version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 510
start: 6 4 118 12 24 12
data:
$ID,148
$MISSION,15
$DIVE,510
$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,46
$R_STBD_OVSHOOT,51
$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
$GPS1,040618,121656,2235.8057,-15748.0488,11,1.1,44,10.0,0.5,264.0,9,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-58.5
$GPS2,040618,122345,2235.7937,-15748.1318,34,1.2,50,10.0,0.6,272.2,8,4.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,22.6,444,-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,-63.2,428,1910,1342,1339,0.0,0.0,0,89,0.00,0.00,-67.35,0.000,16390,0.000,0.000,428,1911,3158,3203,3114,0,0,0,0,0,0,24.65,23.72,24.68
$GC,92,-1.59,-98.8,428,1911,3203,3114,3.2,-6.2,10,116,9.45,2.60,-2.67,0.000,18948,0.145,0.037,2242,320,3305,3361,3250,0,0,0,0,0,0,24.27,23.65,24.36
$GC,130,-1.59,-98.8,2241,320,3361,3250,16.3,-31.6,15,137,0.00,2.50,0.00,0.000,1030,0.000,0.014,2242,1924,3306,3362,3250,0,0,0,0,0,0,24.51,24.47,24.52
$GC,406,-1.59,-98.8,2241,1925,3361,3251,75.1,-19.0,64,413,0.00,2.47,0.00,0.000,260,0.000,0.027,2241,3455,3306,3361,3251,0,0,0,0,0,0,24.76,24.51,24.77
$GC,482,-1.59,-98.8,2241,3455,3361,3252,90.8,-19.7,77,490,0.00,2.47,0.00,0.000,1030,0.000,0.016,2242,1887,3307,3362,3252,0,0,0,0,0,0,24.61,24.56,24.63
$GC,742,-1.59,-98.8,2241,1886,3361,3253,139.5,-17.5,106,747,0.00,2.50,0.00,0.000,260,0.000,0.025,2241,3457,3307,3362,3253,0,0,0,0,0,0,24.82,24.56,24.83
$GC,758,-1.59,-98.8,2241,3457,3361,3253,142.2,-17.7,107,766,0.00,2.40,0.00,0.000,1030,0.000,0.015,2242,1888,3307,3362,3253,0,0,0,0,0,0,24.65,24.60,24.65
$GC,1006,-1.59,-98.8,2241,1888,3361,3253,183.3,-14.7,132,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1888,3308,3362,3254,0,0,0,0,0,0,24.84,24.87,24.86
$GC,1275,-1.59,-98.8,2241,1888,3362,3255,226.0,-15.8,147,1282,0.00,2.50,0.00,0.000,260,0.000,0.026,2242,3455,3308,3362,3255,0,0,0,0,0,0,24.87,24.62,24.89
$GC,1289,-1.59,-98.8,2241,3455,3362,3255,226.0,-15.8,147,1295,0.00,2.38,0.00,0.000,1030,0.000,0.016,2242,1903,3308,3361,3255,0,0,0,0,0,0,24.70,24.66,24.71
$GC,1562,-1.59,-98.8,2241,1904,3362,3255,268.1,-14.3,154,1567,0.00,2.50,0.00,0.000,260,0.000,0.030,2242,3455,3308,3362,3255,0,0,0,0,0,0,24.89,24.63,24.91
$GC,1584,-1.59,-98.8,2241,3454,3361,3255,268.1,-14.3,154,1589,0.00,2.40,0.00,0.000,1030,0.000,0.018,2242,1901,3308,3362,3255,0,0,0,0,0,0,24.72,24.67,24.72
$STATE,1804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1804,begin apogee
$GC,1810,-0.26,0.0,2241,1901,3361,3255,300.6,-13.1,160,1896,1.95,0.00,81.28,0.656,10246,0.091,0.000,2669,1901,2899,2954,2845,0,0,0,0,0,0,24.57,24.01,23.54
$STATE,1897,end apogee,CONTROL_FINISHED_OK
$STATE,1897,begin climb
$GC,1899,1.59,98.8,2669,1901,2955,2845,302.5,0.0,162,1991,2.40,2.58,82.15,0.646,10500,0.041,0.046,3270,3387,2495,2549,2441,0,0,0,0,0,0,24.22,23.85,23.51
$GC,2005,1.59,98.8,3269,3387,2547,2439,299.3,5.2,164,2012,0.00,2.45,0.00,0.000,1030,0.000,0.023,3270,1874,2493,2547,2439,0,0,0,0,0,0,24.31,24.24,24.32
$GC,2251,1.59,98.8,3269,1874,2547,2432,266.8,11.3,171,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1873,2489,2547,2432,0,0,0,0,0,0,24.66,24.69,24.68
$GC,2492,1.61,114.9,3269,1874,2547,2429,245.7,8.3,177,2511,0.00,2.60,13.55,0.591,8452,0.000,0.037,3270,3389,2430,2489,2372,0,0,0,0,0,0,24.73,24.18,23.70
$GC,2663,1.62,122.3,3269,3390,2487,2369,230.7,9.2,181,2677,0.00,2.47,7.45,0.528,9222,0.000,0.022,3270,1844,2401,2460,2342,0,0,0,0,0,0,24.54,24.49,23.80
$GC,2935,1.62,122.3,3269,1844,2460,2337,200.3,10.8,188,2940,0.00,2.65,0.00,0.000,516,0.000,0.050,3270,275,2398,2460,2337,0,0,0,0,0,0,24.75,24.46,24.77
$GC,2957,1.62,122.3,3269,275,2460,2337,200.3,10.8,188,2962,0.00,2.50,0.00,0.000,1030,0.000,0.022,3270,1832,2398,2460,2337,0,0,0,0,0,0,24.58,24.53,24.60
$GC,3211,1.62,122.3,3269,1832,2460,2335,173.1,10.1,212,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1832,2397,2460,2335,0,0,0,0,0,0,24.80,24.82,24.82
$GC,3450,1.63,132.5,3269,1832,2459,2333,152.5,8.9,236,3467,0.00,2.65,9.85,0.533,8452,0.000,0.039,3269,3425,2358,2416,2300,0,0,0,0,0,0,24.83,24.20,23.88
$GC,3977,1.66,154.7,3269,3425,2414,2295,104.4,7.6,287,4005,0.00,2.50,19.50,0.535,9222,0.000,0.019,3270,1833,2267,2323,2211,0,0,0,0,0,0,24.66,24.61,23.78
$GC,4265,1.67,167.7,3269,1833,2323,2205,81.6,8.6,334,4279,0.00,0.00,11.80,0.490,8198,0.000,0.000,3270,1833,2215,2267,2164,0,0,0,0,0,0,24.77,24.25,23.86
$GC,4549,1.70,187.8,3269,1833,2267,2160,55.7,7.9,384,4578,0.05,2.67,18.33,0.485,10500,0.122,0.031,3294,3426,2133,2183,2083,0,0,0,0,0,0,24.59,24.20,23.81
$GC,4945,1.70,187.8,3293,3426,2182,2081,18.1,11.7,453,4952,0.00,2.50,0.00,0.000,1030,0.000,0.018,3294,1847,2131,2182,2080,0,0,0,0,0,0,24.62,24.57,24.63
$STATE,5080,end climb,SURFACE_DEPTH_REACHED
$STATE,5081,begin surface coast
$FINISH,0.1,1.023282
$STATE,5117,end surface coast,CONTROL_FINISHED_OK
$STATE,5117,begin surface
$SM_CCo,5138,109.90,0.453,0,0,1350,380.21
$SM_GC,0.91,11.88,0.08,109.90,0.037,0.099,0.453,420,1948,1350,-7.27,-1.13,380.21,0,0,0,0,0,0,24.54,24.64,23.72
$IRIDIUM_FIX,2225.34,-15746.34,040618,104139
$TT8_MAMPS,0.020972,0.286867
$HUMID,53.74
$INTERNAL_PRESSURE,9.30099
$TCM_TEMP,22.30
$XPDR_PINGS,3
$24V_AH,23.51,63.949
$10V_AH,10.01,45.590
$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,25.725,50.375,243.900,109.900,0.000,27.763,44.608,175.376,0.750,0.000,53.057,1380.911,2056.379,435.265,1648.637,148.099,0.000,957.930,0.000,1349.286,0.000,0.539,0.000
$DEVICE_MAMPS,145.350,99.450,655.605,452.880,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,325.227,320.144,455.174,731.194,896.430,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343008
$DATA_FILE_SIZE,40560,483
$CAP_FILE_SIZE,65218,0
$CFSIZE,259248128,228012032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,207.06,1
$GPS,040618,135316,2235.950,-15748.020,38,1.2,57,10.0,1.5,254.7,8,6.6