version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 192
start: 4 18 118 0 10 46
data:
$ID,148
$MISSION,15
$DIVE,192
$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,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
$GPS1,180418,000244,2210.0840,-15700.0596,39,1.7,79,10.0,0.9,303.8,6,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-62.2
$GPS2,180418,001020,2210.1360,-15700.1113,19,1.2,58,10.0,0.8,21.7,8,5.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,E5
$TGT_LATLONG,2206.000,-15724.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,242.4,41700,-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,-146.0,433,1863,1344,1338,0.0,0.0,0,96,0.00,0.00,-77.32,0.000,16390,0.000,0.000,433,1863,3497,3543,3451,0,0,0,0,0,0,24.61,23.75,24.63
$GC,99,-1.14,-146.0,433,1864,3542,3451,4.1,-9.0,11,115,10.35,2.62,0.00,0.000,2308,0.156,0.024,2361,3476,3498,3544,3452,0,0,0,0,0,0,24.23,24.34,24.36
$GC,329,-1.14,-146.0,2361,3476,3546,3452,56.7,-18.2,40,335,0.00,2.47,0.00,0.000,1030,0.000,0.017,2361,1889,3498,3545,3452,0,0,0,0,0,0,24.51,24.46,24.53
$GC,584,-1.14,-146.0,2360,1889,3546,3452,97.8,-15.4,65,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1889,3499,3546,3452,0,0,0,0,0,0,24.72,24.74,24.73
$GC,823,-1.14,-146.0,2360,1889,3547,3452,134.0,-14.6,89,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1889,3499,3547,3452,0,0,0,0,0,0,24.74,24.76,24.76
$GC,1063,-1.14,-146.0,2360,1889,3549,3452,169.6,-13.7,113,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1889,3501,3549,3453,0,0,0,0,0,0,24.76,24.78,24.78
$GC,1303,-1.14,-146.0,2360,1889,3549,3453,199.8,-12.3,137,1308,0.00,2.55,0.00,0.000,260,0.000,0.028,2361,3468,3500,3549,3452,0,0,0,0,0,0,24.78,24.53,24.80
$GC,1340,-1.14,-146.0,2360,3468,3549,3453,201.3,-12.4,138,1346,0.00,2.45,0.00,0.000,1030,0.000,0.018,2361,1890,3501,3549,3453,0,0,0,0,0,0,24.62,24.57,24.63
$GC,1585,-1.14,-146.0,2360,1890,3549,3453,233.3,-11.5,145,1591,0.00,2.55,0.00,0.000,516,0.000,0.033,2361,325,3501,3549,3453,0,0,0,0,0,0,24.80,24.55,24.82
$GC,1613,-1.14,-146.0,2360,324,3549,3453,233.3,-11.5,145,1618,0.00,2.47,0.00,0.000,1030,0.000,0.018,2361,1911,3501,3549,3453,0,0,0,0,0,0,24.63,24.58,24.65
$GC,1870,-1.14,-146.0,2360,1910,3549,3453,269.5,-12.9,152,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1910,3501,3549,3453,0,0,0,0,0,0,24.79,24.82,24.82
$GC,2110,-1.14,-146.0,2360,1910,3549,3453,297.9,-11.5,158,2116,0.00,2.62,0.00,0.000,516,0.000,0.037,2361,327,3501,3549,3453,0,0,0,0,0,0,24.82,24.56,24.84
$GC,2157,-1.14,-146.0,2360,327,3549,3453,302.8,-11.4,159,2163,0.00,2.47,0.00,0.000,1030,0.000,0.020,2361,1894,3501,3549,3453,0,0,0,0,0,0,24.65,24.60,24.67
$GC,2435,-1.14,-146.0,2360,1894,3549,3451,333.7,-10.8,166,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1894,3500,3549,3451,0,0,0,0,0,0,24.84,24.87,24.86
$GC,2675,-1.14,-146.0,2360,1894,3549,3448,359.5,-10.9,172,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1894,3498,3549,3448,0,0,0,0,0,0,24.83,24.86,24.85
$GC,2915,-1.14,-146.0,2360,1894,3549,3446,387.7,-11.9,178,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1894,3497,3549,3446,0,0,0,0,0,0,24.79,24.82,24.82
$GC,3155,-1.14,-146.0,2360,1894,3549,3443,415.8,-11.6,184,3161,0.00,2.62,0.00,0.000,516,0.000,0.048,2360,341,3496,3549,3443,0,0,0,0,0,0,24.80,24.58,24.82
$GC,3217,-1.14,-146.0,2360,341,3549,3443,420.9,-11.7,185,3223,0.00,2.50,0.00,0.000,1030,0.000,0.024,2361,1893,3496,3549,3443,0,0,0,0,0,0,24.70,24.63,24.71
$GC,3480,-1.14,-146.0,2360,1893,3550,3439,453.7,-11.2,192,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1893,3494,3549,3439,0,0,0,0,0,0,24.87,24.89,24.89
$GC,3720,-1.14,-146.0,2360,1893,3549,3436,480.3,-11.1,198,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1893,3492,3549,3436,0,0,0,0,0,0,24.88,24.91,24.90
$GC,3960,-1.14,-146.0,2360,1893,3549,3433,504.9,-10.0,204,3966,0.00,2.70,0.00,0.000,516,0.000,0.058,2361,340,3490,3549,3432,0,0,0,0,0,0,24.89,24.58,24.91
$GC,3982,-1.14,-146.0,2360,339,3549,3433,504.9,-10.0,204,3987,0.00,2.55,0.00,0.000,1030,0.000,0.029,2361,1899,3491,3549,3433,0,0,0,0,0,0,24.71,24.64,24.72
$GC,4245,-1.14,-146.0,2360,1899,3549,3430,532.1,-9.4,211,4251,0.00,2.70,0.00,0.000,516,0.000,0.057,2361,345,3489,3549,3430,0,0,0,0,0,0,24.89,24.58,24.91
$GC,4278,-1.14,-146.0,2360,345,3549,3430,532.1,-9.4,211,4283,0.00,2.55,0.00,0.000,1030,0.000,0.031,2361,1901,3489,3549,3430,0,0,0,0,0,0,24.71,24.65,24.72
$GC,4530,-1.14,-146.0,2360,1901,3549,3425,559.9,-9.7,218,4536,0.00,2.72,0.00,0.000,516,0.000,0.057,2361,335,3487,3549,3425,0,0,0,0,0,0,24.89,24.58,24.91
$GC,4577,-1.14,-146.0,2360,336,3548,3425,564.5,-9.9,219,4583,0.00,2.58,0.00,0.000,1030,0.000,0.038,2361,1897,3486,3548,3425,0,0,0,0,0,0,24.71,24.63,24.72
$GC,4855,-1.14,-146.0,2360,1897,3545,3424,592.9,-10.0,226,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1897,3484,3544,3424,0,0,0,0,0,0,24.89,24.92,24.91
$GC,5095,-1.14,-146.0,2360,1897,3543,3422,616.5,-9.8,232,5100,0.00,2.70,0.00,0.000,516,0.000,0.066,2360,341,3482,3543,3422,0,0,0,0,0,0,24.90,24.59,24.92
$GC,5117,-1.14,-146.0,2360,341,3543,3422,616.5,-9.8,232,5123,0.00,2.60,0.00,0.000,1030,0.000,0.034,2361,1902,3482,3543,3422,0,0,0,0,0,0,24.72,24.64,24.73
$GC,5380,-1.14,-146.0,2360,1903,3541,3420,646.0,-10.2,239,5386,0.00,2.70,0.00,0.000,516,0.000,0.060,2361,345,3480,3541,3420,0,0,0,0,0,0,24.90,24.59,24.92
$GC,5417,-1.14,-146.0,2360,345,3541,3420,646.0,-10.2,239,5424,0.00,2.60,0.00,0.000,1030,0.000,0.041,2361,1907,3480,3541,3420,0,0,0,0,0,0,24.71,24.63,24.73
$GC,5663,-1.14,-146.0,2360,1907,3539,3418,674.5,-9.8,246,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1907,3479,3540,3418,0,0,0,0,0,0,24.90,24.93,24.92
$GC,5903,-1.14,-146.0,2360,1907,3538,3417,697.7,-9.7,252,5909,0.00,2.72,0.00,0.000,516,0.000,0.064,2361,347,3477,3538,3417,0,0,0,0,0,0,24.90,24.59,24.92
$GC,5926,-1.14,-146.0,2360,346,3538,3417,697.7,-9.7,252,5932,0.00,2.60,0.00,0.000,1030,0.000,0.038,2361,1900,3477,3538,3417,0,0,0,0,0,0,24.72,24.64,24.73
$GC,6189,-1.14,-146.0,2360,1900,3535,3415,726.0,-9.8,259,6194,0.00,2.78,0.00,0.000,260,0.000,0.069,2361,3489,3476,3536,3416,0,0,0,0,0,0,24.90,24.60,24.93
$GC,6226,-1.14,-146.0,2360,3489,3535,3416,726.0,-9.8,259,6233,0.00,2.58,0.00,0.000,1030,0.000,0.037,2361,1925,3475,3535,3416,0,0,0,0,0,0,24.72,24.64,24.74
$GC,6472,-1.14,-146.0,2360,1926,3535,3414,753.6,-9.5,266,6478,0.00,2.85,0.00,0.000,516,0.000,0.076,2361,316,3474,3534,3414,0,0,0,0,0,0,24.90,24.58,24.92
$GC,6504,-1.14,-146.0,2360,316,3535,3414,753.6,-9.5,266,6510,0.00,2.67,0.00,0.000,1030,0.000,0.043,2361,1906,3474,3534,3414,0,0,0,0,0,0,24.72,24.63,24.73
$GC,6757,-1.14,-146.0,2360,1906,3533,3412,779.3,-8.6,273,6762,0.00,2.83,0.00,0.000,516,0.000,0.073,2361,317,3472,3533,3411,0,0,0,0,0,0,24.91,24.58,24.92
$GC,6840,-1.14,-146.0,2360,317,3533,3411,786.8,-8.9,275,6845,0.00,2.70,0.00,0.000,1030,0.000,0.044,2361,1907,3472,3533,3411,0,0,0,0,0,0,24.72,24.63,24.73
$GC,7123,-1.14,-146.0,2360,1907,3531,3409,808.3,-7.3,282,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1907,3470,3531,3409,0,0,0,0,0,0,24.91,24.94,24.92
$GC,7363,-1.14,-146.0,2360,1910,3531,3409,825.1,-7.1,288,7369,0.00,2.80,0.00,0.000,516,0.000,0.063,2361,312,3469,3531,3408,0,0,0,0,0,0,24.91,24.58,24.93
$GC,7401,-1.14,-146.0,2360,312,3530,3409,825.1,-7.1,288,7408,0.00,2.65,0.00,0.000,1030,0.000,0.033,2361,1916,3469,3530,3408,0,0,0,0,0,0,24.73,24.65,24.75
$GC,7646,-1.14,-146.0,2360,1916,3530,3408,846.6,-7.7,295,7652,0.00,2.78,0.00,0.000,516,0.000,0.067,2361,320,3468,3530,3407,0,0,0,0,0,0,24.91,24.59,24.93
$GC,7694,-1.14,-146.0,2360,320,3530,3407,850.5,-8.0,296,7700,0.00,2.62,0.00,0.000,1030,0.000,0.035,2362,1900,3468,3529,3407,0,0,0,0,0,0,24.73,24.65,24.75
$GC,7972,-1.14,-146.0,2360,1900,3529,3406,874.9,-8.7,303,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1900,3467,3529,3406,0,0,0,0,0,0,24.91,24.94,24.93
$GC,8212,-1.14,-146.0,2360,1900,3528,3406,895.2,-8.4,309,8218,0.00,2.78,0.00,0.000,516,0.000,0.061,2361,317,3466,3528,3405,0,0,0,0,0,0,24.91,24.60,24.94
$GC,8256,-1.14,-146.0,2360,318,3528,3405,898.9,-8.4,310,8262,0.00,2.65,0.00,0.000,1030,0.000,0.034,2361,1912,3466,3528,3405,0,0,0,0,0,0,24.74,24.66,24.75
$STATE,8297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8297,begin apogee
$GC,8302,-0.26,0.0,2360,1825,3528,3405,902.6,-8.4,311,8430,1.33,0.00,123.10,1.190,10246,0.097,0.000,2646,1825,2900,2954,2846,0,0,0,0,0,0,24.60,23.80,23.13
$STATE,8431,end apogee,CONTROL_FINISHED_OK
$STATE,8431,begin climb
$GC,8432,1.14,146.0,2646,1825,2954,2844,904.5,0.0,314,8571,1.92,0.00,133.70,1.148,10246,0.054,0.000,3085,1825,2303,2352,2255,0,0,0,0,0,0,23.99,23.73,23.12
$GC,8779,1.14,146.0,3085,1824,2349,2244,868.2,13.0,323,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1825,2296,2349,2243,0,0,0,0,0,0,24.50,24.53,24.52
$GC,9019,1.14,146.0,3085,1824,2349,2239,836.9,13.0,329,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1824,2294,2349,2239,0,0,0,0,0,0,24.61,24.64,24.63
$GC,9259,1.14,146.0,3085,1824,2350,2237,805.6,13.0,335,9265,0.00,2.75,0.00,0.000,516,0.000,0.067,3086,279,2293,2350,2237,0,0,0,0,0,0,24.65,24.33,24.67
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$STATE,16862,end climb,SURFACE_DEPTH_REACHED
$STATE,16862,begin surface coast
$FINISH,0.1,1.011199
$STATE,16896,end surface coast,CONTROL_FINISHED_OK
$STATE,16896,begin surface
$SM_CCo,16916,69.62,0.489,0,0,1349,380.21
$SM_GC,0.91,11.48,0.00,69.62,0.044,0.000,0.489,422,1871,1349,-7.20,-0.82,380.21,0,0,0,0,0,0,24.46,24.77,23.66
$IRIDIUM_FIX,2202.04,-15701.85,170418,190828
$TT8_MAMPS,0.021721,0.278628
$HUMID,49.56
$INTERNAL_PRESSURE,9.18381
$TCM_TEMP,21.50
$XPDR_PINGS,84
$24V_AH,23.12,27.150
$10V_AH,10.20,18.200
$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
$DEVICE_SECS,25.200,200.800,370.675,69.625,0.000,24.908,55.321,210.529,21.000,0.000,62.140,2365.562,11871.622,702.537,2296.147,211.559,0.000,1645.353,0.000,1921.483,0.000,0.540,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,464.091,307.761,549.871,532.526,638.767,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343140
$DATA_FILE_SIZE,53772,683
$CAP_FILE_SIZE,157574,0
$CFSIZE,259248128,246272000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,297.67,1
$GPS,180418,045533,2209.647,-15702.805,34,1.1,63,10.0,0.4,329.1,9,4.5