version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 244
start: 4 29 118 4 13 34
data:
$ID,148
$MISSION,15
$DIVE,244
$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,44
$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
$GPS1,290418,040602,2231.3684,-15558.8867,58,1.1,86,10.2,0.7,19.4,8,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-61.4
$GPS2,290418,041309,2231.3982,-15558.8721,12,1.2,28,10.2,0.4,15.8,8,4.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,E8
$TGT_LATLONG,2254.000,-15512.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,58.5,90259,-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,-146.0,435,2010,1349,1334,0.0,0.0,0,98,0.00,0.17,-77.80,0.000,16390,0.000,0.230,435,1834,3497,3543,3451,0,0,0,0,0,0,24.60,23.72,24.62
$GC,101,-1.14,-146.0,435,1834,3542,3452,4.4,-11.3,11,117,10.43,2.50,0.00,0.000,2564,0.159,0.034,2362,312,3498,3544,3453,0,0,0,0,0,0,24.22,24.33,24.34
$GC,208,-1.14,-146.0,2361,312,3545,3452,35.1,-20.0,27,214,0.00,2.50,0.00,0.000,1030,0.000,0.021,2362,1921,3498,3545,3452,0,0,0,0,0,0,24.49,24.44,24.50
$GC,464,-1.14,-146.0,2361,1925,3546,3452,78.9,-16.6,52,469,0.00,2.45,0.00,0.000,260,0.000,0.026,2362,3462,3499,3546,3452,0,0,0,0,0,0,24.70,24.45,24.71
$GC,552,-1.14,-146.0,2361,3462,3546,3452,92.4,-15.3,60,560,0.00,2.47,0.00,0.000,1030,0.000,0.017,2362,1880,3499,3547,3452,0,0,0,0,0,0,24.54,24.49,24.55
$GC,801,-1.14,-146.0,2361,1880,3548,3452,129.8,-15.0,85,807,0.00,2.53,0.00,0.000,260,0.000,0.025,2362,3458,3500,3548,3452,0,0,0,0,0,0,24.73,24.49,24.75
$GC,846,-1.14,-146.0,2361,3459,3548,3453,137.0,-15.6,89,852,0.00,2.45,0.00,0.000,1030,0.000,0.017,2362,1893,3500,3548,3452,0,0,0,0,0,0,24.57,24.52,24.58
$GC,1100,-1.14,-146.0,2361,1893,3549,3452,172.4,-13.3,114,1105,0.00,2.53,0.00,0.000,260,0.000,0.026,2362,3466,3500,3549,3452,0,0,0,0,0,0,24.76,24.51,24.77
$GC,1176,-1.14,-146.0,2362,3466,3549,3453,182.7,-13.3,121,1182,0.00,2.45,0.00,0.000,1030,0.000,0.017,2362,1892,3501,3550,3453,0,0,0,0,0,0,24.42,24.55,24.51
$GC,1439,-1.14,-146.0,2361,1893,3550,3453,214.9,-12.0,138,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1893,3501,3549,3453,0,0,0,0,0,0,24.78,24.80,24.79
$GC,1679,-1.14,-146.0,2361,1893,3550,3453,244.1,-12.0,144,1685,0.00,2.53,0.00,0.000,260,0.000,0.028,2362,3459,3501,3550,3453,0,0,0,0,0,0,24.79,24.56,24.82
$GC,1716,-1.14,-146.0,2361,3460,3550,3454,244.1,-12.0,144,1723,0.00,2.42,0.00,0.000,1030,0.000,0.018,2362,1903,3501,3550,3453,0,0,0,0,0,0,24.63,24.58,24.65
$GC,1962,-1.14,-146.0,2361,1903,3549,3453,278.4,-12.1,151,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1903,3501,3550,3453,0,0,0,0,0,0,24.79,24.82,24.82
$GC,2202,-1.14,-146.0,2361,1903,3550,3453,306.6,-11.5,157,2209,0.00,2.53,0.00,0.000,260,0.000,0.031,2362,3453,3501,3549,3453,0,0,0,0,0,0,24.81,24.57,24.83
$GC,2230,-1.14,-146.0,2361,3453,3549,3453,306.6,-11.5,157,2236,0.00,2.47,0.00,0.000,1030,0.000,0.019,2362,1892,3502,3550,3454,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2488,-1.14,-146.0,2361,1892,3550,3451,338.6,-10.9,164,2493,0.00,2.60,0.00,0.000,516,0.000,0.043,2362,335,3500,3550,3451,0,0,0,0,0,0,24.81,24.56,24.83
$GC,2515,-1.14,-146.0,2361,335,3549,3451,338.6,-10.9,164,2520,0.00,2.45,0.00,0.000,1030,0.000,0.020,2362,1880,3500,3549,3451,0,0,0,0,0,0,24.66,24.60,24.68
$GC,2772,-1.14,-146.0,2361,1880,3550,3448,371.6,-11.9,171,2778,0.00,2.62,0.00,0.000,260,0.000,0.037,2362,3475,3499,3550,3448,0,0,0,0,0,0,24.79,24.57,24.81
$GC,2790,-1.14,-146.0,2361,3474,3549,3448,371.6,-11.9,171,2795,0.00,2.50,0.00,0.000,1030,0.000,0.021,2362,1902,3498,3549,3448,0,0,0,0,0,0,24.67,24.60,24.68
$GC,3057,-1.14,-146.0,2361,1902,3549,3445,405.5,-11.9,178,3062,0.00,2.67,0.00,0.000,516,0.000,0.051,2362,330,3497,3549,3445,0,0,0,0,0,0,24.79,24.55,24.81
$GC,3083,-1.14,-146.0,2361,330,3549,3445,405.5,-11.9,178,3089,0.00,2.53,0.00,0.000,1030,0.000,0.023,2362,1903,3497,3549,3445,0,0,0,0,0,0,24.67,24.60,24.68
$GC,3341,-1.14,-146.0,2361,1903,3550,3442,436.5,-10.8,185,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1903,3495,3549,3442,0,0,0,0,0,0,24.79,24.82,24.81
$GC,3581,-1.14,-146.0,2361,1903,3549,3439,461.6,-10.5,191,3586,0.00,2.70,0.00,0.000,516,0.000,0.055,2362,332,3494,3549,3439,0,0,0,0,0,0,24.86,24.56,24.88
$GC,3607,-1.14,-146.0,2361,331,3550,3439,461.6,-10.5,191,3613,0.00,2.55,0.00,0.000,1030,0.000,0.027,2362,1905,3494,3549,3439,0,0,0,0,0,0,24.68,24.62,24.70
$GC,3865,-1.14,-146.0,2361,1904,3549,3435,492.5,-10.8,198,3871,0.00,2.75,0.00,0.000,516,0.000,0.058,2362,325,3492,3550,3435,0,0,0,0,0,0,24.87,24.56,24.88
$GC,3922,-1.14,-146.0,2361,325,3549,3434,497.4,-10.9,199,3927,0.00,2.58,0.00,0.000,1030,0.000,0.029,2362,1902,3491,3549,3434,0,0,0,0,0,0,24.68,24.62,24.70
$GC,4190,-1.14,-146.0,2361,1902,3549,3431,526.2,-9.9,206,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1902,3490,3549,3431,0,0,0,0,0,0,24.80,24.83,24.82
$GC,4430,-1.14,-146.0,2361,1902,3549,3429,549.0,-9.5,212,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1902,3489,3549,3429,0,0,0,0,0,0,24.87,24.90,24.89
$GC,4669,-1.14,-146.0,2361,1902,3548,3427,573.2,-10.1,218,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1902,3487,3548,3426,0,0,0,0,0,0,24.88,24.90,24.90
$GC,4909,-1.14,-146.0,2361,1902,3545,3425,598.3,-10.6,224,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1902,3485,3545,3425,0,0,0,0,0,0,24.89,24.91,24.91
$GC,5149,-1.14,-146.0,2361,1902,3544,3424,622.5,-10.0,230,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1902,3483,3544,3423,0,0,0,0,0,0,24.89,24.91,24.91
$GC,5390,-1.14,-146.0,2361,1902,3542,3421,644.6,-9.1,236,5396,0.00,2.75,0.00,0.000,516,0.000,0.065,2362,333,3481,3542,3421,0,0,0,0,0,0,24.89,24.58,24.91
$GC,5428,-1.14,-146.0,2361,333,3542,3421,644.6,-9.1,236,5434,0.00,2.60,0.00,0.000,1030,0.000,0.037,2362,1893,3481,3542,3421,0,0,0,0,0,0,24.71,24.63,24.72
$GC,5673,-1.14,-146.0,2361,1892,3541,3420,670.1,-8.9,243,5679,0.00,2.72,0.00,0.000,516,0.000,0.063,2362,330,3480,3541,3420,0,0,0,0,0,0,24.89,24.58,24.91
$GC,5705,-1.14,-146.0,2361,330,3541,3420,670.1,-8.9,243,5711,0.00,2.62,0.00,0.000,1030,0.000,0.038,2362,1902,3480,3541,3420,0,0,0,0,0,0,24.71,24.62,24.72
$GC,5959,-1.14,-146.0,2361,1901,3539,3418,696.6,-9.3,250,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1901,3478,3539,3418,0,0,0,0,0,0,24.89,24.91,24.91
$GC,6199,-1.14,-146.0,2361,1901,3538,3417,716.9,-8.4,256,6204,0.00,2.75,0.00,0.000,516,0.000,0.067,2361,334,3477,3538,3417,0,0,0,0,0,0,24.90,24.58,24.92
$GC,6221,-1.14,-146.0,2361,334,3538,3417,716.9,-8.4,256,6226,0.00,2.62,0.00,0.000,1030,0.000,0.039,2362,1900,3477,3538,3417,0,0,0,0,0,0,24.71,24.62,24.72
$GC,6484,-1.14,-146.0,2361,1900,3536,3416,740.8,-8.3,263,6489,0.00,2.80,0.00,0.000,516,0.000,0.070,2362,326,3476,3536,3416,0,0,0,0,0,0,24.90,24.58,24.91
$GC,6516,-1.14,-146.0,2361,326,3536,3416,740.8,-8.3,263,6522,0.00,2.65,0.00,0.000,1030,0.000,0.041,2362,1902,3476,3536,3416,0,0,0,0,0,0,24.70,24.62,24.72
$GC,6769,-1.14,-146.0,2361,1902,3535,3414,765.0,-8.4,270,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1902,3474,3535,3414,0,0,0,0,0,0,24.89,24.92,24.91
$GC,7009,-1.14,-146.0,2361,1905,3534,3413,785.7,-8.7,276,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1904,3473,3534,3413,0,0,0,0,0,0,24.90,24.93,24.92
$GC,7249,-1.14,-146.0,2361,1905,3533,3411,807.0,-9.0,282,7254,0.00,2.75,0.00,0.000,516,0.000,0.062,2362,326,3472,3533,3411,0,0,0,0,0,0,24.91,24.59,24.92
$GC,7271,-1.14,-146.0,2361,326,3533,3411,807.0,-9.0,282,7276,0.00,2.62,0.00,0.000,1030,0.000,0.035,2362,1910,3472,3533,3411,0,0,0,0,0,0,24.72,24.65,24.74
$GC,7534,-1.14,-146.0,2361,1910,3531,3410,832.2,-8.8,289,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1910,3471,3532,3410,0,0,0,0,0,0,24.90,24.93,24.92
$GC,7773,-1.14,-146.0,2361,1910,3531,3409,853.5,-8.9,295,7779,0.00,2.75,0.00,0.000,516,0.000,0.061,2362,328,3470,3531,3409,0,0,0,0,0,0,24.91,24.59,24.93
$GC,7791,-1.14,-146.0,2361,328,3531,3409,853.5,-8.9,295,7796,0.00,2.62,0.00,0.000,1030,0.000,0.035,2362,1909,3470,3531,3409,0,0,0,0,0,0,24.72,24.64,24.74
$GC,8059,-1.14,-146.0,2362,1909,3530,3408,879.2,-9.0,302,8065,0.00,2.75,0.00,0.000,516,0.000,0.060,2362,327,3469,3530,3408,0,0,0,0,0,0,24.91,24.59,24.92
$GC,8092,-1.14,-146.0,2361,328,3530,3408,879.2,-9.0,302,8097,0.00,2.62,0.00,0.000,1030,0.000,0.036,2362,1904,3469,3530,3408,0,0,0,0,0,0,24.72,24.64,24.74
$STATE,8303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8303,begin apogee
$GC,8308,-0.26,0.0,2362,1848,3529,3408,901.3,-8.8,308,8436,1.33,0.00,124.03,1.175,10246,0.099,0.000,2646,1847,2899,2955,2844,0,0,0,0,0,0,24.59,23.79,23.13
$STATE,8437,end apogee,CONTROL_FINISHED_OK
$STATE,8437,begin climb
$GC,8439,1.14,146.0,2646,1848,2955,2842,904.3,0.0,311,8587,1.92,2.90,132.40,1.139,10500,0.063,0.064,3092,3432,2302,2351,2253,0,0,0,0,0,0,23.99,23.77,23.11
$GC,8598,1.14,146.0,3091,3432,2349,2252,896.0,7.1,315,8603,0.00,2.62,0.00,0.000,1030,0.000,0.030,3091,1860,2301,2350,2252,0,0,0,0,0,0,24.18,24.10,24.20
$GC,8870,1.14,146.0,3092,1860,2349,2241,862.4,11.6,322,8876,0.00,2.88,0.00,0.000,516,0.000,0.076,3092,270,2295,2350,2241,0,0,0,0,0,0,24.56,24.26,24.58
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$STATE,17080,end climb,SURFACE_DEPTH_REACHED
$STATE,17082,begin surface coast
$FINISH,0.1,1.022336
$STATE,17111,end surface coast,CONTROL_FINISHED_OK
$STATE,17111,begin surface
$SM_CCo,17130,70.22,0.475,0,0,1349,380.21
$SM_GC,0.84,11.45,0.08,70.22,0.045,0.090,0.475,434,1993,1349,-7.16,-1.44,380.21,0,0,0,0,0,0,24.43,24.54,23.67
$IRIDIUM_FIX,2223.01,-15600.59,280418,231414
$TT8_MAMPS,0.021721,0.343791
$HUMID,50.86
$INTERNAL_PRESSURE,9.18381
$TCM_TEMP,21.30
$XPDR_PINGS,146
$24V_AH,23.11,35.405
$10V_AH,10.10,23.409
$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
$DEVICE_SECS,25.225,210.425,369.725,70.225,0.000,27.954,54.707,204.198,36.500,0.000,31.104,2318.989,12186.067,662.919,2244.117,220.271,0.000,1622.797,0.000,1904.310,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,469.808,311.869,547.786,541.249,653.245,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343128
$DATA_FILE_SIZE,57181,691
$CAP_FILE_SIZE,159446,0
$CFSIZE,259248128,242700288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,66.24,1
$GPS,290418,090214,2232.430,-15556.395,41,1.6,81,10.2,0.3,72.7,7,5.7