version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 500
start: 6 3 118 20 18 29
data:
$ID,148
$MISSION,15
$DIVE,500
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,950
$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,100
$T_MISSION,650
$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,120
$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,2
$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,2760
$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,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$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,0
$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
$GPS1,030618,201151,2236.0703,-15748.0332,15,1.1,55,10.0,0.4,156.4,7,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-60.4
$GPS2,030618,201802,2236.0811,-15748.0420,9,1.1,36,10.0,0.3,251.3,9,4.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,132.2,166,-27.8,-10.000,-30.00,971
$D_GRID,300
$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,-1.54,-63.2,419,1877,1344,1335,0.0,0.0,0,89,0.00,0.00,-67.03,0.000,16390,0.000,0.000,420,1877,3159,3205,3114,0,0,0,0,0,0,24.65,23.72,24.68
$GC,93,-1.57,-83.4,419,1877,3205,3115,3.5,-7.9,10,110,10.07,2.55,-1.48,0.000,18948,0.167,0.037,2246,324,3242,3297,3188,0,0,0,0,0,0,24.23,23.65,24.33
$GC,289,-1.57,-83.4,2246,324,3297,3190,53.1,-22.4,44,297,0.00,2.50,0.00,0.000,1030,0.000,0.015,2247,1920,3243,3297,3190,0,0,0,0,0,0,24.57,24.52,24.58
$GC,567,-1.57,-83.4,2246,1921,3297,3191,105.7,-18.2,91,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1922,3244,3297,3191,0,0,0,0,0,0,24.79,24.81,24.81
$GC,814,-1.57,-83.4,2246,1921,3297,3192,150.8,-16.2,116,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1921,3244,3297,3192,0,0,0,0,0,0,24.82,24.85,24.84
$GC,1055,-1.57,-83.4,2246,1921,3297,3193,187.4,-14.0,140,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1921,3245,3297,3193,0,0,0,0,0,0,24.85,24.87,24.87
$GC,1315,-1.57,-83.4,2246,1921,3297,3193,223.3,-14.0,154,1320,0.00,2.58,0.00,0.000,516,0.000,0.031,2247,340,3245,3297,3194,0,0,0,0,0,0,24.87,24.62,24.89
$GC,1372,-1.57,-83.4,2246,339,3297,3194,229.9,-14.4,155,1378,0.00,2.42,0.00,0.000,1030,0.000,0.015,2247,1905,3245,3297,3194,0,0,0,0,0,0,24.71,24.67,24.72
$GC,1642,-1.57,-83.4,2246,1904,3297,3194,268.8,-13.5,162,1648,0.00,2.55,0.00,0.000,516,0.000,0.033,2247,342,3245,3297,3194,0,0,0,0,0,0,24.89,24.53,24.91
$GC,1689,-1.57,-83.4,2246,342,3297,3194,275.3,-14.0,163,1695,0.00,2.42,0.00,0.000,1030,0.000,0.016,2247,1902,3245,3297,3193,0,0,0,0,0,0,24.72,24.68,24.74
$STATE,1885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1885,begin apogee
$GC,1891,-0.26,0.0,2246,1902,3297,3194,301.5,-13.0,168,1968,1.90,0.00,69.35,0.651,10246,0.083,0.000,2671,1902,2898,2954,2843,0,0,0,0,0,0,24.58,24.02,23.56
$STATE,1969,end apogee,CONTROL_FINISHED_OK
$STATE,1969,begin climb
$GC,1972,1.57,83.4,2671,1902,2954,2843,304.3,0.0,170,2053,2.40,2.80,70.18,0.643,10756,0.038,0.046,3259,306,2558,2615,2501,0,0,0,0,0,0,24.26,24.00,23.53
$GC,2112,1.57,83.4,3259,306,2615,2497,296.8,7.7,173,2117,0.00,2.47,0.00,0.000,1030,0.000,0.021,3259,1835,2556,2615,2497,0,0,0,0,0,0,24.40,24.34,24.41
$GC,2375,1.57,83.4,3258,1835,2615,2491,266.2,10.6,180,2380,0.00,2.72,0.00,0.000,260,0.000,0.054,3259,3428,2553,2615,2491,0,0,0,0,0,0,24.70,24.39,24.71
$GC,2518,1.57,84.7,3259,3428,2613,2490,254.0,9.9,183,2524,0.00,2.47,0.00,0.000,1030,0.000,0.021,3259,1874,2551,2613,2489,0,0,0,0,0,0,24.56,24.50,24.58
$GC,2783,1.59,98.9,3259,1874,2613,2487,229.8,8.5,190,2797,0.00,0.00,13.02,0.580,8198,0.000,0.000,3259,1874,2495,2555,2435,0,0,0,0,0,0,24.79,24.20,23.76
$GC,3021,1.62,123.2,3258,1874,2555,2430,211.6,7.4,196,3051,0.00,2.75,21.48,0.595,8708,0.000,0.048,3259,269,2396,2455,2337,0,0,0,0,0,0,24.75,24.12,23.66
$GC,3064,1.64,146.2,3259,269,2455,2336,207.9,7.6,197,3093,0.00,2.58,21.08,0.591,9222,0.000,0.022,3259,1858,2301,2355,2247,0,0,0,0,0,0,24.42,24.37,23.62
$GC,3336,1.64,146.2,3259,1858,2355,2239,174.4,13.1,218,3341,0.00,2.67,0.00,0.000,516,0.000,0.044,3259,271,2297,2356,2239,0,0,0,0,0,0,24.71,24.44,24.72
$GC,3400,1.64,146.2,3258,271,2355,2238,165.9,13.3,224,3405,0.00,2.55,0.00,0.000,1030,0.000,0.021,3259,1856,2296,2355,2238,0,0,0,0,0,0,24.56,24.51,24.57
$GC,3654,1.64,146.2,3258,1856,2355,2236,137.5,11.3,249,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1856,2295,2355,2236,0,0,0,0,0,0,24.78,24.81,24.80
$GC,3895,1.66,157.2,3259,1856,2355,2234,114.7,8.8,273,3910,0.00,2.55,8.93,0.496,8452,0.000,0.036,3259,3421,2259,2316,2202,0,0,0,0,0,0,24.82,24.36,23.92
$GC,3942,1.67,169.8,3259,3421,2314,2203,110.7,8.7,277,3965,0.08,2.53,12.35,0.513,11270,0.102,0.021,3284,1834,2206,2258,2154,0,0,0,0,0,0,24.46,24.49,23.80
$GC,4217,1.68,171.7,3285,1834,2258,2148,82.4,9.8,318,4225,0.00,2.60,0.00,0.000,516,0.000,0.037,3285,265,2203,2258,2148,0,0,0,0,0,0,24.77,24.51,24.79
$GC,4256,1.68,171.7,3284,264,2257,2148,78.1,10.9,324,4263,0.00,2.55,0.00,0.000,1030,0.000,0.019,3285,1860,2202,2257,2148,0,0,0,0,0,0,24.60,24.56,24.62
$GC,4530,1.68,176.1,3284,1860,2257,2148,50.8,9.5,373,4538,0.00,0.00,6.03,0.412,8198,0.000,0.000,3284,1860,2181,2235,2127,0,0,0,0,0,0,24.82,24.41,24.03
$GC,4808,1.71,195.3,3284,1860,2236,2126,27.5,8.0,422,4831,0.00,2.60,18.00,0.466,8452,0.000,0.032,3285,3428,2102,2153,2052,0,0,0,0,0,0,24.82,24.26,23.88
$STATE,5026,end climb,SURFACE_DEPTH_REACHED
$STATE,5026,begin surface coast
$FINISH,0.1,1.011319
$STATE,5049,end surface coast,CONTROL_FINISHED_OK
$STATE,5050,begin surface
$SM_CCo,5073,96.07,0.449,0,0,1349,380.21
$SM_GC,1.08,11.95,2.47,96.07,0.041,0.019,0.449,416,1887,1349,-7.28,0.96,380.21,0,0,0,0,0,0,24.51,24.54,23.73
$IRIDIUM_FIX,2230.01,-15747.62,030618,184143
$TT8_MAMPS,0.021721,0.286118
$HUMID,53.70
$INTERNAL_PRESSURE,9.31076
$TCM_TEMP,22.20
$XPDR_PINGS,6
$24V_AH,23.53,63.237
$10V_AH,10.03,44.863
$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,26.400,51.350,240.400,96.075,0.000,28.987,48.497,149.767,1.500,0.000,38.610,1323.064,2103.570,433.025,1552.760,141.467,0.000,914.698,0.000,1288.190,0.000,0.539,0.000
$DEVICE_MAMPS,166.770,54.315,651.015,449.055,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,312.703,306.132,452.295,702.831,871.659,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342960
$DATA_FILE_SIZE,37262,464
$CAP_FILE_SIZE,64164,0
$CFSIZE,259248128,228454400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038,283.20,1
$GPS,030618,214609,2235.775,-15747.744,12,1.3,52,10.0,0.2,323.3,6,5.3