version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 370
start: 5 24 118 11 10 41
data:
$ID,148
$MISSION,15
$DIVE,370
$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,44
$R_STBD_OVSHOOT,47
$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
$GPS1,240518,110132,2253.7200,-15716.6436,66,1.5,77,10.1,0.5,328.4,9,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-58.8
$GPS2,240518,111015,2253.7727,-15716.6357,12,1.6,28,10.1,0.8,115.9,9,4.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ED3A
$TGT_LATLONG,2245.400,-15723.500
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,201.2,19439,-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,-146.0,433,1808,1354,1327,0.0,0.0,0,92,0.00,0.00,-72.78,0.000,16386,0.000,0.000,433,1807,3358,3405,3311,0,0,0,0,0,0,24.58,28.83,24.59
$GC,94,-1.14,-146.0,433,1807,3405,3311,3.2,-6.6,10,118,11.02,2.70,-2.50,0.000,18692,0.181,0.033,2361,3478,3499,3551,3447,0,0,0,0,0,0,24.14,23.53,24.30
$GC,285,-1.14,-146.0,2360,3478,3551,3448,46.3,-18.1,42,292,0.00,2.50,0.00,0.000,1030,0.000,0.017,2361,1894,3500,3551,3449,0,0,0,0,0,0,24.48,24.42,24.49
$GC,562,-1.14,-146.0,2361,1894,3551,3449,94.6,-15.8,91,570,0.00,2.55,0.00,0.000,260,0.000,0.025,2361,3474,3500,3551,3449,0,0,0,0,0,0,24.68,24.44,24.70
$GC,578,-1.14,-146.0,2361,3475,3551,3450,97.1,-16.5,93,586,0.00,2.50,0.00,0.000,1030,0.000,0.016,2361,1880,3500,3551,3449,0,0,0,0,0,0,24.52,24.47,24.53
$GC,832,-1.14,-146.0,2360,1880,3551,3451,136.7,-14.7,119,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1880,3501,3552,3451,0,0,0,0,0,0,24.72,24.73,24.73
$GC,1079,-1.14,-146.0,2361,1880,3551,3452,167.6,-12.8,144,1084,0.00,2.58,0.00,0.000,260,0.000,0.027,2361,3482,3501,3551,3452,0,0,0,0,0,0,24.74,24.49,24.75
$GC,1174,-1.14,-146.0,2361,3482,3551,3452,180.2,-12.6,153,1180,0.00,2.47,0.00,0.000,1030,0.000,0.016,2361,1891,3501,3551,3452,0,0,0,0,0,0,24.58,24.53,24.59
$GC,1447,-1.14,-146.0,2361,1891,3551,3453,216.9,-13.1,171,1453,0.00,2.55,0.00,0.000,516,0.000,0.033,2361,325,3502,3551,3453,0,0,0,0,0,0,24.76,24.51,24.78
$GC,1475,-1.14,-146.0,2360,325,3551,3453,216.9,-13.1,171,1480,0.00,2.47,0.00,0.000,1030,0.000,0.017,2361,1916,3502,3551,3453,0,0,0,0,0,0,24.60,24.56,24.61
$GC,1733,-1.14,-146.0,2360,1916,3551,3453,250.5,-11.4,178,1738,0.00,2.47,0.00,0.000,260,0.000,0.029,2361,3459,3502,3551,3453,0,0,0,0,0,0,24.78,24.53,24.79
$GC,1750,-1.14,-146.0,2360,3460,3551,3454,250.5,-11.4,178,1755,0.00,2.42,0.00,0.000,1030,0.000,0.024,2361,1902,3502,3551,3453,0,0,0,0,0,0,24.60,24.56,24.62
$GC,2018,-1.14,-146.0,2360,1902,3551,3453,282.7,-11.2,185,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1902,3502,3551,3453,0,0,0,0,0,0,24.79,24.82,24.80
$GC,2257,-1.14,-146.0,2360,1902,3551,3453,312.6,-12.4,191,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1902,3502,3551,3453,0,0,0,0,0,0,24.79,24.81,24.80
$GC,2497,-1.14,-146.0,2360,1902,3551,3451,340.7,-11.5,197,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1902,3501,3551,3451,0,0,0,0,0,0,24.79,24.82,24.81
$GC,2737,-1.14,-146.0,2361,1902,3551,3448,366.7,-10.6,203,2743,0.00,2.67,0.00,0.000,516,0.000,0.047,2361,338,3499,3551,3448,0,0,0,0,0,0,24.82,24.52,24.84
$GC,2759,-1.14,-146.0,2360,339,3551,3448,366.7,-10.6,203,2765,0.00,2.47,0.00,0.000,1030,0.000,0.021,2361,1885,3499,3551,3448,0,0,0,0,0,0,24.64,24.59,24.65
$GC,3022,-1.14,-146.0,2361,1884,3551,3445,397.7,-11.1,210,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1884,3498,3551,3445,0,0,0,0,0,0,24.82,24.84,24.84
$GC,3262,-1.14,-146.0,2361,1884,3551,3442,424.3,-11.2,216,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1884,3496,3550,3442,0,0,0,0,0,0,24.83,24.85,24.84
$GC,3503,-1.14,-146.0,2361,1884,3551,3439,448.7,-9.9,222,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1884,3495,3551,3439,0,0,0,0,0,0,24.79,24.82,24.81
$GC,3742,-1.14,-146.0,2360,1884,3551,3436,472.7,-10.1,228,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1884,3493,3551,3435,0,0,0,0,0,0,24.79,24.82,24.81
$GC,3982,-1.14,-146.0,2360,1884,3551,3433,498.5,-10.7,234,3988,0.00,2.67,0.00,0.000,516,0.000,0.055,2361,340,3492,3551,3433,0,0,0,0,0,0,24.79,24.54,24.82
$GC,4019,-1.14,-146.0,2360,340,3551,3432,498.5,-10.7,234,4026,0.00,2.55,0.00,0.000,1030,0.000,0.029,2361,1893,3491,3550,3432,0,0,0,0,0,0,24.66,24.59,24.68
$GC,4266,-1.14,-146.0,2361,1893,3551,3430,527.8,-9.9,241,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1893,3490,3550,3430,0,0,0,0,0,0,24.80,24.83,24.82
$GC,4505,-1.14,-146.0,2360,1893,3551,3426,551.7,-9.9,247,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1893,3488,3551,3426,0,0,0,0,0,0,24.85,24.87,24.87
$GC,4746,-1.14,-146.0,2360,1893,3550,3422,575.4,-9.8,253,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1893,3486,3550,3422,0,0,0,0,0,0,24.84,24.87,24.85
$GC,4986,-1.14,-146.0,2360,1893,3547,3422,598.3,-9.5,259,4992,0.00,2.70,0.00,0.000,516,0.000,0.059,2361,347,3484,3547,3422,0,0,0,0,0,0,24.84,24.54,24.86
$GC,5009,-1.14,-146.0,2361,347,3547,3422,598.3,-9.5,259,5015,0.00,2.60,0.00,0.000,1030,0.000,0.033,2361,1900,3484,3547,3422,0,0,0,0,0,0,24.67,24.59,24.69
$GC,5273,-1.14,-146.0,2360,1900,3545,3420,624.9,-9.2,266,5279,0.00,2.75,0.00,0.000,516,0.000,0.059,2361,340,3482,3545,3420,0,0,0,0,0,0,24.79,24.53,24.82
$GC,5321,-1.14,-146.0,2361,340,3544,3420,629.2,-9.4,267,5326,0.00,2.60,0.00,0.000,1030,0.000,0.034,2361,1901,3482,3544,3420,0,0,0,0,0,0,24.67,24.58,24.68
$GC,5599,-1.14,-146.0,2360,1900,3542,3419,657.2,-10.1,274,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1900,3481,3543,3419,0,0,0,0,0,0,24.84,24.86,24.85
$GC,5839,-1.14,-146.0,2360,1900,3541,3418,680.8,-9.7,280,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1900,3479,3541,3417,0,0,0,0,0,0,24.80,24.82,24.82
$GC,6079,-1.14,-146.0,2360,1901,3541,3416,702.6,-8.9,286,6086,0.00,2.78,0.00,0.000,516,0.000,0.065,2361,343,3478,3541,3416,0,0,0,0,0,0,24.81,24.53,24.82
$GC,6112,-1.14,-146.0,2360,343,3541,3416,702.6,-8.9,286,6117,0.00,2.62,0.00,0.000,1030,0.000,0.037,2361,1905,3478,3541,3416,0,0,0,0,0,0,24.67,24.58,24.68
$GC,6365,-1.14,-146.0,2360,1905,3538,3414,727.4,-8.6,293,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1904,3476,3539,3414,0,0,0,0,0,0,24.81,24.83,24.82
$GC,6605,-1.14,-146.0,2360,1907,3537,3413,749.3,-9.2,299,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1907,3475,3538,3413,0,0,0,0,0,0,24.81,24.84,24.83
$GC,6845,-1.14,-146.0,2361,1907,3536,3411,772.8,-9.9,305,6850,0.00,2.72,0.00,0.000,516,0.000,0.060,2361,345,3473,3536,3411,0,0,0,0,0,0,24.82,24.55,24.84
$GC,6867,-1.14,-146.0,2360,346,3536,3411,772.8,-9.9,305,6872,0.00,2.60,0.00,0.000,1030,0.000,0.033,2361,1909,3473,3536,3411,0,0,0,0,0,0,24.68,24.60,24.70
$GC,7130,-1.14,-146.0,2361,1909,3535,3409,802.0,-10.1,312,7136,0.00,2.72,0.00,0.000,516,0.000,0.058,2361,346,3471,3534,3409,0,0,0,0,0,0,24.82,24.54,24.83
$GC,7163,-1.14,-146.0,2360,346,3535,3409,802.0,-10.1,312,7168,0.00,2.60,0.00,0.000,1030,0.000,0.033,2361,1906,3472,3535,3409,0,0,0,0,0,0,24.68,24.60,24.70
$GC,7416,-1.14,-146.0,2360,1906,3534,3408,829.0,-9.0,319,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1906,3471,3534,3408,0,0,0,0,0,0,24.82,24.84,24.84
$GC,7656,-1.14,-146.0,2360,1906,3533,3408,849.9,-8.5,325,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1906,3470,3533,3408,0,0,0,0,0,0,24.85,24.88,24.87
$GC,7896,-1.14,-146.0,2361,1907,3532,3407,870.2,-8.4,331,7901,0.00,2.72,0.00,0.000,516,0.000,0.059,2361,343,3469,3532,3407,0,0,0,0,0,0,24.82,24.56,24.84
$GC,7934,-1.14,-146.0,2360,343,3532,3407,870.2,-8.4,331,7940,0.00,2.60,0.00,0.000,1030,0.000,0.034,2361,1902,3468,3531,3406,0,0,0,0,0,0,24.68,24.60,24.70
$GC,8179,-1.14,-146.0,2361,1903,3531,3406,894.9,-8.7,338,8185,0.00,2.72,0.00,0.000,516,0.000,0.059,2361,338,3468,3531,3406,0,0,0,0,0,0,24.82,24.55,24.84
$GC,8202,-1.14,-146.0,2361,338,3531,3406,894.9,-8.7,338,8208,0.00,2.60,0.00,0.000,1030,0.000,0.032,2361,1901,3468,3531,3406,0,0,0,0,0,0,24.68,24.60,24.70
$STATE,8263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8264,begin apogee
$GC,8269,-0.26,0.0,2361,1901,3531,3406,902.5,-8.8,340,8398,1.30,0.00,125.55,1.174,10246,0.096,0.000,2643,1901,2899,2957,2842,0,0,0,0,0,0,24.54,23.72,22.97
$STATE,8399,end apogee,CONTROL_FINISHED_OK
$STATE,8399,begin climb
$GC,8401,1.14,146.0,2643,1901,2956,2841,905.1,0.0,343,8545,1.95,0.00,135.20,1.141,10758,0.059,0.000,3087,1901,2302,2353,2251,0,0,0,0,0,0,23.96,23.51,22.96
$GC,8786,1.14,146.0,3086,1901,2352,2239,867.5,11.9,353,8792,0.00,2.88,0.00,0.000,516,0.000,0.063,3087,298,2295,2352,2239,0,0,0,0,0,0,24.57,24.24,24.59
$GC,8815,1.14,146.0,3086,298,2350,2239,867.5,11.9,353,8821,0.00,2.62,0.00,0.000,1030,0.000,0.032,3087,1851,2294,2350,2239,0,0,0,0,0,0,24.39,24.31,24.41
$GC,9073,1.14,146.0,3086,1851,2350,2236,833.9,11.5,360,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1851,2293,2350,2236,0,0,0,0,0,0,24.61,24.63,24.63
$GC,9313,1.14,146.0,3086,1851,2350,2235,807.0,11.1,366,9319,0.00,2.80,0.00,0.000,260,0.000,0.070,3087,3430,2292,2350,2235,0,0,0,0,0,0,24.61,24.34,24.63
$GC,9342,1.14,146.0,3086,3429,2349,2235,807.0,11.1,366,9347,0.00,2.58,0.00,0.000,1030,0.000,0.028,3087,1868,2292,2349,2235,0,0,0,0,0,0,24.48,24.40,24.50
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$GC,15525,1.25,235.7,3118,3417,2012,1906,150.8,9.8,555,15538,0.00,2.55,6.32,0.509,9222,0.000,0.021,3118,1841,1938,1987,1889,0,0,0,0,0,0,24.32,24.26,23.58
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$STATE,16963,end climb,SURFACE_DEPTH_REACHED
$STATE,16963,begin surface coast
$FINISH,0.2,1.023381
$STATE,16993,end surface coast,CONTROL_FINISHED_OK
$STATE,16993,begin surface
$SM_CCo,17014,66.60,0.467,0,0,1349,380.21
$SM_GC,0.82,11.25,0.08,66.60,0.041,0.091,0.467,433,1973,1349,-7.16,-1.33,380.21,0,0,0,0,0,0,24.42,24.53,23.60
$IRIDIUM_FIX,2246.36,-15728.03,240518,060947
$TT8_MAMPS,0.021721,0.282373
$HUMID,51.29
$INTERNAL_PRESSURE,9.20334
$TCM_TEMP,22.50
$XPDR_PINGS,194
$24V_AH,22.96,52.853
$10V_AH,10.10,34.816
$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
$DEVICE_SECS,25.625,174.075,375.050,66.600,0.000,28.004,47.683,299.874,48.500,0.000,30.948,2405.089,11835.394,687.368,2408.239,268.450,0.000,1592.960,0.000,2005.919,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,528.158,374.835,605.096,755.756,930.713,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342828
$DATA_FILE_SIZE,63865,778
$CAP_FILE_SIZE,152649,0
$CFSIZE,259248128,234196992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,316.60,1
$GPS,240518,155713,2252.287,-15718.164,33,1.8,73,10.1,0.0,321.0,5,6.9