version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 135
start: 4 6 118 10 18 28
data:
$ID,148
$MISSION,15
$DIVE,135
$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,1910
$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
$GPS1,060418,101108,2303.1704,-15625.2246,42,1.0,82,10.2,0.3,199.1,7,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-60.3
$GPS2,060418,101802,2303.1689,-15625.3252,12,1.1,45,10.2,0.8,234.5,8,4.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T9
$TGT_LATLONG,2308.000,-15611.800
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,88.8,24711,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.14,-146.0,435,1877,1339,1344,0.0,0.0,0,96,0.00,0.00,-77.82,0.000,16390,0.000,0.000,435,1877,3496,3543,3450,0,0,0,0,0,0,24.63,23.78,24.65
$GC,98,-1.14,-146.0,435,1877,3543,3451,3.9,-8.6,11,117,10.40,2.55,0.00,0.000,2564,0.160,0.032,2363,319,3498,3544,3452,0,0,0,0,0,0,24.24,24.37,24.37
$GC,240,-1.14,-146.0,2362,319,3546,3452,37.7,-18.3,31,245,0.00,2.47,0.00,0.000,1030,0.000,0.017,2363,1905,3498,3545,3452,0,0,0,0,0,0,24.52,24.47,24.53
$GC,494,-1.14,-146.0,2362,1905,3546,3452,81.7,-17.2,56,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1905,3499,3546,3452,0,0,0,0,0,0,24.72,24.75,24.74
$GC,732,-1.14,-146.0,2362,1906,3546,3452,123.0,-16.0,80,738,0.00,2.58,0.00,0.000,516,0.000,0.032,2363,319,3499,3546,3452,0,0,0,0,0,0,24.75,24.50,24.77
$GC,755,-1.14,-146.0,2362,319,3546,3452,126.7,-15.9,82,762,0.00,2.47,0.00,0.000,1030,0.000,0.016,2363,1914,3499,3546,3452,0,0,0,0,0,0,24.59,24.54,24.60
$GC,1010,-1.14,-146.0,2362,1914,3547,3452,165.7,-13.9,107,1015,0.00,2.47,0.00,0.000,260,0.000,0.028,2362,3476,3500,3548,3452,0,0,0,0,0,0,24.78,24.53,24.79
$GC,1063,-1.14,-146.0,2362,3476,3547,3452,173.2,-13.9,112,1070,0.00,2.45,0.00,0.000,1030,0.000,0.017,2362,1892,3499,3547,3452,0,0,0,0,0,0,24.62,24.57,24.63
$GC,1319,-1.14,-146.0,2362,1891,3549,3452,206.5,-13.7,134,1324,0.00,2.53,0.00,0.000,516,0.000,0.031,2363,321,3500,3549,3452,0,0,0,0,0,0,24.80,24.56,24.82
$GC,1345,-1.14,-146.0,2362,321,3549,3452,206.5,-13.7,134,1351,0.00,2.45,0.00,0.000,1030,0.000,0.016,2363,1916,3500,3549,3452,0,0,0,0,0,0,24.64,24.60,24.65
$GC,1604,-1.14,-146.0,2362,1916,3549,3452,242.8,-12.1,141,1609,0.00,2.58,0.00,0.000,516,0.000,0.032,2362,327,3500,3549,3452,0,0,0,0,0,0,24.82,24.57,24.84
$GC,1630,-1.14,-146.0,2362,327,3549,3452,242.8,-12.1,141,1636,0.00,2.42,0.00,0.000,1030,0.000,0.017,2363,1898,3500,3549,3452,0,0,0,0,0,0,24.66,24.61,24.67
$GC,1888,-1.14,-146.0,2362,1898,3549,3452,278.9,-13.0,148,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1898,3501,3550,3452,0,0,0,0,0,0,24.84,24.86,24.86
$GC,2128,-1.14,-146.0,2362,1898,3549,3452,308.7,-11.9,154,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1898,3500,3549,3452,0,0,0,0,0,0,24.85,24.87,24.87
$GC,2368,-1.14,-146.0,2362,1898,3549,3452,336.0,-11.6,160,2374,0.00,2.60,0.00,0.000,516,0.000,0.040,2363,328,3500,3549,3451,0,0,0,0,0,0,24.87,24.60,24.89
$GC,2420,-1.14,-146.0,2362,328,3549,3452,341.2,-11.6,161,2426,0.00,2.45,0.00,0.000,1030,0.000,0.020,2362,1885,3500,3549,3452,0,0,0,0,0,0,24.70,24.64,24.71
$GC,2693,-1.14,-146.0,2362,1885,3549,3450,374.1,-11.6,168,2698,0.00,2.58,0.00,0.000,516,0.000,0.044,2362,341,3500,3550,3450,0,0,0,0,0,0,24.87,24.60,24.89
$GC,2720,-1.14,-146.0,2362,341,3549,3450,374.1,-11.6,168,2725,0.00,2.47,0.00,0.000,1030,0.000,0.022,2363,1905,3499,3549,3450,0,0,0,0,0,0,24.70,24.64,24.72
$GC,2977,-1.14,-146.0,2362,1905,3549,3447,405.2,-10.1,175,2983,0.00,2.58,0.00,0.000,260,0.000,0.042,2363,3473,3498,3549,3447,0,0,0,0,0,0,24.82,24.60,24.84
$GC,3011,-1.14,-146.0,2362,3473,3549,3447,405.2,-10.1,175,3016,0.00,2.47,0.00,0.000,1030,0.000,0.024,2363,1911,3498,3550,3447,0,0,0,0,0,0,24.71,24.65,24.72
$GC,3264,-1.14,-146.0,2362,1912,3549,3444,430.6,-8.3,182,3269,0.00,2.65,0.00,0.000,516,0.000,0.049,2363,319,3496,3549,3444,0,0,0,0,0,0,24.89,24.60,24.91
$GC,3316,-1.14,-146.0,2362,319,3549,3444,434.6,-8.4,183,3322,0.00,2.55,0.00,0.000,1030,0.000,0.027,2363,1898,3496,3549,3444,0,0,0,0,0,0,24.72,24.65,24.73
$GC,3589,-1.14,-146.0,2362,1898,3549,3440,462.9,-10.4,190,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1898,3494,3549,3440,0,0,0,0,0,0,24.90,24.92,24.92
$GC,3829,-1.14,-146.0,2362,1898,3549,3437,489.2,-11.1,196,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1898,3493,3549,3437,0,0,0,0,0,0,24.91,24.93,24.93
$GC,4070,-1.14,-146.0,2362,1899,3549,3434,518.3,-12.2,202,4075,0.00,2.67,0.00,0.000,516,0.000,0.056,2363,328,3491,3549,3434,0,0,0,0,0,0,24.91,24.60,24.93
$GC,4116,-1.14,-146.0,2362,328,3549,3433,523.6,-12.3,203,4122,0.00,2.55,0.00,0.000,1030,0.000,0.031,2363,1898,3491,3549,3433,0,0,0,0,0,0,24.73,24.66,24.75
$GC,4395,-1.14,-146.0,2362,1897,3549,3430,552.3,-9.6,210,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1897,3489,3549,3430,0,0,0,0,0,0,24.91,24.94,24.94
$GC,4635,-1.14,-146.0,2362,1897,3549,3427,573.4,-8.7,216,4640,0.00,2.67,0.00,0.000,516,0.000,0.055,2363,328,3488,3549,3427,0,0,0,0,0,0,24.92,24.62,24.94
$GC,4687,-1.14,-146.0,2362,328,3549,3427,577.5,-9.0,217,4692,0.00,2.58,0.00,0.000,1030,0.000,0.034,2362,1898,3488,3549,3427,0,0,0,0,0,0,24.74,24.66,24.75
$GC,4960,-1.14,-146.0,2362,1898,3548,3422,604.4,-9.5,224,4966,0.00,2.67,0.00,0.000,260,0.000,0.057,2363,3492,3485,3548,3422,0,0,0,0,0,0,24.92,24.63,24.94
$GC,4983,-1.14,-146.0,2362,3492,3547,3423,604.4,-9.5,224,4988,0.00,2.58,0.00,0.000,1030,0.000,0.029,2363,1899,3484,3547,3422,0,0,0,0,0,0,24.75,24.68,24.76
$GC,5246,-1.14,-146.0,2362,1899,3545,3421,631.6,-9.4,231,5251,0.00,2.70,0.00,0.000,516,0.000,0.064,2363,324,3483,3545,3421,0,0,0,0,0,0,24.92,24.61,24.94
$GC,5288,-1.14,-146.0,2362,324,3544,3421,635.9,-9.4,232,5293,0.00,2.60,0.00,0.000,1030,0.000,0.039,2363,1901,3482,3544,3421,0,0,0,0,0,0,24.74,24.65,24.75
$GC,5572,-1.14,-146.0,2362,1901,3543,3420,659.9,-8.3,239,5577,0.00,2.75,0.00,0.000,516,0.000,0.060,2362,319,3481,3542,3420,0,0,0,0,0,0,24.92,24.61,24.94
$GC,5598,-1.14,-146.0,2362,319,3542,3420,659.9,-8.3,239,5604,0.00,2.62,0.00,0.000,1030,0.000,0.036,2363,1908,3481,3542,3420,0,0,0,0,0,0,24.74,24.65,24.75
$GC,5856,-1.14,-146.0,2362,1908,3541,3418,684.0,-8.4,246,5861,0.00,2.75,0.00,0.000,516,0.000,0.060,2363,314,3479,3541,3418,0,0,0,0,0,0,24.92,24.62,24.94
$GC,5893,-1.14,-146.0,2362,314,3541,3418,684.0,-8.4,246,5900,0.00,2.62,0.00,0.000,1030,0.000,0.037,2363,1898,3479,3541,3418,0,0,0,0,0,0,24.74,24.65,24.75
$GC,6139,-1.14,-146.0,2362,1898,3539,3417,707.9,-8.2,253,6144,0.00,2.72,0.00,0.000,516,0.000,0.063,2363,323,3477,3538,3417,0,0,0,0,0,0,24.93,24.62,24.94
$GC,6182,-1.14,-146.0,2362,323,3539,3416,711.5,-8.2,254,6188,0.00,2.65,0.00,0.000,1030,0.000,0.044,2363,1911,3478,3539,3417,0,0,0,0,0,0,24.74,24.65,24.75
$GC,6465,-1.14,-146.0,2362,1910,3538,3414,733.1,-7.5,261,6471,0.00,2.80,0.00,0.000,516,0.000,0.066,2363,314,3476,3538,3414,0,0,0,0,0,0,24.93,24.62,24.94
$GC,6518,-1.14,-146.0,2362,314,3537,3414,736.7,-7.7,262,6523,0.00,2.65,0.00,0.000,1030,0.000,0.046,2363,1901,3475,3537,3414,0,0,0,0,0,0,24.74,24.65,24.76
$GC,6791,-1.14,-146.0,2362,1901,3535,3412,759.7,-8.1,269,6797,0.00,2.80,0.00,0.000,516,0.000,0.068,2363,318,3473,3535,3412,0,0,0,0,0,0,24.92,24.61,24.95
$GC,6863,-1.14,-146.0,2362,317,3535,3412,763.8,-8.4,270,6868,0.00,2.65,0.00,0.000,1030,0.000,0.041,2363,1902,3473,3534,3412,0,0,0,0,0,0,24.74,24.65,24.76
$GC,7115,-1.14,-146.0,2362,1902,3534,3410,791.7,-10.3,277,7121,0.00,2.83,0.00,0.000,516,0.000,0.073,2362,314,3472,3534,3410,0,0,0,0,0,0,24.93,24.60,24.95
$GC,7137,-1.14,-146.0,2362,314,3534,3410,791.7,-10.3,277,7143,0.00,2.67,0.00,0.000,1030,0.000,0.044,2363,1928,3472,3534,3410,0,0,0,0,0,0,24.74,24.65,24.75
$GC,7400,-1.14,-146.0,2362,1927,3533,3409,823.6,-11.2,284,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1927,3471,3533,3409,0,0,0,0,0,0,24.93,24.96,24.94
$GC,7639,-1.14,-146.0,2362,1928,3531,3408,849.8,-10.9,290,7645,0.00,2.78,0.00,0.000,516,0.000,0.065,2362,324,3470,3532,3408,0,0,0,0,0,0,24.94,24.62,24.96
$GC,7716,-1.14,-146.0,2362,324,3531,3407,854.4,-10.8,291,7723,0.00,2.58,0.00,0.000,1030,0.000,0.040,2362,1883,3469,3531,3407,0,0,0,0,0,0,24.75,24.67,24.77
$GC,7964,-1.14,-146.0,2362,1884,3530,3407,881.3,-9.1,298,7969,0.00,2.70,0.00,0.000,516,0.000,0.059,2362,317,3468,3531,3406,0,0,0,0,0,0,24.94,24.62,24.96
$GC,8000,-1.14,-146.0,2362,317,3530,3406,881.3,-9.1,298,8008,0.00,2.62,0.00,0.000,1030,0.000,0.034,2363,1908,3468,3530,3406,0,0,0,0,0,0,24.75,24.67,24.77
$STATE,8204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8204,begin apogee
$GC,8209,-0.26,0.0,2362,1908,3530,3406,901.9,-8.1,304,8336,1.33,0.00,123.03,1.176,10246,0.106,0.000,2643,1908,2899,2955,2844,0,0,0,0,0,0,24.61,23.81,23.15
$STATE,8337,end apogee,CONTROL_FINISHED_OK
$STATE,8337,begin climb
$GC,8339,1.14,146.0,2643,1908,2955,2843,903.1,0.0,307,8482,1.95,2.83,132.00,1.138,10500,0.073,0.064,3085,3489,2302,2351,2253,0,0,0,0,0,0,23.99,23.61,23.11
$GC,8503,1.14,146.0,3085,3490,2347,2253,891.0,9.2,311,8509,0.00,2.62,0.00,0.000,1030,0.000,0.029,3086,1914,2299,2347,2252,0,0,0,0,0,0,24.21,24.13,24.23
$GC,8771,1.14,146.0,3085,1914,2347,2242,852.1,13.8,318,8776,0.00,2.88,0.00,0.000,516,0.000,0.079,3086,325,2294,2347,2242,0,0,0,0,0,0,24.59,24.27,24.61
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$STATE,16458,end climb,SURFACE_DEPTH_REACHED
$STATE,16458,begin surface coast
$FINISH,0.2,1.022078
$STATE,16483,end surface coast,CONTROL_FINISHED_OK
$STATE,16483,begin surface
$SM_CCo,16501,72.15,0.474,0,0,1350,380.21
$SM_GC,0.85,11.15,0.00,72.15,0.037,0.000,0.474,432,1884,1350,-7.16,-0.45,380.21,0,0,0,0,0,0,24.55,24.84,23.68
$IRIDIUM_FIX,2253.38,-15625.32,060418,052652
$TT8_MAMPS,0.021721,0.281624
$HUMID,48.38
$INTERNAL_PRESSURE,9.19357
$TCM_TEMP,21.80
$XPDR_PINGS,55
$24V_AH,23.11,19.542
$10V_AH,10.27,12.917
$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
$DEVICE_SECS,24.925,220.925,353.925,72.150,0.000,29.027,48.669,183.732,13.750,0.000,48.219,2340.037,11515.770,660.910,2283.464,193.815,0.000,1635.307,0.000,1936.059,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,452.148,302.871,538.684,527.729,638.642,0.000,0.000,0.000,0.000,0.000
$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,53800,666
$CAP_FILE_SIZE,158365,0
$CFSIZE,259248128,250146816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,106.07,0x2338ba,0,24
$CURRENT,0.116,286.42,1
$GPS,060418,145603,2303.224,-15624.095,39,1.1,44,10.2,0.3,235.7,8,4.5