version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 562
start: 6 8 118 2 51 25
data:
$ID,148
$MISSION,15
$DIVE,562
$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,53
$R_STBD_OVSHOOT,36
$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
$GPS1,080618,024150,2245.0032,-15754.0703,12,1.1,51,10.1,0.5,275.6,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-61.8
$GPS2,080618,025058,2245.0269,-15754.1533,13,1.2,36,10.1,0.2,126.9,8,4.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED7
$TGT_LATLONG,2245.000,-15754.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,199.1,94,-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,-63.2,420,1883,1344,1335,0.0,0.0,0,89,0.00,0.00,-67.15,0.000,16390,0.000,0.000,420,1883,3159,3205,3113,0,0,0,0,0,0,24.64,23.70,24.66
$GC,92,-1.59,-99.1,420,1883,3205,3113,3.1,-6.2,10,114,9.90,2.53,-2.85,0.000,18948,0.164,0.037,2241,333,3307,3363,3252,0,0,0,0,0,0,24.22,23.61,24.37
$GC,258,-1.59,-99.1,2240,333,3363,3253,46.8,-25.1,38,265,0.00,2.50,0.00,0.000,1030,0.000,0.015,2241,1922,3308,3363,3253,0,0,0,0,0,0,24.55,24.51,24.56
$GC,535,-1.59,-99.1,2240,1924,3363,3255,102.1,-19.2,86,540,0.00,2.60,0.00,0.000,516,0.000,0.029,2241,324,3308,3363,3254,0,0,0,0,0,0,24.77,24.52,24.79
$GC,590,-1.59,-99.1,2240,324,3363,3254,112.3,-18.1,91,595,0.00,2.45,0.00,0.000,1030,0.000,0.014,2241,1911,3308,3363,3254,0,0,0,0,0,0,24.62,24.58,24.63
$GC,844,-1.59,-99.1,2241,1911,3363,3255,156.0,-16.7,116,850,0.00,2.45,0.00,0.000,260,0.000,0.026,2241,3455,3309,3363,3255,0,0,0,0,0,0,24.82,24.57,24.84
$GC,870,-1.59,-99.1,2240,3455,3363,3255,160.1,-16.4,118,876,0.00,2.42,0.00,0.000,1030,0.000,0.016,2241,1890,3309,3363,3256,0,0,0,0,0,0,24.65,24.60,24.66
$GC,1127,-1.59,-99.1,2240,1890,3363,3256,198.3,-15.6,143,1132,0.00,2.50,0.00,0.000,260,0.000,0.026,2241,3455,3309,3363,3256,0,0,0,0,0,0,24.84,24.60,24.87
$GC,1144,-1.59,-99.1,2240,3455,3363,3256,200.9,-16.0,144,1149,0.00,2.40,0.00,0.000,1030,0.000,0.015,2241,1886,3309,3363,3256,0,0,0,0,0,0,24.68,24.64,24.69
$GC,1413,-1.59,-99.1,2240,1886,3363,3256,240.0,-13.8,151,1418,0.00,2.50,0.00,0.000,516,0.000,0.030,2241,332,3309,3363,3256,0,0,0,0,0,0,24.87,24.61,24.89
$GC,1445,-1.59,-99.1,2240,332,3363,3256,240.0,-13.8,151,1450,0.00,2.42,0.00,0.000,1030,0.000,0.016,2241,1891,3309,3363,3256,0,0,0,0,0,0,24.70,24.65,24.71
$GC,1698,-1.59,-99.1,2240,1891,3363,3256,275.9,-12.5,158,1703,0.00,2.55,0.00,0.000,516,0.000,0.034,2241,334,3309,3363,3256,0,0,0,0,0,0,24.89,24.62,24.90
$GC,1715,-1.59,-99.1,2240,334,3363,3256,275.9,-12.5,158,1720,0.00,2.45,0.00,0.000,1030,0.000,0.018,2241,1900,3309,3363,3256,0,0,0,0,0,0,24.71,24.66,24.72
$STATE,1901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1901,begin apogee
$GC,1907,-0.26,0.0,2241,1900,3363,3256,305.4,-14.5,163,1993,1.92,0.00,81.40,0.660,10246,0.087,0.000,2667,1900,2899,2954,2845,0,0,0,0,0,0,24.56,23.99,23.51
$STATE,1994,end apogee,CONTROL_FINISHED_OK
$STATE,1994,begin climb
$GC,1996,1.59,99.1,2667,1900,2954,2844,309.5,0.0,165,2084,2.38,0.00,82.78,0.657,10502,0.040,0.000,3261,1900,2494,2549,2440,0,0,0,0,0,0,24.19,23.94,23.49
$GC,2304,1.59,99.1,3260,1900,2549,2429,285.1,10.5,173,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1900,2489,2549,2429,0,0,0,0,0,0,24.65,24.67,24.66
$GC,2543,1.59,99.1,3260,1900,2549,2426,258.5,11.0,179,2549,0.00,2.55,0.00,0.000,260,0.000,0.050,3261,3407,2487,2549,2425,0,0,0,0,0,0,24.72,24.42,24.75
$GC,2670,1.59,99.1,3260,3406,2546,2425,245.9,10.2,182,2675,0.00,2.45,0.00,0.000,1030,0.000,0.022,3261,1878,2485,2546,2425,0,0,0,0,0,0,24.57,24.51,24.59
$GC,2949,1.61,118.0,3260,1878,2546,2422,222.7,8.0,189,2966,0.00,0.00,15.65,0.594,8198,0.000,0.000,3261,1878,2417,2478,2356,0,0,0,0,0,0,24.79,24.14,23.70
$GC,3189,1.62,128.9,3261,1878,2478,2351,201.0,8.8,195,3207,0.00,2.75,10.43,0.562,8708,0.000,0.049,3261,271,2373,2433,2314,0,0,0,0,0,0,24.74,24.22,23.75
$GC,3245,1.63,131.6,3260,269,2432,2314,195.5,9.7,197,3255,0.00,2.55,3.78,0.387,9222,0.000,0.022,3260,1846,2363,2421,2305,0,0,0,0,0,0,24.50,24.44,23.82
$GC,3493,1.63,137.5,3260,1846,2420,2301,172.0,9.4,222,3508,0.00,2.67,6.35,0.492,8452,0.000,0.042,3261,3421,2338,2397,2280,0,0,0,0,0,0,24.76,24.33,23.85
$GC,3581,1.63,137.5,3260,3421,2396,2278,163.1,11.0,230,3588,0.00,2.53,0.00,0.000,1030,0.000,0.021,3261,1836,2337,2396,2278,0,0,0,0,0,0,24.56,24.51,24.57
$GC,3827,1.65,149.5,3260,1836,2396,2276,137.9,8.7,255,3844,0.00,2.65,11.45,0.535,8708,0.000,0.037,3261,275,2289,2346,2233,0,0,0,0,0,0,24.79,24.26,23.80
$GC,3863,1.66,158.6,3260,275,2346,2233,134.6,9.0,258,3880,0.00,2.55,9.62,0.512,9222,0.000,0.020,3261,1861,2250,2308,2193,0,0,0,0,0,0,24.49,24.44,23.75
$GC,4128,1.66,160.2,3260,1861,2309,2187,110.0,9.8,284,4134,0.00,2.55,0.00,0.000,260,0.000,0.035,3261,3421,2247,2308,2187,0,0,0,0,0,0,24.75,24.48,24.77
$GC,4398,1.67,163.4,3260,3421,2307,2187,83.2,9.7,324,4413,0.05,2.50,4.93,0.405,11270,0.129,0.024,3280,1845,2231,2290,2173,0,0,0,0,0,0,24.49,24.27,23.99
$GC,4683,1.68,172.1,3279,1846,2290,2172,54.2,9.1,374,4699,0.00,2.60,8.70,0.453,8708,0.000,0.035,3280,276,2196,2250,2143,0,0,0,0,0,0,24.82,24.24,23.95
$GC,4742,1.68,172.1,3279,276,2249,2143,48.2,10.9,383,4750,0.00,2.53,0.00,0.000,1030,0.000,0.018,3280,1857,2196,2250,2143,0,0,0,0,0,0,24.57,24.53,24.58
$GC,5022,1.73,214.3,3279,1857,2249,2142,26.1,5.5,432,5065,0.05,2.60,36.42,0.474,10500,0.119,0.032,3307,3412,2025,2068,1983,0,0,0,0,0,0,24.63,24.12,23.74
$GC,5218,1.73,214.3,3307,3412,2065,1981,4.4,13.3,465,5226,0.00,2.50,0.00,0.000,1030,0.000,0.018,3307,1834,2023,2065,1981,0,0,0,0,0,0,24.53,24.49,24.55
$STATE,5232,end climb,SURFACE_DEPTH_REACHED
$STATE,5232,begin surface coast
$FINISH,0.1,0.999982
$STATE,5255,end surface coast,CONTROL_FINISHED_OK
$STATE,5255,begin surface
$SM_CCo,5277,93.53,0.452,0,0,1350,380.21
$SM_GC,0.93,11.82,0.08,93.53,0.032,0.084,0.452,428,1975,1350,-7.24,-1.47,380.21,0,0,0,0,0,0,24.45,24.56,23.70
$IRIDIUM_FIX,2237.01,-15751.94,080618,010609
$TT8_MAMPS,0.021721,0.28462
$HUMID,54.68
$INTERNAL_PRESSURE,9.30099
$TCM_TEMP,21.90
$XPDR_PINGS,5
$24V_AH,23.49,67.894
$10V_AH,9.89,49.413
$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,26.125,65.825,271.500,93.525,0.000,25.602,45.432,329.426,1.250,0.000,38.372,1337.954,2260.366,467.831,1658.034,206.386,0.000,966.066,0.000,1263.068,0.000,0.539,0.000
$DEVICE_MAMPS,164.475,84.150,660.195,452.115,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,316.904,315.309,453.352,703.791,858.359,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343100
$DATA_FILE_SIZE,37110,471
$CAP_FILE_SIZE,71357,0
$CFSIZE,259248128,225669120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,281.90,1
$GPS,080618,042227,2244.559,-15754.521,13,1.1,53,10.1,0.3,211.7,8,5.7