version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 542
start: 6 6 118 16 29 53
data:
$ID,148
$MISSION,15
$DIVE,542
$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,57
$R_STBD_OVSHOOT,46
$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
$GPS1,060618,162151,2236.0747,-15748.0537,21,1.4,61,10.0,0.2,334.8,6,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-60.6
$GPS2,060618,162920,2236.0801,-15748.1494,47,1.3,80,10.0,0.2,70.2,8,5.7
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,71.9,295,-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,14,begin dive
$GC,16,-1.44,-74.5,432,1837,1343,1335,0.0,0.0,0,88,0.00,0.08,-69.05,0.000,16390,0.000,0.505,432,1957,3205,3250,3161,0,0,0,0,0,0,24.66,23.72,24.68
$GC,92,-1.49,-116.8,431,1957,3251,3161,2.6,-4.7,10,115,10.02,2.67,-3.22,0.000,18948,0.164,0.041,2272,322,3378,3437,3319,0,0,0,0,0,0,24.23,23.63,24.39
$GC,133,-1.49,-116.8,2271,322,3437,3320,17.7,-31.8,16,141,0.00,2.50,0.00,0.000,1030,0.000,0.015,2272,1917,3378,3437,3320,0,0,0,0,0,0,24.51,24.46,24.52
$GC,410,-1.49,-116.8,2271,1920,3438,3321,76.0,-19.3,65,418,0.00,2.50,0.00,0.000,260,0.000,0.027,2271,3477,3379,3437,3321,0,0,0,0,0,0,24.76,24.51,24.77
$GC,476,-1.49,-116.8,2271,3477,3437,3321,88.3,-19.5,76,484,0.00,2.50,0.00,0.000,1030,0.000,0.016,2272,1882,3379,3438,3321,0,0,0,0,0,0,24.60,24.55,24.61
$GC,734,-1.49,-116.8,2271,1882,3438,3322,131.1,-15.6,106,739,0.00,2.53,0.00,0.000,260,0.000,0.025,2272,3463,3379,3437,3322,0,0,0,0,0,0,24.81,24.56,24.82
$GC,747,-1.49,-116.8,2271,3463,3438,3323,133.5,-15.9,107,752,0.00,2.42,0.00,0.000,1030,0.000,0.015,2272,1893,3380,3438,3323,0,0,0,0,0,0,24.64,24.60,24.65
$GC,1002,-1.49,-116.8,2271,1893,3437,3324,177.4,-16.6,132,1007,0.00,2.50,0.00,0.000,516,0.000,0.030,2272,332,3380,3437,3324,0,0,0,0,0,0,24.84,24.58,24.85
$GC,1019,-1.49,-116.8,2271,332,3438,3324,179.9,-17.0,133,1027,0.00,2.42,0.00,0.000,1030,0.000,0.015,2272,1908,3380,3437,3324,0,0,0,0,0,0,24.67,24.63,24.68
$GC,1294,-1.49,-116.8,2271,1909,3437,3324,223.7,-14.7,149,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,1909,3381,3438,3324,0,0,0,0,0,0,24.86,24.89,24.88
$GC,1534,-1.49,-116.8,2271,1909,3437,3324,260.5,-15.5,155,1540,0.00,2.58,0.00,0.000,516,0.000,0.037,2272,338,3380,3437,3324,0,0,0,0,0,0,24.88,24.61,24.89
$GC,1573,-1.49,-116.8,2271,338,3437,3324,260.5,-15.5,155,1580,0.00,2.45,0.00,0.000,1030,0.000,0.017,2272,1897,3380,3437,3324,0,0,0,0,0,0,24.70,24.65,24.72
$STATE,1815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1815,begin apogee
$GC,1821,-0.26,0.0,2271,1897,3437,3324,300.5,-13.6,162,1921,1.77,0.00,95.55,0.657,10246,0.079,0.000,2671,1897,2899,2959,2840,0,0,0,0,0,0,24.58,23.98,23.51
$STATE,1922,end apogee,CONTROL_FINISHED_OK
$STATE,1922,begin climb
$GC,1924,1.49,116.8,2671,1897,2959,2840,303.2,0.0,164,2031,2.25,2.60,96.75,0.644,10500,0.037,0.057,3235,3405,2422,2482,2362,0,0,0,0,0,0,24.19,23.96,23.49
$GC,2099,1.49,116.8,3234,3405,2481,2356,292.3,8.9,168,2105,0.00,2.47,0.00,0.000,1030,0.000,0.023,3235,1874,2419,2481,2357,0,0,0,0,0,0,24.38,24.32,24.39
$GC,2352,1.49,116.8,3234,1874,2480,2352,257.2,11.8,175,2358,0.00,2.80,0.00,0.000,516,0.000,0.055,3235,261,2416,2480,2352,0,0,0,0,0,0,24.68,24.38,24.70
$GC,2385,1.49,116.8,3234,262,2481,2352,257.2,11.8,175,2391,0.00,2.55,0.00,0.000,1030,0.000,0.022,3235,1840,2416,2480,2352,0,0,0,0,0,0,24.51,24.45,24.52
$GC,2639,1.50,123.2,3234,1840,2481,2349,228.4,9.4,182,2647,0.00,0.00,5.68,0.483,8198,0.000,0.000,3235,1839,2396,2460,2333,0,0,0,0,0,0,24.75,24.31,23.85
$GC,2879,1.50,123.6,3234,1839,2460,2331,205.0,10.0,188,2884,0.00,2.70,0.00,0.000,260,0.000,0.053,3235,3422,2395,2460,2330,0,0,0,0,0,0,24.75,24.46,24.77
$GC,3097,1.52,135.5,3234,3422,2459,2329,185.0,8.9,203,3120,0.00,2.53,11.77,0.558,9222,0.000,0.021,3235,1843,2345,2407,2283,0,0,0,0,0,0,24.62,24.56,23.79
$GC,3359,1.55,160.1,3234,1843,2407,2279,161.0,7.8,229,3388,0.00,0.00,21.58,0.574,8454,0.000,0.000,3235,1842,2245,2304,2187,0,0,0,0,0,0,24.77,23.97,23.66
$GC,3628,1.55,166.1,3234,1843,2304,2182,135.3,9.5,256,3641,0.00,2.65,6.32,0.468,8708,0.000,0.037,3235,265,2220,2279,2162,0,0,0,0,0,0,24.74,24.19,23.87
$GC,3669,1.56,169.7,3234,265,2279,2161,131.8,9.7,259,3681,0.00,2.55,4.50,0.406,9222,0.000,0.020,3235,1859,2207,2265,2149,0,0,0,0,0,0,24.52,24.46,23.86
$GC,3931,1.57,176.3,3234,1859,2266,2145,105.6,9.4,285,3943,0.00,2.62,6.90,0.467,8452,0.000,0.034,3235,3426,2180,2237,2124,0,0,0,0,0,0,24.76,24.34,23.90
$GC,4196,1.57,176.3,3234,3426,2233,2124,77.2,10.5,327,4205,0.00,2.53,0.00,0.000,1030,0.000,0.018,3235,1843,2178,2233,2124,0,0,0,0,0,0,24.60,24.55,24.62
$GC,4475,1.59,192.5,3234,1843,2233,2123,49.3,8.5,376,4496,0.05,0.00,15.27,0.477,10246,0.122,0.000,3261,1843,2113,2163,2064,0,0,0,0,0,0,24.63,24.12,23.87
$GC,4769,1.63,227.6,3260,1843,2163,2061,26.1,6.9,427,4806,0.00,2.67,30.33,0.470,8452,0.000,0.031,3261,3430,1971,2012,1931,0,0,0,0,0,0,24.79,24.13,23.75
$GC,4904,1.63,227.6,3261,3430,2011,1930,11.2,12.9,449,4912,0.00,2.53,0.00,0.000,1030,0.000,0.018,3261,1844,1970,2012,1929,0,0,0,0,0,0,24.51,24.46,24.53
$STATE,4977,end climb,SURFACE_DEPTH_REACHED
$STATE,4977,begin surface coast
$FINISH,0.2,1.023166
$STATE,5007,end surface coast,CONTROL_FINISHED_OK
$STATE,5009,begin surface
$SM_CCo,5030,83.07,0.450,0,0,1350,380.21
$SM_GC,0.92,11.62,0.08,83.07,0.032,0.090,0.450,431,1987,1350,-7.24,-1.13,380.21,0,0,0,0,0,0,24.46,24.56,23.72
$IRIDIUM_FIX,2227.67,-15728.56,060618,144458
$TT8_MAMPS,0.021721,0.280875
$HUMID,54.29
$INTERNAL_PRESSURE,9.30099
$TCM_TEMP,22.00
$XPDR_PINGS,7
$24V_AH,23.49,66.267
$10V_AH,9.98,47.903
$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,25.725,56.550,294.650,83.075,0.000,27.361,46.960,180.134,1.750,0.000,82.529,1285.947,2082.875,457.890,1600.678,152.738,0.000,962.809,0.000,1261.512,0.000,0.540,0.000
$DEVICE_MAMPS,163.710,504.900,657.135,449.820,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,313.506,312.115,444.954,709.034,870.632,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343000
$DATA_FILE_SIZE,37321,467
$CAP_FILE_SIZE,65597,0
$CFSIZE,259248128,226619392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.171,256.14,1
$GPS,060618,175632,2236.140,-15748.083,32,1.6,47,10.0,0.4,255.2,8,4.9