version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 364
start: 5 23 118 5 18 52
data:
$ID,148
$MISSION,15
$DIVE,364
$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,62
$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
$GPS1,230518,050613,2303.0215,-15710.7021,28,3.5,68,10.2,0.3,19.1,4,13.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-61.0
$GPS2,230518,051827,2303.1326,-15710.7021,14,1.2,54,10.2,0.5,90.6,7,5.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ED3
$TGT_LATLONG,2245.400,-15723.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,195.0,38982,-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,-146.0,434,1862,1351,1329,0.0,0.0,0,97,0.00,0.00,-76.62,0.000,16390,0.000,0.000,434,1862,3497,3545,3450,0,0,0,0,0,0,24.59,23.64,24.60
$GC,99,-1.14,-146.0,434,1862,3545,3450,4.6,-10.9,11,116,10.75,2.53,0.00,0.000,2564,0.171,0.026,2362,329,3498,3546,3451,0,0,0,0,0,0,24.17,24.31,24.31
$GC,236,-1.14,-146.0,2361,329,3547,3451,39.1,-18.4,34,244,0.00,2.50,0.00,0.000,1030,0.000,0.016,2362,1916,3499,3547,3451,0,0,0,0,0,0,24.47,24.43,24.49
$GC,514,-1.14,-146.0,2361,1917,3548,3451,86.8,-15.1,83,521,0.00,2.50,0.00,0.000,260,0.000,0.027,2362,3476,3500,3549,3451,0,0,0,0,0,0,24.68,24.43,24.70
$GC,544,-1.14,-146.0,2361,3476,3549,3451,91.9,-17.0,88,552,0.00,2.47,0.00,0.000,1030,0.000,0.016,2362,1915,3500,3549,3451,0,0,0,0,0,0,24.52,24.47,24.53
$GC,800,-1.14,-146.0,2361,1915,3549,3451,131.7,-14.0,117,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1915,3500,3549,3451,0,0,0,0,0,0,24.71,24.74,24.73
$GC,1048,-1.14,-146.0,2361,1915,3551,3451,165.4,-12.4,142,1054,0.00,2.50,0.00,0.000,260,0.000,0.027,2362,3470,3501,3551,3451,0,0,0,0,0,0,24.74,24.49,24.75
$GC,1143,-1.14,-146.0,2361,3470,3551,3451,179.0,-14.5,151,1148,0.00,2.45,0.00,0.000,1030,0.000,0.016,2361,1893,3501,3551,3451,0,0,0,0,0,0,24.58,24.53,24.59
$GC,1396,-1.14,-146.0,2361,1893,3551,3451,209.5,-11.5,170,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1893,3501,3551,3451,0,0,0,0,0,0,24.76,24.78,24.78
$GC,1636,-1.14,-146.0,2361,1893,3552,3451,239.6,-12.8,176,1641,0.00,2.55,0.00,0.000,260,0.000,0.028,2362,3471,3501,3552,3451,0,0,0,0,0,0,24.77,24.52,24.79
$GC,1658,-1.14,-146.0,2361,3471,3551,3451,239.6,-12.8,176,1663,0.00,2.45,0.00,0.000,1030,0.000,0.017,2362,1890,3501,3552,3451,0,0,0,0,0,0,24.61,24.56,24.62
$GC,1921,-1.14,-146.0,2361,1891,3551,3451,273.3,-11.2,183,1926,0.00,2.55,0.00,0.000,516,0.000,0.036,2362,340,3501,3551,3451,0,0,0,0,0,0,24.79,24.52,24.81
$GC,2003,-1.14,-146.0,2361,340,3551,3451,283.4,-11.7,185,2009,0.00,2.47,0.00,0.000,1030,0.000,0.018,2361,1905,3501,3551,3451,0,0,0,0,0,0,24.63,24.58,24.64
$GC,2287,-1.14,-146.0,2361,1905,3551,3449,315.4,-11.5,192,2292,0.00,2.62,0.00,0.000,516,0.000,0.040,2362,340,3500,3551,3449,0,0,0,0,0,0,24.80,24.53,24.82
$GC,2309,-1.14,-146.0,2361,340,3551,3449,315.4,-11.5,192,2314,0.00,2.47,0.00,0.000,1030,0.000,0.019,2362,1900,3500,3551,3449,0,0,0,0,0,0,24.63,24.58,24.65
$GC,2572,-1.14,-146.0,2361,1900,3551,3446,347.1,-11.1,199,2577,0.00,2.58,0.00,0.000,260,0.000,0.037,2362,3469,3498,3551,3446,0,0,0,0,0,0,24.79,24.54,24.82
$GC,2593,-1.14,-146.0,2361,3471,3551,3446,347.1,-11.1,199,2599,0.00,2.47,0.00,0.000,1030,0.000,0.024,2362,1911,3498,3551,3446,0,0,0,0,0,0,24.63,24.57,24.65
$GC,2857,-1.14,-146.0,2362,1911,3551,3443,380.3,-11.7,206,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1911,3497,3551,3443,0,0,0,0,0,0,24.82,24.84,24.83
$GC,3096,-1.14,-146.0,2361,1911,3551,3439,406.1,-10.6,212,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1911,3495,3551,3439,0,0,0,0,0,0,24.82,24.84,24.84
$GC,3336,-1.14,-146.0,2361,1911,3551,3436,431.1,-10.6,218,3342,0.00,2.72,0.00,0.000,516,0.000,0.054,2361,324,3493,3551,3436,0,0,0,0,0,0,24.83,24.53,24.85
$GC,3359,-1.14,-146.0,2361,324,3551,3436,431.1,-10.6,218,3364,0.00,2.55,0.00,0.000,1030,0.000,0.024,2361,1898,3493,3551,3436,0,0,0,0,0,0,24.65,24.59,24.66
$GC,3622,-1.14,-146.0,2361,1898,3551,3433,460.5,-10.2,225,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1898,3491,3551,3432,0,0,0,0,0,0,24.79,24.82,24.81
$GC,3862,-1.14,-146.0,2361,1898,3551,3430,486.0,-10.8,231,3867,0.00,2.75,0.00,0.000,516,0.000,0.056,2362,323,3490,3551,3430,0,0,0,0,0,0,24.79,24.53,24.81
$GC,3914,-1.14,-146.0,2361,323,3551,3430,490.8,-10.9,232,3919,0.00,2.58,0.00,0.000,1030,0.000,0.028,2362,1892,3490,3551,3430,0,0,0,0,0,0,24.65,24.58,24.67
$GC,4187,-1.14,-146.0,2361,1892,3551,3425,520.6,-10.3,239,4192,0.00,2.72,0.00,0.000,516,0.000,0.055,2362,330,3488,3551,3425,0,0,0,0,0,0,24.80,24.53,24.82
$GC,4213,-1.14,-146.0,2361,330,3551,3425,520.6,-10.3,239,4219,0.00,2.60,0.00,0.000,1030,0.000,0.030,2361,1909,3487,3550,3424,0,0,0,0,0,0,24.65,24.58,24.67
$GC,4474,-1.14,-146.0,2361,1909,3551,3421,550.3,-10.3,246,4479,0.00,2.75,0.00,0.000,516,0.000,0.057,2362,324,3486,3551,3421,0,0,0,0,0,0,24.83,24.52,24.84
$GC,4558,-1.14,-146.0,2361,324,3550,3420,559.4,-10.5,248,4563,0.00,2.62,0.00,0.000,1030,0.000,0.032,2362,1902,3485,3550,3420,0,0,0,0,0,0,24.65,24.58,24.67
$GC,4841,-1.14,-146.0,2361,1902,3547,3420,586.3,-9.2,255,4847,0.00,2.72,0.00,0.000,516,0.000,0.057,2362,333,3483,3547,3419,0,0,0,0,0,0,24.82,24.52,24.84
$GC,4863,-1.14,-146.0,2361,333,3547,3419,586.3,-9.2,255,4869,0.00,2.60,0.00,0.000,1030,0.000,0.032,2362,1901,3483,3547,3420,0,0,0,0,0,0,24.65,24.58,24.67
$GC,5127,-1.14,-146.0,2361,1901,3545,3417,611.8,-8.8,262,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1901,3481,3546,3417,0,0,0,0,0,0,24.80,24.82,24.82
$GC,5366,-1.14,-146.0,2361,1901,3544,3417,632.5,-8.5,268,5371,0.00,2.75,0.00,0.000,516,0.000,0.060,2361,326,3480,3544,3417,0,0,0,0,0,0,24.83,24.53,24.85
$GC,5413,-1.14,-146.0,2361,326,3544,3416,636.5,-8.7,269,5419,0.00,2.62,0.00,0.000,1030,0.000,0.034,2362,1898,3479,3543,3416,0,0,0,0,0,0,24.66,24.58,24.68
$GC,5692,-1.14,-146.0,2361,1898,3542,3414,662.0,-9.1,276,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1898,3478,3542,3414,0,0,0,0,0,0,24.81,24.84,24.83
$GC,5931,-1.14,-146.0,2361,1898,3541,3413,684.1,-9.1,282,5936,0.00,2.75,0.00,0.000,516,0.000,0.063,2361,333,3477,3541,3413,0,0,0,0,0,0,24.80,24.53,24.82
$GC,5948,-1.14,-146.0,2361,333,3541,3413,684.1,-9.1,282,5953,0.00,2.65,0.00,0.000,1030,0.000,0.037,2362,1906,3477,3541,3413,0,0,0,0,0,0,24.66,24.58,24.68
$GC,6217,-1.14,-146.0,2361,1906,3540,3411,708.3,-8.3,289,6222,0.00,2.78,0.00,0.000,516,0.000,0.065,2362,331,3475,3539,3411,0,0,0,0,0,0,24.84,24.53,24.86
$GC,6239,-1.14,-146.0,2361,332,3539,3411,708.3,-8.3,289,6245,0.00,2.65,0.00,0.000,1030,0.000,0.038,2362,1906,3475,3540,3410,0,0,0,0,0,0,24.66,24.57,24.68
$GC,6503,-1.14,-146.0,2361,1907,3538,3409,732.0,-8.4,296,6508,0.00,2.80,0.00,0.000,516,0.000,0.068,2362,326,3473,3538,3409,0,0,0,0,0,0,24.80,24.52,24.82
$GC,6520,-1.14,-146.0,2361,326,3538,3409,732.0,-8.4,296,6525,0.00,2.65,0.00,0.000,1030,0.000,0.035,2362,1915,3473,3538,3409,0,0,0,0,0,0,24.67,24.58,24.68
$GC,6789,-1.14,-146.0,2361,1915,3537,3408,756.4,-8.5,303,6794,0.00,2.78,0.00,0.000,516,0.000,0.065,2362,331,3472,3537,3408,0,0,0,0,0,0,24.86,24.53,24.87
$GC,6832,-1.14,-146.0,2361,331,3537,3408,760.3,-8.6,304,6837,0.00,2.62,0.00,0.000,1030,0.000,0.034,2362,1896,3472,3537,3408,0,0,0,0,0,0,24.67,24.58,24.68
$GC,7116,-1.14,-146.0,2361,1896,3536,3406,787.4,-9.6,311,7121,0.00,2.70,0.00,0.000,260,0.000,0.060,2362,3479,3470,3535,3406,0,0,0,0,0,0,24.84,24.54,24.86
$GC,7153,-1.14,-146.0,2361,3479,3534,3407,787.4,-9.6,311,7160,0.00,2.58,0.00,0.000,1030,0.000,0.031,2361,1910,3470,3534,3407,0,0,0,0,0,0,24.68,24.60,24.69
$GC,7399,-1.14,-146.0,2361,1910,3534,3405,814.8,-9.5,318,7405,0.00,2.78,0.00,0.000,516,0.000,0.066,2362,323,3469,3534,3404,0,0,0,0,0,0,24.81,24.53,24.83
$GC,7437,-1.14,-146.0,2361,323,3534,3404,814.8,-9.5,318,7444,0.00,2.62,0.00,0.000,1030,0.000,0.033,2362,1900,3469,3534,3404,0,0,0,0,0,0,24.67,24.58,24.68
$GC,7682,-1.14,-146.0,2361,1900,3533,3403,841.8,-9.3,325,7687,0.00,2.78,0.00,0.000,516,0.000,0.060,2362,323,3468,3533,3403,0,0,0,0,0,0,24.80,24.53,24.82
$GC,7715,-1.14,-146.0,2361,323,3533,3403,841.8,-9.3,325,7720,0.00,2.65,0.00,0.000,1030,0.000,0.034,2362,1910,3468,3533,3403,0,0,0,0,0,0,24.67,24.58,24.68
$GC,7969,-1.14,-146.0,2361,1911,3532,3402,867.2,-8.5,332,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1911,3467,3532,3402,0,0,0,0,0,0,24.84,24.87,24.87
$GC,8208,-1.14,-146.0,2361,1911,3531,3401,887.4,-8.3,338,8213,0.00,2.78,0.00,0.000,516,0.000,0.060,2362,323,3466,3531,3401,0,0,0,0,0,0,24.85,24.54,24.87
$GC,8270,-1.14,-146.0,2361,323,3531,3401,891.1,-8.3,339,8275,0.00,2.62,0.00,0.000,1030,0.000,0.034,2361,1900,3466,3531,3401,0,0,0,0,0,0,24.68,24.60,24.70
$STATE,8371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8371,begin apogee
$GC,8377,-0.26,0.0,2361,1826,3531,3401,901.0,-8.3,342,8506,1.30,0.00,124.90,1.173,10246,0.093,0.000,2645,1826,2899,2958,2841,0,0,0,0,0,0,24.54,23.72,22.98
$STATE,8507,end apogee,CONTROL_FINISHED_OK
$STATE,8507,begin climb
$GC,8509,1.14,146.0,2645,1826,2958,2840,903.0,0.0,345,8653,1.92,0.00,135.55,1.137,10246,0.053,0.000,3087,1826,2302,2354,2251,0,0,0,0,0,0,23.96,23.51,22.98
$GC,8893,1.14,146.0,3087,1826,2352,2238,864.2,12.2,355,8895,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1826,2295,2352,2239,0,0,0,0,0,0,24.56,24.58,24.58
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$STATE,16897,end climb,SURFACE_DEPTH_REACHED
$STATE,16898,begin surface coast
$FINISH,0.1,1.023551
$STATE,16927,end surface coast,CONTROL_FINISHED_OK
$STATE,16927,begin surface
$SM_CCo,16948,70.68,0.468,0,0,1349,380.21
$SM_GC,0.86,11.32,0.08,70.68,0.042,0.090,0.468,420,1991,1349,-7.20,-1.36,380.21,0,0,0,0,0,0,24.42,24.53,23.60
$IRIDIUM_FIX,2253.38,-15708.39,230518,050752
$TT8_MAMPS,0.021721,0.348285
$HUMID,52.32
$INTERNAL_PRESSURE,9.20334
$TCM_TEMP,21.50
$XPDR_PINGS,237
$24V_AH,22.98,51.985
$10V_AH,9.99,34.171
$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
$DEVICE_SECS,25.375,201.075,368.700,70.675,0.000,64.117,86.779,319.633,59.250,0.000,57.199,2604.478,11433.238,689.122,2750.221,277.452,0.000,1684.146,0.000,2189.326,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,529.245,374.902,588.232,763.501,945.209,0.000,0.000,0.000,0.000,0.000
$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,63982,779
$CAP_FILE_SIZE,162215,0
$CFSIZE,259248128,234631168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026,30.64,1
$GPS,230518,100351,2301.337,-15711.300,42,1.0,42,10.2,0.5,32.2,9,7.5