version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 578
start: 6 9 118 5 42 20
data:
$ID,148
$MISSION,15
$DIVE,578
$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,52
$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
$GPS1,090618,053256,2244.9526,-15754.1348,13,1.5,52,10.1,0.3,274.0,8,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-61.9
$GPS2,090618,054152,2245.0493,-15754.2031,13,1.1,36,10.1,0.5,355.9,8,5.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED7
$TGT_LATLONG,2245.000,-15754.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,161.1,91,-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,-63.2,417,1870,1350,1332,0.0,0.0,0,89,0.00,0.00,-67.22,0.000,16390,0.000,0.000,417,1871,3160,3203,3117,0,0,0,0,0,0,24.63,23.68,24.65
$GC,92,-1.58,-96.0,417,1870,3203,3116,3.1,-6.5,10,114,9.85,2.55,-2.58,0.000,18948,0.160,0.039,2242,318,3294,3351,3238,0,0,0,0,0,0,24.21,23.61,24.37
$GC,224,-1.58,-96.0,2241,318,3350,3239,39.0,-22.3,32,232,0.00,2.50,0.00,0.000,1030,0.000,0.014,2242,1921,3294,3350,3239,0,0,0,0,0,0,24.53,24.49,24.55
$GC,502,-1.58,-96.0,2242,1921,3351,3239,94.0,-18.0,81,511,0.00,2.62,0.00,0.000,516,0.000,0.036,2242,320,3295,3351,3239,0,0,0,0,0,0,24.77,24.51,24.78
$GC,554,-1.58,-96.0,2242,320,3350,3240,103.3,-19.7,88,561,0.00,2.47,0.00,0.000,1030,0.000,0.015,2242,1914,3295,3351,3240,0,0,0,0,0,0,24.60,24.57,24.62
$GC,803,-1.58,-96.0,2241,1914,3351,3241,146.4,-18.4,113,808,0.00,2.45,0.00,0.000,260,0.000,0.025,2242,3460,3296,3351,3241,0,0,0,0,0,0,24.81,24.56,24.82
$GC,827,-1.58,-96.0,2241,3460,3351,3241,151.3,-18.2,115,833,0.00,2.45,0.00,0.000,1030,0.000,0.015,2242,1872,3296,3351,3241,0,0,0,0,0,0,24.64,24.60,24.65
$GC,1082,-1.58,-96.0,2241,1871,3350,3242,194.6,-16.2,140,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1872,3296,3351,3242,0,0,0,0,0,0,24.84,24.86,24.85
$GC,1360,-1.58,-96.0,2241,1871,3351,3243,231.9,-12.4,150,1366,0.00,2.55,0.00,0.000,260,0.000,0.026,2242,3462,3297,3351,3243,0,0,0,0,0,0,24.87,24.60,24.88
$GC,1392,-1.58,-96.0,2241,3462,3351,3243,231.9,-12.4,150,1398,0.00,2.40,0.00,0.000,1030,0.000,0.016,2242,1900,3297,3351,3243,0,0,0,0,0,0,24.70,24.65,24.70
$GC,1647,-1.58,-96.0,2241,1900,3350,3243,269.0,-13.4,157,1653,0.00,2.53,0.00,0.000,516,0.000,0.032,2242,341,3297,3351,3243,0,0,0,0,0,0,24.88,24.61,24.89
$GC,1710,-1.58,-96.0,2242,341,3351,3243,275.2,-13.6,158,1716,0.00,2.42,0.00,0.000,1030,0.000,0.016,2242,1888,3296,3350,3243,0,0,0,0,0,0,24.70,24.66,24.72
$STATE,1891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1891,begin apogee
$GC,1896,-0.26,0.0,2242,1889,3350,3243,303.3,-13.6,163,1980,1.92,0.00,78.93,0.662,10246,0.087,0.000,2668,1889,2900,2958,2842,0,0,0,0,0,0,24.56,23.97,23.50
$STATE,1981,end apogee,CONTROL_FINISHED_OK
$STATE,1981,begin climb
$GC,1984,1.58,96.0,2668,1889,2958,2841,306.2,0.0,165,2074,2.38,2.67,80.20,0.647,10500,0.039,0.059,3261,3418,2505,2564,2447,0,0,0,0,0,0,24.20,23.82,23.48
$GC,2145,1.58,96.0,3261,3418,2562,2443,295.5,8.2,169,2151,0.00,2.50,0.00,0.000,1030,0.000,0.025,3261,1882,2502,2562,2442,0,0,0,0,0,0,24.38,24.31,24.39
$GC,2419,1.58,96.0,3261,1882,2562,2438,263.8,10.8,176,2424,0.00,2.78,0.00,0.000,516,0.000,0.055,3261,270,2500,2562,2438,0,0,0,0,0,0,24.69,24.39,24.71
$GC,2446,1.58,96.0,3261,269,2563,2438,263.8,10.8,176,2452,0.00,2.55,0.00,0.000,1030,0.000,0.023,3261,1843,2499,2562,2437,0,0,0,0,0,0,24.51,24.46,24.53
$GC,2706,1.61,114.4,3261,1843,2562,2434,238.5,8.1,183,2728,0.00,2.75,15.25,0.599,8708,0.000,0.041,3261,262,2431,2494,2369,0,0,0,0,0,0,24.75,24.14,23.65
$GC,2808,1.62,123.7,3261,262,2494,2367,230.3,9.0,185,2828,0.00,2.60,9.35,0.554,9222,0.000,0.023,3261,1858,2393,2455,2332,0,0,0,0,0,0,24.51,24.44,23.71
$GC,3066,1.62,123.7,3261,1858,2455,2327,199.1,11.2,192,3071,0.00,2.67,0.00,0.000,260,0.000,0.052,3261,3428,2391,2455,2327,0,0,0,0,0,0,24.73,24.42,24.75
$GC,3266,1.64,140.8,3261,3428,2454,2325,180.3,8.2,211,3288,0.00,2.55,15.05,0.580,9222,0.000,0.022,3261,1834,2325,2385,2265,0,0,0,0,0,0,24.60,24.54,23.69
$GC,3527,1.65,149.4,3261,1834,2386,2259,156.9,9.1,237,3537,0.00,0.00,8.48,0.521,8198,0.000,0.000,3261,1834,2290,2350,2230,0,0,0,0,0,0,24.75,24.24,23.79
$GC,3778,1.66,155.8,3261,1834,2350,2225,133.0,9.3,262,3790,0.00,2.70,6.47,0.483,8452,0.000,0.032,3261,3437,2264,2326,2203,0,0,0,0,0,0,24.76,24.33,23.87
$GC,4318,1.67,166.8,3260,3437,2321,2201,84.1,8.8,329,4336,0.05,2.53,10.68,0.490,11270,0.137,0.018,3278,1842,2218,2274,2162,0,0,0,0,0,0,24.53,24.60,23.88
$GC,4607,1.68,172.8,3278,1842,2274,2159,58.1,9.4,379,4622,0.00,2.62,6.28,0.424,8452,0.000,0.031,3278,3430,2194,2250,2139,0,0,0,0,0,0,24.79,24.39,23.96
$GC,5182,1.70,188.4,3278,3430,2250,2138,12.7,8.4,481,5205,0.00,2.50,14.90,0.443,9222,0.000,0.018,3278,1837,2130,2180,2080,0,0,0,0,0,0,24.68,24.62,23.91
$STATE,5288,end climb,SURFACE_DEPTH_REACHED
$STATE,5288,begin surface coast
$FINISH,0.1,1.009981
$STATE,5318,end surface coast,CONTROL_FINISHED_OK
$STATE,5318,begin surface
$SM_CCo,5339,106.30,0.449,0,0,1349,380.21
$SM_GC,0.85,11.68,0.12,106.30,0.032,0.065,0.449,431,1949,1349,-7.23,-0.65,380.21,0,0,0,0,0,0,24.50,24.58,23.70
$IRIDIUM_FIX,2234.68,-15757.16,090618,035643
$TT8_MAMPS,0.021721,0.347536
$HUMID,54.72
$INTERNAL_PRESSURE,9.31076
$TCM_TEMP,23.00
$XPDR_PINGS,5
$24V_AH,23.48,69.230
$10V_AH,9.85,50.612
$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,25.875,56.500,245.575,106.300,0.000,31.007,45.801,304.406,1.250,0.000,38.788,1455.182,2083.625,438.284,1822.044,196.532,0.000,982.561,0.000,1429.382,0.000,0.539,0.000
$DEVICE_MAMPS,159.885,65.025,661.725,449.055,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,339.249,336.117,475.252,774.073,956.794,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343108
$DATA_FILE_SIZE,40647,504
$CAP_FILE_SIZE,69722,0
$CFSIZE,259248128,224972800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,337.05,1
$GPS,090618,071433,2244.912,-15754.105,13,1.4,47,10.1,1.0,54.9,9,4.9