version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 571
start: 6 8 118 17 54 49
data:
$ID,148
$MISSION,15
$DIVE,571
$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,46
$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
$GPS1,080618,174432,2244.8503,-15754.2344,10,1.3,37,10.1,0.1,76.2,8,4.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-61.2
$GPS2,080618,175422,2244.8723,-15754.2666,12,1.4,35,10.1,0.4,336.9,8,5.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED7
$TGT_LATLONG,2245.000,-15754.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,33.9,263,-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,-63.2,427,1812,1344,1335,0.0,0.0,0,89,0.00,0.12,-67.35,0.000,16390,0.000,0.308,427,1998,3158,3202,3114,0,0,0,0,0,0,24.63,23.68,24.65
$GC,93,-1.59,-99.6,427,2000,3202,3115,3.0,-6.1,10,115,9.43,2.40,-2.83,0.000,18692,0.145,0.036,2242,3482,3308,3364,3253,0,0,0,0,0,0,24.23,23.61,24.39
$GC,258,-1.59,-99.6,2241,3482,3364,3254,47.3,-26.6,38,265,0.00,2.53,0.00,0.000,1030,0.000,0.018,2242,1888,3309,3364,3255,0,0,0,0,0,0,24.53,24.49,24.55
$GC,533,-1.59,-99.6,2241,1888,3364,3255,108.6,-19.5,84,538,0.00,2.55,0.00,0.000,260,0.000,0.025,2242,3476,3309,3364,3255,0,0,0,0,0,0,24.77,24.51,24.79
$GC,624,-1.59,-99.6,2241,3476,3364,3255,124.9,-17.6,92,633,0.00,2.47,0.00,0.000,1030,0.000,0.016,2242,1881,3309,3364,3255,0,0,0,0,0,0,24.62,24.57,24.63
$GC,873,-1.59,-99.6,2241,1881,3364,3256,165.7,-15.4,117,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1881,3310,3364,3256,0,0,0,0,0,0,24.82,24.84,24.83
$GC,1141,-1.59,-99.6,2241,1881,3364,3257,206.1,-15.0,141,1147,0.00,2.55,0.00,0.000,260,0.000,0.025,2242,3475,3310,3364,3257,0,0,0,0,0,0,24.84,24.59,24.86
$GC,1188,-1.59,-99.6,2241,3475,3364,3257,212.9,-15.1,142,1193,0.00,2.42,0.00,0.000,1030,0.000,0.016,2242,1899,3310,3364,3257,0,0,0,0,0,0,24.68,24.63,24.69
$GC,1465,-1.59,-99.6,2241,1899,3364,3257,256.3,-15.3,149,1471,0.00,2.55,0.00,0.000,516,0.000,0.031,2242,325,3310,3364,3257,0,0,0,0,0,0,24.87,24.61,24.89
$GC,1498,-1.59,-99.6,2241,325,3364,3257,256.3,-15.3,149,1504,0.00,2.47,0.00,0.000,1030,0.000,0.016,2241,1911,3310,3364,3257,0,0,0,0,0,0,24.70,24.65,24.70
$GC,1753,-1.59,-99.6,2241,1911,3364,3258,299.3,-14.5,156,1758,0.00,2.60,0.00,0.000,516,0.000,0.034,2242,334,3310,3364,3257,0,0,0,0,0,0,24.88,24.61,24.90
$GC,1781,-1.59,-99.6,2241,334,3364,3257,299.3,-14.5,156,1787,0.00,2.45,0.00,0.000,1030,0.000,0.018,2242,1892,3310,3364,3257,0,0,0,0,0,0,24.70,24.65,24.72
$STATE,1797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1798,begin apogee
$GC,1803,-0.26,0.0,2242,1892,3364,3257,306.1,-14.4,157,1890,1.92,0.00,81.75,0.659,10246,0.087,0.000,2668,1892,2899,2957,2842,0,0,0,0,0,0,24.55,23.97,23.50
$STATE,1891,end apogee,CONTROL_FINISHED_OK
$STATE,1891,begin climb
$GC,1893,1.59,99.6,2667,1892,2957,2842,308.9,0.0,159,1982,2.40,0.00,83.72,0.646,10502,0.040,0.000,3267,1892,2492,2549,2435,0,0,0,0,0,0,24.19,23.94,23.48
$GC,2199,1.59,99.6,3266,1892,2549,2425,279.3,11.8,167,2205,0.00,2.60,0.00,0.000,260,0.000,0.050,3267,3412,2487,2549,2425,0,0,0,0,0,0,24.64,24.34,24.65
$GC,2222,1.59,99.6,3266,3412,2547,2425,279.3,11.8,167,2228,0.00,2.50,0.00,0.000,1030,0.000,0.024,3267,1869,2486,2547,2425,0,0,0,0,0,0,24.46,24.39,24.48
$GC,2486,1.60,110.0,3266,1869,2548,2422,252.0,8.9,174,2497,0.00,0.00,8.93,0.555,8198,0.000,0.000,3267,1869,2450,2512,2389,0,0,0,0,0,0,24.73,24.20,23.74
$GC,2726,1.60,113.6,3266,1869,2512,2385,229.8,9.6,180,2736,0.00,2.75,4.53,0.442,8708,0.000,0.057,3267,270,2436,2499,2373,0,0,0,0,0,0,24.75,24.22,23.87
$GC,2754,1.61,117.1,3266,270,2499,2373,229.8,9.6,180,2765,0.00,2.55,4.70,0.448,9222,0.000,0.023,3267,1843,2420,2484,2357,0,0,0,0,0,0,24.52,24.46,23.81
$GC,3013,1.61,117.5,3266,1843,2485,2354,202.2,10.0,187,3018,0.00,2.62,0.00,0.000,516,0.000,0.039,3267,266,2419,2485,2354,0,0,0,0,0,0,24.76,24.48,24.77
$GC,3080,1.61,118.8,3266,266,2485,2354,195.8,9.9,190,3087,0.00,2.55,0.00,0.000,1030,0.000,0.025,3267,1850,2419,2485,2353,0,0,0,0,0,0,24.59,24.53,24.60
$GC,3329,1.65,147.1,3266,1850,2485,2351,175.0,7.0,215,3362,0.00,2.75,26.02,0.591,8452,0.000,0.048,3267,3432,2299,2357,2242,0,0,0,0,0,0,24.80,24.08,23.63
$GC,3406,1.65,154.3,3266,3432,2355,2240,168.5,9.2,222,3419,0.00,2.55,7.62,0.504,9222,0.000,0.021,3267,1839,2270,2327,2213,0,0,0,0,0,0,24.47,24.41,23.74
$GC,3660,1.66,156.7,3266,1839,2327,2206,143.6,9.7,247,3665,0.00,2.62,0.00,0.000,260,0.000,0.033,3267,3432,2266,2327,2206,0,0,0,0,0,0,24.72,24.46,24.75
$GC,3704,1.66,156.7,3266,3432,2325,2206,138.8,10.4,251,3710,0.00,2.53,0.00,0.000,1030,0.000,0.020,3267,1844,2266,2325,2207,0,0,0,0,0,0,24.56,24.51,24.58
$GC,3960,1.67,167.9,3266,1844,2325,2204,113.7,8.8,276,3983,0.00,2.65,12.15,0.519,8452,0.000,0.032,3267,3429,2214,2270,2158,0,0,0,0,0,0,24.79,24.25,23.80
$GC,4163,1.68,170.8,3266,3429,2269,2156,93.7,9.7,301,4172,0.00,2.53,3.85,0.358,9222,0.000,0.024,3267,1839,2202,2258,2146,0,0,0,0,0,0,24.46,23.79,23.94
$GC,4442,1.68,170.8,3266,1839,2258,2144,66.5,10.5,350,4451,0.00,2.58,0.00,0.000,516,0.000,0.042,3267,275,2201,2258,2144,0,0,0,0,0,0,24.79,24.53,24.81
$GC,4519,1.68,170.8,3266,275,2258,2144,57.5,12.2,363,4527,0.00,2.53,0.00,0.000,1030,0.000,0.018,3267,1867,2201,2259,2144,0,0,0,0,0,0,24.63,24.58,24.64
$GC,4797,1.70,194.9,3266,1868,2258,2144,36.2,7.5,412,4827,0.08,2.67,21.73,0.474,10756,0.101,0.031,3301,270,2103,2152,2055,0,0,0,0,0,0,24.60,24.08,23.81
$GC,4847,1.72,211.1,3300,270,2152,2054,32.3,8.3,419,4869,0.00,2.53,15.02,0.454,9222,0.000,0.018,3301,1849,2037,2082,1993,0,0,0,0,0,0,24.47,24.43,23.77
$STATE,5102,end climb,SURFACE_DEPTH_REACHED
$STATE,5103,begin surface coast
$FINISH,0.2,1.010997
$STATE,5132,end surface coast,CONTROL_FINISHED_OK
$STATE,5132,begin surface
$SM_CCo,5153,90.43,0.449,0,0,1349,380.21
$SM_GC,1.01,11.93,0.00,90.43,0.037,0.000,0.449,417,1853,1349,-7.28,-1.33,380.21,0,0,0,0,0,0,24.47,24.76,23.70
$IRIDIUM_FIX,2237.01,-15754.99,080618,160556
$TT8_MAMPS,0.020972,0.34454
$HUMID,54.72
$INTERNAL_PRESSURE,9.31076
$TCM_TEMP,22.20
$XPDR_PINGS,8
$24V_AH,23.48,68.633
$10V_AH,9.86,50.083
$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,25.750,66.775,270.025,90.425,0.000,25.064,59.208,355.800,2.000,0.000,37.619,1318.280,2167.335,464.565,1699.341,196.045,0.000,961.622,0.000,1257.620,0.000,0.539,0.000
$DEVICE_MAMPS,145.350,308.295,658.665,449.055,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,315.070,314.269,445.742,703.099,860.599,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343104
$DATA_FILE_SIZE,37357,469
$CAP_FILE_SIZE,70468,0
$CFSIZE,259248128,225280000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,264.61,1
$GPS,080618,192345,2245.194,-15754.202,13,1.6,53,10.1,0.2,263.2,6,5.3