version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 290
start: 5 8 118 8 9 16
data:
$ID,148
$MISSION,15
$DIVE,290
$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,69
$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
$GPS1,080518,080126,2351.4197,-15506.5117,39,1.2,61,10.5,1.0,226.0,8,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-62.3
$GPS2,080518,080850,2351.4612,-15506.6270,10,1.2,49,10.5,0.4,156.1,9,4.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,E9
$TGT_LATLONG,2410.000,-15500.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,30.2,36113,-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,14,begin dive
$GC,16,-1.14,-146.0,431,1862,1348,1334,0.0,0.0,0,96,0.00,0.00,-77.05,0.000,16390,0.000,0.000,431,1862,3496,3541,3452,0,0,0,0,0,0,24.61,23.70,24.63
$GC,99,-1.14,-146.0,431,1862,3542,3453,4.3,-10.4,11,116,10.95,2.53,0.00,0.000,2564,0.177,0.031,2361,341,3498,3543,3453,0,0,0,0,0,0,24.19,24.32,24.33
$GC,128,-1.14,-146.0,2360,341,3544,3453,17.2,-38.8,15,136,0.00,2.50,0.00,0.000,1030,0.000,0.016,2361,1929,3498,3544,3453,0,0,0,0,0,0,24.44,24.39,24.44
$GC,391,-1.14,-146.0,2360,1930,3544,3453,64.0,-17.1,46,396,0.00,2.45,0.00,0.000,260,0.000,0.028,2361,3467,3499,3545,3453,0,0,0,0,0,0,24.68,24.44,24.70
$GC,469,-1.14,-146.0,2360,3467,3544,3453,79.0,-19.4,53,474,0.00,2.42,0.00,0.000,1030,0.000,0.017,2361,1906,3498,3544,3453,0,0,0,0,0,0,24.53,24.48,24.53
$GC,722,-1.14,-146.0,2360,1906,3545,3453,121.5,-16.5,78,728,0.00,2.50,0.00,0.000,260,0.000,0.027,2361,3469,3499,3545,3453,0,0,0,0,0,0,24.72,24.47,24.74
$GC,748,-1.14,-146.0,2360,3469,3545,3453,125.5,-16.5,80,756,0.00,2.47,0.00,0.000,1030,0.000,0.017,2361,1877,3499,3545,3454,0,0,0,0,0,0,24.56,24.51,24.57
$GC,995,-1.14,-146.0,2360,1877,3546,3453,162.7,-13.3,105,1000,0.00,2.55,0.00,0.000,260,0.000,0.027,2361,3463,3499,3546,3453,0,0,0,0,0,0,24.75,24.50,24.77
$GC,1017,-1.14,-146.0,2360,3463,3546,3453,165.9,-13.6,107,1023,0.00,2.42,0.00,0.000,1030,0.000,0.016,2361,1892,3499,3546,3453,0,0,0,0,0,0,24.58,24.54,24.60
$GC,1272,-1.14,-146.0,2360,1892,3547,3453,199.3,-12.2,132,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1892,3500,3547,3453,0,0,0,0,0,0,24.77,24.79,24.79
$GC,1520,-1.14,-146.0,2360,1892,3548,3454,232.8,-13.3,139,1526,0.00,2.53,0.00,0.000,516,0.000,0.032,2361,331,3500,3548,3453,0,0,0,0,0,0,24.79,24.53,24.81
$GC,1537,-1.14,-146.0,2360,331,3548,3453,232.8,-13.3,139,1542,0.00,2.42,0.00,0.000,1030,0.000,0.016,2361,1900,3500,3548,3453,0,0,0,0,0,0,24.63,24.58,24.64
$GC,1805,-1.14,-146.0,2360,1901,3548,3453,268.9,-12.7,146,1810,0.00,2.47,0.00,0.000,260,0.000,0.028,2360,3459,3501,3549,3453,0,0,0,0,0,0,24.81,24.56,24.82
$GC,1826,-1.14,-146.0,2360,3460,3548,3454,268.9,-12.7,146,1832,0.00,2.40,0.00,0.000,1030,0.000,0.017,2360,1905,3501,3549,3454,0,0,0,0,0,0,24.64,24.59,24.65
$GC,2088,-1.14,-146.0,2360,1904,3548,3454,306.9,-13.0,153,2095,0.00,2.55,0.00,0.000,516,0.000,0.035,2360,333,3501,3549,3454,0,0,0,0,0,0,24.80,24.56,24.82
$GC,2141,-1.14,-146.0,2360,333,3549,3453,312.3,-12.9,154,2146,0.00,2.45,0.00,0.000,1030,0.000,0.018,2361,1891,3501,3549,3454,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2414,-1.14,-146.0,2360,1891,3549,3454,345.3,-11.3,161,2419,0.00,2.55,0.00,0.000,260,0.000,0.035,2361,3465,3500,3548,3453,0,0,0,0,0,0,24.82,24.56,24.83
$GC,2465,-1.14,-146.0,2360,3465,3548,3454,350.7,-11.7,162,2471,0.00,2.45,0.00,0.000,1030,0.000,0.021,2361,1910,3500,3548,3453,0,0,0,0,0,0,24.65,24.60,24.67
$GC,2739,-1.14,-146.0,2360,1910,3548,3452,387.4,-12.8,169,2745,0.00,2.70,0.00,0.000,516,0.000,0.049,2361,323,3500,3548,3452,0,0,0,0,0,0,24.84,24.54,24.85
$GC,2776,-1.14,-146.0,2360,323,3548,3452,387.4,-12.8,169,2783,0.00,2.50,0.00,0.000,1030,0.000,0.021,2361,1894,3500,3548,3452,0,0,0,0,0,0,24.66,24.60,24.68
$GC,3022,-1.14,-146.0,2360,1895,3548,3449,420.9,-11.5,176,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1895,3498,3548,3449,0,0,0,0,0,0,24.84,24.87,24.86
$GC,3263,-1.14,-146.0,2360,1895,3548,3447,446.0,-10.4,182,3269,0.00,2.72,0.00,0.000,516,0.000,0.054,2361,327,3497,3548,3447,0,0,0,0,0,0,24.83,24.54,24.85
$GC,3291,-1.14,-146.0,2360,327,3548,3447,446.0,-10.4,182,3296,0.00,2.55,0.00,0.000,1030,0.000,0.027,2361,1902,3498,3549,3447,0,0,0,0,0,0,24.67,24.60,24.68
$GC,3548,-1.14,-146.0,2360,1902,3548,3443,475.6,-10.2,189,3553,0.00,2.70,0.00,0.000,516,0.000,0.055,2361,328,3495,3548,3443,0,0,0,0,0,0,24.83,24.54,24.85
$GC,3591,-1.14,-146.0,2360,328,3548,3443,480.2,-10.4,190,3596,0.00,2.58,0.00,0.000,1030,0.000,0.028,2361,1903,3495,3548,3443,0,0,0,0,0,0,24.67,24.60,24.68
$GC,3873,-1.14,-146.0,2360,1903,3548,3439,510.9,-10.9,197,3880,0.00,2.75,0.00,0.000,516,0.000,0.058,2361,325,3493,3548,3439,0,0,0,0,0,0,24.83,24.54,24.85
$GC,3896,-1.14,-146.0,2360,325,3548,3439,510.9,-10.9,197,3902,0.00,2.58,0.00,0.000,1030,0.000,0.029,2361,1901,3493,3548,3438,0,0,0,0,0,0,24.67,24.60,24.68
$GC,4159,-1.14,-146.0,2360,1901,3548,3435,541.1,-10.4,204,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1901,3491,3548,3435,0,0,0,0,0,0,24.84,24.87,24.86
$GC,4399,-1.14,-146.0,2360,1901,3548,3432,565.3,-10.1,210,4406,0.00,2.78,0.00,0.000,516,0.000,0.062,2361,328,3490,3548,3432,0,0,0,0,0,0,24.81,24.54,24.82
$GC,4443,-1.14,-146.0,2360,328,3548,3431,570.0,-10.2,211,4449,0.00,2.60,0.00,0.000,1030,0.000,0.033,2361,1898,3489,3548,3431,0,0,0,0,0,0,24.68,24.60,24.69
$GC,4726,-1.14,-146.0,2361,1898,3548,3429,598.2,-9.8,218,4732,0.00,2.67,0.00,0.000,260,0.000,0.054,2361,3479,3487,3547,3428,0,0,0,0,0,0,24.85,24.57,24.87
$GC,4754,-1.14,-146.0,2360,3479,3547,3428,598.2,-9.8,218,4759,0.00,2.55,0.00,0.000,1030,0.000,0.032,2361,1914,3488,3548,3428,0,0,0,0,0,0,24.68,24.60,24.70
$GC,5012,-1.14,-146.0,2360,1914,3546,3425,625.6,-9.5,225,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1914,3485,3546,3425,0,0,0,0,0,0,24.85,24.87,24.87
$GC,5252,-1.14,-146.0,2360,1914,3544,3424,649.1,-9.9,231,5257,0.00,2.80,0.00,0.000,516,0.000,0.070,2361,316,3483,3543,3424,0,0,0,0,0,0,24.87,24.55,24.89
$GC,5274,-1.14,-146.0,2360,316,3544,3424,649.1,-9.9,231,5279,0.00,2.65,0.00,0.000,1030,0.000,0.037,2361,1906,3483,3543,3424,0,0,0,0,0,0,24.68,24.60,24.70
$GC,5537,-1.14,-146.0,2360,1906,3542,3421,678.2,-10.2,238,5543,0.00,2.78,0.00,0.000,516,0.000,0.065,2361,323,3481,3542,3421,0,0,0,0,0,0,24.85,24.55,24.87
$GC,5624,-1.14,-146.0,2360,323,3541,3421,687.5,-10.8,240,5629,0.00,2.65,0.00,0.000,1030,0.000,0.038,2361,1905,3481,3541,3421,0,0,0,0,0,0,24.68,24.59,24.70
$GC,5902,-1.14,-146.0,2360,1904,3540,3420,716.7,-10.1,247,5907,0.00,2.80,0.00,0.000,516,0.000,0.068,2361,319,3479,3540,3419,0,0,0,0,0,0,24.81,24.54,24.83
$GC,5933,-1.14,-146.0,2360,318,3540,3419,716.7,-10.1,247,5939,0.00,2.65,0.00,0.000,1030,0.000,0.040,2361,1899,3480,3540,3420,0,0,0,0,0,0,24.68,24.59,24.70
$GC,6187,-1.14,-146.0,2360,1899,3538,3418,744.0,-9.3,254,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1899,3478,3538,3418,0,0,0,0,0,0,24.85,24.88,24.87
$GC,6427,-1.14,-146.0,2360,1899,3537,3416,765.4,-8.9,260,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1899,3476,3536,3417,0,0,0,0,0,0,24.82,24.84,24.84
$GC,6667,-1.14,-146.0,2360,1903,3535,3415,786.6,-8.8,266,6673,0.00,2.78,0.00,0.000,516,0.000,0.063,2361,317,3475,3535,3415,0,0,0,0,0,0,24.89,24.56,24.91
$GC,6695,-1.14,-146.0,2360,317,3535,3415,786.6,-8.8,266,6700,0.00,2.65,0.00,0.000,1030,0.000,0.034,2361,1913,3475,3535,3415,0,0,0,0,0,0,24.70,24.62,24.72
$GC,6953,-1.14,-146.0,2359,1913,3534,3413,811.6,-8.5,273,6959,0.00,2.78,0.00,0.000,516,0.000,0.063,2361,323,3473,3534,3413,0,0,0,0,0,0,24.89,24.56,24.91
$GC,6980,-1.14,-146.0,2360,322,3534,3413,811.6,-8.5,273,6985,0.00,2.62,0.00,0.000,1030,0.000,0.041,2361,1900,3473,3534,3413,0,0,0,0,0,0,24.70,24.63,24.72
$GC,7238,-1.14,-146.0,2360,1901,3532,3411,835.9,-8.6,280,7244,0.00,2.75,0.00,0.000,516,0.000,0.062,2361,323,3472,3533,3411,0,0,0,0,0,0,24.87,24.56,24.89
$GC,7331,-1.14,-146.0,2360,323,3532,3411,843.7,-9.0,282,7337,0.00,2.62,0.00,0.000,1030,0.000,0.035,2361,1898,3472,3532,3412,0,0,0,0,0,0,24.70,24.62,24.72
$GC,7604,-1.14,-146.0,2360,1899,3531,3409,868.4,-8.6,289,7609,0.00,2.70,0.00,0.000,260,0.000,0.064,2361,3491,3470,3531,3409,0,0,0,0,0,0,24.89,24.58,24.91
$GC,7636,-1.14,-146.0,2360,3491,3530,3410,868.4,-8.6,289,7642,0.00,2.60,0.00,0.000,1030,0.000,0.031,2361,1894,3470,3530,3410,0,0,0,0,0,0,24.70,24.63,24.72
$GC,7890,-1.14,-146.0,2360,1894,3530,3408,892.7,-8.4,296,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1894,3469,3530,3408,0,0,0,0,0,0,24.89,24.91,24.91
$STATE,8007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8007,begin apogee
$GC,8012,-0.26,0.0,2360,1832,3530,3408,902.4,-8.2,299,8141,1.38,0.00,124.82,1.177,10246,0.117,0.000,2643,1832,2899,2956,2843,0,0,0,0,0,0,24.54,23.77,23.08
$STATE,8142,end apogee,CONTROL_FINISHED_OK
$STATE,8142,begin climb
$GC,8144,1.14,146.0,2643,1832,2955,2842,904.4,0.0,302,8283,2.00,0.00,134.48,1.139,10246,0.071,0.000,3085,1832,2303,2354,2252,0,0,0,0,0,0,23.98,23.72,23.07
$GC,8491,1.14,146.0,3085,1831,2353,2240,871.0,11.9,311,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1832,2296,2353,2240,0,0,0,0,0,0,24.52,24.55,24.54
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$STATE,16431,end climb,SURFACE_DEPTH_REACHED
$STATE,16431,begin surface coast
$FINISH,0.1,1.023858
$STATE,16455,end surface coast,CONTROL_FINISHED_OK
$STATE,16456,begin surface
$SM_CCo,16475,71.38,0.470,0,0,1349,380.21
$SM_GC,0.87,11.23,0.08,71.38,0.037,0.093,0.470,419,1961,1349,-7.20,-1.53,380.21,0,0,0,0,0,0,24.53,24.63,23.66
$IRIDIUM_FIX,2340.34,-15511.52,080518,031223
$TT8_MAMPS,0.021721,0.34454
$HUMID,50.86
$INTERNAL_PRESSURE,9.19357
$TCM_TEMP,21.60
$XPDR_PINGS,282
$24V_AH,23.07,41.655
$10V_AH,10.06,27.523
$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
$DEVICE_SECS,25.625,220.600,356.625,71.375,0.000,40.717,46.673,200.091,70.500,0.000,52.197,2305.601,11516.841,705.157,2218.566,249.419,0.000,1643.026,0.000,1870.110,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,446.360,296.616,512.763,512.506,614.139,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342976
$DATA_FILE_SIZE,53846,657
$CAP_FILE_SIZE,155060,0
$CFSIZE,259248128,239620096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,294.10,1
$GPS,080518,124632,2353.611,-15506.286,48,1.5,52,10.5,1.0,236.8,8,4.8