version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 123
start: 4 4 118 0 52 27
data:
$ID,148
$MISSION,15
$DIVE,123
$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,53
$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
$GPS1,040418,004504,2257.0154,-15633.1631,34,1.1,34,10.2,0.6,256.6,8,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-62.6
$GPS2,040418,005202,2257.0393,-15633.2930,11,1.4,44,10.2,1.0,264.6,9,3.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T9
$TGT_LATLONG,2308.000,-15611.800
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,95.8,41856,-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,-146.0,424,1898,1336,1347,0.0,0.0,0,98,0.00,0.00,-78.45,0.000,16390,0.000,0.000,424,1898,3497,3542,3453,0,0,0,0,0,0,24.62,23.75,24.63
$GC,101,-1.14,-146.0,424,1898,3542,3453,4.1,-9.8,11,117,10.40,2.50,0.00,0.000,2308,0.157,0.028,2360,3429,3498,3543,3454,0,0,0,0,0,0,24.23,24.35,24.37
$GC,273,-1.14,-146.0,2360,3429,3545,3454,41.5,-16.1,35,280,0.00,2.47,0.00,0.000,1030,0.000,0.019,2360,1854,3499,3545,3454,0,0,0,0,0,0,24.51,24.46,24.52
$GC,519,-1.14,-146.0,2360,1854,3546,3454,82.9,-16.2,60,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1854,3500,3546,3454,0,0,0,0,0,0,24.72,24.74,24.73
$GC,759,-1.14,-146.0,2360,1854,3547,3454,120.3,-15.2,84,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1854,3500,3546,3454,0,0,0,0,0,0,24.75,24.77,24.76
$GC,999,-1.14,-146.0,2360,1854,3548,3454,154.6,-14.5,108,1004,0.00,2.53,0.00,0.000,260,0.000,0.028,2360,3428,3501,3548,3454,0,0,0,0,0,0,24.77,24.52,24.78
$GC,1025,-1.14,-146.0,2360,3428,3548,3454,157.9,-14.4,110,1032,0.00,2.45,0.00,0.000,1030,0.000,0.018,2360,1854,3501,3548,3454,0,0,0,0,0,0,24.60,24.55,24.61
$GC,1273,-1.14,-146.0,2360,1854,3549,3454,192.3,-13.4,135,1279,0.00,2.55,0.00,0.000,516,0.000,0.034,2360,283,3501,3549,3454,0,0,0,0,0,0,24.79,24.53,24.81
$GC,1290,-1.14,-146.0,2360,283,3549,3454,194.0,-13.4,136,1297,0.00,2.45,0.00,0.000,1030,0.000,0.017,2360,1868,3502,3549,3455,0,0,0,0,0,0,24.63,24.58,24.64
$GC,1537,-1.14,-146.0,2360,1870,3549,3454,223.8,-11.4,146,1542,0.00,2.47,0.00,0.000,260,0.000,0.028,2360,3430,3502,3550,3454,0,0,0,0,0,0,24.81,24.56,24.82
$GC,1573,-1.14,-146.0,2360,3430,3550,3454,223.8,-11.4,146,1581,0.00,2.45,0.00,0.000,1030,0.000,0.018,2360,1846,3502,3550,3454,0,0,0,0,0,0,24.65,24.60,24.65
$GC,1819,-1.14,-146.0,2360,1846,3549,3454,255.7,-11.4,153,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1846,3502,3550,3455,0,0,0,0,0,0,24.81,24.83,24.82
$GC,2060,-1.14,-146.0,2360,1846,3549,3454,286.0,-13.0,159,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1845,3501,3549,3454,0,0,0,0,0,0,24.84,24.87,24.86
$GC,2299,-1.14,-146.0,2360,1846,3550,3454,316.5,-12.6,165,2305,0.00,2.55,0.00,0.000,260,0.000,0.031,2360,3422,3501,3549,3454,0,0,0,0,0,0,24.79,24.60,24.81
$GC,2331,-1.14,-146.0,2360,3422,3549,3454,316.5,-12.6,165,2336,0.00,2.45,0.00,0.000,1030,0.000,0.019,2360,1853,3501,3549,3454,0,0,0,0,0,0,24.68,24.63,24.70
$GC,2584,-1.14,-146.0,2360,1853,3550,3452,350.1,-11.6,172,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1853,3500,3549,3452,0,0,0,0,0,0,24.87,24.89,24.88
$GC,2823,-1.14,-146.0,2360,1853,3549,3450,377.1,-11.2,178,2829,0.00,2.58,0.00,0.000,260,0.000,0.037,2360,3419,3499,3549,3450,0,0,0,0,0,0,24.87,24.61,24.89
$GC,2860,-1.14,-146.0,2360,3419,3549,3449,377.1,-11.2,178,2866,0.00,2.47,0.00,0.000,1030,0.000,0.023,2360,1855,3499,3550,3449,0,0,0,0,0,0,24.70,24.64,24.72
$GC,3106,-1.14,-146.0,2360,1855,3549,3447,408.5,-10.8,185,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1856,3498,3549,3447,0,0,0,0,0,0,24.88,24.91,24.90
$GC,3346,-1.14,-146.0,2360,1855,3549,3444,434.0,-10.4,191,3351,0.00,2.65,0.00,0.000,516,0.000,0.055,2360,286,3496,3549,3444,0,0,0,0,0,0,24.89,24.59,24.91
$GC,3362,-1.14,-146.0,2360,286,3549,3444,434.0,-10.4,191,3367,0.00,2.50,0.00,0.000,1030,0.000,0.025,2360,1848,3496,3549,3444,0,0,0,0,0,0,24.72,24.65,24.73
$GC,3630,-1.14,-146.0,2360,1848,3549,3440,464.9,-11.1,198,3635,0.00,2.67,0.00,0.000,516,0.000,0.055,2360,292,3494,3549,3440,0,0,0,0,0,0,24.89,24.59,24.91
$GC,3656,-1.14,-146.0,2360,292,3549,3440,464.9,-11.1,198,3661,0.00,2.53,0.00,0.000,1030,0.000,0.028,2360,1856,3494,3549,3440,0,0,0,0,0,0,24.72,24.65,24.73
$GC,3913,-1.14,-146.0,2360,1856,3549,3436,495.7,-10.7,205,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1856,3492,3549,3436,0,0,0,0,0,0,24.90,24.92,24.91
$GC,4154,-1.14,-146.0,2360,1855,3549,3433,520.3,-10.1,211,4159,0.00,2.65,0.00,0.000,260,0.000,0.048,2361,3442,3491,3549,3433,0,0,0,0,0,0,24.91,24.62,24.92
$GC,4185,-1.14,-146.0,2359,3442,3550,3433,520.3,-10.1,211,4191,0.00,2.55,0.00,0.000,1030,0.000,0.034,2360,1857,3491,3549,3433,0,0,0,0,0,0,24.72,24.65,24.74
$GC,4438,-1.14,-146.0,2360,1857,3549,3430,548.1,-9.6,218,4443,0.00,2.70,0.00,0.000,516,0.000,0.060,2360,277,3489,3549,3430,0,0,0,0,0,0,24.91,24.60,24.92
$GC,4455,-1.14,-146.0,2360,278,3549,3430,548.1,-9.6,218,4460,0.00,2.58,0.00,0.000,1030,0.000,0.031,2360,1855,3489,3549,3430,0,0,0,0,0,0,24.72,24.65,24.74
$GC,4724,-1.14,-146.0,2360,1855,3549,3427,574.8,-9.3,225,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1855,3488,3549,3427,0,0,0,0,0,0,24.91,24.94,24.93
$GC,4963,-1.14,-146.0,2360,1855,3546,3426,598.4,-9.9,231,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1855,3486,3546,3426,0,0,0,0,0,0,24.91,24.94,24.94
$GC,5203,-1.14,-146.0,2360,1855,3544,3424,623.6,-10.5,237,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1855,3484,3544,3424,0,0,0,0,0,0,24.92,24.94,24.94
$GC,5443,-1.14,-146.0,2360,1855,3542,3422,650.0,-11.1,243,5448,0.00,2.75,0.00,0.000,516,0.000,0.065,2360,279,3482,3542,3422,0,0,0,0,0,0,24.93,24.61,24.94
$GC,5465,-1.14,-146.0,2360,279,3542,3422,650.0,-11.1,243,5470,0.00,2.60,0.00,0.000,1030,0.000,0.034,2360,1856,3482,3542,3422,0,0,0,0,0,0,24.74,24.66,24.76
$GC,5728,-1.14,-146.0,2360,1856,3541,3420,680.2,-10.4,250,5733,0.00,2.72,0.00,0.000,260,0.000,0.066,2360,3446,3481,3541,3421,0,0,0,0,0,0,24.92,24.62,24.94
$GC,5770,-1.14,-146.0,2360,3446,3540,3421,684.7,-10.4,251,5776,0.00,2.60,0.00,0.000,1030,0.000,0.040,2360,1864,3481,3541,3421,0,0,0,0,0,0,24.75,24.67,24.76
$GC,6053,-1.14,-146.0,2360,1864,3539,3419,711.9,-9.4,258,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1864,3479,3539,3419,0,0,0,0,0,0,24.93,24.95,24.94
$GC,6294,-1.14,-146.0,2360,1864,3538,3417,732.4,-8.5,264,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1864,3477,3538,3417,0,0,0,0,0,0,24.87,24.89,24.89
$GC,6533,-1.14,-146.0,2360,1864,3537,3417,752.8,-8.6,270,6539,0.00,2.83,0.00,0.000,516,0.000,0.079,2360,273,3476,3536,3416,0,0,0,0,0,0,24.94,24.61,24.96
$GC,6566,-1.14,-146.0,2360,273,3536,3416,752.8,-8.6,270,6572,0.00,2.65,0.00,0.000,1030,0.000,0.041,2361,1859,3476,3537,3416,0,0,0,0,0,0,24.75,24.66,24.76
$GC,6819,-1.14,-146.0,2360,1858,3535,3414,778.5,-8.9,277,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1859,3474,3535,3414,0,0,0,0,0,0,24.93,24.96,24.95
$GC,7059,-1.14,-146.0,2360,1859,3534,3413,800.2,-9.1,283,7064,0.00,2.80,0.00,0.000,516,0.000,0.076,2360,282,3473,3534,3413,0,0,0,0,0,0,24.94,24.61,24.96
$GC,7076,-1.14,-146.0,2360,282,3534,3413,800.2,-9.1,283,7081,0.00,2.67,0.00,0.000,1030,0.000,0.045,2361,1867,3473,3534,3413,0,0,0,0,0,0,24.75,24.65,24.76
$GC,7344,-1.14,-146.0,2360,1871,3533,3411,826.5,-9.1,290,7349,0.00,2.67,0.00,0.000,260,0.000,0.057,2360,3455,3472,3533,3411,0,0,0,0,0,0,24.93,24.63,24.95
$GC,7371,-1.14,-146.0,2360,3455,3532,3412,826.5,-9.1,290,7376,0.00,2.60,0.00,0.000,1030,0.000,0.035,2361,1857,3471,3532,3411,0,0,0,0,0,0,24.75,24.68,24.77
$GC,7629,-1.14,-146.0,2360,1857,3531,3410,853.8,-9.6,297,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1857,3471,3532,3410,0,0,0,0,0,0,24.93,24.96,24.95
$GC,7869,-1.14,-146.0,2360,1857,3531,3409,877.1,-9.8,303,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1857,3470,3531,3409,0,0,0,0,0,0,24.94,24.96,24.96
$STATE,8107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8107,begin apogee
$GC,8112,-0.26,0.0,2360,1939,3530,3408,900.3,-9.7,309,8240,1.35,0.10,123.72,1.187,10246,0.111,0.079,2644,1871,2900,2954,2846,0,0,0,0,0,0,24.62,23.80,23.15
$STATE,8241,end apogee,CONTROL_FINISHED_OK
$STATE,8241,begin climb
$GC,8243,1.14,146.0,2643,1871,2954,2844,904.1,0.0,312,8382,1.92,0.00,133.50,1.147,10758,0.063,0.000,3083,1871,2303,2352,2255,0,0,0,0,0,0,24.01,23.74,23.13
$GC,8589,1.14,146.0,3082,1871,2349,2243,873.8,11.4,321,8590,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1871,2296,2349,2244,0,0,0,0,0,0,24.56,24.58,24.58
$GC,8829,1.14,146.0,3082,1871,2349,2240,846.3,11.5,327,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1871,2294,2349,2240,0,0,0,0,0,0,24.61,24.64,24.63
$GC,9069,1.14,146.0,3082,1870,2348,2238,817.5,12.2,333,9070,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1870,2293,2348,2239,0,0,0,0,0,0,24.65,24.68,24.67
$GC,9309,1.14,146.0,3082,1870,2348,2237,787.9,12.4,339,9314,0.00,2.70,0.00,0.000,260,0.000,0.056,3083,3433,2292,2348,2237,0,0,0,0,0,0,24.68,24.37,24.70
$GC,9326,1.14,146.0,3082,3433,2347,2237,787.9,12.4,339,9331,0.00,2.53,0.00,0.000,1030,0.000,0.033,3083,1906,2291,2347,2236,0,0,0,0,0,0,24.50,24.41,24.52
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$GC,15244,1.24,229.5,3117,1909,2009,1913,164.3,11.2,509,15245,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1909,1961,2009,1913,0,0,0,0,0,0,24.70,24.72,24.71
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$STATE,16773,end climb,SURFACE_DEPTH_REACHED
$STATE,16773,begin surface coast
$FINISH,0.1,1.009690
$STATE,16802,end surface coast,CONTROL_FINISHED_OK
$STATE,16802,begin surface
$SM_CCo,16821,77.50,0.479,0,0,1349,380.21
$SM_GC,0.85,11.38,0.00,77.50,0.047,0.000,0.479,433,1863,1349,-7.16,0.08,380.21,0,0,0,0,0,0,24.53,24.84,23.69
$IRIDIUM_FIX,2246.36,-15633.63,030418,195721
$TT8_MAMPS,0.021721,0.277879
$HUMID,47.75
$INTERNAL_PRESSURE,9.19357
$TCM_TEMP,22.50
$XPDR_PINGS,40
$24V_AH,23.13,17.968
$10V_AH,10.30,11.839
$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
$DEVICE_SECS,25.150,168.125,347.350,77.500,0.000,28.251,49.320,192.372,10.000,0.000,47.022,2196.907,12166.586,662.613,2110.801,184.231,0.000,1513.221,0.000,1774.542,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,466.523,309.962,550.785,550.952,673.283,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343152
$DATA_FILE_SIZE,53980,686
$CAP_FILE_SIZE,145638,0
$CFSIZE,259248128,250953728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.210,321.04,1
$GPS,040418,053532,2257.819,-15632.367,38,1.5,49,10.2,0.7,316.5,8,5.0