version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 664
start: 6 18 118 0 0 35
data:
$ID,148
$MISSION,15
$DIVE,664
$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,43
$R_STBD_OVSHOOT,52
$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
$GPS1,170618,235244,2246.3015,-15758.2363,39,1.1,79,10.1,1.0,305.3,7,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-61.9
$GPS2,180618,000009,2246.3030,-15758.3037,14,1.1,54,10.1,0.3,296.1,7,4.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ED6
$TGT_LATLONG,2245.000,-15755.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,118.3,6136,-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,-116.8,432,1868,1355,1330,0.0,0.0,0,90,0.00,0.00,-71.53,0.000,16386,0.000,0.000,432,1868,3345,3394,3296,0,0,0,0,0,0,24.59,28.83,24.61
$GC,94,-1.22,-116.8,432,1868,3394,3297,3.6,-7.6,10,117,10.73,2.58,-0.57,0.000,18948,0.168,0.046,2368,313,3378,3432,3325,0,0,0,0,0,0,24.14,23.44,24.30
$GC,153,-1.22,-116.8,2367,313,3432,3325,23.0,-20.8,19,160,0.00,2.53,0.00,0.000,1030,0.000,0.015,2368,1912,3379,3433,3325,0,0,0,0,0,0,24.45,24.40,24.46
$GC,430,-1.22,-116.8,2367,1914,3433,3326,71.6,-16.3,68,437,0.00,2.62,0.00,0.000,516,0.000,0.033,2368,322,3379,3433,3326,0,0,0,0,0,0,24.70,24.42,24.71
$GC,450,-1.22,-116.8,2367,322,3433,3326,75.3,-16.5,71,458,0.00,2.50,0.00,0.000,1030,0.000,0.015,2367,1918,3380,3434,3326,0,0,0,0,0,0,24.53,24.49,24.54
$GC,720,-1.22,-116.8,2367,1918,3434,3327,117.4,-14.8,110,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1919,3380,3435,3326,0,0,0,0,0,0,24.74,24.76,24.75
$GC,960,-1.22,-116.8,2367,1918,3434,3327,150.6,-12.8,134,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1918,3380,3434,3327,0,0,0,0,0,0,24.77,24.78,24.78
$GC,1202,-1.22,-116.8,2367,1918,3434,3328,180.6,-12.3,158,1208,0.00,2.47,0.00,0.000,260,0.000,0.027,2367,3469,3381,3434,3328,0,0,0,0,0,0,24.79,24.53,24.80
$GC,1277,-1.22,-116.8,2367,3469,3435,3328,191.8,-14.5,165,1283,0.00,2.45,0.00,0.000,1030,0.000,0.016,2368,1888,3381,3435,3328,0,0,0,0,0,0,24.62,24.58,24.63
$GC,1541,-1.22,-116.8,2367,1888,3436,3329,226.5,-12.9,176,1546,0.00,2.53,0.00,0.000,516,0.000,0.031,2368,324,3382,3436,3329,0,0,0,0,0,0,24.81,24.54,24.82
$GC,1554,-1.22,-116.8,2367,324,3436,3329,226.5,-12.9,176,1559,0.00,2.45,0.00,0.000,1030,0.000,0.015,2368,1916,3382,3436,3329,0,0,0,0,0,0,24.64,24.60,24.65
$GC,1827,-1.22,-116.8,2367,1916,3436,3329,260.3,-11.1,183,1833,0.00,2.60,0.00,0.000,516,0.000,0.031,2368,324,3382,3436,3329,0,0,0,0,0,0,24.82,24.56,24.84
$GC,1850,-1.22,-116.8,2367,324,3436,3329,260.3,-11.1,183,1855,0.00,2.45,0.00,0.000,1030,0.000,0.017,2367,1893,3382,3436,3329,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2114,-1.22,-116.8,2367,1893,3436,3328,285.5,-8.1,190,2119,0.00,2.53,0.00,0.000,260,0.000,0.028,2367,3469,3382,3436,3329,0,0,0,0,0,0,24.83,24.57,24.85
$GC,2161,-1.22,-116.8,2366,3469,3436,3328,289.4,-8.2,191,2167,0.00,2.45,0.00,0.000,1030,0.000,0.017,2367,1888,3382,3436,3328,0,0,0,0,0,0,24.66,24.62,24.68
$GC,2441,-1.22,-116.8,2367,1888,3436,3329,315.9,-9.7,198,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1888,3382,3436,3328,0,0,0,0,0,0,24.84,24.87,24.86
$GC,2681,-1.22,-116.8,2367,1888,3436,3327,341.5,-10.3,204,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1888,3381,3436,3327,0,0,0,0,0,0,24.85,24.87,24.87
$GC,2921,-1.22,-116.8,2367,1888,3436,3325,364.6,-9.6,210,2926,0.00,2.60,0.00,0.000,260,0.000,0.037,2367,3459,3380,3436,3325,0,0,0,0,0,0,24.87,24.57,24.88
$GC,2965,-1.22,-116.8,2367,3459,3436,3324,369.0,-9.6,211,2970,0.00,2.45,0.00,0.000,1030,0.000,0.019,2367,1903,3380,3436,3324,0,0,0,0,0,0,24.69,24.64,24.70
$GC,3248,-1.22,-116.8,2367,1903,3436,3320,397.6,-10.1,218,3254,0.00,2.62,0.00,0.000,260,0.000,0.041,2367,3459,3378,3436,3320,0,0,0,0,0,0,24.85,24.57,24.87
$GC,3294,-1.22,-116.8,2367,3459,3436,3320,402.2,-10.2,219,3299,0.00,2.47,0.00,0.000,1030,0.000,0.021,2368,1900,3378,3437,3319,0,0,0,0,0,0,24.69,24.63,24.70
$GC,3578,-1.22,-116.8,2367,1900,3436,3316,430.3,-9.6,226,3583,0.00,2.65,0.00,0.000,516,0.000,0.048,2367,337,3376,3436,3316,0,0,0,0,0,0,24.86,24.56,24.88
$GC,3631,-1.22,-116.8,2367,337,3436,3316,434.3,-9.4,227,3636,0.00,2.50,0.00,0.000,1030,0.000,0.024,2367,1885,3375,3435,3316,0,0,0,0,0,0,24.68,24.62,24.70
$GC,3904,-1.22,-116.8,2367,1886,3435,3312,458.1,-8.1,234,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1886,3373,3436,3311,0,0,0,0,0,0,24.85,24.88,24.87
$GC,4145,-1.22,-116.8,2367,1886,3436,3308,479.0,-8.9,240,4150,0.00,2.67,0.00,0.000,260,0.000,0.048,2367,3472,3371,3435,3308,0,0,0,0,0,0,24.87,24.56,24.88
$GC,4163,-1.22,-116.8,2367,3472,3436,3308,479.0,-8.9,240,4169,0.00,2.53,0.00,0.000,1030,0.000,0.025,2368,1897,3372,3436,3308,0,0,0,0,0,0,24.69,24.63,24.70
$STATE,4390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4390,begin apogee
$GC,4396,-0.26,0.0,2367,1824,3435,3305,501.2,-9.0,246,4498,1.40,0.00,97.97,0.856,10246,0.086,0.000,2678,1824,2900,2961,2839,0,0,0,0,0,0,24.54,23.76,23.11
$STATE,4499,end apogee,CONTROL_FINISHED_OK
$STATE,4499,begin climb
$GC,4502,1.22,116.8,2678,1824,2961,2838,503.7,0.0,248,4609,2.00,0.00,101.45,0.830,10502,0.054,0.000,3153,1824,2422,2485,2359,0,0,0,0,0,0,24.01,23.72,23.11
$GC,4832,1.22,116.8,3152,1824,2485,2345,478.5,10.3,257,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1824,2415,2485,2345,0,0,0,0,0,0,24.58,24.61,24.60
$GC,5073,1.22,116.8,3152,1825,2484,2342,454.3,10.1,263,5078,0.00,2.78,0.00,0.000,260,0.000,0.055,3153,3419,2413,2484,2342,0,0,0,0,0,0,24.66,24.33,24.68
$GC,5171,1.22,116.8,3153,3420,2481,2342,444.4,11.2,265,5177,0.00,2.55,0.00,0.000,1030,0.000,0.030,3153,1880,2411,2481,2342,0,0,0,0,0,0,24.49,24.41,24.51
$GC,5440,1.22,116.8,3152,1880,2481,2341,411.5,11.4,272,5446,0.00,2.83,0.00,0.000,516,0.000,0.061,3153,270,2411,2481,2341,0,0,0,0,0,0,24.71,24.39,24.73
$GC,5493,1.22,116.8,3152,270,2481,2341,406.1,11.6,273,5499,0.00,2.60,0.00,0.000,1030,0.000,0.024,3153,1860,2411,2481,2341,0,0,0,0,0,0,24.53,24.46,24.55
$GC,5768,1.23,118.6,3152,1859,2481,2338,376.4,9.9,280,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1859,2409,2480,2338,0,0,0,0,0,0,24.74,24.77,24.76
$GC,6007,1.27,152.0,3152,1860,2480,2336,356.4,8.1,286,6046,0.00,2.80,29.50,0.763,8452,0.000,0.061,3153,3421,2279,2342,2216,0,0,0,0,0,0,24.72,23.87,23.23
$GC,6136,1.30,176.3,3152,3421,2339,2213,345.4,8.6,289,6169,0.05,2.60,22.25,0.744,11270,0.136,0.027,3168,1850,2180,2237,2123,0,0,0,0,0,0,24.30,24.34,23.22
$GC,6410,1.30,176.3,3168,1850,2235,2117,315.6,10.5,296,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1850,2176,2236,2117,0,0,0,0,0,0,24.63,24.65,24.65
$GC,6649,1.30,176.3,3168,1850,2234,2115,289.0,11.0,302,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1851,2174,2234,2115,0,0,0,0,0,0,24.69,24.71,24.70
$GC,6890,1.30,176.3,3168,1850,2234,2114,263.7,10.1,308,6896,0.00,2.70,0.00,0.000,260,0.000,0.041,3169,3430,2174,2234,2114,0,0,0,0,0,0,24.69,24.41,24.71
$GC,7018,1.30,176.3,3168,3430,2233,2114,249.7,10.9,311,7023,0.00,2.60,0.00,0.000,1030,0.000,0.026,3169,1845,2173,2233,2114,0,0,0,0,0,0,24.54,24.47,24.56
$GC,7296,1.30,176.3,3168,1844,2232,2112,219.7,10.3,318,7302,0.00,2.65,0.00,0.000,260,0.000,0.040,3168,3429,2172,2233,2112,0,0,0,0,0,0,24.75,24.45,24.77
$GC,7350,1.30,176.3,3168,3429,2232,2113,215.2,10.2,319,7355,0.00,2.55,0.00,0.000,1030,0.000,0.024,3168,1844,2172,2232,2112,0,0,0,0,0,0,24.57,24.51,24.59
$GC,7603,1.30,180.0,3168,1844,2233,2112,188.2,9.8,333,7609,0.00,2.62,0.00,0.000,516,0.000,0.042,3169,266,2171,2232,2111,0,0,0,0,0,0,24.75,24.47,24.77
$GC,7688,1.30,180.0,3168,266,2232,2112,179.0,10.7,341,7695,0.00,2.60,0.00,0.000,1030,0.000,0.020,3169,1878,2171,2232,2111,0,0,0,0,0,0,24.60,24.55,24.61
$GC,7947,1.37,231.8,3168,1878,2231,2111,158.2,7.1,366,8003,0.08,0.00,48.05,0.607,10502,0.091,0.000,3204,1878,1953,1993,1913,0,0,0,0,0,0,24.58,23.87,23.38
$GC,8244,1.37,231.8,3204,1878,1992,1907,126.0,11.3,396,8249,0.00,2.55,0.00,0.000,260,0.000,0.033,3204,3419,1949,1992,1907,0,0,0,0,0,0,24.65,24.38,24.66
$GC,8423,1.37,231.8,3204,3419,1992,1907,105.0,11.2,413,8428,0.00,2.53,0.00,0.000,1030,0.000,0.019,3204,1838,1949,1992,1907,0,0,0,0,0,0,24.51,24.45,24.53
$GC,8689,1.38,245.9,3204,1838,1992,1906,78.9,9.2,457,8704,0.00,0.00,13.50,0.500,8198,0.000,0.000,3204,1838,1896,1939,1853,0,0,0,0,0,0,24.72,24.09,23.65
$GC,8975,1.38,245.9,3204,1838,1939,1851,50.3,10.6,507,8983,0.00,2.62,0.00,0.000,260,0.000,0.033,3204,3425,1895,1939,1851,0,0,0,0,0,0,24.70,24.44,24.72
$GC,9018,1.38,245.9,3204,3425,1939,1851,45.8,11.1,514,9026,0.00,2.53,0.00,0.000,1030,0.000,0.019,3204,1843,1895,1939,1851,0,0,0,0,0,0,24.53,24.49,24.55
$GC,9295,1.41,269.2,3204,1843,1939,1851,18.9,8.7,563,9323,0.00,0.00,22.67,0.467,8198,0.000,0.000,3204,1843,1800,1840,1760,0,0,0,0,0,0,24.75,23.91,23.64
$STATE,9460,end climb,SURFACE_DEPTH_REACHED
$STATE,9460,begin surface coast
$FINISH,0.0,1.009949
$STATE,9488,end surface coast,CONTROL_FINISHED_OK
$STATE,9489,begin surface
$SM_CCo,9511,62.28,0.458,0,0,1350,380.21
$SM_GC,0.91,11.48,0.08,62.28,0.034,0.090,0.458,432,1983,1350,-7.26,-1.22,380.21,0,0,0,0,0,0,24.41,24.51,23.53
$IRIDIUM_FIX,2239.35,-15759.32,170618,205950
$TT8_MAMPS,0.021721,0.285369
$HUMID,55.86
$INTERNAL_PRESSURE,9.26193
$TCM_TEMP,22.20
$XPDR_PINGS,97
$24V_AH,23.11,77.131
$10V_AH,9.77,57.863
$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,25.725,92.875,335.400,62.275,0.000,27.852,43.634,194.204,24.250,0.000,57.025,1839.432,5422.514,505.979,2008.586,247.639,0.000,1227.271,0.000,1686.828,0.000,0.539,0.000
$DEVICE_MAMPS,168.300,143.820,856.035,458.235,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,401.668,346.180,516.468,748.992,914.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342848
$DATA_FILE_SIZE,47203,596
$CAP_FILE_SIZE,98753,0
$CFSIZE,259248128,220295168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,260.79,1
$GPS,180618,024132,2245.607,-15757.806,15,1.4,42,10.1,0.9,236.6,9,4.8