version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 553
start: 6 7 118 11 26 48
data:
$ID,148
$MISSION,15
$DIVE,553
$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,44
$R_STBD_OVSHOOT,44
$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
$GPS1,070618,111927,2242.1362,-15752.5625,10,1.3,50,10.1,0.9,277.8,7,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-61.3
$GPS2,070618,112621,2242.1436,-15752.6016,11,1.7,33,10.1,0.9,131.5,8,7.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED7
$TGT_LATLONG,2245.000,-15754.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,330.3,5953,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.22,-116.8,417,1841,1354,1325,0.0,0.0,0,96,0.00,0.08,-73.50,0.000,16390,0.000,0.501,417,1972,3377,3429,3326,0,0,0,0,0,0,24.65,23.71,24.66
$GC,100,-1.22,-116.8,417,1974,3429,3327,4.7,-11.5,11,116,10.75,2.45,0.00,0.000,2308,0.170,0.024,2361,3480,3378,3430,3327,0,0,0,0,0,0,24.22,24.37,24.37
$GC,330,-1.22,-116.8,2360,3480,3431,3327,55.3,-17.7,51,338,0.00,2.50,0.00,0.000,1030,0.000,0.017,2360,1893,3379,3431,3327,0,0,0,0,0,0,24.56,24.51,24.58
$GC,609,-1.22,-116.8,2360,1893,3432,3327,99.7,-16.2,100,617,0.00,2.55,0.00,0.000,516,0.000,0.034,2361,320,3379,3432,3327,0,0,0,0,0,0,24.79,24.53,24.81
$GC,665,-1.22,-116.8,2360,319,3432,3327,109.3,-16.7,106,671,0.00,2.50,0.00,0.000,1030,0.000,0.015,2361,1930,3379,3432,3327,0,0,0,0,0,0,24.63,24.59,24.64
$GC,922,-1.22,-116.8,2360,1931,3432,3327,145.2,-13.7,131,928,0.00,2.40,0.00,0.000,260,0.000,0.027,2361,3459,3379,3432,3327,0,0,0,0,0,0,24.83,24.58,24.84
$GC,1001,-1.22,-116.8,2360,3459,3432,3328,155.8,-13.2,138,1008,0.00,2.47,0.00,0.000,1030,0.000,0.017,2361,1868,3380,3432,3328,0,0,0,0,0,0,24.67,24.62,24.68
$GC,1249,-1.22,-116.8,2360,1868,3432,3328,187.2,-12.1,163,1254,0.00,2.47,0.00,0.000,516,0.000,0.034,2361,321,3380,3432,3328,0,0,0,0,0,0,24.86,24.55,24.87
$GC,1287,-1.22,-116.8,2360,321,3432,3328,191.9,-12.9,166,1293,0.00,2.45,0.00,0.000,1030,0.000,0.015,2361,1908,3380,3432,3328,0,0,0,0,0,0,24.69,24.65,24.70
$GC,1553,-1.22,-116.8,2360,1908,3433,3328,223.5,-11.2,178,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1908,3380,3433,3328,0,0,0,0,0,0,24.88,24.90,24.89
$GC,1793,-1.22,-116.8,2361,1908,3433,3328,249.0,-10.6,184,1799,0.00,2.58,0.00,0.000,516,0.000,0.032,2361,335,3380,3433,3328,0,0,0,0,0,0,24.89,24.63,24.91
$GC,1821,-1.22,-116.8,2360,335,3433,3328,249.0,-10.6,184,1826,0.00,2.42,0.00,0.000,1030,0.000,0.017,2361,1890,3380,3433,3328,0,0,0,0,0,0,24.72,24.68,24.73
$GC,2079,-1.22,-116.8,2360,1890,3433,3328,278.7,-10.4,191,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1890,3380,3433,3328,0,0,0,0,0,0,24.91,24.93,24.92
$STATE,2317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2317,begin apogee
$GC,2323,-0.26,0.0,2360,1890,3433,3327,303.0,-9.9,197,2422,1.35,0.00,95.45,0.662,10246,0.076,0.000,2668,1890,2899,2959,2840,0,0,0,0,0,0,24.60,23.98,23.51
$STATE,2423,end apogee,CONTROL_FINISHED_OK
$STATE,2423,begin climb
$GC,2426,1.22,116.8,2668,1890,2959,2839,304.2,0.0,199,2528,1.95,0.00,97.88,0.648,10246,0.040,0.000,3142,1890,2422,2485,2359,0,0,0,0,0,0,24.18,23.94,23.49
$GC,2759,1.22,117.7,3142,1890,2485,2348,274.6,9.9,208,2765,0.00,2.60,0.00,0.000,260,0.000,0.049,3142,3413,2417,2485,2349,0,0,0,0,0,0,24.65,24.34,24.66
$GC,2877,1.22,117.7,3142,3413,2483,2347,265.9,10.1,210,2884,0.00,2.50,0.00,0.000,1030,0.000,0.023,3142,1861,2415,2484,2347,0,0,0,0,0,0,24.51,24.44,24.52
$GC,3123,1.25,142.1,3142,1861,2483,2344,240.4,8.6,217,3151,0.00,2.62,21.48,0.610,8452,0.000,0.040,3142,3406,2319,2382,2256,0,0,0,0,0,0,24.75,24.08,23.61
$GC,3189,1.29,169.9,3142,3406,2380,2255,236.9,8.4,218,3222,0.00,2.53,24.50,0.606,9222,0.000,0.023,3142,1843,2206,2264,2148,0,0,0,0,0,0,24.46,24.39,23.57
$GC,3485,1.29,175.5,3142,1843,2264,2140,207.0,9.7,226,3497,0.00,2.75,5.65,0.479,8708,0.000,0.047,3142,267,2183,2244,2123,0,0,0,0,0,0,24.70,24.30,23.82
$GC,3520,1.30,181.2,3142,267,2244,2123,207.0,9.7,226,3532,0.05,2.55,6.50,0.495,11270,0.124,0.021,3169,1843,2160,2217,2104,0,0,0,0,0,0,24.39,24.43,23.77
$GC,3769,1.30,181.2,3169,1844,2215,2101,177.6,10.3,248,3776,0.00,2.65,0.00,0.000,260,0.000,0.043,3169,3425,2158,2216,2101,0,0,0,0,0,0,24.74,24.44,24.75
$GC,3834,1.30,181.2,3169,3425,2214,2101,170.3,11.6,254,3840,0.00,2.55,0.00,0.000,1030,0.000,0.021,3169,1833,2157,2214,2101,0,0,0,0,0,0,24.58,24.52,24.59
$GC,4091,1.32,194.1,3169,1833,2213,2098,145.2,9.3,279,4113,0.00,2.67,12.18,0.538,8452,0.000,0.034,3169,3425,2107,2162,2053,0,0,0,0,0,0,24.79,24.25,23.80
$GC,4198,1.32,194.1,3169,3425,2161,2052,133.8,11.2,289,4203,0.00,2.53,0.00,0.000,1030,0.000,0.019,3169,1838,2106,2161,2052,0,0,0,0,0,0,24.55,24.50,24.56
$GC,4453,1.35,221.2,3169,1839,2161,2049,109.2,8.4,314,4487,0.00,2.67,23.73,0.540,8452,0.000,0.032,3169,3430,1997,2047,1947,0,0,0,0,0,0,24.79,24.13,23.69
$GC,4541,1.35,221.2,3169,3430,2047,1947,99.6,11.6,322,4549,0.00,2.53,0.00,0.000,1030,0.000,0.019,3169,1848,1996,2046,1946,0,0,0,0,0,0,24.49,24.44,24.51
$GC,4814,1.36,228.1,3169,1848,2047,1942,71.9,9.6,371,4828,0.00,2.62,7.03,0.439,8708,0.000,0.035,3169,273,1968,2015,1921,0,0,0,0,0,0,24.76,24.22,23.93
$GC,4892,1.36,228.1,3169,273,2013,1921,63.8,11.0,384,4900,0.00,2.55,0.00,0.000,1030,0.000,0.018,3169,1865,1966,2012,1921,0,0,0,0,0,0,24.56,24.51,24.57
$GC,5167,1.41,268.0,3169,1865,2012,1922,38.6,7.7,433,5211,0.08,2.60,36.38,0.479,10500,0.083,0.031,3214,3420,1806,1842,1770,0,0,0,0,0,0,24.61,24.11,23.72
$GC,5287,1.41,268.0,3213,3420,1842,1770,26.0,11.7,452,5294,0.00,2.50,0.00,0.000,1030,0.000,0.018,3214,1850,1806,1842,1770,0,0,0,0,0,0,24.49,24.44,24.51
$STATE,5471,end climb,SURFACE_DEPTH_REACHED
$STATE,5471,begin surface coast
$FINISH,0.2,1.023130
$STATE,5494,end surface coast,CONTROL_FINISHED_OK
$STATE,5494,begin surface
$SM_CCo,5515,60.22,0.446,0,0,1349,380.21
$SM_GC,0.92,11.55,0.00,60.22,0.038,0.000,0.446,432,1850,1349,-7.23,-1.41,380.21,0,0,0,0,0,0,24.47,24.76,23.72
$IRIDIUM_FIX,2230.01,-15750.66,070618,093846
$TT8_MAMPS,0.021721,0.343791
$HUMID,55.07
$INTERNAL_PRESSURE,9.31076
$TCM_TEMP,22.90
$XPDR_PINGS,4
$24V_AH,23.49,67.153
$10V_AH,9.87,48.737
$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,25.725,66.375,330.750,60.225,0.000,30.807,43.088,190.166,1.000,0.000,35.314,1361.934,2378.440,496.725,1594.933,167.938,0.000,1015.613,0.000,1297.669,0.000,0.540,0.000
$DEVICE_MAMPS,169.830,501.075,662.490,445.995,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,327.958,321.297,454.185,723.429,880.864,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342960
$DATA_FILE_SIZE,40527,489
$CAP_FILE_SIZE,69563,0
$CFSIZE,259248128,226091008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,312.44,1
$GPS,070618,130144,2242.891,-15753.080,42,2.0,82,10.1,0.3,26.0,6,7.5