version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 210
start: 4 22 118 5 39 29
data:
$ID,148
$MISSION,15
$DIVE,210
$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,2
$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,40
$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
$GPS1,220418,053202,2158.7307,-15715.1426,41,1.2,51,10.0,0.3,32.4,8,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-61.9
$GPS2,220418,053903,2158.7883,-15715.1279,11,1.0,33,10.0,0.5,111.0,8,5.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,E6
$TGT_LATLONG,2154.000,-15712.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,157.8,10370,-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,-146.0,418,1897,1349,1335,0.0,0.0,0,96,0.00,0.00,-77.10,0.000,16390,0.000,0.000,419,1897,3496,3541,3452,0,0,0,0,0,0,24.60,23.73,24.63
$GC,99,-1.14,-146.0,418,1897,3541,3453,4.5,-10.9,11,115,10.32,2.60,0.00,0.000,2564,0.152,0.026,2361,308,3498,3543,3454,0,0,0,0,0,0,24.22,24.34,24.36
$GC,224,-1.14,-146.0,2360,308,3545,3454,36.7,-17.4,30,230,0.00,2.50,0.00,0.000,1030,0.000,0.017,2361,1904,3499,3545,3453,0,0,0,0,0,0,24.49,24.44,24.51
$GC,479,-1.14,-146.0,2360,1905,3546,3454,78.5,-16.9,55,485,0.00,2.50,0.00,0.000,260,0.000,0.028,2361,3473,3500,3546,3454,0,0,0,0,0,0,24.70,24.46,24.72
$GC,505,-1.14,-146.0,2360,3473,3546,3454,82.6,-17.0,57,512,0.00,2.45,0.00,0.000,1030,0.000,0.016,2361,1885,3500,3546,3454,0,0,0,0,0,0,24.54,24.49,24.55
$GC,752,-1.14,-146.0,2360,1884,3547,3454,123.0,-15.5,82,758,0.00,2.50,0.00,0.000,516,0.000,0.031,2361,333,3500,3547,3454,0,0,0,0,0,0,24.73,24.49,24.75
$GC,769,-1.14,-146.0,2360,333,3547,3454,124.8,-15.0,83,776,0.00,2.45,0.00,0.000,1030,0.000,0.015,2361,1921,3500,3547,3454,0,0,0,0,0,0,24.57,24.53,24.58
$GC,1016,-1.14,-146.0,2360,1921,3548,3454,162.0,-15.8,108,1022,0.00,2.45,0.00,0.000,260,0.000,0.028,2361,3464,3501,3548,3454,0,0,0,0,0,0,24.76,24.51,24.77
$GC,1070,-1.14,-146.0,2360,3464,3548,3454,170.8,-16.4,113,1075,0.00,2.42,0.00,0.000,1030,0.000,0.016,2361,1894,3500,3548,3453,0,0,0,0,0,0,24.60,24.55,24.61
$GC,1354,-1.14,-146.0,2360,1894,3549,3454,209.3,-11.7,135,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1894,3501,3549,3454,0,0,0,0,0,0,24.79,24.81,24.80
$GC,1592,-1.14,-146.0,2360,1894,3549,3454,237.7,-11.9,141,1598,0.00,2.53,0.00,0.000,260,0.000,0.028,2361,3466,3501,3549,3454,0,0,0,0,0,0,24.80,24.56,24.82
$GC,1644,-1.14,-146.0,2360,3466,3550,3454,243.2,-12.1,142,1650,0.00,2.42,0.00,0.000,1030,0.000,0.016,2361,1892,3502,3550,3454,0,0,0,0,0,0,24.64,24.60,24.65
$GC,1917,-1.14,-146.0,2360,1892,3550,3454,274.8,-10.8,149,1922,0.00,2.53,0.00,0.000,516,0.000,0.034,2361,337,3502,3550,3454,0,0,0,0,0,0,24.80,24.56,24.82
$GC,1948,-1.14,-146.0,2360,336,3550,3454,274.8,-10.8,149,1954,0.00,2.45,0.00,0.000,1030,0.000,0.019,2360,1900,3502,3550,3454,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2201,-1.14,-146.0,2360,1900,3550,3454,306.2,-11.1,156,2206,0.00,2.53,0.00,0.000,260,0.000,0.034,2361,3467,3502,3550,3454,0,0,0,0,0,0,24.83,24.58,24.85
$GC,2234,-1.14,-146.0,2360,3467,3549,3454,306.2,-11.1,156,2240,0.00,2.45,0.00,0.000,1030,0.000,0.019,2361,1898,3501,3549,3454,0,0,0,0,0,0,24.66,24.61,24.68
$GC,2487,-1.14,-146.0,2360,1898,3550,3452,338.9,-11.6,163,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1898,3501,3550,3452,0,0,0,0,0,0,24.82,24.84,24.84
$GC,2727,-1.14,-146.0,2360,1898,3549,3449,367.1,-11.7,169,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1898,3500,3550,3450,0,0,0,0,0,0,24.85,24.88,24.87
$GC,2968,-1.14,-146.0,2360,1898,3550,3447,393.8,-11.0,175,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1898,3498,3549,3447,0,0,0,0,0,0,24.79,24.82,24.82
$GC,3207,-1.14,-146.0,2360,1898,3549,3444,418.2,-10.0,181,3212,0.00,2.65,0.00,0.000,516,0.000,0.048,2361,327,3497,3550,3444,0,0,0,0,0,0,24.81,24.58,24.82
$GC,3249,-1.14,-146.0,2360,327,3549,3444,422.8,-10.3,182,3255,0.00,2.53,0.00,0.000,1030,0.000,0.024,2361,1895,3497,3550,3444,0,0,0,0,0,0,24.69,24.63,24.70
$GC,3533,-1.14,-146.0,2360,1895,3549,3440,452.3,-10.6,189,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1895,3494,3549,3440,0,0,0,0,0,0,24.82,24.84,24.83
$GC,3772,-1.14,-146.0,2360,1894,3549,3436,478.4,-10.8,195,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1895,3492,3549,3436,0,0,0,0,0,0,24.88,24.91,24.90
$GC,4012,-1.14,-146.0,2360,1895,3549,3433,503.3,-10.1,201,4018,0.00,2.67,0.00,0.000,516,0.000,0.054,2361,340,3491,3549,3433,0,0,0,0,0,0,24.89,24.59,24.91
$GC,4075,-1.14,-146.0,2360,340,3549,3433,507.8,-10.0,202,4081,0.00,2.55,0.00,0.000,1030,0.000,0.031,2361,1898,3491,3549,3433,0,0,0,0,0,0,24.71,24.64,24.72
$GC,4338,-1.14,-146.0,2360,1898,3549,3429,535.9,-10.0,209,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1898,3489,3549,3429,0,0,0,0,0,0,24.89,24.91,24.91
$GC,4578,-1.14,-146.0,2360,1898,3549,3426,560.4,-10.2,215,4583,0.00,2.70,0.00,0.000,516,0.000,0.057,2361,341,3487,3549,3426,0,0,0,0,0,0,24.89,24.60,24.91
$GC,4615,-1.14,-146.0,2360,341,3549,3426,560.4,-10.2,215,4622,0.00,2.58,0.00,0.000,1030,0.000,0.033,2361,1907,3487,3549,3426,0,0,0,0,0,0,24.72,24.65,24.73
$GC,4861,-1.14,-146.0,2360,1906,3546,3424,587.9,-9.3,222,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1906,3485,3547,3424,0,0,0,0,0,0,24.90,24.92,24.91
$GC,5101,-1.14,-146.0,2360,1906,3545,3422,609.4,-8.8,228,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1906,3483,3545,3421,0,0,0,0,0,0,24.90,24.93,24.92
$GC,5341,-1.14,-146.0,2360,1906,3543,3420,631.1,-9.1,234,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1906,3481,3543,3420,0,0,0,0,0,0,24.91,24.93,24.93
$GC,5582,-1.14,-146.0,2360,1906,3541,3420,654.0,-9.6,240,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1906,3480,3542,3419,0,0,0,0,0,0,24.91,24.94,24.93
$GC,5821,-1.14,-146.0,2360,1907,3541,3418,678.3,-10.1,246,5826,0.00,2.70,0.00,0.000,260,0.000,0.063,2361,3485,3479,3541,3418,0,0,0,0,0,0,24.91,24.61,24.94
$GC,5837,-1.14,-146.0,2360,3485,3540,3418,678.3,-10.1,246,5843,0.00,2.58,0.00,0.000,1030,0.000,0.038,2361,1916,3479,3540,3418,0,0,0,0,0,0,24.73,24.65,24.75
$GC,6105,-1.14,-146.0,2360,1916,3539,3416,708.0,-10.3,253,6110,0.00,2.78,0.00,0.000,516,0.000,0.069,2361,322,3477,3539,3416,0,0,0,0,0,0,24.91,24.60,24.93
$GC,6122,-1.14,-146.0,2360,322,3538,3416,708.0,-10.3,253,6128,0.00,2.62,0.00,0.000,1030,0.000,0.040,2361,1892,3477,3539,3416,0,0,0,0,0,0,24.72,24.64,24.74
$GC,6390,-1.14,-146.0,2360,1892,3538,3414,735.8,-9.4,260,6395,0.00,2.75,0.00,0.000,516,0.000,0.071,2361,319,3476,3538,3414,0,0,0,0,0,0,24.91,24.60,24.93
$GC,6442,-1.14,-146.0,2360,319,3537,3414,739.8,-9.2,261,6448,0.00,2.67,0.00,0.000,1030,0.000,0.042,2361,1911,3475,3537,3414,0,0,0,0,0,0,24.72,24.63,24.74
$GC,6716,-1.14,-146.0,2360,1911,3535,3412,763.3,-8.2,268,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1911,3473,3535,3412,0,0,0,0,0,0,24.91,24.94,24.93
$GC,6955,-1.14,-146.0,2360,1911,3534,3410,782.8,-8.2,274,6961,0.00,2.83,0.00,0.000,516,0.000,0.072,2361,322,3472,3534,3411,0,0,0,0,0,0,24.91,24.60,24.94
$GC,6972,-1.14,-146.0,2360,322,3534,3410,782.8,-8.2,274,6978,0.00,2.67,0.00,0.000,1030,0.000,0.050,2361,1902,3471,3533,3410,0,0,0,0,0,0,24.72,24.63,24.74
$GC,7241,-1.14,-146.0,2360,1902,3533,3409,805.9,-8.0,281,7246,0.00,2.75,0.00,0.000,516,0.000,0.062,2361,319,3471,3533,3409,0,0,0,0,0,0,24.90,24.60,24.92
$GC,7267,-1.14,-146.0,2360,319,3533,3409,805.9,-8.0,281,7273,0.00,2.65,0.00,0.000,1030,0.000,0.036,2361,1917,3471,3533,3409,0,0,0,0,0,0,24.73,24.65,24.75
$GC,7525,-1.14,-146.0,2360,1918,3532,3408,829.1,-8.1,288,7530,0.00,2.78,0.00,0.000,516,0.000,0.060,2361,316,3469,3532,3407,0,0,0,0,0,0,24.91,24.60,24.93
$GC,7568,-1.14,-146.0,2360,316,3532,3408,832.8,-8.2,289,7573,0.00,2.65,0.00,0.000,1030,0.000,0.035,2361,1905,3470,3533,3408,0,0,0,0,0,0,24.73,24.65,24.75
$GC,7851,-1.14,-146.0,2360,1906,3531,3406,857.3,-8.7,296,7852,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1906,3468,3531,3406,0,0,0,0,0,0,24.91,24.94,24.93
$GC,8091,-1.14,-146.0,2360,1906,3530,3405,878.0,-8.7,302,8096,0.00,2.75,0.00,0.000,516,0.000,0.060,2361,319,3467,3530,3405,0,0,0,0,0,0,24.91,24.60,24.94
$GC,8118,-1.14,-146.0,2360,319,3530,3406,878.0,-8.7,302,8124,0.00,2.65,0.00,0.000,1030,0.000,0.041,2361,1906,3468,3531,3405,0,0,0,0,0,0,24.73,24.65,24.75
$STATE,8334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8334,begin apogee
$GC,8339,-0.26,0.0,2360,1832,3530,3404,900.5,-9.1,308,8467,1.30,0.00,123.82,1.187,10246,0.093,0.000,2643,1832,2899,2955,2844,0,0,0,0,0,0,24.61,23.80,23.13
$STATE,8468,end apogee,CONTROL_FINISHED_OK
$STATE,8468,begin climb
$GC,8470,1.14,146.0,2643,1832,2954,2842,903.7,0.0,311,8609,1.90,0.00,133.77,1.153,10758,0.059,0.000,3086,1832,2303,2352,2255,0,0,0,0,0,0,23.99,23.74,23.11
$GC,8816,1.14,146.0,3085,1831,2349,2243,870.9,12.0,320,8822,0.00,2.83,0.00,0.000,260,0.000,0.067,3086,3427,2296,2349,2243,0,0,0,0,0,0,24.56,24.24,24.58
$GC,8833,1.14,146.0,3085,3427,2348,2243,870.9,12.0,320,8839,0.00,2.60,0.00,0.000,1030,0.000,0.031,3086,1864,2295,2347,2243,0,0,0,0,0,0,24.39,24.30,24.40
$GC,9101,1.14,146.0,3085,1864,2348,2239,836.2,12.2,327,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1864,2293,2348,2239,0,0,0,0,0,0,24.63,24.65,24.64
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$STATE,16866,end climb,SURFACE_DEPTH_REACHED
$STATE,16866,begin surface coast
$FINISH,0.1,1.020429
$STATE,16901,end surface coast,CONTROL_FINISHED_OK
$STATE,16901,begin surface
$SM_CCo,16920,80.45,0.480,0,0,1349,380.21
$SM_GC,0.84,11.25,0.00,80.45,0.040,0.000,0.480,432,1871,1349,-7.16,-0.82,380.21,0,0,0,0,0,0,24.53,24.82,23.68
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$TT8_MAMPS,0.021721,0.285369
$HUMID,49.68
$INTERNAL_PRESSURE,9.19357
$TCM_TEMP,22.30
$XPDR_PINGS,62
$24V_AH,23.11,30.676
$10V_AH,10.20,20.226
$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
$DEVICE_SECS,24.875,183.775,340.725,80.450,0.000,27.379,50.831,200.993,15.500,0.000,36.887,2292.461,12095.377,649.175,2185.782,202.872,0.000,1541.773,0.000,1853.074,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
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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,343076
$DATA_FILE_SIZE,54130,680
$CAP_FILE_SIZE,150337,0
$CFSIZE,259248128,245035008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,80.60,1
$GPS,220418,102434,2156.813,-15713.632,66,1.0,66,10.0,0.7,21.9,10,7.3