version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 516
start: 6 4 118 21 54 28
data:
$ID,148
$MISSION,15
$DIVE,516
$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,40
$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
$GPS1,040618,214527,2235.7615,-15748.1074,14,1.3,54,10.0,0.4,260.3,7,5.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-59.6
$GPS2,040618,215359,2235.7661,-15748.1611,17,1.2,57,10.0,0.2,83.7,7,5.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,46.5,513,-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,-63.2,418,1799,1349,1331,0.0,0.0,0,88,0.00,0.15,-67.25,0.000,16390,0.000,0.256,418,2009,3160,3203,3117,0,0,0,0,0,0,24.66,23.73,24.68
$GC,92,-1.58,-96.8,418,2008,3203,3117,3.0,-6.5,10,114,9.95,2.38,-2.60,0.000,18692,0.164,0.039,2241,3475,3297,3353,3241,0,0,0,0,0,0,24.23,23.65,24.40
$GC,156,-1.58,-96.8,2241,3474,3352,3242,21.4,-23.1,20,164,0.00,2.50,0.00,0.000,1030,0.000,0.016,2241,1881,3297,3353,3242,0,0,0,0,0,0,24.53,24.48,24.53
$GC,432,-1.58,-96.8,2241,1881,3353,3242,80.7,-20.3,69,441,0.00,2.60,0.00,0.000,260,0.000,0.027,2241,3492,3297,3353,3242,0,0,0,0,0,0,24.77,24.52,24.79
$GC,588,-1.58,-96.8,2241,3492,3352,3243,111.5,-18.7,91,594,0.00,2.47,0.00,0.000,1030,0.000,0.016,2242,1897,3298,3353,3243,0,0,0,0,0,0,24.63,24.58,24.64
$GC,844,-1.58,-96.8,2241,1898,3353,3244,156.0,-16.4,116,849,0.00,2.53,0.00,0.000,260,0.000,0.024,2242,3484,3298,3352,3244,0,0,0,0,0,0,24.83,24.58,24.85
$GC,872,-1.58,-96.8,2241,3483,3353,3245,160.5,-17.2,118,880,0.00,2.45,0.00,0.000,1030,0.000,0.016,2242,1890,3298,3352,3244,0,0,0,0,0,0,24.66,24.62,24.68
$GC,1119,-1.58,-96.8,2242,1890,3353,3245,199.6,-14.7,143,1125,0.00,2.55,0.00,0.000,260,0.000,0.024,2242,3491,3299,3353,3245,0,0,0,0,0,0,24.86,24.61,24.87
$GC,1156,-1.58,-96.8,2241,3492,3353,3245,201.8,-14.8,144,1163,0.00,2.47,0.00,0.000,1030,0.000,0.016,2242,1890,3299,3353,3245,0,0,0,0,0,0,24.69,24.65,24.70
$GC,1402,-1.58,-96.8,2241,1890,3353,3245,238.7,-13.6,151,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1890,3299,3353,3245,0,0,0,0,0,0,24.88,24.90,24.89
$GC,1642,-1.58,-96.8,2241,1890,3352,3245,273.9,-14.9,157,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1890,3299,3353,3246,0,0,0,0,0,0,24.89,24.91,24.91
$STATE,1841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1841,begin apogee
$GC,1846,-0.26,0.0,2241,1890,3352,3245,303.6,-14.8,162,1930,1.95,0.00,79.25,0.661,10246,0.090,0.000,2670,1890,2899,2955,2843,0,0,0,0,0,0,24.58,24.01,23.54
$STATE,1931,end apogee,CONTROL_FINISHED_OK
$STATE,1931,begin climb
$GC,1934,1.58,96.8,2670,1890,2955,2843,307.6,0.0,164,2020,2.40,0.00,80.75,0.646,10758,0.042,0.000,3265,1890,2504,2561,2448,0,0,0,0,0,0,24.21,23.96,23.51
$GC,2244,1.58,96.8,3265,1890,2560,2438,281.9,10.9,172,2249,0.00,2.62,0.00,0.000,260,0.000,0.047,3266,3424,2499,2560,2438,0,0,0,0,0,0,24.65,24.35,24.67
$GC,2301,1.58,96.8,3265,3424,2557,2438,276.8,11.1,173,2306,0.00,2.50,0.00,0.000,1030,0.000,0.024,3266,1874,2498,2558,2438,0,0,0,0,0,0,24.49,24.43,24.51
$GC,2570,1.60,109.8,3265,1874,2557,2434,250.8,8.6,180,2583,0.00,0.00,10.98,0.573,8710,0.000,0.000,3265,1875,2451,2512,2391,0,0,0,0,0,0,24.75,24.20,23.75
$GC,2851,1.61,120.6,3265,1875,2512,2385,225.9,8.8,187,2870,0.00,2.62,10.23,0.563,8452,0.000,0.037,3266,3412,2406,2468,2345,0,0,0,0,0,0,24.76,24.25,23.78
$GC,3007,1.63,132.6,3265,3412,2468,2342,214.8,8.7,190,3027,0.00,2.53,11.77,0.569,9222,0.000,0.022,3266,1836,2358,2417,2299,0,0,0,0,0,0,24.56,24.51,23.74
$GC,3277,1.64,142.2,3265,1836,2417,2294,186.1,9.0,208,3293,0.00,2.67,9.07,0.540,8708,0.000,0.044,3265,252,2319,2379,2260,0,0,0,0,0,0,24.75,24.27,23.81
$GC,3395,1.64,142.2,3265,252,2378,2259,173.9,10.3,219,3400,0.00,2.58,0.00,0.000,1030,0.000,0.020,3266,1855,2318,2378,2258,0,0,0,0,0,0,24.56,24.51,24.57
$GC,3652,1.64,144.2,3266,1854,2378,2255,150.0,9.8,244,3657,0.00,2.58,0.00,0.000,260,0.000,0.038,3265,3419,2316,2378,2255,0,0,0,0,0,0,24.79,24.51,24.80
$GC,3774,1.64,144.2,3265,3419,2376,2255,137.1,10.3,255,3780,0.00,2.50,0.00,0.000,1030,0.000,0.020,3266,1837,2316,2377,2256,0,0,0,0,0,0,24.64,24.58,24.65
$GC,4029,1.65,153.2,3265,1837,2376,2254,111.6,9.0,280,4047,0.00,2.62,10.18,0.509,8452,0.000,0.037,3265,3415,2273,2332,2215,0,0,0,0,0,0,24.84,24.24,23.91
$GC,4144,1.65,153.6,3265,3415,2330,2215,100.7,10.0,290,4152,0.00,2.50,0.00,0.000,1030,0.000,0.019,3266,1854,2272,2330,2214,0,0,0,0,0,0,24.58,24.55,24.59
$GC,4418,1.68,172.1,3264,1854,2330,2213,77.6,8.0,339,4440,0.00,2.65,16.85,0.503,8708,0.000,0.034,3266,278,2197,2251,2144,0,0,0,0,0,0,24.82,24.24,23.83
$GC,4566,1.70,191.9,3265,278,2251,2140,64.1,7.9,365,4596,0.08,2.53,18.20,0.492,11270,0.099,0.018,3293,1862,2116,2165,2067,0,0,0,0,0,0,24.48,24.53,23.79
$GC,4862,1.71,196.6,3292,1862,2165,2062,37.8,9.5,417,4878,0.00,2.55,5.32,0.382,8452,0.000,0.032,3292,3414,2097,2148,2047,0,0,0,0,0,0,24.76,24.39,23.99
$GC,5030,1.71,196.6,3292,3415,2147,2046,18.8,12.5,446,5038,0.00,2.50,0.00,0.000,1030,0.000,0.018,3293,1833,2097,2147,2047,0,0,0,0,0,0,24.60,24.55,24.62
$STATE,5158,end climb,SURFACE_DEPTH_REACHED
$STATE,5159,begin surface coast
$FINISH,0.1,1.023264
$STATE,5183,end surface coast,CONTROL_FINISHED_OK
$STATE,5183,begin surface
$SM_CCo,5204,97.55,0.451,0,0,1349,380.21
$SM_GC,0.86,11.88,0.08,97.55,0.040,0.090,0.451,432,1976,1349,-7.23,-1.50,380.21,0,0,0,0,0,0,24.53,24.63,23.72
$IRIDIUM_FIX,2227.67,-15750.66,040618,201521
$TT8_MAMPS,0.020972,0.348285
$HUMID,53.85
$INTERNAL_PRESSURE,9.31076
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.51,64.371
$10V_AH,9.88,46.013
$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,26.250,56.275,252.600,97.550,0.000,65.697,54.509,163.370,0.250,0.000,59.774,1349.183,2230.202,441.801,1654.814,154.271,0.000,958.208,0.000,1307.375,0.000,0.539,0.000
$DEVICE_MAMPS,163.710,255.510,660.960,451.350,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,317.693,311.710,444.625,711.889,874.076,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342988
$DATA_FILE_SIZE,37245,473
$CAP_FILE_SIZE,67228,0
$CFSIZE,259248128,227762176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,264.63,1
$GPS,040618,232421,2235.957,-15747.956,12,1.2,52,10.0,0.4,212.4,6,7.1