version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 43
start: 3 19 118 3 48 58
data:
$ID,148
$MISSION,15
$DIVE,43
$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,72
$R_STBD_OVSHOOT,57
$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
$GPS1,190318,034144,2208.6897,-15511.2383,35,99.0,75,10.2,0.1,344.0,5,-1.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-59.9
$GPS2,190318,034832,2208.7432,-15511.3555,14,1.3,46,10.2,0.8,16.7,8,4.5
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,T3
$TGT_LATLONG,2159.330,-15539.880
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,223.3,51994,-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,-146.0,433,1863,1333,1348,0.0,0.0,0,96,0.00,0.00,-78.28,0.000,16390,0.000,0.000,433,1863,3497,3545,3449,0,0,0,0,0,0,24.65,23.72,24.66
$GC,99,-1.14,-146.0,433,1863,3545,3449,3.8,-8.2,11,115,10.52,2.62,0.00,0.000,2308,0.162,0.028,2381,3465,3498,3547,3450,0,0,0,0,0,0,24.24,24.37,24.38
$GC,320,-1.14,-146.0,2380,3465,3549,3450,51.4,-16.4,39,325,0.00,2.42,0.00,0.000,1030,0.000,0.019,2381,1921,3499,3549,3450,0,0,0,0,0,0,24.55,24.50,24.57
$GC,574,-1.14,-146.0,2380,1921,3549,3450,95.2,-18.3,64,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1921,3499,3549,3450,0,0,0,0,0,0,24.75,24.77,24.76
$GC,812,-1.14,-146.0,2380,1921,3549,3450,133.9,-15.3,88,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1921,3500,3550,3450,0,0,0,0,0,0,24.80,24.82,24.82
$GC,1054,-1.14,-146.0,2380,1921,3551,3450,165.7,-12.1,112,1060,0.00,2.50,0.00,0.000,260,0.000,0.031,2381,3471,3500,3551,3450,0,0,0,0,0,0,24.83,24.57,24.84
$GC,1109,-1.14,-146.0,2380,3472,3551,3450,172.5,-12.3,117,1114,0.00,2.45,0.00,0.000,1030,0.000,0.019,2381,1898,3500,3551,3450,0,0,0,0,0,0,24.66,24.61,24.68
$GC,1364,-1.14,-146.0,2380,1898,3552,3450,200.2,-10.0,142,1370,0.00,2.55,0.00,0.000,516,0.000,0.035,2380,319,3501,3552,3450,0,0,0,0,0,0,24.86,24.60,24.88
$GC,1411,-1.14,-146.0,2380,319,3552,3450,205.0,-10.5,143,1417,0.00,2.45,0.00,0.000,1030,0.000,0.018,2381,1899,3501,3552,3450,0,0,0,0,0,0,24.70,24.65,24.71
$GC,1689,-1.14,-146.0,2380,1899,3552,3450,234.7,-10.5,150,1695,0.00,2.55,0.00,0.000,516,0.000,0.041,2381,328,3501,3552,3450,0,0,0,0,0,0,24.89,24.63,24.91
$GC,1733,-1.14,-146.0,2380,327,3552,3450,239.7,-10.8,151,1739,0.00,2.47,0.00,0.000,1030,0.000,0.020,2380,1906,3501,3552,3450,0,0,0,0,0,0,24.72,24.66,24.73
$GC,2016,-1.14,-146.0,2380,1909,3552,3450,271.8,-11.5,158,2023,0.00,2.53,0.00,0.000,260,0.000,0.034,2381,3473,3501,3552,3450,0,0,0,0,0,0,24.91,24.64,24.93
$GC,2060,-1.14,-146.0,2381,3474,3552,3450,276.8,-11.4,159,2066,0.00,2.47,0.00,0.000,1030,0.000,0.020,2381,1894,3501,3552,3450,0,0,0,0,0,0,24.74,24.68,24.75
$GC,2343,-1.14,-146.0,2380,1894,3552,3450,308.3,-11.3,166,2348,0.00,2.55,0.00,0.000,516,0.000,0.042,2381,330,3500,3552,3449,0,0,0,0,0,0,24.87,24.64,24.89
$GC,2360,-1.14,-146.0,2380,330,3552,3449,308.3,-11.3,166,2365,0.00,2.47,0.00,0.000,1030,0.000,0.022,2381,1899,3500,3552,3449,0,0,0,0,0,0,24.75,24.70,24.76
$GC,2627,-1.14,-146.0,2380,1899,3552,3448,338.6,-10.5,173,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1899,3500,3552,3448,0,0,0,0,0,0,24.94,24.96,24.95
$GC,2867,-1.14,-146.0,2380,1899,3552,3445,361.5,-9.3,179,2873,0.00,2.58,0.00,0.000,260,0.000,0.042,2381,3466,3498,3552,3445,0,0,0,0,0,0,24.95,24.66,24.96
$GC,2894,-1.14,-146.0,2380,3465,3552,3445,361.5,-9.3,179,2899,0.00,2.47,0.00,0.000,1030,0.000,0.031,2381,1908,3498,3552,3445,0,0,0,0,0,0,24.77,24.70,24.78
$GC,3152,-1.14,-146.0,2380,1907,3552,3442,387.4,-9.1,186,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1908,3497,3552,3442,0,0,0,0,0,0,24.95,24.98,24.97
$GC,3392,-1.14,-146.0,2380,1907,3552,3439,410.5,-9.8,192,3397,0.00,2.65,0.00,0.000,516,0.000,0.054,2381,325,3495,3552,3439,0,0,0,0,0,0,24.96,24.66,24.98
$GC,3414,-1.14,-146.0,2380,325,3552,3439,410.5,-9.8,192,3419,0.00,2.53,0.00,0.000,1030,0.000,0.027,2381,1898,3495,3552,3439,0,0,0,0,0,0,24.78,24.72,24.79
$GC,3676,-1.14,-146.0,2380,1898,3552,3435,436.5,-8.8,199,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1898,3493,3552,3435,0,0,0,0,0,0,24.96,24.98,24.98
$GC,3917,-1.14,-146.0,2380,1898,3552,3432,456.8,-8.5,205,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1898,3492,3552,3432,0,0,0,0,0,0,24.97,25.00,24.99
$GC,4156,-1.14,-146.0,2380,1898,3552,3430,479.8,-9.8,211,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1898,3491,3552,3430,0,0,0,0,0,0,24.98,25.01,25.00
$STATE,4394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4395,begin apogee
$GC,4400,-0.26,0.0,2380,1965,3551,3427,502.5,-9.4,217,4523,1.30,0.00,119.53,0.892,10246,0.093,0.000,2667,1965,2899,2957,2841,0,0,0,0,0,0,24.66,23.92,23.39
$STATE,4524,end apogee,CONTROL_FINISHED_OK
$STATE,4524,begin climb
$GC,4526,1.14,146.0,2666,1965,2957,2840,505.7,0.0,220,4662,1.88,2.72,123.80,0.860,10500,0.050,0.063,3107,3504,2303,2353,2253,0,0,0,0,0,0,24.08,23.91,23.39
$GC,4703,1.14,146.0,3106,3503,2350,2251,497.6,6.7,224,4708,0.00,2.58,0.00,0.000,1030,0.000,0.037,3107,1952,2300,2350,2251,0,0,0,0,0,0,24.32,24.24,24.33
$GC,4960,1.14,146.0,3106,1952,2350,2242,466.5,10.8,231,4966,0.00,2.78,0.00,0.000,516,0.000,0.063,3107,364,2296,2350,2242,0,0,0,0,0,0,24.63,24.32,24.65
$GC,5003,1.14,146.0,3106,364,2349,2242,461.5,11.0,232,5008,0.00,2.60,0.00,0.000,1030,0.000,0.029,3107,1939,2295,2348,2242,0,0,0,0,0,0,24.46,24.39,24.49
$GC,5286,1.14,146.0,3106,1939,2348,2239,428.8,11.5,239,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1939,2293,2349,2238,0,0,0,0,0,0,24.70,24.72,24.72
$GC,5525,1.14,146.0,3106,1939,2348,2236,403.0,10.7,245,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1939,2292,2349,2236,0,0,0,0,0,0,24.74,24.77,24.76
$GC,5766,1.14,146.0,3106,1939,2347,2235,377.7,10.7,251,5771,0.00,2.67,0.00,0.000,516,0.000,0.049,3107,363,2291,2347,2235,0,0,0,0,0,0,24.77,24.49,24.79
$GC,5809,1.14,146.0,3106,363,2347,2235,372.9,10.7,252,5814,0.00,2.60,0.00,0.000,1030,0.000,0.025,3107,1958,2290,2346,2235,0,0,0,0,0,0,24.60,24.54,24.62
$GC,6092,1.16,156.8,3106,1958,2346,2234,345.6,9.5,259,6106,0.00,2.67,8.38,0.697,8452,0.000,0.056,3107,3522,2259,2317,2202,0,0,0,0,0,0,24.81,24.30,23.78
$GC,6163,1.16,161.9,3106,3522,2316,2202,341.1,9.8,260,6175,0.00,2.58,6.32,0.639,9222,0.000,0.027,3107,1939,2238,2295,2181,0,0,0,0,0,0,24.55,24.49,23.76
$GC,6414,1.16,161.9,3106,1939,2295,2178,310.6,10.9,267,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1939,2236,2295,2178,0,0,0,0,0,0,24.77,24.80,24.79
$GC,6654,1.16,161.9,3107,1939,2294,2177,284.1,10.9,273,6659,0.00,2.65,0.00,0.000,516,0.000,0.055,3107,369,2235,2294,2177,0,0,0,0,0,0,24.81,24.52,24.83
$GC,6706,1.16,161.9,3107,369,2293,2177,279.0,11.2,274,6711,0.00,2.55,0.00,0.000,1030,0.000,0.024,3107,1958,2235,2293,2177,0,0,0,0,0,0,24.65,24.59,24.66
$GC,6979,1.21,197.9,3106,1959,2293,2176,252.9,8.4,281,7018,0.08,0.00,32.33,0.725,10246,0.116,0.000,3129,1959,2092,2141,2043,0,0,0,0,0,0,24.60,24.02,23.56
$GC,7258,1.21,197.9,3128,1959,2140,2037,222.3,11.5,288,7264,0.00,2.62,0.00,0.000,260,0.000,0.045,3129,3524,2088,2140,2037,0,0,0,0,0,0,24.73,24.44,24.75
$GC,7292,1.21,197.9,3128,3525,2139,2038,222.3,11.5,288,7297,0.00,2.55,0.00,0.000,1030,0.000,0.024,3129,1943,2088,2139,2038,0,0,0,0,0,0,24.57,24.51,24.58
$GC,7545,1.21,197.9,3128,1943,2139,2037,187.1,12.5,301,7551,0.00,2.60,0.00,0.000,516,0.000,0.041,3129,372,2088,2139,2037,0,0,0,0,0,0,24.79,24.51,24.80
$GC,7660,1.21,197.9,3128,372,2138,2036,171.9,13.8,312,7665,0.00,2.55,0.00,0.000,1030,0.000,0.022,3129,1966,2087,2139,2036,0,0,0,0,0,0,24.63,24.58,24.65
$GC,7914,1.21,197.9,3128,1966,2139,2036,142.7,10.4,337,7915,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1966,2087,2139,2036,0,0,0,0,0,0,24.82,24.84,24.84
$GC,8155,1.24,227.9,3128,1966,2138,2036,119.6,8.7,361,8183,0.00,0.00,26.58,0.597,8198,0.000,0.000,3129,1966,1968,2012,1925,0,0,0,0,0,0,24.84,24.10,23.70
$GC,8425,1.24,227.9,3128,1966,2011,1921,91.5,10.9,388,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1966,1966,2012,1921,0,0,0,0,0,0,24.76,24.78,24.77
$GC,8674,1.24,227.9,3128,1966,2012,1921,65.4,11.1,413,8680,0.00,2.65,0.00,0.000,516,0.000,0.042,3128,358,1966,2011,1921,0,0,0,0,0,0,24.79,24.53,24.82
$GC,8720,1.24,227.9,3128,357,2011,1921,59.9,12.1,417,8726,0.00,2.53,0.00,0.000,1030,0.000,0.021,3129,1955,1966,2011,1921,0,0,0,0,0,0,24.64,24.58,24.65
$GC,8976,1.24,227.9,3128,1955,2011,1921,30.1,12.5,442,8981,0.00,2.60,0.00,0.000,516,0.000,0.035,3129,368,1966,2012,1921,0,0,0,0,0,0,24.83,24.57,24.85
$GC,9088,1.24,227.9,3128,368,2011,1921,16.8,13.2,461,9096,0.00,2.53,0.00,0.000,1030,0.000,0.019,3129,1966,1966,2012,1921,0,0,0,0,0,0,24.68,24.63,24.69
$STATE,9211,end climb,SURFACE_DEPTH_REACHED
$STATE,9212,begin surface coast
$FINISH,0.2,0.999526
$STATE,9243,end surface coast,CONTROL_FINISHED_OK
$STATE,9243,begin surface
$SM_CCo,9262,87.07,0.500,0,0,1350,380.21
$SM_GC,0.99,11.43,0.10,87.07,0.050,0.069,0.500,435,1815,1350,-7.23,0.93,380.21,0,0,0,0,0,0,24.56,24.69,23.69
$IRIDIUM_FIX,2202.04,-15510.24,190318,005458
$TT8_MAMPS,0.021721,0.282373
$HUMID,49.09
$INTERNAL_PRESSURE,9.2131
$TCM_TEMP,21.30
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,126.3,6.2
$24V_AH,23.39,7.515
$10V_AH,10.42,4.775
$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,25.200,87.450,316.925,87.075,0.000,27.739,49.770,184.933,7.500,0.000,49.217,1552.483,5928.646,524.141,1626.652,138.657,0.000,1130.171,0.000,1298.755,0.000,19.042,0.000
$DEVICE_MAMPS,162.180,146.880,891.990,499.545,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,330.694,270.430,407.760,497.603,583.436,0.000,0.000,0.000,0.000,0.000
$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,40616,488
$CAP_FILE_SIZE,91080,0
$CFSIZE,259248128,256245760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,325.58,1
$GPS,190318,062731,2208.765,-15512.897,86,1.5,126,10.1,0.7,251.9,5,5.6