version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 283
start: 5 6 118 22 32 5
data:
$ID,148
$MISSION,15
$DIVE,283
$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,43
$R_STBD_OVSHOOT,45
$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
$GPS1,060518,222402,2337.3562,-15507.9414,42,1.1,52,10.4,0.6,303.6,9,4.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-61.3
$GPS2,060518,223139,2337.4084,-15507.9658,13,1.3,29,10.4,0.3,42.1,9,4.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,E9
$TGT_LATLONG,2410.000,-15500.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,20.5,61842,-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,-146.0,437,1829,1352,1333,0.0,0.0,0,98,0.00,0.10,-77.88,0.000,16390,0.000,0.389,437,1990,3496,3542,3451,0,0,0,0,0,0,24.59,23.70,24.62
$GC,101,-1.14,-146.0,436,1989,3542,3451,4.2,-9.7,11,117,10.85,0.00,0.00,0.000,2054,0.173,0.000,2362,1990,3497,3543,3452,0,0,0,0,0,0,24.18,24.36,24.33
$GC,365,-1.14,-146.0,2362,1992,3545,3452,62.5,-17.2,43,371,0.00,2.72,0.00,0.000,516,0.000,0.034,2362,318,3498,3545,3452,0,0,0,0,0,0,24.68,24.41,24.69
$GC,383,-1.14,-146.0,2362,317,3545,3452,64.9,-17.3,44,391,0.00,2.53,0.00,0.000,1030,0.000,0.017,2362,1923,3498,3545,3452,0,0,0,0,0,0,24.50,24.47,24.51
$GC,629,-1.14,-146.0,2362,1922,3546,3452,107.0,-16.3,69,635,0.00,2.42,0.00,0.000,260,0.000,0.028,2362,3459,3499,3546,3452,0,0,0,0,0,0,24.71,24.46,24.72
$GC,664,-1.14,-146.0,2362,3459,3546,3452,112.5,-16.6,72,670,0.00,2.42,0.00,0.000,1030,0.000,0.017,2362,1886,3499,3546,3452,0,0,0,0,0,0,24.54,24.49,24.56
$GC,919,-1.14,-146.0,2362,1886,3547,3452,150.7,-13.4,97,924,0.00,2.50,0.00,0.000,260,0.000,0.027,2362,3463,3499,3547,3452,0,0,0,0,0,0,24.74,24.49,24.75
$GC,954,-1.14,-146.0,2362,3463,3547,3452,155.5,-13.7,100,960,0.00,2.42,0.00,0.000,1030,0.000,0.017,2362,1887,3499,3547,3452,0,0,0,0,0,0,24.58,24.53,24.58
$GC,1208,-1.14,-146.0,2361,1887,3548,3452,190.8,-14.0,125,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1887,3500,3548,3452,0,0,0,0,0,0,24.76,24.79,24.78
$GC,1477,-1.14,-146.0,2362,1886,3549,3452,227.1,-12.9,137,1482,0.00,2.53,0.00,0.000,516,0.000,0.033,2362,324,3500,3549,3452,0,0,0,0,0,0,24.79,24.53,24.80
$GC,1498,-1.14,-146.0,2362,324,3549,3452,227.1,-12.9,137,1503,0.00,2.42,0.00,0.000,1030,0.000,0.017,2362,1893,3500,3549,3452,0,0,0,0,0,0,24.62,24.57,24.63
$GC,1761,-1.14,-146.0,2362,1893,3550,3453,262.6,-11.8,144,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1893,3501,3549,3453,0,0,0,0,0,0,24.80,24.82,24.82
$GC,2000,-1.14,-146.0,2362,1893,3549,3453,288.1,-10.7,150,2006,0.00,2.53,0.00,0.000,260,0.000,0.031,2362,3472,3501,3549,3453,0,0,0,0,0,0,24.79,24.56,24.82
$GC,2032,-1.14,-146.0,2362,3472,3549,3453,288.1,-10.7,150,2038,0.00,2.42,0.00,0.000,1030,0.000,0.018,2362,1893,3501,3549,3453,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2285,-1.14,-146.0,2362,1893,3549,3453,319.2,-10.9,157,2291,0.00,2.55,0.00,0.000,516,0.000,0.040,2362,328,3501,3549,3453,0,0,0,0,0,0,24.81,24.55,24.82
$GC,2308,-1.14,-146.0,2361,328,3549,3453,319.2,-10.9,157,2314,0.00,2.47,0.00,0.000,1030,0.000,0.019,2362,1900,3501,3549,3453,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2571,-1.14,-146.0,2362,1900,3549,3452,350.7,-11.1,164,2577,0.00,2.62,0.00,0.000,516,0.000,0.042,2362,341,3500,3549,3452,0,0,0,0,0,0,24.83,24.55,24.85
$GC,2615,-1.14,-146.0,2362,341,3549,3452,355.7,-11.2,165,2621,0.00,2.47,0.00,0.000,1030,0.000,0.021,2362,1905,3500,3549,3452,0,0,0,0,0,0,24.65,24.60,24.68
$GC,2898,-1.14,-146.0,2361,1904,3549,3449,386.8,-11.1,172,2904,0.00,2.62,0.00,0.000,516,0.000,0.047,2362,341,3499,3549,3449,0,0,0,0,0,0,24.84,24.55,24.85
$GC,2950,-1.14,-146.0,2362,341,3549,3448,391.9,-11.3,173,2956,0.00,2.47,0.00,0.000,1030,0.000,0.022,2362,1902,3498,3549,3448,0,0,0,0,0,0,24.66,24.61,24.68
$GC,3223,-1.14,-146.0,2362,1901,3549,3446,424.3,-11.4,180,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1902,3497,3549,3446,0,0,0,0,0,0,24.82,24.85,24.84
$GC,3463,-1.14,-146.0,2362,1902,3549,3443,450.8,-10.9,186,3469,0.00,2.65,0.00,0.000,516,0.000,0.055,2362,345,3495,3549,3442,0,0,0,0,0,0,24.80,24.55,24.82
$GC,3496,-1.14,-146.0,2362,345,3549,3443,450.8,-10.9,186,3501,0.00,2.50,0.00,0.000,1030,0.000,0.031,2362,1903,3495,3549,3442,0,0,0,0,0,0,24.68,24.61,24.68
$GC,3748,-1.14,-146.0,2362,1903,3549,3439,480.8,-10.3,193,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1903,3494,3549,3439,0,0,0,0,0,0,24.84,24.86,24.86
$GC,3988,-1.14,-146.0,2362,1904,3549,3436,505.6,-10.3,199,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1903,3492,3549,3436,0,0,0,0,0,0,24.81,24.84,24.82
$GC,4228,-1.14,-146.0,2362,1903,3549,3433,530.0,-10.2,205,4234,0.00,2.67,0.00,0.000,516,0.000,0.059,2362,348,3491,3549,3433,0,0,0,0,0,0,24.84,24.56,24.87
$GC,4260,-1.14,-146.0,2362,348,3549,3433,530.0,-10.2,205,4266,0.00,2.53,0.00,0.000,1030,0.000,0.034,2362,1900,3490,3548,3432,0,0,0,0,0,0,24.63,24.34,24.66
$GC,4513,-1.14,-146.0,2362,1900,3549,3430,559.3,-10.2,212,4519,0.00,2.72,0.00,0.000,516,0.000,0.061,2362,337,3489,3548,3430,0,0,0,0,0,0,24.84,24.55,24.87
$GC,4541,-1.14,-146.0,2361,337,3549,3430,559.3,-10.2,212,4547,0.00,2.58,0.00,0.000,1030,0.000,0.032,2363,1909,3489,3548,3430,0,0,0,0,0,0,24.68,24.60,24.70
$GC,4799,-1.14,-146.0,2362,1909,3548,3425,585.8,-8.9,219,4804,0.00,2.70,0.00,0.000,516,0.000,0.060,2362,346,3486,3548,3425,0,0,0,0,0,0,24.81,24.55,24.83
$GC,4821,-1.14,-146.0,2361,347,3548,3425,585.8,-8.9,219,4826,0.00,2.55,0.00,0.000,1030,0.000,0.033,2362,1901,3486,3548,3425,0,0,0,0,0,0,24.68,24.60,24.70
$GC,5084,-1.14,-146.0,2362,1901,3545,3424,608.7,-7.8,226,5090,0.00,2.70,0.00,0.000,516,0.000,0.061,2362,338,3484,3544,3424,0,0,0,0,0,0,24.81,24.55,24.82
$GC,5152,-1.14,-146.0,2362,338,3544,3424,612.5,-8.0,227,5158,0.00,2.58,0.00,0.000,1030,0.000,0.034,2362,1898,3484,3544,3424,0,0,0,0,0,0,24.68,24.60,24.70
$GC,5410,-1.14,-146.0,2362,1898,3542,3421,638.0,-9.2,234,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1898,3481,3542,3421,0,0,0,0,0,0,24.81,24.84,24.83
$GC,5650,-1.14,-146.0,2362,1898,3541,3420,662.7,-10.5,240,5657,0.00,2.70,0.00,0.000,516,0.000,0.063,2362,346,3481,3542,3421,0,0,0,0,0,0,24.82,24.56,24.84
$GC,5698,-1.14,-146.0,2362,346,3541,3420,667.6,-10.6,241,5703,0.00,2.58,0.00,0.000,1030,0.000,0.037,2362,1898,3480,3541,3420,0,0,0,0,0,0,24.69,24.61,24.71
$GC,5976,-1.14,-146.0,2362,1898,3540,3418,696.6,-10.2,248,5981,0.00,2.72,0.00,0.000,516,0.000,0.070,2362,341,3478,3539,3418,0,0,0,0,0,0,24.88,24.56,24.89
$GC,5997,-1.14,-146.0,2362,341,3539,3418,696.6,-10.2,248,6003,0.00,2.60,0.00,0.000,1030,0.000,0.037,2362,1904,3478,3539,3418,0,0,0,0,0,0,24.69,24.60,24.70
$GC,6260,-1.14,-146.0,2362,1904,3538,3417,725.1,-9.8,255,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1904,3477,3538,3417,0,0,0,0,0,0,24.82,24.84,24.84
$GC,6501,-1.14,-146.0,2361,1904,3536,3416,746.8,-8.9,261,6506,0.00,2.78,0.00,0.000,516,0.000,0.080,2362,338,3476,3536,3416,0,0,0,0,0,0,24.89,24.56,24.91
$GC,6538,-1.14,-146.0,2362,338,3536,3415,746.8,-8.9,261,6545,0.00,2.62,0.00,0.000,1030,0.000,0.043,2362,1903,3475,3536,3415,0,0,0,0,0,0,24.70,24.61,24.71
$GC,6784,-1.14,-146.0,2362,1904,3535,3414,770.2,-8.1,268,6790,0.00,2.78,0.00,0.000,516,0.000,0.075,2362,342,3474,3535,3414,0,0,0,0,0,0,24.89,24.56,24.91
$GC,6832,-1.14,-146.0,2362,342,3534,3414,773.9,-8.1,269,6837,0.00,2.60,0.00,0.000,1030,0.000,0.039,2362,1911,3474,3535,3414,0,0,0,0,0,0,24.70,24.63,24.72
$GC,7110,-1.14,-146.0,2362,1911,3533,3411,797.2,-8.1,276,7116,0.00,2.72,0.00,0.000,516,0.000,0.064,2362,344,3472,3534,3411,0,0,0,0,0,0,24.87,24.56,24.89
$GC,7212,-1.14,-146.0,2361,344,3533,3411,804.9,-8.8,278,7218,0.00,2.58,0.00,0.000,1030,0.000,0.036,2362,1903,3472,3533,3411,0,0,0,0,0,0,24.70,24.63,24.72
$GC,7475,-1.14,-146.0,2362,1904,3531,3409,827.8,-8.0,285,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1904,3470,3532,3409,0,0,0,0,0,0,24.89,24.91,24.91
$GC,7716,-1.14,-146.0,2362,1904,3531,3408,848.3,-8.7,291,7721,0.00,2.70,0.00,0.000,516,0.000,0.067,2362,348,3469,3531,3408,0,0,0,0,0,0,24.90,24.57,24.91
$GC,7748,-1.14,-146.0,2361,348,3531,3408,848.3,-8.7,291,7754,0.00,2.58,0.00,0.000,1030,0.000,0.042,2362,1907,3469,3531,3408,0,0,0,0,0,0,24.71,24.63,24.72
$GC,8001,-1.14,-146.0,2361,1908,3530,3407,874.1,-9.0,298,8007,0.00,2.70,0.00,0.000,516,0.000,0.063,2362,349,3468,3530,3407,0,0,0,0,0,0,24.89,24.57,24.92
$GC,8030,-1.14,-146.0,2361,349,3530,3407,874.1,-9.0,298,8035,0.00,2.58,0.00,0.000,1030,0.000,0.036,2362,1906,3468,3530,3407,0,0,0,0,0,0,24.71,24.63,24.72
$GC,8287,-1.14,-146.0,2362,1908,3529,3407,899.9,-8.9,305,8293,0.00,2.70,0.00,0.000,516,0.000,0.063,2362,349,3467,3529,3406,0,0,0,0,0,0,24.89,24.58,24.91
$STATE,8328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8328,begin apogee
$GC,8336,-0.26,0.0,2362,1853,3529,3407,903.9,-8.9,306,8464,1.33,0.00,124.80,1.174,10246,0.099,0.000,2645,1853,2899,2956,2843,0,0,0,0,0,0,24.56,23.78,23.10
$STATE,8465,end apogee,CONTROL_FINISHED_OK
$STATE,8466,begin climb
$GC,8468,1.14,146.0,2645,1853,2956,2842,906.9,0.0,309,8611,1.95,0.00,134.90,1.139,10246,0.063,0.000,3083,1853,2303,2354,2252,0,0,0,0,0,0,23.99,23.72,23.09
$GC,8850,1.14,146.0,3083,1853,2352,2240,871.9,11.3,319,8855,0.00,2.78,0.00,0.000,516,0.000,0.065,3084,296,2295,2352,2239,0,0,0,0,0,0,24.51,24.24,24.53
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$STATE,16784,end climb,SURFACE_DEPTH_REACHED
$STATE,16784,begin surface coast
$FINISH,0.1,1.023505
$STATE,16814,end surface coast,CONTROL_FINISHED_OK
$STATE,16814,begin surface
$SM_CCo,16834,72.88,0.469,0,0,1349,380.21
$SM_GC,0.74,11.38,0.08,72.88,0.043,0.090,0.469,435,2002,1349,-7.15,-1.33,380.21,0,0,0,0,0,0,24.46,24.56,23.66
$IRIDIUM_FIX,2326.22,-15507.08,060518,174037
$TT8_MAMPS,0.021721,0.343791
$HUMID,50.47
$INTERNAL_PRESSURE,9.20334
$TCM_TEMP,21.50
$XPDR_PINGS,209
$24V_AH,23.09,40.682
$10V_AH,10.10,26.896
$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,25.625,209.075,359.325,72.875,0.000,29.225,47.044,245.369,52.250,0.000,32.383,2320.973,11889.516,699.878,2239.963,218.673,0.000,1628.983,0.000,1868.098,0.000,0.539,0.000
$DEVICE_MAMPS,172.890,388.620,1173.510,468.945,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,457.441,304.540,520.816,522.289,628.675,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342980
$DATA_FILE_SIZE,53885,673
$CAP_FILE_SIZE,154677,0
$CFSIZE,259248128,240091136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,278.61,1
$GPS,070518,031544,2339.456,-15507.533,34,1.1,74,10.4,0.6,242.3,7,4.6