version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 38
start: 3 18 118 13 54 53
data:
$ID,148
$MISSION,15
$DIVE,38
$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,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,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,1900
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$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
$GPS1,180318,134621,2209.6221,-15503.9766,14,1.1,42,10.2,0.4,348.9,9,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-62.2
$GPS2,180318,135427,2209.6631,-15504.0283,11,1.3,15,10.2,0.6,297.2,8,5.2
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,T3
$TGT_LATLONG,2159.330,-15539.880
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,236.4,64472,-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,-146.0,430,1858,1331,1355,0.0,0.0,0,97,0.00,0.00,-77.97,0.000,16390,0.000,0.000,430,1859,3497,3547,3448,0,0,0,0,0,0,24.63,23.71,24.65
$GC,100,-1.14,-146.0,430,1859,3547,3449,4.4,-10.4,11,116,10.52,2.67,0.00,0.000,2308,0.161,0.029,2380,3482,3498,3548,3449,0,0,0,0,0,0,24.24,24.37,24.38
$GC,279,-1.14,-146.0,2380,3482,3549,3449,43.1,-16.5,36,284,0.00,2.47,0.00,0.000,1030,0.000,0.020,2381,1915,3499,3549,3449,0,0,0,0,0,0,24.55,24.49,24.56
$GC,534,-1.14,-146.0,2380,1915,3550,3449,82.4,-16.3,61,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1915,3499,3550,3449,0,0,0,0,0,0,24.77,24.79,24.78
$GC,781,-1.14,-146.0,2380,1914,3550,3449,122.0,-14.3,86,787,0.00,2.58,0.00,0.000,516,0.000,0.035,2380,324,3499,3550,3449,0,0,0,0,0,0,24.79,24.54,24.82
$GC,805,-1.14,-146.0,2380,324,3550,3449,125.3,-14.1,88,810,0.00,2.47,0.00,0.000,1030,0.000,0.018,2380,1909,3499,3550,3449,0,0,0,0,0,0,24.63,24.58,24.65
$GC,1058,-1.14,-146.0,2380,1911,3550,3449,160.6,-13.3,113,1063,0.00,2.60,0.00,0.000,516,0.000,0.034,2380,313,3500,3551,3449,0,0,0,0,0,0,24.80,24.57,24.82
$GC,1082,-1.14,-146.0,2380,313,3551,3449,163.7,-13.2,115,1087,0.00,2.47,0.00,0.000,1030,0.000,0.018,2380,1900,3500,3551,3449,0,0,0,0,0,0,24.66,24.62,24.68
$GC,1334,-1.14,-146.0,2380,1901,3552,3449,196.9,-12.8,140,1340,0.00,2.53,0.00,0.000,260,0.000,0.031,2380,3474,3500,3552,3449,0,0,0,0,0,0,24.86,24.60,24.87
$GC,1369,-1.14,-146.0,2380,3474,3552,3449,201.2,-12.8,143,1374,0.00,2.47,0.00,0.000,1030,0.000,0.019,2380,1883,3500,3552,3449,0,0,0,0,0,0,24.69,24.64,24.70
$GC,1624,-1.14,-146.0,2380,1882,3553,3449,230.6,-11.4,150,1629,0.00,2.55,0.00,0.000,260,0.000,0.031,2380,3465,3501,3553,3449,0,0,0,0,0,0,24.87,24.62,24.88
$GC,1662,-1.14,-146.0,2380,3465,3552,3449,230.6,-11.4,150,1669,0.00,2.45,0.00,0.000,1030,0.000,0.019,2380,1888,3501,3553,3449,0,0,0,0,0,0,24.72,24.67,24.72
$GC,1907,-1.14,-146.0,2380,1888,3553,3449,262.7,-11.5,157,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1888,3501,3553,3449,0,0,0,0,0,0,24.88,24.90,24.89
$GC,2146,-1.14,-146.0,2380,1888,3552,3449,289.4,-10.9,163,2151,0.00,2.58,0.00,0.000,260,0.000,0.034,2381,3470,3501,3553,3449,0,0,0,0,0,0,24.91,24.65,24.94
$GC,2162,-1.14,-146.0,2380,3471,3553,3449,289.4,-10.9,163,2168,0.00,2.45,0.00,0.000,1030,0.000,0.021,2380,1904,3501,3553,3449,0,0,0,0,0,0,24.74,24.69,24.75
$GC,2430,-1.14,-146.0,2380,1904,3553,3449,319.8,-10.6,170,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1904,3501,3553,3449,0,0,0,0,0,0,24.87,24.89,24.89
$GC,2671,-1.14,-146.0,2380,1904,3552,3448,342.9,-9.3,176,2676,0.00,2.62,0.00,0.000,516,0.000,0.046,2380,326,3500,3553,3447,0,0,0,0,0,0,24.91,24.65,24.93
$GC,2708,-1.14,-146.0,2380,325,3552,3447,342.9,-9.3,176,2716,0.00,2.47,0.00,0.000,1030,0.000,0.023,2380,1889,3500,3553,3447,0,0,0,0,0,0,24.77,24.71,24.78
$GC,2955,-1.14,-146.0,2380,1890,3553,3445,367.9,-9.0,183,2960,0.00,2.60,0.00,0.000,260,0.000,0.043,2380,3468,3499,3553,3445,0,0,0,0,0,0,24.93,24.65,24.94
$GC,2999,-1.14,-146.0,2380,3468,3552,3443,372.6,-9.6,184,3005,0.00,2.50,0.00,0.000,1030,0.000,0.024,2380,1898,3498,3553,3444,0,0,0,0,0,0,24.77,24.71,24.79
$GC,3284,-1.14,-146.0,2380,1897,3553,3441,403.3,-10.9,191,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1897,3497,3553,3441,0,0,0,0,0,0,24.94,24.96,24.95
$GC,3524,-1.14,-146.0,2380,1897,3552,3438,427.9,-10.0,197,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1897,3495,3553,3438,0,0,0,0,0,0,24.94,24.96,24.96
$GC,3763,-1.14,-146.0,2380,1897,3552,3434,449.9,-9.2,203,3768,0.00,2.65,0.00,0.000,516,0.000,0.057,2380,327,3493,3553,3434,0,0,0,0,0,0,24.97,24.66,24.98
$GC,3780,-1.14,-146.0,2380,327,3552,3434,449.9,-9.2,203,3786,0.00,2.53,0.00,0.000,1030,0.000,0.029,2380,1891,3493,3552,3434,0,0,0,0,0,0,24.79,24.72,24.80
$GC,4052,-1.14,-146.0,2380,1893,3552,3431,477.7,-9.8,210,4057,0.00,2.65,0.00,0.000,260,0.000,0.050,2380,3474,3491,3552,3431,0,0,0,0,0,0,24.96,24.66,24.98
$GC,4099,-1.14,-146.0,2380,3474,3552,3430,482.5,-9.8,211,4104,0.00,2.53,0.00,0.000,1030,0.000,0.028,2380,1902,3491,3552,3430,0,0,0,0,0,0,24.79,24.72,24.81
$STATE,4297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4298,begin apogee
$GC,4303,-0.26,0.0,2380,1986,3552,3428,502.2,-9.7,216,4426,1.33,0.00,119.55,0.886,10246,0.098,0.000,2668,1986,2899,2954,2844,0,0,0,0,0,0,24.64,23.93,23.41
$STATE,4427,end apogee,CONTROL_FINISHED_OK
$STATE,4427,begin climb
$GC,4429,1.14,146.0,2668,1986,2955,2843,505.4,0.0,219,4559,1.90,0.00,125.22,0.854,10246,0.050,0.000,3114,1986,2303,2351,2255,0,0,0,0,0,0,24.10,23.89,23.39
$GC,4776,1.14,146.0,3113,1986,2349,2244,469.8,13.1,228,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1986,2297,2350,2244,0,0,0,0,0,0,24.60,24.63,24.63
$GC,5016,1.14,146.0,3114,1986,2348,2241,438.9,12.8,234,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1986,2294,2348,2240,0,0,0,0,0,0,24.68,24.70,24.69
$GC,5256,1.14,146.0,3113,1986,2347,2239,410.5,11.6,240,5262,0.00,2.78,0.00,0.000,516,0.000,0.056,3114,371,2293,2347,2239,0,0,0,0,0,0,24.72,24.41,24.74
$GC,5310,1.14,146.0,3113,372,2346,2239,405.6,11.4,241,5315,0.00,2.53,0.00,0.000,1030,0.000,0.026,3114,1923,2292,2346,2239,0,0,0,0,0,0,24.55,24.49,24.57
$GC,5583,1.15,150.4,3113,1923,2346,2236,377.0,9.8,248,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1923,2291,2346,2236,0,0,0,0,0,0,24.77,24.79,24.79
$GC,5823,1.17,167.0,3113,1923,2345,2235,354.6,9.3,254,5847,0.00,2.78,17.20,0.765,8452,0.000,0.057,3114,3525,2217,2271,2164,0,0,0,0,0,0,24.79,24.13,23.60
$GC,5919,1.18,173.1,3113,3526,2269,2163,346.0,9.8,256,5934,0.00,2.58,6.93,0.653,9222,0.000,0.034,3114,1946,2192,2244,2140,0,0,0,0,0,0,24.41,23.80,23.72
$GC,6187,1.18,173.1,3113,1946,2243,2136,314.5,11.5,263,6192,0.00,2.70,0.00,0.000,516,0.000,0.052,3114,359,2189,2243,2136,0,0,0,0,0,0,24.75,24.46,24.77
$GC,6238,1.18,173.1,3113,359,2242,2136,309.0,12.0,264,6244,0.00,2.60,0.00,0.000,1030,0.000,0.025,3114,1968,2189,2242,2136,0,0,0,0,0,0,24.59,24.53,24.60
$GC,6511,1.18,173.1,3113,1967,2242,2135,273.6,12.4,271,6518,0.00,2.72,0.00,0.000,516,0.000,0.047,3114,360,2188,2242,2134,0,0,0,0,0,0,24.80,24.51,24.82
$GC,6534,1.18,173.1,3113,360,2241,2134,273.6,12.4,271,6542,0.00,2.55,0.00,0.000,1030,0.000,0.025,3114,1950,2187,2241,2134,0,0,0,0,0,0,24.63,24.57,24.65
$GC,6799,1.20,187.4,3113,1950,2241,2134,245.3,9.4,278,6815,0.00,0.00,13.23,0.683,8198,0.000,0.000,3114,1950,2135,2186,2084,0,0,0,0,0,0,24.83,24.22,23.75
$GC,7039,1.20,187.4,3113,1950,2186,2081,219.0,11.1,284,7045,0.00,2.62,0.00,0.000,260,0.000,0.047,3114,3521,2133,2185,2081,0,0,0,0,0,0,24.78,24.49,24.79
$GC,7073,1.20,187.4,3114,3522,2185,2081,219.0,11.1,284,7079,0.00,2.55,0.00,0.000,1030,0.000,0.024,3114,1930,2133,2185,2081,0,0,0,0,0,0,24.61,24.55,24.63
$GC,7326,1.22,205.8,3114,1930,2185,2079,190.3,9.2,297,7350,0.05,2.72,17.10,0.645,10500,0.130,0.037,3135,3523,2059,2106,2013,0,0,0,0,0,0,24.63,24.20,23.72
$GC,7393,1.22,205.8,3134,3523,2106,2013,182.7,12.1,303,7399,0.00,2.55,0.00,0.000,1030,0.000,0.024,3135,1941,2059,2106,2012,0,0,0,0,0,0,24.50,24.44,24.51
$GC,7648,1.22,205.8,3135,1941,2105,2011,154.7,11.1,328,7653,0.00,2.60,0.00,0.000,516,0.000,0.039,3135,364,2057,2105,2010,0,0,0,0,0,0,24.78,24.51,24.80
$GC,7694,1.22,205.8,3134,363,2105,2010,149.6,11.6,332,7702,0.00,2.55,0.00,0.000,1030,0.000,0.021,3135,1960,2057,2105,2010,0,0,0,0,0,0,24.62,24.56,24.63
$GC,7944,1.24,224.4,3134,1960,2105,2010,123.0,9.2,357,7968,0.00,2.65,17.30,0.578,8708,0.000,0.043,3135,363,1983,2026,1941,0,0,0,0,0,0,24.82,24.22,23.79
$GC,8014,1.24,224.4,3135,363,2025,1940,115.6,11.7,363,8021,0.00,2.53,0.00,0.000,1030,0.000,0.021,3135,1954,1982,2025,1940,0,0,0,0,0,0,24.51,24.46,24.53
$GC,8264,1.24,224.4,3134,1954,2026,1940,89.1,10.7,388,8269,0.00,2.60,0.00,0.000,516,0.000,0.036,3136,372,1982,2025,1940,0,0,0,0,0,0,24.77,24.52,24.79
$GC,8282,1.24,224.4,3135,372,2025,1939,87.4,10.9,389,8289,0.00,2.50,0.00,0.000,1030,0.000,0.020,3135,1959,1982,2025,1939,0,0,0,0,0,0,24.61,24.56,24.63
$GC,8529,1.24,224.4,3134,1958,2026,1939,59.7,11.0,414,8534,0.00,2.62,0.00,0.000,516,0.000,0.036,3135,359,1982,2025,1939,0,0,0,0,0,0,24.82,24.56,24.84
$GC,8563,1.24,224.4,3135,359,2025,1939,55.6,12.1,417,8569,0.00,2.53,0.00,0.000,1030,0.000,0.020,3135,1957,1982,2025,1939,0,0,0,0,0,0,24.65,24.60,24.67
$GC,8815,1.24,224.4,3135,1956,2025,1940,27.6,11.0,443,8822,0.00,2.58,0.00,0.000,260,0.000,0.038,3135,3527,1983,2026,1940,0,0,0,0,0,0,24.85,24.57,24.87
$GC,8850,1.24,224.4,3134,3527,2026,1940,23.5,10.9,449,8859,0.00,2.55,0.00,0.000,1030,0.000,0.021,3135,1939,1983,2026,1940,0,0,0,0,0,0,24.65,24.63,24.68
$STATE,9061,end climb,SURFACE_DEPTH_REACHED
$STATE,9061,begin surface coast
$FINISH,0.1,1.001507
$STATE,9090,end surface coast,CONTROL_FINISHED_OK
$STATE,9090,begin surface
$SM_CCo,9109,88.22,0.494,0,0,1350,380.21
$SM_GC,0.90,11.30,0.00,88.22,0.044,0.000,0.494,434,1939,1350,-7.22,1.10,380.21,0,0,0,0,0,0,24.59,24.89,23.70
$IRIDIUM_FIX,2159.71,-15506.01,180318,134734
$TT8_MAMPS,0.021721,0.347536
$HUMID,48.89
$INTERNAL_PRESSURE,9.23264
$TCM_TEMP,21.80
$XPDR_PINGS,19
$24V_AH,23.39,6.987
$10V_AH,10.39,4.419
$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,25.100,108.300,316.525,88.225,0.000,55.633,85.440,174.491,25.500,0.000,17.873,1577.690,5733.831,579.409,1647.940,157.641,0.000,1164.108,0.000,1265.460,0.000,131.223,0.000
$DEVICE_MAMPS,161.415,95.625,885.870,494.190,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,332.538,275.969,406.960,514.520,612.452,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343192
$DATA_FILE_SIZE,40661,492
$CAP_FILE_SIZE,102083,0
$CFSIZE,259248128,256495616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6534.74,0x2338b8,1,24
$CURRENT,0.114,288.26,1
$GPS,180318,162928,2209.426,-15505.812,40,1.2,40,10.2,0.7,114.9,8,9.3