version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 471
start: 5 31 118 1 11 48
data:
$ID,148
$MISSION,15
$DIVE,471
$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,120
$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,2760
$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,36
$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
$GPS1,310518,005902,2245.4128,-15723.5156,69,1.3,109,10.1,0.0,8.2,6,5.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-60.4
$GPS2,310518,011121,2245.6194,-15723.5391,12,1.3,52,10.1,0.6,28.7,6,5.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,226.6,45459,-20.5,-10.000,-23.08,1791
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.22,-116.8,434,1785,1338,1342,0.0,0.0,0,96,0.00,0.15,-72.62,0.000,16390,0.000,0.256,434,2000,3380,3426,3334,0,0,0,0,0,0,24.58,23.51,24.60
$GC,99,-1.22,-116.8,434,2000,3426,3334,4.6,-11.3,11,115,10.60,2.80,0.00,0.000,2820,0.165,0.026,2359,308,3380,3427,3334,0,0,0,0,0,0,24.13,24.29,24.28
$GC,308,-1.22,-116.8,2358,308,3429,3334,50.6,-16.6,47,316,0.00,2.53,0.00,0.000,1030,0.000,0.015,2359,1915,3381,3429,3334,0,0,0,0,0,0,24.48,24.44,24.49
$GC,586,-1.22,-116.8,2358,1915,3430,3334,96.3,-17.5,96,593,0.00,2.65,0.00,0.000,516,0.000,0.033,2359,312,3382,3430,3335,0,0,0,0,0,0,24.69,24.42,24.70
$GC,606,-1.22,-116.8,2358,312,3430,3334,100.3,-17.8,99,613,0.00,2.47,0.00,0.000,1030,0.000,0.015,2359,1909,3382,3430,3334,0,0,0,0,0,0,24.52,24.49,24.53
$GC,853,-1.22,-116.8,2358,1909,3432,3334,136.7,-13.7,124,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1908,3383,3431,3335,0,0,0,0,0,0,24.72,24.74,24.73
$GC,1092,-1.22,-116.8,2358,1908,3432,3334,168.4,-12.8,148,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1908,3383,3432,3334,0,0,0,0,0,0,24.74,24.76,24.75
$GC,1334,-1.22,-116.8,2358,1908,3432,3335,197.9,-12.5,172,1339,0.00,2.47,0.00,0.000,260,0.000,0.028,2359,3458,3383,3432,3335,0,0,0,0,0,0,24.76,24.51,24.77
$GC,1361,-1.22,-116.8,2358,3457,3432,3335,201.2,-12.9,174,1367,0.00,2.45,0.00,0.000,1030,0.000,0.016,2358,1871,3383,3432,3335,0,0,0,0,0,0,24.59,24.55,24.60
$GC,1620,-1.22,-116.8,2358,1871,3432,3335,231.1,-11.1,181,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1871,3383,3432,3335,0,0,0,0,0,0,24.77,24.79,24.79
$GC,1860,-1.22,-116.8,2358,1871,3432,3334,257.0,-10.8,187,1865,0.00,2.58,0.00,0.000,260,0.000,0.028,2358,3464,3383,3432,3334,0,0,0,0,0,0,24.79,24.53,24.81
$GC,1887,-1.22,-116.8,2358,3465,3432,3335,257.0,-10.8,187,1892,0.00,2.42,0.00,0.000,1030,0.000,0.017,2359,1897,3383,3432,3334,0,0,0,0,0,0,24.62,24.58,24.63
$GC,2145,-1.22,-116.8,2358,1897,3432,3334,287.7,-10.7,194,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1897,3383,3432,3335,0,0,0,0,0,0,24.80,24.82,24.82
$GC,2385,-1.22,-116.8,2358,1897,3432,3333,313.6,-10.8,200,2390,0.00,2.55,0.00,0.000,516,0.000,0.044,2359,341,3382,3432,3333,0,0,0,0,0,0,24.81,24.53,24.83
$GC,2438,-1.22,-116.8,2358,341,3432,3332,318.7,-11.1,201,2443,0.00,2.45,0.00,0.000,1030,0.000,0.019,2359,1887,3382,3432,3332,0,0,0,0,0,0,24.63,24.58,24.65
$GC,2711,-1.22,-116.8,2358,1886,3432,3329,352.0,-12.0,208,2716,0.00,2.62,0.00,0.000,516,0.000,0.042,2359,333,3380,3432,3329,0,0,0,0,0,0,24.82,24.53,24.84
$GC,2754,-1.22,-116.8,2358,332,3432,3329,357.4,-12.2,209,2760,0.00,2.53,0.00,0.000,1030,0.000,0.020,2359,1910,3380,3432,3328,0,0,0,0,0,0,24.64,24.58,24.65
$GC,3038,-1.22,-116.8,2358,1910,3432,3325,389.0,-10.7,216,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1910,3378,3432,3325,0,0,0,0,0,0,24.82,24.85,24.84
$GC,3278,-1.22,-116.8,2358,1910,3432,3321,411.0,-9.1,222,3283,0.00,2.60,0.00,0.000,260,0.000,0.043,2359,3470,3376,3432,3321,0,0,0,0,0,0,24.82,24.53,24.84
$GC,3305,-1.22,-116.8,2358,3471,3432,3321,411.0,-9.1,222,3311,0.00,2.50,0.00,0.000,1030,0.000,0.023,2359,1910,3376,3432,3321,0,0,0,0,0,0,24.65,24.59,24.66
$GC,3564,-1.22,-116.8,2358,1910,3432,3317,439.0,-10.0,229,3569,0.00,2.72,0.00,0.000,516,0.000,0.058,2359,321,3374,3432,3317,0,0,0,0,0,0,24.82,24.52,24.84
$GC,3641,-1.22,-116.8,2358,321,3432,3317,443.7,-10.2,230,3648,0.00,2.55,0.00,0.000,1030,0.000,0.027,2359,1888,3374,3432,3317,0,0,0,0,0,0,24.64,24.58,24.66
$GC,3888,-1.22,-116.8,2358,1889,3432,3313,471.8,-9.7,237,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1889,3372,3432,3313,0,0,0,0,0,0,24.83,24.86,24.85
$GC,4128,-1.22,-116.8,2358,1889,3432,3311,493.9,-9.1,243,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1889,3371,3432,3310,0,0,0,0,0,0,24.84,24.87,24.86
$GC,4368,-1.22,-116.8,2358,1889,3432,3307,517.8,-10.1,249,4373,0.00,2.75,0.00,0.000,516,0.000,0.060,2359,331,3369,3432,3307,0,0,0,0,0,0,24.85,24.52,24.87
$GC,4414,-1.22,-116.8,2358,331,3432,3307,522.6,-10.4,250,4420,0.00,2.60,0.00,0.000,1030,0.000,0.031,2359,1911,3369,3432,3307,0,0,0,0,0,0,24.66,24.59,24.68
$GC,4693,-1.22,-116.8,2358,1911,3432,3302,551.3,-10.0,257,4698,0.00,2.75,0.00,0.000,516,0.000,0.057,2359,323,3367,3432,3302,0,0,0,0,0,0,24.85,24.52,24.87
$GC,4725,-1.22,-116.8,2358,323,3431,3302,551.3,-10.0,257,4730,0.00,2.62,0.00,0.000,1030,0.000,0.031,2359,1910,3367,3432,3302,0,0,0,0,0,0,24.66,24.59,24.68
$GC,4979,-1.22,-116.8,2358,1910,3432,3299,577.6,-8.8,264,4984,0.00,2.75,0.00,0.000,516,0.000,0.058,2359,327,3365,3432,3299,0,0,0,0,0,0,24.85,24.52,24.87
$GC,5002,-1.22,-116.8,2358,327,3432,3299,577.6,-8.8,264,5008,0.00,2.62,0.00,0.000,1030,0.000,0.033,2359,1900,3365,3432,3299,0,0,0,0,0,0,24.66,24.58,24.68
$GC,5266,-1.22,-116.8,2358,1899,3431,3295,602.3,-8.7,271,5271,0.00,2.75,0.00,0.000,516,0.000,0.060,2359,323,3363,3432,3295,0,0,0,0,0,0,24.81,24.52,24.82
$GC,5313,-1.22,-116.8,2358,323,3431,3295,606.5,-9.0,272,5319,0.00,2.62,0.00,0.000,1030,0.000,0.033,2359,1906,3363,3431,3295,0,0,0,0,0,0,24.66,24.58,24.68
$GC,5593,-1.22,-116.8,2358,1906,3429,3294,633.2,-9.3,279,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1906,3361,3429,3294,0,0,0,0,0,0,24.86,24.89,24.88
$GC,5832,-1.22,-116.8,2358,1906,3427,3292,654.3,-8.7,285,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1906,3359,3427,3292,0,0,0,0,0,0,24.82,24.84,24.84
$GC,6072,-1.22,-116.8,2358,1906,3426,3290,673.8,-8.1,291,6078,0.00,2.78,0.00,0.000,516,0.000,0.065,2359,330,3358,3426,3290,0,0,0,0,0,0,24.82,24.52,24.84
$GC,6119,-1.22,-116.8,2358,330,3426,3290,677.6,-8.3,292,6125,0.00,2.65,0.00,0.000,1030,0.000,0.036,2358,1903,3358,3426,3290,0,0,0,0,0,0,24.67,24.58,24.69
$GC,6398,-1.22,-116.8,2358,1903,3424,3288,700.5,-8.1,299,6403,0.00,2.78,0.00,0.000,516,0.000,0.066,2358,333,3356,3424,3288,0,0,0,0,0,0,24.82,24.52,24.84
$GC,6420,-1.22,-116.8,2358,332,3424,3288,700.5,-8.1,299,6426,0.00,2.62,0.00,0.000,1030,0.000,0.036,2359,1900,3356,3424,3288,0,0,0,0,0,0,24.67,24.58,24.69
$GC,6685,-1.22,-116.8,2358,1900,3422,3288,724.5,-8.3,306,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1900,3354,3422,3287,0,0,0,0,0,0,24.83,24.85,24.85
$GC,6923,-1.22,-116.8,2358,1900,3421,3286,744.5,-8.2,312,6929,0.00,2.83,0.00,0.000,516,0.000,0.072,2359,333,3353,3421,3286,0,0,0,0,0,0,24.82,24.52,24.84
$GC,6976,-1.22,-116.8,2358,333,3421,3286,748.3,-8.4,313,6981,0.00,2.65,0.00,0.000,1030,0.000,0.041,2359,1903,3353,3421,3286,0,0,0,0,0,0,24.67,24.57,24.68
$GC,7250,-1.22,-116.8,2358,1902,3420,3285,771.9,-8.2,320,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1902,3352,3420,3285,0,0,0,0,0,0,24.87,24.89,24.89
$GC,7490,-1.22,-116.8,2358,1902,3419,3283,790.5,-7.7,326,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1902,3351,3419,3283,0,0,0,0,0,0,24.86,24.88,24.88
$GC,7730,-1.22,-116.8,2358,1902,3418,3282,809.3,-8.0,332,7735,0.00,2.85,0.00,0.000,516,0.000,0.081,2359,336,3350,3418,3282,0,0,0,0,0,0,24.84,24.51,24.85
$GC,7793,-1.22,-116.8,2358,335,3417,3282,813.0,-8.0,333,7799,0.00,2.67,0.00,0.000,1030,0.000,0.047,2359,1923,3349,3417,3282,0,0,0,0,0,0,24.70,24.63,24.70
$GC,8056,-1.22,-116.8,2358,1923,3417,3281,835.4,-7.7,340,8062,0.00,2.78,0.00,0.000,516,0.000,0.061,2359,333,3349,3417,3281,0,0,0,0,0,0,24.83,24.53,24.85
$GC,8084,-1.22,-116.8,2358,332,3416,3281,835.4,-7.7,340,8090,0.00,2.60,0.00,0.000,1030,0.000,0.033,2359,1891,3348,3416,3281,0,0,0,0,0,0,24.68,24.60,24.70
$GC,8344,-1.22,-116.8,2358,1891,3416,3280,857.7,-7.7,347,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1891,3348,3416,3280,0,0,0,0,0,0,24.84,24.87,24.85
$GC,8583,-1.22,-116.8,2358,1892,3415,3280,876.0,-7.6,353,8588,0.00,2.72,0.00,0.000,516,0.000,0.060,2359,331,3347,3415,3279,0,0,0,0,0,0,24.86,24.53,24.88
$GC,8630,-1.22,-116.8,2358,331,3414,3280,879.5,-7.7,354,8636,0.00,2.62,0.00,0.000,1030,0.000,0.033,2359,1910,3347,3414,3280,0,0,0,0,0,0,24.68,24.60,24.70
$STATE,8907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8907,begin apogee
$GC,8914,-0.26,0.0,2359,1835,3414,3278,901.1,-7.5,361,9018,1.42,0.00,99.53,1.183,10246,0.093,0.000,2669,1835,2899,2954,2845,0,0,0,0,0,0,24.53,23.65,22.77
$STATE,9018,end apogee,CONTROL_FINISHED_OK
$STATE,9019,begin climb
$GC,9021,1.22,116.8,2668,1834,2954,2844,902.6,0.0,363,9143,2.03,2.92,108.12,1.145,10500,0.051,0.073,3146,3423,2420,2474,2367,0,0,0,0,0,0,23.96,23.65,22.75
$GC,9166,1.22,116.8,3146,3423,2473,2364,892.3,8.6,367,9171,0.00,2.60,0.00,0.000,1030,0.000,0.028,3146,1869,2418,2473,2363,0,0,0,0,0,0,24.21,24.13,24.22
$GC,9448,1.22,116.8,3146,1869,2473,2353,857.3,12.3,374,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1869,2413,2473,2353,0,0,0,0,0,0,24.59,24.62,24.61
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$STATE,17550,end climb,SURFACE_DEPTH_REACHED
$STATE,17550,begin surface coast
$FINISH,0.1,1.023256
$STATE,17574,end surface coast,CONTROL_FINISHED_OK
$STATE,17574,begin surface
$SM_CCo,17598,88.85,0.464,0,0,1349,380.21
$SM_GC,0.65,11.62,2.62,88.85,0.047,0.016,0.464,436,1905,1349,-7.23,-1.47,380.21,0,0,0,0,0,0,24.41,24.49,23.49
$IRIDIUM_FIX,2237.01,-15726.76,310518,010054
$TT8_MAMPS,0.021721,0.349783
$HUMID,51.61
$INTERNAL_PRESSURE,9.2131
$TCM_TEMP,22.60
$XPDR_PINGS,184
$24V_AH,22.75,60.494
$10V_AH,9.89,42.330
$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
$DEVICE_SECS,25.750,201.425,318.050,88.850,0.000,56.802,90.425,323.604,46.000,0.000,54.252,2577.288,12143.733,618.077,2778.094,307.928,0.000,1628.356,0.000,2216.744,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,534.773,375.279,670.020,782.015,961.535,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342916
$DATA_FILE_SIZE,63881,787
$CAP_FILE_SIZE,166963,0
$CFSIZE,259248128,229920768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,305.99,1
$GPS,310518,060901,2244.952,-15726.154,67,4.1,107,10.1,0.4,339.3,4,18.4