version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 185
start: 4 16 118 13 43 41
data:
$ID,148
$MISSION,15
$DIVE,185
$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,38
$R_STBD_OVSHOOT,56
$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
$GPS1,160418,133426,2213.5818,-15643.7295,89,1.4,93,10.1,0.4,190.6,8,4.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-60.4
$GPS2,160418,134316,2213.6047,-15643.8008,17,1.2,34,10.1,1.4,295.6,8,4.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,E5
$TGT_LATLONG,2206.000,-15724.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,229.6,70402,-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,-146.0,433,1875,1343,1338,0.0,0.0,0,97,0.00,0.00,-76.88,0.000,16390,0.000,0.000,433,1875,3497,3543,3452,0,0,0,0,0,0,24.60,23.58,24.63
$GC,100,-1.14,-146.0,433,1875,3543,3452,4.6,-11.8,11,116,10.55,2.58,0.00,0.000,2564,0.158,0.028,2361,315,3498,3544,3453,0,0,0,0,0,0,24.20,24.34,24.34
$GC,209,-1.14,-146.0,2360,314,3545,3453,35.4,-20.4,27,217,0.00,2.50,0.00,0.000,1030,0.000,0.016,2361,1914,3499,3545,3453,0,0,0,0,0,0,24.49,24.45,24.51
$GC,457,-1.14,-146.0,2360,1917,3546,3453,80.7,-16.0,52,462,0.00,2.62,0.00,0.000,516,0.000,0.039,2361,308,3499,3546,3453,0,0,0,0,0,0,24.70,24.44,24.72
$GC,483,-1.14,-146.0,2360,308,3546,3453,84.7,-16.1,54,491,0.00,2.53,0.00,0.000,1030,0.000,0.015,2360,1905,3499,3546,3453,0,0,0,0,0,0,24.55,24.50,24.56
$GC,733,-1.14,-146.0,2360,1905,3547,3453,121.6,-14.3,79,739,0.00,2.47,0.00,0.000,260,0.000,0.028,2360,3459,3500,3547,3453,0,0,0,0,0,0,24.73,24.49,24.75
$GC,791,-1.14,-146.0,2360,3459,3548,3453,130.1,-15.4,84,799,0.00,2.47,0.00,0.000,1030,0.000,0.016,2361,1866,3500,3547,3453,0,0,0,0,0,0,24.58,24.53,24.58
$GC,1039,-1.14,-146.0,2360,1867,3549,3453,163.9,-13.2,109,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1866,3501,3549,3453,0,0,0,0,0,0,24.76,24.78,24.77
$GC,1278,-1.14,-146.0,2360,1866,3549,3453,195.1,-13.1,133,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1866,3501,3549,3453,0,0,0,0,0,0,24.79,24.80,24.79
$GC,1517,-1.14,-146.0,2360,1866,3550,3453,227.3,-13.4,142,1523,0.00,2.58,0.00,0.000,260,0.000,0.028,2360,3463,3501,3550,3453,0,0,0,0,0,0,24.80,24.55,24.82
$GC,1569,-1.14,-146.0,2360,3464,3550,3453,233.2,-13.5,143,1574,0.00,2.42,0.00,0.000,1030,0.000,0.017,2360,1900,3501,3550,3453,0,0,0,0,0,0,24.63,24.59,24.65
$GC,1841,-1.14,-146.0,2360,1900,3549,3453,268.0,-12.1,150,1847,0.00,2.55,0.00,0.000,516,0.000,0.034,2361,334,3501,3550,3453,0,0,0,0,0,0,24.80,24.56,24.82
$GC,1873,-1.14,-146.0,2360,334,3549,3453,268.0,-12.1,150,1879,0.00,2.45,0.00,0.000,1030,0.000,0.018,2361,1901,3501,3550,3453,0,0,0,0,0,0,24.65,24.60,24.67
$GC,2126,-1.14,-146.0,2360,1901,3550,3453,299.2,-10.7,157,2132,0.00,2.60,0.00,0.000,516,0.000,0.037,2361,333,3501,3550,3453,0,0,0,0,0,0,24.83,24.56,24.84
$GC,2153,-1.14,-146.0,2360,333,3549,3453,299.2,-10.7,157,2159,0.00,2.47,0.00,0.000,1030,0.000,0.019,2361,1898,3501,3550,3452,0,0,0,0,0,0,24.66,24.61,24.68
$GC,2411,-1.14,-146.0,2360,1899,3549,3450,332.0,-11.5,164,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1898,3500,3550,3450,0,0,0,0,0,0,24.82,24.84,24.84
$GC,2651,-1.14,-146.0,2360,1899,3549,3448,360.0,-11.6,170,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1899,3498,3549,3448,0,0,0,0,0,0,24.83,24.85,24.84
$GC,2891,-1.14,-146.0,2360,1898,3549,3446,386.7,-11.0,176,2896,0.00,2.62,0.00,0.000,516,0.000,0.046,2361,337,3497,3549,3445,0,0,0,0,0,0,24.79,24.57,24.82
$GC,2937,-1.14,-146.0,2360,337,3549,3445,391.8,-11.3,177,2944,0.00,2.50,0.00,0.000,1030,0.000,0.022,2361,1900,3497,3549,3445,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3216,-1.14,-146.0,2360,1900,3549,3442,423.7,-11.3,184,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1900,3495,3549,3442,0,0,0,0,0,0,24.80,24.83,24.82
$GC,3456,-1.14,-146.0,2360,1900,3550,3438,449.6,-10.8,190,3461,0.00,2.70,0.00,0.000,516,0.000,0.053,2361,338,3493,3549,3438,0,0,0,0,0,0,24.87,24.58,24.89
$GC,3488,-1.14,-146.0,2360,338,3549,3438,449.6,-10.8,190,3493,0.00,2.53,0.00,0.000,1030,0.000,0.026,2360,1898,3494,3550,3438,0,0,0,0,0,0,24.70,24.63,24.71
$GC,3741,-1.14,-146.0,2360,1898,3549,3434,478.4,-9.7,197,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1898,3492,3550,3434,0,0,0,0,0,0,24.87,24.90,24.89
$GC,3980,-1.14,-146.0,2360,1899,3549,3431,503.2,-10.8,203,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1898,3490,3549,3432,0,0,0,0,0,0,24.88,24.91,24.90
$GC,4221,-1.14,-146.0,2360,1898,3549,3430,529.3,-11.0,209,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1898,3489,3549,3430,0,0,0,0,0,0,24.89,24.91,24.91
$GC,4460,-1.14,-146.0,2360,1898,3550,3426,554.7,-10.6,215,4465,0.00,2.70,0.00,0.000,516,0.000,0.060,2361,350,3487,3549,3425,0,0,0,0,0,0,24.90,24.59,24.91
$GC,4496,-1.14,-146.0,2360,350,3549,3426,554.7,-10.6,215,4503,0.00,2.55,0.00,0.000,1030,0.000,0.031,2361,1902,3487,3549,3425,0,0,0,0,0,0,24.72,24.65,24.73
$GC,4743,-1.14,-146.0,2360,1902,3546,3424,584.1,-10.1,222,4749,0.00,2.67,0.00,0.000,516,0.000,0.057,2361,350,3485,3546,3424,0,0,0,0,0,0,24.89,24.59,24.91
$GC,4770,-1.14,-146.0,2360,349,3546,3424,584.1,-10.1,222,4775,0.00,2.58,0.00,0.000,1030,0.000,0.033,2360,1910,3485,3546,3424,0,0,0,0,0,0,24.72,24.64,24.73
$GC,5028,-1.14,-146.0,2360,1910,3544,3421,610.4,-8.9,229,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1909,3482,3544,3421,0,0,0,0,0,0,24.90,24.92,24.91
$GC,5268,-1.14,-146.0,2360,1909,3543,3420,631.8,-8.9,235,5273,0.00,2.70,0.00,0.000,516,0.000,0.059,2361,348,3481,3543,3420,0,0,0,0,0,0,24.90,24.59,24.92
$GC,5312,-1.14,-146.0,2360,348,3542,3420,636.0,-9.1,236,5317,0.00,2.58,0.00,0.000,1030,0.000,0.035,2360,1896,3481,3542,3420,0,0,0,0,0,0,24.72,24.64,24.73
$GC,5595,-1.14,-146.0,2360,1896,3541,3418,661.7,-9.2,243,5600,0.00,2.70,0.00,0.000,516,0.000,0.061,2361,347,3480,3541,3419,0,0,0,0,0,0,24.90,24.59,24.92
$GC,5638,-1.14,-146.0,2360,347,3540,3418,666.3,-9.6,244,5643,0.00,2.60,0.00,0.000,1030,0.000,0.037,2361,1902,3479,3541,3418,0,0,0,0,0,0,24.72,24.63,24.74
$GC,5921,-1.14,-146.0,2360,1902,3539,3417,693.5,-9.4,251,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1902,3478,3539,3417,0,0,0,0,0,0,24.91,24.93,24.92
$GC,6161,-1.14,-146.0,2360,1902,3538,3415,715.5,-9.1,257,6166,0.00,2.72,0.00,0.000,516,0.000,0.070,2361,349,3476,3538,3415,0,0,0,0,0,0,24.91,24.59,24.93
$GC,6182,-1.14,-146.0,2360,349,3538,3415,715.5,-9.1,257,6188,0.00,2.60,0.00,0.000,1030,0.000,0.040,2360,1900,3476,3538,3415,0,0,0,0,0,0,24.72,24.63,24.74
$GC,6446,-1.14,-146.0,2360,1900,3536,3413,739.6,-8.2,264,6451,0.00,2.78,0.00,0.000,516,0.000,0.069,2361,341,3474,3536,3413,0,0,0,0,0,0,24.91,24.58,24.92
$GC,6512,-1.14,-146.0,2360,341,3536,3413,743.5,-8.4,265,6518,0.00,2.62,0.00,0.000,1030,0.000,0.043,2361,1899,3474,3536,3413,0,0,0,0,0,0,24.72,24.63,24.74
$GC,6770,-1.14,-146.0,2360,1899,3535,3411,768.2,-9.0,272,6776,0.00,2.75,0.00,0.000,516,0.000,0.073,2361,350,3472,3534,3411,0,0,0,0,0,0,24.91,24.58,24.93
$GC,6792,-1.14,-146.0,2360,350,3534,3411,768.2,-9.0,272,6797,0.00,2.62,0.00,0.000,1030,0.000,0.049,2361,1903,3473,3535,3411,0,0,0,0,0,0,24.72,24.63,24.73
$GC,7055,-1.14,-146.0,2360,1903,3533,3409,796.4,-9.9,279,7060,0.00,2.78,0.00,0.000,516,0.000,0.077,2360,352,3471,3533,3409,0,0,0,0,0,0,24.91,24.58,24.92
$GC,7101,-1.14,-146.0,2360,352,3533,3409,800.9,-10.1,280,7106,0.00,2.65,0.00,0.000,1030,0.000,0.048,2361,1906,3471,3533,3409,0,0,0,0,0,0,24.71,24.62,24.73
$GC,7379,-1.14,-146.0,2360,1910,3532,3408,827.9,-9.4,287,7384,0.00,2.72,0.00,0.000,516,0.000,0.062,2361,343,3470,3532,3408,0,0,0,0,0,0,24.90,24.58,24.92
$GC,7421,-1.14,-146.0,2360,343,3532,3408,832.2,-9.5,288,7427,0.00,2.60,0.00,0.000,1030,0.000,0.033,2361,1911,3470,3532,3408,0,0,0,0,0,0,24.72,24.65,24.74
$GC,7705,-1.14,-146.0,2360,1911,3531,3407,857.8,-8.9,295,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1911,3469,3531,3407,0,0,0,0,0,0,24.91,24.94,24.93
$GC,7944,-1.14,-146.0,2360,1912,3530,3406,878.5,-8.7,301,7949,0.00,2.72,0.00,0.000,516,0.000,0.060,2361,340,3468,3530,3406,0,0,0,0,0,0,24.91,24.60,24.94
$GC,7996,-1.14,-146.0,2360,340,3530,3406,882.4,-8.7,302,8002,0.00,2.60,0.00,0.000,1030,0.000,0.034,2361,1910,3468,3530,3406,0,0,0,0,0,0,24.73,24.66,24.75
$STATE,8227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8227,begin apogee
$GC,8232,-0.26,0.0,2360,1851,3529,3404,902.5,-8.2,308,8359,1.33,0.00,123.12,1.183,10246,0.097,0.000,2646,1850,2899,2955,2844,0,0,0,0,0,0,24.60,23.79,23.15
$STATE,8360,end apogee,CONTROL_FINISHED_OK
$STATE,8360,begin climb
$GC,8362,1.14,146.0,2646,1850,2955,2843,904.7,0.0,311,8500,1.92,0.00,132.60,1.149,10502,0.061,0.000,3093,1850,2303,2352,2254,0,0,0,0,0,0,24.00,23.73,23.12
$GC,8710,1.14,146.0,3092,1850,2349,2242,869.0,12.9,320,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1850,2295,2349,2242,0,0,0,0,0,0,24.52,24.55,24.54
$GC,8949,1.14,146.0,3092,1850,2349,2239,837.8,13.0,326,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1850,2294,2349,2239,0,0,0,0,0,0,24.60,24.62,24.62
$GC,9189,1.14,146.0,3092,1850,2349,2236,807.1,12.8,332,9190,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1850,2293,2349,2237,0,0,0,0,0,0,24.65,24.68,24.67
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$STATE,16709,end climb,SURFACE_DEPTH_REACHED
$STATE,16709,begin surface coast
$FINISH,0.2,1.023621
$STATE,16738,end surface coast,CONTROL_FINISHED_OK
$STATE,16738,begin surface
$SM_CCo,16758,77.15,0.484,0,0,1350,380.21
$SM_GC,0.91,11.43,0.00,77.15,0.047,0.000,0.484,431,1858,1350,-7.16,-1.19,380.21,0,0,0,0,0,0,24.48,24.77,23.68
$IRIDIUM_FIX,2204.37,-15644.11,160418,084727
$TT8_MAMPS,0.021721,0.348285
$HUMID,49.92
$INTERNAL_PRESSURE,9.18381
$TCM_TEMP,22.30
$XPDR_PINGS,108
$24V_AH,23.12,26.188
$10V_AH,10.12,17.543
$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
$DEVICE_SECS,25.325,189.025,355.075,77.150,0.000,58.125,49.365,219.868,27.000,0.000,36.232,2327.849,11889.517,661.495,2287.851,202.921,0.000,1581.380,0.000,1902.877,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,462.132,310.139,558.176,540.869,648.779,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343084
$DATA_FILE_SIZE,53771,679
$CAP_FILE_SIZE,154249,0
$CFSIZE,259248128,246751232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,326.41,1
$GPS,160418,182614,2212.892,-15646.127,40,2.2,80,10.1,0.3,194.1,4,7.7