version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 611
start: 6 11 118 20 10 32
data:
$ID,148
$MISSION,15
$DIVE,611
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,133
$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,43
$R_STBD_OVSHOOT,41
$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
$GPS1,110618,200244,2245.1858,-15753.8174,40,1.0,80,10.1,0.2,225.3,7,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-62.1
$GPS2,110618,201002,2245.2422,-15753.8682,12,1.0,33,10.1,0.7,351.3,8,5.4
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED7
$TGT_LATLONG,2245.000,-15754.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,183.4,723,-27.8,-10.025,-30.00,972
$D_GRID,400
$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,-63.5,431,1782,1361,1325,0.0,0.0,0,88,0.00,0.17,-67.12,0.000,16390,0.000,0.221,432,1978,3159,3206,3113,0,0,0,0,0,0,24.61,23.63,24.63
$GC,92,-1.58,-95.7,431,1978,3206,3114,3.1,-6.6,10,114,10.00,2.72,-2.42,0.000,18948,0.168,0.037,2242,320,3292,3347,3237,0,0,0,0,0,0,24.18,23.53,24.34
$GC,300,-1.58,-95.7,2241,320,3347,3238,59.4,-23.4,46,308,0.00,2.53,0.00,0.000,1030,0.000,0.015,2242,1922,3292,3347,3238,0,0,0,0,0,0,24.53,24.49,24.54
$GC,573,-1.58,-95.7,2241,1922,3347,3240,115.7,-19.7,88,579,0.00,2.47,0.00,0.000,260,0.000,0.026,2242,3477,3293,3347,3239,0,0,0,0,0,0,24.75,24.50,24.77
$GC,596,-1.58,-95.7,2242,3477,3347,3240,120.2,-19.8,90,602,0.00,2.47,0.00,0.000,1030,0.000,0.016,2242,1887,3293,3347,3240,0,0,0,0,0,0,24.58,24.53,24.59
$GC,853,-1.58,-95.7,2241,1887,3347,3242,166.6,-17.2,115,858,0.00,2.53,0.00,0.000,260,0.000,0.024,2242,3468,3295,3348,3242,0,0,0,0,0,0,24.79,24.53,24.80
$GC,865,-1.58,-95.7,2242,3468,3347,3242,169.2,-17.0,116,871,0.00,2.42,0.00,0.000,1030,0.000,0.015,2242,1892,3294,3347,3242,0,0,0,0,0,0,24.62,24.58,24.63
$GC,1119,-1.58,-95.7,2241,1892,3347,3243,206.4,-14.4,138,1124,0.00,2.50,0.00,0.000,516,0.000,0.029,2242,337,3295,3347,3243,0,0,0,0,0,0,24.81,24.56,24.82
$GC,1137,-1.58,-95.7,2241,337,3347,3243,206.4,-14.4,138,1142,0.00,2.42,0.00,0.000,1030,0.000,0.015,2242,1904,3295,3347,3243,0,0,0,0,0,0,24.64,24.60,24.65
$GC,1405,-1.58,-95.7,2241,1904,3347,3244,246.0,-13.6,145,1411,0.00,2.55,0.00,0.000,516,0.000,0.031,2242,340,3295,3347,3244,0,0,0,0,0,0,24.83,24.57,24.85
$GC,1451,-1.58,-95.7,2242,340,3347,3244,251.7,-13.6,146,1457,0.00,2.45,0.00,0.000,1030,0.000,0.016,2242,1907,3295,3347,3244,0,0,0,0,0,0,24.66,24.62,24.68
$GC,1735,-1.58,-95.7,2241,1907,3347,3244,287.8,-12.9,153,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1907,3295,3347,3244,0,0,0,0,0,0,24.85,24.87,24.87
$GC,1975,-1.58,-95.7,2241,1907,3347,3244,317.4,-12.3,159,1981,0.00,2.60,0.00,0.000,516,0.000,0.037,2242,346,3295,3347,3244,0,0,0,0,0,0,24.87,24.58,24.88
$GC,2008,-1.58,-95.7,2241,347,3347,3244,317.4,-12.3,159,2013,0.00,2.45,0.00,0.000,1030,0.000,0.019,2242,1896,3295,3347,3244,0,0,0,0,0,0,24.69,24.63,24.70
$GC,2261,-1.58,-95.7,2241,1896,3347,3242,353.2,-12.2,166,2267,0.00,2.60,0.00,0.000,516,0.000,0.042,2242,352,3294,3347,3242,0,0,0,0,0,0,24.87,24.58,24.89
$GC,2279,-1.58,-95.7,2241,352,3347,3242,353.2,-12.2,166,2284,0.00,2.47,0.00,0.000,1030,0.000,0.027,2242,1903,3294,3347,3242,0,0,0,0,0,0,24.69,24.63,24.70
$GC,2547,-1.58,-95.7,2242,1903,3347,3239,388.6,-12.3,173,2553,0.00,2.60,0.00,0.000,260,0.000,0.040,2242,3476,3292,3347,3238,0,0,0,0,0,0,24.87,24.59,24.89
$GC,2580,-1.58,-95.7,2241,3476,3347,3238,388.6,-12.3,173,2586,0.00,2.47,0.00,0.000,1030,0.000,0.022,2242,1918,3292,3347,3238,0,0,0,0,0,0,24.50,24.64,24.60
$STATE,2631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2631,begin apogee
$GC,2638,-0.26,0.0,2243,1822,3347,3238,400.5,-13.4,175,2722,1.95,0.00,79.68,0.752,10246,0.092,0.000,2668,1822,2899,2955,2844,0,0,0,0,0,0,24.53,23.89,23.34
$STATE,2723,end apogee,CONTROL_FINISHED_OK
$STATE,2723,begin climb
$GC,2725,1.58,95.7,2668,1821,2955,2843,404.0,0.0,177,2813,2.47,0.00,82.30,0.737,10246,0.044,0.000,3264,1822,2508,2564,2452,0,0,0,0,0,0,24.14,23.84,23.32
$GC,3034,1.58,95.7,3263,1822,2564,2441,379.2,10.6,185,3039,0.00,2.78,0.00,0.000,260,0.000,0.055,3264,3417,2502,2563,2441,0,0,0,0,0,0,24.62,24.30,24.64
$GC,3141,1.58,95.7,3263,3416,2559,2441,369.7,10.9,187,3147,0.00,2.50,0.00,0.000,1030,0.000,0.027,3264,1890,2500,2559,2441,0,0,0,0,0,0,24.47,24.39,24.49
$GC,3401,1.58,95.7,3263,1890,2559,2437,338.6,10.7,194,3406,0.00,2.58,0.00,0.000,260,0.000,0.041,3264,3422,2498,2559,2437,0,0,0,0,0,0,24.70,24.41,24.72
$GC,3557,1.58,95.7,3263,3422,2556,2436,324.1,11.5,197,3565,0.00,2.58,0.00,0.000,1030,0.000,0.027,3264,1843,2496,2556,2436,0,0,0,0,0,0,24.56,24.48,24.58
$GC,3804,1.59,100.2,3263,1844,2556,2434,296.5,9.6,204,3810,0.00,2.62,0.00,0.000,260,0.000,0.040,3264,3416,2495,2556,2434,0,0,0,0,0,0,24.77,24.46,24.78
$GC,3878,1.60,106.4,3263,3417,2554,2434,292.6,9.4,205,3894,0.00,2.58,8.18,0.607,9222,0.000,0.028,3264,1836,2465,2526,2404,0,0,0,0,0,0,24.58,24.51,23.67
$GC,4172,1.62,122.8,3263,1835,2526,2399,264.1,8.3,213,4189,0.00,0.00,15.40,0.656,8198,0.000,0.000,3264,1835,2398,2459,2338,0,0,0,0,0,0,24.75,24.04,23.53
$GC,4412,1.62,122.8,3263,1835,2458,2333,238.2,11.4,219,4417,0.00,2.67,0.00,0.000,260,0.000,0.041,3264,3426,2395,2459,2332,0,0,0,0,0,0,24.71,24.41,24.73
$GC,4580,1.62,126.1,3263,3426,2456,2333,222.3,9.7,223,4586,0.00,2.55,0.00,0.000,1030,0.000,0.024,3264,1845,2394,2456,2332,0,0,0,0,0,0,24.56,24.50,24.58
$GC,4860,1.66,161.7,3263,1845,2456,2331,201.0,6.3,230,4900,0.00,2.72,33.65,0.636,8452,0.000,0.036,3264,3425,2238,2291,2186,0,0,0,0,0,0,24.77,23.99,23.47
$GC,5175,1.66,161.7,3263,3424,2288,2183,169.2,10.8,257,5182,0.00,2.55,0.00,0.000,1030,0.000,0.028,3264,1831,2235,2288,2183,0,0,0,0,0,0,24.51,24.44,24.53
$GC,5423,1.69,183.8,3263,1830,2288,2179,144.8,7.7,282,5454,0.08,0.00,19.60,0.571,10246,0.108,0.000,3288,1831,2149,2200,2098,0,0,0,0,0,0,24.51,24.03,23.58
$GC,5694,1.70,193.1,3287,1830,2200,2093,120.0,9.0,309,5710,0.00,2.65,9.50,0.514,8452,0.000,0.030,3287,3437,2111,2162,2060,0,0,0,0,0,0,24.71,24.06,23.72
$GC,5855,1.70,193.1,3287,3437,2162,2058,101.9,11.7,324,5861,0.00,2.55,0.00,0.000,1030,0.000,0.020,3287,1835,2110,2162,2058,0,0,0,0,0,0,24.53,24.47,24.54
$GC,6127,1.70,193.1,3286,1835,2162,2057,73.5,10.4,371,6135,0.00,2.62,0.00,0.000,260,0.000,0.031,3287,3430,2109,2162,2056,0,0,0,0,0,0,24.75,24.49,24.77
$GC,6214,1.70,193.1,3287,3431,2162,2057,64.2,12.1,386,6222,0.00,2.53,0.00,0.000,1030,0.000,0.020,3288,1846,2109,2162,2056,0,0,0,0,0,0,24.60,24.54,24.60
$GC,6489,1.73,213.9,3287,1846,2162,2056,38.9,7.8,435,6511,0.00,0.00,18.67,0.478,8198,0.000,0.000,3288,1846,2026,2072,1980,0,0,0,0,0,0,24.79,24.14,23.75
$GC,6776,1.73,218.2,3287,1846,2072,1977,11.8,9.6,486,6784,0.00,0.00,4.95,0.357,8198,0.000,0.000,3288,1846,2009,2057,1962,0,0,0,0,0,0,24.75,24.34,23.95
$STATE,6868,end climb,SURFACE_DEPTH_REACHED
$STATE,6868,begin surface coast
$FINISH,0.1,1.022872
$STATE,6900,end surface coast,CONTROL_FINISHED_OK
$STATE,6900,begin surface
$SM_CCo,6922,95.55,0.455,0,0,1350,380.21
$SM_GC,0.86,11.82,0.08,95.55,0.037,0.089,0.455,432,2024,1350,-7.23,-1.05,380.21,0,0,0,0,0,0,24.47,24.58,23.63
$IRIDIUM_FIX,2237.01,-15754.11,110618,175145
$TT8_MAMPS,0.021721,0.285369
$HUMID,55.07
$INTERNAL_PRESSURE,9.29123
$TCM_TEMP,22.90
$XPDR_PINGS,51
$24V_AH,23.32,71.883
$10V_AH,9.77,53.241
$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,26.325,77.225,271.925,95.550,0.000,30.540,45.958,209.938,12.750,0.000,35.294,1595.028,3361.183,496.794,1814.201,200.358,0.000,1090.778,0.000,1495.316,0.000,0.540,0.000
$DEVICE_MAMPS,168.300,221.085,751.995,455.175,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,341.055,314.569,483.027,706.746,870.464,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342980
$DATA_FILE_SIZE,40654,507
$CAP_FILE_SIZE,82407,0
$CFSIZE,259248128,223346688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100,315.29,1
$GPS,110618,220903,2244.826,-15754.198,14,1.1,54,10.1,0.4,245.8,7,4.5