version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 320
start: 5 14 118 7 11 41
data:
$ID,148
$MISSION,15
$DIVE,320
$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,42
$R_STBD_OVSHOOT,50
$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
$GPS1,140518,070336,2354.9390,-15558.0137,42,1.3,43,10.4,0.2,322.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-60.8
$GPS2,140518,071115,2354.9734,-15558.0918,14,1.4,30,10.4,0.2,305.2,9,4.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALO
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,204.8,245244,-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,-146.0,421,1956,1353,1329,0.0,0.0,0,91,0.00,0.00,-73.05,0.000,16386,0.000,0.000,421,1957,3377,3423,3331,0,0,0,0,0,0,24.59,28.83,24.61
$GC,94,-1.14,-146.0,421,1957,3423,3333,3.4,-7.5,10,118,10.82,2.70,-2.15,0.000,18948,0.171,0.041,2361,317,3498,3551,3446,0,0,0,0,0,0,24.18,23.61,24.34
$GC,272,-1.14,-146.0,2361,318,3551,3447,43.8,-19.2,34,282,0.00,2.53,0.00,0.000,1030,0.000,0.015,2361,1911,3499,3551,3447,0,0,0,0,0,0,24.48,24.45,24.49
$GC,523,-1.14,-146.0,2361,1912,3551,3447,84.4,-15.0,59,528,0.00,2.50,0.00,0.000,260,0.000,0.028,2362,3469,3499,3551,3448,0,0,0,0,0,0,24.69,24.44,24.71
$GC,568,-1.14,-146.0,2361,3469,3551,3448,92.1,-15.9,63,573,0.00,2.47,0.00,0.000,1030,0.000,0.017,2361,1887,3499,3551,3448,0,0,0,0,0,0,24.53,24.48,24.54
$GC,822,-1.14,-146.0,2361,1887,3551,3449,131.7,-14.7,88,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1887,3500,3551,3449,0,0,0,0,0,0,24.72,24.75,24.75
$GC,1061,-1.14,-146.0,2361,1887,3551,3449,168.3,-15.1,112,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1887,3500,3551,3449,0,0,0,0,0,0,24.75,24.77,24.77
$GC,1333,-1.14,-146.0,2361,1887,3551,3450,206.0,-12.7,136,1338,0.00,2.53,0.00,0.000,260,0.000,0.027,2361,3461,3500,3551,3450,0,0,0,0,0,0,24.77,24.52,24.79
$GC,1349,-1.14,-146.0,2361,3461,3551,3450,206.0,-12.7,136,1354,0.00,2.42,0.00,0.000,1030,0.000,0.016,2361,1890,3500,3551,3450,0,0,0,0,0,0,24.60,24.56,24.62
$GC,1617,-1.14,-146.0,2361,1890,3551,3451,240.7,-12.0,143,1622,0.00,2.53,0.00,0.000,516,0.000,0.034,2361,335,3501,3551,3451,0,0,0,0,0,0,24.79,24.53,24.80
$GC,1634,-1.14,-146.0,2361,335,3551,3451,240.7,-12.0,143,1640,0.00,2.45,0.00,0.000,1030,0.000,0.016,2361,1914,3500,3550,3451,0,0,0,0,0,0,24.63,24.58,24.63
$GC,1902,-1.14,-146.0,2361,1915,3551,3451,273.0,-11.1,150,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1915,3501,3551,3451,0,0,0,0,0,0,24.80,24.82,24.82
$GC,2143,-1.14,-146.0,2361,1915,3551,3451,299.5,-10.8,156,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1915,3501,3551,3451,0,0,0,0,0,0,24.82,24.84,24.83
$GC,2382,-1.14,-146.0,2361,1915,3551,3451,328.7,-12.3,162,2387,0.00,2.62,0.00,0.000,516,0.000,0.038,2361,342,3501,3551,3451,0,0,0,0,0,0,24.81,24.55,24.82
$GC,2425,-1.14,-146.0,2360,342,3551,3451,333.9,-12.2,163,2430,0.00,2.45,0.00,0.000,1030,0.000,0.018,2361,1887,3501,3551,3451,0,0,0,0,0,0,24.65,24.60,24.67
$GC,2708,-1.14,-146.0,2361,1887,3550,3449,366.6,-11.2,170,2713,0.00,2.62,0.00,0.000,516,0.000,0.045,2361,345,3500,3551,3449,0,0,0,0,0,0,24.82,24.53,24.83
$GC,2745,-1.14,-146.0,2361,345,3551,3449,366.6,-11.2,170,2752,0.00,2.50,0.00,0.000,1030,0.000,0.021,2362,1900,3499,3550,3449,0,0,0,0,0,0,24.65,24.60,24.67
$GC,2991,-1.14,-146.0,2361,1901,3551,3447,400.2,-12.0,177,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1900,3498,3550,3447,0,0,0,0,0,0,24.83,24.86,24.85
$GC,3231,-1.14,-146.0,2361,1901,3551,3444,428.1,-11.4,183,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1901,3497,3550,3444,0,0,0,0,0,0,24.84,24.87,24.86
$GC,3471,-1.14,-146.0,2361,1901,3551,3441,453.1,-10.1,189,3476,0.00,2.60,0.00,0.000,260,0.000,0.044,2361,3466,3496,3551,3441,0,0,0,0,0,0,24.85,24.56,24.87
$GC,3492,-1.14,-146.0,2361,3466,3551,3441,453.1,-10.1,189,3498,0.00,2.47,0.00,0.000,1030,0.000,0.025,2362,1918,3496,3551,3441,0,0,0,0,0,0,24.68,24.61,24.69
$GC,3756,-1.14,-146.0,2361,1919,3551,3438,482.5,-10.5,196,3761,0.00,2.70,0.00,0.000,516,0.000,0.054,2362,329,3494,3551,3437,0,0,0,0,0,0,24.81,24.55,24.82
$GC,3787,-1.14,-146.0,2361,328,3550,3437,482.5,-10.5,196,3792,0.00,2.55,0.00,0.000,1030,0.000,0.028,2361,1891,3494,3551,3437,0,0,0,0,0,0,24.67,24.60,24.69
$GC,4040,-1.14,-146.0,2361,1891,3551,3433,512.3,-10.2,203,4045,0.00,2.72,0.00,0.000,516,0.000,0.057,2362,328,3492,3551,3434,0,0,0,0,0,0,24.84,24.54,24.85
$GC,4076,-1.14,-146.0,2361,328,3551,3433,512.3,-10.2,203,4083,0.00,2.58,0.00,0.000,1030,0.000,0.031,2361,1898,3492,3551,3433,0,0,0,0,0,0,24.67,24.60,24.69
$GC,4323,-1.14,-146.0,2361,1898,3550,3430,539.3,-9.3,210,4328,0.00,2.75,0.00,0.000,516,0.000,0.057,2361,323,3490,3551,3430,0,0,0,0,0,0,24.84,24.55,24.87
$GC,4426,-1.14,-146.0,2361,323,3550,3430,547.5,-9.5,212,4431,0.00,2.60,0.00,0.000,1030,0.000,0.031,2361,1898,3490,3551,3430,0,0,0,0,0,0,24.67,24.60,24.69
$GC,4689,-1.14,-146.0,2361,1897,3550,3425,573.9,-9.2,219,4695,0.00,2.75,0.00,0.000,516,0.000,0.058,2362,330,3488,3551,3425,0,0,0,0,0,0,24.84,24.54,24.87
$GC,4717,-1.14,-146.0,2361,330,3551,3425,573.9,-9.2,219,4723,0.00,2.60,0.00,0.000,1030,0.000,0.033,2361,1901,3487,3550,3425,0,0,0,0,0,0,24.68,24.60,24.69
$GC,4976,-1.14,-146.0,2361,1901,3551,3421,600.8,-9.4,226,4981,0.00,2.72,0.00,0.000,516,0.000,0.060,2362,334,3485,3550,3421,0,0,0,0,0,0,24.84,24.54,24.87
$GC,5028,-1.14,-146.0,2361,335,3549,3421,605.5,-9.8,227,5034,0.00,2.62,0.00,0.000,1030,0.000,0.035,2362,1902,3484,3549,3420,0,0,0,0,0,0,24.68,24.59,24.69
$GC,5301,-1.14,-146.0,2361,1902,3546,3420,637.0,-11.5,234,5307,0.00,2.70,0.00,0.000,260,0.000,0.058,2361,3486,3483,3546,3420,0,0,0,0,0,0,24.81,24.56,24.82
$GC,5318,-1.14,-146.0,2361,3486,3546,3420,637.0,-11.5,234,5323,0.00,2.58,0.00,0.000,1030,0.000,0.030,2361,1906,3482,3545,3420,0,0,0,0,0,0,24.68,24.61,24.70
$GC,5586,-1.14,-146.0,2361,1906,3544,3419,672.1,-12.3,241,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1906,3481,3544,3419,0,0,0,0,0,0,24.81,24.84,24.83
$GC,5825,-1.14,-146.0,2361,1906,3542,3417,697.4,-10.2,247,5831,0.00,2.80,0.00,0.000,516,0.000,0.073,2361,325,3479,3542,3417,0,0,0,0,0,0,24.82,24.54,24.84
$GC,5882,-1.14,-146.0,2361,325,3542,3417,701.8,-10.1,248,5888,0.00,2.65,0.00,0.000,1030,0.000,0.038,2362,1904,3479,3542,3417,0,0,0,0,0,0,24.68,24.60,24.70
$GC,6151,-1.14,-146.0,2361,1904,3541,3415,728.1,-9.1,255,6156,0.00,2.72,0.00,0.000,260,0.000,0.066,2362,3486,3478,3541,3415,0,0,0,0,0,0,24.82,24.57,24.84
$GC,6183,-1.14,-146.0,2361,3487,3540,3415,728.1,-9.1,255,6188,0.00,2.62,0.00,0.000,1030,0.000,0.038,2361,1904,3477,3540,3415,0,0,0,0,0,0,24.68,24.60,24.70
$GC,6436,-1.14,-146.0,2361,1904,3539,3413,754.1,-9.1,262,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1904,3476,3539,3413,0,0,0,0,0,0,24.87,24.90,24.89
$GC,6677,-1.14,-146.0,2361,1904,3538,3411,775.4,-8.8,268,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1904,3474,3538,3411,0,0,0,0,0,0,24.82,24.85,24.84
$GC,6916,-1.14,-146.0,2361,1904,3537,3410,796.2,-8.7,274,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1904,3473,3536,3410,0,0,0,0,0,0,24.89,24.91,24.91
$GC,7156,-1.14,-146.0,2361,1903,3535,3408,817.5,-8.9,280,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1904,3471,3535,3408,0,0,0,0,0,0,24.89,24.92,24.91
$GC,7396,-1.14,-146.0,2361,1903,3534,3407,838.6,-8.7,286,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1904,3470,3534,3407,0,0,0,0,0,0,24.89,24.91,24.90
$GC,7636,-1.14,-146.0,2361,1903,3533,3406,858.3,-8.0,292,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1903,3469,3533,3406,0,0,0,0,0,0,24.90,24.93,24.92
$GC,7876,-1.14,-146.0,2361,1903,3532,3405,876.8,-7.7,298,7881,0.00,2.80,0.00,0.000,516,0.000,0.069,2361,309,3468,3532,3405,0,0,0,0,0,0,24.91,24.56,24.92
$GC,7922,-1.14,-146.0,2361,309,3532,3405,880.4,-7.9,299,7929,0.00,2.65,0.00,0.000,1030,0.000,0.039,2362,1904,3468,3532,3405,0,0,0,0,0,0,24.72,24.65,24.74
$STATE,8159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8159,begin apogee
$GC,8165,-0.26,0.0,2361,1818,3531,3403,900.5,-8.5,305,8294,1.30,0.00,125.20,1.176,10246,0.098,0.000,2643,1818,2900,2958,2842,0,0,0,0,0,0,24.58,23.77,23.06
$STATE,8295,end apogee,CONTROL_FINISHED_OK
$STATE,8295,begin climb
$GC,8297,1.14,146.0,2643,1818,2957,2841,903.1,0.0,308,8443,1.95,2.80,134.12,1.141,10756,0.057,0.066,3088,288,2302,2353,2252,0,0,0,0,0,0,23.97,23.58,23.05
$GC,8460,1.14,146.0,3087,288,2352,2250,894.5,6.9,312,8466,0.00,2.67,0.00,0.000,1030,0.000,0.034,3088,1855,2300,2351,2250,0,0,0,0,0,0,24.20,24.11,24.21
$GC,8729,1.14,146.0,3087,1854,2352,2239,860.5,11.7,319,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1855,2295,2352,2239,0,0,0,0,0,0,24.57,24.59,24.59
$GC,8969,1.14,146.0,3087,1855,2352,2237,833.3,11.2,325,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1854,2294,2352,2236,0,0,0,0,0,0,24.62,24.64,24.64
$GC,9209,1.14,146.0,3088,1854,2352,2235,808.0,10.4,331,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1854,2293,2351,2235,0,0,0,0,0,0,24.66,24.69,24.68
$GC,9449,1.14,146.0,3088,1854,2351,2234,782.4,10.7,337,9454,0.00,2.78,0.00,0.000,260,0.000,0.067,3088,3436,2293,2351,2235,0,0,0,0,0,0,24.63,24.37,24.65
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$STATE,16588,end climb,SURFACE_DEPTH_REACHED
$STATE,16588,begin surface coast
$FINISH,1.0,1.023608
$STATE,16611,end surface coast,CONTROL_FINISHED_OK
$STATE,16611,begin surface
$SM_CCo,16631,55.42,0.468,0,0,1350,380.21
$SM_GC,0.84,11.38,0.00,55.42,0.041,0.000,0.468,432,1849,1350,-7.16,-1.44,380.21,0,0,0,0,0,0,24.40,24.70,23.65
$IRIDIUM_FIX,2347.41,-15556.98,140518,021712
$TT8_MAMPS,0.021721,0.278628
$HUMID,50.82
$INTERNAL_PRESSURE,9.2131
$TCM_TEMP,22.40
$XPDR_PINGS,166
$24V_AH,23.05,45.836
$10V_AH,10.16,30.203
$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
$DEVICE_SECS,25.575,173.875,388.725,55.425,0.000,33.132,59.022,223.118,41.500,0.000,33.218,2342.766,11718.750,624.885,2248.132,214.086,0.000,1564.839,0.000,1866.415,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,461.019,309.292,484.440,518.927,615.620,0.000,0.000,0.000,0.000,0.000
$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,53893,678
$CAP_FILE_SIZE,148051,0
$CFSIZE,259248128,237613056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,291.49,1
$GPS,140518,115103,2353.388,-15600.031,38,1.2,38,10.4,0.2,219.5,10,8.3