version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 632
start: 6 14 118 6 6 23
data:
$ID,148
$MISSION,15
$DIVE,632
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,166
$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,2770
$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,54
$R_STBD_OVSHOOT,33
$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
$GPS1,140618,055839,2246.2419,-15802.5635,12,99.0,52,10.1,0.9,306.4,3,-1.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-62.3
$GPS2,140618,060558,2246.3164,-15802.5889,45,1.2,45,10.1,1.2,302.1,9,9.0
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,127.8,13188,-20.5,-10.040,-23.14,1785
$D_GRID,500
$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,14,begin dive
$GC,17,-1.22,-116.8,432,1875,1357,1328,0.0,0.0,0,90,0.00,0.00,-71.38,0.000,16386,0.000,0.000,433,1875,3318,3365,3271,0,0,0,0,0,0,24.60,28.83,24.62
$GC,95,-1.22,-116.8,432,1875,3365,3273,3.2,-6.9,10,117,10.82,2.53,-1.08,0.000,18948,0.171,0.045,2368,332,3380,3436,3325,0,0,0,0,0,0,24.15,23.46,24.31
$GC,136,-1.22,-116.8,2367,332,3436,3325,19.0,-29.5,16,143,0.00,2.53,0.00,0.000,1030,0.000,0.015,2368,1948,3380,3436,3325,0,0,0,0,0,0,24.44,24.41,24.46
$GC,413,-1.22,-116.8,2367,1952,3437,3325,69.4,-17.2,65,421,0.00,2.67,0.00,0.000,516,0.000,0.038,2368,326,3380,3436,3325,0,0,0,0,0,0,24.70,24.43,24.71
$GC,460,-1.22,-116.8,2367,326,3436,3325,77.7,-16.6,73,469,0.00,2.47,0.00,0.000,1030,0.000,0.015,2368,1885,3381,3436,3326,0,0,0,0,0,0,24.54,24.50,24.56
$GC,724,-1.22,-116.8,2367,1889,3436,3327,118.4,-14.8,110,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1889,3381,3436,3326,0,0,0,0,0,0,24.75,24.76,24.76
$GC,964,-1.22,-116.8,2367,1889,3437,3328,153.6,-14.1,134,970,0.00,2.53,0.00,0.000,260,0.000,0.026,2368,3469,3382,3437,3328,0,0,0,0,0,0,24.77,24.51,24.79
$GC,1023,-1.22,-116.8,2367,3470,3437,3328,161.0,-13.4,139,1030,0.00,2.42,0.00,0.000,1030,0.000,0.016,2368,1897,3382,3437,3328,0,0,0,0,0,0,24.60,24.56,24.62
$GC,1272,-1.22,-116.8,2367,1897,3437,3329,190.8,-11.9,164,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1897,3382,3437,3328,0,0,0,0,0,0,24.79,24.82,24.81
$GC,1532,-1.22,-116.8,2367,1897,3438,3329,216.3,-9.6,178,1537,0.00,2.53,0.00,0.000,260,0.000,0.026,2368,3469,3383,3438,3329,0,0,0,0,0,0,24.81,24.56,24.83
$GC,1580,-1.22,-116.8,2367,3469,3438,3329,221.0,-9.8,179,1586,0.00,2.42,0.00,0.000,1030,0.000,0.015,2368,1892,3383,3438,3329,0,0,0,0,0,0,24.65,24.60,24.65
$GC,1859,-1.22,-116.8,2367,1892,3438,3329,253.2,-11.8,186,1864,0.00,2.53,0.00,0.000,260,0.000,0.026,2368,3466,3383,3438,3329,0,0,0,0,0,0,24.83,24.57,24.84
$GC,1891,-1.22,-116.8,2367,3466,3438,3329,253.2,-11.8,186,1896,0.00,2.42,0.00,0.000,1030,0.000,0.016,2368,1892,3383,3438,3328,0,0,0,0,0,0,24.66,24.61,24.67
$GC,2145,-1.22,-116.8,2367,1892,3438,3329,286.8,-11.0,193,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1892,3383,3438,3329,0,0,0,0,0,0,24.84,24.86,24.86
$GC,2386,-1.22,-116.8,2367,1892,3438,3329,311.5,-10.2,199,2391,0.00,2.55,0.00,0.000,260,0.000,0.030,2368,3464,3383,3438,3329,0,0,0,0,0,0,24.85,24.59,24.87
$GC,2443,-1.22,-116.8,2367,3464,3438,3329,316.1,-10.1,200,2449,0.00,2.42,0.00,0.000,1030,0.000,0.018,2368,1904,3383,3438,3329,0,0,0,0,0,0,24.68,24.63,24.70
$GC,2713,-1.22,-116.8,2367,1904,3438,3327,339.7,-8.1,207,2718,0.00,2.55,0.00,0.000,260,0.000,0.034,2368,3459,3382,3438,3327,0,0,0,0,0,0,24.86,24.58,24.87
$GC,2726,-1.22,-116.8,2367,3459,3438,3327,339.7,-8.1,207,2731,0.00,2.42,0.00,0.000,1030,0.000,0.018,2368,1901,3382,3438,3327,0,0,0,0,0,0,24.68,24.63,24.70
$GC,2999,-1.22,-116.8,2367,1900,3438,3324,363.5,-8.4,214,3005,0.00,2.60,0.00,0.000,516,0.000,0.042,2368,338,3381,3438,3324,0,0,0,0,0,0,24.87,24.58,24.89
$GC,3023,-1.22,-116.8,2367,339,3438,3324,363.5,-8.4,214,3029,0.00,2.47,0.00,0.000,1030,0.000,0.020,2368,1884,3381,3438,3324,0,0,0,0,0,0,24.69,24.63,24.70
$GC,3287,-1.22,-116.8,2367,1884,3437,3320,391.3,-9.9,221,3292,0.00,2.62,0.00,0.000,516,0.000,0.044,2368,333,3379,3438,3320,0,0,0,0,0,0,24.87,24.58,24.89
$GC,3334,-1.22,-116.8,2367,333,3437,3320,395.9,-10.2,222,3340,0.00,2.53,0.00,0.000,1030,0.000,0.021,2367,1904,3379,3438,3320,0,0,0,0,0,0,24.69,24.63,24.70
$GC,3614,-1.22,-116.8,2367,1904,3438,3316,425.5,-10.3,229,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1904,3377,3438,3316,0,0,0,0,0,0,24.86,24.89,24.88
$GC,3853,-1.22,-116.8,2367,1904,3437,3312,448.4,-9.3,235,3859,0.00,2.67,0.00,0.000,516,0.000,0.049,2368,345,3375,3438,3312,0,0,0,0,0,0,24.87,24.57,24.88
$GC,3901,-1.22,-116.8,2367,344,3438,3312,452.4,-9.1,236,3907,0.00,2.53,0.00,0.000,1030,0.000,0.026,2368,1901,3374,3437,3312,0,0,0,0,0,0,24.69,24.63,24.70
$GC,4182,-1.22,-116.8,2367,1900,3437,3309,476.7,-8.5,243,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1900,3373,3438,3308,0,0,0,0,0,0,24.87,24.89,24.89
$GC,4420,-1.22,-116.8,2367,1900,3437,3305,496.9,-8.4,249,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1901,3371,3437,3305,0,0,0,0,0,0,24.88,24.91,24.90
$STATE,4457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4458,begin apogee
$GC,4463,-0.26,0.0,2368,1901,3437,3304,500.2,-8.4,250,4565,1.40,0.00,98.12,0.852,10246,0.083,0.000,2682,1900,2899,2962,2837,0,0,0,0,0,0,24.56,23.80,23.15
$STATE,4567,end apogee,CONTROL_FINISHED_OK
$STATE,4567,begin climb
$GC,4570,1.22,116.8,2681,1901,2962,2836,501.5,0.0,252,4683,1.92,2.70,101.18,0.829,10500,0.042,0.060,3144,3425,2421,2486,2357,0,0,0,0,0,0,24.08,23.79,23.15
$GC,4705,1.22,116.8,3144,3425,2484,2355,497.5,4.9,255,4710,0.00,2.58,0.00,0.000,1030,0.000,0.030,3144,1875,2419,2484,2354,0,0,0,0,0,0,24.26,24.18,24.28
$GC,4958,1.22,116.8,3144,1876,2484,2346,467.5,10.4,262,4963,0.00,2.67,0.00,0.000,260,0.000,0.049,3144,3428,2415,2484,2346,0,0,0,0,0,0,24.60,24.30,24.63
$GC,5005,1.22,116.8,3144,3428,2482,2346,463.2,10.3,263,5012,0.00,2.60,0.00,0.000,1030,0.000,0.030,3144,1852,2414,2482,2346,0,0,0,0,0,0,24.44,24.37,24.46
$GC,5285,1.25,134.6,3144,1852,2482,2343,436.8,9.0,270,5303,0.00,0.00,15.93,0.763,8198,0.000,0.000,3144,1852,2350,2416,2285,0,0,0,0,0,0,24.68,23.91,23.30
$GC,5526,1.26,149.2,3144,1852,2416,2279,414.9,9.2,276,5548,0.00,2.78,13.90,0.749,8452,0.000,0.047,3144,3426,2290,2352,2228,0,0,0,0,0,0,24.67,23.96,23.32
$GC,5575,1.28,160.7,3145,3426,2351,2228,410.8,9.4,277,5596,0.05,2.62,11.95,0.728,11270,0.144,0.034,3159,1838,2243,2303,2183,0,0,0,0,0,0,24.25,24.29,23.28
$GC,5849,1.28,160.7,3159,1838,2303,2176,379.6,11.2,284,5855,0.00,2.75,0.00,0.000,516,0.000,0.059,3159,266,2239,2303,2175,0,0,0,0,0,0,24.61,24.34,24.63
$GC,5882,1.28,160.7,3159,265,2302,2175,379.6,11.2,284,5887,0.00,2.60,0.00,0.000,1030,0.000,0.024,3159,1859,2238,2301,2175,0,0,0,0,0,0,24.48,24.42,24.50
$GC,6135,1.28,160.7,3159,1858,2301,2173,345.3,12.0,291,6141,0.00,2.70,0.00,0.000,260,0.000,0.057,3159,3424,2237,2301,2173,0,0,0,0,0,0,24.70,24.38,24.72
$GC,6208,1.28,160.7,3159,3424,2300,2174,339.9,12.2,292,6214,0.00,2.60,0.00,0.000,1030,0.000,0.027,3159,1836,2237,2300,2174,0,0,0,0,0,0,24.53,24.46,24.54
$GC,6463,1.28,160.7,3159,1836,2300,2172,305.7,11.7,299,6468,0.00,2.67,0.00,0.000,260,0.000,0.044,3160,3422,2236,2300,2172,0,0,0,0,0,0,24.74,24.42,24.76
$GC,6575,1.28,160.7,3159,3422,2299,2172,296.0,11.5,301,6580,0.00,2.58,0.00,0.000,1030,0.000,0.026,3159,1845,2236,2300,2172,0,0,0,0,0,0,24.56,24.49,24.58
$GC,6828,1.29,168.5,3159,1845,2300,2170,269.1,9.6,308,6843,0.00,2.72,6.65,0.600,8452,0.000,0.042,3159,3425,2212,2275,2149,0,0,0,0,0,0,24.77,24.25,23.63
$GC,6992,1.29,168.5,3159,3425,2274,2148,251.2,11.0,312,6997,0.00,2.58,0.00,0.000,1030,0.000,0.025,3160,1844,2211,2275,2148,0,0,0,0,0,0,24.53,24.46,24.55
$GC,7276,1.29,173.8,3159,1844,2275,2145,223.0,9.7,319,7284,0.00,0.00,6.07,0.556,8198,0.000,0.000,3160,1844,2190,2253,2127,0,0,0,0,0,0,24.75,24.22,23.67
$GC,7516,1.32,198.3,3159,1844,2253,2126,200.8,8.6,325,7546,0.05,2.70,23.10,0.649,10500,0.132,0.035,3179,3429,2089,2143,2036,0,0,0,0,0,0,24.53,23.78,23.38
$GC,7816,1.32,198.3,3178,3429,2141,2034,169.3,10.9,351,7822,0.00,2.55,0.00,0.000,1030,0.000,0.021,3179,1840,2087,2141,2033,0,0,0,0,0,0,24.51,24.45,24.53
$GC,8075,1.32,198.3,3178,1840,2141,2032,141.0,10.5,376,8081,0.00,2.62,0.00,0.000,260,0.000,0.032,3179,3438,2086,2141,2032,0,0,0,0,0,0,24.72,24.46,24.74
$GC,8115,1.32,198.3,3178,3438,2141,2032,136.5,10.5,379,8121,0.00,2.55,0.00,0.000,1030,0.000,0.020,3179,1838,2086,2141,2032,0,0,0,0,0,0,24.56,24.50,24.57
$GC,8369,1.34,211.8,3178,1838,2141,2032,113.2,9.3,404,8387,0.00,2.65,12.73,0.546,8452,0.000,0.031,3179,3441,2035,2086,1984,0,0,0,0,0,0,24.76,23.99,23.65
$GC,8421,1.35,220.8,3178,3441,2085,1984,108.7,9.5,408,8440,0.00,2.55,9.50,0.519,9222,0.000,0.019,3179,1845,1997,2047,1948,0,0,0,0,0,0,24.45,24.40,23.59
$GC,8696,1.39,255.2,3179,1844,2047,1945,83.4,8.1,451,8734,0.08,2.70,31.73,0.557,10500,0.110,0.031,3210,3436,1858,1901,1815,0,0,0,0,0,0,24.46,23.96,23.50
$GC,8821,1.39,255.2,3209,3436,1902,1815,71.1,10.8,471,8829,0.00,2.55,0.00,0.000,1030,0.000,0.019,3210,1847,1857,1901,1814,0,0,0,0,0,0,24.44,24.38,24.45
$GC,9097,1.40,262.2,3209,1847,1901,1810,42.9,9.6,520,9112,0.00,2.60,7.70,0.435,8708,0.000,0.034,3210,273,1829,1876,1783,0,0,0,0,0,0,24.69,24.08,23.79
$GC,9137,1.40,262.2,3209,273,1876,1782,38.7,10.9,526,9144,0.00,2.55,0.00,0.000,1030,0.000,0.018,3210,1871,1829,1876,1782,0,0,0,0,0,0,24.46,24.41,24.47
$GC,9414,1.40,262.2,3209,1871,1876,1781,10.8,10.4,575,9422,0.00,2.53,0.00,0.000,260,0.000,0.031,3210,3426,1828,1876,1781,0,0,0,0,0,0,24.72,24.45,24.73
$STATE,9483,end climb,SURFACE_DEPTH_REACHED
$STATE,9483,begin surface coast
$FINISH,0.1,1.009029
$STATE,9512,end surface coast,CONTROL_FINISHED_OK
$STATE,9512,begin surface
$SM_CCo,9537,65.18,0.461,0,0,1349,380.21
$SM_GC,1.01,11.62,2.45,65.18,0.042,0.017,0.461,434,1892,1349,-7.25,1.24,380.21,0,0,0,0,0,0,24.45,24.51,23.57
$IRIDIUM_FIX,2234.68,-15802.37,140618,031110
$TT8_MAMPS,0.021721,0.345289
$HUMID,55.23
$INTERNAL_PRESSURE,9.2717
$TCM_TEMP,22.90
$XPDR_PINGS,109
$24V_AH,23.15,73.947
$10V_AH,9.69,55.079
$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,25.950,118.575,338.550,65.175,0.000,30.687,48.128,191.913,27.250,0.000,47.576,1864.918,5368.409,537.699,2019.652,254.100,0.000,1281.320,0.000,1701.980,0.000,0.540,0.000
$DEVICE_MAMPS,171.360,60.435,852.210,460.530,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,398.409,344.522,508.774,743.582,906.491,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342824
$DATA_FILE_SIZE,47347,592
$CAP_FILE_SIZE,104808,0
$CFSIZE,259248128,222113792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.116,336.51,1
$GPS,140618,084750,2246.216,-15801.965,17,1.7,44,10.1,0.3,252.1,8,5.8