version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 558
start: 6 7 118 20 10 31
data:
$ID,148
$MISSION,15
$DIVE,558
$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,43
$R_STBD_OVSHOOT,49
$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
$GPS1,070618,195732,2245.0671,-15754.2539,14,1.5,47,10.1,0.4,326.1,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-61.0
$GPS2,070618,201003,2245.0791,-15754.3545,8,1.2,36,10.1,0.6,272.0,8,4.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED7
$TGT_LATLONG,2245.000,-15754.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,87.5,302,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.54,-63.2,433,1994,1348,1330,0.0,0.0,0,89,0.00,0.12,-67.45,0.000,16390,0.000,0.307,434,1825,3158,3204,3113,0,0,0,0,0,0,24.63,23.70,24.65
$GC,93,-1.59,-98.4,433,1825,3204,3113,3.1,-6.3,10,109,9.95,0.00,-2.70,0.000,18950,0.168,0.000,2241,1825,3303,3359,3248,0,0,0,0,0,0,24.20,23.66,24.37
$GC,375,-1.59,-98.4,2240,1825,3359,3250,73.1,-20.8,60,382,0.00,2.65,0.00,0.000,260,0.000,0.024,2241,3473,3304,3359,3250,0,0,0,0,0,0,24.74,24.49,24.75
$GC,428,-1.59,-98.4,2240,3474,3359,3251,84.5,-22.9,69,437,0.00,2.50,0.00,0.000,1030,0.000,0.015,2241,1869,3305,3359,3251,0,0,0,0,0,0,24.58,24.53,24.59
$GC,684,-1.59,-98.4,2240,1869,3359,3251,137.0,-18.4,100,689,0.00,2.60,0.00,0.000,260,0.000,0.031,2241,3483,3305,3360,3251,0,0,0,0,0,0,24.79,24.53,24.81
$GC,740,-1.59,-98.4,2240,3483,3359,3252,147.2,-18.8,105,745,0.00,2.45,0.00,0.000,1030,0.000,0.015,2241,1895,3305,3359,3252,0,0,0,0,0,0,24.63,24.58,24.64
$GC,995,-1.59,-98.4,2240,1896,3359,3252,187.5,-15.5,130,1001,0.00,2.55,0.00,0.000,260,0.000,0.027,2241,3484,3305,3359,3252,0,0,0,0,0,0,24.82,24.57,24.84
$GC,1085,-1.59,-98.4,2240,3484,3359,3253,202.6,-17.3,138,1091,0.00,2.45,0.00,0.000,1030,0.000,0.016,2241,1894,3306,3359,3253,0,0,0,0,0,0,24.66,24.62,24.68
$GC,1364,-1.59,-98.4,2240,1894,3359,3253,245.2,-14.4,145,1370,0.00,2.53,0.00,0.000,516,0.000,0.031,2241,331,3306,3359,3253,0,0,0,0,0,0,24.86,24.60,24.87
$GC,1411,-1.59,-98.4,2240,331,3359,3253,251.6,-14.2,146,1417,0.00,2.45,0.00,0.000,1030,0.000,0.015,2241,1915,3306,3359,3253,0,0,0,0,0,0,24.69,24.65,24.70
$GC,1690,-1.59,-98.4,2240,1916,3359,3253,289.6,-13.4,153,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1916,3306,3359,3253,0,0,0,0,0,0,24.88,24.90,24.89
$STATE,1807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1807,begin apogee
$GC,1813,-0.26,0.0,2241,1801,3359,3253,305.2,-13.1,156,1899,1.95,0.00,80.90,0.654,10246,0.090,0.000,2670,1801,2899,2955,2843,0,0,0,0,0,0,24.55,23.98,23.51
$STATE,1900,end apogee,CONTROL_FINISHED_OK
$STATE,1900,begin climb
$GC,1902,1.59,98.4,2670,1801,2955,2843,307.7,0.0,158,1990,2.45,0.00,82.70,0.646,10246,0.042,0.000,3265,1801,2497,2554,2441,0,0,0,0,0,0,24.18,23.94,23.49
$GC,2210,1.59,98.4,3264,1801,2554,2431,280.0,11.1,166,2215,0.00,2.75,0.00,0.000,260,0.000,0.050,3265,3396,2492,2554,2430,0,0,0,0,0,0,24.65,24.34,24.67
$GC,2297,1.59,98.4,3264,3396,2552,2430,271.3,10.5,168,2303,0.00,2.40,0.00,0.000,1030,0.000,0.030,3265,1903,2491,2552,2430,0,0,0,0,0,0,24.49,24.43,24.51
$GC,2577,1.61,116.6,3264,1903,2553,2427,247.2,8.1,175,2599,0.00,2.72,15.25,0.595,8708,0.000,0.052,3265,325,2423,2485,2362,0,0,0,0,0,0,24.75,24.14,23.66
$GC,2617,1.63,136.0,3264,325,2485,2361,243.7,8.0,176,2641,0.00,2.45,17.92,0.595,9222,0.000,0.021,3265,1834,2345,2402,2288,0,0,0,0,0,0,24.44,24.39,23.59
$GC,2899,1.63,136.0,3264,1834,2402,2280,215.2,10.1,183,2904,0.00,2.55,0.00,0.000,516,0.000,0.041,3265,329,2341,2402,2280,0,0,0,0,0,0,24.71,24.43,24.73
$GC,2976,1.63,136.0,3264,329,2402,2280,210.7,10.1,184,2983,0.00,2.47,0.00,0.000,1030,0.000,0.023,3265,1855,2340,2402,2279,0,0,0,0,0,0,24.56,24.49,24.57
$GC,3222,1.64,142.7,3264,1856,2402,2277,183.8,9.3,203,3234,0.00,2.72,6.20,0.487,8452,0.000,0.048,3265,3435,2317,2379,2256,0,0,0,0,0,0,24.78,24.35,23.88
$GC,3262,1.64,142.7,3264,3434,2378,2256,180.1,10.0,206,3270,0.00,2.45,0.00,0.000,1030,0.000,0.021,3265,1894,2316,2377,2256,0,0,0,0,0,0,24.54,24.49,24.56
$GC,3512,1.65,149.9,3264,1894,2377,2253,153.6,9.2,231,3524,0.00,2.60,7.57,0.499,8452,0.000,0.032,3265,3437,2287,2347,2227,0,0,0,0,0,0,24.79,24.34,23.87
$GC,3752,1.66,161.2,3264,3437,2347,2224,132.4,8.8,253,3771,0.00,2.53,10.98,0.519,9222,0.000,0.018,3265,1832,2241,2299,2184,0,0,0,0,0,0,24.61,24.56,23.82
$GC,4012,1.69,182.0,3264,1832,2297,2180,110.2,7.8,279,4038,0.08,0.00,18.27,0.526,10246,0.099,0.000,3297,1832,2157,2210,2105,0,0,0,0,0,0,24.55,24.14,23.74
$GC,4301,1.69,182.0,3296,1832,2210,2101,79.1,10.0,323,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1832,2155,2210,2100,0,0,0,0,0,0,24.75,24.77,24.77
$GC,4578,1.69,182.0,3296,1832,2210,2099,49.5,10.1,372,4586,0.00,2.62,0.00,0.000,260,0.000,0.032,3297,3436,2155,2210,2100,0,0,0,0,0,0,24.81,24.53,24.82
$GC,4724,1.70,190.7,3296,3436,2209,2100,36.3,9.1,397,4740,0.00,2.50,8.73,0.430,9222,0.000,0.018,3297,1849,2121,2174,2069,0,0,0,0,0,0,24.65,24.60,23.99
$GC,5007,1.70,190.7,3296,1849,2174,2067,7.8,10.9,447,5014,0.00,2.60,0.00,0.000,260,0.000,0.031,3297,3438,2120,2174,2067,0,0,0,0,0,0,24.81,24.54,24.82
$STATE,5047,end climb,SURFACE_DEPTH_REACHED
$STATE,5047,begin surface coast
$FINISH,0.2,1.023312
$STATE,5071,end surface coast,CONTROL_FINISHED_OK
$STATE,5071,begin surface
$SM_CCo,5095,100.72,0.448,0,0,1350,380.21
$SM_GC,0.86,11.98,2.45,100.72,0.044,0.016,0.448,435,1902,1350,-7.22,1.41,380.21,0,0,0,0,0,0,24.53,24.59,23.71
$IRIDIUM_FIX,2234.68,-15757.16,070618,181530
$TT8_MAMPS,0.020972,0.285369
$HUMID,54.13
$INTERNAL_PRESSURE,9.31076
$TCM_TEMP,22.60
$XPDR_PINGS,5
$24V_AH,23.49,67.553
$10V_AH,9.96,49.116
$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,26.400,56.250,248.525,100.725,0.000,25.306,46.606,523.399,1.250,0.000,40.921,1329.542,2116.660,462.743,1828.709,220.587,0.000,944.163,0.000,1254.766,0.000,0.542,0.000
$DEVICE_MAMPS,168.300,306.765,654.075,447.525,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,307.434,304.255,431.474,681.267,838.202,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343060
$DATA_FILE_SIZE,37101,458
$CAP_FILE_SIZE,70147,0
$CFSIZE,259248128,225845248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,292.09,1
$GPS,070618,213839,2245.095,-15754.026,13,1.6,53,10.1,0.3,319.4,5,6.8