version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 537
start: 6 6 118 8 19 33
data:
$ID,148
$MISSION,15
$DIVE,537
$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,38
$R_STBD_OVSHOOT,53
$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
$GPS1,060618,080533,2236.0615,-15748.0264,10,1.8,50,10.0,0.4,311.1,7,7.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-57.9
$GPS2,060618,081902,2236.0320,-15748.1387,35,1.9,38,10.0,0.4,323.6,8,4.7
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,76.3,244,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.44,-74.5,432,1881,1347,1333,0.0,0.0,0,89,0.00,0.00,-68.12,0.000,16390,0.000,0.000,433,1881,3204,3253,3155,0,0,0,0,0,0,24.65,23.72,24.68
$GC,93,-1.48,-109.2,432,1881,3253,3156,3.3,-6.9,10,115,10.12,2.55,-2.60,0.000,19204,0.168,0.033,2274,3472,3347,3403,3291,0,0,0,0,0,0,24.22,23.64,24.39
$GC,124,-1.48,-109.2,2274,3472,3403,3291,15.3,-34.5,14,132,0.00,2.50,0.00,0.000,1030,0.000,0.015,2274,1865,3347,3403,3291,0,0,0,0,0,0,24.50,24.46,24.51
$GC,402,-1.48,-109.2,2274,1866,3403,3292,74.6,-19.3,63,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,1865,3347,3403,3292,0,0,0,0,0,0,24.76,24.78,24.77
$GC,662,-1.48,-109.2,2274,1865,3403,3292,122.3,-17.6,100,668,0.00,2.42,0.00,0.000,516,0.000,0.031,2274,342,3347,3403,3292,0,0,0,0,0,0,24.80,24.55,24.82
$GC,699,-1.48,-109.2,2274,342,3404,3292,128.4,-18.6,103,706,0.00,2.42,0.00,0.000,1030,0.000,0.015,2274,1921,3348,3404,3292,0,0,0,0,0,0,24.64,24.60,24.65
$GC,948,-1.48,-109.2,2274,1921,3403,3293,169.6,-15.3,128,953,0.00,2.45,0.00,0.000,260,0.000,0.027,2274,3468,3348,3403,3293,0,0,0,0,0,0,24.84,24.58,24.85
$GC,983,-1.48,-109.2,2274,3467,3403,3293,174.8,-14.8,131,988,0.00,2.42,0.00,0.000,1030,0.000,0.015,2274,1892,3348,3403,3293,0,0,0,0,0,0,24.67,24.63,24.68
$GC,1236,-1.48,-109.2,2274,1892,3403,3293,213.9,-15.6,150,1242,0.00,2.50,0.00,0.000,516,0.000,0.030,2274,336,3348,3403,3293,0,0,0,0,0,0,24.86,24.60,24.88
$GC,1254,-1.48,-109.2,2274,336,3404,3293,213.9,-15.6,150,1260,0.00,2.42,0.00,0.000,1030,0.000,0.016,2274,1903,3349,3404,3294,0,0,0,0,0,0,24.69,24.65,24.70
$GC,1523,-1.48,-109.2,2274,1903,3403,3293,255.2,-13.5,157,1528,0.00,2.53,0.00,0.000,516,0.000,0.031,2274,334,3348,3403,3294,0,0,0,0,0,0,24.88,24.62,24.89
$GC,1566,-1.48,-109.2,2274,334,3403,3293,261.4,-13.6,158,1572,0.00,2.45,0.00,0.000,1030,0.000,0.017,2274,1897,3348,3403,3293,0,0,0,0,0,0,24.71,24.66,24.72
$STATE,1848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1848,begin apogee
$GC,1853,-0.26,0.0,2274,1898,3403,3293,300.9,-14.2,165,1947,1.75,0.00,88.82,0.651,10246,0.082,0.000,2667,1898,2900,2958,2842,0,0,0,0,0,0,24.58,23.99,23.53
$STATE,1948,end apogee,CONTROL_FINISHED_OK
$STATE,1948,begin climb
$GC,1950,1.48,109.2,2667,1898,2958,2841,304.9,0.0,167,2046,2.22,0.00,89.65,0.647,10758,0.037,0.000,3230,1898,2454,2513,2396,0,0,0,0,0,0,24.20,23.94,23.49
$GC,2294,1.48,109.2,3229,1898,2513,2386,276.0,10.9,176,2299,0.00,2.58,0.00,0.000,260,0.000,0.048,3230,3418,2449,2513,2386,0,0,0,0,0,0,24.66,24.36,24.68
$GC,2461,1.48,109.2,3229,3418,2510,2384,256.8,11.8,180,2467,0.00,2.47,0.00,0.000,1030,0.000,0.022,3230,1874,2447,2510,2384,0,0,0,0,0,0,24.53,24.47,24.55
$GC,2741,1.48,109.3,3229,1874,2510,2381,228.1,10.0,187,2746,0.00,2.72,0.00,0.000,516,0.000,0.051,3230,272,2445,2510,2381,0,0,0,0,0,0,24.77,24.48,24.79
$GC,2758,1.48,109.4,3229,271,2510,2381,228.1,10.0,187,2764,0.00,2.53,0.00,0.000,1030,0.000,0.021,3230,1843,2445,2510,2381,0,0,0,0,0,0,24.59,24.54,24.61
$GC,3027,1.52,138.5,3229,1842,2510,2379,205.5,7.4,194,3056,0.00,2.72,24.40,0.596,8452,0.000,0.046,3230,3417,2334,2395,2273,0,0,0,0,0,0,24.81,24.11,23.64
$GC,3089,1.56,168.8,3229,3417,2393,2272,202.4,7.3,195,3121,0.00,2.53,26.60,0.589,9222,0.000,0.021,3230,1834,2211,2265,2158,0,0,0,0,0,0,24.46,24.41,23.61
$GC,3360,1.56,168.8,3229,1834,2264,2149,169.4,13.1,221,3365,0.00,2.60,0.00,0.000,516,0.000,0.039,3230,271,2206,2264,2148,0,0,0,0,0,0,24.70,24.43,24.72
$GC,3372,1.56,168.8,3229,272,2263,2148,167.6,13.3,222,3378,0.00,2.55,0.00,0.000,1030,0.000,0.021,3230,1855,2205,2263,2148,0,0,0,0,0,0,24.53,24.48,24.54
$GC,3629,1.56,168.8,3229,1855,2263,2146,137.4,10.4,247,3634,0.00,2.58,0.00,0.000,260,0.000,0.037,3230,3428,2205,2263,2147,0,0,0,0,0,0,24.77,24.49,24.79
$GC,3699,1.56,168.8,3230,3428,2261,2146,130.0,11.3,253,3705,0.00,2.50,0.00,0.000,1030,0.000,0.020,3230,1844,2203,2261,2146,0,0,0,0,0,0,24.60,24.55,24.63
$GC,3946,1.56,172.3,3229,1844,2262,2145,104.4,9.7,278,3952,0.00,2.58,0.00,0.000,516,0.000,0.036,3230,274,2203,2262,2145,0,0,0,0,0,0,24.81,24.54,24.83
$GC,3974,1.56,172.8,3230,274,2261,2145,102.0,10.0,280,3982,0.00,2.53,0.00,0.000,1030,0.000,0.018,3230,1864,2202,2261,2144,0,0,0,0,0,0,24.64,24.59,24.65
$GC,4242,1.57,177.9,3230,1864,2261,2144,76.2,9.5,327,4259,0.05,2.65,7.72,0.449,10756,0.125,0.040,3254,266,2173,2229,2118,0,0,0,0,0,0,24.65,24.28,24.00
$GC,4273,1.57,177.9,3254,266,2228,2118,73.1,10.4,331,4280,0.00,2.55,0.00,0.000,1030,0.000,0.018,3254,1858,2172,2228,2117,0,0,0,0,0,0,24.57,24.52,24.58
$GC,4547,1.58,183.7,3254,1857,2228,2116,44.7,9.5,380,4563,0.00,2.58,6.35,0.408,8452,0.000,0.033,3254,3425,2150,2205,2096,0,0,0,0,0,0,24.82,24.43,24.03
$GC,4897,1.59,195.3,3254,3424,2202,2096,12.2,9.0,441,4919,0.00,2.50,11.45,0.431,9222,0.000,0.025,3255,1838,2103,2156,2050,0,0,0,0,0,0,24.63,24.52,23.98
$STATE,4991,end climb,SURFACE_DEPTH_REACHED
$STATE,4991,begin surface coast
$FINISH,0.2,1.012979
$STATE,5028,end surface coast,CONTROL_FINISHED_OK
$STATE,5028,begin surface
$SM_CCo,5049,102.45,0.449,0,0,1349,380.21
$SM_GC,1.03,11.82,0.08,102.45,0.042,0.097,0.449,423,1927,1349,-7.26,-1.41,380.21,0,0,0,0,0,0,24.49,24.60,23.72
$IRIDIUM_FIX,2223.01,-15749.38,060618,080925
$TT8_MAMPS,0.021721,0.349034
$HUMID,53.81
$INTERNAL_PRESSURE,9.31076
$TCM_TEMP,22.90
$XPDR_PINGS,4
$24V_AH,23.49,65.910
$10V_AH,9.85,47.534
$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,25.975,65.900,255.000,102.450,0.000,83.546,148.633,266.552,1.000,0.000,40.278,1324.849,2175.251,451.546,1862.040,164.277,0.000,965.140,0.000,1290.101,0.000,0.540,0.000
$DEVICE_MAMPS,167.535,97.155,651.015,449.055,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,311.657,308.469,433.341,707.595,874.001,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342972
$DATA_FILE_SIZE,37341,463
$CAP_FILE_SIZE,70459,0
$CFSIZE,259248128,226844672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,285.05,1
$GPS,060618,094702,2236.186,-15747.869,31,2.0,58,10.0,0.0,2.5,10,4.5