version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 155
start: 4 10 118 10 49 23
data:
$ID,148
$MISSION,15
$DIVE,155
$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,51
$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
$GPS1,100418,104203,2247.6494,-15623.6963,34,1.2,63,10.2,0.4,14.8,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-58.3
$GPS2,100418,104857,2247.6863,-15623.7969,9,1.7,31,10.2,0.6,331.0,9,4.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,E3
$TGT_LATLONG,2218.000,-15638.800
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,171.3,60692,-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,14,begin dive
$GC,16,-1.14,-146.0,431,1927,1344,1335,0.0,0.0,0,96,0.00,0.00,-77.05,0.000,16390,0.000,0.000,431,1927,3497,3543,3452,0,0,0,0,0,0,24.60,23.75,24.63
$GC,99,-1.14,-146.0,431,1927,3543,3452,4.6,-11.2,11,115,10.35,2.53,0.00,0.000,2308,0.155,0.025,2361,3477,3498,3544,3453,0,0,0,0,0,0,24.23,24.34,24.36
$GC,352,-1.14,-146.0,2360,3477,3545,3453,57.6,-17.2,42,358,0.00,2.47,0.00,0.000,1030,0.000,0.018,2361,1893,3499,3546,3453,0,0,0,0,0,0,24.52,24.47,24.53
$GC,608,-1.14,-146.0,2360,1893,3546,3453,101.0,-17.1,67,613,0.00,2.55,0.00,0.000,516,0.000,0.033,2361,322,3499,3546,3453,0,0,0,0,0,0,24.72,24.46,24.74
$GC,631,-1.14,-146.0,2360,322,3546,3453,105.5,-17.1,69,636,0.00,2.47,0.00,0.000,1030,0.000,0.016,2361,1909,3499,3546,3453,0,0,0,0,0,0,24.56,24.51,24.57
$GC,884,-1.14,-146.0,2360,1910,3547,3453,148.1,-14.8,94,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1910,3500,3547,3453,0,0,0,0,0,0,24.75,24.77,24.77
$GC,1125,-1.14,-146.0,2360,1910,3548,3453,181.6,-13.6,118,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1910,3500,3548,3453,0,0,0,0,0,0,24.77,24.79,24.79
$GC,1384,-1.14,-146.0,2360,1910,3549,3453,215.0,-11.7,135,1389,0.00,2.58,0.00,0.000,516,0.000,0.032,2361,330,3501,3549,3453,0,0,0,0,0,0,24.79,24.53,24.81
$GC,1400,-1.14,-146.0,2359,330,3550,3453,215.0,-11.7,135,1406,0.00,2.45,0.00,0.000,1030,0.000,0.017,2361,1909,3501,3549,3453,0,0,0,0,0,0,24.63,24.58,24.64
$GC,1668,-1.14,-146.0,2360,1908,3550,3453,248.6,-11.3,142,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1909,3501,3549,3453,0,0,0,0,0,0,24.81,24.83,24.83
$GC,1909,-1.14,-146.0,2360,1909,3549,3453,276.9,-11.8,148,1914,0.00,2.62,0.00,0.000,516,0.000,0.035,2361,320,3501,3550,3453,0,0,0,0,0,0,24.82,24.56,24.84
$GC,1976,-1.14,-146.0,2360,321,3549,3453,282.1,-11.8,149,1981,0.00,2.47,0.00,0.000,1030,0.000,0.019,2361,1894,3501,3550,3453,0,0,0,0,0,0,24.65,24.60,24.67
$GC,2233,-1.14,-146.0,2360,1893,3550,3453,315.3,-11.7,156,2238,0.00,2.60,0.00,0.000,516,0.000,0.038,2361,326,3501,3550,3453,0,0,0,0,0,0,24.84,24.57,24.85
$GC,2254,-1.14,-146.0,2360,326,3550,3453,315.3,-11.7,156,2260,0.00,2.50,0.00,0.000,1030,0.000,0.020,2361,1908,3501,3550,3453,0,0,0,0,0,0,24.67,24.61,24.68
$GC,2518,-1.14,-146.0,2360,1908,3550,3452,349.5,-12.1,163,2523,0.00,2.62,0.00,0.000,516,0.000,0.041,2361,336,3501,3550,3452,0,0,0,0,0,0,24.79,24.57,24.82
$GC,2549,-1.14,-146.0,2360,336,3549,3452,349.5,-12.1,163,2554,0.00,2.50,0.00,0.000,1030,0.000,0.021,2361,1909,3501,3550,3452,0,0,0,0,0,0,24.68,24.62,24.69
$GC,2801,-1.14,-146.0,2360,1909,3549,3449,381.7,-10.9,170,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1909,3499,3549,3449,0,0,0,0,0,0,24.79,24.82,24.82
$GC,3042,-1.14,-146.0,2360,1909,3550,3447,407.8,-10.8,176,3047,0.00,2.67,0.00,0.000,516,0.000,0.048,2361,331,3498,3550,3447,0,0,0,0,0,0,24.87,24.58,24.89
$GC,3088,-1.14,-146.0,2360,331,3550,3447,412.4,-10.7,177,3093,0.00,2.53,0.00,0.000,1030,0.000,0.023,2361,1903,3498,3549,3447,0,0,0,0,0,0,24.70,24.63,24.71
$GC,3366,-1.14,-146.0,2360,1903,3550,3443,440.0,-9.8,184,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1903,3496,3550,3443,0,0,0,0,0,0,24.88,24.90,24.89
$GC,3606,-1.14,-146.0,2360,1903,3550,3441,464.4,-10.3,190,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1903,3495,3550,3441,0,0,0,0,0,0,24.89,24.91,24.91
$GC,3845,-1.14,-146.0,2360,1903,3550,3437,490.0,-10.7,196,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1903,3493,3549,3437,0,0,0,0,0,0,24.89,24.91,24.91
$GC,4086,-1.14,-146.0,2360,1903,3550,3434,515.3,-10.3,202,4092,0.00,2.70,0.00,0.000,516,0.000,0.057,2361,343,3492,3550,3434,0,0,0,0,0,0,24.90,24.59,24.91
$GC,4143,-1.14,-146.0,2360,343,3549,3434,519.8,-10.2,203,4149,0.00,2.55,0.00,0.000,1030,0.000,0.031,2361,1900,3491,3549,3433,0,0,0,0,0,0,24.72,24.65,24.73
$GC,4412,-1.14,-146.0,2360,1900,3549,3430,547.2,-9.6,210,4417,0.00,2.70,0.00,0.000,516,0.000,0.057,2360,343,3490,3549,3431,0,0,0,0,0,0,24.91,24.59,24.92
$GC,4469,-1.14,-146.0,2360,342,3549,3430,551.7,-9.7,211,4474,0.00,2.55,0.00,0.000,1030,0.000,0.032,2361,1899,3489,3549,3430,0,0,0,0,0,0,24.72,24.65,24.74
$GC,4737,-1.14,-146.0,2360,1898,3549,3427,578.7,-9.2,218,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1898,3487,3549,3426,0,0,0,0,0,0,24.91,24.93,24.92
$GC,4976,-1.14,-146.0,2360,1898,3547,3424,599.8,-8.6,224,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1899,3485,3547,3424,0,0,0,0,0,0,24.91,24.94,24.93
$GC,5217,-1.14,-146.0,2360,1898,3545,3422,620.4,-8.5,230,5222,0.00,2.70,0.00,0.000,516,0.000,0.061,2361,341,3483,3545,3422,0,0,0,0,0,0,24.91,24.60,24.94
$GC,5260,-1.14,-146.0,2360,341,3545,3422,624.3,-8.6,231,5265,0.00,2.58,0.00,0.000,1030,0.000,0.033,2361,1895,3483,3544,3422,0,0,0,0,0,0,24.74,24.66,24.75
$GC,5543,-1.14,-146.0,2360,1895,3543,3421,649.1,-8.9,238,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1895,3482,3543,3421,0,0,0,0,0,0,24.91,24.94,24.94
$GC,5783,-1.14,-146.0,2360,1896,3542,3419,671.4,-9.3,244,5789,0.00,2.72,0.00,0.000,516,0.000,0.064,2361,340,3480,3542,3419,0,0,0,0,0,0,24.92,24.60,24.94
$GC,5815,-1.14,-146.0,2360,340,3541,3419,671.4,-9.3,244,5821,0.00,2.58,0.00,0.000,1030,0.000,0.041,2361,1898,3480,3542,3419,0,0,0,0,0,0,24.73,24.65,24.75
$GC,6069,-1.14,-146.0,2360,1898,3541,3417,697.8,-9.1,251,6074,0.00,2.72,0.00,0.000,516,0.000,0.066,2361,340,3478,3540,3417,0,0,0,0,0,0,24.92,24.60,24.94
$GC,6101,-1.14,-146.0,2360,339,3540,3417,697.8,-9.1,251,6106,0.00,2.60,0.00,0.000,1030,0.000,0.035,2361,1905,3478,3540,3417,0,0,0,0,0,0,24.73,24.65,24.75
$GC,6354,-1.14,-146.0,2360,1905,3538,3416,722.5,-8.5,258,6360,0.00,2.75,0.00,0.000,516,0.000,0.068,2361,344,3477,3538,3416,0,0,0,0,0,0,24.91,24.60,24.94
$GC,6372,-1.14,-146.0,2360,344,3538,3416,722.5,-8.5,258,6378,0.00,2.60,0.00,0.000,1030,0.000,0.037,2361,1906,3477,3538,3416,0,0,0,0,0,0,24.73,24.65,24.75
$GC,6640,-1.14,-146.0,2360,1906,3537,3414,746.9,-8.6,265,6645,0.00,2.75,0.00,0.000,516,0.000,0.070,2361,345,3475,3537,3414,0,0,0,0,0,0,24.92,24.59,24.94
$GC,6707,-1.14,-146.0,2360,346,3537,3414,750.9,-8.8,266,6713,0.00,2.60,0.00,0.000,1030,0.000,0.040,2361,1899,3475,3537,3414,0,0,0,0,0,0,24.73,24.65,24.75
$GC,6966,-1.14,-146.0,2360,1899,3535,3413,776.9,-9.2,273,6972,0.00,2.75,0.00,0.000,516,0.000,0.073,2361,345,3474,3535,3413,0,0,0,0,0,0,24.91,24.60,24.94
$GC,7003,-1.14,-146.0,2360,345,3535,3412,776.9,-9.2,273,7011,0.00,2.60,0.00,0.000,1030,0.000,0.036,2361,1918,3473,3535,3412,0,0,0,0,0,0,24.74,24.67,24.75
$GC,7249,-1.14,-146.0,2360,1918,3534,3411,803.3,-9.1,280,7254,0.00,2.72,0.00,0.000,516,0.000,0.062,2361,345,3472,3534,3411,0,0,0,0,0,0,24.91,24.60,24.94
$GC,7316,-1.14,-146.0,2360,346,3534,3410,807.5,-9.2,281,7322,0.00,2.58,0.00,0.000,1030,0.000,0.041,2361,1901,3472,3534,3410,0,0,0,0,0,0,24.73,24.65,24.75
$GC,7575,-1.14,-146.0,2360,1901,3533,3409,833.6,-9.0,288,7581,0.00,2.70,0.00,0.000,516,0.000,0.060,2361,340,3471,3533,3409,0,0,0,0,0,0,24.91,24.60,24.94
$GC,7608,-1.14,-146.0,2360,340,3533,3409,833.6,-9.0,288,7613,0.00,2.58,0.00,0.000,1030,0.000,0.034,2361,1900,3470,3533,3408,0,0,0,0,0,0,24.73,24.65,24.75
$GC,7860,-1.14,-146.0,2360,1900,3531,3408,859.9,-9.1,295,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1900,3470,3532,3408,0,0,0,0,0,0,24.92,24.94,24.94
$GC,8101,-1.14,-146.0,2360,1900,3531,3407,881.2,-8.8,301,8106,0.00,2.75,0.00,0.000,260,0.000,0.068,2361,3476,3469,3531,3407,0,0,0,0,0,0,24.92,24.61,24.94
$GC,8118,-1.14,-146.0,2360,3476,3530,3407,881.2,-8.8,301,8124,0.00,2.53,0.00,0.000,1030,0.000,0.031,2361,1923,3468,3530,3407,0,0,0,0,0,0,24.74,24.67,24.76
$STATE,8344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8344,begin apogee
$GC,8349,-0.26,0.0,2360,1922,3530,3406,901.2,-7.9,307,8476,1.35,0.00,123.47,1.178,10246,0.109,0.000,2644,1922,2899,2955,2844,0,0,0,0,0,0,24.60,23.80,23.15
$STATE,8477,end apogee,CONTROL_FINISHED_OK
$STATE,8477,begin climb
$GC,8479,1.14,146.0,2644,1922,2955,2842,902.5,0.0,310,8617,1.92,0.00,132.15,1.141,10502,0.063,0.000,3083,1922,2303,2352,2254,0,0,0,0,0,0,24.00,23.74,23.13
$GC,8826,1.14,146.0,3083,1922,2350,2242,863.7,13.8,319,8827,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1922,2295,2349,2242,0,0,0,0,0,0,24.56,24.58,24.58
$GC,9066,1.14,146.0,3083,1922,2350,2239,830.7,13.7,325,9072,0.00,2.75,0.00,0.000,260,0.000,0.060,3083,3492,2294,2350,2239,0,0,0,0,0,0,24.61,24.30,24.63
$GC,9109,1.14,146.0,3082,3492,2348,2239,824.8,13.7,326,9114,0.00,2.62,0.00,0.000,1030,0.000,0.036,3083,1908,2293,2348,2239,0,0,0,0,0,0,24.44,24.37,24.46
$GC,9391,1.14,146.0,3083,1908,2348,2237,787.6,12.8,333,9397,0.00,2.88,0.00,0.000,516,0.000,0.080,3083,323,2292,2348,2236,0,0,0,0,0,0,24.66,24.34,24.68
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$GC,12501,1.23,221.4,3107,3492,2166,2062,456.5,8.7,409,12536,0.00,2.62,27.73,0.859,9222,0.000,0.029,3108,1898,1995,2041,1950,0,0,0,0,0,0,24.37,24.30,23.35
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$STATE,16461,end climb,SURFACE_DEPTH_REACHED
$STATE,16461,begin surface coast
$FINISH,0.2,1.023927
$STATE,16491,end surface coast,CONTROL_FINISHED_OK
$STATE,16491,begin surface
$SM_CCo,16509,79.45,0.476,0,0,1349,380.21
$SM_GC,0.86,11.18,0.00,79.45,0.040,0.000,0.476,436,1883,1349,-7.15,-0.45,380.21,0,0,0,0,0,0,24.53,24.82,23.69
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$TT8_MAMPS,0.021721,0.280875
$HUMID,48.81
$INTERNAL_PRESSURE,9.18381
$TCM_TEMP,21.60
$XPDR_PINGS,60
$24V_AH,23.13,22.150
$10V_AH,10.27,14.751
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.875,189.925,339.450,79.450,0.000,27.898,43.882,207.085,15.000,0.000,34.813,2367.485,11529.311,624.455,2295.268,191.143,0.000,1569.909,0.000,1952.922,0.000,0.538,0.000
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$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343156
$DATA_FILE_SIZE,53955,671
$CAP_FILE_SIZE,153608,0
$CFSIZE,259248128,248786944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7320.98,0x212b6e,0,24
$CURRENT,0.105,302.35,1
$GPS,100418,152743,2246.061,-15624.685,34,1.2,74,10.2,0.6,167.2,6,5.4