version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 39
start: 3 18 118 16 35 43
data:
$ID,148
$MISSION,15
$DIVE,39
$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,42
$R_STBD_OVSHOOT,44
$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
$GPS1,180318,162928,2209.4260,-15505.8125,40,1.2,40,10.2,0.7,114.9,8,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-59.3
$GPS2,180318,163517,2209.4443,-15505.8379,14,0.9,14,10.2,0.3,284.6,9,7.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,T3
$TGT_LATLONG,2159.330,-15539.880
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,227.1,61386,-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,-146.0,433,1932,1330,1356,0.0,0.0,0,96,0.00,0.00,-77.57,0.000,16390,0.000,0.000,433,1932,3496,3545,3448,0,0,0,0,0,0,24.63,23.71,24.65
$GC,99,-1.14,-146.0,433,1932,3545,3448,4.3,-10.1,11,115,10.68,2.55,0.00,0.000,2308,0.167,0.028,2380,3483,3498,3547,3449,0,0,0,0,0,0,24.23,24.37,24.37
$GC,335,-1.14,-146.0,2380,3483,3548,3449,51.8,-15.5,41,342,0.00,2.50,0.00,0.000,1030,0.000,0.019,2380,1895,3498,3548,3449,0,0,0,0,0,0,24.56,24.51,24.57
$GC,584,-1.14,-146.0,2380,1894,3549,3449,90.1,-15.6,66,589,0.00,2.55,0.00,0.000,260,0.000,0.030,2380,3478,3499,3549,3449,0,0,0,0,0,0,24.76,24.51,24.77
$GC,606,-1.14,-146.0,2380,3478,3549,3449,94.1,-15.4,68,611,0.00,2.47,0.00,0.000,1030,0.000,0.019,2380,1895,3499,3549,3449,0,0,0,0,0,0,24.60,24.56,24.62
$GC,859,-1.14,-146.0,2380,1894,3549,3449,132.1,-14.7,93,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1894,3499,3550,3449,0,0,0,0,0,0,24.81,24.83,24.82
$GC,1098,-1.14,-146.0,2380,1895,3550,3449,163.0,-12.1,117,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1894,3499,3550,3449,0,0,0,0,0,0,24.84,24.86,24.85
$GC,1338,-1.14,-146.0,2380,1894,3551,3449,192.3,-12.0,141,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1894,3500,3551,3449,0,0,0,0,0,0,24.86,24.88,24.87
$GC,1609,-1.14,-146.0,2380,1894,3552,3449,223.6,-11.0,153,1615,0.00,2.55,0.00,0.000,260,0.000,0.031,2380,3479,3500,3552,3449,0,0,0,0,0,0,24.86,24.63,24.87
$GC,1637,-1.14,-146.0,2380,3479,3552,3449,223.6,-11.0,153,1642,0.00,2.45,0.00,0.000,1030,0.000,0.019,2380,1899,3501,3553,3449,0,0,0,0,0,0,24.72,24.67,24.72
$GC,1896,-1.14,-146.0,2380,1899,3552,3449,254.6,-11.0,160,1901,0.00,2.55,0.00,0.000,260,0.000,0.039,2381,3478,3501,3553,3449,0,0,0,0,0,0,24.90,24.63,24.92
$GC,1913,-1.14,-146.0,2380,3478,3553,3449,254.6,-11.0,160,1918,0.00,2.47,0.00,0.000,1030,0.000,0.020,2380,1894,3501,3553,3449,0,0,0,0,0,0,24.73,24.68,24.74
$GC,2181,-1.14,-146.0,2380,1894,3553,3449,285.9,-10.7,167,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1894,3501,3553,3449,0,0,0,0,0,0,24.89,24.91,24.91
$GC,2422,-1.14,-146.0,2380,1894,3552,3449,311.6,-10.5,173,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1894,3500,3552,3449,0,0,0,0,0,0,24.91,24.94,24.93
$GC,2662,-1.14,-146.0,2380,1894,3552,3447,336.6,-10.5,179,2668,0.00,2.58,0.00,0.000,516,0.000,0.046,2380,332,3499,3552,3447,0,0,0,0,0,0,24.92,24.65,24.94
$GC,2706,-1.14,-146.0,2380,332,3552,3447,341.5,-10.6,180,2712,0.00,2.50,0.00,0.000,1030,0.000,0.023,2380,1906,3499,3552,3447,0,0,0,0,0,0,24.77,24.71,24.78
$GC,2991,-1.14,-146.0,2380,1907,3552,3444,370.2,-10.0,187,2997,0.00,2.58,0.00,0.000,260,0.000,0.041,2380,3470,3498,3552,3444,0,0,0,0,0,0,24.93,24.66,24.95
$GC,3035,-1.14,-146.0,2380,3470,3552,3443,374.9,-10.0,188,3041,0.00,2.50,0.00,0.000,1030,0.000,0.024,2380,1904,3497,3552,3443,0,0,0,0,0,0,24.77,24.71,24.79
$GC,3320,-1.14,-146.0,2380,1903,3553,3439,402.0,-9.1,195,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1903,3496,3552,3440,0,0,0,0,0,0,24.94,24.96,24.96
$GC,3559,-1.14,-146.0,2380,1903,3552,3436,422.1,-8.3,201,3564,0.00,2.65,0.00,0.000,516,0.000,0.057,2380,330,3494,3552,3437,0,0,0,0,0,0,24.94,24.65,24.96
$GC,3582,-1.14,-146.0,2380,330,3552,3436,422.1,-8.3,201,3588,0.00,2.53,0.00,0.000,1030,0.000,0.034,2380,1898,3494,3552,3436,0,0,0,0,0,0,24.78,24.72,24.79
$GC,3846,-1.14,-146.0,2380,1899,3552,3433,446.9,-8.8,208,3852,0.00,2.67,0.00,0.000,516,0.000,0.055,2381,323,3492,3552,3433,0,0,0,0,0,0,24.94,24.65,24.96
$GC,3868,-1.14,-146.0,2380,323,3552,3432,446.9,-8.8,208,3875,0.00,2.55,0.00,0.000,1030,0.000,0.030,2380,1900,3493,3553,3433,0,0,0,0,0,0,24.78,24.72,24.79
$GC,4134,-1.14,-146.0,2380,1901,3552,3430,474.3,-9.7,215,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1901,3491,3552,3430,0,0,0,0,0,0,24.96,24.99,24.98
$GC,4373,-1.14,-146.0,2380,1901,3552,3426,497.8,-9.9,221,4379,0.00,2.65,0.00,0.000,260,0.000,0.054,2380,3473,3489,3552,3426,0,0,0,0,0,0,24.95,24.65,24.97
$GC,4398,-1.14,-146.0,2380,3473,3552,3425,497.8,-9.9,221,4404,0.00,2.53,0.00,0.000,1030,0.000,0.035,2380,1903,3488,3552,3425,0,0,0,0,0,0,24.79,24.72,24.81
$STATE,4420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4420,begin apogee
$GC,4425,-0.26,0.0,2380,1986,3552,3425,502.7,-9.9,222,4548,1.33,0.00,119.25,0.890,10246,0.099,0.000,2668,1985,2899,2955,2843,0,0,0,0,0,0,24.64,23.92,23.39
$STATE,4549,end apogee,CONTROL_FINISHED_OK
$STATE,4549,begin climb
$GC,4551,1.14,146.0,2668,1986,2954,2842,506.3,0.0,225,4686,1.88,2.65,123.57,0.858,10500,0.052,0.058,3110,3494,2302,2351,2254,0,0,0,0,0,0,24.10,23.91,23.39
$GC,4738,1.14,146.0,3109,3494,2347,2252,498.8,6.5,229,4746,0.00,2.55,0.00,0.000,1030,0.000,0.038,3109,1953,2299,2347,2251,0,0,0,0,0,0,24.33,24.25,24.34
$GC,4984,1.14,146.0,3109,1953,2347,2244,466.4,11.4,236,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1954,2295,2347,2243,0,0,0,0,0,0,24.63,24.65,24.65
$GC,5224,1.14,146.0,3109,1953,2347,2240,437.9,12.0,242,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1954,2293,2347,2240,0,0,0,0,0,0,24.69,24.72,24.71
$GC,5464,1.14,146.0,3109,1953,2347,2238,409.9,11.4,248,5469,0.00,2.75,0.00,0.000,516,0.000,0.060,3110,359,2292,2347,2238,0,0,0,0,0,0,24.73,24.42,24.75
$GC,5511,1.14,146.0,3109,359,2346,2238,405.1,11.3,249,5517,0.00,2.55,0.00,0.000,1030,0.000,0.025,3110,1931,2292,2346,2238,0,0,0,0,0,0,24.56,24.50,24.58
$GC,5790,1.15,153.7,3109,1931,2346,2236,376.8,9.7,256,5804,0.00,2.72,5.68,0.627,8452,0.000,0.060,3110,3524,2273,2328,2218,0,0,0,0,0,0,24.77,24.22,23.81
$GC,5835,1.16,156.8,3109,3524,2328,2218,372.4,9.9,257,5845,0.00,2.58,4.78,0.575,9222,0.000,0.027,3110,1942,2259,2315,2203,0,0,0,0,0,0,24.53,24.47,23.77
$GC,6113,1.16,156.8,3109,1942,2315,2201,344.3,10.1,264,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1943,2257,2314,2201,0,0,0,0,0,0,24.78,24.80,24.79
$GC,6353,1.16,156.8,3108,1942,2314,2199,319.3,10.5,270,6358,0.00,2.67,0.00,0.000,260,0.000,0.047,3110,3520,2257,2315,2199,0,0,0,0,0,0,24.81,24.50,24.83
$GC,6386,1.16,156.8,3109,3521,2315,2200,319.3,10.5,270,6391,0.00,2.55,0.00,0.000,1030,0.000,0.028,3110,1948,2257,2315,2199,0,0,0,0,0,0,24.63,24.57,24.65
$GC,6639,1.17,163.1,3109,1948,2315,2198,291.0,9.7,277,6654,0.00,2.72,6.62,0.632,8708,0.000,0.053,3110,373,2234,2291,2177,0,0,0,0,0,0,24.84,24.39,23.87
$GC,6706,1.17,168.6,3109,373,2290,2177,286.7,9.8,278,6722,0.00,2.55,6.82,0.628,9222,0.000,0.025,3110,1954,2210,2266,2155,0,0,0,0,0,0,24.59,24.53,23.80
$GC,6963,1.18,173.5,3110,1954,2266,2153,259.0,9.8,285,6976,0.00,2.72,5.65,0.579,8708,0.000,0.046,3110,372,2191,2247,2135,0,0,0,0,0,0,24.79,24.39,23.86
$GC,6988,1.18,178.3,3109,372,2247,2135,259.0,9.8,285,7005,0.00,2.55,6.00,0.585,9222,0.000,0.024,3110,1953,2171,2225,2117,0,0,0,0,0,0,24.53,24.48,23.79
$GC,7244,1.19,183.9,3109,1952,2225,2115,231.3,9.8,292,7258,0.00,2.65,6.22,0.581,8452,0.000,0.047,3110,3511,2149,2202,2096,0,0,0,0,0,0,24.78,24.36,23.86
$GC,7339,1.19,183.9,3109,3512,2202,2096,222.2,10.5,294,7345,0.00,2.53,0.00,0.000,1030,0.000,0.024,3110,1940,2149,2202,2096,0,0,0,0,0,0,24.58,24.52,24.60
$GC,7587,1.19,183.9,3109,1940,2202,2094,193.7,10.2,305,7593,0.00,2.62,0.00,0.000,516,0.000,0.045,3110,363,2148,2202,2094,0,0,0,0,0,0,24.81,24.53,24.82
$GC,7612,1.19,183.9,3109,363,2202,2094,191.1,10.6,307,7618,0.00,2.58,0.00,0.000,1030,0.000,0.023,3110,1959,2148,2202,2094,0,0,0,0,0,0,24.64,24.58,24.65
$GC,7868,1.24,220.8,3110,1959,2202,2094,168.1,8.3,332,7905,0.10,0.00,33.55,0.647,10246,0.103,0.000,3136,1959,1997,2040,1955,0,0,0,0,0,0,24.57,24.04,23.61
$GC,8144,1.24,220.8,3136,1959,2040,1950,136.5,12.2,360,8150,0.00,2.65,0.00,0.000,516,0.000,0.040,3136,370,1995,2040,1950,0,0,0,0,0,0,24.74,24.47,24.75
$GC,8239,1.24,220.8,3136,370,2038,1949,125.1,12.3,368,8248,0.00,2.55,0.00,0.000,1030,0.000,0.022,3136,1963,1994,2039,1949,0,0,0,0,0,0,24.59,24.53,24.60
$GC,8488,1.24,220.8,3136,1963,2038,1949,97.3,10.3,393,8493,0.00,2.55,0.00,0.000,260,0.000,0.037,3136,3526,1994,2039,1949,0,0,0,0,0,0,24.79,24.52,24.81
$GC,8545,1.24,220.8,3136,3526,2038,1950,91.0,11.3,398,8553,0.00,2.53,0.00,0.000,1030,0.000,0.021,3136,1936,1994,2039,1949,0,0,0,0,0,0,24.62,24.57,24.64
$GC,8794,1.24,220.8,3136,1936,2038,1949,63.7,11.2,423,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1936,1994,2039,1949,0,0,0,0,0,0,24.82,24.85,24.84
$GC,9043,1.24,220.8,3136,1936,2039,1950,35.2,10.7,448,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1936,1994,2038,1950,0,0,0,0,0,0,24.85,24.87,24.87
$GC,9304,1.27,249.4,3136,1935,2039,1950,10.2,8.7,490,9333,0.00,0.00,25.95,0.496,8198,0.000,0.000,3137,1935,1882,1922,1842,0,0,0,0,0,0,24.87,24.19,23.83
$STATE,9377,end climb,SURFACE_DEPTH_REACHED
$STATE,9377,begin surface coast
$FINISH,0.1,0.998971
$STATE,9406,end surface coast,CONTROL_FINISHED_OK
$STATE,9407,begin surface
$SM_CCo,9426,74.10,0.496,0,0,1349,380.21
$SM_GC,0.98,11.55,0.00,74.10,0.051,0.000,0.496,435,1935,1349,-7.22,0.99,380.21,0,0,0,0,0,0,24.44,24.73,23.69
$IRIDIUM_FIX,2157.39,-15503.91,180318,134952
$TT8_MAMPS,0.021721,0.343042
$HUMID,49.13
$INTERNAL_PRESSURE,9.22287
$TCM_TEMP,21.50
$XPDR_PINGS,18
$24V_AH,23.39,7.090
$10V_AH,10.36,4.490
$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,25.525,98.125,344.100,74.100,0.000,27.728,56.957,154.887,25.250,0.000,16.786,1639.634,5855.513,543.194,1667.296,156.721,0.000,1193.510,0.000,1360.631,0.000,130.360,0.000
$DEVICE_MAMPS,166.770,94.095,889.695,495.720,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,342.594,284.245,424.648,530.543,625.916,0.000,0.000,0.000,0.000,0.000
$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,40683,507
$CAP_FILE_SIZE,103634,0
$CFSIZE,259248128,256442368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.177,317.75,1
$GPS,180318,191533,2209.553,-15507.576,12,1.2,52,10.2,0.6,156.4,7,7.1