version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 291
start: 5 8 118 12 59 53
data:
$ID,148
$MISSION,15
$DIVE,291
$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,49
$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
$GPS1,080518,124632,2353.6111,-15506.2861,48,1.5,52,10.5,1.0,236.8,8,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-59.5
$GPS2,080518,125926,2353.6902,-15506.4414,9,1.6,43,10.5,0.6,234.3,9,4.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,E9
$TGT_LATLONG,2410.000,-15500.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,35.2,32107,-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,-146.0,418,1809,1354,1328,0.0,0.0,0,96,0.00,0.12,-77.12,0.000,16390,0.000,0.313,418,1957,3497,3543,3451,0,0,0,0,0,0,24.60,23.70,24.62
$GC,99,-1.14,-146.0,418,1959,3543,3452,4.0,-8.9,11,115,10.85,0.00,0.00,0.000,2566,0.171,0.000,2361,1959,3498,3545,3452,0,0,0,0,0,0,24.19,24.37,24.34
$GC,367,-1.14,-146.0,2360,1960,3545,3452,61.0,-17.4,44,372,0.00,2.42,0.00,0.000,260,0.000,0.028,2361,3478,3498,3545,3452,0,0,0,0,0,0,24.68,24.43,24.70
$GC,468,-1.14,-146.0,2360,3478,3546,3452,79.1,-17.6,53,476,0.00,2.47,0.00,0.000,1030,0.000,0.017,2361,1878,3499,3546,3452,0,0,0,0,0,0,24.53,24.49,24.54
$GC,715,-1.14,-146.0,2360,1878,3546,3452,120.5,-16.1,78,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1878,3499,3546,3452,0,0,0,0,0,0,24.72,24.75,24.74
$GC,955,-1.14,-146.0,2360,1878,3548,3452,160.1,-16.3,102,960,0.00,2.55,0.00,0.000,260,0.000,0.026,2361,3482,3499,3547,3452,0,0,0,0,0,0,24.75,24.50,24.77
$GC,972,-1.14,-146.0,2360,3482,3547,3452,162.0,-16.2,103,979,0.00,2.45,0.00,0.000,1030,0.000,0.017,2361,1887,3499,3547,3452,0,0,0,0,0,0,24.58,24.53,24.59
$GC,1219,-1.14,-146.0,2360,1887,3548,3452,198.8,-14.7,128,1225,0.00,2.53,0.00,0.000,260,0.000,0.027,2361,3474,3500,3548,3453,0,0,0,0,0,0,24.77,24.52,24.78
$GC,1281,-1.14,-146.0,2360,3474,3548,3453,205.4,-15.2,130,1286,0.00,2.42,0.00,0.000,1030,0.000,0.016,2361,1890,3500,3548,3452,0,0,0,0,0,0,24.60,24.56,24.62
$GC,1544,-1.14,-146.0,2360,1890,3548,3452,243.8,-13.7,137,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1890,3500,3549,3452,0,0,0,0,0,0,24.79,24.81,24.81
$GC,1783,-1.14,-146.0,2360,1890,3549,3452,274.8,-13.1,143,1789,0.00,2.53,0.00,0.000,260,0.000,0.028,2361,3471,3500,3549,3452,0,0,0,0,0,0,24.81,24.56,24.82
$GC,1806,-1.14,-146.0,2360,3471,3549,3453,274.8,-13.1,143,1811,0.00,2.42,0.00,0.000,1030,0.000,0.017,2361,1892,3501,3549,3453,0,0,0,0,0,0,24.64,24.59,24.65
$GC,2068,-1.14,-146.0,2360,1892,3549,3452,308.4,-11.1,150,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1892,3500,3549,3452,0,0,0,0,0,0,24.82,24.84,24.84
$GC,2308,-1.14,-146.0,2360,1892,3549,3453,336.7,-12.1,156,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1892,3501,3549,3453,0,0,0,0,0,0,24.81,24.84,24.82
$GC,2548,-1.14,-146.0,2360,1892,3549,3451,363.3,-10.7,162,2553,0.00,2.58,0.00,0.000,260,0.000,0.035,2361,3470,3499,3548,3451,0,0,0,0,0,0,24.83,24.56,24.85
$GC,2570,-1.14,-146.0,2360,3470,3550,3451,363.3,-10.7,162,2576,0.00,2.45,0.00,0.000,1030,0.000,0.021,2361,1904,3500,3549,3451,0,0,0,0,0,0,24.66,24.60,24.68
$GC,2833,-1.14,-146.0,2360,1903,3549,3449,396.3,-12.2,169,2838,0.00,2.65,0.00,0.000,516,0.000,0.047,2361,326,3499,3549,3449,0,0,0,0,0,0,24.82,24.54,24.84
$GC,2879,-1.14,-146.0,2361,327,3549,3448,402.2,-12.8,170,2885,0.00,2.50,0.00,0.000,1030,0.000,0.022,2361,1895,3498,3549,3448,0,0,0,0,0,0,24.66,24.60,24.68
$GC,3158,-1.14,-146.0,2360,1895,3549,3445,438.7,-12.5,177,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1895,3497,3549,3445,0,0,0,0,0,0,24.82,24.85,24.84
$GC,3397,-1.14,-146.0,2360,1895,3549,3443,465.7,-11.1,183,3403,0.00,2.67,0.00,0.000,516,0.000,0.054,2361,331,3496,3549,3443,0,0,0,0,0,0,24.83,24.55,24.84
$GC,3414,-1.14,-146.0,2360,331,3549,3443,465.7,-11.1,183,3419,0.00,2.55,0.00,0.000,1030,0.000,0.028,2361,1901,3495,3549,3442,0,0,0,0,0,0,24.67,24.60,24.68
$GC,3682,-1.14,-146.0,2360,1901,3549,3439,494.2,-9.9,190,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1901,3494,3549,3439,0,0,0,0,0,0,24.81,24.83,24.82
$GC,3922,-1.14,-146.0,2360,1901,3548,3435,515.7,-8.7,196,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1901,3491,3548,3435,0,0,0,0,0,0,24.84,24.87,24.86
$GC,4162,-1.14,-146.0,2360,1901,3548,3432,536.0,-8.6,202,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1901,3490,3548,3432,0,0,0,0,0,0,24.85,24.87,24.87
$GC,4402,-1.14,-146.0,2360,1901,3548,3430,558.1,-9.4,208,4407,0.00,2.75,0.00,0.000,516,0.000,0.060,2361,329,3488,3548,3429,0,0,0,0,0,0,24.85,24.56,24.87
$GC,4424,-1.14,-146.0,2360,329,3548,3430,558.1,-9.4,208,4429,0.00,2.60,0.00,0.000,1030,0.000,0.033,2361,1904,3489,3548,3430,0,0,0,0,0,0,24.68,24.60,24.70
$GC,4687,-1.14,-146.0,2360,1904,3548,3425,588.5,-10.9,215,4692,0.00,2.72,0.00,0.000,516,0.000,0.058,2361,329,3486,3548,3425,0,0,0,0,0,0,24.85,24.56,24.87
$GC,4713,-1.14,-146.0,2360,329,3548,3425,588.5,-10.9,215,4718,0.00,2.62,0.00,0.000,1030,0.000,0.034,2361,1906,3486,3548,3425,0,0,0,0,0,0,24.68,24.60,24.70
$GC,4971,-1.14,-146.0,2360,1906,3546,3421,619.4,-10.5,222,4976,0.00,2.65,0.00,0.000,260,0.000,0.057,2361,3477,3483,3546,3421,0,0,0,0,0,0,24.86,24.57,24.87
$GC,4992,-1.14,-146.0,2360,3477,3546,3422,619.4,-10.5,222,4998,0.00,2.55,0.00,0.000,1030,0.000,0.031,2361,1910,3484,3546,3422,0,0,0,0,0,0,24.68,24.60,24.70
$GC,5256,-1.14,-146.0,2360,1910,3544,3420,647.0,-9.5,229,5261,0.00,2.78,0.00,0.000,516,0.000,0.067,2361,316,3482,3544,3421,0,0,0,0,0,0,24.85,24.55,24.87
$GC,5288,-1.14,-146.0,2360,316,3544,3420,647.0,-9.5,229,5293,0.00,2.62,0.00,0.000,1030,0.000,0.035,2361,1898,3481,3543,3420,0,0,0,0,0,0,24.68,24.60,24.70
$GC,5541,-1.14,-146.0,2360,1898,3542,3419,673.5,-9.0,236,5546,0.00,2.75,0.00,0.000,516,0.000,0.063,2361,323,3480,3542,3419,0,0,0,0,0,0,24.87,24.56,24.89
$GC,5623,-1.14,-146.0,2360,323,3541,3419,681.7,-9.5,238,5629,0.00,2.65,0.00,0.000,1030,0.000,0.036,2361,1903,3480,3541,3419,0,0,0,0,0,0,24.68,24.60,24.70
$GC,5907,-1.14,-146.0,2360,1904,3540,3417,709.5,-9.9,245,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1903,3478,3540,3416,0,0,0,0,0,0,24.81,24.84,24.83
$GC,6146,-1.14,-146.0,2360,1904,3538,3415,734.1,-10.4,251,6151,0.00,2.75,0.00,0.000,260,0.000,0.068,2361,3492,3476,3538,3415,0,0,0,0,0,0,24.88,24.57,24.89
$GC,6167,-1.14,-146.0,2360,3492,3538,3415,734.1,-10.4,251,6173,0.00,2.62,0.00,0.000,1030,0.000,0.036,2361,1900,3476,3538,3415,0,0,0,0,0,0,24.69,24.61,24.71
$GC,6431,-1.14,-146.0,2360,1900,3537,3413,763.9,-10.4,258,6436,0.00,2.75,0.00,0.000,260,0.000,0.058,2361,3492,3474,3536,3413,0,0,0,0,0,0,24.87,24.58,24.88
$GC,6462,-1.14,-146.0,2360,3492,3536,3413,763.9,-10.4,258,6468,0.00,2.60,0.00,0.000,1030,0.000,0.031,2361,1893,3474,3535,3413,0,0,0,0,0,0,24.70,24.63,24.71
$GC,6715,-1.14,-146.0,2360,1893,3535,3411,793.8,-10.3,265,6720,0.00,2.72,0.00,0.000,516,0.000,0.063,2361,321,3473,3535,3411,0,0,0,0,0,0,24.86,24.56,24.88
$GC,6761,-1.14,-146.0,2360,321,3535,3411,798.4,-10.4,266,6768,0.00,2.62,0.00,0.000,1030,0.000,0.033,2361,1910,3473,3535,3411,0,0,0,0,0,0,24.70,24.62,24.71
$GC,7041,-1.14,-146.0,2360,1909,3534,3409,826.7,-9.8,273,7046,0.00,2.75,0.00,0.000,516,0.000,0.059,2361,324,3471,3534,3409,0,0,0,0,0,0,24.87,24.56,24.89
$GC,7117,-1.14,-146.0,2360,323,3533,3409,831.1,-9.9,274,7125,0.00,2.62,0.00,0.000,1030,0.000,0.034,2361,1905,3471,3533,3409,0,0,0,0,0,0,24.69,24.62,24.71
$GC,7364,-1.14,-146.0,2360,1906,3532,3408,856.8,-8.8,281,7369,0.00,2.75,0.00,0.000,516,0.000,0.065,2361,324,3470,3532,3408,0,0,0,0,0,0,24.88,24.56,24.90
$GC,7430,-1.14,-146.0,2360,324,3531,3407,860.6,-8.7,282,7436,0.00,2.62,0.00,0.000,1030,0.000,0.034,2361,1905,3469,3532,3407,0,0,0,0,0,0,24.70,24.62,24.72
$GC,7689,-1.14,-146.0,2360,1907,3531,3406,883.8,-7.8,289,7695,0.00,2.75,0.00,0.000,516,0.000,0.060,2361,324,3468,3531,3406,0,0,0,0,0,0,24.83,24.56,24.84
$GC,7712,-1.14,-146.0,2360,324,3531,3406,883.8,-7.8,289,7717,0.00,2.62,0.00,0.000,1030,0.000,0.034,2361,1904,3468,3531,3406,0,0,0,0,0,0,24.70,24.62,24.72
$STATE,7933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7933,begin apogee
$GC,7938,-0.26,0.0,2360,1830,3530,3405,901.9,-7.1,295,8066,1.30,0.00,124.32,1.169,10246,0.094,0.000,2644,1830,2899,2957,2842,0,0,0,0,0,0,24.58,23.78,23.09
$STATE,8067,end apogee,CONTROL_FINISHED_OK
$STATE,8067,begin climb
$GC,8069,1.14,146.0,2643,1830,2957,2840,902.5,0.0,298,8208,1.95,0.00,134.75,1.134,10246,0.058,0.000,3087,1830,2303,2355,2252,0,0,0,0,0,0,23.99,23.73,23.08
$GC,8416,1.14,146.0,3086,1830,2353,2240,865.7,12.7,307,8421,0.00,2.85,0.00,0.000,260,0.000,0.068,3087,3436,2296,2352,2240,0,0,0,0,0,0,24.54,24.25,24.56
$GC,8432,1.14,146.0,3087,3436,2351,2239,865.7,12.7,307,8438,0.00,2.60,0.00,0.000,1030,0.000,0.034,3087,1861,2295,2351,2240,0,0,0,0,0,0,24.38,24.30,24.41
$GC,8700,1.14,146.0,3086,1860,2351,2236,832.5,11.5,314,8706,0.00,2.90,0.00,0.000,516,0.000,0.079,3087,264,2293,2351,2236,0,0,0,0,0,0,24.61,24.30,24.63
$GC,8717,1.14,146.0,3087,263,2350,2236,832.5,11.5,314,8723,0.00,2.67,0.00,0.000,1030,0.000,0.033,3087,1855,2293,2350,2236,0,0,0,0,0,0,24.44,24.36,24.46
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$STATE,16630,end climb,SURFACE_DEPTH_REACHED
$STATE,16630,begin surface coast
$FINISH,0.3,1.023866
$STATE,16658,end surface coast,CONTROL_FINISHED_OK
$STATE,16658,begin surface
$SM_CCo,16680,75.90,0.468,0,0,1350,380.21
$SM_GC,0.99,11.45,2.42,75.90,0.043,0.017,0.468,419,1906,1350,-7.20,1.30,380.21,0,0,0,0,0,0,24.48,24.54,23.67
$IRIDIUM_FIX,2342.70,-15513.66,080518,125152
$TT8_MAMPS,0.021721,0.349783
$HUMID,49.96
$INTERNAL_PRESSURE,9.20334
$TCM_TEMP,22.50
$XPDR_PINGS,299
$24V_AH,23.08,41.801
$10V_AH,10.03,27.617
$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
$DEVICE_SECS,25.650,205.750,359.825,75.900,0.000,81.546,131.312,260.962,74.750,0.000,46.437,2344.865,11790.627,700.234,2480.353,218.449,0.000,1635.021,0.000,1913.422,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,456.083,302.095,538.968,529.113,644.165,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342972
$DATA_FILE_SIZE,53836,671
$CAP_FILE_SIZE,158950,0
$CFSIZE,259248128,239546368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,272.63,1
$GPS,080518,174108,2355.323,-15505.902,42,1.1,82,10.5,0.2,301.3,7,5.5