version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 594
start: 6 10 118 8 43 19
data:
$ID,148
$MISSION,15
$DIVE,594
$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,39
$R_STBD_OVSHOOT,53
$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
$GPS1,100618,083533,2246.1340,-15753.4785,47,1.2,69,10.1,0.9,344.8,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-58.9
$GPS2,100618,084252,2246.2676,-15753.4951,14,1.2,30,10.1,1.1,337.5,8,4.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED7
$TGT_LATLONG,2245.000,-15754.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,182.6,2638,-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,-116.8,416,1893,1352,1328,0.0,0.0,0,89,0.00,0.00,-70.32,0.000,16386,0.000,0.000,416,1893,3297,3346,3248,0,0,0,0,0,0,24.63,28.83,24.65
$GC,93,-1.22,-116.8,415,1893,3346,3249,3.3,-7.4,10,115,10.70,2.58,-1.48,0.000,18948,0.167,0.037,2358,314,3380,3436,3324,0,0,0,0,0,0,24.21,23.58,24.37
$GC,208,-1.22,-116.8,2358,314,3436,3325,32.8,-17.7,29,216,0.00,2.50,0.00,0.000,1030,0.000,0.015,2359,1906,3381,3437,3325,0,0,0,0,0,0,24.53,24.49,24.54
$GC,487,-1.22,-116.8,2358,1907,3437,3325,83.0,-16.7,78,495,0.00,2.62,0.00,0.000,516,0.000,0.031,2358,308,3380,3436,3325,0,0,0,0,0,0,24.77,24.51,24.78
$GC,514,-1.22,-116.8,2358,309,3436,3325,87.3,-15.8,82,521,0.00,2.50,0.00,0.000,1030,0.000,0.015,2358,1906,3380,3436,3325,0,0,0,0,0,0,24.60,24.56,24.61
$GC,770,-1.22,-116.8,2358,1907,3436,3326,123.3,-13.6,114,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1907,3381,3436,3326,0,0,0,0,0,0,24.81,24.82,24.82
$GC,1010,-1.22,-116.8,2358,1907,3436,3327,154.3,-12.7,138,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1907,3381,3436,3327,0,0,0,0,0,0,24.84,24.85,24.85
$GC,1251,-1.22,-116.8,2358,1907,3436,3327,187.7,-14.1,162,1257,0.00,2.47,0.00,0.000,260,0.000,0.027,2359,3462,3382,3437,3327,0,0,0,0,0,0,24.86,24.60,24.87
$GC,1275,-1.22,-116.8,2358,3462,3437,3327,191.2,-14.0,164,1281,0.00,2.45,0.00,0.000,1030,0.000,0.016,2359,1882,3381,3436,3327,0,0,0,0,0,0,24.69,24.64,24.70
$GC,1548,-1.22,-116.8,2358,1882,3437,3327,223.8,-11.1,176,1554,0.00,2.55,0.00,0.000,260,0.000,0.027,2359,3465,3382,3437,3327,0,0,0,0,0,0,24.87,24.62,24.89
$GC,1576,-1.22,-116.8,2358,3465,3436,3328,223.8,-11.1,176,1581,0.00,2.42,0.00,0.000,1030,0.000,0.016,2359,1890,3382,3437,3328,0,0,0,0,0,0,24.70,24.65,24.72
$GC,1834,-1.22,-116.8,2358,1890,3437,3328,253.3,-10.4,183,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1890,3382,3436,3328,0,0,0,0,0,0,24.89,24.91,24.91
$GC,2074,-1.22,-116.8,2358,1890,3436,3328,282.0,-12.2,189,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1890,3382,3437,3328,0,0,0,0,0,0,24.90,24.92,24.91
$STATE,2272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2272,begin apogee
$GC,2277,-0.26,0.0,2358,1890,3436,3327,304.2,-11.0,194,2377,1.38,0.00,95.80,0.662,10246,0.078,0.000,2670,1890,2899,2960,2839,0,0,0,0,0,0,24.59,23.96,23.49
$STATE,2378,end apogee,CONTROL_FINISHED_OK
$STATE,2378,begin climb
$GC,2381,1.22,116.8,2670,1890,2960,2838,307.0,0.0,196,2489,1.95,2.75,96.82,0.655,11012,0.041,0.047,3144,290,2422,2485,2359,0,0,0,0,0,0,24.18,23.94,23.45
$GC,2501,1.22,116.8,3144,290,2485,2357,305.0,3.0,199,2506,0.00,2.50,0.00,0.000,1030,0.000,0.021,3144,1826,2421,2485,2357,0,0,0,0,0,0,24.30,24.23,24.31
$GC,2760,1.26,149.0,3143,1827,2485,2349,281.6,8.2,206,2790,0.00,0.00,27.98,0.632,8198,0.000,0.000,3144,1827,2291,2350,2233,0,0,0,0,0,0,24.66,23.99,23.53
$GC,2999,1.26,151.7,3143,1827,2350,2225,258.5,9.8,212,3004,0.00,2.75,0.00,0.000,260,0.000,0.054,3144,3429,2287,2349,2225,0,0,0,0,0,0,24.68,24.37,24.70
$GC,3106,1.26,151.7,3143,3429,2347,2225,249.2,10.7,214,3112,0.00,2.50,0.00,0.000,1030,0.000,0.024,3144,1873,2285,2346,2225,0,0,0,0,0,0,24.53,24.46,24.54
$GC,3365,1.29,174.1,3143,1873,2346,2223,222.6,8.7,221,3393,0.00,2.62,21.27,0.608,8452,0.000,0.040,3144,3429,2189,2249,2130,0,0,0,0,0,0,24.76,24.08,23.60
$GC,3477,1.31,191.9,3143,3430,2247,2128,214.9,9.0,223,3501,0.08,2.55,16.55,0.589,11270,0.102,0.022,3168,1842,2117,2169,2065,0,0,0,0,0,0,24.40,24.44,23.61
$GC,3750,1.31,191.9,3167,1842,2169,2059,183.7,11.5,241,3756,0.00,2.62,0.00,0.000,260,0.000,0.034,3168,3429,2114,2169,2059,0,0,0,0,0,0,24.71,24.44,24.73
$GC,3815,1.31,191.9,3167,3429,2168,2060,176.1,11.2,247,3822,0.00,2.55,0.00,0.000,1030,0.000,0.021,3168,1839,2114,2168,2060,0,0,0,0,0,0,24.56,24.50,24.57
$GC,4072,1.34,210.4,3167,1839,2167,2057,151.7,8.9,272,4096,0.00,2.65,16.40,0.555,8452,0.000,0.031,3168,3433,2041,2094,1988,0,0,0,0,0,0,24.77,24.02,23.69
$GC,4202,1.34,210.4,3167,3433,2093,1986,138.4,10.8,284,4207,0.00,2.55,0.00,0.000,1030,0.000,0.019,3168,1834,2039,2093,1986,0,0,0,0,0,0,24.53,24.48,24.54
$GC,4460,1.35,224.4,3167,1834,2093,1983,114.2,9.2,309,4483,0.00,2.67,12.68,0.515,8452,0.000,0.032,3168,3431,1984,2029,1939,0,0,0,0,0,0,24.77,24.22,23.78
$GC,4610,1.35,224.4,3168,3431,2029,1938,96.9,11.4,325,4619,0.00,2.53,0.00,0.000,1030,0.000,0.018,3168,1844,1983,2029,1938,0,0,0,0,0,0,24.56,24.51,24.57
$GC,4888,1.39,257.0,3167,1844,2029,1936,71.2,8.1,374,4925,0.08,2.67,29.90,0.504,10500,0.093,0.031,3205,3432,1851,1893,1809,0,0,0,0,0,0,24.58,24.10,23.70
$GC,5040,1.39,257.0,3204,3432,1893,1809,53.3,12.8,399,5047,0.00,2.53,0.00,0.000,1030,0.000,0.018,3205,1844,1850,1893,1808,0,0,0,0,0,0,24.51,24.46,24.53
$GC,5317,1.39,257.0,3204,1844,1893,1805,23.2,11.1,448,5325,0.00,2.62,0.00,0.000,260,0.000,0.034,3205,3435,1849,1893,1805,0,0,0,0,0,0,24.76,24.49,24.77
$GC,5389,1.39,257.0,3204,3435,1892,1805,14.9,11.9,460,5396,0.00,2.53,0.00,0.000,1030,0.000,0.018,3205,1844,1849,1893,1805,0,0,0,0,0,0,24.60,24.55,24.61
$STATE,5514,end climb,SURFACE_DEPTH_REACHED
$STATE,5514,begin surface coast
$FINISH,0.1,1.010025
$STATE,5544,end surface coast,CONTROL_FINISHED_OK
$STATE,5544,begin surface
$SM_CCo,5565,66.12,0.447,0,0,1349,380.21
$SM_GC,1.05,11.45,0.10,66.12,0.037,0.070,0.447,431,2020,1349,-7.23,-0.74,380.21,0,0,0,0,0,0,24.53,24.63,23.71
$IRIDIUM_FIX,2237.01,-15748.90,100618,065433
$TT8_MAMPS,0.021721,0.286118
$HUMID,55.23
$INTERNAL_PRESSURE,9.32053
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,23.45,70.446
$10V_AH,9.92,51.793
$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,25.625,61.800,317.400,66.125,0.000,28.297,55.897,198.842,0.250,0.000,32.745,1371.509,2429.866,481.187,1618.883,178.961,0.000,1000.218,0.000,1301.012,0.000,0.540,0.000
$DEVICE_MAMPS,166.770,70.380,661.725,446.760,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,327.036,320.551,451.916,716.194,875.281,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342972
$DATA_FILE_SIZE,40479,487
$CAP_FILE_SIZE,68771,0
$CFSIZE,259248128,224256000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118,354.49,1
$GPS,100618,101839,2245.967,-15753.530,10,1.4,50,10.1,0.8,67.9,6,4.9