version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 587
start: 6 9 118 20 46 2
data:
$ID,148
$MISSION,15
$DIVE,587
$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,47
$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
$GPS1,090618,203703,2244.8967,-15754.3291,13,99.0,53,10.1,1.0,4.0,4,-1.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-61.0
$GPS2,090618,204532,2245.0669,-15754.3408,33,1.0,61,10.1,0.7,352.7,8,5.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED7
$TGT_LATLONG,2245.000,-15754.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,137.3,271,-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,-63.2,432,2044,1351,1331,0.0,0.0,0,89,0.00,0.22,-67.07,0.000,16390,0.000,0.176,432,1802,3158,3205,3112,0,0,0,0,0,0,24.65,23.69,24.67
$GC,93,-1.58,-95.9,432,1802,3206,3112,3.2,-6.5,10,116,9.95,2.42,-2.50,0.000,18948,0.167,0.039,2242,317,3293,3348,3238,0,0,0,0,0,0,24.21,23.61,24.38
$GC,134,-1.58,-95.9,2241,317,3348,3239,16.9,-26.9,16,142,0.00,2.53,0.00,0.000,1030,0.000,0.015,2242,1923,3293,3348,3239,0,0,0,0,0,0,24.49,24.45,24.51
$GC,411,-1.58,-95.9,2241,1925,3349,3240,79.5,-20.3,65,420,0.00,2.50,0.00,0.000,260,0.000,0.027,2242,3484,3294,3349,3240,0,0,0,0,0,0,24.75,24.50,24.77
$GC,516,-1.58,-95.9,2241,3484,3349,3241,100.2,-17.9,83,522,0.00,2.50,0.00,0.000,1030,0.000,0.016,2242,1875,3294,3348,3241,0,0,0,0,0,0,24.60,24.56,24.61
$GC,772,-1.58,-95.9,2241,1875,3348,3242,146.3,-18.1,108,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1875,3295,3348,3242,0,0,0,0,0,0,24.81,24.83,24.82
$GC,1021,-1.58,-95.9,2242,1875,3348,3243,185.9,-14.0,133,1027,0.00,2.53,0.00,0.000,260,0.000,0.025,2242,3462,3295,3348,3243,0,0,0,0,0,0,24.84,24.58,24.85
$GC,1038,-1.58,-95.9,2241,3462,3348,3243,187.7,-13.5,134,1046,0.00,2.40,0.00,0.000,1030,0.000,0.015,2242,1891,3295,3348,3243,0,0,0,0,0,0,24.67,24.63,24.68
$GC,1285,-1.58,-95.9,2241,1891,3348,3243,224.1,-14.6,147,1291,0.00,2.53,0.00,0.000,260,0.000,0.026,2242,3472,3295,3348,3243,0,0,0,0,0,0,24.86,24.60,24.87
$GC,1312,-1.58,-95.9,2241,3472,3348,3243,224.1,-14.6,147,1318,0.00,2.42,0.00,0.000,1030,0.000,0.016,2242,1893,3295,3348,3243,0,0,0,0,0,0,24.69,24.64,24.70
$GC,1570,-1.58,-95.9,2241,1893,3348,3243,265.2,-13.7,154,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1893,3296,3348,3244,0,0,0,0,0,0,24.87,24.89,24.89
$GC,1811,-1.58,-95.9,2241,1892,3348,3243,295.7,-12.5,160,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1892,3296,3349,3243,0,0,0,0,0,0,24.89,24.91,24.91
$STATE,1848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1848,begin apogee
$GC,1853,-0.26,0.0,2242,1893,3348,3244,300.7,-12.5,161,1937,1.95,0.00,78.82,0.652,10246,0.093,0.000,2669,1892,2899,2956,2843,0,0,0,0,0,0,24.56,23.97,23.49
$STATE,1938,end apogee,CONTROL_FINISHED_OK
$STATE,1938,begin climb
$GC,1940,1.58,95.9,2668,1893,2956,2843,302.7,0.0,163,2026,2.45,0.00,80.78,0.643,10246,0.041,0.000,3266,1893,2508,2565,2452,0,0,0,0,0,0,24.20,23.92,23.47
$GC,2251,1.58,95.9,3265,1892,2565,2441,273.1,11.4,171,2256,0.00,2.60,0.00,0.000,260,0.000,0.051,3266,3399,2503,2565,2441,0,0,0,0,0,0,24.65,24.34,24.66
$GC,2308,1.58,95.9,3265,3400,2562,2441,268.5,11.1,172,2313,0.00,2.47,0.00,0.000,1030,0.000,0.024,3266,1868,2501,2562,2440,0,0,0,0,0,0,24.49,24.41,24.50
$GC,2577,1.60,105.8,3265,1868,2562,2438,242.4,9.0,179,2591,0.00,2.58,8.50,0.547,8452,0.000,0.038,3265,3395,2467,2529,2406,0,0,0,0,0,0,24.74,24.10,23.75
$GC,2653,1.61,115.3,3265,3395,2528,2404,238.5,9.0,180,2670,0.00,2.50,9.32,0.552,9222,0.000,0.024,3266,1843,2429,2491,2368,0,0,0,0,0,0,24.51,24.45,23.70
$GC,2943,1.61,121.5,3265,1843,2490,2362,207.7,9.3,188,2958,0.00,2.65,6.65,0.508,8452,0.000,0.037,3266,3402,2404,2466,2342,0,0,0,0,0,0,24.75,24.30,23.81
$GC,3059,1.62,122.2,3265,3403,2465,2340,196.9,9.9,193,3065,0.00,2.50,0.00,0.000,1030,0.000,0.022,3266,1840,2402,2465,2340,0,0,0,0,0,0,24.56,24.50,24.57
$GC,3314,1.64,141.0,3265,1840,2465,2337,173.3,8.0,218,3337,0.00,2.65,17.55,0.571,8452,0.000,0.033,3266,3401,2324,2384,2265,0,0,0,0,0,0,24.78,24.14,23.68
$GC,3496,1.67,163.3,3265,3401,2382,2261,159.2,7.6,235,3522,0.00,2.50,19.77,0.565,9222,0.000,0.021,3266,1834,2233,2288,2179,0,0,0,0,0,0,24.55,24.49,23.63
$GC,3770,1.67,163.3,3265,1835,2288,2172,132.2,10.7,262,3775,0.00,2.58,0.00,0.000,260,0.000,0.032,3266,3404,2230,2288,2172,0,0,0,0,0,0,24.72,24.46,24.74
$GC,3850,1.67,163.3,3265,3404,2286,2173,123.8,10.8,269,3857,0.00,2.47,0.00,0.000,1030,0.000,0.020,3266,1839,2229,2286,2173,0,0,0,0,0,0,24.57,24.51,24.58
$GC,4098,1.68,172.7,3265,1839,2286,2171,99.9,9.0,294,4114,0.00,2.60,8.95,0.483,8452,0.000,0.031,3266,3414,2194,2250,2138,0,0,0,0,0,0,24.79,24.18,23.88
$GC,4530,1.72,205.2,3265,3413,2249,2135,64.3,6.6,371,4568,0.10,2.50,28.38,0.500,11270,0.096,0.018,3294,1835,2062,2106,2018,0,0,0,0,0,0,24.53,24.58,23.71
$GC,4834,1.73,212.3,3293,1835,2104,2014,36.4,9.2,424,4849,0.00,2.58,7.15,0.410,8452,0.000,0.030,3294,3407,2033,2076,1991,0,0,0,0,0,0,24.74,24.20,23.93
$STATE,5125,end climb,SURFACE_DEPTH_REACHED
$STATE,5125,begin surface coast
$FINISH,0.2,1.022955
$STATE,5149,end surface coast,CONTROL_FINISHED_OK
$STATE,5149,begin surface
$SM_CCo,5173,92.35,0.447,0,0,1349,380.21
$SM_GC,1.02,11.82,2.42,92.35,0.037,0.017,0.447,433,1881,1349,-7.23,1.10,380.21,0,0,0,0,0,0,24.51,24.57,23.70
$IRIDIUM_FIX,2237.01,-15757.16,090618,190111
$TT8_MAMPS,0.020972,0.349034
$HUMID,54.92
$INTERNAL_PRESSURE,9.32053
$TCM_TEMP,23.10
$XPDR_PINGS,3
$24V_AH,23.47,69.893
$10V_AH,9.78,51.269
$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,26.275,55.725,265.875,92.350,0.000,50.456,62.494,159.089,0.750,0.000,63.625,1340.936,2207.405,461.652,1616.018,163.973,0.000,948.444,0.000,1283.722,0.000,0.540,0.000
$DEVICE_MAMPS,166.770,175.950,651.780,446.760,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,321.972,320.673,452.267,720.494,889.640,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342956
$DATA_FILE_SIZE,40536,480
$CAP_FILE_SIZE,65909,0
$CFSIZE,259248128,224583680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3856.43,0x212b66,1,24
$CURRENT,0.174,354.12,1
$GPS,090618,221527,2245.185,-15754.066,20,1.1,60,10.1,0.8,45.6,7,4.5