version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 512
start: 6 4 118 15 38 25
data:
$ID,148
$MISSION,15
$DIVE,512
$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,50
$R_STBD_OVSHOOT,70
$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
$GPS1,040618,153102,2236.0591,-15748.0234,16,1.2,39,10.0,1.1,219.8,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-60.3
$GPS2,040618,153757,2236.0691,-15748.0977,11,1.1,25,10.0,0.5,265.5,8,6.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,72.7,210,-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,14,begin dive
$GC,16,-1.54,-63.2,433,1935,1344,1335,0.0,0.0,0,89,0.00,0.00,-68.07,0.000,16390,0.000,0.000,433,1936,3159,3205,3113,0,0,0,0,0,0,24.64,23.71,24.66
$GC,93,-1.61,-116.8,433,1936,3205,3114,2.6,-4.3,10,115,9.90,2.45,-4.20,0.000,18692,0.167,0.034,2234,3466,3378,3438,3318,0,0,0,0,0,0,24.22,23.96,24.38
$GC,200,-1.61,-116.8,2234,3466,3438,3319,33.3,-26.4,28,208,0.00,2.50,0.00,0.000,1030,0.000,0.017,2234,1876,3378,3438,3319,0,0,0,0,0,0,24.53,24.49,24.54
$GC,476,-1.61,-116.8,2234,1876,3439,3320,95.6,-22.1,77,484,0.00,2.53,0.00,0.000,260,0.000,0.024,2234,3453,3379,3438,3320,0,0,0,0,0,0,24.77,24.52,24.78
$GC,563,-1.61,-116.8,2234,3453,3438,3320,115.4,-22.8,87,570,0.00,2.40,0.00,0.000,1030,0.000,0.015,2234,1892,3379,3438,3320,0,0,0,0,0,0,24.62,24.57,24.63
$GC,820,-1.61,-116.8,2234,1892,3438,3321,163.8,-17.9,112,825,0.00,2.50,0.00,0.000,260,0.000,0.025,2234,3461,3379,3438,3321,0,0,0,0,0,0,24.82,24.57,24.84
$GC,855,-1.61,-116.8,2234,3461,3438,3322,170.0,-17.2,115,861,0.00,2.40,0.00,0.000,1030,0.000,0.015,2234,1899,3380,3438,3322,0,0,0,0,0,0,24.65,24.61,24.67
$GC,1109,-1.61,-116.8,2233,1899,3438,3323,213.3,-16.5,134,1115,0.00,2.47,0.00,0.000,260,0.000,0.024,2234,3453,3380,3438,3322,0,0,0,0,0,0,24.85,24.60,24.87
$GC,1121,-1.61,-116.8,2234,3453,3438,3323,213.3,-16.5,134,1126,0.00,2.38,0.00,0.000,1030,0.000,0.015,2234,1898,3380,3438,3323,0,0,0,0,0,0,24.68,24.64,24.69
$GC,1394,-1.61,-116.8,2233,1898,3438,3323,258.1,-15.9,141,1399,0.00,2.50,0.00,0.000,260,0.000,0.029,2234,3451,3380,3438,3323,0,0,0,0,0,0,24.87,24.62,24.89
$GC,1416,-1.61,-116.8,2234,3451,3438,3323,258.1,-15.9,141,1421,0.00,2.40,0.00,0.000,1030,0.000,0.017,2234,1898,3380,3438,3323,0,0,0,0,0,0,24.70,24.65,24.71
$STATE,1677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1677,begin apogee
$GC,1682,-0.26,0.0,2234,1898,3438,3323,302.6,-15.4,148,1783,1.98,0.00,95.55,0.661,10246,0.092,0.000,2667,1899,2899,2959,2840,0,0,0,0,0,0,24.56,23.99,23.52
$STATE,1783,end apogee,CONTROL_FINISHED_OK
$STATE,1784,begin climb
$GC,1786,1.61,116.8,2667,1898,2959,2840,305.8,0.0,150,1889,2.45,0.00,97.10,0.648,10502,0.044,0.000,3272,1898,2422,2480,2364,0,0,0,0,0,0,24.19,23.95,23.50
$GC,2121,1.61,116.8,3271,1898,2480,2355,272.9,12.2,159,2127,0.00,2.55,0.00,0.000,260,0.000,0.047,3272,3390,2417,2480,2354,0,0,0,0,0,0,24.65,24.34,24.66
$GC,2154,1.61,116.8,3271,3390,2478,2354,272.9,12.2,159,2159,0.00,2.45,0.00,0.000,1030,0.000,0.024,3272,1874,2416,2478,2354,0,0,0,0,0,0,24.48,24.41,24.49
$GC,2406,1.61,116.8,3271,1875,2479,2352,240.7,10.8,166,2412,0.00,2.53,0.00,0.000,260,0.000,0.037,3272,3395,2414,2478,2351,0,0,0,0,0,0,24.73,24.44,24.75
$GC,2504,1.61,116.8,3271,3395,2477,2351,231.6,10.5,168,2510,0.00,2.50,0.00,0.000,1030,0.000,0.023,3272,1839,2414,2477,2351,0,0,0,0,0,0,24.57,24.51,24.59
$GC,2773,1.61,120.6,3271,1839,2477,2348,203.1,9.6,175,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1839,2413,2477,2349,0,0,0,0,0,0,24.77,24.79,24.79
$GC,3014,1.65,146.5,3271,1839,2477,2346,184.0,7.3,196,3043,0.00,0.00,24.55,0.594,8198,0.000,0.000,3272,1839,2302,2360,2244,0,0,0,0,0,0,24.82,24.08,23.65
$GC,3285,1.65,146.5,3271,1839,2358,2237,154.9,11.1,223,3291,0.00,2.58,0.00,0.000,260,0.000,0.033,3272,3400,2297,2358,2237,0,0,0,0,0,0,24.74,24.48,24.76
$GC,3550,1.65,146.5,3271,3400,2355,2236,125.3,10.9,248,3558,0.00,2.50,0.00,0.000,1030,0.000,0.019,3272,1825,2295,2355,2236,0,0,0,0,0,0,24.62,24.57,24.63
$GC,3801,1.68,177.8,3271,1825,2355,2235,104.7,6.7,273,3829,0.00,0.00,26.27,0.540,8198,0.000,0.000,3272,1825,2174,2225,2124,0,0,0,0,0,0,24.82,24.10,23.71
$GC,4087,1.69,179.1,3271,1825,2223,2120,76.9,9.9,320,4095,0.00,2.58,0.00,0.000,260,0.000,0.030,3272,3398,2171,2223,2120,0,0,0,0,0,0,24.75,24.49,24.77
$GC,4197,1.69,179.1,3271,3398,2222,2120,65.2,11.0,339,4204,0.00,2.50,0.00,0.000,1030,0.000,0.018,3272,1820,2171,2222,2120,0,0,0,0,0,0,24.60,24.56,24.61
$GC,4470,1.72,205.3,3272,1820,2221,2119,41.2,7.2,388,4507,0.08,2.65,24.30,0.480,10500,0.097,0.030,3306,3405,2060,2108,2013,0,0,0,0,0,0,24.60,24.18,23.80
$GC,4694,1.72,205.3,3305,3405,2107,2012,15.3,13.6,426,4701,0.00,2.50,0.00,0.000,1030,0.000,0.018,3306,1825,2059,2107,2011,0,0,0,0,0,0,24.57,24.52,24.59
$STATE,4790,end climb,SURFACE_DEPTH_REACHED
$STATE,4790,begin surface coast
$FINISH,0.1,1.010241
$STATE,4816,end surface coast,CONTROL_FINISHED_OK
$STATE,4816,begin surface
$SM_CCo,4837,91.60,0.449,0,0,1349,380.21
$SM_GC,0.90,12.00,0.00,91.60,0.042,0.000,0.449,433,1824,1349,-7.23,-2.15,380.21,0,0,0,0,0,0,24.49,24.79,23.72
$IRIDIUM_FIX,2225.34,-15749.38,040618,135451
$TT8_MAMPS,0.020972,0.343791
$HUMID,53.50
$INTERNAL_PRESSURE,9.30099
$TCM_TEMP,22.90
$XPDR_PINGS,5
$24V_AH,23.50,64.089
$10V_AH,9.91,45.731
$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,26.400,49.850,267.775,91.600,0.000,28.494,52.088,197.763,1.250,0.000,27.974,1248.354,2000.253,454.443,1510.072,143.720,0.000,924.198,0.000,1204.834,0.000,0.539,0.000
$DEVICE_MAMPS,166.770,47.430,660.960,449.055,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,300.139,299.145,425.825,670.535,822.526,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342964
$DATA_FILE_SIZE,37330,447
$CAP_FILE_SIZE,60990,0
$CFSIZE,259248128,227930112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,229.81,1
$GPS,040618,170202,2235.946,-15747.830,35,1.1,50,10.0,0.8,265.2,8,4.3