version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 501
start: 6 3 118 21 54 0
data:
$ID,148
$MISSION,15
$DIVE,501
$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,42
$R_STBD_OVSHOOT,48
$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
$GPS1,030618,214609,2235.7754,-15747.7441,12,1.3,52,10.0,0.2,323.3,6,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-61.2
$GPS2,030618,215333,2235.7605,-15747.7725,12,1.2,52,10.0,0.3,106.2,6,5.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,316.1,591,-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,-63.2,416,1881,1341,1338,0.0,0.0,0,90,0.00,0.00,-67.97,0.000,16390,0.000,0.000,416,1881,3158,3203,3114,0,0,0,0,0,0,24.66,23.72,24.68
$GC,93,-1.58,-95.2,416,1881,3202,3115,3.1,-6.6,10,116,9.95,2.58,-2.45,0.000,18692,0.162,0.034,2241,3473,3291,3346,3236,0,0,0,0,0,0,24.25,23.65,24.34
$GC,259,-1.58,-95.2,2240,3473,3346,3237,45.9,-23.7,38,267,0.00,2.50,0.00,0.000,1030,0.000,0.016,2241,1879,3291,3346,3237,0,0,0,0,0,0,24.56,24.51,24.57
$GC,536,-1.58,-95.2,2240,1879,3346,3237,102.6,-19.9,86,541,0.00,2.55,0.00,0.000,260,0.000,0.024,2241,3475,3291,3346,3237,0,0,0,0,0,0,24.79,24.54,24.80
$GC,562,-1.58,-95.2,2240,3475,3346,3237,107.4,-19.2,88,570,0.00,2.47,0.00,0.000,1030,0.000,0.016,2241,1874,3292,3347,3237,0,0,0,0,0,0,24.63,24.58,24.63
$GC,813,-1.58,-95.2,2240,1874,3346,3238,149.7,-16.7,113,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1874,3292,3346,3238,0,0,0,0,0,0,24.83,24.84,24.84
$GC,1059,-1.58,-95.2,2240,1874,3346,3239,189.7,-16.4,138,1065,0.00,2.45,0.00,0.000,516,0.000,0.029,2241,328,3293,3347,3239,0,0,0,0,0,0,24.85,24.60,24.87
$GC,1073,-1.58,-95.2,2240,328,3346,3239,191.8,-16.4,139,1078,0.00,2.47,0.00,0.000,1030,0.000,0.015,2241,1917,3292,3346,3239,0,0,0,0,0,0,24.68,24.64,24.70
$GC,1327,-1.58,-95.2,2240,1917,3346,3239,230.9,-15.3,149,1332,0.00,2.45,0.00,0.000,260,0.000,0.027,2241,3459,3293,3347,3240,0,0,0,0,0,0,24.88,24.62,24.89
$GC,1389,-1.58,-95.2,2240,3459,3346,3240,238.2,-15.5,150,1395,0.00,2.40,0.00,0.000,1030,0.000,0.016,2241,1896,3293,3346,3240,0,0,0,0,0,0,24.71,24.66,24.72
$GC,1653,-1.58,-95.2,2240,1895,3346,3240,279.6,-14.6,157,1658,0.00,2.53,0.00,0.000,516,0.000,0.033,2241,340,3293,3346,3240,0,0,0,0,0,0,24.89,24.63,24.91
$GC,1700,-1.58,-95.2,2240,340,3346,3240,286.3,-15.0,158,1707,0.00,2.45,0.00,0.000,1030,0.000,0.017,2241,1900,3293,3346,3240,0,0,0,0,0,0,24.72,24.68,24.74
$STATE,1817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1818,begin apogee
$GC,1823,-0.26,0.0,2240,1900,3347,3240,304.2,-14.7,161,1905,1.92,0.00,78.22,0.657,10246,0.087,0.000,2667,1901,2900,2956,2844,0,0,0,0,0,0,24.58,24.01,23.54
$STATE,1906,end apogee,CONTROL_FINISHED_OK
$STATE,1906,begin climb
$GC,1909,1.58,95.2,2667,1901,2955,2844,306.4,0.0,163,1994,2.38,0.00,79.38,0.647,10502,0.038,0.000,3261,1901,2510,2567,2454,0,0,0,0,0,0,24.22,23.96,23.52
$GC,2221,1.59,99.8,3261,1901,2567,2444,280.3,9.5,171,2232,0.00,2.78,4.62,0.444,8708,0.000,0.054,3261,289,2492,2552,2432,0,0,0,0,0,0,24.65,24.15,23.80
$GC,2254,1.59,104.4,3261,289,2552,2432,280.3,9.5,171,2266,0.00,2.50,5.78,0.492,9222,0.000,0.021,3261,1833,2472,2533,2412,0,0,0,0,0,0,24.46,24.40,23.75
$GC,2506,1.59,104.4,3261,1833,2533,2407,250.7,10.9,178,2511,0.00,2.60,0.00,0.000,516,0.000,0.041,3261,295,2470,2533,2407,0,0,0,0,0,0,24.72,24.44,24.74
$GC,2584,1.59,104.4,3261,296,2532,2407,245.8,11.1,179,2592,0.00,2.53,0.00,0.000,1030,0.000,0.021,3262,1860,2469,2533,2406,0,0,0,0,0,0,24.56,24.51,24.58
$GC,2829,1.60,112.9,3261,1860,2533,2404,218.8,9.1,186,2844,0.00,2.65,7.90,0.535,8452,0.000,0.053,3262,3423,2438,2501,2376,0,0,0,0,0,0,24.79,24.32,23.86
$GC,3061,1.62,126.6,3261,3422,2500,2372,200.9,8.5,191,3084,0.00,2.47,13.02,0.570,9222,0.000,0.021,3261,1860,2382,2442,2322,0,0,0,0,0,0,24.60,24.56,23.77
$GC,3323,1.63,136.0,3261,1860,2442,2318,177.4,9.0,217,3339,0.00,2.65,9.00,0.529,8708,0.000,0.041,3261,278,2344,2403,2286,0,0,0,0,0,0,24.77,24.30,23.84
$GC,3453,1.63,136.0,3261,277,2403,2283,164.5,10.3,229,3460,0.00,2.53,0.00,0.000,1030,0.000,0.020,3261,1860,2343,2403,2283,0,0,0,0,0,0,24.57,24.52,24.58
$GC,3698,1.65,154.1,3261,1861,2403,2281,143.2,8.1,254,3721,0.00,2.62,16.45,0.549,8452,0.000,0.042,3262,3421,2270,2327,2213,0,0,0,0,0,0,24.79,24.22,23.77
$GC,3759,1.65,154.1,3261,3421,2325,2213,137.5,10.6,259,3766,0.00,2.50,0.00,0.000,1030,0.000,0.020,3262,1843,2268,2325,2212,0,0,0,0,0,0,24.51,24.45,24.51
$GC,4007,1.65,154.1,3261,1843,2325,2208,107.4,11.1,284,4013,0.00,2.60,0.00,0.000,260,0.000,0.032,3261,3428,2266,2325,2208,0,0,0,0,0,0,24.77,24.51,24.79
$GC,4167,1.66,159.1,3261,3428,2325,2207,91.2,9.5,306,4184,0.00,2.53,5.12,0.411,9222,0.000,0.018,3262,1833,2250,2309,2192,0,0,0,0,0,0,24.63,24.58,24.01
$GC,4456,1.69,183.7,3261,1833,2308,2189,64.8,7.4,356,4485,0.08,2.62,22.00,0.496,10500,0.103,0.030,3293,3422,2149,2201,2098,0,0,0,0,0,0,24.59,24.08,23.80
$GC,4719,1.70,191.1,3293,3422,2199,2096,36.5,9.2,401,4734,0.00,2.50,7.40,0.418,9222,0.000,0.018,3293,1843,2120,2169,2072,0,0,0,0,0,0,24.59,24.54,23.96
$GC,5003,1.70,191.1,3293,1843,2168,2070,8.9,11.1,451,5010,0.00,2.58,0.00,0.000,260,0.000,0.031,3293,3420,2119,2169,2070,0,0,0,0,0,0,24.79,24.53,24.81
$STATE,5054,end climb,SURFACE_DEPTH_REACHED
$STATE,5054,begin surface coast
$FINISH,0.2,1.023389
$STATE,5078,end surface coast,CONTROL_FINISHED_OK
$STATE,5078,begin surface
$SM_CCo,5101,101.18,0.452,0,0,1349,380.21
$SM_GC,0.91,12.02,2.42,101.18,0.046,0.018,0.452,433,1911,1349,-7.23,1.50,380.21,0,0,0,0,0,0,24.51,24.58,23.72
$IRIDIUM_FIX,2225.34,-15750.66,030618,201327
$TT8_MAMPS,0.021721,0.347536
$HUMID,52.99
$INTERNAL_PRESSURE,9.30099
$TCM_TEMP,22.20
$XPDR_PINGS,4
$24V_AH,23.52,63.307
$10V_AH,9.93,44.935
$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,26.350,65.925,248.900,101.175,0.000,28.577,52.116,193.598,1.000,0.000,54.650,1357.958,2040.448,452.515,1651.290,156.977,0.000,977.759,0.000,1317.304,0.000,0.539,0.000
$DEVICE_MAMPS,162.180,53.550,657.135,452.115,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,311.515,307.426,448.276,695.593,856.076,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342972
$DATA_FILE_SIZE,37184,464
$CAP_FILE_SIZE,68789,0
$CFSIZE,259248128,228409344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,218.18,1
$GPS,030618,232209,2236.097,-15748.162,9,1.6,49,10.0,0.4,291.1,5,8.3