version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 527
start: 6 5 118 15 51 20
data:
$ID,148
$MISSION,15
$DIVE,527
$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,49
$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
$GPS1,050618,154402,2235.9338,-15748.0264,42,1.2,75,10.0,0.9,341.0,9,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-61.2
$GPS2,050618,155045,2235.9375,-15748.1025,13,1.6,29,10.0,0.3,248.6,8,5.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,52.8,210,-25.2,-10.000,-27.46,1190
$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,16,-1.42,-77.5,433,1846,1342,1336,0.0,0.0,0,89,0.00,0.08,-68.20,0.000,16390,0.000,0.498,433,2037,3216,3266,3167,0,0,0,0,0,0,24.65,23.72,24.67
$GC,93,-1.45,-105.5,433,2037,3266,3167,3.3,-7.6,10,115,10.18,2.33,-2.12,0.000,18692,0.167,0.034,2283,3479,3333,3389,3277,0,0,0,0,0,0,24.22,23.63,24.38
$GC,178,-1.45,-105.5,2282,3479,3389,3279,28.4,-23.6,24,186,0.00,2.50,0.00,0.000,1030,0.000,0.017,2283,1891,3334,3389,3279,0,0,0,0,0,0,24.52,24.48,24.53
$GC,455,-1.45,-105.5,2282,1891,3389,3279,86.7,-17.6,73,463,0.00,2.58,0.00,0.000,260,0.000,0.026,2283,3486,3334,3389,3280,0,0,0,0,0,0,24.77,24.51,24.78
$GC,540,-1.45,-105.5,2282,3486,3390,3280,101.3,-18.0,87,547,0.00,2.45,0.00,0.000,1030,0.000,0.015,2283,1894,3334,3389,3280,0,0,0,0,0,0,24.61,24.57,24.63
$GC,788,-1.45,-105.5,2282,1894,3389,3280,144.8,-16.6,112,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1894,3334,3389,3280,0,0,0,0,0,0,24.82,24.84,24.83
$GC,1029,-1.45,-105.5,2283,1894,3389,3281,182.0,-15.5,136,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1894,3335,3389,3281,0,0,0,0,0,0,24.84,24.87,24.86
$GC,1307,-1.45,-105.5,2282,1894,3389,3281,223.9,-14.7,152,1313,0.00,2.53,0.00,0.000,516,0.000,0.037,2283,331,3335,3389,3281,0,0,0,0,0,0,24.87,24.60,24.89
$GC,1376,-1.45,-105.5,2282,331,3389,3281,230.1,-14.5,153,1381,0.00,2.45,0.00,0.000,1030,0.000,0.016,2283,1914,3335,3389,3281,0,0,0,0,0,0,24.70,24.66,24.72
$GC,1635,-1.45,-105.5,2282,1914,3389,3281,267.0,-12.9,160,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1914,3335,3389,3281,0,0,0,0,0,0,24.89,24.91,24.91
$GC,1873,-1.45,-105.5,2282,1914,3389,3281,300.0,-14.0,166,1879,0.00,2.60,0.00,0.000,516,0.000,0.035,2283,343,3335,3389,3281,0,0,0,0,0,0,24.90,24.63,24.92
$STATE,1915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1915,begin apogee
$GC,1923,-0.26,0.0,2283,1853,3388,3281,306.2,-14.1,167,2014,1.73,0.00,86.65,0.662,10246,0.084,0.000,2667,1853,2899,2957,2842,0,0,0,0,0,0,24.58,23.99,23.52
$STATE,2015,end apogee,CONTROL_FINISHED_OK
$STATE,2015,begin climb
$GC,2017,1.45,105.5,2667,1853,2957,2842,310.2,0.0,169,2111,2.25,0.00,88.93,0.650,10246,0.037,0.000,3222,1853,2467,2525,2410,0,0,0,0,0,0,24.20,23.95,23.50
$GC,2319,1.45,105.5,3221,1853,2526,2401,283.9,11.6,177,2324,0.00,2.70,0.00,0.000,260,0.000,0.054,3222,3428,2462,2525,2400,0,0,0,0,0,0,24.64,24.33,24.66
$GC,2365,1.45,105.5,3221,3428,2524,2400,278.6,11.8,178,2371,0.00,2.50,0.00,0.000,1030,0.000,0.024,3222,1879,2462,2524,2400,0,0,0,0,0,0,24.48,24.41,24.50
$GC,2644,1.45,106.1,3221,1879,2524,2396,249.6,9.9,185,2650,0.00,2.75,0.00,0.000,516,0.000,0.056,3222,273,2460,2524,2396,0,0,0,0,0,0,24.74,24.44,24.75
$GC,2737,1.45,106.5,3221,273,2524,2396,241.2,10.0,187,2742,0.00,2.55,0.00,0.000,1030,0.000,0.022,3222,1853,2460,2524,2396,0,0,0,0,0,0,24.58,24.52,24.59
$GC,3010,1.50,143.2,3221,1853,2524,2393,219.9,6.8,194,3048,0.00,0.00,31.58,0.617,8198,0.000,0.000,3222,1853,2315,2373,2257,0,0,0,0,0,0,24.79,24.04,23.61
$GC,3291,1.50,143.2,3221,1853,2373,2250,190.7,12.1,204,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1854,2311,2373,2250,0,0,0,0,0,0,24.71,24.74,24.73
$GC,3530,1.50,143.2,3221,1853,2373,2247,162.4,11.2,228,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1854,2310,2373,2247,0,0,0,0,0,0,24.77,24.79,24.79
$GC,3770,1.51,155.4,3221,1853,2373,2245,139.1,8.9,252,3788,0.00,2.65,10.62,0.526,8452,0.000,0.039,3222,3422,2264,2325,2204,0,0,0,0,0,0,24.81,24.30,23.86
$GC,3869,1.54,173.1,3221,3422,2322,2204,131.0,8.5,261,3892,0.00,2.53,16.17,0.540,9222,0.000,0.020,3222,1839,2193,2247,2139,0,0,0,0,0,0,24.57,24.51,23.73
$GC,4132,1.54,173.1,3221,1839,2247,2134,106.5,10.2,287,4137,0.00,2.62,0.00,0.000,260,0.000,0.034,3222,3432,2190,2247,2134,0,0,0,0,0,0,24.75,24.48,24.76
$GC,4202,1.54,173.1,3221,3432,2246,2134,99.2,10.3,294,4210,0.00,2.53,0.00,0.000,1030,0.000,0.019,3222,1847,2190,2246,2134,0,0,0,0,0,0,24.59,24.53,24.60
$GC,4481,1.55,184.8,3221,1848,2246,2132,71.4,9.0,343,4498,0.05,2.65,10.95,0.477,10500,0.128,0.034,3245,3426,2146,2200,2092,0,0,0,0,0,0,24.62,24.32,23.91
$GC,4586,1.55,184.8,3244,3426,2199,2091,60.4,11.3,360,4594,0.00,2.53,0.00,0.000,1030,0.000,0.018,3245,1839,2144,2199,2090,0,0,0,0,0,0,24.58,24.52,24.59
$GC,4865,1.60,221.8,3244,1839,2199,2089,36.9,6.8,409,4907,0.00,2.67,32.50,0.480,8452,0.000,0.032,3244,3429,1993,2041,1946,0,0,0,0,0,0,24.81,24.13,23.75
$GC,5085,1.60,221.8,3244,3429,2041,1944,13.1,11.1,446,5092,0.00,2.53,0.00,0.000,1030,0.000,0.019,3245,1843,1992,2041,1943,0,0,0,0,0,0,24.55,24.50,24.56
$STATE,5169,end climb,SURFACE_DEPTH_REACHED
$STATE,5170,begin surface coast
$FINISH,0.2,1.023162
$STATE,5193,end surface coast,CONTROL_FINISHED_OK
$STATE,5195,begin surface
$SM_CCo,5216,86.55,0.450,0,0,1349,380.21
$SM_GC,0.96,11.65,0.08,86.55,0.037,0.089,0.450,431,2012,1349,-7.24,-1.19,380.21,0,0,0,0,0,0,24.47,24.58,23.73
$IRIDIUM_FIX,2227.67,-15750.66,050618,140942
$TT8_MAMPS,0.021721,0.280875
$HUMID,54.52
$INTERNAL_PRESSURE,9.31076
$TCM_TEMP,22.90
$XPDR_PINGS,12
$24V_AH,23.50,65.166
$10V_AH,9.99,46.806
$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,25.850,51.275,277.400,86.550,0.000,26.221,46.966,190.967,3.000,0.000,31.344,1301.024,2289.675,478.571,1516.100,140.377,0.000,939.260,0.000,1224.392,0.000,0.539,0.000
$DEVICE_MAMPS,166.770,498.015,661.725,449.820,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,312.420,306.717,434.566,696.161,860.497,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342980
$DATA_FILE_SIZE,37163,465
$CAP_FILE_SIZE,62690,0
$CFSIZE,259248128,227295232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173,240.18,1
$GPS,050618,172145,2235.974,-15748.037,44,1.6,84,10.0,0.1,315.3,5,7.5