.00,2.53,0.00,0.000,260,0.000,0.027,2360,3441,3493,3542,3444,0,0,0,0,0,0,24.73,24.49,24.75
$GC,754,-1.14,-146.0,2360,3441,3542,3444,119.5,-15.1,82,762,0.00,2.50,0.00,0.000,1030,0.000,0.018,2361,1854,3493,3542,3444,0,0,0,0,0,0,24.55,24.52,24.56
$GC,1001,-1.14,-146.0,2360,1854,3543,3444,156.5,-14.8,107,1006,0.00,2.53,0.00,0.000,516,0.000,0.034,2361,287,3493,3543,3444,0,0,0,0,0,0,24.76,24.51,24.78
$GC,1025,-1.14,-146.0,2360,288,3543,3444,160.2,-15.1,109,1030,0.00,2.45,0.00,0.000,1030,0.000,0.017,2361,1872,3493,3543,3444,0,0,0,0,0,0,24.60,24.56,24.61
$GC,1278,-1.14,-146.0,2360,1872,3544,3444,197.2,-14.0,134,1284,0.00,2.45,0.00,0.000,260,0.000,0.028,2361,3423,3494,3544,3444,0,0,0,0,0,0,24.78,24.53,24.80
$GC,1322,-1.14,-146.0,2360,3423,3544,3444,203.5,-13.9,137,1329,0.00,2.42,0.00,0.000,1030,0.000,0.018,2360,1851,3494,3544,3444,0,0,0,0,0,0,24.62,24.57,24.63
$GC,1606,-1.14,-146.0,2360,1852,3544,3445,238.3,-12.6,144,1611,0.00,2.53,0.00,0.000,260,0.000,0.028,2361,3431,3494,3544,3445,0,0,0,0,0,0,24.81,24.56,24.82
$GC,1683,-1.14,-146.0,2360,3431,3544,3445,243.9,-12.7,145,1690,0.00,2.42,0.00,0.000,1030,0.000,0.018,2361,1854,3494,3544,3445,0,0,0,0,0,0,24.65,24.60,24.66
$GC,1928,-1.14,-146.0,2361,1854,3544,3445,282.1,-13.4,152,1934,0.00,2.53,0.00,0.000,260,0.000,0.029,2360,3434,3494,3544,3445,0,0,0,0,0,0,24.81,24.57,24.83
$GC,1966,-1.14,-146.0,2360,3434,3544,3445,282.1,-13.4,152,1973,0.00,2.45,0.00,0.000,1030,0.000,0.018,2360,1849,3494,3544,3445,0,0,0,0,0,0,24.65,24.60,24.67
$GC,2211,-1.14,-146.0,2360,1849,3544,3445,317.0,-12.1,159,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1849,3494,3544,3445,0,0,0,0,0,0,24.84,24.86,24.85
$GC,2451,-1.14,-146.0,2360,1849,3544,3444,344.0,-11.4,165,2458,0.00,2.55,0.00,0.000,260,0.000,0.033,2361,3418,3494,3544,3444,0,0,0,0,0,0,24.79,24.60,24.81
$GC,2479,-1.14,-146.0,2360,3418,3544,3444,344.0,-11.4,165,2485,0.00,2.42,0.00,0.000,1030,0.000,0.021,2360,1862,3494,3544,3444,0,0,0,0,0,0,24.68,24.63,24.70
$GC,2737,-1.14,-146.0,2360,1862,3544,3442,372.7,-9.8,172,2742,0.00,2.53,0.00,0.000,260,0.000,0.036,2360,3416,3493,3544,3443,0,0,0,0,0,0,24.80,24.60,24.82
$GC,2769,-1.14,-146.0,2360,3416,3543,3442,372.7,-9.8,172,2775,0.00,2.45,0.00,0.000,1030,0.000,0.022,2360,1855,3493,3544,3442,0,0,0,0,0,0,24.69,24.63,24.70
$GC,3022,-1.14,-146.0,2360,1855,3544,3439,400.3,-9.5,179,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1855,3491,3544,3439,0,0,0,0,0,0,24.87,24.89,24.89
$GC,3262,-1.14,-146.0,2360,1855,3544,3437,423.8,-9.9,185,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1855,3490,3543,3437,0,0,0,0,0,0,24.88,24.91,24.90
$GC,3502,-1.14,-146.0,2360,1855,3544,3434,448.3,-10.3,191,3508,0.00,2.60,0.00,0.000,260,0.000,0.044,2361,3421,3488,3544,3433,0,0,0,0,0,0,24.89,24.60,24.91
$GC,3524,-1.14,-146.0,2360,3421,3544,3433,448.3,-10.3,191,3530,0.00,2.47,0.00,0.000,1030,0.000,0.027,2360,1862,3488,3544,3433,0,0,0,0,0,0,24.71,24.65,24.72
$GC,3787,-1.14,-146.0,2360,1862,3544,3431,480.4,-11.7,198,3793,0.00,2.70,0.00,0.000,516,0.000,0.057,2360,280,3487,3543,3431,0,0,0,0,0,0,24.89,24.58,24.91
$GC,3809,-1.14,-146.0,2360,280,3544,3430,480.4,-11.7,198,3814,0.00,2.50,0.00,0.000,1030,0.000,0.028,2360,1837,3487,3544,3431,0,0,0,0,0,0,24.71,24.65,24.73
$GC,4071,-1.14,-146.0,2359,1838,3544,3427,513.4,-11.1,205,4077,0.00,2.65,0.00,0.000,516,0.000,0.058,2360,283,3485,3544,3427,0,0,0,0,0,0,24.89,24.59,24.91
$GC,4089,-1.14,-146.0,2360,283,3544,3428,513.4,-11.1,205,4094,0.00,2.55,0.00,0.000,1030,0.000,0.030,2360,1863,3485,3544,3427,0,0,0,0,0,0,24.72,24.65,24.73
$GC,4357,-1.14,-146.0,2360,1863,3544,3423,538.1,-8.0,212,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1863,3483,3544,3423,0,0,0,0,0,0,24.90,24.92,24.92
$GC,4597,-1.14,-146.0,2360,1863,3543,3420,556.5,-7.6,218,4603,0.00,2.70,0.00,0.000,516,0.000,0.064,2360,284,3481,3543,3420,0,0,0,0,0,0,24.91,24.60,24.93
$GC,4614,-1.14,-146.0,2360,284,3543,3420,556.5,-7.6,218,4619,0.00,2.55,0.00,0.000,1030,0.000,0.032,2360,1856,3481,3543,3420,0,0,0,0,0,0,24.72,24.65,24.74
$GC,4882,-1.14,-146.0,2360,1856,3543,3417,580.1,-8.3,225,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1856,3480,3543,3417,0,0,0,0,0,0,24.91,24.94,24.93
$GC,5122,-1.14,-146.0,2360,1856,3540,3417,601.8,-9.2,231,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1856,3478,3540,3417,0,0,0,0,0,0,24.91,24.94,24.94
$GC,5361,-1.14,-146.0,2360,1856,3539,3415,625.7,-10.0,237,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1856,3477,3539,3415,0,0,0,0,0,0,24.92,24.94,24.94
$GC,5601,-1.14,-146.0,2359,1856,3538,3413,651.2,-10.7,243,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1856,3475,3538,3413,0,0,0,0,0,0,24.93,24.95,24.94
$GC,5842,-1.14,-146.0,2360,1860,3533,3414,676.6,-10.6,249,5847,0.00,2.75,0.00,0.000,516,0.000,0.066,2360,286,3474,3534,3414,0,0,0,0,0,0,24.87,24.60,24.89
$GC,5863,-1.14,-146.0,2360,286,3533,3414,676.6,-10.6,249,5868,0.00,2.58,0.00,0.000,1030,0.000,0.033,2360,1863,3473,3533,3414,0,0,0,0,0,0,24.75,24.65,24.76
$GC,6126,-1.14,-146.0,2360,1864,3533,3410,705.2,-9.8,256,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1864,3472,3534,3410,0,0,0,0,0,0,24.93,24.95,24.94
$GC,6366,-1.14,-146.0,2360,1865,3533,3409,727.0,-8.9,262,6371,0.00,2.72,0.00,0.000,516,0.000,0.063,2360,286,3470,3533,3408,0,0,0,0,0,0,24.93,24.61,24.95
$GC,6388,-1.14,-146.0,2359,286,3533,3408,727.0,-8.9,262,6393,0.00,2.58,0.00,0.000,1030,0.000,0.034,2360,1862,3470,3533,3408,0,0,0,0,0,0,24.75,24.66,24.76
$GC,6651,-1.14,-146.0,2360,1863,3532,3407,750.6,-8.1,269,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1862,3469,3531,3407,0,0,0,0,0,0,24.93,24.95,24.95
$GC,6891,-1.14,-146.0,2360,1863,3531,3406,771.0,-8.6,275,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1863,3468,3531,3406,0,0,0,0,0,0,24.87,24.90,24.89
$GC,7131,-1.14,-146.0,2360,1864,3530,3404,793.2,-9.4,281,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1864,3467,3530,3404,0,0,0,0,0,0,24.94,24.96,24.96
$GC,7371,-1.14,-146.0,2360,1864,3529,3402,815.0,-9.0,287,7376,0.00,2.70,0.00,0.000,260,0.000,0.065,2360,3446,3465,3529,3402,0,0,0,0,0,0,24.94,24.63,24.96
$GC,7397,-1.14,-146.0,2360,3446,3529,3403,815.0,-9.0,287,7403,0.00,2.58,0.00,0.000,1030,0.000,0.032,2360,1860,3466,3529,3403,0,0,0,0,0,0,24.76,24.68,24.77
$GC,7656,-1.14,-146.0,2360,1860,3528,3401,841.2,-9.2,294,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1860,3464,3528,3401,0,0,0,0,0,0,24.94,24.96,24.96
$GC,7895,-1.14,-146.0,2360,1860,3526,3401,863.1,-9.2,300,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1860,3464,3527,3401,0,0,0,0,0,0,24.94,24.96,24.96
$GC,8136,-1.14,-146.0,2360,1860,3526,3400,884.9,-9.0,306,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1860,3463,3526,3400,0,0,0,0,0,0,24.89,24.91,24.91
$STATE,8334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8334,begin apogee
$GC,8338,-0.26,0.0,2360,1860,3525,3399,902.7,-8.9,311,8464,1.38,0.00,121.97,1.208,10246,0.117,0.000,2645,1860,2899,2955,2844,0,0,0,0,0,0,24.62,23.79,23.12
$STATE,8465,end apogee,CONTROL_FINISHED_OK
$STATE,8465,begin climb
$GC,8467,1.14,146.0,2645,1860,2954,2843,905.7,0.0,314,8606,1.90,0.00,133.75,1.158,10758,0.061,0.000,3088,1860,2303,2351,2255,0,0,0,0,0,0,23.99,23.73,23.11
$GC,8815,1.14,146.0,3087,1860,2347,2244,873.7,11.6,323,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1860,2295,2347,2243,0,0,0,0,0,0,24.56,24.58,24.58
$GC,9055,1.14,146.0,3088,1860,2347,2240,845.9,11.7,329,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1860,2293,2347,2240,0,0,0,0,0,0,24.61,24.64,24.63
$GC,9295,1.14,146.0,3087,1860,2347,2238,818.6,11.3,335,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1860,2292,2347,2238,0,0,0,0,0,0,24.65,24.68,24.67
$GC,9535,1.14,146.0,3088,1859,2346,2237,791.8,11.1,341,9540,0.00,2.80,0.00,0.000,260,0.000,0.062,3088,3467,2291,2347,2236,0,0,0,0,0,0,24.68,24.36,24.70
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$STATE,16994,end climb,SURFACE_DEPTH_REACHED
$STATE,16994,begin surface coast
$FINISH,0.1,1.023664
$STATE,17029,end surface coast,CONTROL_FINISHED_OK
$STATE,17029,begin surface
$SM_CCo,17049,72.60,0.484,0,0,1350,380.21
$SM_GC,0.84,11.32,0.00,72.60,0.043,0.000,0.484,432,1900,1350,-7.16,1.13,380.21,0,0,0,0,0,0,24.53,24.82,23.68
$IRIDIUM_FIX,2241.69,-15637.64,010418,194521
$TT8_MAMPS,0.021721,0.343791
$HUMID,47.75
$INTERNAL_PRESSURE,9.20334
$TCM_TEMP,22.00
$XPDR_PINGS,48
$24V_AH,23.11,16.646
$10V_AH,10.21,10.936
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.200,155.800,353.025,72.600,0.000,29.705,50.578,212.850,12.000,0.000,32.119,2205.184,12408.714,635.465,2100.771,201.445,0.000,1487.083,0.000,1769.890,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,473.663,315.028,540.358,548.630,668.922,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343128
$DATA_FILE_SIZE,57376,696
$CAP_FILE_SIZE,143776,0
$CFSIZE,259248128,251617280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.156,303.19,1
$GPS,020418,052844,2251.013,-15637.761,37,1.5,77,10.2,0.2,329.3,7,5.6