version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 325
start: 5 15 118 7 16 18
data:
$ID,148
$MISSION,15
$DIVE,325
$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,39
$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
$GPS1,150518,070858,2348.6025,-15609.9775,101,1.2,107,10.4,0.0,107.3,8,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-61.5
$GPS2,150518,071551,2348.6450,-15610.0391,10,1.8,32,10.4,0.9,336.8,8,4.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALO
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,196.2,221730,-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,-146.0,433,1993,1351,1334,0.0,0.0,0,96,0.00,0.15,-77.50,0.000,16390,0.000,0.263,433,1821,3497,3544,3451,0,0,0,0,0,0,24.59,23.68,24.61
$GC,100,-1.14,-146.0,433,1821,3544,3452,3.9,-8.7,11,116,10.88,2.50,0.00,0.000,2564,0.177,0.028,2361,308,3499,3545,3453,0,0,0,0,0,0,24.18,24.31,24.32
$GC,271,-1.14,-146.0,2360,308,3545,3453,46.3,-20.0,34,279,0.00,2.55,0.00,0.000,1030,0.000,0.016,2361,1905,3499,3546,3453,0,0,0,0,0,0,24.47,24.45,24.48
$GC,520,-1.14,-146.0,2360,1905,3547,3453,90.9,-16.7,59,525,0.00,2.50,0.00,0.000,260,0.000,0.028,2361,3473,3500,3547,3453,0,0,0,0,0,0,24.69,24.44,24.70
$GC,564,-1.14,-146.0,2360,3473,3547,3453,98.2,-15.9,63,570,0.00,2.47,0.00,0.000,1030,0.000,0.017,2361,1882,3500,3547,3453,0,0,0,0,0,0,24.53,24.48,24.54
$GC,818,-1.14,-146.0,2360,1882,3548,3453,136.6,-14.1,88,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1882,3500,3548,3453,0,0,0,0,0,0,24.72,24.75,24.74
$GC,1058,-1.14,-146.0,2360,1882,3549,3453,175.5,-16.4,112,1064,0.00,2.55,0.00,0.000,260,0.000,0.027,2361,3472,3501,3549,3453,0,0,0,0,0,0,24.75,24.50,24.77
$GC,1123,-1.14,-146.0,2361,3472,3549,3453,185.1,-14.7,118,1129,0.00,2.45,0.00,0.000,1030,0.000,0.016,2361,1890,3501,3550,3453,0,0,0,0,0,0,24.59,24.54,24.60
$GC,1407,-1.14,-146.0,2361,1890,3549,3455,222.5,-13.3,134,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1890,3501,3549,3454,0,0,0,0,0,0,24.77,24.79,24.79
$GC,1646,-1.14,-146.0,2360,1890,3550,3455,250.1,-11.3,140,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1890,3502,3550,3455,0,0,0,0,0,0,24.79,24.81,24.81
$GC,1887,-1.14,-146.0,2360,1890,3550,3455,280.1,-12.8,146,1892,0.00,2.55,0.00,0.000,260,0.000,0.029,2361,3469,3502,3550,3454,0,0,0,0,0,0,24.80,24.55,24.82
$GC,1914,-1.14,-146.0,2360,3469,3550,3455,280.1,-12.8,146,1919,0.00,2.42,0.00,0.000,1030,0.000,0.018,2360,1902,3502,3550,3455,0,0,0,0,0,0,24.63,24.59,24.65
$GC,2171,-1.14,-146.0,2360,1902,3550,3455,316.9,-12.6,153,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1902,3502,3550,3455,0,0,0,0,0,0,24.79,24.82,24.82
$GC,2412,-1.14,-146.0,2360,1902,3550,3454,344.9,-11.4,159,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1903,3502,3550,3454,0,0,0,0,0,0,24.80,24.83,24.82
$GC,2652,-1.14,-146.0,2360,1903,3550,3452,371.2,-10.9,165,2657,0.00,2.62,0.00,0.000,516,0.000,0.044,2361,340,3501,3550,3452,0,0,0,0,0,0,24.82,24.54,24.84
$GC,2684,-1.14,-146.0,2361,340,3549,3451,371.2,-10.9,165,2689,0.00,2.47,0.00,0.000,1030,0.000,0.021,2361,1891,3501,3550,3452,0,0,0,0,0,0,24.65,24.59,24.66
$GC,2937,-1.14,-146.0,2360,1890,3550,3449,401.9,-11.0,172,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1890,3499,3550,3449,0,0,0,0,0,0,24.78,24.80,24.79
$GC,3176,-1.14,-146.0,2360,1890,3550,3446,430.6,-12.1,178,3181,0.00,2.67,0.00,0.000,516,0.000,0.052,2361,334,3498,3550,3446,0,0,0,0,0,0,24.84,24.54,24.86
$GC,3213,-1.14,-146.0,2361,334,3549,3446,430.6,-12.1,178,3220,0.00,2.53,0.00,0.000,1030,0.000,0.025,2361,1895,3498,3550,3446,0,0,0,0,0,0,24.66,24.60,24.68
$GC,3459,-1.14,-146.0,2360,1895,3549,3443,463.5,-11.7,185,3464,0.00,2.62,0.00,0.000,260,0.000,0.044,2361,3472,3496,3549,3443,0,0,0,0,0,0,24.79,24.56,24.81
$GC,3475,-1.14,-146.0,2361,3472,3549,3443,463.5,-11.7,185,3482,0.00,2.50,0.00,0.000,1030,0.000,0.024,2361,1905,3496,3550,3443,0,0,0,0,0,0,24.67,24.60,24.68
$GC,3744,-1.14,-146.0,2360,1905,3549,3439,498.4,-12.1,192,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1905,3494,3550,3439,0,0,0,0,0,0,24.80,24.83,24.82
$GC,3984,-1.14,-146.0,2360,1905,3549,3436,525.4,-10.9,198,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1905,3492,3549,3436,0,0,0,0,0,0,24.80,24.83,24.82
$GC,4224,-1.14,-146.0,2360,1905,3549,3433,549.2,-9.8,204,4229,0.00,2.72,0.00,0.000,516,0.000,0.057,2361,328,3491,3550,3433,0,0,0,0,0,0,24.81,24.56,24.82
$GC,4297,-1.14,-146.0,2360,328,3549,3432,553.7,-9.9,205,4303,0.00,2.58,0.00,0.000,1030,0.000,0.031,2361,1890,3491,3550,3432,0,0,0,0,0,0,24.68,24.60,24.69
$GC,4550,-1.14,-146.0,2360,1890,3549,3430,582.4,-10.0,212,4556,0.00,2.72,0.00,0.000,516,0.000,0.054,2361,322,3489,3549,3430,0,0,0,0,0,0,24.81,24.56,24.82
$GC,4577,-1.14,-146.0,2361,322,3550,3430,582.4,-10.0,212,4582,0.00,2.62,0.00,0.000,1030,0.000,0.033,2361,1904,3489,3549,3430,0,0,0,0,0,0,24.68,24.60,24.69
$GC,4835,-1.14,-146.0,2361,1904,3549,3425,609.8,-9.3,219,4840,0.00,2.75,0.00,0.000,516,0.000,0.057,2361,331,3487,3549,3425,0,0,0,0,0,0,24.81,24.55,24.82
$GC,4918,-1.14,-146.0,2361,331,3548,3425,618.2,-9.7,221,4924,0.00,2.62,0.00,0.000,1030,0.000,0.035,2361,1899,3486,3548,3424,0,0,0,0,0,0,24.68,24.60,24.69
$GC,5202,-1.14,-146.0,2360,1899,3545,3423,643.9,-9.0,228,5207,0.00,2.72,0.00,0.000,516,0.000,0.059,2361,331,3484,3545,3423,0,0,0,0,0,0,24.81,24.55,24.83
$GC,5249,-1.14,-146.0,2360,331,3545,3423,648.1,-9.1,229,5254,0.00,2.62,0.00,0.000,1030,0.000,0.036,2361,1901,3484,3545,3423,0,0,0,0,0,0,24.68,24.59,24.70
$GC,5527,-1.14,-146.0,2360,1901,3543,3421,675.0,-9.7,236,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1901,3481,3542,3421,0,0,0,0,0,0,24.81,24.84,24.83
$GC,5768,-1.14,-146.0,2360,1901,3541,3419,698.8,-9.9,242,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1901,3480,3541,3420,0,0,0,0,0,0,24.82,24.84,24.84
$GC,6007,-1.14,-146.0,2360,1901,3541,3418,721.6,-9.3,248,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1901,3479,3540,3418,0,0,0,0,0,0,24.82,24.85,24.84
$GC,6247,-1.14,-146.0,2360,1901,3539,3417,742.1,-8.4,254,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1901,3478,3539,3417,0,0,0,0,0,0,24.89,24.91,24.91
$GC,6487,-1.14,-146.0,2360,1901,3537,3415,761.0,-7.7,260,6492,0.00,2.80,0.00,0.000,516,0.000,0.072,2361,334,3476,3537,3415,0,0,0,0,0,0,24.89,24.56,24.91
$GC,6509,-1.14,-146.0,2360,334,3537,3415,761.0,-7.7,260,6514,0.00,2.67,0.00,0.000,1030,0.000,0.043,2361,1908,3475,3537,3414,0,0,0,0,0,0,24.70,24.61,24.72
$GC,6773,-1.14,-146.0,2360,1911,3535,3413,785.0,-8.6,267,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1911,3474,3535,3413,0,0,0,0,0,0,24.83,24.85,24.84
$GC,7012,-1.14,-146.0,2360,1911,3534,3412,806.8,-9.2,273,7017,0.00,2.75,0.00,0.000,516,0.000,0.059,2361,333,3473,3535,3412,0,0,0,0,0,0,24.89,24.58,24.91
$GC,7074,-1.14,-146.0,2361,332,3534,3411,811.1,-9.4,274,7082,0.00,2.60,0.00,0.000,1030,0.000,0.039,2361,1906,3472,3534,3411,0,0,0,0,0,0,24.71,24.63,24.72
$GC,7340,-1.14,-146.0,2361,1906,3533,3410,838.1,-9.3,281,7346,0.00,2.67,0.00,0.000,260,0.000,0.065,2361,3475,3471,3533,3409,0,0,0,0,0,0,24.89,24.58,24.91
$GC,7357,-1.14,-146.0,2360,3475,3532,3410,838.1,-9.3,281,7363,0.00,2.58,0.00,0.000,1030,0.000,0.037,2361,1898,3471,3532,3410,0,0,0,0,0,0,24.70,24.63,24.72
$GC,7626,-1.14,-146.0,2360,1898,3532,3409,864.3,-9.0,288,7627,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1898,3470,3532,3408,0,0,0,0,0,0,24.87,24.90,24.89
$GC,7866,-1.14,-146.0,2360,1898,3531,3408,885.2,-8.6,294,7871,0.00,2.75,0.00,0.000,516,0.000,0.064,2361,317,3469,3531,3408,0,0,0,0,0,0,24.84,24.58,24.85
$GC,7909,-1.14,-146.0,2360,317,3531,3408,889.3,-8.9,295,7915,0.00,2.65,0.00,0.000,1030,0.000,0.034,2361,1903,3469,3531,3408,0,0,0,0,0,0,24.70,24.63,24.72
$STATE,8030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8030,begin apogee
$GC,8036,-0.26,0.0,2361,1828,3531,3407,900.6,-9.2,298,8166,1.30,0.00,125.70,1.176,10246,0.093,0.000,2646,1828,2899,2956,2842,0,0,0,0,0,0,24.58,23.75,23.04
$STATE,8167,end apogee,CONTROL_FINISHED_OK
$STATE,8167,begin climb
$GC,8168,1.14,146.0,2645,1828,2956,2841,904.1,0.0,301,8316,1.90,2.80,134.20,1.142,10756,0.054,0.062,3089,287,2302,2354,2251,0,0,0,0,0,0,23.99,23.57,23.03
$GC,8327,1.14,146.0,3089,287,2352,2250,896.9,6.4,305,8332,0.00,2.67,0.00,0.000,1030,0.000,0.034,3089,1851,2300,2351,2250,0,0,0,0,0,0,24.16,24.08,24.18
$GC,8599,1.14,146.0,3089,1851,2352,2239,864.9,11.1,312,8601,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1851,2295,2352,2239,0,0,0,0,0,0,24.57,24.59,24.59
$GC,8840,1.14,146.0,3089,1851,2351,2236,838.4,11.1,318,8845,0.00,2.78,0.00,0.000,516,0.000,0.059,3089,285,2294,2352,2236,0,0,0,0,0,0,24.58,24.31,24.60
$GC,8872,1.14,146.0,3089,285,2350,2236,838.4,11.1,318,8877,0.00,2.65,0.00,0.000,1030,0.000,0.036,3089,1856,2293,2350,2236,0,0,0,0,0,0,24.45,24.37,24.47
$GC,9124,1.14,146.0,3089,1855,2350,2235,806.9,11.0,325,9129,0.00,2.80,0.00,0.000,260,0.000,0.073,3089,3439,2292,2350,2235,0,0,0,0,0,0,24.67,24.34,24.69
$GC,9145,1.14,146.0,3089,3439,2349,2235,806.9,11.0,325,9151,0.00,2.58,0.00,0.000,1030,0.000,0.028,3089,1871,2292,2349,2235,0,0,0,0,0,0,24.49,24.41,24.51
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$STATE,16745,end climb,SURFACE_DEPTH_REACHED
$STATE,16746,begin surface coast
$FINISH,0.1,1.011320
$STATE,16775,end surface coast,CONTROL_FINISHED_OK
$STATE,16775,begin surface
$SM_CCo,16794,71.53,0.470,0,0,1350,380.21
$SM_GC,0.91,11.23,0.00,71.53,0.040,0.000,0.470,434,1866,1350,-7.15,-0.96,380.21,0,0,0,0,0,0,24.49,24.77,23.65
$IRIDIUM_FIX,2340.34,-15608.47,150518,021807
$TT8_MAMPS,0.021721,0.345289
$HUMID,50.55
$INTERNAL_PRESSURE,9.2131
$TCM_TEMP,22.70
$XPDR_PINGS,156
$24V_AH,23.03,46.532
$10V_AH,10.05,30.652
$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
$DEVICE_SECS,25.400,174.675,356.875,71.525,0.000,28.981,42.202,200.028,39.000,0.000,34.569,2367.204,11853.430,618.346,2216.079,228.196,0.000,1568.043,0.000,1890.911,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,465.048,310.473,471.649,529.175,636.850,0.000,0.000,0.000,0.000,0.000
$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,53831,684
$CAP_FILE_SIZE,150827,0
$CFSIZE,259248128,237277184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7074.40,0x2338ba,0,24
$CURRENT,0.095,307.01,1
$GPS,150518,115903,2347.263,-15611.825,33,1.1,62,10.4,0.0,302.7,10,4.0