version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 534
start: 6 6 118 3 24 30
data:
$ID,148
$MISSION,15
$DIVE,534
$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,85
$R_STBD_OVSHOOT,37
$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
$GPS1,060618,031645,2236.0854,-15748.1777,11,1.3,51,10.0,1.4,256.3,7,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-60.5
$GPS2,060618,032356,2236.1226,-15748.2988,14,1.3,53,10.0,0.8,308.8,8,4.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,86.7,559,-25.7,-10.000,-27.94,1144
$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,-1.44,-74.5,432,2022,1351,1332,0.0,0.0,0,90,0.00,0.10,-67.95,0.000,16390,0.000,0.379,433,1863,3205,3249,3161,0,0,0,0,0,0,24.65,23.71,24.68
$GC,94,-1.46,-85.9,432,1863,3249,3162,3.8,-9.0,10,110,10.20,2.40,-0.82,0.000,18948,0.168,0.037,2283,399,3253,3305,3201,0,0,0,0,0,0,24.22,23.62,24.39
$GC,129,-1.46,-85.9,2282,396,3306,3201,18.0,-35.0,15,136,0.00,2.42,0.00,0.000,1030,0.000,0.015,2283,1933,3253,3306,3201,0,0,0,0,0,0,24.49,24.46,24.50
$GC,400,-1.46,-85.9,2283,1934,3307,3201,73.3,-18.6,64,407,0.00,2.45,0.00,0.000,260,0.000,0.025,2283,3450,3254,3307,3201,0,0,0,0,0,0,24.75,24.51,24.77
$GC,425,-1.46,-85.9,2282,3451,3307,3201,78.4,-19.4,68,433,0.00,2.35,0.00,0.000,1030,0.000,0.015,2283,1957,3254,3307,3201,0,0,0,0,0,0,24.58,24.56,24.58
$GC,691,-1.46,-85.9,2282,1957,3307,3202,124.6,-15.5,104,696,0.00,2.40,0.00,0.000,260,0.000,0.026,2283,3460,3254,3307,3202,0,0,0,0,0,0,24.80,24.56,24.82
$GC,719,-1.46,-85.9,2283,3460,3307,3202,128.1,-14.9,106,728,0.00,2.35,0.00,0.000,1030,0.000,0.015,2283,1955,3255,3307,3203,0,0,0,0,0,0,24.63,24.60,24.64
$GC,966,-1.46,-85.9,2283,1955,3307,3204,161.0,-12.2,131,971,0.00,2.40,0.00,0.000,260,0.000,0.025,2283,3461,3255,3307,3204,0,0,0,0,0,0,24.84,24.58,24.85
$GC,991,-1.46,-85.9,2283,3461,3307,3204,164.3,-13.3,133,996,0.00,2.33,0.00,0.000,1030,0.000,0.015,2283,1952,3255,3307,3204,0,0,0,0,0,0,24.67,24.63,24.68
$GC,1245,-1.46,-85.9,2282,1952,3307,3204,196.5,-12.7,158,1250,0.00,2.40,0.00,0.000,260,0.000,0.026,2283,3454,3256,3307,3205,0,0,0,0,0,0,24.86,24.61,24.87
$GC,1343,-1.46,-85.9,2282,3454,3307,3204,207.7,-13.3,163,1348,0.00,2.30,0.00,0.000,1030,0.000,0.015,2283,1948,3255,3307,3204,0,0,0,0,0,0,24.70,24.66,24.71
$GC,1611,-1.46,-85.9,2282,1948,3307,3204,242.1,-12.3,170,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1948,3256,3307,3205,0,0,0,0,0,0,24.89,24.90,24.90
$GC,1851,-1.46,-85.9,2283,1949,3307,3205,269.9,-11.4,176,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1949,3255,3307,3204,0,0,0,0,0,0,24.89,24.91,24.91
$GC,2091,-1.46,-85.9,2282,1949,3307,3204,295.5,-10.5,182,2096,0.00,2.62,0.00,0.000,516,0.000,0.035,2283,351,3255,3307,3204,0,0,0,0,0,0,24.91,24.63,24.92
$STATE,2132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2132,begin apogee
$GC,2141,-0.26,0.0,2283,1847,3307,3204,300.7,-10.7,183,2215,1.73,0.00,70.45,0.685,10246,0.082,0.000,2670,1847,2900,2957,2843,0,0,0,0,0,0,24.58,24.00,23.52
$STATE,2216,end apogee,CONTROL_FINISHED_OK
$STATE,2216,begin climb
$GC,2219,1.46,85.9,2669,1847,2957,2842,302.8,0.0,185,2300,2.25,2.72,72.62,0.652,10500,0.039,0.050,3216,3424,2548,2607,2489,0,0,0,0,0,0,24.19,23.84,23.51
$GC,2318,1.46,85.9,3216,3424,2605,2486,299.6,4.7,187,2323,0.00,2.50,0.00,0.000,1030,0.000,0.022,3216,1881,2545,2605,2486,0,0,0,0,0,0,24.32,24.25,24.34
$GC,2581,1.46,92.5,3216,1881,2605,2479,273.2,9.4,194,2595,0.00,2.83,5.82,0.501,8708,0.000,0.055,3216,275,2522,2584,2460,0,0,0,0,0,0,24.68,24.26,23.77
$GC,2663,1.48,104.0,3216,275,2584,2459,265.8,9.0,196,2682,0.00,2.55,11.43,0.581,9222,0.000,0.022,3216,1850,2474,2537,2411,0,0,0,0,0,0,24.51,24.44,23.67
$GC,2946,1.50,117.7,3216,1850,2537,2406,240.6,8.8,203,2965,0.00,2.70,12.70,0.589,8452,0.000,0.052,3217,3419,2418,2482,2354,0,0,0,0,0,0,24.72,24.03,23.70
$GC,2988,1.52,134.0,3216,3419,2481,2353,237.1,8.5,204,3011,0.00,2.55,15.32,0.597,9222,0.000,0.022,3216,1841,2352,2412,2292,0,0,0,0,0,0,24.45,24.39,23.62
$GC,3269,1.52,139.7,3216,1841,2411,2286,210.6,9.5,211,3277,0.00,0.00,5.82,0.491,8198,0.000,0.000,3216,1841,2329,2391,2268,0,0,0,0,0,0,24.71,24.28,23.82
$GC,3510,1.54,153.8,3216,1841,2391,2264,189.0,8.7,226,3532,0.08,2.65,13.02,0.570,10500,0.097,0.034,3250,3432,2272,2332,2213,0,0,0,0,0,0,24.53,24.20,23.72
$GC,3699,1.54,153.8,3249,3432,2330,2210,168.2,11.9,244,3704,0.00,2.55,0.00,0.000,1030,0.000,0.021,3250,1843,2269,2330,2209,0,0,0,0,0,0,24.56,24.50,24.58
$GC,3959,1.54,155.9,3249,1843,2330,2207,141.0,9.8,269,3965,0.00,2.62,0.00,0.000,260,0.000,0.034,3250,3438,2268,2330,2206,0,0,0,0,0,0,24.78,24.52,24.80
$GC,4009,1.54,155.9,3250,3438,2330,2207,135.7,10.0,273,4016,0.00,2.53,0.00,0.000,1030,0.000,0.020,3250,1846,2268,2330,2206,0,0,0,0,0,0,24.62,24.56,24.63
$GC,4257,1.56,170.7,3250,1846,2330,2205,111.3,8.7,298,4281,0.00,2.60,15.12,0.532,8452,0.000,0.031,3250,3427,2202,2258,2147,0,0,0,0,0,0,24.82,24.24,23.80
$GC,4315,1.57,178.6,3250,3427,2257,2147,106.1,9.3,303,4331,0.00,2.53,8.20,0.478,9222,0.000,0.019,3250,1841,2170,2224,2116,0,0,0,0,0,0,24.51,24.46,23.82
$GC,4592,1.58,186.1,3250,1841,2225,2111,79.4,9.3,348,4608,0.00,2.60,7.80,0.460,8452,0.000,0.031,3250,3428,2139,2194,2085,0,0,0,0,0,0,24.76,24.20,23.91
$GC,4704,1.58,186.1,3250,3428,2193,2085,67.5,11.6,367,4711,0.00,2.53,0.00,0.000,1030,0.000,0.018,3250,1840,2139,2193,2085,0,0,0,0,0,0,24.57,24.52,24.58
$GC,4978,1.61,209.9,3250,1841,2193,2084,40.6,7.9,416,5006,0.00,0.00,21.45,0.477,8710,0.000,0.000,3250,1841,2043,2090,1996,0,0,0,0,0,0,24.80,24.08,23.81
$GC,5274,1.61,213.3,3250,1841,2090,1992,13.2,9.7,468,5290,0.00,2.65,4.07,0.327,8452,0.000,0.031,3250,3436,2029,2077,1981,0,0,0,0,0,0,24.76,24.42,24.03
$STATE,5379,end climb,SURFACE_DEPTH_REACHED
$STATE,5379,begin surface coast
$FINISH,0.1,1.023008
$STATE,5409,end surface coast,CONTROL_FINISHED_OK
$STATE,5409,begin surface
$SM_CCo,5433,87.95,0.448,0,0,1350,380.21
$SM_GC,1.02,11.82,2.45,87.95,0.042,0.015,0.448,421,1907,1350,-7.27,1.30,380.21,0,0,0,0,0,0,24.49,24.56,23.72
$IRIDIUM_FIX,2227.67,-15748.50,060618,013727
$TT8_MAMPS,0.021721,0.343042
$HUMID,54.29
$INTERNAL_PRESSURE,9.32053
$TCM_TEMP,22.40
$XPDR_PINGS,10
$24V_AH,23.51,65.684
$10V_AH,9.90,47.319
$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,26.075,70.525,263.850,87.950,0.000,25.272,48.410,191.417,2.500,0.000,55.384,1393.900,2304.207,460.235,1648.485,163.442,0.000,987.430,0.000,1332.525,0.000,0.539,0.000
$DEVICE_MAMPS,168.300,378.675,684.675,448.290,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,330.004,324.319,462.716,730.573,897.512,0.000,0.000,0.000,0.000,0.000
$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,40599,491
$CAP_FILE_SIZE,71958,0
$CFSIZE,259248128,226971648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,252.02,1
$GPS,060618,045802,2235.970,-15748.121,13,1.4,52,10.0,0.6,229.0,9,5.0