version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 522
start: 6 5 118 7 33 38
data:
$ID,148
$MISSION,15
$DIVE,522
$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,65
$R_STBD_OVSHOOT,44
$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
$GPS1,050618,072539,2236.3879,-15747.8984,16,1.5,56,10.0,0.4,333.1,7,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-60.5
$GPS2,050618,073302,2236.4561,-15747.9600,13,1.4,46,10.0,0.6,294.4,9,4.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,156.4,847,-23.3,-10.000,-25.70,1389
$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,-1.34,-90.5,436,1869,1346,1332,0.0,0.0,0,94,0.00,0.00,-70.82,0.000,16390,0.000,0.000,436,1869,3269,3315,3224,0,0,0,0,0,0,24.65,24.06,24.68
$GC,98,-1.35,-105.1,436,1869,3315,3225,4.1,-8.9,11,122,10.38,2.53,-1.10,0.000,18948,0.168,0.037,2315,332,3332,3388,3276,0,0,0,0,0,0,24.23,23.63,24.39
$GC,267,-1.35,-105.1,2314,332,3388,3276,45.5,-19.7,40,275,0.00,2.50,0.00,0.000,1030,0.000,0.015,2315,1921,3331,3387,3276,0,0,0,0,0,0,24.56,24.51,24.57
$GC,541,-1.35,-105.1,2315,1922,3388,3277,92.9,-14.6,89,550,0.00,2.60,0.00,0.000,516,0.000,0.036,2315,337,3332,3388,3277,0,0,0,0,0,0,24.78,24.52,24.80
$GC,557,-1.35,-105.1,2315,337,3388,3277,95.5,-15.3,91,565,0.00,2.47,0.00,0.000,1030,0.000,0.015,2315,1907,3332,3388,3277,0,0,0,0,0,0,24.63,24.58,24.63
$GC,811,-1.35,-105.1,2315,1907,3388,3278,133.5,-15.4,118,816,0.00,2.55,0.00,0.000,516,0.000,0.037,2315,339,3333,3388,3279,0,0,0,0,0,0,24.82,24.56,24.84
$GC,835,-1.35,-105.1,2315,339,3388,3279,137.8,-16.8,120,840,0.00,2.42,0.00,0.000,1030,0.000,0.015,2315,1899,3333,3388,3279,0,0,0,0,0,0,24.65,24.60,24.66
$GC,1092,-1.35,-105.1,2314,1899,3388,3279,175.8,-15.3,145,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1899,3333,3388,3279,0,0,0,0,0,0,24.85,24.87,24.87
$GC,1338,-1.35,-105.1,2315,1899,3388,3279,212.2,-14.6,164,1343,0.00,2.50,0.00,0.000,260,0.000,0.034,2315,3470,3334,3388,3280,0,0,0,0,0,0,24.87,24.61,24.89
$GC,1381,-1.35,-105.1,2315,3470,3388,3280,218.4,-14.5,165,1386,0.00,2.42,0.00,0.000,1030,0.000,0.016,2315,1900,3334,3388,3280,0,0,0,0,0,0,24.70,24.66,24.72
$GC,1664,-1.35,-105.1,2314,1900,3387,3280,253.3,-12.0,172,1670,0.00,2.53,0.00,0.000,260,0.000,0.028,2315,3473,3334,3388,3280,0,0,0,0,0,0,24.89,24.63,24.91
$GC,1687,-1.35,-105.1,2314,3473,3388,3280,253.3,-12.0,172,1693,0.00,2.42,0.00,0.000,1030,0.000,0.017,2315,1899,3334,3388,3280,0,0,0,0,0,0,24.72,24.68,24.73
$GC,1950,-1.35,-105.1,2315,1899,3388,3280,287.5,-11.6,179,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1899,3334,3388,3280,0,0,0,0,0,0,24.90,24.93,24.91
$STATE,2069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2069,begin apogee
$GC,2075,-0.26,0.0,2315,1898,3388,3280,302.6,-12.4,182,2165,1.58,0.00,86.07,0.660,10246,0.083,0.000,2667,1899,2900,2960,2840,0,0,0,0,0,0,24.58,24.00,23.53
$STATE,2166,end apogee,CONTROL_FINISHED_OK
$STATE,2166,begin climb
$GC,2168,1.35,105.1,2667,1899,2960,2839,305.7,0.0,184,2265,2.17,2.62,87.55,0.647,10500,0.047,0.050,3186,3406,2469,2531,2407,0,0,0,0,0,0,24.18,23.84,23.51
$GC,2316,1.35,105.1,3185,3406,2529,2403,298.8,5.6,188,2322,0.00,2.47,0.00,0.000,1030,0.000,0.022,3186,1866,2466,2529,2403,0,0,0,0,0,0,24.38,24.32,24.39
$GC,2595,1.36,107.9,3185,1866,2529,2397,271.7,9.8,195,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1866,2463,2529,2397,0,0,0,0,0,0,24.69,24.71,24.71
$GC,2835,1.39,135.9,3185,1866,2529,2395,252.2,7.9,201,2863,0.00,0.00,26.08,0.623,8198,0.000,0.000,3186,1866,2345,2406,2284,0,0,0,0,0,0,24.75,24.04,23.59
$GC,3074,1.42,156.4,3185,1866,2406,2278,232.3,8.5,207,3098,0.00,2.60,18.25,0.604,8452,0.000,0.038,3186,3408,2260,2318,2203,0,0,0,0,0,0,24.71,23.97,23.63
$GC,3187,1.45,179.2,3185,3408,2317,2201,224.7,8.3,209,3216,0.08,2.53,20.42,0.596,11270,0.101,0.023,3210,1845,2167,2219,2115,0,0,0,0,0,0,24.40,24.44,23.63
$GC,3458,1.45,179.2,3209,1845,2217,2109,184.2,13.3,224,3465,0.00,2.62,0.00,0.000,260,0.000,0.035,3210,3413,2163,2217,2109,0,0,0,0,0,0,24.71,24.44,24.72
$GC,3537,1.45,179.2,3209,3413,2214,2109,175.2,11.9,231,3545,0.00,2.55,0.00,0.000,1030,0.000,0.022,3210,1845,2161,2214,2109,0,0,0,0,0,0,24.53,24.50,24.55
$GC,3787,1.47,195.2,3209,1845,2214,2106,150.1,8.8,256,3808,0.00,2.60,14.07,0.544,8452,0.000,0.039,3210,3409,2103,2153,2053,0,0,0,0,0,0,24.78,24.09,23.78
$GC,3853,1.47,195.2,3209,3409,2151,2053,143.2,10.8,262,3860,0.00,2.53,0.00,0.000,1030,0.000,0.021,3210,1839,2102,2152,2052,0,0,0,0,0,0,24.51,24.46,24.53
$GC,4110,1.47,195.2,3209,1839,2152,2049,115.9,11.8,287,4115,0.00,2.58,0.00,0.000,260,0.000,0.038,3210,3408,2100,2152,2049,0,0,0,0,0,0,24.77,24.50,24.79
$GC,4177,1.47,195.2,3209,3407,2151,2049,108.4,11.0,293,4184,0.00,2.47,0.00,0.000,1030,0.000,0.019,3210,1834,2100,2151,2049,0,0,0,0,0,0,24.61,24.56,24.62
$GC,4447,1.47,195.2,3209,1835,2152,2047,78.6,11.0,335,4455,0.00,2.58,0.00,0.000,516,0.000,0.037,3210,280,2099,2152,2046,0,0,0,0,0,0,24.82,24.56,24.84
$GC,4503,1.47,195.2,3209,280,2151,2047,71.5,12.6,344,4510,0.00,2.50,0.00,0.000,1030,0.000,0.018,3210,1848,2098,2150,2047,0,0,0,0,0,0,24.65,24.60,24.66
$GC,4781,1.49,212.6,3209,1848,2151,2046,46.2,8.7,393,4803,0.00,2.58,15.55,0.467,8452,0.000,0.032,3210,3422,2032,2082,1982,0,0,0,0,0,0,24.85,24.18,23.91
$STATE,5206,end climb,SURFACE_DEPTH_REACHED
$STATE,5206,begin surface coast
$FINISH,2.1,1.023166
$STATE,5213,end surface coast,CONTROL_FINISHED_OK
$STATE,5213,begin surface
$SM_CCo,5237,89.82,0.448,0,0,1350,380.21
$SM_GC,0.88,11.68,2.45,89.82,0.047,0.018,0.448,433,1893,1350,-7.23,1.19,380.21,0,0,0,0,0,0,24.54,24.60,23.73
$IRIDIUM_FIX,2227.67,-15746.34,050618,054909
$TT8_MAMPS,0.021721,0.34454
$HUMID,53.74
$INTERNAL_PRESSURE,9.32053
$TCM_TEMP,22.40
$XPDR_PINGS,7
$24V_AH,23.51,64.803
$10V_AH,9.92,46.442
$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,25.875,60.625,268.000,89.825,0.000,25.004,55.334,202.716,1.750,0.000,48.917,1330.316,2227.725,466.813,1606.776,158.691,0.000,963.467,0.000,1276.939,0.000,0.539,0.000
$DEVICE_MAMPS,168.300,50.490,660.195,448.290,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,315.205,305.688,438.075,701.536,870.585,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342948
$DATA_FILE_SIZE,37148,469
$CAP_FILE_SIZE,66296,0
$CFSIZE,259248128,227495936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,316.77,1
$GPS,050618,090358,2236.054,-15747.829,15,1.3,55,10.0,0.3,272.5,7,5.2