version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 508
start: 6 4 118 9 11 21
data:
$ID,148
$MISSION,15
$DIVE,508
$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,48
$R_STBD_OVSHOOT,50
$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
$GPS1,040618,090351,2235.8013,-15747.8877,49,1.8,89,10.0,0.4,285.1,9,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.4
$GPS2,040618,091052,2235.8086,-15747.9141,18,1.7,29,10.0,0.2,92.9,9,6.4
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,322.9,384,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.54,-63.2,430,1859,1343,1334,0.0,0.0,0,88,0.00,0.00,-67.53,0.000,16390,0.000,0.000,430,1859,3159,3205,3113,0,0,0,0,0,0,24.65,23.72,24.67
$GC,92,-1.59,-104.2,430,1859,3205,3113,2.9,-5.7,10,114,9.50,2.60,-3.20,0.000,18692,0.149,0.033,2239,3473,3327,3382,3272,0,0,0,0,0,0,24.26,23.65,24.40
$GC,217,-1.59,-104.2,2239,3473,3381,3273,37.5,-26.5,31,225,0.00,2.50,0.00,0.000,1030,0.000,0.017,2239,1880,3327,3381,3273,0,0,0,0,0,0,24.54,24.50,24.56
$GC,495,-1.59,-104.2,2239,1881,3381,3273,99.1,-18.6,80,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1881,3327,3381,3273,0,0,0,0,0,0,24.78,24.80,24.79
$GC,742,-1.59,-104.2,2239,1880,3381,3274,143.8,-16.3,105,748,0.00,2.55,0.00,0.000,260,0.000,0.025,2240,3479,3327,3381,3274,0,0,0,0,0,0,24.82,24.57,24.83
$GC,755,-1.59,-104.2,2239,3479,3382,3274,146.4,-16.4,106,760,0.00,2.45,0.00,0.000,1030,0.000,0.015,2239,1890,3327,3381,3274,0,0,0,0,0,0,24.65,24.60,24.66
$GC,1011,-1.59,-104.2,2239,1890,3381,3275,189.1,-14.9,131,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1890,3328,3381,3275,0,0,0,0,0,0,24.84,24.87,24.87
$GC,1288,-1.59,-104.2,2239,1890,3381,3276,232.0,-15.2,144,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1890,3328,3381,3275,0,0,0,0,0,0,24.87,24.89,24.89
$GC,1528,-1.59,-104.2,2239,1889,3381,3276,267.3,-14.4,150,1534,0.00,2.55,0.00,0.000,260,0.000,0.029,2239,3472,3328,3381,3276,0,0,0,0,0,0,24.89,24.63,24.91
$GC,1586,-1.59,-104.2,2239,3472,3381,3276,273.2,-13.9,151,1591,0.00,2.42,0.00,0.000,1030,0.000,0.017,2239,1899,3328,3381,3276,0,0,0,0,0,0,24.72,24.68,24.74
$STATE,1814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1814,begin apogee
$GC,1819,-0.26,0.0,2239,1899,3381,3276,304.8,-13.2,157,1909,1.95,0.00,85.25,0.656,10246,0.089,0.000,2669,1899,2899,2954,2845,0,0,0,0,0,0,24.58,24.01,23.54
$STATE,1910,end apogee,CONTROL_FINISHED_OK
$STATE,1910,begin climb
$GC,1913,1.59,104.2,2669,1899,2954,2845,307.8,0.0,159,2005,2.40,0.00,86.62,0.646,10502,0.041,0.000,3267,1899,2475,2528,2422,0,0,0,0,0,0,24.21,23.96,23.51
$GC,2215,1.59,104.2,3266,1899,2528,2410,281.1,11.2,167,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1899,2469,2528,2410,0,0,0,0,0,0,24.65,24.67,24.66
$GC,2454,1.59,104.2,3266,1899,2528,2407,254.9,10.7,173,2459,0.00,2.58,0.00,0.000,260,0.000,0.048,3267,3415,2467,2528,2407,0,0,0,0,0,0,24.72,24.42,24.74
$GC,2600,1.60,107.7,3266,3416,2525,2406,243.0,9.6,176,2606,0.00,2.50,0.00,0.000,1030,0.000,0.023,3267,1864,2466,2526,2406,0,0,0,0,0,0,24.58,24.51,24.59
$GC,2863,1.61,116.4,3266,1864,2526,2404,216.0,9.1,183,2882,0.00,2.78,10.18,0.563,8708,0.000,0.052,3267,274,2423,2483,2364,0,0,0,0,0,0,24.79,24.29,23.82
$GC,2895,1.62,125.1,3266,274,2483,2364,216.0,9.1,183,2910,0.00,2.53,8.90,0.542,9222,0.000,0.022,3267,1842,2388,2446,2331,0,0,0,0,0,0,24.49,24.44,23.74
$GC,3160,1.62,125.1,3266,1842,2446,2326,188.5,11.1,197,3165,0.00,2.65,0.00,0.000,516,0.000,0.040,3267,267,2386,2446,2326,0,0,0,0,0,0,24.76,24.49,24.77
$GC,3188,1.62,125.1,3266,267,2445,2326,185.3,12.0,199,3195,0.00,2.55,0.00,0.000,1030,0.000,0.021,3267,1857,2385,2445,2326,0,0,0,0,0,0,24.59,24.53,24.60
$GC,3435,1.63,132.4,3266,1857,2445,2323,159.0,9.2,224,3451,0.00,2.62,7.03,0.498,8452,0.000,0.041,3267,3419,2359,2418,2301,0,0,0,0,0,0,24.81,24.37,23.91
$GC,3587,1.65,149.7,3266,3419,2416,2300,146.1,8.2,238,3610,0.00,2.53,16.02,0.554,9222,0.000,0.021,3267,1831,2289,2343,2235,0,0,0,0,0,0,24.60,24.56,23.75
$GC,3848,1.65,154.1,3266,1831,2343,2229,120.2,9.5,264,3861,0.00,2.62,5.00,0.422,8452,0.000,0.031,3267,3425,2270,2327,2214,0,0,0,0,0,0,24.76,24.25,23.95
$GC,3926,1.65,154.1,3266,3425,2327,2212,112.1,11.1,271,3931,0.00,2.50,0.00,0.000,1030,0.000,0.019,3267,1844,2269,2327,2212,0,0,0,0,0,0,24.58,24.52,24.59
$GC,4186,1.67,169.3,3266,1845,2327,2209,86.2,8.4,308,4209,0.00,2.60,14.02,0.503,8708,0.000,0.037,3267,276,2207,2259,2155,0,0,0,0,0,0,24.80,23.66,23.85
$GC,4274,1.67,169.3,3266,276,2259,2153,77.3,11.3,322,4282,0.00,2.53,0.00,0.000,1030,0.000,0.018,3267,1860,2206,2259,2154,0,0,0,0,0,0,24.56,24.51,24.56
$GC,4550,1.68,174.9,3266,1860,2259,2152,52.0,9.4,371,4566,0.00,2.65,5.70,0.406,8708,0.000,0.040,3267,273,2186,2239,2134,0,0,0,0,0,0,24.79,24.42,24.01
$GC,4586,1.68,174.9,3266,273,2239,2134,48.4,10.7,376,4593,0.00,2.53,0.00,0.000,1030,0.000,0.018,3267,1855,2186,2239,2133,0,0,0,0,0,0,24.58,24.53,24.58
$GC,4863,1.69,185.8,3267,1855,2239,2132,26.2,8.8,425,4878,0.05,0.00,11.07,0.442,10246,0.130,0.000,3291,1855,2141,2193,2089,0,0,0,0,0,0,24.62,24.32,23.96
$STATE,5080,end climb,SURFACE_DEPTH_REACHED
$STATE,5080,begin surface coast
$FINISH,0.1,1.013430
$STATE,5111,end surface coast,CONTROL_FINISHED_OK
$STATE,5111,begin surface
$SM_CCo,5132,109.07,0.450,0,0,1349,380.21
$SM_GC,0.97,11.82,0.00,109.07,0.037,0.000,0.450,431,1856,1349,-7.24,-1.27,380.21,0,0,0,0,0,0,24.53,24.82,23.73
$IRIDIUM_FIX,2227.67,-15748.50,040618,072924
$TT8_MAMPS,0.020972,0.282373
$HUMID,53.30
$INTERNAL_PRESSURE,9.31076
$TCM_TEMP,22.40
$XPDR_PINGS,5
$24V_AH,23.51,63.813
$10V_AH,10.02,45.446
$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,25.725,51.225,249.800,109.075,0.000,31.468,52.189,192.000,1.250,0.000,32.176,1318.396,2167.289,452.984,1577.030,161.545,0.000,949.579,0.000,1269.287,0.000,0.540,0.000
$DEVICE_MAMPS,149.175,52.020,656.370,449.820,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,314.335,310.213,444.403,709.050,871.779,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342944
$DATA_FILE_SIZE,37152,468
$CAP_FILE_SIZE,65384,0
$CFSIZE,259248128,228098048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023,325.49,1
$GPS,040618,104002,2236.353,-15748.197,8,1.4,41,10.0,0.4,189.4,8,4.6