version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 226
start: 4 25 118 11 28 18
data:
$ID,148
$MISSION,15
$DIVE,226
$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,38
$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
$GPS1,250418,112033,2210.6956,-15642.0625,115,1.8,126,10.1,1.2,245.4,9,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-58.5
$GPS2,250418,112752,2210.6985,-15642.0742,13,1.2,24,10.1,0.2,205.2,8,4.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,E7
$TGT_LATLONG,2230.000,-15600.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,67.9,80376,-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,-146.0,434,1846,1351,1330,0.0,0.0,0,90,0.00,0.00,-71.93,0.000,16386,0.000,0.000,434,1847,3331,3377,3286,0,0,0,0,0,0,24.60,28.83,24.62
$GC,93,-1.14,-146.0,434,1847,3377,3286,3.2,-6.7,10,109,10.23,0.00,-2.97,0.000,18950,0.151,0.000,2361,1847,3497,3551,3443,0,0,0,0,0,0,24.21,23.68,24.36
$GC,363,-1.14,-146.0,2360,1847,3551,3445,61.7,-18.3,44,369,0.00,2.60,0.00,0.000,260,0.000,0.026,2361,3471,3498,3551,3445,0,0,0,0,0,0,24.68,24.43,24.70
$GC,398,-1.14,-146.0,2360,3471,3552,3446,67.7,-18.1,47,403,0.00,2.47,0.00,0.000,1030,0.000,0.017,2361,1882,3498,3551,3446,0,0,0,0,0,0,24.51,24.46,24.53
$GC,651,-1.14,-146.0,2360,1882,3551,3447,110.3,-16.2,72,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1882,3499,3551,3447,0,0,0,0,0,0,24.72,24.74,24.73
$GC,890,-1.14,-146.0,2360,1883,3551,3448,148.0,-15.4,96,896,0.00,2.55,0.00,0.000,260,0.000,0.026,2360,3474,3499,3551,3448,0,0,0,0,0,0,24.74,24.49,24.76
$GC,907,-1.14,-146.0,2360,3474,3552,3448,149.9,-15.6,97,913,0.00,2.45,0.00,0.000,1030,0.000,0.017,2361,1887,3499,3551,3448,0,0,0,0,0,0,24.58,24.53,24.59
$GC,1155,-1.14,-146.0,2360,1887,3551,3449,185.6,-13.6,122,1161,0.00,2.55,0.00,0.000,260,0.000,0.028,2361,3473,3500,3551,3449,0,0,0,0,0,0,24.77,24.51,24.78
$GC,1254,-1.14,-146.0,2360,3473,3551,3449,198.9,-13.7,131,1261,0.00,2.45,0.00,0.000,1030,0.000,0.017,2361,1890,3500,3551,3449,0,0,0,0,0,0,24.60,24.56,24.62
$GC,1501,-1.14,-146.0,2360,1890,3551,3450,230.3,-12.5,138,1506,0.00,2.53,0.00,0.000,516,0.000,0.034,2360,333,3501,3552,3450,0,0,0,0,0,0,24.79,24.53,24.80
$GC,1557,-1.14,-146.0,2360,333,3551,3450,235.5,-12.2,139,1563,0.00,2.45,0.00,0.000,1030,0.000,0.017,2360,1909,3500,3551,3450,0,0,0,0,0,0,24.63,24.58,24.64
$GC,1825,-1.14,-146.0,2360,1909,3551,3450,269.5,-12.0,146,1831,0.00,2.60,0.00,0.000,516,0.000,0.034,2361,330,3500,3551,3450,0,0,0,0,0,0,24.81,24.55,24.82
$GC,1847,-1.14,-146.0,2359,330,3551,3450,269.5,-12.0,146,1852,0.00,2.45,0.00,0.000,1030,0.000,0.018,2361,1892,3500,3551,3450,0,0,0,0,0,0,24.64,24.59,24.65
$GC,2110,-1.14,-146.0,2360,1892,3551,3450,302.9,-11.8,153,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1892,3500,3551,3450,0,0,0,0,0,0,24.81,24.83,24.82
$GC,2350,-1.14,-146.0,2360,1892,3551,3449,329.8,-11.0,159,2355,0.00,2.58,0.00,0.000,260,0.000,0.034,2361,3474,3500,3551,3449,0,0,0,0,0,0,24.78,24.58,24.80
$GC,2406,-1.14,-146.0,2360,3474,3551,3449,334.8,-11.1,160,2412,0.00,2.47,0.00,0.000,1030,0.000,0.021,2361,1902,3500,3551,3449,0,0,0,0,0,0,24.66,24.60,24.68
$GC,2674,-1.14,-146.0,2360,1902,3551,3447,367.4,-11.5,167,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1902,3499,3551,3447,0,0,0,0,0,0,24.79,24.81,24.80
$GC,2914,-1.14,-146.0,2360,1902,3551,3444,394.9,-11.6,173,2919,0.00,2.60,0.00,0.000,260,0.000,0.041,2360,3459,3497,3551,3444,0,0,0,0,0,0,24.83,24.58,24.85
$GC,2926,-1.14,-146.0,2360,3459,3551,3444,394.9,-11.6,173,2931,0.00,2.47,0.00,0.000,1030,0.000,0.022,2361,1893,3497,3551,3444,0,0,0,0,0,0,24.68,24.62,24.69
$GC,3198,-1.14,-146.0,2360,1893,3551,3441,428.3,-11.8,180,3203,0.00,2.62,0.00,0.000,516,0.000,0.051,2360,334,3495,3551,3440,0,0,0,0,0,0,24.84,24.56,24.85
$GC,3250,-1.14,-146.0,2359,335,3551,3440,433.7,-12.1,181,3255,0.00,2.50,0.00,0.000,1030,0.000,0.024,2361,1887,3495,3551,3440,0,0,0,0,0,0,24.68,24.62,24.70
$GC,3522,-1.14,-146.0,2360,1887,3551,3436,466.3,-11.1,188,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1887,3493,3551,3436,0,0,0,0,0,0,24.81,24.84,24.83
$GC,3762,-1.14,-146.0,2360,1887,3551,3433,491.3,-10.4,194,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1887,3492,3551,3433,0,0,0,0,0,0,24.81,24.83,24.83
$GC,4002,-1.14,-146.0,2360,1887,3551,3430,516.7,-10.7,200,4007,0.00,2.72,0.00,0.000,516,0.000,0.059,2361,334,3490,3551,3430,0,0,0,0,0,0,24.87,24.57,24.89
$GC,4019,-1.14,-146.0,2360,333,3551,3430,516.7,-10.7,200,4024,0.00,2.58,0.00,0.000,1030,0.000,0.031,2361,1903,3490,3551,3430,0,0,0,0,0,0,24.70,24.63,24.71
$GC,4287,-1.14,-146.0,2360,1903,3551,3426,545.3,-9.8,207,4292,0.00,2.75,0.00,0.000,516,0.000,0.059,2361,327,3488,3551,3426,0,0,0,0,0,0,24.88,24.57,24.89
$GC,4344,-1.14,-146.0,2360,327,3551,3426,549.9,-10.1,208,4350,0.00,2.60,0.00,0.000,1030,0.000,0.031,2360,1909,3487,3550,3425,0,0,0,0,0,0,24.70,24.63,24.72
$GC,4612,-1.14,-146.0,2360,1909,3550,3421,578.4,-10.1,215,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1908,3486,3551,3421,0,0,0,0,0,0,24.88,24.91,24.90
$GC,4852,-1.14,-146.0,2360,1909,3549,3419,603.2,-10.3,221,4857,0.00,2.65,0.00,0.000,260,0.000,0.061,2360,3474,3484,3550,3419,0,0,0,0,0,0,24.89,24.59,24.91
$GC,4868,-1.14,-146.0,2360,3475,3548,3420,603.2,-10.3,221,4874,0.00,2.55,0.00,0.000,1030,0.000,0.033,2361,1914,3484,3548,3420,0,0,0,0,0,0,24.71,24.63,24.72
$GC,5137,-1.14,-146.0,2360,1914,3546,3419,631.9,-9.7,228,5143,0.00,2.78,0.00,0.000,516,0.000,0.070,2360,317,3482,3546,3419,0,0,0,0,0,0,24.89,24.58,24.91
$GC,5166,-1.14,-146.0,2360,317,3546,3419,631.9,-9.7,228,5172,0.00,2.62,0.00,0.000,1030,0.000,0.034,2361,1903,3482,3546,3419,0,0,0,0,0,0,24.70,24.63,24.72
$GC,5425,-1.14,-146.0,2360,1902,3544,3417,658.5,-9.2,235,5430,0.00,2.78,0.00,0.000,516,0.000,0.066,2361,319,3480,3544,3417,0,0,0,0,0,0,24.89,24.58,24.91
$GC,5447,-1.14,-146.0,2360,319,3544,3417,658.5,-9.2,235,5453,0.00,2.62,0.00,0.000,1030,0.000,0.034,2360,1898,3480,3544,3417,0,0,0,0,0,0,24.70,24.63,24.72
$GC,5711,-1.14,-146.0,2360,1898,3542,3416,684.2,-8.9,242,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1898,3478,3541,3416,0,0,0,0,0,0,24.89,24.91,24.91
$GC,5951,-1.14,-146.0,2360,1898,3541,3414,705.6,-8.9,248,5956,0.00,2.78,0.00,0.000,516,0.000,0.065,2361,319,3477,3541,3414,0,0,0,0,0,0,24.90,24.58,24.91
$GC,5983,-1.14,-146.0,2360,319,3541,3414,705.6,-8.9,248,5988,0.00,2.65,0.00,0.000,1030,0.000,0.038,2360,1905,3477,3541,3413,0,0,0,0,0,0,24.71,24.63,24.73
$GC,6236,-1.14,-146.0,2360,1905,3540,3412,731.9,-9.2,255,6241,0.00,2.80,0.00,0.000,516,0.000,0.073,2360,315,3475,3539,3411,0,0,0,0,0,0,24.90,24.58,24.91
$GC,6268,-1.14,-146.0,2360,315,3539,3411,731.9,-9.2,255,6273,0.00,2.67,0.00,0.000,1030,0.000,0.041,2360,1907,3475,3539,3411,0,0,0,0,0,0,24.71,24.63,24.72
$GC,6521,-1.14,-146.0,2360,1907,3538,3410,758.7,-9.3,262,6527,0.00,2.83,0.00,0.000,516,0.000,0.077,2361,320,3474,3538,3410,0,0,0,0,0,0,24.90,24.58,24.91
$GC,6559,-1.14,-146.0,2360,320,3538,3410,758.7,-9.3,262,6566,0.00,2.67,0.00,0.000,1030,0.000,0.044,2361,1900,3473,3538,3409,0,0,0,0,0,0,24.71,24.62,24.72
$GC,6804,-1.14,-146.0,2360,1902,3536,3408,785.6,-9.3,269,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1903,3472,3536,3408,0,0,0,0,0,0,24.90,24.92,24.91
$GC,7045,-1.14,-146.0,2360,1903,3535,3407,808.3,-9.4,275,7050,0.00,2.78,0.00,0.000,516,0.000,0.067,2360,321,3471,3535,3407,0,0,0,0,0,0,24.90,24.58,24.92
$GC,7089,-1.14,-146.0,2360,321,3535,3407,812.6,-9.4,276,7094,0.00,2.65,0.00,0.000,1030,0.000,0.034,2360,1911,3471,3535,3407,0,0,0,0,0,0,24.72,24.65,24.74
$GC,7372,-1.14,-146.0,2360,1911,3534,3406,838.9,-9.3,283,7377,0.00,2.78,0.00,0.000,516,0.000,0.062,2360,320,3470,3534,3406,0,0,0,0,0,0,24.90,24.58,24.92
$GC,7394,-1.14,-146.0,2360,320,3533,3406,838.9,-9.3,283,7399,0.00,2.62,0.00,0.000,1030,0.000,0.036,2360,1900,3469,3533,3406,0,0,0,0,0,0,24.72,24.64,24.73
$GC,7657,-1.14,-146.0,2360,1900,3532,3404,863.9,-8.5,290,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1900,3468,3533,3404,0,0,0,0,0,0,24.90,24.93,24.92
$GC,7896,-1.14,-146.0,2360,1901,3531,3403,884.5,-8.5,296,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1901,3466,3531,3402,0,0,0,0,0,0,24.91,24.93,24.93
$STATE,8094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8094,begin apogee
$GC,8099,-0.26,0.0,2360,1827,3531,3402,901.5,-8.5,301,8228,1.33,0.00,124.28,1.181,10246,0.104,0.000,2643,1827,2899,2957,2842,0,0,0,0,0,0,24.60,23.80,23.12
$STATE,8229,end apogee,CONTROL_FINISHED_OK
$STATE,8229,begin climb
$GC,8231,1.14,146.0,2642,1827,2957,2841,904.1,0.0,304,8379,1.92,2.85,132.77,1.142,10756,0.057,0.067,3085,287,2302,2352,2252,0,0,0,0,0,0,24.01,23.77,23.11
$GC,8385,1.14,146.0,3084,287,2351,2252,895.1,7.5,308,8390,0.00,2.67,0.00,0.000,1030,0.000,0.036,3085,1847,2301,2351,2251,0,0,0,0,0,0,24.15,24.06,24.16
$GC,8662,1.14,146.0,3084,1847,2351,2240,860.4,12.1,315,8668,0.00,2.80,0.00,0.000,260,0.000,0.070,3085,3432,2295,2351,2240,0,0,0,0,0,0,24.53,24.26,24.56
$GC,8699,1.14,146.0,3085,3432,2350,2239,860.4,12.1,315,8706,0.00,2.60,0.00,0.000,1030,0.000,0.031,3085,1865,2294,2349,2240,0,0,0,0,0,0,24.40,24.32,24.43
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$STATE,16749,end climb,SURFACE_DEPTH_REACHED
$STATE,16749,begin surface coast
$FINISH,0.3,1.010762
$STATE,16773,end surface coast,CONTROL_FINISHED_OK
$STATE,16773,begin surface
$SM_CCo,16793,48.38,0.472,0,0,1349,380.21
$SM_GC,0.77,11.43,0.00,48.38,0.040,0.000,0.472,420,1873,1349,-7.20,-0.76,380.21,0,0,0,0,0,0,24.42,24.71,23.68
$IRIDIUM_FIX,2159.71,-15647.17,250418,062414
$TT8_MAMPS,0.021721,0.34454
$HUMID,50.11
$INTERNAL_PRESSURE,9.19357
$TCM_TEMP,22.40
$XPDR_PINGS,116
$24V_AH,23.11,32.844
$10V_AH,10.13,21.723
$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
$DEVICE_SECS,25.075,195.125,404.775,48.375,0.000,30.168,50.926,220.150,29.000,0.000,27.112,2248.818,11939.886,649.268,2226.587,220.493,0.000,1598.304,0.000,1874.414,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,454.075,296.880,544.272,517.710,627.441,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343100
$DATA_FILE_SIZE,53988,669
$CAP_FILE_SIZE,153572,0
$CFSIZE,259248128,243924992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,11.99,1
$GPS,250418,161101,2211.827,-15639.648,44,1.6,84,10.1,0.7,321.3,6,7.9