version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 509
start: 6 4 118 10 46 37
data:
$ID,148
$MISSION,15
$DIVE,509
$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,45
$R_STBD_OVSHOOT,50
$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
$GPS1,040618,104002,2236.3525,-15748.1973,8,1.4,41,10.0,0.4,189.4,8,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-57.4
$GPS2,040618,104609,2236.3508,-15748.2520,11,1.8,27,10.0,0.2,224.2,8,4.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,136.3,779,-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,-63.2,430,1860,1341,1338,0.0,0.0,0,89,0.00,0.00,-67.03,0.000,16390,0.000,0.000,431,1860,3158,3203,3113,0,0,0,0,0,0,24.65,23.66,24.67
$GC,93,-1.57,-85.8,430,1860,3203,3113,3.5,-7.6,10,110,9.95,2.55,-1.67,0.000,18948,0.165,0.037,2243,312,3251,3304,3199,0,0,0,0,0,0,24.23,23.65,24.33
$GC,184,-1.57,-85.8,2242,311,3305,3199,28.8,-23.9,25,192,0.00,2.53,0.00,0.000,1030,0.000,0.015,2243,1915,3252,3305,3199,0,0,0,0,0,0,24.53,24.49,24.54
$GC,459,-1.57,-85.8,2242,1918,3305,3200,84.2,-18.1,74,467,0.00,2.60,0.00,0.000,516,0.000,0.030,2242,322,3252,3305,3200,0,0,0,0,0,0,24.77,24.51,24.79
$GC,479,-1.57,-85.8,2242,322,3304,3200,88.2,-18.4,77,488,0.00,2.50,0.00,0.000,1030,0.000,0.015,2243,1922,3252,3304,3200,0,0,0,0,0,0,24.60,24.56,24.61
$GC,738,-1.57,-85.8,2242,1922,3304,3201,134.1,-17.3,107,744,0.00,2.45,0.00,0.000,260,0.000,0.026,2243,3470,3253,3305,3201,0,0,0,0,0,0,24.82,24.56,24.83
$GC,765,-1.57,-85.8,2242,3470,3305,3201,138.8,-17.8,109,772,0.00,2.45,0.00,0.000,1030,0.000,0.016,2243,1877,3253,3305,3201,0,0,0,0,0,0,24.65,24.60,24.65
$GC,1014,-1.57,-85.8,2242,1877,3305,3201,181.3,-16.2,134,1020,0.00,2.53,0.00,0.000,260,0.000,0.024,2243,3466,3253,3305,3201,0,0,0,0,0,0,24.84,24.59,24.86
$GC,1032,-1.57,-85.8,2242,3466,3305,3201,183.9,-16.4,135,1040,0.00,2.45,0.00,0.000,1030,0.000,0.016,2243,1900,3253,3305,3201,0,0,0,0,0,0,24.65,24.63,24.66
$GC,1289,-1.57,-85.8,2242,1899,3305,3202,223.8,-14.7,149,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,1899,3253,3305,3202,0,0,0,0,0,0,24.87,24.89,24.88
$GC,1528,-1.57,-85.8,2242,1899,3305,3202,255.8,-13.1,155,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,1899,3253,3305,3202,0,0,0,0,0,0,24.89,24.91,24.90
$GC,1768,-1.57,-85.8,2242,1899,3305,3202,287.9,-13.7,161,1773,0.00,2.55,0.00,0.000,516,0.000,0.034,2243,332,3253,3305,3202,0,0,0,0,0,0,24.90,24.64,24.91
$GC,1881,-1.57,-85.8,2242,333,3304,3202,299.6,-14.0,163,1886,0.00,2.45,0.00,0.000,1030,0.000,0.017,2243,1897,3253,3305,3202,0,0,0,0,0,0,24.73,24.68,24.75
$STATE,1891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1891,begin apogee
$GC,1896,-0.26,0.0,2242,1897,3304,3202,305.6,-14.0,164,1974,1.92,0.00,70.72,0.662,10246,0.086,0.000,2669,1898,2900,2954,2846,0,0,0,0,0,0,24.58,24.01,23.55
$STATE,1975,end apogee,CONTROL_FINISHED_OK
$STATE,1975,begin climb
$GC,1977,1.57,85.8,2669,1898,2954,2845,308.5,0.0,166,2059,2.42,2.62,72.10,0.654,10500,0.041,0.051,3262,3405,2548,2602,2494,0,0,0,0,0,0,24.24,23.99,23.51
$GC,2101,1.57,85.8,3262,3405,2601,2491,301.6,6.9,169,2107,0.00,2.50,0.00,0.000,1030,0.000,0.023,3262,1872,2546,2601,2491,0,0,0,0,0,0,24.37,24.30,24.39
$GC,2379,1.57,86.4,3262,1872,2601,2486,273.1,9.9,176,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1872,2543,2601,2486,0,0,0,0,0,0,24.69,24.72,24.71
$GC,2621,1.59,101.0,3262,1872,2601,2484,252.3,8.5,182,2636,0.00,0.00,13.20,0.593,8198,0.000,0.000,3262,1872,2487,2545,2430,0,0,0,0,0,0,24.75,24.17,23.71
$GC,2859,1.60,111.6,3262,1872,2545,2424,230.9,8.9,188,2878,0.00,2.80,10.23,0.571,8708,0.000,0.053,3262,271,2443,2502,2385,0,0,0,0,0,0,24.73,24.24,23.76
$GC,2915,1.62,125.6,3262,271,2501,2384,227.3,8.5,189,2934,0.00,2.55,13.27,0.581,9222,0.000,0.022,3262,1845,2386,2442,2331,0,0,0,0,0,0,24.51,24.45,23.68
$GC,3183,1.62,126.3,3262,1845,2442,2324,200.0,9.9,196,3189,0.00,2.67,0.00,0.000,260,0.000,0.049,3263,3428,2383,2442,2324,0,0,0,0,0,0,24.72,24.44,24.75
$GC,3343,1.63,133.0,3262,3428,2441,2323,184.3,9.3,211,3356,0.00,2.53,7.25,0.513,9222,0.000,0.021,3262,1837,2356,2413,2299,0,0,0,0,0,0,24.60,24.54,23.86
$GC,3604,1.63,137.8,3262,1837,2412,2295,160.0,9.5,237,3617,0.00,2.60,5.45,0.463,8708,0.000,0.037,3262,278,2336,2393,2279,0,0,0,0,0,0,24.78,24.25,23.92
$GC,3674,1.63,137.8,3262,278,2393,2279,152.8,10.9,243,3682,0.00,2.58,0.00,0.000,1030,0.000,0.020,3263,1862,2335,2393,2278,0,0,0,0,0,0,24.56,24.53,24.57
$GC,3923,1.65,151.7,3262,1862,2393,2276,129.5,8.5,268,3940,0.00,0.00,12.93,0.532,8198,0.000,0.000,3263,1862,2280,2334,2226,0,0,0,0,0,0,24.81,24.24,23.82
$GC,4182,1.67,162.8,3262,1862,2334,2222,106.3,8.8,294,4199,0.00,2.65,10.68,0.503,8708,0.000,0.034,3262,266,2234,2288,2181,0,0,0,0,0,0,24.78,24.20,23.86
$GC,4240,1.67,162.8,3262,266,2286,2181,100.1,10.9,299,4245,0.00,2.55,0.00,0.000,1030,0.000,0.018,3262,1863,2234,2287,2181,0,0,0,0,0,0,24.53,24.49,24.55
$GC,4513,1.67,162.8,3262,1863,2286,2178,70.6,11.3,347,4520,0.00,2.55,0.00,0.000,260,0.000,0.034,3262,3422,2232,2287,2178,0,0,0,0,0,0,24.79,24.53,24.81
$GC,4755,1.67,166.1,3262,3422,2286,2178,43.7,9.7,390,4764,0.05,2.50,3.85,0.334,11270,0.129,0.018,3283,1842,2222,2274,2170,0,0,0,0,0,0,24.55,24.60,24.07
$GC,5035,1.70,194.9,3283,1842,2274,2169,19.5,7.0,439,5070,0.00,2.62,25.95,0.466,8708,0.000,0.034,3284,271,2103,2153,2054,0,0,0,0,0,0,24.84,24.20,23.82
$STATE,5191,end climb,SURFACE_DEPTH_REACHED
$STATE,5191,begin surface coast
$FINISH,0.2,1.023276
$STATE,5215,end surface coast,CONTROL_FINISHED_OK
$STATE,5215,begin surface
$SM_CCo,5238,97.85,0.451,0,0,1349,380.21
$SM_GC,0.99,11.75,2.62,97.85,0.034,0.015,0.451,428,1906,1349,-7.24,-1.39,380.21,0,0,0,0,0,0,24.49,24.52,23.72
$IRIDIUM_FIX,2227.67,-15750.66,040618,090535
$TT8_MAMPS,0.020972,0.351281
$HUMID,53.78
$INTERNAL_PRESSURE,9.30099
$TCM_TEMP,22.60
$XPDR_PINGS,9
$24V_AH,23.51,63.880
$10V_AH,9.92,45.516
$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,26.100,61.400,245.625,97.850,0.000,29.575,52.912,149.513,2.250,0.000,30.221,1322.819,2277.329,460.335,1494.655,161.994,0.000,940.972,0.000,1244.771,0.000,0.539,0.000
$DEVICE_MAMPS,165.240,52.785,661.725,451.350,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,316.266,310.214,440.261,696.883,859.440,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342952
$DATA_FILE_SIZE,37162,470
$CAP_FILE_SIZE,66440,0
$CFSIZE,259248128,228052992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,217.52,1
$GPS,040618,121656,2235.806,-15748.049,11,1.1,44,10.0,0.5,264.0,9,4.2