version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 30
start: 3 17 118 15 42 11
data:
$ID,148
$MISSION,15
$DIVE,30
$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,53
$R_STBD_OVSHOOT,45
$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
$GPS1,170318,152702,2211.9280,-15453.0576,13,1.5,46,10.2,0.3,305.7,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-60.4
$GPS2,170318,154145,2211.9402,-15453.0674,13,1.3,17,10.2,0.4,232.3,8,5.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,T3
$TGT_LATLONG,2159.330,-15539.880
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,244.7,83713,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.14,-146.0,433,1876,1253,1271,0.0,0.0,0,103,0.00,0.00,-81.80,0.000,16390,0.000,0.000,432,1877,3497,3552,3443,0,0,0,0,0,0,24.63,23.69,24.65
$GC,105,-1.14,-146.0,432,1876,3552,3443,4.2,-9.8,12,122,10.57,2.55,0.00,0.000,2564,0.163,0.028,2381,328,3498,3553,3444,0,0,0,0,0,0,24.22,24.37,24.37
$GC,340,-1.14,-146.0,2381,328,3554,3443,52.0,-16.5,42,345,0.00,2.47,0.00,0.000,1030,0.000,0.018,2381,1903,3499,3554,3444,0,0,0,0,0,0,24.56,24.51,24.57
$GC,594,-1.14,-146.0,2381,1904,3554,3444,92.6,-15.6,67,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1904,3499,3554,3444,0,0,0,0,0,0,24.77,24.79,24.79
$GC,833,-1.14,-146.0,2381,1904,3554,3444,127.8,-13.5,91,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1904,3499,3554,3444,0,0,0,0,0,0,24.80,24.82,24.82
$GC,1073,-1.14,-146.0,2381,1905,3554,3444,161.2,-12.0,115,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1905,3499,3555,3444,0,0,0,0,0,0,24.84,24.85,24.84
$GC,1314,-1.14,-146.0,2381,1905,3555,3444,190.9,-12.4,139,1319,0.00,2.53,0.00,0.000,260,0.000,0.031,2381,3478,3499,3555,3444,0,0,0,0,0,0,24.83,24.60,24.84
$GC,1351,-1.14,-146.0,2381,3478,3555,3444,195.3,-12.8,142,1358,0.00,2.45,0.00,0.000,1030,0.000,0.020,2381,1903,3499,3555,3444,0,0,0,0,0,0,24.69,24.63,24.70
$GC,1629,-1.14,-146.0,2381,1902,3556,3444,230.1,-11.6,152,1636,0.00,2.55,0.00,0.000,516,0.000,0.035,2381,326,3500,3556,3444,0,0,0,0,0,0,24.87,24.62,24.88
$GC,1678,-1.14,-146.0,2381,325,3556,3444,235.3,-11.3,153,1683,0.00,2.47,0.00,0.000,1030,0.000,0.020,2381,1914,3499,3555,3444,0,0,0,0,0,0,24.72,24.67,24.73
$GC,1958,-1.14,-146.0,2381,1915,3556,3444,265.7,-10.5,160,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1915,3500,3556,3444,0,0,0,0,0,0,24.89,24.91,24.91
$GC,2196,-1.14,-146.0,2381,1915,3556,3444,291.8,-10.8,166,2202,0.00,2.62,0.00,0.000,516,0.000,0.041,2381,327,3500,3556,3444,0,0,0,0,0,0,24.89,24.64,24.91
$GC,2240,-1.14,-146.0,2381,327,3556,3444,296.6,-10.7,167,2246,0.00,2.50,0.00,0.000,1030,0.000,0.022,2382,1905,3500,3556,3444,0,0,0,0,0,0,24.75,24.69,24.76
$GC,2524,-1.14,-146.0,2381,1906,3555,3443,324.9,-9.5,174,2530,0.00,2.55,0.00,0.000,260,0.000,0.039,2381,3470,3499,3556,3443,0,0,0,0,0,0,24.89,24.65,24.91
$GC,2556,-1.14,-146.0,2381,3469,3556,3442,324.9,-9.5,174,2562,0.00,2.47,0.00,0.000,1030,0.000,0.022,2381,1900,3499,3556,3442,0,0,0,0,0,0,24.76,24.70,24.77
$GC,2812,-1.14,-146.0,2380,1898,3556,3439,352.2,-9.8,181,2818,0.00,2.58,0.00,0.000,260,0.000,0.041,2381,3470,3497,3556,3439,0,0,0,0,0,0,24.93,24.65,24.95
$GC,2834,-1.14,-146.0,2381,3470,3556,3439,352.2,-9.8,181,2841,0.00,2.50,0.00,0.000,1030,0.000,0.024,2381,1892,3498,3556,3440,0,0,0,0,0,0,24.77,24.70,24.78
$GC,3099,-1.14,-146.0,2381,1892,3555,3436,380.3,-9.5,188,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1892,3496,3556,3436,0,0,0,0,0,0,24.93,24.96,24.95
$GC,3339,-1.14,-146.0,2381,1891,3555,3433,403.7,-9.9,194,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1890,3494,3556,3433,0,0,0,0,0,0,24.94,24.96,24.96
$GC,3579,-1.14,-146.0,2381,1891,3556,3430,426.5,-9.5,200,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1891,3492,3555,3430,0,0,0,0,0,0,24.94,24.96,24.96
$GC,3819,-1.14,-146.0,2381,1891,3555,3427,446.1,-8.1,206,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1891,3491,3555,3427,0,0,0,0,0,0,24.95,24.98,24.97
$GC,4058,-1.14,-146.0,2381,1891,3555,3423,469.2,-9.8,212,4063,0.00,2.67,0.00,0.000,260,0.000,0.049,2381,3474,3489,3555,3423,0,0,0,0,0,0,24.98,24.68,25.00
$GC,4090,-1.14,-146.0,2380,3474,3555,3422,469.2,-9.8,212,4096,0.00,2.53,0.00,0.000,1030,0.000,0.027,2381,1899,3488,3555,3422,0,0,0,0,0,0,24.80,24.74,24.82
$GC,4346,-1.14,-146.0,2381,1899,3555,3420,495.9,-8.9,219,4352,0.00,2.70,0.00,0.000,516,0.000,0.060,2381,323,3487,3555,3419,0,0,0,0,0,0,24.97,24.67,24.98
$STATE,4388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4388,begin apogee
$GC,4395,-0.26,0.0,2381,1940,3554,3419,500.1,-8.9,220,4518,1.27,0.00,118.93,0.886,10246,0.089,0.000,2665,1940,2899,2954,2844,0,0,0,0,0,0,24.65,23.94,23.40
$STATE,4519,end apogee,CONTROL_FINISHED_OK
$STATE,4519,begin climb
$GC,4521,1.14,146.0,2665,1940,2954,2843,502.4,0.0,223,4658,1.88,2.83,124.12,0.850,10500,0.047,0.068,3116,3532,2301,2347,2255,0,0,0,0,0,0,24.09,23.80,23.42
$GC,4679,1.14,146.0,3115,3531,2346,2254,492.7,7.9,227,4685,0.00,2.62,0.00,0.000,1030,0.000,0.031,3115,1953,2300,2346,2254,0,0,0,0,0,0,24.29,24.21,24.30
$GC,4952,1.14,146.0,3115,1953,2345,2245,458.6,11.8,234,4957,0.00,2.78,0.00,0.000,516,0.000,0.065,3115,366,2295,2346,2244,0,0,0,0,0,0,24.63,24.32,24.65
$GC,4968,1.14,146.0,3115,366,2344,2244,458.6,11.8,234,4974,0.00,2.60,0.00,0.000,1030,0.000,0.034,3116,1949,2294,2344,2244,0,0,0,0,0,0,24.46,24.39,24.48
$GC,5236,1.14,146.0,3115,1949,2345,2241,426.4,11.5,241,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1949,2293,2345,2241,0,0,0,0,0,0,24.70,24.72,24.72
$GC,5476,1.14,146.0,3115,1949,2344,2240,400.6,10.3,247,5481,0.00,2.70,0.00,0.000,516,0.000,0.049,3116,363,2291,2344,2239,0,0,0,0,0,0,24.75,24.46,24.76
$GC,5497,1.14,146.0,3115,363,2343,2239,400.6,10.3,247,5502,0.00,2.60,0.00,0.000,1030,0.000,0.027,3115,1961,2291,2343,2239,0,0,0,0,0,0,24.57,24.50,24.58
$GC,5760,1.14,146.0,3115,1961,2343,2237,372.2,10.4,254,5765,0.00,2.72,0.00,0.000,516,0.000,0.049,3116,362,2290,2343,2237,0,0,0,0,0,0,24.78,24.49,24.81
$GC,5791,1.14,146.0,3115,362,2342,2238,372.2,10.4,254,5797,0.00,2.58,0.00,0.000,1030,0.000,0.027,3116,1953,2289,2342,2237,0,0,0,0,0,0,24.61,24.55,24.63
$GC,6044,1.16,157.5,3115,1952,2342,2237,344.7,9.5,261,6059,0.00,2.67,9.00,0.700,8452,0.000,0.054,3116,3519,2255,2309,2202,0,0,0,0,0,0,24.81,24.17,23.77
$GC,6090,1.17,163.6,3115,3519,2309,2202,340.1,9.8,262,6106,0.00,2.58,7.00,0.652,9222,0.000,0.028,3116,1935,2231,2284,2178,0,0,0,0,0,0,24.52,24.46,23.72
$GC,6369,1.17,165.3,3115,1935,2284,2174,311.9,10.0,269,6374,0.00,2.70,0.00,0.000,260,0.000,0.047,3116,3528,2229,2284,2174,0,0,0,0,0,0,24.78,24.48,24.80
$GC,6455,1.17,165.3,3115,3528,2283,2173,302.1,10.9,271,6460,0.00,2.58,0.00,0.000,1030,0.000,0.030,3116,1942,2228,2283,2174,0,0,0,0,0,0,24.62,24.55,24.63
$GC,6732,1.17,165.3,3115,1942,2283,2172,272.3,10.1,278,6737,0.00,2.62,0.00,0.000,516,0.000,0.054,3116,369,2227,2283,2172,0,0,0,0,0,0,24.83,24.54,24.85
$GC,6758,1.17,165.3,3115,369,2282,2172,272.3,10.1,278,6764,0.00,2.55,0.00,0.000,1030,0.000,0.025,3116,1957,2226,2282,2171,0,0,0,0,0,0,24.65,24.60,24.67
$GC,7017,1.17,165.3,3115,1957,2282,2171,244.4,10.5,285,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1957,2226,2282,2171,0,0,0,0,0,0,24.86,24.88,24.87
$GC,7256,1.17,165.3,3115,1957,2282,2171,219.9,10.3,291,7262,0.00,2.65,0.00,0.000,516,0.000,0.044,3116,361,2226,2282,2171,0,0,0,0,0,0,24.87,24.59,24.89
$GC,7349,1.18,173.0,3115,361,2281,2170,211.9,9.7,293,7364,0.00,2.55,8.80,0.615,9222,0.000,0.024,3116,1957,2192,2246,2139,0,0,0,0,0,0,24.70,24.65,23.88
$GC,7612,1.22,211.3,3115,1957,2246,2137,188.9,8.3,308,7652,0.05,0.00,34.62,0.659,10246,0.148,0.000,3130,1957,2037,2082,1992,0,0,0,0,0,0,24.61,24.05,23.60
$GC,7891,1.22,211.3,3130,1957,2081,1986,159.3,10.5,336,7896,0.00,2.60,0.00,0.000,260,0.000,0.042,3131,3530,2034,2082,1986,0,0,0,0,0,0,24.74,24.45,24.76
$GC,7955,1.22,211.3,3130,3529,2081,1987,152.4,11.3,342,7960,0.00,2.55,0.00,0.000,1030,0.000,0.024,3130,1938,2034,2081,1987,0,0,0,0,0,0,24.58,24.52,24.59
$GC,8210,1.22,211.3,3130,1938,2080,1986,127.2,10.1,367,8215,0.00,2.58,0.00,0.000,516,0.000,0.039,3131,371,2033,2081,1986,0,0,0,0,0,0,24.79,24.53,24.82
$GC,8287,1.22,211.3,3130,371,2081,1985,118.3,12.1,374,8295,0.00,2.55,0.00,0.000,1030,0.000,0.022,3130,1967,2033,2081,1986,0,0,0,0,0,0,24.63,24.58,24.65
$GC,8538,1.23,214.2,3130,1967,2081,1986,92.7,9.9,399,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1967,2033,2081,1986,0,0,0,0,0,0,24.83,24.85,24.84
$GC,8785,1.23,214.2,3130,1967,2081,1986,67.3,10.3,424,8791,0.00,2.60,0.00,0.000,516,0.000,0.038,3131,366,2033,2081,1986,0,0,0,0,0,0,24.86,24.59,24.87
$GC,8813,1.23,214.2,3130,366,2081,1986,64.7,10.6,426,8821,0.00,2.53,0.00,0.000,1030,0.000,0.021,3131,1964,2033,2081,1986,0,0,0,0,0,0,24.68,24.63,24.70
$GC,9062,1.23,214.2,3130,1963,2081,1987,39.5,10.1,451,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1964,2033,2081,1986,0,0,0,0,0,0,24.88,24.90,24.89
$GC,9326,1.23,214.2,3130,1963,2081,1989,11.1,10.8,491,9334,0.00,2.62,0.00,0.000,516,0.000,0.037,3131,369,2034,2081,1988,0,0,0,0,0,0,24.90,24.63,24.91
$GC,9352,1.23,214.2,3130,369,2081,1988,8.0,11.9,495,9360,0.00,2.53,0.00,0.000,1030,0.000,0.021,3131,1961,2034,2081,1988,0,0,0,0,0,0,24.72,24.67,24.74
$STATE,9398,end climb,SURFACE_DEPTH_REACHED
$STATE,9398,begin surface coast
$FINISH,0.1,1.000849
$STATE,9427,end surface coast,CONTROL_FINISHED_OK
$STATE,9427,begin surface
$SM_CCo,9447,106.62,0.491,0,0,1268,400.08
$SM_GC,0.98,11.40,0.10,106.62,0.050,0.079,0.491,433,1869,1268,-7.23,0.96,400.08,0,0,0,0,0,0,24.61,24.71,23.69
$IRIDIUM_FIX,2202.04,-15454.63,170318,152836
$TT8_MAMPS,0.021721,0.347536
$HUMID,47.67
$INTERNAL_PRESSURE,9.2131
$TCM_TEMP,22.40
$XPDR_PINGS,24
$24V_AH,23.40,6.042
$10V_AH,10.40,3.840
$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,25.175,103.825,302.475,106.625,0.000,54.533,90.239,521.909,26.750,0.000,19.365,1645.979,5960.100,552.811,2135.849,154.564,0.000,1198.542,0.000,1361.436,0.000,130.390,0.000
$DEVICE_MAMPS,162.945,78.795,885.870,491.130,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,343.419,280.291,426.426,530.854,620.409,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343116
$DATA_FILE_SIZE,40645,508
$CAP_FILE_SIZE,112530,0
$CFSIZE,259248128,256897024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,300.53,1
$GPS,170318,182234,2211.782,-15454.573,32,1.1,32,10.2,0.2,291.4,8,8.4