version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 350
start: 5 20 118 8 58 35
data:
$ID,148
$MISSION,15
$DIVE,350
$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,81
$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
$GPS1,200518,085028,2322.1636,-15655.2090,99,1.3,99,10.2,1.0,275.5,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-59.8
$GPS2,200518,085810,2322.2292,-15655.3115,12,1.7,29,10.2,0.5,353.5,8,7.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ED2
$TGT_LATLONG,2245.400,-15800.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,205.6,129836,-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,-146.0,431,1854,1350,1329,0.0,0.0,0,91,0.00,0.00,-72.85,0.000,16386,0.000,0.000,431,1854,3387,3435,3339,0,0,0,0,0,0,24.58,28.83,24.60
$GC,94,-1.14,-146.0,431,1855,3435,3340,3.5,-7.7,10,118,10.90,2.65,-1.95,0.000,18692,0.176,0.038,2361,3475,3498,3550,3447,0,0,0,0,0,0,24.15,23.56,24.32
$GC,376,-1.14,-146.0,2361,3474,3550,3449,64.6,-18.3,43,385,0.00,2.45,0.00,0.000,1030,0.000,0.017,2361,1926,3499,3550,3449,0,0,0,0,0,0,24.51,24.45,24.51
$GC,623,-1.14,-146.0,2361,1926,3550,3450,106.3,-15.3,68,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1926,3500,3550,3450,0,0,0,0,0,0,24.70,24.72,24.71
$GC,864,-1.14,-146.0,2361,1926,3550,3452,141.3,-14.5,92,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1926,3501,3550,3452,0,0,0,0,0,0,24.72,24.74,24.74
$GC,1103,-1.14,-146.0,2361,1926,3551,3453,174.7,-13.1,116,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1926,3501,3550,3453,0,0,0,0,0,0,24.75,24.76,24.76
$GC,1363,-1.14,-146.0,2361,1926,3551,3453,205.9,-11.8,139,1369,0.00,2.60,0.00,0.000,516,0.000,0.034,2361,330,3502,3552,3452,0,0,0,0,0,0,24.76,24.51,24.78
$GC,1400,-1.14,-146.0,2361,330,3552,3453,205.9,-11.8,139,1407,0.00,2.47,0.00,0.000,1030,0.000,0.025,2361,1912,3502,3552,3453,0,0,0,0,0,0,24.59,24.55,24.60
$GC,1646,-1.14,-146.0,2361,1913,3552,3453,239.8,-11.6,146,1652,0.00,2.60,0.00,0.000,516,0.000,0.034,2361,330,3502,3552,3453,0,0,0,0,0,0,24.77,24.52,24.79
$GC,1663,-1.14,-146.0,2361,331,3552,3453,239.8,-11.6,146,1668,0.00,2.47,0.00,0.000,1030,0.000,0.018,2361,1908,3502,3552,3453,0,0,0,0,0,0,24.61,24.56,24.62
$GC,1931,-1.14,-146.0,2361,1908,3552,3453,273.0,-11.8,153,1937,0.00,2.62,0.00,0.000,516,0.000,0.041,2361,326,3502,3552,3453,0,0,0,0,0,0,24.79,24.52,24.81
$GC,1993,-1.14,-146.0,2361,326,3552,3453,278.6,-12.2,154,1999,0.00,2.47,0.00,0.000,1030,0.000,0.018,2362,1897,3502,3552,3453,0,0,0,0,0,0,24.63,24.58,24.64
$GC,2257,-1.14,-146.0,2361,1896,3551,3451,313.2,-12.0,161,2262,0.00,2.60,0.00,0.000,516,0.000,0.040,2361,333,3501,3551,3451,0,0,0,0,0,0,24.79,24.52,24.81
$GC,2303,-1.14,-146.0,2361,333,3551,3451,318.3,-12.0,162,2309,0.00,2.50,0.00,0.000,1030,0.000,0.024,2361,1908,3501,3551,3451,0,0,0,0,0,0,24.63,24.56,24.64
$GC,2581,-1.14,-146.0,2361,1908,3551,3448,350.4,-11.2,169,2587,0.00,2.65,0.00,0.000,516,0.000,0.044,2361,341,3499,3551,3448,0,0,0,0,0,0,24.81,24.52,24.82
$GC,2624,-1.14,-146.0,2361,341,3551,3447,355.3,-11.1,170,2630,0.00,2.50,0.00,0.000,1030,0.000,0.021,2361,1899,3499,3551,3448,0,0,0,0,0,0,24.63,24.58,24.65
$GC,2908,-1.14,-146.0,2361,1899,3552,3444,387.0,-11.3,177,2914,0.00,2.62,0.00,0.000,260,0.000,0.042,2362,3473,3497,3551,3444,0,0,0,0,0,0,24.82,24.53,24.84
$GC,2960,-1.14,-146.0,2361,3474,3551,3444,392.2,-11.5,178,2966,0.00,2.50,0.00,0.000,1030,0.000,0.022,2361,1905,3497,3551,3443,0,0,0,0,0,0,24.64,24.58,24.65
$GC,3233,-1.14,-146.0,2361,1904,3551,3440,424.3,-11.2,185,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1904,3495,3551,3440,0,0,0,0,0,0,24.82,24.85,24.84
$GC,3473,-1.14,-146.0,2361,1904,3551,3437,448.9,-10.2,191,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1904,3494,3551,3437,0,0,0,0,0,0,24.84,24.86,24.85
$GC,3713,-1.14,-146.0,2361,1904,3551,3434,471.8,-9.5,197,3720,0.00,2.72,0.00,0.000,516,0.000,0.057,2361,327,3492,3551,3434,0,0,0,0,0,0,24.84,24.53,24.86
$GC,3791,-1.14,-146.0,2361,327,3550,3433,476.2,-9.7,198,3798,0.00,2.55,0.00,0.000,1030,0.000,0.028,2361,1888,3492,3551,3433,0,0,0,0,0,0,24.65,24.59,24.67
$GC,4038,-1.14,-146.0,2361,1888,3551,3430,504.3,-9.8,205,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1888,3490,3551,3430,0,0,0,0,0,0,24.79,24.82,24.82
$GC,4277,-1.14,-146.0,2361,1888,3550,3428,529.9,-10.8,211,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1888,3489,3551,3428,0,0,0,0,0,0,24.79,24.82,24.81
$GC,4517,-1.14,-146.0,2360,1888,3550,3424,555.7,-10.6,217,4523,0.00,2.75,0.00,0.000,516,0.000,0.060,2361,326,3487,3550,3424,0,0,0,0,0,0,24.79,24.53,24.82
$GC,4535,-1.14,-146.0,2361,326,3550,3424,555.7,-10.6,217,4540,0.00,2.60,0.00,0.000,1030,0.000,0.031,2361,1903,3487,3550,3424,0,0,0,0,0,0,24.66,24.59,24.68
$GC,4803,-1.14,-146.0,2361,1903,3547,3424,584.5,-9.9,224,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1903,3485,3547,3423,0,0,0,0,0,0,24.79,24.82,24.82
$GC,5043,-1.14,-146.0,2361,1903,3545,3421,607.7,-9.6,230,5048,0.00,2.75,0.00,0.000,516,0.000,0.060,2361,326,3483,3545,3421,0,0,0,0,0,0,24.80,24.54,24.82
$GC,5075,-1.14,-146.0,2361,326,3545,3421,607.7,-9.6,230,5081,0.00,2.62,0.00,0.000,1030,0.000,0.034,2361,1908,3483,3545,3421,0,0,0,0,0,0,24.67,24.59,24.68
$GC,5329,-1.14,-146.0,2361,1908,3543,3420,633.8,-9.0,237,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1908,3481,3543,3420,0,0,0,0,0,0,24.80,24.82,24.82
$GC,5569,-1.14,-146.0,2361,1908,3542,3418,655.3,-8.9,243,5574,0.00,2.78,0.00,0.000,516,0.000,0.062,2361,324,3480,3542,3419,0,0,0,0,0,0,24.81,24.54,24.83
$GC,5596,-1.14,-146.0,2361,323,3542,3418,655.3,-8.9,243,5601,0.00,2.62,0.00,0.000,1030,0.000,0.035,2361,1897,3480,3542,3418,0,0,0,0,0,0,24.67,24.59,24.69
$GC,5854,-1.14,-146.0,2361,1897,3541,3417,681.8,-9.4,250,5860,0.00,2.75,0.00,0.000,516,0.000,0.063,2361,329,3479,3541,3417,0,0,0,0,0,0,24.80,24.53,24.82
$GC,5884,-1.14,-146.0,2361,329,3540,3417,681.8,-9.4,250,5889,0.00,2.65,0.00,0.000,1030,0.000,0.037,2361,1911,3479,3541,3417,0,0,0,0,0,0,24.67,24.58,24.68
$GC,6142,-1.14,-146.0,2361,1910,3539,3415,709.6,-9.7,257,6147,0.00,2.80,0.00,0.000,516,0.000,0.065,2361,326,3477,3539,3415,0,0,0,0,0,0,24.84,24.53,24.86
$GC,6164,-1.14,-146.0,2361,326,3539,3415,709.6,-9.7,257,6170,0.00,2.65,0.00,0.000,1030,0.000,0.040,2361,1902,3477,3539,3415,0,0,0,0,0,0,24.67,24.58,24.68
$GC,6427,-1.14,-146.0,2361,1901,3537,3413,736.0,-8.9,264,6433,0.00,2.78,0.00,0.000,516,0.000,0.068,2361,334,3475,3537,3413,0,0,0,0,0,0,24.80,24.53,24.82
$GC,6500,-1.14,-146.0,2361,333,3537,3413,740.0,-9.0,265,6505,0.00,2.65,0.00,0.000,1030,0.000,0.041,2361,1901,3475,3537,3413,0,0,0,0,0,0,24.67,24.58,24.68
$GC,6753,-1.14,-146.0,2361,1902,3535,3411,764.7,-8.6,272,6759,0.00,2.80,0.00,0.000,516,0.000,0.072,2362,333,3473,3535,3411,0,0,0,0,0,0,24.84,24.53,24.87
$GC,6800,-1.14,-146.0,2361,333,3535,3411,768.7,-8.7,273,6805,0.00,2.62,0.00,0.000,1030,0.000,0.032,2361,1915,3473,3535,3411,0,0,0,0,0,0,24.68,24.60,24.69
$GC,7078,-1.14,-146.0,2361,1915,3534,3409,792.8,-8.4,280,7084,0.00,2.78,0.00,0.000,516,0.000,0.059,2361,323,3471,3534,3409,0,0,0,0,0,0,24.82,24.54,24.84
$GC,7101,-1.14,-146.0,2361,323,3534,3409,792.8,-8.4,280,7107,0.00,2.62,0.00,0.000,1030,0.000,0.033,2361,1900,3471,3534,3409,0,0,0,0,0,0,24.68,24.60,24.69
$GC,7364,-1.14,-146.0,2360,1900,3533,3408,818.5,-9.1,287,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1900,3470,3533,3408,0,0,0,0,0,0,24.81,24.83,24.82
$GC,7605,-1.14,-146.0,2361,1900,3532,3407,839.9,-8.8,293,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1900,3469,3532,3407,0,0,0,0,0,0,24.85,24.87,24.87
$GC,7844,-1.14,-146.0,2361,1900,3532,3406,860.4,-8.5,299,7849,0.00,2.78,0.00,0.000,516,0.000,0.061,2361,330,3468,3531,3406,0,0,0,0,0,0,24.85,24.55,24.87
$GC,7861,-1.14,-146.0,2361,329,3531,3406,860.4,-8.5,299,7867,0.00,2.62,0.00,0.000,1030,0.000,0.034,2361,1904,3468,3531,3406,0,0,0,0,0,0,24.68,24.60,24.70
$GC,8130,-1.14,-146.0,2361,1904,3530,3405,883.7,-8.0,306,8136,0.00,2.75,0.00,0.000,516,0.000,0.060,2361,329,3467,3530,3405,0,0,0,0,0,0,24.81,24.55,24.83
$GC,8174,-1.14,-146.0,2361,329,3530,3405,887.4,-8.0,307,8180,0.00,2.65,0.00,0.000,1030,0.000,0.033,2361,1912,3467,3530,3405,0,0,0,0,0,0,24.68,24.60,24.70
$STATE,8335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8336,begin apogee
$GC,8341,-0.26,0.0,2361,1836,3530,3404,900.4,-7.9,311,8470,1.30,0.00,125.45,1.180,10246,0.093,0.000,2645,1836,2899,2956,2843,0,0,0,0,0,0,24.56,23.73,23.00
$STATE,8471,end apogee,CONTROL_FINISHED_OK
$STATE,8471,begin climb
$GC,8474,1.14,146.0,2645,1836,2956,2842,902.1,0.0,314,8617,1.92,0.00,135.68,1.141,10246,0.054,0.000,3090,1836,2302,2353,2252,0,0,0,0,0,0,23.98,23.52,23.00
$GC,8857,1.14,146.0,3090,1836,2352,2240,862.2,12.5,324,8863,0.00,2.75,0.00,0.000,516,0.000,0.063,3090,292,2296,2352,2240,0,0,0,0,0,0,24.56,24.24,24.57
$GC,8885,1.14,146.0,3090,293,2351,2240,862.2,12.5,324,8891,0.00,2.65,0.00,0.000,1030,0.000,0.032,3090,1855,2295,2351,2240,0,0,0,0,0,0,24.39,24.31,24.41
$GC,9143,1.14,146.0,3090,1855,2351,2237,825.6,12.7,331,9148,0.00,2.80,0.00,0.000,260,0.000,0.071,3090,3432,2294,2351,2238,0,0,0,0,0,0,24.58,24.31,24.60
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$STATE,16737,end climb,SURFACE_DEPTH_REACHED
$STATE,16737,begin surface coast
$FINISH,0.1,1.008246
$STATE,16772,end surface coast,CONTROL_FINISHED_OK
$STATE,16772,begin surface
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$TT8_MAMPS,0.021721,0.280875
$HUMID,51.41
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$TCM_TEMP,21.60
$XPDR_PINGS,208
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$10V_AH,10.07,32.893
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,342976
$DATA_FILE_SIZE,53866,682
$CAP_FILE_SIZE,153811,0
$CFSIZE,259248128,235581440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,327.69,1
$GPS,200518,134132,2321.031,-15656.979,43,99.0,83,10.2,1.4,314.8,3,-1.0