version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 24
start: 3 16 118 22 53 28
data:
$ID,148
$MISSION,15
$DIVE,24
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,700
$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,166
$T_MISSION,350
$T_ABORT,300
$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,410
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$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,2758
$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,1850
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,43
$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,90
$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
$GPS1,160318,224657,2210.1665,-15454.7520,14,1.1,54,10.2,0.4,55.0,7,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-59.8
$GPS2,160318,225302,2210.2617,-15454.7559,8,1.1,35,10.2,0.6,40.1,8,5.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,T1
$TGT_LATLONG,2221.880,-15440.590
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,53.3,32429,-18.3,-10.040,-21.09,2227
$D_GRID,500
$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,13,begin dive
$GC,15,-1.14,-146.0,433,1924,1217,1225,0.0,0.0,0,97,0.00,0.00,-79.03,0.000,16386,0.000,0.000,434,1925,3360,3413,3308,0,0,0,0,0,0,24.66,28.83,24.68
$GC,100,-1.14,-146.0,433,1925,3413,3309,3.1,-6.4,11,124,10.60,2.45,-2.65,0.000,18692,0.166,0.042,2383,3429,3497,3560,3434,0,0,0,0,0,0,24.25,23.62,24.41
$GC,181,-1.14,-146.0,2382,3429,3560,3436,21.8,-16.8,24,189,0.00,2.55,0.00,0.000,1030,0.000,0.021,2383,1846,3498,3561,3435,0,0,0,0,0,0,24.51,24.48,24.53
$GC,436,-1.14,-146.0,2382,1846,3561,3436,61.2,-15.4,53,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1846,3498,3561,3435,0,0,0,0,0,0,24.77,24.79,24.79
$GC,684,-1.14,-146.0,2382,1845,3561,3436,99.9,-15.9,78,689,0.00,2.55,0.00,0.000,260,0.000,0.030,2383,3427,3499,3561,3437,0,0,0,0,0,0,24.82,24.55,24.83
$GC,721,-1.14,-146.0,2382,3427,3560,3437,105.5,-16.1,81,726,0.00,2.50,0.00,0.000,1030,0.000,0.021,2383,1839,3499,3561,3437,0,0,0,0,0,0,24.64,24.58,24.65
$GC,974,-1.14,-146.0,2382,1838,3561,3437,144.7,-15.0,106,979,0.00,2.55,0.00,0.000,260,0.000,0.031,2383,3424,3499,3561,3437,0,0,0,0,0,0,24.85,24.00,24.87
$GC,1001,-1.14,-146.0,2382,3424,3560,3438,148.5,-15.3,108,1009,0.00,2.50,0.00,0.000,1030,0.000,0.021,2383,1852,3499,3561,3438,0,0,0,0,0,0,24.68,24.62,24.70
$GC,1250,-1.14,-146.0,2382,1851,3561,3438,180.6,-12.4,133,1255,0.00,2.55,0.00,0.000,260,0.000,0.030,2383,3427,3500,3561,3439,0,0,0,0,0,0,24.84,24.62,24.87
$GC,1330,-1.14,-146.0,2382,3428,3561,3439,190.9,-13.8,140,1337,0.00,2.47,0.00,0.000,1030,0.000,0.021,2383,1845,3499,3560,3439,0,0,0,0,0,0,24.71,24.65,24.72
$GC,1596,-1.14,-146.0,2382,1844,3561,3439,223.2,-11.3,152,1601,0.00,2.55,0.00,0.000,260,0.000,0.031,2383,3429,3500,3561,3440,0,0,0,0,0,0,24.88,24.65,24.90
$GC,1648,-1.14,-146.0,2382,3428,3561,3440,228.8,-11.5,153,1654,0.00,2.47,0.00,0.000,1030,0.000,0.020,2383,1844,3500,3560,3440,0,0,0,0,0,0,24.74,24.68,24.75
$GC,1922,-1.14,-146.0,2382,1842,3561,3440,259.3,-10.6,160,1928,0.00,2.55,0.00,0.000,516,0.000,0.039,2383,279,3500,3561,3440,0,0,0,0,0,0,24.91,24.65,24.92
$GC,1939,-1.14,-146.0,2382,279,3561,3440,259.3,-10.6,160,1945,0.00,2.47,0.00,0.000,1030,0.000,0.021,2383,1858,3500,3561,3440,0,0,0,0,0,0,24.75,24.70,24.77
$GC,2209,-1.14,-146.0,2382,1860,3560,3440,290.3,-10.5,167,2214,0.00,2.53,0.00,0.000,260,0.000,0.037,2383,3420,3500,3560,3440,0,0,0,0,0,0,24.92,24.67,24.94
$GC,2236,-1.14,-146.0,2382,3420,3560,3440,290.3,-10.5,167,2242,0.00,2.47,0.00,0.000,1030,0.000,0.027,2383,1850,3500,3560,3440,0,0,0,0,0,0,24.70,24.35,24.72
$GC,2495,-1.14,-146.0,2382,1849,3560,3439,320.2,-9.8,174,2501,0.00,2.60,0.00,0.000,516,0.000,0.046,2383,269,3499,3560,3439,0,0,0,0,0,0,24.94,24.66,24.95
$GC,2532,-1.14,-146.0,2382,268,3560,3439,320.2,-9.8,174,2539,0.00,2.50,0.00,0.000,1030,0.000,0.023,2383,1850,3499,3560,3439,0,0,0,0,0,0,24.78,24.72,24.79
$GC,2781,-1.14,-146.0,2382,1852,3560,3437,348.4,-9.9,181,2786,0.00,2.58,0.00,0.000,260,0.000,0.041,2383,3425,3498,3560,3437,0,0,0,0,0,0,24.95,24.68,24.97
$GC,2812,-1.14,-146.0,2382,3425,3560,3437,348.4,-9.9,181,2819,0.00,2.50,0.00,0.000,1030,0.000,0.027,2383,1850,3498,3560,3437,0,0,0,0,0,0,24.79,24.72,24.80
$GC,3066,-1.14,-146.0,2382,1850,3560,3434,379.4,-10.8,188,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1849,3497,3560,3434,0,0,0,0,0,0,24.98,25.00,24.99
$GC,3305,-1.14,-146.0,2382,1849,3560,3432,404.3,-10.3,194,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1849,3496,3560,3432,0,0,0,0,0,0,24.98,25.01,25.01
$GC,3548,-1.14,-146.0,2382,1849,3560,3430,428.5,-10.0,200,3554,0.00,2.60,0.00,0.000,260,0.000,0.047,2383,3417,3495,3560,3430,0,0,0,0,0,0,24.98,24.69,25.00
$GC,3595,-1.14,-146.0,2382,3417,3561,3429,433.3,-10.1,201,3601,0.00,2.53,0.00,0.000,1030,0.000,0.028,2383,1845,3494,3560,3429,0,0,0,0,0,0,24.81,24.75,24.83
$GC,3874,-1.14,-146.0,2382,1844,3560,3425,461.5,-10.1,208,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1844,3492,3560,3424,0,0,0,0,0,0,24.98,25.01,25.00
$GC,4114,-1.14,-146.0,2382,1844,3560,3421,485.6,-10.0,214,4120,0.00,2.65,0.00,0.000,260,0.000,0.048,2383,3419,3490,3559,3421,0,0,0,0,0,0,24.98,24.68,25.00
$GC,4146,-1.14,-146.0,2382,3419,3559,3421,485.6,-10.0,214,4151,0.00,2.55,0.00,0.000,1030,0.000,0.030,2383,1840,3490,3560,3420,0,0,0,0,0,0,24.82,24.75,24.84
$STATE,4279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4279,begin apogee
$GC,4284,-0.26,0.0,2383,2064,3560,3419,502.1,-10.0,218,4568,1.27,0.00,204.43,0.712,10246,0.093,0.000,2666,2064,2899,2956,2842,0,0,0,0,15,0,24.68,24.00,23.48
$STATE,4569,end apogee,CONTROL_FINISHED_OK
$STATE,4569,begin climb
$GC,4571,1.14,146.0,2665,2064,2956,2842,511.9,0.0,225,4873,1.88,0.00,214.10,0.690,10502,0.047,0.000,3114,2064,2303,2351,2255,0,0,0,0,16,0,24.15,24.00,23.47
$GC,5081,1.14,146.0,3113,2063,2350,2249,469.7,12.1,238,5086,0.00,2.80,0.00,0.000,516,0.000,0.057,3113,462,2299,2350,2248,0,0,0,0,0,0,24.63,24.31,24.64
$GC,5103,1.14,146.0,3113,462,2349,2248,469.7,12.1,238,5108,0.00,2.60,0.00,0.000,1030,0.000,0.034,3113,2035,2298,2349,2248,0,0,0,0,0,0,24.45,24.37,24.46
$GC,5365,1.14,146.0,3113,2035,2349,2245,437.4,11.0,245,5370,0.00,2.70,0.00,0.000,516,0.000,0.052,3114,469,2297,2349,2245,0,0,0,0,0,0,24.69,24.39,24.72
$GC,5411,1.14,146.0,3113,469,2347,2244,432.5,11.1,246,5417,0.00,2.60,0.00,0.000,1030,0.000,0.028,3113,2056,2296,2347,2245,0,0,0,0,0,0,24.53,24.46,24.54
$GC,5689,1.14,146.0,3113,2055,2347,2242,401.6,11.0,253,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2056,2294,2347,2242,0,0,0,0,0,0,24.75,24.77,24.77
$GC,5929,1.14,146.0,3113,2055,2347,2241,374.9,11.3,259,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2056,2294,2347,2241,0,0,0,0,0,0,24.78,24.81,24.81
$GC,6169,1.14,146.0,3113,2055,2346,2239,349.4,10.4,265,6175,0.00,2.70,0.00,0.000,516,0.000,0.048,3113,460,2293,2347,2240,0,0,0,0,0,0,24.75,24.51,24.77
$GC,6221,1.14,146.0,3113,460,2346,2240,345.1,10.3,266,6226,0.00,2.60,0.00,0.000,1030,0.000,0.028,3113,2063,2293,2346,2240,0,0,0,0,0,0,24.64,24.58,24.66
$GC,6493,1.14,146.0,3113,2063,2346,2239,315.5,10.4,273,6498,0.00,2.67,0.00,0.000,260,0.000,0.056,3113,3630,2292,2346,2239,0,0,0,0,0,0,24.84,24.53,24.87
$GC,6585,1.14,146.0,3113,3630,2345,2239,307.1,10.4,275,6590,0.00,2.58,0.00,0.000,1030,0.000,0.028,3113,2040,2292,2345,2239,0,0,0,0,0,0,24.68,24.60,24.70
$GC,6858,1.17,169.3,3113,2040,2345,2237,280.7,9.0,282,6906,0.00,2.67,31.50,0.642,8708,0.000,0.057,3114,470,2207,2259,2156,0,0,0,0,2,0,24.88,24.16,23.64
$GC,6933,1.20,193.9,3113,470,2258,2156,277.2,8.9,283,6988,0.00,2.58,36.60,0.636,9222,0.000,0.027,3114,2055,2109,2156,2062,0,0,0,0,2,0,24.46,24.39,23.58
$GC,7263,1.20,193.9,3113,2055,2156,2058,238.8,10.1,292,7268,0.00,2.67,0.00,0.000,516,0.000,0.044,3113,467,2107,2156,2058,0,0,0,0,0,0,24.72,24.44,24.75
$GC,7300,1.20,193.9,3113,467,2155,2057,238.8,10.1,292,7306,0.00,2.55,0.00,0.000,1030,0.000,0.025,3114,2051,2106,2155,2057,0,0,0,0,0,0,24.56,24.51,24.58
$GC,7546,1.20,193.9,3113,2051,2155,2057,208.9,10.3,299,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2052,2106,2155,2057,0,0,0,0,0,0,24.78,24.81,24.80
$GC,7785,1.20,193.9,3113,2051,2155,2056,184.8,10.5,314,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2051,2105,2155,2056,0,0,0,0,0,0,24.82,24.84,24.83
$GC,8026,1.21,202.8,3113,2051,2155,2055,160.4,9.6,338,8048,0.05,2.65,12.50,0.583,10500,0.142,0.043,3130,3620,2071,2120,2023,0,0,0,0,0,0,24.63,24.31,23.84
$GC,8122,1.21,202.8,3129,3620,2120,2023,150.2,10.6,347,8128,0.00,2.53,0.00,0.000,1030,0.000,0.022,3130,2041,2071,2120,2023,0,0,0,0,0,0,24.58,24.52,24.59
$GC,8375,1.21,203.4,3129,2041,2120,2022,126.3,10.0,372,8381,0.00,2.55,0.00,0.000,516,0.000,0.039,3130,469,2071,2120,2022,0,0,0,0,0,0,24.82,24.55,24.84
$GC,8448,1.21,203.4,3130,469,2120,2022,119.2,10.2,378,8455,0.00,2.53,0.00,0.000,1030,0.000,0.021,3130,2063,2071,2120,2022,0,0,0,0,0,0,24.65,24.60,24.67
$GC,8705,1.23,212.5,3129,2063,2120,2022,94.6,9.6,403,8734,0.00,2.65,15.77,0.485,8708,0.000,0.036,3130,475,2032,2080,1985,0,0,0,0,1,0,24.86,24.34,23.87
$GC,8743,1.24,223.4,3130,475,2080,1985,90.9,9.5,406,8770,0.00,2.53,17.42,0.490,9222,0.000,0.021,3130,2060,1987,2032,1943,0,0,0,0,1,0,24.51,24.46,23.78
$GC,9018,1.24,223.4,3130,2060,2032,1943,62.1,11.0,433,9024,0.00,2.62,0.00,0.000,516,0.000,0.043,3130,461,1987,2032,1943,0,0,0,0,0,0,24.78,24.51,24.80
$GC,9045,1.24,223.4,3129,461,2032,1943,59.4,11.1,435,9052,0.00,2.53,0.00,0.000,1030,0.000,0.021,3130,2052,1987,2032,1943,0,0,0,0,0,0,24.61,24.56,24.63
$GC,9294,1.24,223.4,3130,2052,2032,1943,31.8,10.8,460,9300,0.00,2.60,0.00,0.000,516,0.000,0.036,3130,463,1987,2032,1943,0,0,0,0,0,0,24.83,24.56,24.84
$GC,9335,1.24,223.4,3130,463,2032,1943,27.1,11.5,465,9342,0.00,2.53,0.00,0.000,1030,0.000,0.021,3130,2051,1987,2032,1943,0,0,0,0,0,0,24.65,24.60,24.67
$STATE,9560,end climb,SURFACE_DEPTH_REACHED
$STATE,9560,begin surface coast
$FINISH,0.2,1.011104
$STATE,9590,end surface coast,CONTROL_FINISHED_OK
$STATE,9590,begin surface
$SM_CCo,9610,108.10,0.491,0,0,1227,410.13
$SM_GC,0.93,11.35,0.30,108.10,0.047,0.036,0.491,435,1808,1227,-7.22,1.33,410.13,0,0,0,0,0,0,24.57,24.68,23.70
$IRIDIUM_FIX,2202.04,-15454.63,160318,200335
$TT8_MAMPS,0.021721,0.343791
$HUMID,48.58
$INTERNAL_PRESSURE,9.2131
$TCM_TEMP,22.50
$XPDR_PINGS,27
$24V_AH,23.47,5.338
$10V_AH,10.40,3.397
$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,25.150,113.825,532.325,108.100,0.000,25.073,43.265,162.809,27.500,0.000,37.916,1621.281,5640.249,921.298,1787.643,125.039,0.000,1623.818,0.000,1443.427,0.000,130.374,0.000
$DEVICE_MAMPS,166.005,71.910,712.215,491.130,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,343.894,282.146,475.293,547.253,646.941,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343076
$DATA_FILE_SIZE,40700,511
$CAP_FILE_SIZE,107518,0
$CFSIZE,259248128,257216512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$CURRENT,0.024,288.50,1
$GPS,170318,013633,2210.794,-15453.573,14,0.9,30,10.2,0.7,81.8,8,4.6