version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 126
start: 4 4 118 15 20 52
data:
$ID,148
$MISSION,15
$DIVE,126
$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,47
$R_STBD_OVSHOOT,52
$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
$GPS1,040418,151132,2258.6863,-15631.2168,34,1.2,62,10.2,0.9,279.8,10,4.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-60.6
$GPS2,040418,152027,2258.7539,-15631.3447,14,1.5,30,10.2,0.6,290.0,10,4.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T9
$TGT_LATLONG,2308.000,-15611.800
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,89.3,37433,-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,-146.0,422,1912,1340,1343,0.0,0.0,0,96,0.00,0.00,-78.07,0.000,16386,0.000,0.000,423,1912,3444,3491,3397,0,0,0,0,0,0,24.60,28.83,24.63
$GC,99,-1.14,-146.0,422,1912,3491,3398,3.1,-6.3,11,116,10.30,2.47,-1.02,0.000,18692,0.151,0.037,2361,3437,3498,3551,3446,0,0,0,0,0,0,24.22,23.63,24.37
$GC,232,-1.14,-146.0,2360,3438,3553,3446,33.4,-18.5,32,240,0.00,2.47,0.00,0.000,1030,0.000,0.018,2361,1856,3499,3553,3446,0,0,0,0,0,0,24.50,24.45,24.51
$GC,480,-1.14,-146.0,2360,1856,3553,3447,77.6,-17.6,57,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1856,3500,3553,3447,0,0,0,0,0,0,24.71,24.73,24.72
$GC,722,-1.14,-146.0,2360,1856,3553,3447,117.4,-16.4,81,727,0.00,2.53,0.00,0.000,260,0.000,0.027,2361,3432,3500,3553,3447,0,0,0,0,0,0,24.74,24.49,24.75
$GC,745,-1.14,-146.0,2360,3432,3553,3447,121.6,-16.7,83,751,0.00,2.45,0.00,0.000,1030,0.000,0.018,2361,1857,3500,3553,3447,0,0,0,0,0,0,24.58,24.53,24.58
$GC,998,-1.14,-146.0,2360,1857,3553,3448,159.6,-14.3,108,1005,0.00,2.53,0.00,0.000,260,0.000,0.028,2361,3436,3500,3553,3448,0,0,0,0,0,0,24.77,24.51,24.78
$GC,1032,-1.14,-146.0,2360,3436,3552,3448,164.9,-15.4,111,1037,0.00,2.45,0.00,0.000,1030,0.000,0.017,2361,1859,3500,3553,3448,0,0,0,0,0,0,24.60,24.56,24.61
$GC,1305,-1.14,-146.0,2360,1859,3553,3449,207.2,-15.9,135,1310,0.00,2.53,0.00,0.000,260,0.000,0.027,2361,3440,3501,3553,3449,0,0,0,0,0,0,24.79,24.54,24.80
$GC,1322,-1.14,-146.0,2360,3440,3553,3449,207.2,-15.9,135,1327,0.00,2.45,0.00,0.000,1030,0.000,0.017,2360,1850,3501,3553,3449,0,0,0,0,0,0,24.63,24.58,24.63
$GC,1589,-1.14,-146.0,2360,1850,3553,3449,244.3,-12.4,142,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1850,3501,3554,3449,0,0,0,0,0,0,24.82,24.83,24.83
$GC,1829,-1.14,-146.0,2360,1850,3554,3449,273.1,-11.7,148,1835,0.00,2.55,0.00,0.000,260,0.000,0.028,2361,3439,3501,3554,3449,0,0,0,0,0,0,24.82,24.58,24.84
$GC,1851,-1.14,-146.0,2360,3439,3554,3450,273.1,-11.7,148,1856,0.00,2.45,0.00,0.000,1030,0.000,0.018,2360,1860,3502,3554,3450,0,0,0,0,0,0,24.65,24.61,24.67
$GC,2114,-1.14,-146.0,2360,1860,3554,3449,304.1,-10.7,155,2119,0.00,2.53,0.00,0.000,260,0.000,0.031,2361,3426,3501,3554,3449,0,0,0,0,0,0,24.84,24.50,24.86
$GC,2140,-1.14,-146.0,2360,3425,3554,3450,304.1,-10.7,155,2145,0.00,2.45,0.00,0.000,1030,0.000,0.018,2361,1850,3501,3554,3449,0,0,0,0,0,0,24.68,24.63,24.68
$GC,2397,-1.14,-146.0,2360,1850,3554,3449,336.8,-11.8,162,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1850,3501,3554,3449,0,0,0,0,0,0,24.85,24.87,24.87
$GC,2638,-1.14,-146.0,2360,1850,3555,3448,364.1,-11.3,168,2643,0.00,2.58,0.00,0.000,516,0.000,0.042,2361,297,3501,3554,3448,0,0,0,0,0,0,24.80,24.59,24.82
$GC,2660,-1.14,-146.0,2360,296,3554,3448,364.1,-11.3,168,2665,0.00,2.47,0.00,0.000,1030,0.000,0.021,2361,1862,3501,3554,3448,0,0,0,0,0,0,24.69,24.63,24.70
$GC,2922,-1.14,-146.0,2360,1862,3554,3445,396.3,-10.7,175,2928,0.00,2.58,0.00,0.000,260,0.000,0.039,2361,3437,3499,3554,3445,0,0,0,0,0,0,24.87,24.60,24.89
$GC,2934,-1.14,-146.0,2360,3437,3554,3445,396.3,-10.7,175,2939,0.00,2.47,0.00,0.000,1030,0.000,0.021,2361,1867,3499,3554,3445,0,0,0,0,0,0,24.70,24.65,24.71
$GC,3207,-1.14,-146.0,2360,1867,3554,3442,425.4,-10.2,182,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1867,3498,3554,3442,0,0,0,0,0,0,24.88,24.91,24.90
$GC,3446,-1.14,-146.0,2360,1867,3554,3439,451.9,-11.4,188,3452,0.00,2.60,0.00,0.000,260,0.000,0.043,2361,3430,3496,3554,3439,0,0,0,0,0,0,24.89,24.61,24.91
$GC,3468,-1.14,-146.0,2360,3430,3554,3439,451.9,-11.4,188,3473,0.00,2.50,0.00,0.000,1030,0.000,0.027,2361,1864,3496,3554,3439,0,0,0,0,0,0,24.71,24.65,24.72
$GC,3731,-1.14,-146.0,2360,1864,3553,3436,486.6,-12.4,195,3736,0.00,2.60,0.00,0.000,260,0.000,0.044,2361,3425,3494,3553,3436,0,0,0,0,0,0,24.89,24.61,24.91
$GC,3764,-1.14,-146.0,2360,3425,3554,3435,486.6,-12.4,195,3769,0.00,2.53,0.00,0.000,1030,0.000,0.028,2361,1849,3494,3553,3435,0,0,0,0,0,0,24.72,24.65,24.73
$GC,4016,-1.14,-146.0,2360,1849,3553,3432,520.7,-11.8,202,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1849,3493,3554,3432,0,0,0,0,0,0,24.90,24.92,24.92
$GC,4257,-1.14,-146.0,2360,1849,3553,3430,545.9,-10.0,208,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1849,3491,3553,3430,0,0,0,0,0,0,24.91,24.93,24.93
$GC,4497,-1.14,-146.0,2360,1849,3553,3426,568.4,-9.3,214,4502,0.00,2.67,0.00,0.000,516,0.000,0.058,2361,288,3489,3553,3426,0,0,0,0,0,0,24.91,24.61,24.93
$GC,4544,-1.14,-146.0,2360,287,3553,3426,572.6,-9.3,215,4550,0.00,2.55,0.00,0.000,1030,0.000,0.032,2360,1844,3489,3553,3426,0,0,0,0,0,0,24.72,24.65,24.75
$GC,4823,-1.14,-146.0,2360,1845,3553,3421,599.0,-9.5,222,4828,0.00,2.70,0.00,0.000,516,0.000,0.057,2361,288,3487,3553,3421,0,0,0,0,0,0,24.91,24.60,24.94
$GC,4855,-1.14,-146.0,2360,288,3553,3421,599.0,-9.5,222,4860,0.00,2.60,0.00,0.000,1030,0.000,0.035,2361,1864,3487,3553,3421,0,0,0,0,0,0,24.72,24.64,24.75
$GC,5108,-1.14,-146.0,2360,1864,3550,3420,630.5,-11.2,229,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1864,3485,3550,3420,0,0,0,0,0,0,24.91,24.94,24.94
$GC,5348,-1.14,-146.0,2360,1864,3549,3419,656.8,-10.9,235,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1864,3484,3549,3419,0,0,0,0,0,0,24.92,24.95,24.94
$GC,5587,-1.14,-146.0,2360,1864,3547,3417,682.1,-10.4,241,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1864,3482,3547,3417,0,0,0,0,0,0,24.93,24.95,24.94
$GC,5828,-1.14,-146.0,2360,1864,3545,3416,706.3,-10.0,247,5833,0.00,2.75,0.00,0.000,516,0.000,0.063,2361,282,3481,3546,3416,0,0,0,0,0,0,24.93,24.62,24.95
$GC,5855,-1.14,-146.0,2360,282,3546,3416,706.3,-10.0,247,5860,0.00,2.62,0.00,0.000,1030,0.000,0.037,2360,1864,3480,3545,3416,0,0,0,0,0,0,24.75,24.65,24.76
$GC,6112,-1.14,-146.0,2360,1864,3544,3414,733.2,-9.1,254,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1863,3479,3544,3414,0,0,0,0,0,0,24.93,24.96,24.95
$GC,6353,-1.14,-146.0,2360,1864,3542,3412,754.2,-8.6,260,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1863,3477,3542,3412,0,0,0,0,0,0,24.94,24.96,24.96
$GC,6593,-1.14,-146.0,2360,1863,3541,3411,774.1,-8.3,266,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1863,3476,3541,3411,0,0,0,0,0,0,24.94,24.96,24.96
$GC,6833,-1.14,-146.0,2360,1864,3540,3409,794.0,-8.4,272,6838,0.00,2.78,0.00,0.000,260,0.000,0.080,2361,3448,3474,3540,3409,0,0,0,0,0,0,24.94,24.65,24.96
$GC,6855,-1.14,-146.0,2360,3448,3540,3409,794.0,-8.4,272,6861,0.00,2.58,0.00,0.000,1030,0.000,0.037,2361,1864,3474,3540,3409,0,0,0,0,0,0,24.76,24.69,24.77
$GC,7118,-1.14,-146.0,2360,1863,3539,3408,817.5,-8.1,279,7124,0.00,2.72,0.00,0.000,516,0.000,0.065,2361,285,3473,3538,3408,0,0,0,0,0,0,24.94,24.62,24.96
$GC,7140,-1.14,-146.0,2360,285,3539,3408,817.5,-8.1,279,7145,0.00,2.62,0.00,0.000,1030,0.000,0.034,2361,1873,3473,3539,3408,0,0,0,0,0,0,24.75,24.67,24.77
$GC,7403,-1.14,-146.0,2360,1874,3538,3406,841.1,-8.1,286,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1874,3472,3538,3406,0,0,0,0,0,0,24.88,24.91,24.90
$GC,7643,-1.14,-146.0,2360,1874,3536,3405,860.5,-8.0,292,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1874,3471,3537,3405,0,0,0,0,0,0,24.94,24.96,24.96
$GC,7883,-1.14,-146.0,2360,1875,3535,3404,879.2,-7.8,298,7889,0.00,2.75,0.00,0.000,516,0.000,0.060,2360,285,3469,3535,3403,0,0,0,0,0,0,24.94,24.63,24.96
$GC,7900,-1.14,-146.0,2360,285,3535,3403,879.2,-7.8,298,7906,0.00,2.62,0.00,0.000,1030,0.000,0.036,2361,1868,3469,3535,3403,0,0,0,0,0,0,24.76,24.68,24.77
$STATE,8167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8167,begin apogee
$GC,8171,-0.26,0.0,2360,1868,3534,3402,901.9,-8.0,305,8299,1.33,0.00,123.62,1.186,10246,0.099,0.000,2645,1867,2899,2957,2842,0,0,0,0,0,0,24.63,23.80,23.13
$STATE,8300,end apogee,CONTROL_FINISHED_OK
$STATE,8300,begin climb
$GC,8302,1.14,146.0,2645,1868,2957,2841,903.4,0.0,308,8440,1.92,0.00,133.88,1.144,10246,0.057,0.000,3085,1868,2303,2352,2254,0,0,0,0,0,0,23.99,23.73,23.10
$GC,8648,1.14,146.0,3085,1867,2350,2243,867.4,12.9,317,8650,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1867,2296,2350,2243,0,0,0,0,0,0,24.56,24.58,24.58
$GC,8889,1.14,146.0,3085,1867,2350,2239,836.3,12.9,323,8894,0.00,2.75,0.00,0.000,516,0.000,0.064,3086,315,2294,2350,2239,0,0,0,0,0,0,24.61,24.29,24.64
$GC,8915,1.14,146.0,3085,315,2348,2239,836.3,12.9,323,8921,0.00,2.65,0.00,0.000,1030,0.000,0.035,3085,1891,2293,2348,2239,0,0,0,0,0,0,24.44,24.36,24.46
$GC,9173,1.14,146.0,3085,1891,2348,2237,799.3,12.8,330,9178,0.00,2.78,0.00,0.000,516,0.000,0.060,3085,315,2292,2348,2237,0,0,0,0,0,0,24.65,24.34,24.68
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$STATE,16485,end climb,SURFACE_DEPTH_REACHED
$STATE,16485,begin surface coast
$FINISH,0.1,1.023892
$STATE,16508,end surface coast,CONTROL_FINISHED_OK
$STATE,16508,begin surface
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$SM_GC,0.73,11.43,0.00,66.15,0.042,0.000,0.510,435,1871,1350,-7.16,0.28,380.21,0,0,0,0,0,0,24.40,24.68,23.64
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$TT8_MAMPS,0.021721,0.348285
$HUMID,48.07
$INTERNAL_PRESSURE,9.19357
$TCM_TEMP,22.60
$XPDR_PINGS,42
$24V_AH,23.10,18.366
$10V_AH,10.20,12.102
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.125,177.475,363.225,66.150,0.000,54.920,97.048,183.961,10.500,0.000,32.645,2155.246,12004.149,661.194,2109.340,203.572,0.000,1496.036,0.000,1727.406,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,450.892,297.125,536.461,533.311,644.194,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343104
$DATA_FILE_SIZE,53958,663
$CAP_FILE_SIZE,144852,0
$CFSIZE,259248128,250757120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.224,305.80,1
$GPS,040418,195915,2259.480,-15630.793,32,1.6,72,10.2,0.5,277.9,6,6.3