version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 179
start: 4 15 118 8 32 29
data:
$ID,148
$MISSION,15
$DIVE,179
$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,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$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
$GPS1,150418,082403,2216.8359,-15636.5664,76,1.3,116,10.1,0.9,36.9,7,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-58.7
$GPS2,150418,083203,2216.8899,-15636.6064,12,1.3,52,10.1,0.7,185.2,7,5.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,E4
$TGT_LATLONG,2206.000,-15624.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,129.2,29575,-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,-146.0,436,1780,1342,1338,0.0,0.0,0,90,0.00,0.00,-72.50,0.000,16386,0.000,0.000,437,1779,3343,3386,3300,0,0,0,0,0,0,24.61,28.83,24.63
$GC,93,-1.14,-146.0,436,1779,3386,3300,3.2,-6.8,10,116,10.48,2.40,-2.80,0.000,19204,0.160,0.043,2360,319,3498,3552,3444,0,0,0,0,0,0,24.22,23.68,24.37
$GC,129,-1.14,-146.0,2360,319,3552,3444,17.1,-34.1,15,137,0.00,2.50,0.00,0.000,1030,0.000,0.015,2361,1919,3498,3552,3444,0,0,0,0,0,0,24.46,24.42,24.46
$GC,387,-1.14,-146.0,2360,1922,3552,3445,63.3,-18.0,46,392,0.00,2.45,0.00,0.000,260,0.000,0.026,2361,3462,3498,3552,3445,0,0,0,0,0,0,24.69,24.44,24.70
$GC,411,-1.14,-146.0,2360,3462,3552,3445,67.9,-18.1,48,416,0.00,2.45,0.00,0.000,1030,0.000,0.016,2360,1886,3498,3552,3445,0,0,0,0,0,0,24.53,24.49,24.53
$GC,666,-1.14,-146.0,2360,1886,3552,3446,112.2,-17.3,73,671,0.00,2.50,0.00,0.000,260,0.000,0.026,2361,3452,3499,3552,3446,0,0,0,0,0,0,24.72,24.48,24.74
$GC,762,-1.14,-146.0,2360,3452,3551,3447,128.2,-15.8,82,767,0.00,2.42,0.00,0.000,1030,0.000,0.017,2360,1888,3499,3552,3447,0,0,0,0,0,0,24.57,24.53,24.58
$GC,1015,-1.14,-146.0,2360,1887,3552,3448,165.0,-14.0,107,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1887,3500,3552,3448,0,0,0,0,0,0,24.76,24.78,24.77
$GC,1254,-1.14,-146.0,2360,1887,3552,3449,195.2,-12.4,131,1260,0.00,2.53,0.00,0.000,260,0.000,0.028,2360,3454,3500,3552,3449,0,0,0,0,0,0,24.77,24.53,24.79
$GC,1287,-1.14,-146.0,2360,3454,3552,3449,199.5,-12.7,134,1293,0.00,2.42,0.00,0.000,1030,0.000,0.017,2360,1892,3500,3552,3449,0,0,0,0,0,0,24.62,24.57,24.63
$GC,1540,-1.14,-146.0,2360,1893,3552,3450,229.7,-11.8,141,1546,0.00,2.53,0.00,0.000,260,0.000,0.028,2360,3455,3500,3552,3449,0,0,0,0,0,0,24.79,24.55,24.82
$GC,1577,-1.14,-146.0,2360,3455,3552,3449,229.7,-11.8,141,1585,0.00,2.42,0.00,0.000,1030,0.000,0.018,2360,1891,3500,3552,3449,0,0,0,0,0,0,24.63,24.59,24.65
$GC,1823,-1.14,-146.0,2360,1891,3552,3449,265.7,-13.0,148,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1891,3500,3552,3449,0,0,0,0,0,0,24.82,24.84,24.83
$GC,2063,-1.14,-146.0,2360,1891,3552,3449,297.9,-13.2,154,2069,0.00,2.55,0.00,0.000,516,0.000,0.036,2360,336,3500,3552,3449,0,0,0,0,0,0,24.82,24.57,24.84
$GC,2086,-1.14,-146.0,2360,336,3552,3449,297.9,-13.2,154,2091,0.00,2.45,0.00,0.000,1030,0.000,0.018,2360,1892,3500,3552,3449,0,0,0,0,0,0,24.66,24.61,24.68
$GC,2348,-1.14,-146.0,2360,1891,3552,3448,333.5,-12.2,161,2354,0.00,2.62,0.00,0.000,516,0.000,0.041,2360,336,3499,3551,3448,0,0,0,0,0,0,24.78,24.56,24.80
$GC,2395,-1.14,-146.0,2360,335,3552,3448,338.6,-12.0,162,2401,0.00,2.47,0.00,0.000,1030,0.000,0.019,2360,1900,3499,3551,3448,0,0,0,0,0,0,24.66,24.61,24.68
$GC,2674,-1.14,-146.0,2360,1900,3551,3445,369.8,-10.9,169,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1900,3498,3552,3445,0,0,0,0,0,0,24.79,24.82,24.82
$GC,2913,-1.14,-146.0,2360,1900,3552,3443,394.8,-10.3,175,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1900,3497,3551,3443,0,0,0,0,0,0,24.79,24.82,24.82
$GC,3154,-1.14,-146.0,2360,1900,3551,3440,417.9,-9.6,181,3159,0.00,2.67,0.00,0.000,516,0.000,0.050,2360,337,3495,3551,3440,0,0,0,0,0,0,24.87,24.58,24.89
$GC,3171,-1.14,-146.0,2360,337,3551,3440,417.9,-9.6,181,3177,0.00,2.50,0.00,0.000,1030,0.000,0.023,2360,1894,3495,3552,3439,0,0,0,0,0,0,24.70,24.63,24.71
$GC,3439,-1.14,-146.0,2360,1894,3552,3436,446.6,-10.2,188,3444,0.00,2.65,0.00,0.000,516,0.000,0.052,2360,337,3494,3552,3436,0,0,0,0,0,0,24.87,24.58,24.89
$GC,3455,-1.14,-146.0,2360,337,3552,3436,446.6,-10.2,188,3461,0.00,2.53,0.00,0.000,1030,0.000,0.026,2361,1897,3494,3552,3436,0,0,0,0,0,0,24.70,24.63,24.71
$GC,3723,-1.14,-146.0,2360,1897,3551,3432,477.6,-11.0,195,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1897,3492,3552,3432,0,0,0,0,0,0,24.88,24.90,24.89
$GC,3965,-1.14,-146.0,2360,1897,3552,3430,503.1,-10.8,201,3970,0.00,2.67,0.00,0.000,516,0.000,0.063,2360,341,3490,3551,3430,0,0,0,0,0,0,24.89,24.58,24.91
$GC,4011,-1.14,-146.0,2360,341,3551,3430,508.1,-11.0,202,4017,0.00,2.55,0.00,0.000,1030,0.000,0.029,2360,1900,3490,3551,3430,0,0,0,0,0,0,24.71,24.65,24.72
$GC,4290,-1.14,-146.0,2360,1900,3551,3425,537.6,-10.5,209,4295,0.00,2.70,0.00,0.000,516,0.000,0.055,2360,340,3488,3551,3425,0,0,0,0,0,0,24.89,24.59,24.91
$GC,4333,-1.14,-146.0,2360,340,3552,3424,542.4,-10.6,210,4338,0.00,2.58,0.00,0.000,1030,0.000,0.030,2360,1906,3487,3551,3424,0,0,0,0,0,0,24.71,24.64,24.72
$GC,4615,-1.14,-146.0,2360,1906,3551,3420,571.4,-10.1,217,4621,0.00,2.70,0.00,0.000,516,0.000,0.057,2360,341,3485,3551,3420,0,0,0,0,0,0,24.89,24.59,24.91
$GC,4692,-1.14,-146.0,2360,341,3549,3420,575.8,-10.1,218,4699,0.00,2.58,0.00,0.000,1030,0.000,0.034,2360,1902,3485,3550,3420,0,0,0,0,0,0,24.72,24.64,24.73
$GC,4940,-1.14,-146.0,2360,1902,3547,3420,602.8,-9.5,225,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1902,3483,3547,3420,0,0,0,0,0,0,24.89,24.92,24.91
$GC,5179,-1.14,-146.0,2360,1902,3545,3418,626.0,-9.6,231,5184,0.00,2.70,0.00,0.000,516,0.000,0.059,2360,340,3481,3545,3418,0,0,0,0,0,0,24.90,24.59,24.92
$GC,5195,-1.14,-146.0,2360,340,3545,3418,626.0,-9.6,231,5201,0.00,2.60,0.00,0.000,1030,0.000,0.034,2360,1910,3481,3545,3418,0,0,0,0,0,0,24.72,24.64,24.74
$GC,5464,-1.14,-146.0,2360,1910,3543,3417,652.5,-9.2,238,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1910,3480,3543,3417,0,0,0,0,0,0,24.91,24.93,24.92
$GC,5703,-1.14,-146.0,2360,1910,3542,3415,674.7,-9.3,244,5709,0.00,2.72,0.00,0.000,516,0.000,0.061,2360,344,3478,3542,3415,0,0,0,0,0,0,24.91,24.60,24.93
$GC,5725,-1.14,-146.0,2360,343,3542,3415,674.7,-9.3,244,5730,0.00,2.60,0.00,0.000,1030,0.000,0.037,2360,1904,3478,3542,3415,0,0,0,0,0,0,24.72,24.64,24.74
$GC,5989,-1.14,-146.0,2360,1905,3541,3413,702.1,-9.7,251,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1904,3476,3540,3413,0,0,0,0,0,0,24.91,24.94,24.93
$GC,6228,-1.14,-146.0,2360,1905,3539,3411,725.2,-9.6,257,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1905,3475,3539,3411,0,0,0,0,0,0,24.91,24.94,24.94
$GC,6468,-1.14,-146.0,2360,1905,3538,3410,747.4,-9.1,263,6474,0.00,2.75,0.00,0.000,516,0.000,0.068,2360,350,3474,3538,3410,0,0,0,0,0,0,24.91,24.60,24.94
$GC,6512,-1.14,-146.0,2360,350,3538,3409,751.4,-9.0,264,6517,0.00,2.62,0.00,0.000,1030,0.000,0.042,2361,1903,3474,3538,3410,0,0,0,0,0,0,24.73,24.65,24.75
$GC,6795,-1.14,-146.0,2360,1903,3535,3408,775.7,-8.3,271,6800,0.00,2.75,0.00,0.000,516,0.000,0.072,2360,350,3471,3534,3408,0,0,0,0,0,0,24.91,24.60,24.94
$GC,6852,-1.14,-146.0,2360,350,3535,3408,779.5,-8.4,272,6857,0.00,2.62,0.00,0.000,1030,0.000,0.044,2360,1902,3471,3535,3408,0,0,0,0,0,0,24.72,24.64,24.75
$GC,7120,-1.14,-146.0,2360,1901,3534,3407,802.6,-8.0,279,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1901,3470,3534,3407,0,0,0,0,0,0,24.91,24.94,24.94
$GC,7360,-1.14,-146.0,2360,1905,3533,3406,822.2,-8.2,285,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1905,3469,3533,3406,0,0,0,0,0,0,24.92,24.94,24.94
$GC,7600,-1.14,-146.0,2359,1906,3533,3405,842.6,-8.5,291,7606,0.00,2.72,0.00,0.000,516,0.000,0.060,2360,341,3469,3533,3405,0,0,0,0,0,0,24.92,24.61,24.94
$GC,7632,-1.14,-146.0,2359,341,3533,3404,842.6,-8.5,291,7637,0.00,2.60,0.00,0.000,1030,0.000,0.033,2360,1917,3468,3532,3405,0,0,0,0,0,0,24.75,24.67,24.76
$GC,7885,-1.14,-146.0,2360,1917,3531,3403,867.4,-8.6,298,7890,0.00,2.72,0.00,0.000,516,0.000,0.059,2360,341,3467,3531,3403,0,0,0,0,0,0,24.92,24.61,24.94
$GC,7912,-1.14,-146.0,2360,341,3531,3403,867.4,-8.6,298,7918,0.00,2.58,0.00,0.000,1030,0.000,0.032,2360,1902,3467,3531,3403,0,0,0,0,0,0,24.74,24.67,24.76
$GC,8171,-1.14,-146.0,2360,1902,3531,3402,891.8,-8.6,305,8176,0.00,2.70,0.00,0.000,516,0.000,0.064,2360,350,3466,3531,3402,0,0,0,0,0,0,24.92,24.61,24.94
$GC,8198,-1.14,-146.0,2360,349,3530,3402,891.8,-8.6,305,8203,0.00,2.58,0.00,0.000,1030,0.000,0.034,2360,1902,3466,3530,3402,0,0,0,0,0,0,24.74,24.66,24.75
$STATE,8293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8294,begin apogee
$GC,8298,-0.26,0.0,2360,1902,3530,3402,903.2,-9.0,308,8425,1.33,0.00,123.07,1.183,10246,0.105,0.000,2643,1902,2899,2955,2843,0,0,0,0,0,0,24.60,23.80,23.15
$STATE,8426,end apogee,CONTROL_FINISHED_OK
$STATE,8426,begin climb
$GC,8427,1.14,146.0,2642,1901,2955,2842,906.3,0.0,311,8566,1.98,0.00,133.50,1.148,10246,0.064,0.000,3083,1902,2303,2352,2254,0,0,0,0,0,0,23.99,23.73,23.13
$GC,8775,1.14,146.0,3082,1901,2349,2243,876.0,10.9,320,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1902,2296,2349,2243,0,0,0,0,0,0,24.50,24.53,24.52
$GC,9016,1.14,146.0,3082,1901,2349,2239,850.0,10.7,326,9021,0.00,2.85,0.00,0.000,516,0.000,0.063,3083,297,2294,2349,2239,0,0,0,0,0,0,24.61,24.30,24.63
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$STATE,16893,end climb,SURFACE_DEPTH_REACHED
$STATE,16893,begin surface coast
$FINISH,0.2,1.023831
$STATE,16923,end surface coast,CONTROL_FINISHED_OK
$STATE,16923,begin surface
$SM_CCo,16943,81.97,0.483,0,0,1349,380.21
$SM_GC,0.89,11.35,0.08,81.97,0.047,0.089,0.483,436,2014,1349,-7.15,-1.13,380.21,0,0,0,0,0,0,24.51,24.63,23.67
$IRIDIUM_FIX,2206.70,-15555.15,150418,033020
$TT8_MAMPS,0.021721,0.34454
$HUMID,49.13
$INTERNAL_PRESSURE,9.19357
$TCM_TEMP,21.40
$XPDR_PINGS,81
$24V_AH,23.13,25.368
$10V_AH,10.18,16.992
$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
$DEVICE_SECS,25.225,193.775,338.925,81.975,0.000,26.070,63.071,233.564,20.250,0.000,55.551,2324.688,12046.240,666.832,2262.502,210.177,0.000,1570.159,0.000,1871.295,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,465.739,308.765,542.495,536.402,654.335,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343124
$DATA_FILE_SIZE,53967,684
$CAP_FILE_SIZE,154319,0
$CFSIZE,259248128,247140352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129,343.55,1
$GPS,150418,131813,2216.422,-15635.344,71,1.5,81,10.1,0.9,352.9,8,5.2