version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 573
start: 6 8 118 21 9 24
data:
$ID,148
$MISSION,15
$DIVE,573
$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,48
$R_STBD_OVSHOOT,48
$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
$GPS1,080618,210002,2244.9392,-15754.0049,37,1.4,76,10.1,0.5,232.4,8,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-59.8
$GPS2,080618,210857,2244.9521,-15754.0234,10,1.4,32,10.1,0.4,97.7,8,6.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED7
$TGT_LATLONG,2245.000,-15754.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,282.9,315,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.54,-63.2,430,1884,1344,1334,0.0,0.0,0,89,0.00,0.00,-66.90,0.000,16390,0.000,0.000,430,1884,3158,3203,3113,0,0,0,0,0,0,24.64,23.69,24.65
$GC,92,-1.59,-101.2,430,1884,3203,3113,3.1,-6.0,10,115,9.60,2.58,-2.95,0.000,18692,0.152,0.037,2236,3470,3316,3371,3261,0,0,0,0,0,0,24.21,23.62,24.32
$GC,304,-1.59,-101.2,2236,3470,3371,3262,56.4,-22.0,46,311,0.00,2.50,0.00,0.000,1030,0.000,0.018,2236,1879,3316,3371,3262,0,0,0,0,0,0,24.56,24.51,24.57
$GC,578,-1.59,-101.2,2236,1878,3371,3262,115.0,-19.5,89,584,0.00,2.47,0.00,0.000,516,0.000,0.037,2236,328,3316,3371,3262,0,0,0,0,0,0,24.78,24.52,24.79
$GC,603,-1.59,-101.2,2236,328,3371,3262,119.9,-19.6,91,610,0.00,2.47,0.00,0.000,1030,0.000,0.015,2236,1920,3317,3371,3263,0,0,0,0,0,0,24.61,24.56,24.62
$GC,859,-1.59,-101.2,2236,1921,3371,3263,166.6,-16.6,116,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1921,3317,3371,3263,0,0,0,0,0,0,24.82,24.84,24.83
$GC,1110,-1.59,-101.2,2236,1921,3371,3264,206.1,-14.6,138,1116,0.00,2.60,0.00,0.000,516,0.000,0.029,2236,317,3317,3371,3264,0,0,0,0,0,0,24.84,24.58,24.86
$GC,1158,-1.59,-101.2,2235,317,3371,3264,212.9,-14.7,139,1163,0.00,2.45,0.00,0.000,1030,0.000,0.015,2236,1899,3317,3371,3264,0,0,0,0,0,0,24.68,24.63,24.69
$GC,1436,-1.59,-101.2,2236,1899,3371,3265,252.1,-14.0,146,1441,0.00,2.55,0.00,0.000,516,0.000,0.037,2236,329,3318,3371,3265,0,0,0,0,0,0,24.87,24.60,24.88
$GC,1454,-1.59,-101.2,2236,329,3371,3265,252.1,-14.0,146,1460,0.00,2.45,0.00,0.000,1030,0.000,0.016,2237,1899,3317,3371,3264,0,0,0,0,0,0,24.69,24.64,24.70
$GC,1722,-1.59,-101.2,2236,1900,3371,3265,292.0,-14.2,153,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1900,3317,3370,3265,0,0,0,0,0,0,24.88,24.90,24.89
$STATE,1800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1800,begin apogee
$GC,1806,-0.26,0.0,2236,1900,3371,3265,304.1,-15.0,155,1894,1.95,0.00,83.40,0.655,10246,0.085,0.000,2669,1899,2899,2955,2843,0,0,0,0,0,0,24.56,23.98,23.51
$STATE,1894,end apogee,CONTROL_FINISHED_OK
$STATE,1895,begin climb
$GC,1897,1.59,101.2,2669,1899,2955,2843,307.4,0.0,157,1987,2.42,0.00,84.97,0.647,10246,0.037,0.000,3266,1899,2486,2543,2430,0,0,0,0,0,0,24.20,23.94,23.48
$GC,2203,1.59,101.2,3265,1900,2543,2420,277.0,12.4,165,2208,0.00,2.58,0.00,0.000,260,0.000,0.055,3266,3407,2481,2543,2419,0,0,0,0,0,0,24.64,24.33,24.66
$GC,2280,1.59,101.2,3265,3406,2540,2418,271.9,12.1,166,2287,0.00,2.47,0.00,0.000,1030,0.000,0.024,3266,1869,2479,2540,2418,0,0,0,0,0,0,24.49,24.42,24.51
$GC,2527,1.59,101.2,3265,1869,2541,2417,242.5,10.1,173,2532,0.00,2.58,0.00,0.000,260,0.000,0.040,3266,3410,2478,2540,2417,0,0,0,0,0,0,24.74,24.44,24.75
$GC,2590,1.59,105.3,3265,3410,2539,2416,238.5,9.6,174,2595,0.00,2.50,0.00,0.000,1030,0.000,0.023,3266,1847,2477,2539,2416,0,0,0,0,0,0,24.57,24.51,24.58
$GC,2853,1.63,134.6,3265,1847,2539,2414,217.6,6.9,181,2887,0.00,2.65,27.75,0.610,8452,0.000,0.044,3266,3409,2349,2407,2292,0,0,0,0,0,0,24.79,23.93,23.60
$GC,2914,1.67,165.2,3265,3409,2406,2291,214.6,6.8,182,2948,0.00,2.53,26.83,0.596,9222,0.000,0.025,3266,1846,2225,2275,2175,0,0,0,0,0,0,24.43,24.37,23.56
$GC,3197,1.67,165.2,3265,1846,2275,2167,178.7,13.2,200,3203,0.00,2.67,0.00,0.000,516,0.000,0.044,3266,263,2221,2276,2166,0,0,0,0,0,0,24.70,24.41,24.71
$GC,3254,1.67,165.2,3265,264,2274,2166,171.3,13.5,205,3259,0.00,2.55,0.00,0.000,1030,0.000,0.020,3266,1851,2220,2274,2166,0,0,0,0,0,0,24.54,24.49,24.56
$GC,3508,1.67,165.2,3265,1851,2274,2165,141.3,11.9,230,3513,0.00,2.60,0.00,0.000,260,0.000,0.039,3266,3421,2219,2274,2165,0,0,0,0,0,0,24.77,24.48,24.78
$GC,3554,1.67,165.2,3265,3421,2273,2165,136.3,10.7,234,3559,0.00,2.53,0.00,0.000,1030,0.000,0.020,3266,1832,2219,2273,2165,0,0,0,0,0,0,24.60,24.55,24.62
$GC,3812,1.69,181.6,3265,1832,2273,2163,112.0,8.3,259,3830,0.05,0.00,14.07,0.520,10246,0.130,0.000,3287,1832,2158,2211,2106,0,0,0,0,0,0,24.61,24.21,23.80
$GC,4086,1.69,181.6,3287,1832,2211,2101,81.0,12.6,299,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1832,2156,2211,2101,0,0,0,0,0,0,24.77,24.79,24.79
$GC,4364,1.69,181.6,3287,1832,2211,2100,54.5,10.5,348,4371,0.00,2.62,0.00,0.000,260,0.000,0.034,3287,3426,2155,2210,2100,0,0,0,0,0,0,24.82,24.55,24.83
$GC,4624,1.70,193.7,3287,3426,2209,2100,32.7,8.7,394,4641,0.00,2.50,11.30,0.445,9222,0.000,0.018,3288,1839,2109,2158,2060,0,0,0,0,0,0,24.67,24.62,23.96
$GC,4912,1.71,202.1,3287,1839,2157,2058,6.3,9.1,444,4927,0.00,2.65,8.98,0.410,8452,0.000,0.031,3288,3428,2073,2122,2025,0,0,0,0,0,0,24.81,24.37,23.99
$STATE,4945,end climb,SURFACE_DEPTH_REACHED
$STATE,4945,begin surface coast
$FINISH,2.2,1.023142
$STATE,4951,end surface coast,CONTROL_FINISHED_OK
$STATE,4951,begin surface
$SM_CCo,4976,106.97,0.448,0,0,1349,380.21
$SM_GC,1.04,12.43,2.45,106.97,0.062,0.016,0.448,435,1891,1349,-7.23,1.36,380.21,0,0,0,0,0,0,24.44,24.51,23.70
$IRIDIUM_FIX,2234.68,-15754.11,080618,192705
$TT8_MAMPS,0.021721,0.283122
$HUMID,54.05
$INTERNAL_PRESSURE,9.31076
$TCM_TEMP,22.90
$XPDR_PINGS,5
$24V_AH,23.48,68.799
$10V_AH,9.94,50.227
$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,26.450,55.950,257.300,106.975,0.000,28.663,44.705,315.682,1.250,0.000,34.350,1275.583,2094.381,466.208,1604.370,189.867,0.000,926.893,0.000,1217.347,0.000,0.539,0.000
$DEVICE_MAMPS,152.235,55.080,654.840,448.290,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,302.977,296.421,420.160,688.310,854.883,0.000,0.000,0.000,0.000,0.000
$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,37330,450
$CAP_FILE_SIZE,65022,0
$CFSIZE,259248128,225202176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,293.34,1
$GPS,080618,223539,2245.246,-15754.813,13,1.9,53,10.1,1.0,42.0,6,5.0