version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 517
start: 6 4 118 23 32 7
data:
$ID,148
$MISSION,15
$DIVE,517
$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,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
$GPS1,040618,232421,2235.9568,-15747.9561,12,1.2,52,10.0,0.4,212.4,6,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-60.0
$GPS2,040618,233139,2235.9409,-15747.9922,49,1.2,77,10.0,0.6,214.6,8,5.4
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,12.9,110,-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,15,-1.54,-63.2,431,1842,1344,1333,0.0,0.0,0,89,0.00,0.05,-67.47,0.000,16390,0.000,0.734,431,2005,3159,3202,3117,0,0,0,0,0,0,24.67,23.73,24.68
$GC,92,-1.59,-100.3,432,2005,3202,3117,3.1,-6.1,10,115,10.00,2.38,-2.78,0.000,18692,0.168,0.037,2239,3477,3312,3368,3256,0,0,0,0,0,0,24.25,23.66,24.34
$GC,151,-1.59,-100.3,2239,3478,3368,3257,21.5,-25.1,19,159,0.00,2.50,0.00,0.000,1030,0.000,0.016,2239,1884,3312,3367,3257,0,0,0,0,0,0,24.52,24.48,24.53
$GC,428,-1.59,-100.3,2239,1884,3367,3257,83.1,-19.7,68,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1884,3312,3367,3257,0,0,0,0,0,0,24.77,24.79,24.78
$GC,694,-1.59,-100.3,2239,1884,3368,3258,130.7,-17.3,101,700,0.00,2.55,0.00,0.000,260,0.000,0.026,2239,3479,3313,3368,3258,0,0,0,0,0,0,24.82,24.56,24.83
$GC,732,-1.59,-100.3,2239,3479,3368,3258,137.9,-18.6,104,739,0.00,2.47,0.00,0.000,1030,0.000,0.015,2239,1876,3312,3367,3258,0,0,0,0,0,0,24.65,24.60,24.66
$GC,980,-1.59,-100.3,2239,1876,3367,3259,180.5,-16.1,129,986,0.00,2.58,0.00,0.000,260,0.000,0.026,2239,3479,3313,3367,3259,0,0,0,0,0,0,24.84,24.60,24.86
$GC,1064,-1.59,-100.3,2239,3479,3368,3260,194.0,-15.2,137,1070,0.00,2.45,0.00,0.000,1030,0.000,0.015,2239,1887,3314,3368,3260,0,0,0,0,0,0,24.69,24.64,24.70
$GC,1348,-1.59,-100.3,2239,1887,3367,3260,235.2,-15.0,147,1353,0.00,2.55,0.00,0.000,260,0.000,0.028,2240,3478,3313,3367,3260,0,0,0,0,0,0,24.87,24.63,24.89
$GC,1370,-1.59,-100.3,2239,3478,3368,3260,235.2,-15.0,147,1375,0.00,2.42,0.00,0.000,1030,0.000,0.016,2239,1898,3313,3367,3260,0,0,0,0,0,0,24.71,24.67,24.72
$GC,1633,-1.59,-100.3,2239,1898,3367,3260,276.3,-14.2,154,1638,0.00,2.53,0.00,0.000,516,0.000,0.032,2239,337,3313,3367,3260,0,0,0,0,0,0,24.89,24.63,24.91
$GC,1650,-1.59,-100.3,2239,337,3367,3260,276.3,-14.2,154,1656,0.00,2.45,0.00,0.000,1030,0.000,0.016,2240,1909,3314,3368,3260,0,0,0,0,0,0,24.72,24.68,24.73
$STATE,1837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1837,begin apogee
$GC,1842,-0.26,0.0,2239,1909,3367,3260,304.6,-13.9,159,1929,1.92,0.00,82.47,0.657,10246,0.084,0.000,2668,1909,2899,2955,2843,0,0,0,0,0,0,24.58,24.00,23.53
$STATE,1930,end apogee,CONTROL_FINISHED_OK
$STATE,1930,begin climb
$GC,1933,1.59,100.3,2667,1909,2955,2843,307.2,0.0,161,2022,2.42,0.00,84.28,0.646,10246,0.036,0.000,3268,1909,2490,2546,2435,0,0,0,0,0,0,24.22,23.96,23.51
$GC,2239,1.59,100.3,3268,1909,2546,2425,278.1,11.7,169,2245,0.00,2.53,0.00,0.000,260,0.000,0.057,3268,3404,2485,2546,2424,0,0,0,0,0,0,24.65,24.34,24.66
$GC,2261,1.59,100.3,3267,3404,2546,2424,278.1,11.7,169,2267,0.00,2.47,0.00,0.000,1030,0.000,0.024,3268,1874,2484,2545,2424,0,0,0,0,0,0,24.47,24.40,24.49
$GC,2525,1.59,103.8,3267,1874,2545,2422,248.2,9.6,176,2530,0.00,2.75,0.00,0.000,516,0.000,0.054,3268,259,2483,2545,2422,0,0,0,0,0,0,24.73,24.44,24.75
$GC,2548,1.60,107.4,3267,259,2544,2422,248.2,9.6,176,2562,0.00,2.55,6.45,0.513,9222,0.000,0.030,3268,1840,2460,2522,2398,0,0,0,0,0,0,24.56,24.50,23.82
$GC,2809,1.61,116.8,3267,1840,2522,2394,221.9,9.0,183,2824,0.00,2.72,9.20,0.562,8452,0.000,0.058,3268,3426,2422,2484,2360,0,0,0,0,0,0,24.75,24.12,23.79
$GC,2846,1.62,126.1,3267,3426,2483,2359,221.9,9.0,183,2862,0.00,2.55,9.45,0.559,9222,0.000,0.022,3268,1838,2384,2443,2325,0,0,0,0,0,0,24.49,24.43,23.72
$GC,3105,1.62,126.1,3267,1838,2442,2320,191.3,10.4,194,3112,0.00,2.65,0.00,0.000,260,0.000,0.037,3268,3423,2381,2443,2320,0,0,0,0,0,0,24.75,24.46,24.76
$GC,3395,1.63,138.0,3267,3423,2442,2318,163.0,8.7,222,3412,0.00,2.53,10.68,0.545,9222,0.000,0.021,3268,1838,2336,2395,2278,0,0,0,0,0,0,24.63,24.58,23.82
$GC,3661,1.63,138.0,3267,1838,2395,2273,137.0,10.8,248,3667,0.00,2.60,0.00,0.000,260,0.000,0.037,3268,3437,2334,2395,2273,0,0,0,0,0,0,24.78,24.51,24.79
$GC,3751,1.63,138.0,3267,3437,2393,2273,127.6,11.2,256,3759,0.00,2.55,0.00,0.000,1030,0.000,0.020,3268,1850,2333,2393,2273,0,0,0,0,0,0,24.61,24.58,24.62
$GC,4000,1.66,159.5,3267,1850,2393,2272,104.7,7.7,281,4027,0.00,2.67,18.95,0.532,8452,0.000,0.032,3268,3432,2247,2302,2193,0,0,0,0,0,0,24.83,24.20,23.78
$GC,4267,1.66,159.5,3267,3432,2300,2190,78.4,10.4,324,4275,0.00,2.53,0.00,0.000,1030,0.000,0.018,3268,1844,2245,2301,2189,0,0,0,0,0,0,24.60,24.55,24.61
$GC,4541,1.70,192.1,3268,1844,2300,2188,57.0,6.5,373,4578,0.08,2.62,28.27,0.496,10756,0.096,0.034,3304,272,2115,2165,2065,0,0,0,0,0,0,24.60,24.03,23.75
$GC,4620,1.71,202.3,3304,272,2163,2063,51.2,8.9,385,4636,0.00,2.55,10.02,0.449,9222,0.000,0.018,3304,1868,2074,2120,2028,0,0,0,0,0,0,24.49,24.44,23.82
$GC,4904,1.72,208.5,3303,1867,2116,2026,21.5,9.3,435,4918,0.00,2.55,6.35,0.391,8452,0.000,0.032,3304,3421,2049,2092,2006,0,0,0,0,0,0,24.75,24.37,23.99
$STATE,5047,end climb,SURFACE_DEPTH_REACHED
$STATE,5048,begin surface coast
$FINISH,0.2,1.023463
$STATE,5070,end surface coast,CONTROL_FINISHED_OK
$STATE,5070,begin surface
$SM_CCo,5094,92.28,0.449,0,0,1350,380.21
$SM_GC,1.05,11.98,2.42,92.28,0.041,0.015,0.449,434,1895,1350,-7.23,1.44,380.21,0,0,0,0,0,0,24.48,24.54,23.72
$IRIDIUM_FIX,2225.34,-15746.34,040618,214849
$TT8_MAMPS,0.021721,0.346038
$HUMID,53.85
$INTERNAL_PRESSURE,9.31076
$TCM_TEMP,22.40
$XPDR_PINGS,9
$24V_AH,23.51,64.441
$10V_AH,9.90,46.085
$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,26.400,66.275,266.125,92.275,0.000,30.306,48.412,166.414,2.250,0.000,79.448,1317.871,2110.736,473.216,1588.553,148.035,0.000,966.017,0.000,1259.547,0.000,0.539,0.000
$DEVICE_MAMPS,168.300,733.635,657.135,449.055,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,311.593,304.720,440.268,702.232,856.199,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342948
$DATA_FILE_SIZE,37325,464
$CAP_FILE_SIZE,66648,0
$CFSIZE,259248128,227717120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,255.76,1
$GPS,050618,010027,2236.342,-15748.124,35,1.4,75,10.0,1.0,296.8,6,5.3