version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 540
start: 6 6 118 13 12 52
data:
$ID,148
$MISSION,15
$DIVE,540
$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,53
$R_STBD_OVSHOOT,41
$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
$GPS1,060618,130320,2236.1228,-15748.1240,60,1.2,76,10.0,0.6,215.8,8,4.5
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-60.2
$GPS2,060618,131216,2236.1025,-15748.2266,12,1.5,35,10.0,1.1,274.1,8,4.7
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,79.1,431,-26.2,-10.000,-28.43,1099
$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,-1.47,-71.5,430,1884,1340,1339,0.0,0.0,0,87,0.00,0.00,-67.72,0.000,16390,0.000,0.000,430,1885,3192,3237,3147,0,0,0,0,0,0,24.65,23.72,24.67
$GC,91,-1.51,-109.5,430,1884,3237,3148,3.0,-6.4,10,113,10.12,2.58,-2.92,0.000,18692,0.168,0.033,2266,3483,3349,3405,3293,0,0,0,0,0,0,24.22,23.63,24.39
$GC,122,-1.51,-109.5,2266,3483,3405,3294,14.5,-32.5,14,129,0.00,2.50,0.00,0.000,1030,0.000,0.016,2266,1883,3349,3405,3294,0,0,0,0,0,0,24.49,24.44,24.50
$GC,397,-1.51,-109.5,2265,1882,3405,3295,72.6,-17.5,63,405,0.00,2.58,0.00,0.000,260,0.000,0.027,2266,3480,3350,3406,3295,0,0,0,0,0,0,24.75,24.50,24.77
$GC,446,-1.51,-109.5,2265,3480,3405,3295,82.0,-19.5,71,454,0.00,2.50,0.00,0.000,1030,0.000,0.016,2266,1877,3350,3405,3295,0,0,0,0,0,0,24.60,24.56,24.61
$GC,712,-1.51,-109.5,2265,1878,3405,3295,124.8,-15.2,106,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1877,3350,3405,3295,0,0,0,0,0,0,24.81,24.83,24.82
$GC,953,-1.51,-109.5,2265,1878,3405,3296,165.4,-16.7,130,958,0.00,2.45,0.00,0.000,516,0.000,0.028,2266,331,3350,3405,3296,0,0,0,0,0,0,24.84,24.58,24.85
$GC,965,-1.51,-109.5,2265,331,3405,3296,167.7,-16.7,131,971,0.00,2.47,0.00,0.000,1030,0.000,0.015,2266,1929,3350,3405,3296,0,0,0,0,0,0,24.68,24.63,24.68
$GC,1250,-1.51,-109.5,2265,1930,3405,3297,212.3,-14.4,153,1256,0.00,2.60,0.00,0.000,516,0.000,0.030,2266,327,3351,3406,3297,0,0,0,0,0,0,24.87,24.60,24.88
$GC,1288,-1.51,-109.5,2265,327,3405,3297,212.3,-14.4,153,1295,0.00,2.45,0.00,0.000,1030,0.000,0.016,2266,1908,3351,3405,3297,0,0,0,0,0,0,24.70,24.65,24.71
$GC,1533,-1.51,-109.5,2266,1907,3405,3297,251.0,-13.3,160,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1908,3351,3405,3297,0,0,0,0,0,0,24.88,24.91,24.90
$GC,1773,-1.51,-109.5,2265,1907,3405,3297,282.4,-13.2,166,1778,0.00,2.58,0.00,0.000,516,0.000,0.039,2266,342,3351,3405,3297,0,0,0,0,0,0,24.90,24.61,24.91
$GC,1805,-1.51,-109.5,2265,342,3405,3297,282.4,-13.2,166,1811,0.00,2.42,0.00,0.000,1030,0.000,0.018,2266,1889,3351,3405,3297,0,0,0,0,0,0,24.72,24.68,24.74
$STATE,1937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1937,begin apogee
$GC,1942,-0.26,0.0,2266,1889,3405,3297,304.1,-13.1,170,2037,1.77,0.00,89.72,0.659,10246,0.079,0.000,2668,1889,2899,2957,2842,0,0,0,0,0,0,24.58,23.99,23.52
$STATE,2038,end apogee,CONTROL_FINISHED_OK
$STATE,2038,begin climb
$GC,2040,1.51,109.5,2667,1889,2956,2842,306.6,0.0,172,2144,2.28,2.62,90.80,0.649,10500,0.037,0.058,3238,3408,2451,2508,2394,0,0,0,0,0,0,24.20,23.84,23.50
$GC,2156,1.51,109.5,3238,3408,2507,2392,302.2,5.3,175,2162,0.00,2.50,0.00,0.000,1030,0.000,0.024,3238,1877,2449,2508,2391,0,0,0,0,0,0,24.30,24.23,24.32
$GC,2430,1.51,109.5,3237,1877,2508,2384,270.7,10.9,182,2435,0.00,2.58,0.00,0.000,260,0.000,0.040,3238,3409,2446,2508,2384,0,0,0,0,0,0,24.68,24.37,24.69
$GC,2452,1.51,109.5,3237,3409,2507,2384,270.7,10.9,182,2457,0.00,2.53,0.00,0.000,1030,0.000,0.024,3238,1846,2445,2507,2384,0,0,0,0,0,0,24.50,24.42,24.51
$GC,2716,1.52,112.9,3237,1846,2507,2381,242.8,9.7,189,2721,0.00,2.62,0.00,0.000,260,0.000,0.038,3238,3416,2444,2507,2381,0,0,0,0,0,0,24.75,24.45,24.76
$GC,2908,1.52,112.9,3237,3416,2505,2379,226.1,10.1,193,2914,0.00,2.53,0.00,0.000,1030,0.000,0.023,3238,1836,2442,2505,2379,0,0,0,0,0,0,24.60,24.54,24.62
$GC,3161,1.53,120.7,3238,1837,2505,2377,200.1,9.3,200,3176,0.00,2.67,8.98,0.549,8708,0.000,0.049,3238,270,2406,2470,2343,0,0,0,0,0,0,24.81,24.30,23.84
$GC,3272,1.55,138.4,3238,270,2469,2342,190.4,8.3,207,3295,0.00,2.55,16.65,0.584,9222,0.000,0.021,3238,1851,2334,2394,2274,0,0,0,0,0,0,24.58,24.53,23.68
$GC,3543,1.56,151.8,3237,1851,2394,2268,167.3,8.7,234,3562,0.00,0.00,12.23,0.552,8198,0.000,0.000,3238,1851,2280,2338,2222,0,0,0,0,0,0,24.75,24.06,23.75
$GC,3803,1.57,160.3,3237,1851,2338,2217,141.8,9.2,260,3816,0.00,2.67,8.30,0.511,8452,0.000,0.039,3238,3428,2245,2304,2187,0,0,0,0,0,0,24.75,24.30,23.84
$GC,3841,1.58,164.7,3238,3428,2302,2186,138.3,9.6,263,3852,0.00,2.55,5.25,0.442,9222,0.000,0.021,3238,1836,2227,2283,2172,0,0,0,0,0,0,24.51,24.45,23.84
$GC,4090,1.59,176.3,3237,1835,2284,2169,113.0,8.9,288,4104,0.05,0.00,11.18,0.516,10246,0.132,0.000,3259,1835,2180,2234,2126,0,0,0,0,0,0,24.56,24.22,23.82
$GC,4355,1.60,181.9,3259,1835,2234,2123,87.1,9.5,325,4370,0.00,2.62,6.10,0.440,8708,0.000,0.037,3259,272,2157,2213,2102,0,0,0,0,0,0,24.77,24.37,23.94
$GC,4379,1.61,185.4,3259,271,2213,2102,84.6,9.7,328,4395,0.00,2.55,4.82,0.399,9222,0.000,0.019,3260,1858,2144,2199,2089,0,0,0,0,0,0,24.52,24.47,23.89
$GC,4662,1.61,185.4,3259,1858,2198,2086,53.7,10.6,378,4669,0.00,2.55,0.00,0.000,260,0.000,0.033,3259,3421,2142,2198,2086,0,0,0,0,0,0,24.78,24.51,24.79
$GC,4693,1.61,185.4,3259,3422,2198,2086,50.6,10.5,383,4701,0.00,2.50,0.00,0.000,1030,0.000,0.018,3260,1845,2142,2198,2086,0,0,0,0,0,0,24.61,24.56,24.63
$GC,4968,1.65,224.1,3259,1845,2198,2085,26.4,6.4,432,5011,0.00,2.62,33.83,0.475,8452,0.000,0.030,3260,3425,1983,2023,1943,0,0,0,0,0,0,24.82,24.02,23.76
$GC,5173,1.65,224.1,3259,3425,2021,1943,5.6,10.8,467,5181,0.00,2.50,0.00,0.000,1030,0.000,0.018,3260,1847,1981,2020,1943,0,0,0,0,0,0,24.55,24.50,24.56
$STATE,5192,end climb,SURFACE_DEPTH_REACHED
$STATE,5192,begin surface coast
$FINISH,0.2,1.023287
$STATE,5215,end surface coast,CONTROL_FINISHED_OK
$STATE,5215,begin surface
$SM_CCo,5236,84.32,0.451,0,0,1349,380.21
$SM_GC,0.91,11.70,0.00,84.32,0.037,0.000,0.451,434,1847,1349,-7.23,-1.50,380.21,0,0,0,0,0,0,24.46,24.75,23.71
$IRIDIUM_FIX,2227.67,-15746.34,060618,112842
$TT8_MAMPS,0.020972,0.349783
$HUMID,54.64
$INTERNAL_PRESSURE,9.30099
$TCM_TEMP,22.70
$XPDR_PINGS,7
$24V_AH,23.50,66.121
$10V_AH,9.84,47.755
$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,25.925,66.475,287.850,84.325,0.000,60.138,53.710,209.643,1.750,0.000,37.989,1332.607,2278.133,461.086,1645.926,159.933,0.000,986.077,0.000,1280.403,0.000,0.539,0.000
$DEVICE_MAMPS,168.300,166.005,659.430,450.585,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,317.949,316.507,448.131,711.286,865.174,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342976
$DATA_FILE_SIZE,40553,474
$CAP_FILE_SIZE,70636,0
$CFSIZE,259248128,226705408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,244.25,1
$GPS,060618,144302,2236.023,-15747.999,11,1.2,50,10.0,0.6,354.6,8,4.8