version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 29
start: 3 17 118 12 50 23
data:
$ID,148
$MISSION,15
$DIVE,29
$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,400
$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,1
$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,1900
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$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,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
$GPS1,170318,123933,2212.2263,-15451.5312,14,0.9,42,10.2,0.2,280.1,9,4.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,2
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-61.1
$GPS2,170318,124957,2212.2302,-15451.5234,12,1.3,28,10.2,0.2,73.7,9,4.3
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,T3
$TGT_LATLONG,2159.330,-15539.880
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,252.4,86410,-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,-146.0,437,1938,1253,1272,0.0,0.0,0,97,0.00,0.00,-79.78,0.000,16386,0.000,0.000,437,1938,3433,3486,3380,0,0,0,0,0,0,24.63,28.83,24.65
$GC,100,-1.14,-146.0,437,1939,3487,3381,3.1,-5.9,11,125,10.68,2.67,-1.23,0.000,18948,0.168,0.039,2381,309,3498,3558,3439,0,0,0,0,0,0,24.21,23.61,24.38
$GC,265,-1.14,-146.0,2381,310,3558,3439,37.8,-17.3,35,273,0.00,2.55,0.00,0.000,1030,0.000,0.019,2381,1898,3499,3558,3440,0,0,0,0,0,0,24.51,24.49,24.52
$GC,513,-1.14,-146.0,2381,1899,3558,3440,78.4,-16.1,60,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1899,3499,3558,3440,0,0,0,0,0,0,24.75,24.77,24.77
$GC,753,-1.14,-146.0,2381,1900,3558,3441,118.2,-16.8,84,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1900,3499,3558,3440,0,0,0,0,0,0,24.79,24.81,24.80
$GC,992,-1.14,-146.0,2381,1900,3558,3441,154.2,-13.0,108,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1900,3499,3558,3441,0,0,0,0,0,0,24.82,24.84,24.84
$GC,1232,-1.14,-146.0,2381,1900,3558,3442,185.2,-12.2,132,1239,0.00,2.55,0.00,0.000,260,0.000,0.032,2381,3481,3500,3558,3442,0,0,0,0,0,0,24.82,24.58,24.84
$GC,1256,-1.14,-146.0,2381,3481,3558,3442,188.2,-12.2,134,1262,0.00,2.50,0.00,0.000,1030,0.000,0.019,2381,1891,3500,3558,3442,0,0,0,0,0,0,24.68,24.63,24.69
$GC,1510,-1.14,-146.0,2381,1890,3558,3443,219.9,-12.3,147,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1890,3500,3558,3443,0,0,0,0,0,0,24.87,24.89,24.89
$GC,1750,-1.14,-146.0,2381,1890,3558,3443,245.4,-10.4,153,1756,0.00,2.55,0.00,0.000,516,0.000,0.036,2381,328,3500,3558,3443,0,0,0,0,0,0,24.87,24.63,24.88
$GC,1804,-1.14,-146.0,2381,328,3558,3443,250.3,-10.6,154,1809,0.00,2.47,0.00,0.000,1030,0.000,0.021,2381,1909,3500,3558,3443,0,0,0,0,0,0,24.72,24.67,24.74
$GC,2078,-1.14,-146.0,2381,1911,3558,3443,281.5,-11.5,161,2084,0.00,2.53,0.00,0.000,260,0.000,0.034,2381,3470,3500,3558,3443,0,0,0,0,0,0,24.89,24.65,24.91
$GC,2095,-1.14,-146.0,2381,3470,3558,3443,281.5,-11.5,161,2101,0.00,2.45,0.00,0.000,1030,0.000,0.021,2381,1906,3500,3558,3443,0,0,0,0,0,0,24.74,24.68,24.75
$GC,2365,-1.14,-146.0,2381,1905,3558,3443,316.3,-12.0,168,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1906,3500,3558,3443,0,0,0,0,0,0,24.91,24.93,24.92
$GC,2604,-1.14,-146.0,2381,1906,3558,3442,340.5,-9.8,174,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1905,3500,3558,3442,0,0,0,0,0,0,24.91,24.94,24.93
$GC,2844,-1.14,-146.0,2381,1905,3558,3439,365.5,-10.7,180,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1905,3498,3558,3439,0,0,0,0,0,0,24.92,24.94,24.94
$GC,3084,-1.14,-146.0,2381,1905,3558,3437,391.2,-10.5,186,3089,0.00,2.62,0.00,0.000,516,0.000,0.052,2381,335,3497,3558,3436,0,0,0,0,0,0,24.93,24.65,24.95
$GC,3105,-1.14,-146.0,2381,334,3558,3437,391.2,-10.5,186,3110,0.00,2.50,0.00,0.000,1030,0.000,0.027,2381,1896,3497,3558,3436,0,0,0,0,0,0,24.77,24.72,24.79
$GC,3370,-1.14,-146.0,2381,1897,3558,3433,418.7,-9.5,193,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1897,3495,3558,3433,0,0,0,0,0,0,24.95,24.97,24.96
$GC,3609,-1.14,-146.0,2381,1897,3558,3431,440.4,-9.0,199,3614,0.00,2.65,0.00,0.000,516,0.000,0.055,2381,335,3494,3558,3430,0,0,0,0,0,0,24.94,24.66,24.96
$GC,3626,-1.14,-146.0,2381,335,3558,3431,440.4,-9.0,199,3631,0.00,2.53,0.00,0.000,1030,0.000,0.028,2381,1896,3494,3558,3431,0,0,0,0,0,0,24.79,24.72,24.80
$GC,3894,-1.14,-146.0,2381,1897,3558,3427,464.9,-8.3,206,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1897,3492,3558,3427,0,0,0,0,0,0,24.97,25.00,24.99
$GC,4135,-1.14,-146.0,2381,1897,3558,3423,487.4,-9.9,212,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1896,3490,3558,3423,0,0,0,0,0,0,24.96,24.98,24.98
$STATE,4253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4253,begin apogee
$GC,4258,-0.26,0.0,2381,1968,3558,3421,501.0,-11.3,215,4382,1.27,0.00,119.53,0.882,10246,0.087,0.000,2665,1967,2899,2955,2844,0,0,0,0,0,0,24.65,23.94,23.39
$STATE,4383,end apogee,CONTROL_FINISHED_OK
$STATE,4383,begin climb
$GC,4384,1.14,146.0,2665,1967,2955,2842,506.5,0.0,218,4519,1.90,2.72,124.35,0.854,10500,0.054,0.061,3108,3509,2301,2347,2255,0,0,0,0,0,0,24.09,23.79,23.40
$GC,4537,1.14,146.0,3107,3509,2345,2254,501.0,5.1,222,4542,0.00,2.58,0.00,0.000,1030,0.000,0.036,3108,1967,2299,2346,2253,0,0,0,0,0,0,24.27,24.19,24.28
$GC,4819,1.14,146.0,3107,1967,2345,2244,470.5,11.2,229,4825,0.00,2.80,0.00,0.000,516,0.000,0.066,3108,367,2294,2345,2244,0,0,0,0,0,0,24.64,24.32,24.65
$GC,4846,1.14,146.0,3107,368,2344,2244,470.5,11.2,229,4852,0.00,2.58,0.00,0.000,1030,0.000,0.031,3108,1935,2294,2344,2244,0,0,0,0,0,0,24.46,24.39,24.48
$GC,5105,1.14,146.0,3107,1934,2344,2240,438.4,11.3,236,5110,0.00,2.75,0.00,0.000,260,0.000,0.061,3108,3529,2292,2344,2240,0,0,0,0,0,0,24.70,24.38,24.72
$GC,5121,1.14,146.0,3107,3529,2343,2240,438.4,11.3,236,5127,0.00,2.60,0.00,0.000,1030,0.000,0.036,3107,1947,2291,2343,2240,0,0,0,0,0,0,24.52,24.44,24.54
$GC,5389,1.14,146.0,3107,1947,2343,2239,404.7,11.8,243,5394,0.00,2.72,0.00,0.000,516,0.000,0.060,3108,362,2291,2343,2239,0,0,0,0,0,0,24.75,24.44,24.77
$GC,5415,1.14,146.0,3107,362,2342,2239,404.7,11.8,243,5421,0.00,2.60,0.00,0.000,1030,0.000,0.026,3108,1963,2290,2342,2239,0,0,0,0,0,0,24.58,24.51,24.59
$GC,5674,1.14,146.0,3107,1963,2342,2237,372.5,10.8,250,5679,0.00,2.72,0.00,0.000,516,0.000,0.049,3108,359,2289,2342,2237,0,0,0,0,0,0,24.79,24.49,24.81
$GC,5725,1.14,146.0,3107,359,2341,2237,368.0,10.5,251,5731,0.00,2.60,0.00,0.000,1030,0.000,0.027,3108,1964,2289,2341,2237,0,0,0,0,0,0,24.62,24.56,24.63
$GC,5998,1.18,172.6,3107,1964,2341,2236,342.2,8.8,258,6022,0.00,0.00,21.50,0.766,8454,0.000,0.000,3108,1963,2195,2246,2145,0,0,0,0,0,0,24.82,24.07,23.57
$GC,6274,1.18,172.6,3107,1964,2245,2138,310.8,11.9,265,6280,0.00,2.65,0.00,0.000,260,0.000,0.054,3108,3524,2191,2245,2138,0,0,0,0,0,0,24.76,24.45,24.77
$GC,6317,1.18,172.6,3107,3524,2244,2139,305.8,11.8,266,6323,0.00,2.58,0.00,0.000,1030,0.000,0.032,3108,1944,2191,2244,2139,0,0,0,0,0,0,24.59,24.52,24.60
$GC,6601,1.20,190.8,3107,1944,2245,2136,278.2,9.2,273,6625,0.05,2.70,16.60,0.711,10756,0.136,0.052,3128,366,2121,2170,2072,0,0,0,0,0,0,24.61,24.17,23.65
$GC,6643,1.22,206.4,3127,366,2169,2072,274.0,9.3,274,6667,0.00,2.60,15.45,0.695,9222,0.000,0.026,3128,1959,2055,2101,2010,0,0,0,0,0,0,24.44,24.38,23.58
$GC,6924,1.22,206.4,3128,1959,2101,2005,239.6,12.3,281,6930,0.00,2.70,0.00,0.000,516,0.000,0.046,3128,366,2053,2101,2005,0,0,0,0,0,0,24.74,24.45,24.75
$GC,6956,1.22,206.4,3127,366,2101,2005,239.6,12.3,281,6961,0.00,2.58,0.00,0.000,1030,0.000,0.024,3128,1965,2053,2101,2005,0,0,0,0,0,0,24.57,24.51,24.58
$GC,7208,1.22,206.4,3128,1965,2101,2005,206.8,10.8,288,7214,0.00,2.70,0.00,0.000,516,0.000,0.042,3128,359,2052,2101,2004,0,0,0,0,0,0,24.79,24.51,24.80
$GC,7250,1.22,206.4,3128,359,2100,2004,202.4,10.4,289,7255,0.00,2.58,0.00,0.000,1030,0.000,0.024,3128,1956,2052,2100,2004,0,0,0,0,0,0,24.62,24.56,24.63
$GC,7505,1.22,206.4,3128,1956,2100,2004,174.3,11.6,311,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1956,2052,2100,2004,0,0,0,0,0,0,24.82,24.84,24.84
$GC,7752,1.22,206.4,3128,1956,2101,2004,147.3,11.0,336,7759,0.00,2.60,0.00,0.000,260,0.000,0.041,3128,3531,2052,2100,2004,0,0,0,0,0,0,24.84,24.56,24.87
$GC,7889,1.22,206.4,3128,3531,2100,2004,132.4,10.6,349,7895,0.00,2.55,0.00,0.000,1030,0.000,0.023,3128,1941,2052,2100,2004,0,0,0,0,0,0,24.68,24.62,24.70
$GC,8143,1.22,209.4,3128,1941,2100,2004,106.4,9.9,374,8149,0.00,2.58,0.00,0.000,516,0.000,0.040,3128,366,2052,2100,2004,0,0,0,0,0,0,24.87,24.60,24.89
$GC,8250,1.22,209.4,3128,366,2100,2004,95.2,10.6,384,8256,0.00,2.53,0.00,0.000,1030,0.000,0.021,3128,1963,2052,2100,2004,0,0,0,0,0,0,24.70,24.65,24.72
$GC,8505,1.22,211.7,3128,1963,2101,2004,70.2,9.9,409,8514,0.00,0.00,5.57,0.433,8198,0.000,0.000,3128,1963,2035,2085,1986,0,0,0,0,0,0,24.89,24.49,24.08
$GC,8755,1.22,211.7,3128,1963,2084,1987,44.8,10.1,434,8761,0.00,2.60,0.00,0.000,516,0.000,0.036,3129,363,2035,2085,1986,0,0,0,0,0,0,24.87,24.61,24.89
$GC,8782,1.22,211.7,3128,363,2084,1986,42.2,10.3,436,8790,0.00,2.55,0.00,0.000,1030,0.000,0.021,3128,1970,2035,2085,1986,0,0,0,0,0,0,24.70,24.65,24.72
$GC,9042,1.22,211.7,3128,1970,2085,1987,15.7,10.2,473,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1970,2036,2085,1987,0,0,0,0,0,0,24.90,24.92,24.91
$STATE,9160,end climb,SURFACE_DEPTH_REACHED
$STATE,9160,begin surface coast
$FINISH,0.2,1.023955
$STATE,9189,end surface coast,CONTROL_FINISHED_OK
$STATE,9189,begin surface
$SM_CCo,9208,107.10,0.490,0,0,1268,400.08
$SM_GC,0.92,11.25,0.10,107.10,0.044,0.080,0.490,433,1883,1268,-7.23,1.19,400.08,0,0,0,0,0,0,24.63,24.72,23.70
$IRIDIUM_FIX,2202.04,-15449.42,170318,095747
$TT8_MAMPS,0.021721,0.283122
$HUMID,48.22
$INTERNAL_PRESSURE,9.2131
$TCM_TEMP,22.60
$XPDR_PINGS,20
$24V_AH,23.39,5.915
$10V_AH,10.42,3.763
$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,25.150,93.900,303.000,107.100,0.000,30.602,45.073,414.890,25.750,0.000,31.207,1605.201,5751.036,538.517,1912.927,145.565,0.000,1166.880,0.000,1330.488,0.000,131.278,0.000
$DEVICE_MAMPS,167.535,104.805,882.045,490.365,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,338.071,278.443,413.036,529.410,628.176,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343164
$DATA_FILE_SIZE,40455,499
$CAP_FILE_SIZE,105344,0
$CFSIZE,259248128,256958464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,248.36,1
$GPS,170318,152702,2211.928,-15453.058,13,1.5,46,10.2,0.3,305.7,10,4.8