version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 298
start: 5 9 118 22 49 5
data:
$ID,148
$MISSION,15
$DIVE,298
$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
$GPS1,090518,224127,2404.2444,-15503.8154,50,1.0,74,10.5,0.4,247.1,9,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-60.8
$GPS2,090518,224839,2404.2449,-15503.8984,8,1.7,31,10.5,0.6,296.4,8,4.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,E10
$TGT_LATLONG,2416.000,-15520.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,318.6,34828,-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,16,-1.14,-146.0,422,1841,1354,1329,0.0,0.0,0,97,0.00,0.08,-77.70,0.000,16390,0.000,0.509,422,1981,3497,3544,3450,0,0,0,0,0,0,24.60,23.70,24.62
$GC,100,-1.14,-146.0,422,1982,3544,3451,3.8,-8.4,11,116,10.98,2.42,0.00,0.000,2308,0.176,0.024,2361,3473,3498,3545,3452,0,0,0,0,0,0,24.18,24.33,24.32
$GC,288,-1.14,-146.0,2361,3473,3546,3452,48.1,-19.0,36,295,0.00,2.47,0.00,0.000,1030,0.000,0.018,2362,1896,3499,3547,3452,0,0,0,0,0,0,24.49,24.44,24.51
$GC,545,-1.14,-146.0,2361,1896,3547,3452,93.2,-15.8,61,551,0.00,2.55,0.00,0.000,260,0.000,0.028,2361,3481,3499,3547,3452,0,0,0,0,0,0,24.70,24.46,24.72
$GC,572,-1.14,-146.0,2361,3481,3547,3452,97.4,-15.5,63,579,0.00,2.47,0.00,0.000,1030,0.000,0.017,2361,1890,3499,3547,3452,0,0,0,0,0,0,24.53,24.49,24.55
$GC,820,-1.14,-146.0,2361,1890,3548,3452,136.8,-15.2,88,826,0.00,2.55,0.00,0.000,260,0.000,0.027,2361,3481,3500,3549,3452,0,0,0,0,0,0,24.74,24.49,24.75
$GC,855,-1.14,-146.0,2361,3480,3549,3452,142.2,-15.4,91,860,0.00,2.47,0.00,0.000,1030,0.000,0.017,2361,1893,3500,3549,3452,0,0,0,0,0,0,24.57,24.51,24.58
$GC,1109,-1.14,-146.0,2361,1893,3549,3452,179.5,-14.9,116,1115,0.00,2.55,0.00,0.000,260,0.000,0.027,2361,3472,3500,3549,3452,0,0,0,0,0,0,24.76,24.51,24.78
$GC,1173,-1.14,-146.0,2361,3472,3549,3452,189.5,-15.2,122,1179,0.00,2.45,0.00,0.000,1030,0.000,0.017,2361,1894,3500,3549,3452,0,0,0,0,0,0,24.60,24.55,24.61
$GC,1457,-1.14,-146.0,2361,1894,3550,3453,228.4,-13.6,135,1462,0.00,2.53,0.00,0.000,260,0.000,0.027,2361,3480,3501,3550,3452,0,0,0,0,0,0,24.79,24.54,24.80
$GC,1529,-1.14,-146.0,2361,3480,3550,3453,234.5,-13.6,136,1535,0.00,2.45,0.00,0.000,1030,0.000,0.017,2361,1894,3501,3550,3453,0,0,0,0,0,0,24.63,24.58,24.63
$GC,1782,-1.14,-146.0,2361,1895,3550,3453,270.9,-12.6,143,1788,0.00,2.55,0.00,0.000,260,0.000,0.028,2361,3480,3501,3550,3453,0,0,0,0,0,0,24.81,24.56,24.82
$GC,1814,-1.14,-146.0,2361,3480,3550,3453,270.9,-12.6,143,1820,0.00,2.45,0.00,0.000,1030,0.000,0.018,2361,1901,3501,3550,3453,0,0,0,0,0,0,24.64,24.59,24.65
$GC,2067,-1.14,-146.0,2361,1901,3550,3453,305.0,-11.8,150,2072,0.00,2.60,0.00,0.000,516,0.000,0.042,2361,329,3501,3550,3453,0,0,0,0,0,0,24.82,24.54,24.84
$GC,2098,-1.14,-146.0,2361,329,3550,3453,305.0,-11.8,150,2104,0.00,2.47,0.00,0.000,1030,0.000,0.019,2361,1904,3501,3550,3453,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2351,-1.14,-146.0,2361,1904,3550,3453,337.5,-11.3,157,2357,0.00,2.53,0.00,0.000,260,0.000,0.034,2361,3465,3501,3550,3453,0,0,0,0,0,0,24.82,24.56,24.83
$GC,2385,-1.14,-146.0,2361,3465,3550,3453,337.5,-11.3,157,2391,0.00,2.45,0.00,0.000,1030,0.000,0.021,2361,1908,3501,3550,3453,0,0,0,0,0,0,24.65,24.59,24.67
$GC,2638,-1.14,-146.0,2361,1908,3550,3451,368.0,-10.4,164,2643,0.00,2.65,0.00,0.000,516,0.000,0.047,2361,330,3500,3550,3451,0,0,0,0,0,0,24.82,24.54,24.84
$GC,2699,-1.14,-146.0,2361,330,3550,3451,372.7,-10.5,165,2704,0.00,2.50,0.00,0.000,1030,0.000,0.021,2361,1904,3500,3550,3450,0,0,0,0,0,0,24.66,24.60,24.68
$GC,2962,-1.14,-146.0,2361,1905,3550,3448,403.2,-11.1,172,2968,0.00,2.67,0.00,0.000,516,0.000,0.054,2361,327,3499,3550,3448,0,0,0,0,0,0,24.84,24.54,24.86
$GC,2995,-1.14,-146.0,2360,327,3550,3448,403.2,-11.1,172,3000,0.00,2.53,0.00,0.000,1030,0.000,0.022,2361,1907,3499,3550,3448,0,0,0,0,0,0,24.66,24.60,24.68
$GC,3247,-1.14,-146.0,2361,1906,3550,3445,436.7,-11.6,179,3252,0.00,2.70,0.00,0.000,516,0.000,0.054,2362,327,3497,3550,3445,0,0,0,0,0,0,24.79,24.54,24.81
$GC,3264,-1.14,-146.0,2361,327,3550,3445,436.7,-11.6,179,3269,0.00,2.53,0.00,0.000,1030,0.000,0.025,2361,1894,3497,3550,3445,0,0,0,0,0,0,24.67,24.60,24.68
$GC,3532,-1.14,-146.0,2361,1894,3549,3443,467.9,-10.6,186,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1894,3496,3550,3442,0,0,0,0,0,0,24.85,24.88,24.87
$GC,3771,-1.14,-146.0,2361,1894,3550,3439,493.8,-11.0,192,3777,0.00,2.70,0.00,0.000,516,0.000,0.058,2361,331,3494,3550,3439,0,0,0,0,0,0,24.81,24.55,24.83
$GC,3793,-1.14,-146.0,2361,331,3550,3439,493.8,-11.0,192,3798,0.00,2.55,0.00,0.000,1030,0.000,0.029,2361,1894,3494,3550,3439,0,0,0,0,0,0,24.68,24.61,24.70
$GC,4056,-1.14,-146.0,2361,1894,3550,3436,525.1,-11.1,199,4062,0.00,2.72,0.00,0.000,516,0.000,0.060,2361,324,3492,3550,3435,0,0,0,0,0,0,24.81,24.54,24.83
$GC,4108,-1.14,-146.0,2361,324,3550,3435,530.3,-11.4,200,4113,0.00,2.60,0.00,0.000,1030,0.000,0.031,2361,1909,3492,3550,3435,0,0,0,0,0,0,24.68,24.60,24.69
$GC,4381,-1.14,-146.0,2361,1908,3550,3432,561.6,-10.8,207,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1908,3491,3550,3432,0,0,0,0,0,0,24.81,24.83,24.82
$GC,4622,-1.14,-146.0,2361,1908,3550,3430,585.9,-9.8,213,4628,0.00,2.80,0.00,0.000,516,0.000,0.063,2361,330,3490,3550,3430,0,0,0,0,0,0,24.81,24.55,24.83
$GC,4660,-1.14,-146.0,2361,330,3550,3430,585.9,-9.8,213,4666,0.00,2.60,0.00,0.000,1030,0.000,0.034,2361,1895,3490,3550,3430,0,0,0,0,0,0,24.68,24.61,24.70
$GC,4906,-1.14,-146.0,2360,1895,3550,3425,614.0,-9.7,220,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1895,3487,3549,3425,0,0,0,0,0,0,24.85,24.87,24.87
$GC,5146,-1.14,-146.0,2361,1895,3547,3424,637.3,-9.8,226,5152,0.00,2.75,0.00,0.000,516,0.000,0.063,2361,325,3485,3547,3424,0,0,0,0,0,0,24.82,24.56,24.84
$GC,5179,-1.14,-146.0,2361,324,3547,3424,637.3,-9.8,226,5184,0.00,2.62,0.00,0.000,1030,0.000,0.035,2361,1901,3485,3547,3424,0,0,0,0,0,0,24.68,24.60,24.70
$GC,5432,-1.14,-146.0,2361,1901,3544,3422,665.5,-9.7,233,5437,0.00,2.75,0.00,0.000,516,0.000,0.066,2361,335,3483,3544,3422,0,0,0,0,0,0,24.86,24.55,24.87
$GC,5474,-1.14,-146.0,2361,334,3544,3421,669.9,-9.8,234,5480,0.00,2.62,0.00,0.000,1030,0.000,0.037,2361,1900,3483,3544,3422,0,0,0,0,0,0,24.68,24.60,24.70
$GC,5758,-1.14,-146.0,2360,1899,3542,3420,696.6,-9.3,241,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1899,3481,3542,3420,0,0,0,0,0,0,24.82,24.84,24.84
$GC,5997,-1.14,-146.0,2361,1899,3541,3418,718.0,-8.9,247,6003,0.00,2.78,0.00,0.000,516,0.000,0.069,2361,331,3479,3541,3418,0,0,0,0,0,0,24.82,24.55,24.84
$GC,6049,-1.14,-146.0,2361,331,3541,3418,722.0,-9.0,248,6055,0.00,2.65,0.00,0.000,1030,0.000,0.045,2362,1910,3479,3541,3418,0,0,0,0,0,0,24.69,24.60,24.70
$GC,6323,-1.14,-146.0,2361,1910,3539,3417,747.4,-9.0,255,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1910,3478,3539,3417,0,0,0,0,0,0,24.82,24.84,24.84
$GC,6563,-1.14,-146.0,2360,1910,3538,3415,768.6,-8.8,261,6568,0.00,2.83,0.00,0.000,516,0.000,0.077,2361,334,3476,3538,3415,0,0,0,0,0,0,24.89,24.56,24.91
$GC,6610,-1.14,-146.0,2361,334,3538,3415,772.6,-8.9,262,6615,0.00,2.65,0.00,0.000,1030,0.000,0.047,2361,1918,3476,3538,3415,0,0,0,0,0,0,24.71,24.65,24.72
$GC,6888,-1.14,-146.0,2361,1918,3536,3413,798.2,-9.2,269,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1918,3474,3536,3413,0,0,0,0,0,0,24.89,24.91,24.91
$GC,7127,-1.14,-146.0,2361,1918,3534,3412,820.0,-9.1,275,7133,0.00,2.78,0.00,0.000,516,0.000,0.068,2361,334,3473,3535,3412,0,0,0,0,0,0,24.89,24.56,24.91
$GC,7165,-1.14,-146.0,2360,334,3534,3412,820.0,-9.1,275,7172,0.00,2.60,0.00,0.000,1030,0.000,0.034,2361,1899,3473,3534,3412,0,0,0,0,0,0,24.71,24.63,24.72
$GC,7411,-1.14,-146.0,2361,1899,3533,3410,846.5,-9.2,282,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1899,3472,3534,3410,0,0,0,0,0,0,24.84,24.86,24.85
$GC,7650,-1.14,-146.0,2361,1899,3533,3409,867.3,-8.5,288,7655,0.00,2.75,0.00,0.000,516,0.000,0.065,2361,328,3470,3532,3409,0,0,0,0,0,0,24.90,24.58,24.91
$GC,7677,-1.14,-146.0,2361,328,3532,3409,867.3,-8.5,288,7683,0.00,2.65,0.00,0.000,1030,0.000,0.035,2361,1906,3470,3532,3409,0,0,0,0,0,0,24.71,24.63,24.73
$GC,7936,-1.14,-146.0,2361,1907,3531,3408,890.6,-8.0,295,7942,0.00,2.75,0.00,0.000,516,0.000,0.062,2361,332,3469,3531,3408,0,0,0,0,0,0,24.84,24.58,24.87
$GC,7958,-1.14,-146.0,2361,332,3531,3408,890.6,-8.0,295,7964,0.00,2.62,0.00,0.000,1030,0.000,0.035,2361,1911,3469,3531,3408,0,0,0,0,0,0,24.71,24.63,24.73
$STATE,8060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8060,begin apogee
$GC,8065,-0.26,0.0,2361,1835,3531,3407,900.9,-8.2,298,8194,1.30,0.00,124.90,1.171,10246,0.096,0.000,2643,1835,2899,2957,2842,0,0,0,0,0,0,24.58,23.78,23.08
$STATE,8195,end apogee,CONTROL_FINISHED_OK
$STATE,8195,begin climb
$GC,8197,1.14,146.0,2643,1835,2957,2841,903.1,0.0,301,8344,1.92,2.80,133.12,1.136,10756,0.059,0.073,3095,293,2302,2354,2251,0,0,0,0,0,0,24.01,23.76,23.08
$GC,8350,1.14,146.0,3095,293,2353,2251,894.0,7.5,305,8355,0.00,2.67,0.00,0.000,1030,0.000,0.035,3095,1856,2300,2351,2250,0,0,0,0,0,0,24.15,24.06,24.16
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$STATE,16372,end climb,SURFACE_DEPTH_REACHED
$STATE,16372,begin surface coast
$FINISH,0.1,1.021361
$STATE,16403,end surface coast,CONTROL_FINISHED_OK
$STATE,16403,begin surface
$SM_CCo,16423,69.20,0.467,0,0,1350,380.21
$SM_GC,0.84,11.40,0.10,69.20,0.044,0.074,0.467,434,1944,1350,-7.16,-1.22,380.21,0,0,0,0,0,0,24.47,24.58,23.66
$IRIDIUM_FIX,2354.48,-15505.41,090518,175106
$TT8_MAMPS,0.021721,0.345289
$HUMID,51.02
$INTERNAL_PRESSURE,9.2131
$TCM_TEMP,22.60
$XPDR_PINGS,232
$24V_AH,23.08,42.799
$10V_AH,10.07,28.260
$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,25.700,214.750,356.025,69.200,0.000,37.530,44.611,208.324,58.000,0.000,33.699,2283.438,11533.891,660.311,2214.284,236.102,0.000,1610.618,0.000,1870.863,0.000,0.538,0.000
$DEVICE_MAMPS,175.950,508.725,1171.215,467.415,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,449.944,300.807,521.944,527.915,630.962,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342996
$DATA_FILE_SIZE,53940,663
$CAP_FILE_SIZE,156556,0
$CFSIZE,259248128,239063040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,286.39,1
$GPS,100518,032544,2406.280,-15506.065,28,1.2,68,10.5,0.3,242.9,6,5.2