version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 18
start: 3 16 118 6 36 46
data:
$ID,148
$MISSION,15
$DIVE,18
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,700
$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,166
$T_MISSION,350
$T_ABORT,300
$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,150
$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,410
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$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,2758
$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,1850
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,45
$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,90
$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
$GPS1,160318,063027,2206.0247,-15501.1260,12,1.7,52,10.2,0.3,245.9,6,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-61.7
$GPS2,160318,063621,2206.0544,-15501.1543,10,1.3,50,10.2,0.3,340.4,7,5.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,T1
$TGT_LATLONG,2221.880,-15440.590
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,81.5,45820,-18.3,-10.040,-21.09,2227
$D_GRID,500
$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,-1.14,-146.0,421,1810,1214,1227,0.0,0.0,0,103,0.00,0.00,-83.38,0.000,16390,0.000,0.000,421,1811,3497,3552,3442,0,0,0,0,0,0,24.77,23.77,24.79
$GC,105,-1.14,-146.0,421,1811,3552,3443,4.4,-10.2,12,122,10.57,2.62,0.00,0.000,2308,0.164,0.027,2380,3429,3498,3553,3443,0,0,0,0,0,0,24.35,24.50,24.50
$GC,190,-1.14,-146.0,2380,3429,3554,3443,27.0,-16.3,26,198,0.00,2.47,0.00,0.000,1030,0.000,0.021,2380,1878,3498,3554,3443,0,0,0,0,0,0,24.62,24.59,24.63
$GC,442,-1.14,-146.0,2380,1878,3554,3443,67.4,-16.4,52,447,0.00,2.58,0.00,0.000,516,0.000,0.038,2380,271,3498,3554,3443,0,0,0,0,0,0,24.89,24.61,24.91
$GC,467,-1.14,-146.0,2380,271,3554,3443,71.4,-16.6,54,472,0.00,2.47,0.00,0.000,1030,0.000,0.019,2380,1859,3498,3554,3443,0,0,0,0,0,0,24.71,24.67,24.73
$GC,721,-1.14,-146.0,2380,1860,3554,3442,111.6,-16.2,79,727,0.00,2.50,0.00,0.000,260,0.000,0.031,2380,3421,3498,3554,3443,0,0,0,0,0,0,24.91,24.67,24.93
$GC,811,-1.14,-146.0,2380,3421,3554,3443,125.2,-15.1,87,817,0.00,2.47,0.00,0.000,1030,0.000,0.020,2380,1845,3498,3554,3443,0,0,0,0,0,0,24.77,24.72,24.79
$GC,1067,-1.14,-146.0,2380,1845,3554,3443,160.2,-13.9,112,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1845,3499,3555,3443,0,0,0,0,0,0,24.96,24.98,24.98
$GC,1313,-1.14,-146.0,2380,1844,3555,3443,193.0,-13.1,137,1320,0.00,2.53,0.00,0.000,516,0.000,0.036,2380,273,3499,3555,3443,0,0,0,0,0,0,25.01,24.73,25.03
$GC,1331,-1.14,-146.0,2380,273,3555,3443,194.7,-13.2,138,1342,0.00,2.47,0.00,0.000,1030,0.000,0.020,2380,1865,3499,3555,3443,0,0,0,0,0,0,24.84,24.79,24.84
$GC,1612,-1.14,-146.0,2380,1866,3555,3443,229.6,-11.7,148,1618,0.00,2.47,0.00,0.000,260,0.000,0.033,2380,3419,3499,3555,3443,0,0,0,0,0,0,25.02,24.76,25.03
$GC,1664,-1.14,-146.0,2380,3420,3555,3443,235.0,-11.6,149,1670,0.00,2.45,0.00,0.000,1030,0.000,0.021,2381,1849,3499,3555,3443,0,0,0,0,0,0,24.85,24.80,24.87
$GC,1938,-1.14,-146.0,2380,1847,3556,3443,265.0,-10.5,156,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1847,3499,3555,3443,0,0,0,0,0,0,25.03,25.05,25.05
$GC,2178,-1.14,-146.0,2380,1847,3555,3443,288.9,-10.0,162,2184,0.00,2.55,0.00,0.000,260,0.000,0.038,2380,3413,3498,3555,3442,0,0,0,0,0,0,25.04,24.78,25.06
$GC,2224,-1.14,-146.0,2380,3413,3555,3443,293.5,-10.1,163,2229,0.00,2.47,0.00,0.000,1030,0.000,0.023,2380,1843,3498,3555,3442,0,0,0,0,0,0,24.88,24.82,24.89
$GC,2508,-1.14,-146.0,2380,1841,3555,3441,322.6,-10.0,170,2513,0.00,2.58,0.00,0.000,260,0.000,0.042,2380,3409,3497,3555,3440,0,0,0,0,0,0,25.05,24.77,25.07
$GC,2554,-1.14,-146.0,2380,3409,3555,3439,327.1,-9.9,171,2560,0.00,2.47,0.00,0.000,1030,0.000,0.024,2381,1852,3497,3555,3440,0,0,0,0,0,0,24.89,24.82,24.91
$GC,2835,-1.14,-146.0,2380,1851,3555,3437,354.0,-9.4,178,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1851,3496,3555,3437,0,0,0,0,0,0,25.08,25.10,25.10
$GC,3073,-1.14,-146.0,2380,1850,3555,3434,377.7,-9.8,184,3079,0.00,2.60,0.00,0.000,260,0.000,0.046,2380,3406,3494,3555,3433,0,0,0,0,0,0,25.06,24.77,25.08
$GC,3110,-1.14,-146.0,2380,3406,3555,3433,377.7,-9.8,184,3118,0.00,2.47,0.00,0.000,1030,0.000,0.026,2380,1848,3494,3555,3433,0,0,0,0,0,0,24.62,24.84,24.76
$GC,3357,-1.14,-146.0,2380,1847,3555,3431,406.9,-10.4,191,3362,0.00,2.65,0.00,0.000,516,0.000,0.057,2380,269,3493,3555,3431,0,0,0,0,0,0,25.06,24.76,25.08
$GC,3388,-1.14,-146.0,2379,269,3554,3430,406.9,-10.4,191,3393,0.00,2.50,0.00,0.000,1030,0.000,0.034,2380,1833,3492,3555,3430,0,0,0,0,0,0,24.89,24.83,24.91
$GC,3643,-1.14,-146.0,2380,1835,3554,3427,437.9,-11.0,198,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1835,3490,3555,3426,0,0,0,0,0,0,25.07,25.10,25.09
$GC,3881,-1.14,-146.0,2380,1835,3555,3422,464.9,-11.2,204,3886,0.00,2.65,0.00,0.000,260,0.000,0.050,2380,3423,3488,3555,3422,0,0,0,0,0,0,25.09,24.77,25.11
$GC,3897,-1.14,-146.0,2380,3423,3555,3422,464.9,-11.2,204,3903,0.00,2.53,0.00,0.000,1030,0.000,0.035,2380,1848,3488,3555,3422,0,0,0,0,0,0,24.90,24.84,24.92
$GC,4167,-1.14,-146.0,2380,1848,3555,3419,493.3,-9.5,211,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1847,3487,3555,3419,0,0,0,0,0,0,25.07,25.10,25.09
$STATE,4245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4245,begin apogee
$GC,4250,-0.26,0.0,2380,2072,3554,3418,500.3,-8.8,213,4371,1.30,0.00,117.05,0.894,10246,0.093,0.000,2667,2072,2899,2954,2845,0,0,0,0,0,0,24.75,24.03,23.48
$STATE,4372,end apogee,CONTROL_FINISHED_OK
$STATE,4372,begin climb
$GC,4374,1.14,146.0,2667,2072,2954,2844,502.5,0.0,216,4507,1.88,2.72,122.72,0.859,10500,0.052,0.064,3107,3604,2301,2347,2256,0,0,0,0,0,0,24.18,23.88,23.49
$GC,4573,1.19,182.3,3107,3603,2346,2252,489.0,8.4,221,4611,0.00,2.58,31.55,0.822,9222,0.000,0.037,3108,2046,2154,2198,2111,0,0,0,0,0,0,24.43,24.35,23.51
$GC,4849,1.19,182.3,3107,2046,2198,2103,454.0,12.6,228,4855,0.00,2.75,0.00,0.000,516,0.000,0.063,3107,468,2150,2198,2103,0,0,0,0,0,0,24.71,24.39,24.73
$GC,4885,1.19,182.3,3107,467,2198,2102,454.0,12.6,228,4892,0.00,2.58,0.00,0.000,1030,0.000,0.029,3107,2037,2150,2198,2102,0,0,0,0,0,0,24.25,24.46,24.41
$GC,5132,1.19,182.3,3106,2037,2198,2100,421.0,11.4,235,5137,0.00,2.70,0.00,0.000,516,0.000,0.052,3107,460,2148,2198,2099,0,0,0,0,0,0,24.79,24.49,24.81
$GC,5178,1.19,182.3,3107,460,2198,2098,415.8,11.5,236,5183,0.00,2.60,0.00,0.000,1030,0.000,0.029,3108,2058,2148,2198,2099,0,0,0,0,0,0,24.62,24.55,24.64
$GC,5455,1.19,182.3,3107,2058,2198,2097,384.1,11.2,243,5461,0.00,2.70,0.00,0.000,516,0.000,0.050,3108,461,2147,2198,2097,0,0,0,0,0,0,24.85,24.54,24.87
$GC,5517,1.19,182.3,3107,461,2197,2096,379.1,11.4,244,5522,0.00,2.58,0.00,0.000,1030,0.000,0.031,3108,2053,2147,2197,2097,0,0,0,0,0,0,24.68,24.62,24.70
$GC,5780,1.19,182.3,3107,2053,2197,2095,347.7,11.0,251,5785,0.00,2.67,0.00,0.000,516,0.000,0.050,3108,467,2146,2197,2095,0,0,0,0,0,0,24.90,24.59,24.92
$GC,5801,1.19,182.3,3107,467,2197,2095,347.7,11.0,251,5807,0.00,2.55,0.00,0.000,1030,0.000,0.028,3108,2052,2146,2197,2095,0,0,0,0,0,0,24.72,24.66,24.75
$GC,6064,1.19,182.3,3107,2051,2197,2094,315.7,11.0,258,6069,0.00,2.67,0.00,0.000,516,0.000,0.049,3108,458,2145,2197,2093,0,0,0,0,0,0,24.94,24.63,24.96
$GC,6085,1.19,182.3,3107,457,2197,2093,315.7,11.0,258,6090,0.00,2.58,0.00,0.000,1030,0.000,0.033,3108,2061,2145,2197,2093,0,0,0,0,0,0,24.75,24.69,24.77
$GC,6348,1.19,187.1,3107,2062,2197,2092,287.0,9.8,265,6350,0.05,0.00,0.00,0.000,2054,0.151,0.000,3122,2061,2144,2197,2092,0,0,0,0,0,0,24.74,24.79,24.77
$GC,6587,1.19,187.1,3122,2061,2197,2092,261.9,10.8,271,6592,0.00,2.62,0.00,0.000,260,0.000,0.054,3122,3619,2145,2198,2092,0,0,0,0,0,0,24.98,24.66,25.00
$GC,6648,1.19,187.1,3121,3619,2196,2092,256.9,11.0,272,6654,0.00,2.53,0.00,0.000,1030,0.000,0.034,3122,2042,2144,2196,2092,0,0,0,0,0,0,24.80,24.73,24.82
$GC,6911,1.19,187.1,3122,2042,2196,2091,227.0,10.3,279,6917,0.00,2.62,0.00,0.000,516,0.000,0.046,3122,467,2143,2196,2091,0,0,0,0,0,0,25.00,24.70,25.02
$GC,6943,1.19,187.1,3122,467,2196,2091,227.0,10.3,279,6948,0.00,2.53,0.00,0.000,1030,0.000,0.025,3122,2055,2143,2196,2091,0,0,0,0,0,0,24.82,24.76,24.84
$GC,7195,1.19,187.1,3121,2055,2196,2090,196.1,11.1,286,7201,0.00,2.60,0.00,0.000,260,0.000,0.052,3122,3626,2143,2196,2090,0,0,0,0,0,0,25.01,24.71,25.03
$GC,7229,1.19,187.1,3122,3626,2196,2090,192.3,11.5,289,7235,0.00,2.53,0.00,0.000,1030,0.000,0.029,3122,2040,2143,2196,2090,0,0,0,0,0,0,24.83,24.77,24.84
$GC,7483,1.21,202.2,3122,2040,2196,2090,167.5,9.3,314,7506,0.00,2.65,16.45,0.638,8708,0.000,0.041,3122,468,2073,2123,2023,0,0,0,0,0,0,25.03,24.38,23.87
$GC,7543,1.23,218.6,3122,468,2122,2022,162.2,9.3,319,7565,0.00,2.53,15.25,0.620,9222,0.000,0.024,3123,2054,2006,2052,1960,0,0,0,0,0,0,24.63,24.57,23.76
$GC,7812,1.26,237.0,3122,2054,2052,1958,136.9,9.2,346,7838,0.08,2.62,16.92,0.603,10756,0.130,0.038,3147,467,1932,1974,1890,0,0,0,0,0,0,24.57,24.27,23.78
$GC,7918,1.26,237.0,3146,467,1974,1889,125.5,11.5,355,7923,0.00,2.53,0.00,0.000,1030,0.000,0.022,3146,2054,1931,1974,1889,0,0,0,0,0,0,24.61,24.56,24.63
$GC,8173,1.26,237.0,3146,2054,1974,1889,98.0,10.4,380,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2054,1931,1974,1889,0,0,0,0,0,0,24.87,24.89,24.89
$GC,8421,1.26,237.0,3146,2054,1974,1889,71.1,11.1,405,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2054,1931,1974,1889,0,0,0,0,0,0,24.91,24.94,24.93
$GC,8661,1.26,237.0,3146,2054,1974,1889,44.0,11.7,429,8662,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2054,1931,1974,1889,0,0,0,0,0,0,24.94,24.96,24.96
$GC,8914,1.26,237.0,3146,2054,1974,1890,13.9,11.0,465,8924,0.00,2.62,0.00,0.000,516,0.000,0.037,3146,468,1931,1974,1889,0,0,0,0,0,0,24.97,24.70,24.98
$GC,8936,1.26,237.0,3146,469,1974,1889,11.1,12.4,468,8944,0.00,2.50,0.00,0.000,1030,0.000,0.021,3146,2055,1931,1974,1889,0,0,0,0,0,0,24.79,24.74,24.81
$STATE,9004,end climb,SURFACE_DEPTH_REACHED
$STATE,9005,begin surface coast
$FINISH,0.1,1.003571
$STATE,9028,end surface coast,CONTROL_FINISHED_OK
$STATE,9029,begin surface
$SM_CCo,9048,100.80,0.494,0,0,1228,410.13
$SM_GC,0.92,11.48,0.32,100.80,0.050,0.042,0.494,422,1832,1228,-7.27,1.02,410.13,0,0,0,0,0,0,24.68,24.75,23.76
$IRIDIUM_FIX,2155.06,-15501.80,160318,045340
$TT8_MAMPS,0.021721,0.341544
$HUMID,50.15
$INTERNAL_PRESSURE,9.2131
$TCM_TEMP,21.50
$XPDR_PINGS,22
$24V_AH,23.48,4.674
$10V_AH,10.41,2.955
$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,25.350,113.725,319.950,100.800,0.000,25.885,45.433,144.941,26.250,0.000,52.368,1583.574,5569.785,560.602,1668.084,136.940,0.000,1205.873,0.000,1342.302,0.000,131.133,0.000
$DEVICE_MAMPS,164.475,64.260,894.285,494.190,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,326.821,270.503,434.657,508.839,607.757,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343016
$DATA_FILE_SIZE,40617,484
$CAP_FILE_SIZE,104112,0
$CFSIZE,259248128,257536000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,350.29,1
$GPS,160318,091033,2206.461,-15459.993,13,1.0,41,10.2,0.6,215.8,8,5.3