version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 559
start: 6 7 118 21 51 19
data:
$ID,148
$MISSION,15
$DIVE,559
$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,44
$R_STBD_OVSHOOT,32
$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
$GPS1,070618,213839,2245.0947,-15754.0264,13,1.6,53,10.1,0.3,319.4,5,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-61.8
$GPS2,070618,215051,2245.1343,-15754.0693,14,1.1,54,10.1,0.4,326.2,7,5.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED7
$TGT_LATLONG,2245.000,-15754.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,186.0,334,-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,-63.2,434,1897,1348,1333,0.0,0.0,0,88,0.00,0.00,-67.55,0.000,16390,0.000,0.000,434,1896,3158,3205,3111,0,0,0,0,0,0,24.65,23.71,24.66
$GC,92,-1.60,-108.5,434,1896,3205,3112,2.9,-5.2,10,116,9.85,2.58,-3.53,0.000,18948,0.164,0.038,2235,324,3344,3402,3287,0,0,0,0,0,0,24.22,23.63,24.32
$GC,291,-1.60,-108.5,2234,324,3402,3287,56.2,-25.8,44,298,0.00,2.53,0.00,0.000,1030,0.000,0.016,2235,1925,3344,3402,3287,0,0,0,0,0,0,24.56,24.51,24.57
$GC,564,-1.60,-108.5,2235,1926,3402,3288,117.4,-21.5,86,569,0.00,2.60,0.00,0.000,516,0.000,0.027,2235,320,3345,3402,3288,0,0,0,0,0,0,24.78,24.53,24.79
$GC,577,-1.60,-108.5,2234,320,3402,3288,120.0,-20.8,87,583,0.00,2.47,0.00,0.000,1030,0.000,0.015,2235,1917,3345,3403,3288,0,0,0,0,0,0,24.61,24.58,24.63
$GC,834,-1.60,-108.5,2235,1918,3402,3289,161.6,-15.2,112,840,0.00,2.60,0.00,0.000,516,0.000,0.030,2235,319,3345,3402,3288,0,0,0,0,0,0,24.82,24.56,24.83
$GC,900,-1.60,-108.5,2234,319,3402,3288,172.5,-16.0,118,905,0.00,2.45,0.00,0.000,1030,0.000,0.015,2235,1904,3345,3402,3288,0,0,0,0,0,0,24.65,24.62,24.67
$GC,1154,-1.60,-108.5,2234,1903,3402,3289,214.3,-16.6,137,1160,0.00,2.47,0.00,0.000,260,0.000,0.027,2235,3457,3345,3402,3289,0,0,0,0,0,0,24.84,24.59,24.86
$GC,1191,-1.60,-108.5,2235,3457,3403,3289,214.3,-16.6,137,1199,0.00,2.42,0.00,0.000,1030,0.000,0.016,2235,1883,3345,3402,3289,0,0,0,0,0,0,24.68,24.63,24.69
$GC,1437,-1.60,-108.5,2235,1883,3402,3289,257.7,-14.4,144,1443,0.00,2.53,0.00,0.000,260,0.000,0.028,2235,3455,3345,3402,3289,0,0,0,0,0,0,24.87,24.61,24.88
$GC,1454,-1.60,-108.5,2235,3455,3402,3289,257.7,-14.4,144,1460,0.00,2.40,0.00,0.000,1030,0.000,0.017,2235,1902,3345,3402,3289,0,0,0,0,0,0,24.70,24.65,24.70
$GC,1724,-1.60,-108.5,2234,1902,3402,3289,296.4,-13.5,151,1729,0.00,2.55,0.00,0.000,260,0.000,0.034,2235,3461,3345,3402,3289,0,0,0,0,0,0,24.88,24.61,24.90
$GC,1740,-1.60,-108.5,2234,3460,3402,3289,296.4,-13.5,151,1747,0.00,2.42,0.00,0.000,1030,0.000,0.018,2235,1896,3345,3402,3289,0,0,0,0,0,0,24.71,24.66,24.72
$STATE,1767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1767,begin apogee
$GC,1773,-0.26,0.0,2235,1896,3402,3289,303.1,-13.7,152,1866,1.98,0.00,88.38,0.653,10246,0.091,0.000,2668,1895,2900,2959,2841,0,0,0,0,0,0,24.54,23.98,23.51
$STATE,1867,end apogee,CONTROL_FINISHED_OK
$STATE,1867,begin climb
$GC,1870,1.60,108.5,2668,1896,2959,2840,306.2,0.0,154,1970,2.47,0.00,90.47,0.643,10758,0.041,0.000,3269,1896,2455,2515,2396,0,0,0,0,0,0,24.20,23.94,23.49
$GC,2209,1.60,108.5,3269,1896,2515,2388,273.3,12.2,163,2214,0.00,2.58,0.00,0.000,260,0.000,0.049,3269,3395,2451,2515,2387,0,0,0,0,0,0,24.65,24.34,24.67
$GC,2271,1.60,108.5,3269,3395,2512,2387,268.2,12.1,164,2276,0.00,2.45,0.00,0.000,1030,0.000,0.022,3269,1870,2450,2513,2387,0,0,0,0,0,0,24.50,24.44,24.51
$GC,2536,1.60,110.2,3269,1870,2512,2386,238.2,9.8,171,2541,0.00,2.72,0.00,0.000,516,0.000,0.054,3269,272,2449,2513,2385,0,0,0,0,0,0,24.75,24.45,24.76
$GC,2598,1.61,116.2,3268,272,2512,2385,234.4,9.4,172,2612,0.00,2.50,6.80,0.512,9222,0.000,0.021,3270,1828,2425,2490,2361,0,0,0,0,0,0,24.58,24.52,23.83
$GC,2861,1.61,116.2,3269,1828,2490,2356,207.7,10.4,179,2866,0.00,2.70,0.00,0.000,260,0.000,0.050,3269,3420,2423,2490,2356,0,0,0,0,0,0,24.77,24.46,24.78
$GC,2988,1.61,116.2,3269,3419,2488,2355,193.2,10.7,185,2996,0.00,2.53,0.00,0.000,1030,0.000,0.021,3269,1830,2421,2488,2355,0,0,0,0,0,0,24.62,24.56,24.63
$GC,3239,1.62,123.2,3269,1830,2488,2354,170.3,9.3,210,3252,0.00,2.70,6.93,0.500,8452,0.000,0.033,3269,3431,2396,2461,2331,0,0,0,0,0,0,24.82,24.37,23.91
$GC,3327,1.63,133.2,3269,3431,2460,2330,162.1,8.9,218,3343,0.00,2.53,10.07,0.530,9222,0.000,0.021,3269,1846,2355,2418,2293,0,0,0,0,0,0,24.59,24.54,23.80
$GC,3591,1.64,145.8,3269,1846,2417,2289,137.7,8.7,244,3608,0.00,2.62,11.93,0.528,8452,0.000,0.031,3269,3433,2304,2365,2244,0,0,0,0,0,0,24.77,24.10,23.80
$GC,3740,1.65,147.3,3269,3433,2362,2241,123.1,9.8,258,3745,0.00,2.53,0.00,0.000,1030,0.000,0.026,3269,1843,2301,2362,2241,0,0,0,0,0,0,24.55,24.48,24.56
$GC,3998,1.68,175.3,3269,1843,2362,2239,101.6,7.0,283,4035,0.00,2.65,25.17,0.528,8452,0.000,0.031,3269,3424,2183,2238,2129,0,0,0,0,0,0,24.79,24.13,23.70
$GC,4104,1.68,175.3,3269,3424,2234,2128,91.5,11.1,299,4111,0.00,2.53,0.00,0.000,1030,0.000,0.019,3269,1845,2181,2234,2128,0,0,0,0,0,0,24.51,24.46,24.52
$GC,4380,1.69,186.2,3269,1845,2234,2126,65.4,8.8,348,4395,0.05,0.00,10.45,0.463,10246,0.126,0.000,3293,1845,2139,2191,2087,0,0,0,0,0,0,24.58,24.26,23.89
$GC,4665,1.70,187.0,3292,1845,2191,2084,36.8,9.9,398,4673,0.00,2.60,0.00,0.000,260,0.000,0.032,3293,3425,2137,2191,2084,0,0,0,0,0,0,24.78,24.51,24.79
$GC,4848,1.70,187.5,3292,3424,2191,2084,17.7,9.9,430,4856,0.00,2.50,0.00,0.000,1030,0.000,0.018,3293,1845,2137,2191,2084,0,0,0,0,0,0,24.64,24.59,24.65
$STATE,5007,end climb,SURFACE_DEPTH_REACHED
$STATE,5008,begin surface coast
$FINISH,0.2,1.014916
$STATE,5049,end surface coast,CONTROL_FINISHED_OK
$STATE,5049,begin surface
$SM_CCo,5071,103.32,0.448,0,0,1349,380.21
$SM_GC,0.85,11.82,0.08,103.32,0.038,0.092,0.448,433,1983,1349,-7.23,-1.10,380.21,0,0,0,0,0,0,24.56,24.66,23.72
$IRIDIUM_FIX,2234.68,-15757.16,070618,195912
$TT8_MAMPS,0.020972,0.285369
$HUMID,54.64
$INTERNAL_PRESSURE,9.31076
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.49,67.643
$10V_AH,9.97,49.191
$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,26.175,66.225,250.200,103.325,0.000,25.938,46.511,490.821,0.250,0.000,57.060,1340.935,2046.034,467.433,1832.986,231.973,0.000,968.219,0.000,1279.970,0.000,0.541,0.000
$DEVICE_MAMPS,163.710,91.800,653.310,447.525,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,312.103,310.638,445.750,698.716,859.441,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343100
$DATA_FILE_SIZE,37274,465
$CAP_FILE_SIZE,72383,0
$CFSIZE,259248128,225800192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,296.38,1
$GPS,070618,231903,2244.740,-15754.367,11,1.1,51,10.1,0.3,103.4,6,7.2