version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 532
start: 6 6 118 0 2 18
data:
$ID,148
$MISSION,15
$DIVE,532
$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,41
$R_STBD_OVSHOOT,48
$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
$GPS1,050618,235426,2236.2710,-15748.5049,37,1.4,60,10.0,0.0,127.1,8,5.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-61.9
$GPS2,060618,000151,2236.2844,-15748.5947,14,1.1,54,10.0,0.4,3.0,7,4.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,99.7,1144,-20.5,-10.000,-23.08,1791
$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,-1.22,-116.8,434,1993,1349,1331,0.0,0.0,0,90,0.00,0.00,-71.97,0.000,16386,0.000,0.000,435,1993,3344,3395,3294,0,0,0,0,0,0,24.65,28.83,24.68
$GC,94,-1.22,-116.8,435,1993,3395,3295,3.4,-7.0,10,111,10.15,2.75,-0.55,0.000,18948,0.149,0.035,2358,314,3379,3433,3325,0,0,0,0,0,0,24.26,23.64,24.35
$GC,214,-1.22,-116.8,2358,314,3433,3326,34.7,-19.6,30,222,0.00,2.53,0.00,0.000,1030,0.000,0.015,2358,1918,3379,3433,3326,0,0,0,0,0,0,24.54,24.50,24.56
$GC,487,-1.22,-116.8,2358,1919,3434,3327,86.6,-16.7,79,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1919,3380,3434,3327,0,0,0,0,0,0,24.77,24.79,24.79
$GC,750,-1.22,-116.8,2358,1919,3434,3327,129.0,-14.7,111,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1919,3381,3434,3328,0,0,0,0,0,0,24.82,24.84,24.84
$GC,997,-1.22,-116.8,2358,1919,3434,3328,162.9,-12.3,136,1002,0.00,2.47,0.00,0.000,260,0.000,0.028,2358,3472,3381,3434,3328,0,0,0,0,0,0,24.84,24.59,24.86
$GC,1014,-1.22,-116.8,2358,3472,3435,3328,164.6,-12.5,137,1021,0.00,2.45,0.00,0.000,1030,0.000,0.016,2358,1882,3381,3435,3328,0,0,0,0,0,0,24.68,24.63,24.68
$GC,1262,-1.22,-116.8,2358,1882,3434,3329,196.6,-12.4,162,1267,0.00,2.50,0.00,0.000,516,0.000,0.031,2358,333,3381,3434,3328,0,0,0,0,0,0,24.87,24.60,24.88
$GC,1279,-1.22,-116.8,2358,333,3435,3328,198.5,-12.9,163,1285,0.00,2.42,0.00,0.000,1030,0.000,0.016,2358,1901,3381,3435,3328,0,0,0,0,0,0,24.70,24.65,24.70
$GC,1535,-1.22,-116.8,2358,1901,3435,3329,231.0,-12.1,171,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1901,3382,3435,3329,0,0,0,0,0,0,24.88,24.90,24.90
$GC,1775,-1.22,-116.8,2358,1901,3435,3329,259.7,-11.7,177,1782,0.00,2.50,0.00,0.000,260,0.000,0.028,2358,3467,3382,3435,3329,0,0,0,0,0,0,24.89,24.64,24.91
$GC,1793,-1.22,-116.8,2358,3468,3435,3329,259.7,-11.7,177,1798,0.00,2.42,0.00,0.000,1030,0.000,0.016,2358,1894,3382,3435,3329,0,0,0,0,0,0,24.72,24.68,24.74
$GC,2061,-1.22,-116.8,2357,1894,3434,3329,289.7,-10.2,184,2066,0.00,2.55,0.00,0.000,516,0.000,0.035,2358,336,3381,3435,3328,0,0,0,0,0,0,24.91,24.63,24.92
$GC,2078,-1.22,-116.8,2358,336,3435,3328,289.7,-10.2,184,2084,0.00,2.45,0.00,0.000,1030,0.000,0.018,2358,1904,3381,3434,3328,0,0,0,0,0,0,24.74,24.69,24.75
$STATE,2184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2184,begin apogee
$GC,2190,-0.26,0.0,2358,1904,3434,3328,302.8,-10.3,187,2290,1.35,0.00,95.60,0.660,10246,0.073,0.000,2669,1904,2899,2958,2841,0,0,0,0,0,0,24.60,23.99,23.52
$STATE,2291,end apogee,CONTROL_FINISHED_OK
$STATE,2291,begin climb
$GC,2293,1.22,116.8,2668,1904,2958,2841,305.4,0.0,189,2401,1.92,2.62,96.68,0.649,10500,0.038,0.049,3143,3408,2422,2483,2361,0,0,0,0,0,0,24.19,23.98,23.50
$GC,2441,1.22,116.8,3142,3408,2482,2356,298.5,5.7,193,2446,0.00,2.50,0.00,0.000,1030,0.000,0.023,3143,1868,2419,2482,2356,0,0,0,0,0,0,24.36,24.30,24.38
$GC,2726,1.22,116.8,3142,1867,2482,2351,269.4,10.2,200,2731,0.00,2.75,0.00,0.000,516,0.000,0.055,3143,266,2416,2482,2351,0,0,0,0,0,0,24.68,24.38,24.70
$GC,2813,1.22,116.8,3142,265,2482,2350,259.7,10.8,202,2820,0.00,2.53,0.00,0.000,1030,0.000,0.021,3143,1833,2415,2482,2349,0,0,0,0,0,0,24.53,24.48,24.55
$GC,3093,1.23,124.6,3142,1833,2482,2346,231.8,9.5,209,3106,0.00,2.70,6.85,0.520,8452,0.000,0.056,3143,3425,2390,2455,2325,0,0,0,0,0,0,24.77,24.32,23.84
$GC,3200,1.24,131.2,3142,3425,2454,2323,223.8,9.6,211,3216,0.00,2.55,7.05,0.521,9222,0.000,0.021,3143,1830,2364,2427,2301,0,0,0,0,0,0,24.56,24.51,23.82
$GC,3455,1.27,156.5,3142,1830,2427,2298,200.1,8.6,218,3484,0.00,2.65,22.35,0.599,8708,0.000,0.044,3143,280,2260,2321,2199,0,0,0,0,0,0,24.75,23.96,23.64
$GC,3531,1.28,167.6,3142,280,2321,2196,193.1,9.4,222,3550,0.00,2.58,10.75,0.550,9222,0.000,0.021,3144,1860,2215,2271,2159,0,0,0,0,0,0,24.48,24.42,23.70
$GC,3789,1.31,190.7,3142,1860,2271,2153,168.5,8.7,248,3816,0.08,2.62,20.70,0.578,10500,0.092,0.038,3181,3429,2120,2174,2067,0,0,0,0,0,0,24.52,23.97,23.65
$GC,3834,1.31,190.7,3181,3429,2173,2067,163.7,10.5,252,3839,0.00,2.55,0.00,0.000,1030,0.000,0.021,3181,1848,2120,2173,2067,0,0,0,0,0,0,24.41,24.36,24.43
$GC,4090,1.31,190.7,3181,1848,2173,2061,134.4,10.4,277,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1848,2116,2172,2061,0,0,0,0,0,0,24.73,24.75,24.75
$GC,4337,1.33,208.8,3181,1847,2173,2060,111.0,9.0,302,4357,0.00,0.00,15.82,0.532,8198,0.000,0.000,3181,1848,2047,2096,1999,0,0,0,0,0,0,24.78,24.18,23.77
$GC,4612,1.33,208.8,3181,1847,2096,1994,80.9,11.2,343,4620,0.00,2.60,0.00,0.000,260,0.000,0.033,3181,3425,2045,2096,1994,0,0,0,0,0,0,24.76,24.50,24.77
$GC,4699,1.33,208.8,3181,3425,2094,1994,71.3,10.6,358,4708,0.00,2.53,0.00,0.000,1030,0.000,0.018,3181,1837,2044,2094,1994,0,0,0,0,0,0,24.60,24.55,24.62
$GC,4973,1.40,261.9,3181,1836,2094,1993,46.5,7.0,407,5028,0.00,0.00,46.95,0.494,8710,0.000,0.000,3182,1836,1830,1876,1784,0,0,0,0,0,0,24.82,23.97,23.71
$GC,5296,1.40,261.9,3181,1837,1876,1778,15.7,10.8,463,5303,0.00,2.60,0.00,0.000,260,0.000,0.031,3181,3425,1826,1875,1778,0,0,0,0,0,0,24.73,24.46,24.74
$STATE,5413,end climb,SURFACE_DEPTH_REACHED
$STATE,5413,begin surface coast
$FINISH,0.1,1.022316
$STATE,5437,end surface coast,CONTROL_FINISHED_OK
$STATE,5438,begin surface
$SM_CCo,5461,62.40,0.446,0,0,1349,380.21
$SM_GC,0.96,11.48,2.42,62.40,0.041,0.015,0.446,435,1869,1349,-7.23,1.41,380.21,0,0,0,0,0,0,24.48,24.56,23.73
$IRIDIUM_FIX,2227.67,-15748.50,050618,221022
$TT8_MAMPS,0.020972,0.343042
$HUMID,54.96
$INTERNAL_PRESSURE,9.31076
$TCM_TEMP,22.90
$XPDR_PINGS,3
$24V_AH,23.50,65.534
$10V_AH,9.86,47.170
$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,24.975,61.300,322.750,62.400,0.000,24.343,45.351,209.261,0.750,0.000,56.664,1346.703,2344.978,465.127,1660.333,163.345,0.000,1005.313,0.000,1327.021,0.000,0.540,0.000
$DEVICE_MAMPS,149.175,120.105,660.195,445.995,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,327.257,321.916,457.909,722.626,890.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,343000
$DATA_FILE_SIZE,40751,488
$CAP_FILE_SIZE,69139,0
$CFSIZE,259248128,227074048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,266.97,1
$GPS,060618,013551,2236.116,-15748.389,11,1.6,51,10.0,0.5,288.7,5,5.8