version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 638
start: 6 14 118 23 12 11
data:
$ID,148
$MISSION,15
$DIVE,638
$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,40
$R_STBD_OVSHOOT,38
$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
$GPS1,140618,230403,2246.5488,-15759.5371,32,0.9,37,10.1,0.2,290.5,8,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-61.5
$GPS2,140618,231145,2246.5940,-15759.6221,11,1.1,45,10.1,0.4,270.5,8,5.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,113.0,8427,-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,16,-1.22,-116.8,435,1844,1360,1327,0.0,0.0,0,89,0.00,0.00,-70.35,0.000,16386,0.000,0.000,435,1844,3310,3359,3262,0,0,0,0,0,0,24.59,28.83,24.61
$GC,93,-1.22,-116.8,435,1845,3359,3263,3.5,-7.8,10,109,10.82,0.00,-1.20,0.000,18950,0.172,0.000,2367,1844,3378,3434,3322,0,0,0,0,0,0,24.14,23.52,24.30
$GC,375,-1.22,-116.8,2367,1844,3435,3324,65.2,-17.4,60,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1844,3379,3435,3324,0,0,0,0,0,0,24.68,24.70,24.70
$GC,645,-1.22,-116.8,2367,1844,3435,3326,110.1,-15.1,103,650,0.00,2.62,0.00,0.000,260,0.000,0.025,2367,3484,3380,3435,3326,0,0,0,0,0,0,24.73,24.47,24.75
$GC,669,-1.22,-116.8,2367,3484,3435,3326,114.3,-16.4,105,674,0.00,2.50,0.00,0.000,1030,0.000,0.017,2367,1880,3380,3435,3326,0,0,0,0,0,0,24.56,24.51,24.57
$GC,924,-1.22,-116.8,2367,1880,3435,3327,150.9,-13.7,130,930,0.00,2.58,0.00,0.000,260,0.000,0.025,2367,3486,3381,3435,3327,0,0,0,0,0,0,24.76,24.51,24.77
$GC,942,-1.22,-116.8,2367,3486,3435,3327,153.1,-14.2,131,949,0.00,2.45,0.00,0.000,1030,0.000,0.016,2368,1894,3381,3435,3327,0,0,0,0,0,0,24.59,24.54,24.60
$GC,1190,-1.22,-116.8,2367,1894,3436,3328,186.1,-12.6,156,1197,0.00,2.55,0.00,0.000,260,0.000,0.027,2368,3484,3382,3436,3328,0,0,0,0,0,0,24.78,24.52,24.79
$GC,1250,-1.22,-116.8,2367,3484,3435,3328,193.7,-13.4,161,1256,0.00,2.45,0.00,0.000,1030,0.000,0.016,2368,1892,3381,3435,3328,0,0,0,0,0,0,24.61,24.57,24.63
$GC,1506,-1.22,-116.8,2367,1892,3435,3329,223.4,-11.2,172,1511,0.00,2.53,0.00,0.000,516,0.000,0.031,2367,328,3382,3435,3329,0,0,0,0,0,0,24.80,24.54,24.82
$GC,1589,-1.22,-116.8,2367,328,3435,3329,232.2,-10.6,174,1595,0.00,2.47,0.00,0.000,1030,0.000,0.015,2368,1925,3382,3435,3329,0,0,0,0,0,0,24.64,24.60,24.65
$GC,1872,-1.22,-116.8,2367,1925,3436,3329,263.1,-11.1,181,1879,0.00,2.45,0.00,0.000,260,0.000,0.028,2368,3460,3382,3436,3329,0,0,0,0,0,0,24.82,24.57,24.84
$GC,1901,-1.22,-116.8,2367,3460,3436,3329,263.1,-11.1,181,1906,0.00,2.42,0.00,0.000,1030,0.000,0.016,2368,1889,3382,3436,3329,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2160,-1.22,-116.8,2367,1889,3436,3329,293.2,-10.3,188,2165,0.00,2.53,0.00,0.000,516,0.000,0.034,2368,340,3382,3436,3329,0,0,0,0,0,0,24.83,24.56,24.85
$GC,2252,-1.22,-116.8,2367,340,3436,3329,301.4,-9.7,190,2258,0.00,2.42,0.00,0.000,1030,0.000,0.017,2367,1889,3382,3436,3329,0,0,0,0,0,0,24.67,24.62,24.68
$GC,2527,-1.22,-116.8,2367,1889,3436,3328,326.7,-9.1,197,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1889,3382,3436,3328,0,0,0,0,0,0,24.84,24.87,24.87
$GC,2766,-1.22,-116.8,2367,1889,3436,3326,348.6,-9.2,203,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1889,3381,3436,3326,0,0,0,0,0,0,24.86,24.88,24.87
$GC,3006,-1.22,-116.8,2367,1889,3436,3323,371.2,-9.5,209,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1889,3380,3436,3324,0,0,0,0,0,0,24.87,24.89,24.88
$GC,3246,-1.22,-116.8,2367,1889,3436,3320,394.6,-9.8,215,3252,0.00,2.62,0.00,0.000,516,0.000,0.046,2368,335,3378,3436,3320,0,0,0,0,0,0,24.86,24.57,24.87
$GC,3265,-1.22,-116.8,2367,336,3436,3320,394.6,-9.8,215,3270,0.00,2.50,0.00,0.000,1030,0.000,0.022,2368,1894,3378,3436,3320,0,0,0,0,0,0,24.69,24.63,24.70
$GC,3533,-1.22,-116.8,2367,1894,3436,3317,421.6,-9.2,222,3539,0.00,2.62,0.00,0.000,516,0.000,0.047,2367,347,3376,3436,3316,0,0,0,0,0,0,24.86,24.56,24.87
$GC,3562,-1.22,-116.8,2367,347,3436,3316,421.6,-9.2,222,3567,0.00,2.53,0.00,0.000,1030,0.000,0.024,2367,1906,3376,3436,3316,0,0,0,0,0,0,24.68,24.62,24.70
$GC,3821,-1.22,-116.8,2366,1906,3435,3312,449.2,-9.5,229,3826,0.00,2.67,0.00,0.000,516,0.000,0.050,2367,350,3374,3436,3312,0,0,0,0,0,0,24.86,24.56,24.87
$GC,3854,-1.22,-116.8,2367,350,3435,3312,449.2,-9.5,229,3860,0.00,2.53,0.00,0.000,1030,0.000,0.027,2367,1902,3374,3436,3312,0,0,0,0,0,0,24.68,24.61,24.70
$GC,4108,-1.22,-116.8,2366,1902,3436,3308,475.5,-9.0,236,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1902,3371,3436,3307,0,0,0,0,0,0,24.85,24.88,24.87
$GC,4349,-1.22,-116.8,2367,1902,3435,3305,497.1,-8.9,242,4354,0.00,2.70,0.00,0.000,516,0.000,0.054,2368,343,3370,3435,3305,0,0,0,0,0,0,24.87,24.56,24.89
$GC,4387,-1.22,-116.8,2367,343,3435,3305,497.1,-8.9,242,4394,0.00,2.55,0.00,0.000,1030,0.000,0.028,2368,1899,3370,3435,3305,0,0,0,0,0,0,24.68,24.61,24.70
$STATE,4430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4430,begin apogee
$GC,4436,-0.26,0.0,2367,1899,3435,3303,504.9,-9.2,244,4538,1.38,0.00,97.68,0.860,10246,0.081,0.000,2678,1899,2899,2960,2839,0,0,0,0,0,0,24.55,23.78,23.13
$STATE,4539,end apogee,CONTROL_FINISHED_OK
$STATE,4540,begin climb
$GC,4542,1.22,116.8,2678,1899,2960,2838,506.9,0.0,246,4649,1.98,0.00,102.45,0.834,10246,0.040,0.000,3153,1899,2422,2485,2359,0,0,0,0,0,0,24.08,23.74,23.12
$GC,4872,1.22,116.8,3152,1899,2484,2346,478.5,11.2,255,4877,0.00,2.83,0.00,0.000,516,0.000,0.055,3153,297,2415,2484,2346,0,0,0,0,0,0,24.58,24.27,24.60
$GC,4889,1.22,116.8,3152,297,2484,2346,478.5,11.2,255,4895,0.00,2.58,0.00,0.000,1030,0.000,0.028,3153,1844,2415,2484,2346,0,0,0,0,0,0,24.41,24.32,24.43
$GC,5158,1.22,116.8,3153,1844,2483,2342,447.0,11.0,262,5164,0.00,2.80,0.00,0.000,260,0.000,0.067,3153,3433,2412,2483,2342,0,0,0,0,0,0,24.65,24.33,24.68
$GC,5211,1.22,116.8,3152,3434,2481,2342,442.1,11.0,263,5217,0.00,2.58,0.00,0.000,1030,0.000,0.028,3153,1873,2411,2481,2342,0,0,0,0,0,0,24.49,24.41,24.51
$GC,5485,1.23,118.6,3152,1873,2481,2342,413.1,9.9,270,5491,0.00,2.67,0.00,0.000,260,0.000,0.046,3153,3436,2411,2481,2341,0,0,0,0,0,0,24.71,24.39,24.73
$GC,5504,1.23,120.5,3153,3436,2479,2341,413.1,9.9,270,5509,0.00,2.60,0.00,0.000,1030,0.000,0.034,3153,1847,2410,2479,2342,0,0,0,0,0,0,24.52,24.44,24.53
$GC,5772,1.25,138.5,3152,1847,2479,2340,386.5,9.0,277,5793,0.00,0.00,18.42,0.764,8198,0.000,0.000,3153,1847,2334,2398,2270,0,0,0,0,0,0,24.74,23.90,23.29
$GC,6012,1.26,149.2,3153,1847,2397,2264,363.8,9.4,283,6025,0.00,0.00,10.62,0.705,8198,0.000,0.000,3153,1847,2290,2353,2228,0,0,0,0,0,0,24.68,23.99,23.39
$GC,6253,1.27,153.5,3152,1847,2353,2223,340.3,9.8,289,6264,0.00,2.72,5.18,0.576,8452,0.000,0.043,3154,3442,2272,2337,2208,0,0,0,0,0,0,24.64,24.01,23.55
$GC,6372,1.27,153.5,3152,3442,2335,2207,331.5,10.1,291,6379,0.00,2.62,0.00,0.000,1030,0.000,0.027,3153,1837,2271,2337,2206,0,0,0,0,0,0,24.49,24.41,24.50
$GC,6617,1.27,153.5,3153,1838,2337,2204,301.2,10.7,298,6622,0.00,2.72,0.00,0.000,260,0.000,0.044,3153,3435,2270,2337,2204,0,0,0,0,0,0,24.71,24.40,24.73
$GC,6705,1.27,153.5,3153,3434,2336,2205,291.4,11.3,300,6710,0.00,2.60,0.00,0.000,1030,0.000,0.027,3153,1844,2270,2337,2204,0,0,0,0,0,0,24.53,24.46,24.56
$GC,6983,1.28,164.8,3153,1844,2337,2202,263.4,9.4,307,7001,0.00,2.72,11.07,0.656,8708,0.000,0.053,3153,269,2227,2288,2166,0,0,0,0,0,0,24.75,24.10,23.50
$GC,7054,1.30,179.7,3153,269,2286,2166,259.6,9.2,308,7075,0.05,2.60,14.48,0.664,11270,0.136,0.022,3170,1879,2166,2224,2109,0,0,0,0,0,0,24.34,24.41,23.38
$GC,7350,1.30,182.2,3169,1879,2224,2104,227.3,9.9,316,7356,0.00,2.62,0.00,0.000,260,0.000,0.048,3170,3423,2164,2224,2104,0,0,0,0,0,0,24.67,24.37,24.69
$GC,7558,1.30,182.2,3169,3423,2223,2103,204.8,11.0,321,7563,0.00,2.55,0.00,0.000,1030,0.000,0.023,3170,1834,2163,2223,2103,0,0,0,0,0,0,24.53,24.47,24.55
$GC,7809,1.32,193.9,3169,1834,2222,2101,180.1,9.4,340,7830,0.00,2.65,13.57,0.598,8452,0.000,0.033,3170,3433,2108,2164,2052,0,0,0,0,0,0,24.74,24.08,23.53
$GC,7920,1.32,193.9,3169,3433,2163,2052,169.0,11.1,350,7927,0.00,2.55,0.00,0.000,1030,0.000,0.021,3170,1840,2107,2163,2051,0,0,0,0,0,0,24.49,24.42,24.50
$GC,8170,1.36,228.9,3169,1840,2163,2050,146.5,8.0,375,8205,0.08,0.00,31.60,0.587,10758,0.107,0.000,3199,1840,1965,2010,1920,0,0,0,0,0,0,24.48,23.91,23.43
$GC,8443,1.40,257.8,3198,1840,2010,1914,121.4,8.4,402,8479,0.00,2.67,27.15,0.561,8452,0.000,0.031,3199,3423,1847,1888,1807,0,0,0,0,0,0,24.66,23.95,23.46
$GC,8509,1.40,259.5,3198,3423,1889,1806,115.5,9.9,408,8515,0.00,2.55,0.00,0.000,1030,0.000,0.020,3199,1836,1847,1888,1807,0,0,0,0,0,0,24.36,24.30,24.38
$GC,8768,1.40,259.5,3198,1836,1888,1802,89.0,10.7,442,8776,0.00,2.62,0.00,0.000,260,0.000,0.031,3199,3427,1845,1889,1802,0,0,0,0,0,0,24.66,24.39,24.68
$GC,8805,1.40,259.5,3198,3427,1888,1802,85.1,10.9,448,8813,0.00,2.53,0.00,0.000,1030,0.000,0.019,3199,1848,1845,1888,1802,0,0,0,0,0,0,24.50,24.44,24.51
$GC,9077,1.40,259.5,3198,1848,1888,1802,56.5,10.9,497,9084,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1848,1845,1889,1802,0,0,0,0,0,0,24.72,24.74,24.73
$GC,9351,1.40,259.5,3198,1848,1889,1802,27.3,10.4,546,9359,0.00,2.60,0.00,0.000,260,0.000,0.031,3199,3434,1845,1889,1802,0,0,0,0,0,0,24.75,24.48,24.77
$GC,9433,1.40,259.5,3198,3434,1888,1802,18.0,11.4,560,9441,0.00,2.53,0.00,0.000,1030,0.000,0.018,3199,1842,1845,1889,1802,0,0,0,0,0,0,24.58,24.53,24.59
$STATE,9567,end climb,SURFACE_DEPTH_REACHED
$STATE,9567,begin surface coast
$FINISH,0.4,1.022791
$STATE,9598,end surface coast,CONTROL_FINISHED_OK
$STATE,9598,begin surface
$SM_CCo,9620,66.00,0.458,0,0,1349,380.21
$SM_GC,0.87,11.52,0.08,66.00,0.041,0.091,0.458,435,1981,1349,-7.26,-1.22,380.21,0,0,0,0,0,0,24.47,24.60,23.56
$IRIDIUM_FIX,2237.01,-15811.92,140618,201152
$TT8_MAMPS,0.021721,0.288365
$HUMID,54.76
$INTERNAL_PRESSURE,9.26193
$TCM_TEMP,22.60
$XPDR_PINGS,100
$24V_AH,23.12,74.543
$10V_AH,9.81,55.612
$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,25.825,108.875,332.225,66.000,0.000,38.830,49.588,196.051,25.000,0.000,49.429,1862.015,5470.613,557.520,2017.507,245.255,0.000,1264.540,0.000,1673.954,0.000,0.539,0.000
$DEVICE_MAMPS,172.125,91.035,859.860,458.235,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,396.440,335.017,517.396,724.863,887.366,0.000,0.000,0.000,0.000,0.000
$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,47313,589
$CAP_FILE_SIZE,103763,0
$CFSIZE,259248128,221769728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,302.58,1
$GPS,150618,015527,2246.514,-15759.116,41,1.0,69,10.1,0.1,314.9,8,5.1