version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 543
start: 6 6 118 18 5 17
data:
$ID,148
$MISSION,15
$DIVE,543
$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,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,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
$GPS1,060618,175632,2236.1404,-15748.0830,32,1.6,47,10.0,0.4,255.2,8,4.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-60.2
$GPS2,060618,180439,2236.1663,-15748.1670,11,1.4,51,10.0,0.3,152.7,8,5.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED4
$TGT_LATLONG,2236.000,-15748.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,82.6,420,-22.6,-10.000,-25.10,1469
$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,-1.31,-95.8,430,1800,1348,1331,0.0,0.0,0,94,0.00,0.10,-70.60,0.000,16390,0.000,0.311,431,2014,3291,3338,3244,0,0,0,0,0,0,24.65,24.01,24.60
$GC,97,-1.31,-95.8,431,2014,3338,3244,4.7,-11.8,11,113,10.38,2.80,0.00,0.000,2564,0.165,0.033,2330,321,3292,3340,3245,0,0,0,0,0,0,24.22,24.37,24.37
$GC,166,-1.31,-95.8,2330,321,3341,3244,26.7,-21.0,22,173,0.00,2.53,0.00,0.000,1030,0.000,0.015,2330,1925,3292,3341,3244,0,0,0,0,0,0,24.52,24.48,24.53
$GC,443,-1.31,-95.8,2330,1926,3342,3244,78.6,-16.6,71,451,0.00,2.50,0.00,0.000,260,0.000,0.026,2331,3484,3293,3342,3244,0,0,0,0,0,0,24.76,24.51,24.77
$GC,481,-1.31,-95.8,2330,3484,3342,3244,84.5,-15.8,77,490,0.00,2.50,0.00,0.000,1030,0.000,0.015,2330,1882,3293,3342,3244,0,0,0,0,0,0,24.60,24.56,24.60
$GC,742,-1.31,-95.8,2330,1882,3343,3244,122.6,-14.7,111,747,0.00,2.53,0.00,0.000,260,0.000,0.025,2330,3463,3293,3343,3244,0,0,0,0,0,0,24.81,24.55,24.82
$GC,838,-1.31,-95.8,2330,3463,3343,3244,135.9,-14.0,120,844,0.00,2.42,0.00,0.000,1030,0.000,0.015,2330,1893,3294,3344,3244,0,0,0,0,0,0,24.65,24.60,24.66
$GC,1095,-1.31,-95.8,2330,1893,3344,3244,170.8,-13.7,145,1100,0.00,2.50,0.00,0.000,516,0.000,0.030,2330,336,3294,3344,3244,0,0,0,0,0,0,24.84,24.58,24.86
$GC,1118,-1.31,-95.8,2330,336,3344,3244,174.2,-13.2,147,1123,0.00,2.45,0.00,0.000,1030,0.000,0.015,2330,1920,3294,3344,3245,0,0,0,0,0,0,24.68,24.63,24.69
$GC,1393,-1.31,-95.8,2330,1920,3345,3244,204.8,-10.3,171,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1920,3294,3345,3244,0,0,0,0,0,0,24.87,24.89,24.88
$GC,1631,-1.31,-95.8,2330,1920,3345,3244,229.3,-10.3,177,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1920,3294,3345,3244,0,0,0,0,0,0,24.88,24.90,24.89
$GC,1871,-1.31,-99.5,2330,1920,3345,3244,253.4,-9.7,183,1877,0.00,2.58,0.00,0.000,516,0.000,0.032,2330,333,3294,3345,3244,0,0,0,0,0,0,24.89,24.63,24.91
$GC,2026,-1.31,-99.5,2330,333,3345,3245,267.3,-10.8,186,2031,0.00,2.42,0.00,0.000,1030,0.000,0.017,2330,1882,3294,3345,3244,0,0,0,0,0,0,24.73,24.68,24.74
$GC,2279,-1.31,-99.5,2330,1882,3345,3242,298.3,-10.8,193,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1882,3293,3345,3242,0,0,0,0,0,0,24.91,24.93,24.93
$STATE,2316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2317,begin apogee
$GC,2322,-0.26,0.0,2330,1882,3345,3242,302.5,-10.7,194,2404,1.50,0.00,78.38,0.669,10246,0.076,0.000,2672,1882,2899,2958,2841,0,0,0,0,0,0,24.60,23.99,23.51
$STATE,2405,end apogee,CONTROL_FINISHED_OK
$STATE,2405,begin climb
$GC,2408,1.31,99.5,2671,1882,2958,2841,304.9,0.0,196,2499,2.05,2.67,83.43,0.660,10500,0.038,0.048,3170,3407,2493,2553,2433,0,0,0,0,0,0,24.19,23.96,23.48
$GC,2531,1.31,99.5,3170,3406,2552,2430,300.5,4.6,199,2537,0.00,2.50,0.00,0.000,1030,0.000,0.031,3171,1867,2490,2552,2429,0,0,0,0,0,0,24.28,23.91,24.31
$GC,2804,1.34,118.0,3170,1867,2552,2423,275.3,8.7,206,2828,0.00,2.65,16.02,0.612,8452,0.000,0.040,3170,3402,2418,2482,2354,0,0,0,0,0,0,24.68,24.09,23.61
$GC,2917,1.35,129.9,3171,3402,2481,2350,267.3,9.2,208,2937,0.00,2.53,11.52,0.582,9222,0.000,0.024,3170,1845,2369,2430,2309,0,0,0,0,0,0,24.48,24.41,23.65
$GC,3211,1.35,133.2,3170,1845,2430,2302,235.3,9.8,216,3221,0.00,2.70,4.15,0.431,8708,0.000,0.051,3170,272,2355,2418,2293,0,0,0,0,0,0,24.72,24.35,23.84
$GC,3278,1.36,136.6,3171,272,2418,2293,230.9,9.8,217,3288,0.00,2.55,4.32,0.435,9222,0.000,0.022,3171,1845,2342,2404,2281,0,0,0,0,0,0,24.53,24.48,23.84
$GC,3536,1.38,155.1,3170,1845,2404,2277,205.5,8.7,224,3561,0.05,2.70,16.95,0.596,10500,0.125,0.049,3191,3429,2266,2327,2206,0,0,0,0,0,0,24.57,24.13,23.66
$GC,3693,1.40,171.6,3191,3429,2326,2202,191.4,8.8,233,3716,0.00,2.55,14.88,0.578,9222,0.000,0.022,3191,1838,2200,2255,2146,0,0,0,0,0,0,24.53,24.48,23.67
$GC,3964,1.41,181.8,3191,1839,2255,2140,164.9,9.3,260,3976,0.00,0.00,10.12,0.540,8198,0.000,0.000,3191,1838,2157,2212,2103,0,0,0,0,0,0,24.73,24.20,23.77
$GC,4215,1.42,182.8,3191,1839,2212,2098,139.3,9.9,285,4221,0.00,2.60,0.00,0.000,516,0.000,0.039,3191,274,2155,2212,2098,0,0,0,0,0,0,24.75,24.48,24.76
$GC,4249,1.42,182.8,3191,274,2211,2098,135.2,11.2,288,4255,0.00,2.55,0.00,0.000,1030,0.000,0.020,3191,1862,2154,2211,2098,0,0,0,0,0,0,24.58,24.53,24.59
$GC,4507,1.45,209.1,3191,1863,2211,2097,113.0,8.2,313,4541,0.05,2.60,24.08,0.545,10500,0.132,0.033,3211,3421,2046,2097,1996,0,0,0,0,0,0,24.60,24.13,23.69
$GC,4687,1.45,209.1,3210,3421,2096,1994,93.7,11.3,334,4695,0.00,2.53,0.00,0.000,1030,0.000,0.018,3212,1838,2044,2096,1993,0,0,0,0,0,0,24.54,24.49,24.56
$GC,4965,1.46,216.7,3211,1837,2096,1991,64.3,9.5,383,4980,0.00,2.60,7.38,0.442,8452,0.000,0.030,3211,3427,2016,2062,1970,0,0,0,0,0,0,24.77,24.23,23.94
$GC,5180,1.46,221.6,3210,3428,2060,1970,43.9,9.7,420,5195,0.00,2.50,5.68,0.399,9222,0.000,0.018,3211,1847,1996,2038,1954,0,0,0,0,0,0,24.61,24.56,23.99
$GC,5462,1.47,227.2,3211,1847,2038,1952,18.3,9.6,470,5476,0.00,0.00,6.80,0.402,8198,0.000,0.000,3211,1847,1971,2013,1929,0,0,0,0,0,0,24.79,24.27,24.01
$STATE,5606,end climb,SURFACE_DEPTH_REACHED
$STATE,5608,begin surface coast
$FINISH,0.1,1.023185
$STATE,5630,end surface coast,CONTROL_FINISHED_OK
$STATE,5630,begin surface
$SM_CCo,5652,81.38,0.451,0,0,1349,380.21
$SM_GC,0.94,11.57,0.08,81.38,0.041,0.090,0.451,431,2034,1349,-7.24,-1.10,380.21,0,0,0,0,0,0,24.51,24.61,23.72
$IRIDIUM_FIX,2225.34,-15749.38,060618,162329
$TT8_MAMPS,0.020972,0.286118
$HUMID,54.52
$INTERNAL_PRESSURE,9.29123
$TCM_TEMP,22.70
$XPDR_PINGS,7
$24V_AH,23.48,66.344
$10V_AH,9.97,47.980
$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,25.600,61.750,283.700,81.375,0.000,31.493,58.924,232.437,1.750,0.000,54.104,1463.121,2378.694,466.016,1759.130,176.321,0.000,1008.027,0.000,1390.043,0.000,0.539,0.000
$DEVICE_MAMPS,165.240,310.590,669.375,451.350,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,336.693,330.626,476.791,736.649,904.203,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342948
$DATA_FILE_SIZE,40571,500
$CAP_FILE_SIZE,73156,0
$CFSIZE,259248128,226570240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.161,273.18,1
$GPS,060618,194221,2236.231,-15748.087,13,1.5,53,10.0,0.0,306.3,6,5.1