version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 539
start: 6 6 118 11 34 19
data:
$ID,148
$MISSION,15
$DIVE,539
$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,59
$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
$GPS1,060618,112702,2235.7747,-15747.9336,11,1.5,38,10.0,0.5,198.5,8,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-62.0
$GPS2,060618,113351,2235.7886,-15748.0020,12,1.4,34,10.0,0.2,36.8,8,6.4
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,24.9,392,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.54,-63.2,434,1854,1342,1339,0.0,0.0,0,89,0.00,0.00,-67.68,0.000,16390,0.000,0.000,434,1853,3158,3203,3114,0,0,0,0,0,0,24.65,23.72,24.66
$GC,93,-1.59,-100.6,434,1853,3203,3115,3.0,-6.0,10,115,10.02,2.45,-2.83,0.000,18948,0.171,0.040,2240,358,3312,3369,3255,0,0,0,0,0,0,24.22,23.63,24.39
$GC,129,-1.59,-100.6,2239,358,3370,3255,16.4,-32.4,15,137,0.00,2.45,0.00,0.000,1030,0.000,0.015,2240,1902,3312,3370,3255,0,0,0,0,0,0,24.48,24.46,24.51
$GC,406,-1.59,-100.6,2239,1906,3369,3256,73.1,-16.7,64,414,0.00,2.50,0.00,0.000,260,0.000,0.027,2240,3466,3313,3370,3257,0,0,0,0,0,0,24.76,24.51,24.77
$GC,527,-1.59,-100.6,2239,3466,3370,3257,94.6,-16.8,85,535,0.00,2.42,0.00,0.000,1030,0.000,0.016,2240,1928,3313,3370,3257,0,0,0,0,0,0,24.59,24.58,24.60
$GC,788,-1.59,-100.6,2239,1928,3370,3258,137.1,-16.6,113,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1928,3314,3370,3258,0,0,0,0,0,0,24.82,24.84,24.84
$GC,1034,-1.59,-100.6,2240,1928,3370,3259,183.4,-18.8,138,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1928,3314,3369,3259,0,0,0,0,0,0,24.84,24.87,24.87
$GC,1284,-1.59,-100.6,2239,1928,3369,3259,225.9,-16.1,151,1290,0.00,2.55,0.00,0.000,516,0.000,0.030,2240,327,3314,3370,3259,0,0,0,0,0,0,24.87,24.62,24.89
$GC,1322,-1.59,-100.6,2240,326,3369,3259,225.9,-16.1,151,1328,0.00,2.45,0.00,0.000,1030,0.000,0.015,2240,1912,3315,3370,3260,0,0,0,0,0,0,24.70,24.66,24.72
$GC,1567,-1.59,-100.6,2240,1912,3370,3259,265.7,-14.2,158,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1912,3314,3369,3259,0,0,0,0,0,0,24.89,24.91,24.90
$STATE,1805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1805,begin apogee
$GC,1811,-0.26,0.0,2240,1912,3369,3260,301.1,-14.8,164,1898,1.95,0.00,82.40,0.658,10246,0.088,0.000,2671,1912,2900,2958,2842,0,0,0,0,0,0,24.58,24.00,23.53
$STATE,1899,end apogee,CONTROL_FINISHED_OK
$STATE,1899,begin climb
$GC,1901,1.59,100.6,2671,1912,2958,2842,304.7,0.0,166,1996,2.38,2.60,83.40,0.648,10500,0.037,0.050,3265,3401,2488,2546,2430,0,0,0,0,0,0,24.21,23.99,23.49
$GC,2084,1.59,100.6,3265,3401,2545,2424,295.6,7.7,170,2092,0.00,2.47,0.00,0.000,1030,0.000,0.023,3266,1873,2484,2545,2424,0,0,0,0,0,0,24.40,24.34,24.42
$GC,2331,1.59,100.6,3265,1873,2545,2420,263.6,11.3,177,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1873,2482,2545,2420,0,0,0,0,0,0,24.69,24.71,24.71
$GC,2571,1.59,100.6,3265,1873,2545,2417,237.9,10.4,183,2576,0.00,2.55,0.00,0.000,260,0.000,0.038,3266,3405,2481,2546,2417,0,0,0,0,0,0,24.75,24.45,24.77
$GC,2930,1.59,100.6,3265,3405,2543,2415,203.3,10.2,191,2937,0.00,2.50,0.00,0.000,1030,0.000,0.021,3266,1840,2479,2543,2415,0,0,0,0,0,0,24.63,24.58,24.65
$GC,3175,1.64,142.7,3265,1840,2543,2412,185.4,5.5,213,3219,0.00,2.70,34.50,0.599,8708,0.000,0.045,3266,279,2317,2376,2259,0,0,0,0,0,0,24.83,24.08,23.63
$GC,3287,1.64,142.7,3265,279,2375,2257,175.8,10.8,223,3294,0.00,2.50,0.00,0.000,1030,0.000,0.021,3266,1833,2315,2375,2256,0,0,0,0,0,0,24.49,24.43,24.50
$GC,3535,1.65,148.6,3265,1834,2375,2252,151.4,9.4,248,3547,0.00,2.62,6.18,0.470,8452,0.000,0.038,3266,3421,2293,2352,2234,0,0,0,0,0,0,24.75,24.20,23.88
$GC,3605,1.65,148.6,3265,3421,2350,2234,144.4,10.3,254,3615,0.00,2.55,0.00,0.000,1030,0.000,0.021,3266,1846,2291,2350,2233,0,0,0,0,0,0,24.52,24.49,24.54
$GC,3855,1.65,148.6,3265,1846,2350,2230,117.7,10.6,279,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1846,2290,2350,2230,0,0,0,0,0,0,24.79,24.81,24.80
$GC,4113,1.65,148.6,3265,1846,2350,2229,89.4,10.5,313,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1846,2290,2351,2229,0,0,0,0,0,0,24.82,24.84,24.84
$GC,4388,1.67,170.3,3265,1846,2350,2227,67.0,7.7,362,4416,0.00,2.62,18.77,0.498,8452,0.000,0.032,3266,3422,2204,2257,2152,0,0,0,0,0,0,24.85,24.24,23.84
$GC,4495,1.68,172.3,3265,3422,2256,2150,56.9,9.8,380,4503,0.00,2.53,0.00,0.000,1030,0.000,0.018,3266,1832,2202,2256,2149,0,0,0,0,0,0,24.56,24.51,24.57
$GC,4768,1.71,200.8,3265,1832,2256,2147,35.2,7.0,429,4805,0.08,2.65,26.90,0.473,10500,0.098,0.031,3297,3425,2080,2130,2031,0,0,0,0,0,0,24.58,24.16,23.77
$GC,4946,1.71,200.8,3296,3424,2130,2028,17.7,11.0,459,4954,0.00,2.50,0.00,0.000,1030,0.000,0.018,3297,1844,2078,2130,2027,0,0,0,0,0,0,24.55,24.51,24.56
$STATE,5081,end climb,SURFACE_DEPTH_REACHED
$STATE,5081,begin surface coast
$FINISH,0.2,1.023062
$STATE,5111,end surface coast,CONTROL_FINISHED_OK
$STATE,5111,begin surface
$SM_CCo,5132,94.38,0.448,0,0,1350,380.21
$SM_GC,1.01,11.93,0.08,94.38,0.040,0.093,0.448,431,2017,1350,-7.24,-1.16,380.21,0,0,0,0,0,0,24.49,24.59,23.72
$IRIDIUM_FIX,2223.01,-15754.58,060618,094848
$TT8_MAMPS,0.020972,0.343042
$HUMID,54.44
$INTERNAL_PRESSURE,9.31076
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.49,66.044
$10V_AH,9.91,47.682
$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,26.350,45.825,252.150,94.375,0.000,28.151,44.445,189.938,0.000,0.000,36.572,1363.459,2036.260,439.549,1648.333,159.960,0.000,968.718,0.000,1353.575,0.000,0.539,0.000
$DEVICE_MAMPS,170.595,92.565,657.900,448.290,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,327.230,325.913,468.275,752.162,916.598,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342984
$DATA_FILE_SIZE,40512,488
$CAP_FILE_SIZE,64903,0
$CFSIZE,259248128,226758656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,253.63,1
$GPS,060618,130320,2236.123,-15748.124,60,1.2,76,10.0,0.6,215.8,8,4.5