version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 662
start: 6 17 118 18 12 29
data:
$ID,148
$MISSION,15
$DIVE,662
$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,48
$R_STBD_OVSHOOT,46
$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
$GPS1,170618,180444,2246.0071,-15759.8389,40,1.2,80,10.1,0.1,99.7,7,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-61.8
$GPS2,170618,181203,2246.0220,-15759.8770,10,1.9,32,10.1,0.2,303.0,8,5.1
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,92.1,8542,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.22,-116.8,423,1883,1360,1328,0.0,0.0,0,89,0.00,0.00,-71.15,0.000,16386,0.000,0.000,423,1883,3328,3376,3281,0,0,0,0,0,0,24.58,28.83,24.60
$GC,94,-1.22,-116.8,422,1883,3376,3282,3.5,-7.6,10,116,10.98,2.60,-0.88,0.000,18692,0.175,0.034,2367,3480,3379,3433,3326,0,0,0,0,0,0,24.12,23.43,24.29
$GC,125,-1.22,-116.8,2366,3480,3434,3326,17.1,-37.5,14,132,0.00,2.53,0.00,0.000,1030,0.000,0.018,2367,1894,3380,3435,3326,0,0,0,0,0,0,24.40,24.35,24.41
$GC,404,-1.22,-116.8,2367,1894,3435,3327,71.0,-16.9,63,412,0.00,2.58,0.00,0.000,516,0.000,0.034,2367,322,3381,3435,3327,0,0,0,0,0,0,24.68,24.41,24.70
$GC,422,-1.22,-116.8,2366,322,3435,3327,73.7,-16.4,65,430,0.00,2.50,0.00,0.000,1030,0.000,0.015,2367,1920,3380,3435,3326,0,0,0,0,0,0,24.51,24.48,24.53
$GC,687,-1.22,-116.8,2366,1921,3436,3327,117.6,-15.3,103,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1921,3381,3435,3328,0,0,0,0,0,0,24.72,24.75,24.75
$GC,935,-1.22,-116.8,2366,1921,3436,3328,153.8,-13.4,128,941,0.00,2.60,0.00,0.000,516,0.000,0.030,2367,327,3382,3436,3328,0,0,0,0,0,0,24.76,24.49,24.77
$GC,952,-1.22,-116.8,2367,327,3436,3328,155.5,-13.4,129,961,0.00,2.47,0.00,0.000,1030,0.000,0.015,2367,1900,3382,3436,3328,0,0,0,0,0,0,24.57,24.56,24.58
$GC,1202,-1.22,-116.8,2367,1901,3436,3329,187.7,-11.8,154,1207,0.00,2.50,0.00,0.000,260,0.000,0.027,2367,3470,3382,3436,3329,0,0,0,0,0,0,24.78,24.52,24.79
$GC,1260,-1.22,-116.8,2366,3470,3437,3329,194.5,-12.3,159,1267,0.00,2.47,0.00,0.000,1030,0.000,0.016,2367,1880,3383,3437,3329,0,0,0,0,0,0,24.60,24.56,24.63
$GC,1507,-1.22,-116.8,2367,1880,3436,3329,224.4,-12.0,169,1513,0.00,2.53,0.00,0.000,516,0.000,0.030,2367,330,3382,3436,3329,0,0,0,0,0,0,24.80,24.53,24.82
$GC,1560,-1.22,-116.8,2367,330,3436,3330,229.7,-11.8,170,1566,0.00,2.45,0.00,0.000,1030,0.000,0.015,2367,1913,3383,3436,3330,0,0,0,0,0,0,24.63,24.59,24.64
$GC,1834,-1.22,-116.8,2366,1914,3437,3329,262.0,-11.2,177,1839,0.00,2.47,0.00,0.000,260,0.000,0.028,2367,3461,3383,3437,3330,0,0,0,0,0,0,24.82,24.56,24.83
$GC,1861,-1.22,-116.8,2366,3462,3437,3330,262.0,-11.2,177,1867,0.00,2.42,0.00,0.000,1030,0.000,0.016,2368,1894,3383,3437,3330,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2120,-1.22,-116.8,2367,1893,3437,3330,292.9,-10.4,184,2126,0.00,2.55,0.00,0.000,516,0.000,0.033,2367,328,3383,3437,3330,0,0,0,0,0,0,24.83,24.56,24.84
$GC,2153,-1.22,-116.8,2367,328,3437,3330,292.9,-10.4,184,2158,0.00,2.45,0.00,0.000,1030,0.000,0.017,2367,1895,3383,3437,3330,0,0,0,0,0,0,24.65,24.60,24.67
$GC,2406,-1.22,-116.8,2366,1894,3436,3330,320.0,-9.2,191,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1895,3383,3437,3330,0,0,0,0,0,0,24.84,24.86,24.85
$GC,2647,-1.22,-116.8,2367,1894,3437,3329,344.2,-10.1,197,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1894,3382,3437,3328,0,0,0,0,0,0,24.84,24.87,24.87
$GC,2886,-1.22,-116.8,2367,1895,3437,3327,368.7,-10.2,203,2892,0.00,2.62,0.00,0.000,516,0.000,0.043,2367,345,3382,3437,3327,0,0,0,0,0,0,24.85,24.56,24.87
$GC,2918,-1.22,-116.8,2367,345,3437,3326,368.7,-10.2,203,2924,0.00,2.47,0.00,0.000,1030,0.000,0.021,2367,1898,3381,3437,3326,0,0,0,0,0,0,24.68,24.61,24.69
$GC,3173,-1.22,-116.8,2366,1898,3437,3323,396.2,-9.3,210,3179,0.00,2.62,0.00,0.000,260,0.000,0.043,2367,3472,3380,3437,3323,0,0,0,0,0,0,24.86,24.56,24.87
$GC,3258,-1.22,-116.8,2366,3472,3436,3322,404.8,-9.7,212,3264,0.00,2.50,0.00,0.000,1030,0.000,0.022,2367,1901,3379,3437,3322,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3542,-1.22,-116.8,2366,1902,3437,3318,432.1,-9.3,219,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1902,3377,3437,3318,0,0,0,0,0,0,24.85,24.88,24.87
$GC,3782,-1.22,-116.8,2367,1901,3437,3315,453.9,-9.1,225,3788,0.00,2.65,0.00,0.000,516,0.000,0.051,2367,334,3376,3437,3315,0,0,0,0,0,0,24.85,24.56,24.87
$GC,3870,-1.22,-116.8,2366,334,3437,3314,462.4,-9.5,227,3876,0.00,2.55,0.00,0.000,1030,0.000,0.027,2367,1902,3375,3437,3313,0,0,0,0,0,0,24.68,24.60,24.69
$GC,4149,-1.22,-116.8,2366,1902,3437,3310,489.1,-9.3,234,4154,0.00,2.70,0.00,0.000,516,0.000,0.052,2367,337,3373,3437,3310,0,0,0,0,0,0,24.85,24.54,24.87
$GC,4168,-1.22,-116.8,2367,337,3437,3310,489.1,-9.3,234,4173,0.00,2.55,0.00,0.000,1030,0.000,0.028,2367,1898,3373,3437,3310,0,0,0,0,0,0,24.68,24.61,24.70
$STATE,4273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4273,begin apogee
$GC,4279,-0.26,0.0,2367,1898,3437,3308,500.5,-9.1,237,4381,1.38,0.00,98.25,0.856,10246,0.079,0.000,2678,1898,2900,2961,2839,0,0,0,0,0,0,24.54,23.77,23.11
$STATE,4383,end apogee,CONTROL_FINISHED_OK
$STATE,4383,begin climb
$GC,4386,1.22,116.8,2678,1898,2960,2838,502.1,0.0,239,4500,1.98,2.78,101.90,0.829,10500,0.039,0.063,3156,3422,2421,2485,2357,0,0,0,0,0,0,24.06,23.77,23.11
$GC,4537,1.22,116.8,3155,3422,2483,2355,494.2,6.5,243,4543,0.00,2.60,0.00,0.000,1030,0.000,0.031,3156,1862,2418,2483,2354,0,0,0,0,0,0,24.29,24.20,24.30
$GC,4801,1.22,116.8,3156,1862,2483,2346,459.9,12.2,250,4806,0.00,2.67,0.00,0.000,260,0.000,0.048,3156,3427,2414,2483,2345,0,0,0,0,0,0,24.62,24.30,24.65
$GC,4819,1.22,116.8,3156,3427,2481,2345,459.9,12.2,250,4825,0.00,2.62,0.00,0.000,1030,0.000,0.031,3156,1839,2413,2482,2345,0,0,0,0,0,0,24.44,24.35,24.46
$GC,5088,1.23,119.0,3155,1839,2481,2342,430.1,9.9,257,5094,0.00,2.75,0.00,0.000,516,0.000,0.063,3156,266,2411,2481,2342,0,0,0,0,0,0,24.68,24.36,24.70
$GC,5146,1.23,123.8,3155,266,2481,2342,425.6,9.8,258,5161,0.00,2.60,5.72,0.618,9222,0.000,0.025,3156,1851,2394,2461,2328,0,0,0,0,0,0,24.50,24.43,23.49
$GC,5415,1.26,142.5,3155,1851,2461,2324,399.5,9.0,265,5441,0.00,2.85,17.90,0.764,8452,0.000,0.060,3156,3436,2317,2380,2254,0,0,0,0,0,0,24.70,23.91,23.25
$GC,5458,1.28,164.0,3155,3436,2380,2254,395.9,8.8,266,5488,0.00,2.62,20.25,0.757,9222,0.000,0.033,3156,1844,2230,2288,2172,0,0,0,0,0,0,24.32,24.25,23.22
$GC,5736,1.28,164.0,3155,1844,2288,2165,366.2,10.7,273,5743,0.00,2.70,0.00,0.000,260,0.000,0.043,3156,3430,2226,2288,2165,0,0,0,0,0,0,24.63,24.32,24.65
$GC,5965,1.28,164.0,3156,3430,2284,2165,340.8,12.4,278,5970,0.00,2.60,0.00,0.000,1030,0.000,0.028,3156,1850,2224,2284,2165,0,0,0,0,0,0,24.49,24.41,24.51
$GC,6224,1.28,164.0,3156,1850,2284,2164,310.4,10.0,285,6229,0.00,2.70,0.00,0.000,260,0.000,0.044,3156,3439,2224,2284,2164,0,0,0,0,0,0,24.72,24.41,24.73
$GC,6276,1.28,164.0,3156,3439,2283,2164,305.7,10.2,286,6282,0.00,2.60,0.00,0.000,1030,0.000,0.028,3156,1849,2223,2283,2164,0,0,0,0,0,0,24.53,24.46,24.55
$GC,6550,1.28,164.0,3156,1849,2284,2162,277.1,10.3,293,6556,0.00,2.67,0.00,0.000,260,0.000,0.043,3156,3440,2223,2284,2162,0,0,0,0,0,0,24.75,24.44,24.77
$GC,6589,1.28,164.0,3156,3440,2283,2162,277.1,10.3,293,6595,0.00,2.60,0.00,0.000,1030,0.000,0.027,3156,1846,2222,2283,2162,0,0,0,0,0,0,24.56,24.48,24.58
$GC,6834,1.28,164.0,3156,1845,2282,2161,245.2,11.2,300,6839,0.00,2.65,0.00,0.000,260,0.000,0.041,3156,3430,2222,2283,2161,0,0,0,0,0,0,24.76,24.46,24.78
$GC,6957,1.28,164.0,3156,3430,2282,2162,230.7,11.6,303,6963,0.00,2.60,0.00,0.000,1030,0.000,0.025,3156,1842,2222,2282,2162,0,0,0,0,0,0,24.58,24.51,24.60
$GC,7242,1.31,188.9,3156,1841,2282,2161,204.8,8.6,310,7269,0.05,0.00,21.92,0.646,10758,0.145,0.000,3173,1841,2127,2184,2071,0,0,0,0,0,0,24.55,23.78,23.40
$GC,7515,1.32,195.0,3173,1841,2184,2067,180.3,9.7,331,7528,0.00,2.72,6.57,0.532,8708,0.000,0.042,3173,262,2102,2159,2046,0,0,0,0,0,0,24.67,24.18,23.61
$GC,7546,1.32,195.0,3172,262,2158,2046,177.1,10.5,333,7553,0.00,2.60,0.00,0.000,1030,0.000,0.020,3173,1871,2102,2158,2046,0,0,0,0,0,0,24.43,24.37,24.44
$GC,7794,1.32,195.0,3172,1871,2158,2045,149.2,12.4,358,7799,0.00,2.53,0.00,0.000,260,0.000,0.032,3173,3419,2101,2158,2045,0,0,0,0,0,0,24.70,24.43,24.72
$GC,7990,1.32,195.0,3173,3419,2157,2046,125.9,11.1,375,7996,0.00,2.53,0.00,0.000,1030,0.000,0.019,3173,1832,2101,2157,2045,0,0,0,0,0,0,24.56,24.50,24.57
$GC,8246,1.39,253.3,3173,1832,2157,2045,106.3,6.7,400,8305,0.08,2.70,52.15,0.555,10500,0.112,0.031,3201,3423,1866,1912,1821,0,0,0,0,0,0,24.50,23.91,23.44
$GC,8321,1.40,256.4,3201,3423,1912,1821,99.6,9.9,407,8336,0.00,2.58,4.68,0.396,9222,0.000,0.020,3202,1848,1853,1901,1806,0,0,0,0,0,0,24.27,24.25,23.58
$GC,8601,1.40,256.4,3201,1848,1901,1800,70.3,11.4,457,8608,0.00,2.60,0.00,0.000,260,0.000,0.031,3201,3427,1850,1901,1800,0,0,0,0,0,0,24.65,24.38,24.67
$GC,8666,1.40,256.4,3201,3427,1901,1800,63.3,10.8,468,8673,0.00,2.53,0.00,0.000,1030,0.000,0.019,3201,1850,1850,1901,1800,0,0,0,0,0,0,24.49,24.44,24.51
$GC,8941,1.41,269.0,3201,1850,1901,1800,36.6,9.3,517,8957,0.00,0.00,12.07,0.459,8198,0.000,0.000,3201,1850,1802,1846,1759,0,0,0,0,0,0,24.72,24.12,23.72
$GC,9226,1.41,269.3,3201,1850,1846,1756,9.4,10.0,567,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1850,1801,1846,1756,0,0,0,0,0,0,24.71,24.73,24.73
$STATE,9287,end climb,SURFACE_DEPTH_REACHED
$STATE,9287,begin surface coast
$FINISH,0.1,1.007152
$STATE,9316,end surface coast,CONTROL_FINISHED_OK
$STATE,9316,begin surface
$SM_CCo,9338,61.60,0.461,0,0,1349,380.21
$SM_GC,0.96,11.68,0.00,61.60,0.044,0.000,0.461,432,1850,1349,-7.27,-1.44,380.21,0,0,0,0,0,0,24.43,24.75,23.55
$IRIDIUM_FIX,2237.01,-15802.37,170618,151949
$TT8_MAMPS,0.021721,0.345289
$HUMID,55.39
$INTERNAL_PRESSURE,9.2717
$TCM_TEMP,23.00
$XPDR_PINGS,118
$24V_AH,23.11,76.928
$10V_AH,9.64,57.682
$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,26.125,119.200,341.425,61.600,0.000,31.483,44.253,205.526,29.500,0.000,36.029,1851.176,5156.105,560.705,2020.652,255.820,0.000,1308.393,0.000,1706.134,0.000,0.539,0.000
$DEVICE_MAMPS,175.185,63.495,856.035,460.530,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,392.113,338.051,501.755,736.963,904.138,0.000,0.000,0.000,0.000,0.000
$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,47129,583
$CAP_FILE_SIZE,103452,0
$CFSIZE,259248128,220405760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,315.43,1
$GPS,170618,205038,2246.296,-15759.090,8,1.2,48,10.1,0.3,159.1,7,5.2