version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 144
start: 4 8 118 5 33 23
data:
$ID,148
$MISSION,15
$DIVE,144
$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,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
$GPS1,080418,052602,2307.4814,-15613.5869,37,1.2,72,10.2,0.6,341.2,8,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-61.6
$GPS2,080418,053257,2307.4385,-15613.6035,13,1.3,29,10.2,0.6,125.6,8,4.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T9
$TGT_LATLONG,2308.000,-15611.800
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,64.6,3243,-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,-146.0,433,1926,1342,1340,0.0,0.0,0,96,0.00,0.00,-78.00,0.000,16390,0.000,0.000,433,1927,3496,3543,3450,0,0,0,0,0,0,24.62,23.75,24.63
$GC,99,-1.14,-146.0,432,1927,3543,3452,3.8,-8.3,11,115,10.48,2.53,0.00,0.000,2308,0.161,0.024,2362,3481,3498,3545,3452,0,0,0,0,0,0,24.22,24.36,24.36
$GC,145,-1.14,-146.0,2362,3481,3546,3452,19.9,-24.5,18,153,0.00,2.50,0.00,0.000,1030,0.000,0.018,2362,1898,3499,3546,3452,0,0,0,0,0,0,24.46,24.41,24.48
$GC,400,-1.14,-146.0,2362,1898,3546,3452,65.6,-16.9,47,406,0.00,2.55,0.00,0.000,516,0.000,0.034,2362,318,3499,3546,3452,0,0,0,0,0,0,24.70,24.44,24.72
$GC,445,-1.14,-146.0,2362,318,3546,3452,72.9,-15.8,51,450,0.00,2.47,0.00,0.000,1030,0.000,0.016,2362,1905,3499,3546,3452,0,0,0,0,0,0,24.54,24.50,24.56
$GC,698,-1.14,-146.0,2362,1905,3547,3452,112.9,-16.2,76,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1905,3499,3547,3452,0,0,0,0,0,0,24.74,24.76,24.76
$GC,938,-1.14,-146.0,2362,1908,3548,3452,149.5,-14.5,100,944,0.00,2.47,0.00,0.000,260,0.000,0.028,2362,3462,3500,3549,3452,0,0,0,0,0,0,24.77,24.52,24.78
$GC,955,-1.14,-146.0,2362,3462,3548,3452,151.5,-14.6,101,962,0.00,2.42,0.00,0.000,1030,0.000,0.017,2362,1893,3500,3548,3452,0,0,0,0,0,0,24.60,24.55,24.61
$GC,1202,-1.14,-146.0,2362,1892,3549,3452,188.2,-14.5,126,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1892,3501,3550,3452,0,0,0,0,0,0,24.79,24.81,24.80
$GC,1451,-1.14,-146.0,2362,1892,3550,3452,222.6,-13.7,139,1457,0.00,2.53,0.00,0.000,260,0.000,0.028,2362,3468,3501,3550,3452,0,0,0,0,0,0,24.81,24.56,24.82
$GC,1478,-1.14,-146.0,2362,3468,3550,3452,222.6,-13.7,139,1483,0.00,2.42,0.00,0.000,1030,0.000,0.017,2363,1895,3501,3550,3452,0,0,0,0,0,0,24.65,24.60,24.65
$GC,1735,-1.14,-146.0,2362,1895,3550,3452,260.2,-13.1,146,1741,0.00,2.55,0.00,0.000,516,0.000,0.034,2362,323,3501,3550,3452,0,0,0,0,0,0,24.81,24.57,24.83
$GC,1787,-1.14,-146.0,2362,323,3550,3452,265.9,-13.2,147,1792,0.00,2.45,0.00,0.000,1030,0.000,0.018,2362,1900,3501,3550,3452,0,0,0,0,0,0,24.66,24.62,24.68
$GC,2060,-1.14,-146.0,2362,1900,3550,3452,300.5,-12.5,154,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1900,3501,3550,3452,0,0,0,0,0,0,24.82,24.85,24.84
$GC,2300,-1.14,-146.0,2362,1900,3550,3452,327.4,-10.9,160,2305,0.00,2.60,0.00,0.000,516,0.000,0.039,2362,336,3501,3550,3452,0,0,0,0,0,0,24.86,24.58,24.87
$GC,2316,-1.14,-146.0,2362,336,3550,3452,327.4,-10.9,160,2322,0.00,2.45,0.00,0.000,1030,0.000,0.019,2362,1887,3501,3550,3452,0,0,0,0,0,0,24.68,24.63,24.70
$GC,2584,-1.14,-146.0,2362,1887,3550,3451,358.9,-11.1,167,2590,0.00,2.60,0.00,0.000,516,0.000,0.043,2362,340,3501,3550,3452,0,0,0,0,0,0,24.81,24.58,24.83
$GC,2617,-1.14,-146.0,2362,340,3550,3451,358.9,-11.1,167,2623,0.00,2.47,0.00,0.000,1030,0.000,0.021,2362,1898,3500,3550,3451,0,0,0,0,0,0,24.69,24.63,24.70
$GC,2870,-1.14,-146.0,2361,1898,3550,3449,390.8,-10.8,174,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1899,3499,3550,3448,0,0,0,0,0,0,24.87,24.90,24.89
$GC,3110,-1.14,-146.0,2362,1899,3550,3446,416.2,-10.4,180,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1898,3498,3550,3447,0,0,0,0,0,0,24.88,24.91,24.90
$GC,3350,-1.14,-146.0,2362,1899,3550,3444,439.1,-9.3,186,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1899,3496,3550,3443,0,0,0,0,0,0,24.89,24.91,24.91
$GC,3591,-1.14,-146.0,2362,1899,3550,3440,460.8,-9.2,192,3596,0.00,2.65,0.00,0.000,516,0.000,0.056,2362,346,3495,3550,3440,0,0,0,0,0,0,24.90,24.60,24.92
$GC,3613,-1.14,-146.0,2362,346,3550,3440,460.8,-9.2,192,3619,0.00,2.53,0.00,0.000,1030,0.000,0.028,2362,1900,3495,3550,3440,0,0,0,0,0,0,24.72,24.65,24.74
$GC,3876,-1.14,-146.0,2362,1900,3550,3436,488.1,-9.7,199,3881,0.00,2.70,0.00,0.000,516,0.000,0.060,2362,338,3493,3550,3436,0,0,0,0,0,0,24.90,24.60,24.91
$GC,3928,-1.14,-146.0,2362,338,3550,3435,492.3,-9.7,200,3933,0.00,2.55,0.00,0.000,1030,0.000,0.030,2362,1904,3493,3550,3436,0,0,0,0,0,0,24.72,24.65,24.74
$GC,4202,-1.14,-146.0,2362,1904,3550,3432,519.9,-9.8,207,4207,0.00,2.70,0.00,0.000,516,0.000,0.057,2362,343,3490,3550,3431,0,0,0,0,0,0,24.91,24.60,24.93
$GC,4253,-1.14,-146.0,2362,343,3550,3431,524.5,-9.9,208,4259,0.00,2.58,0.00,0.000,1030,0.000,0.032,2362,1907,3490,3550,3431,0,0,0,0,0,0,24.72,24.65,24.75
$GC,4527,-1.14,-146.0,2362,1907,3550,3428,552.4,-9.8,215,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1907,3489,3550,3428,0,0,0,0,0,0,24.91,24.94,24.93
$GC,4767,-1.14,-146.0,2362,1907,3549,3424,575.5,-9.6,221,4772,0.00,2.72,0.00,0.000,516,0.000,0.060,2362,341,3487,3550,3424,0,0,0,0,0,0,24.92,24.61,24.94
$GC,4834,-1.14,-146.0,2362,341,3549,3424,579.8,-9.6,222,4839,0.00,2.58,0.00,0.000,1030,0.000,0.033,2362,1904,3486,3549,3424,0,0,0,0,0,0,24.73,24.66,24.75
$GC,5092,-1.14,-146.0,2362,1904,3546,3422,606.2,-9.3,229,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1904,3484,3547,3422,0,0,0,0,0,0,24.92,24.94,24.94
$GC,5332,-1.14,-146.0,2362,1904,3545,3421,628.7,-9.4,235,5337,0.00,2.70,0.00,0.000,516,0.000,0.062,2362,347,3483,3545,3421,0,0,0,0,0,0,24.93,24.61,24.94
$GC,5386,-1.14,-146.0,2362,347,3544,3421,632.9,-9.5,236,5391,0.00,2.58,0.00,0.000,1030,0.000,0.034,2362,1907,3482,3544,3421,0,0,0,0,0,0,24.75,24.66,24.76
$GC,5658,-1.14,-146.0,2361,1907,3543,3420,660.9,-9.9,243,5664,0.00,2.70,0.00,0.000,516,0.000,0.062,2362,350,3481,3543,3419,0,0,0,0,0,0,24.93,24.61,24.95
$GC,5675,-1.14,-146.0,2362,350,3543,3419,660.9,-9.9,243,5681,0.00,2.58,0.00,0.000,1030,0.000,0.035,2362,1906,3481,3543,3419,0,0,0,0,0,0,24.74,24.66,24.76
$GC,5943,-1.14,-146.0,2362,1906,3541,3418,689.8,-10.1,250,5948,0.00,2.72,0.00,0.000,516,0.000,0.066,2362,345,3479,3542,3417,0,0,0,0,0,0,24.93,24.61,24.94
$GC,5959,-1.14,-146.0,2362,346,3542,3418,689.8,-10.1,250,5965,0.00,2.60,0.00,0.000,1030,0.000,0.037,2362,1912,3480,3542,3418,0,0,0,0,0,0,24.74,24.65,24.75
$GC,6228,-1.14,-146.0,2362,1912,3540,3416,717.4,-9.3,257,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1912,3478,3540,3417,0,0,0,0,0,0,24.93,24.95,24.94
$GC,6468,-1.14,-146.0,2362,1912,3539,3415,737.6,-8.4,263,6473,0.00,2.78,0.00,0.000,516,0.000,0.072,2362,340,3477,3539,3415,0,0,0,0,0,0,24.94,24.61,24.95
$GC,6545,-1.14,-146.0,2362,340,3538,3414,741.5,-8.5,264,6553,0.00,2.62,0.00,0.000,1030,0.000,0.041,2362,1908,3476,3538,3414,0,0,0,0,0,0,24.75,24.65,24.76
$GC,6791,-1.14,-146.0,2361,1908,3537,3413,764.7,-8.1,271,6796,0.00,2.78,0.00,0.000,516,0.000,0.078,2362,341,3475,3537,3413,0,0,0,0,0,0,24.93,24.60,24.95
$GC,6833,-1.14,-146.0,2362,341,3537,3413,768.3,-8.2,272,6839,0.00,2.62,0.00,0.000,1030,0.000,0.042,2362,1901,3475,3537,3413,0,0,0,0,0,0,24.74,24.65,24.76
$GC,7117,-1.14,-146.0,2362,1903,3535,3411,792.2,-8.6,279,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1903,3473,3535,3411,0,0,0,0,0,0,24.93,24.96,24.95
$GC,7356,-1.14,-146.0,2362,1904,3534,3409,814.0,-9.2,285,7361,0.00,2.70,0.00,0.000,516,0.000,0.063,2362,348,3471,3534,3409,0,0,0,0,0,0,24.94,24.62,24.96
$GC,7408,-1.14,-146.0,2361,348,3534,3409,818.2,-9.4,286,7414,0.00,2.58,0.00,0.000,1030,0.000,0.034,2362,1909,3471,3534,3409,0,0,0,0,0,0,24.75,24.68,24.77
$GC,7682,-1.14,-146.0,2362,1909,3533,3408,844.1,-8.9,293,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1909,3470,3533,3408,0,0,0,0,0,0,24.94,24.96,24.95
$GC,7921,-1.14,-146.0,2361,1910,3532,3407,865.0,-8.7,299,7927,0.00,2.72,0.00,0.000,516,0.000,0.063,2362,340,3470,3532,3408,0,0,0,0,0,0,24.94,24.62,24.96
$GC,7948,-1.14,-146.0,2361,340,3532,3407,865.0,-8.7,299,7954,0.00,2.58,0.00,0.000,1030,0.000,0.033,2362,1903,3469,3532,3407,0,0,0,0,0,0,24.76,24.69,24.77
$GC,8207,-1.14,-146.0,2361,1903,3531,3406,889.3,-8.3,306,8212,0.00,2.70,0.00,0.000,516,0.000,0.061,2362,346,3468,3531,3406,0,0,0,0,0,0,24.94,24.62,24.96
$GC,8230,-1.14,-146.0,2362,345,3531,3406,889.3,-8.3,306,8235,0.00,2.58,0.00,0.000,1030,0.000,0.033,2362,1908,3468,3531,3406,0,0,0,0,0,0,24.76,24.68,24.77
$STATE,8330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8330,begin apogee
$GC,8334,-0.26,0.0,2362,1907,3531,3406,900.1,-8.5,309,8461,1.33,0.00,123.18,1.174,10246,0.104,0.000,2644,1907,2899,2956,2843,0,0,0,0,0,0,24.62,23.80,23.15
$STATE,8462,end apogee,CONTROL_FINISHED_OK
$STATE,8463,begin climb
$GC,8464,1.14,146.0,2644,1907,2956,2842,902.4,0.0,312,8602,1.95,0.00,131.82,1.138,10502,0.070,0.000,3086,1907,2303,2353,2254,0,0,0,0,0,0,23.99,23.75,23.13
$GC,8812,1.14,146.0,3086,1907,2350,2243,869.3,11.9,321,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1908,2296,2350,2243,0,0,0,0,0,0,24.56,24.58,24.58
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$STATE,16957,end climb,SURFACE_DEPTH_REACHED
$STATE,16957,begin surface coast
$FINISH,0.1,1.023872
$STATE,16986,end surface coast,CONTROL_FINISHED_OK
$STATE,16987,begin surface
$SM_CCo,17006,80.40,0.476,0,0,1349,380.21
$SM_GC,0.92,11.43,0.00,80.40,0.045,0.000,0.476,421,1913,1349,-7.20,0.37,380.21,0,0,0,0,0,0,24.49,24.78,23.68
$IRIDIUM_FIX,2255.72,-15613.91,080418,004007
$TT8_MAMPS,0.021721,0.279377
$HUMID,48.34
$INTERNAL_PRESSURE,9.19357
$TCM_TEMP,21.70
$XPDR_PINGS,48
$24V_AH,23.13,20.716
$10V_AH,10.28,13.751
$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
$DEVICE_SECS,25.275,214.800,345.650,80.400,0.000,31.173,44.961,206.443,12.000,0.000,31.941,2398.419,11937.973,646.842,2302.676,221.721,0.000,1625.987,0.000,1972.366,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,468.504,316.168,560.670,554.812,672.131,0.000,0.000,0.000,0.000,0.000
$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,53901,689
$CAP_FILE_SIZE,161728,0
$CFSIZE,259248128,249516032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,294.67,1
$GPS,080418,101933,2308.372,-15612.209,40,1.5,46,10.2,0.5,231.2,8,7.2