version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 722
start: 6 24 118 19 15 44
data:
$ID,148
$MISSION,15
$DIVE,722
$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,44
$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
$GPS1,240618,190832,2245.7864,-15758.1123,12,1.8,45,10.1,0.6,14.3,9,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-61.7
$GPS2,240618,191515,2245.7188,-15758.1855,15,1.2,31,10.1,0.9,221.2,8,4.4
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,A9
$TGT_LATLONG,2245.390,-15758.740
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,233.0,1126,-27.8,-10.040,-30.00,973
$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,-1.54,-63.6,433,1803,1356,1328,0.0,0.0,0,88,0.00,0.15,-66.18,0.000,16390,0.000,0.255,433,2030,3161,3205,3117,0,0,0,0,0,0,24.56,23.51,24.58
$GC,92,-1.56,-75.0,433,2032,3205,3118,3.6,-8.8,10,114,10.25,2.83,-0.82,0.000,18948,0.173,0.037,2261,313,3208,3258,3159,0,0,0,0,0,0,24.08,23.39,24.27
$GC,156,-1.56,-75.0,2260,313,3258,3159,24.3,-23.9,20,164,0.00,2.53,0.00,0.000,1030,0.000,0.015,2261,1920,3208,3258,3159,0,0,0,0,0,0,24.43,24.39,24.44
$GC,417,-1.56,-75.0,2260,1921,3259,3160,75.5,-16.5,47,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1921,3209,3259,3159,0,0,0,0,0,0,24.67,24.69,24.69
$GC,662,-1.56,-75.0,2261,1921,3259,3161,113.0,-14.9,72,667,0.00,2.45,0.00,0.000,260,0.000,0.025,2261,3462,3210,3259,3161,0,0,0,0,0,0,24.71,24.46,24.72
$GC,707,-1.56,-75.0,2260,3462,3259,3162,120.0,-15.6,76,712,0.00,2.47,0.00,0.000,1030,0.000,0.016,2261,1874,3210,3259,3162,0,0,0,0,0,0,24.54,24.50,24.56
$GC,963,-1.56,-75.0,2261,1874,3260,3162,159.2,-13.4,101,969,0.00,2.55,0.00,0.000,260,0.000,0.024,2261,3466,3211,3261,3162,0,0,0,0,0,0,24.74,24.49,24.76
$GC,998,-1.56,-75.0,2260,3466,3261,3163,164.3,-13.2,104,1003,0.00,2.45,0.00,0.000,1030,0.000,0.016,2261,1889,3211,3261,3162,0,0,0,0,0,0,24.58,24.53,24.58
$GC,1254,-1.56,-75.0,2261,1890,3261,3164,192.9,-11.3,129,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1889,3212,3260,3164,0,0,0,0,0,0,24.77,24.79,24.78
$GC,1521,-1.56,-75.0,2260,1889,3261,3165,225.6,-12.4,141,1527,0.00,2.53,0.00,0.000,260,0.000,0.025,2261,3469,3213,3261,3165,0,0,0,0,0,0,24.79,24.53,24.80
$GC,1614,-1.56,-75.0,2261,3469,3261,3165,235.9,-12.4,143,1619,0.00,2.42,0.00,0.000,1030,0.000,0.016,2261,1898,3213,3261,3165,0,0,0,0,0,0,24.62,24.58,24.63
$GC,1888,-1.56,-75.0,2261,1898,3261,3165,268.0,-10.8,150,1893,0.00,2.53,0.00,0.000,260,0.000,0.028,2261,3463,3213,3261,3165,0,0,0,0,0,0,24.80,24.54,24.82
$GC,1915,-1.56,-75.0,2261,3463,3261,3165,268.0,-10.8,150,1921,0.00,2.42,0.00,0.000,1030,0.000,0.017,2261,1902,3213,3261,3165,0,0,0,0,0,0,24.63,24.58,24.64
$GC,2174,-1.56,-75.0,2261,1902,3260,3165,298.1,-10.2,157,2180,0.00,2.55,0.00,0.000,260,0.000,0.032,2261,3466,3213,3261,3165,0,0,0,0,0,0,24.82,24.55,24.83
$GC,2247,-1.56,-75.0,2261,3466,3261,3165,303.2,-10.4,158,2253,0.00,2.45,0.00,0.000,1030,0.000,0.018,2261,1898,3213,3261,3165,0,0,0,0,0,0,24.64,24.59,24.65
$GC,2501,-1.56,-75.0,2260,1898,3261,3164,333.8,-10.6,165,2506,0.00,2.55,0.00,0.000,516,0.000,0.040,2261,341,3212,3260,3164,0,0,0,0,0,0,24.82,24.53,24.84
$GC,2564,-1.56,-75.0,2261,341,3260,3163,338.3,-10.5,166,2569,0.00,2.45,0.00,0.000,1030,0.000,0.018,2261,1895,3211,3260,3163,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2828,-1.56,-75.0,2261,1895,3260,3160,367.9,-10.5,173,2834,0.00,2.62,0.00,0.000,516,0.000,0.041,2261,340,3210,3260,3160,0,0,0,0,0,0,24.83,24.54,24.85
$GC,2861,-1.56,-75.0,2261,340,3260,3160,367.9,-10.5,173,2866,0.00,2.47,0.00,0.000,1030,0.000,0.020,2261,1901,3209,3260,3159,0,0,0,0,0,0,24.65,24.60,24.67
$GC,3114,-1.56,-75.0,2261,1900,3260,3157,397.0,-10.1,180,3119,0.00,2.65,0.00,0.000,516,0.000,0.044,2261,337,3208,3260,3157,0,0,0,0,0,0,24.84,24.53,24.86
$GC,3132,-1.56,-75.0,2260,337,3260,3157,397.0,-10.1,180,3138,0.00,2.53,0.00,0.000,1030,0.000,0.021,2261,1908,3208,3260,3157,0,0,0,0,0,0,24.65,24.60,24.67
$GC,3401,-1.56,-75.0,2260,1908,3260,3154,429.1,-11.5,187,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1907,3207,3260,3154,0,0,0,0,0,0,24.84,24.87,24.86
$GC,3641,-1.56,-75.0,2260,1908,3260,3149,455.3,-10.6,193,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1907,3204,3260,3149,0,0,0,0,0,0,24.83,24.86,24.85
$GC,3881,-1.57,-83.9,2260,1908,3260,3147,477.5,-9.1,199,3887,0.00,2.67,0.00,0.000,516,0.000,0.050,2261,341,3203,3260,3147,0,0,0,0,0,0,24.84,24.53,24.85
$GC,3900,-1.58,-92.8,2261,341,3260,3147,477.5,-9.1,199,3906,0.00,2.53,0.00,0.000,1030,0.000,0.028,2261,1891,3203,3260,3147,0,0,0,0,0,0,24.66,24.59,24.68
$STATE,4087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4087,begin apogee
$GC,4093,-0.26,0.0,2261,1891,3260,3144,500.7,-11.3,204,4161,1.90,0.00,63.92,0.856,10246,0.090,0.000,2677,1891,2900,2954,2846,0,0,0,0,0,0,24.51,23.73,23.06
$STATE,4162,end apogee,CONTROL_FINISHED_OK
$STATE,4163,begin climb
$GC,4165,1.58,92.8,2677,1891,2954,2846,503.0,0.0,205,4259,2.40,2.78,81.40,0.842,10500,0.039,0.057,3272,3426,2519,2572,2467,0,0,0,0,0,0,24.07,23.72,23.03
$GC,4315,1.58,92.8,3271,3426,2571,2462,495.8,6.9,209,4320,0.00,2.60,0.00,0.000,1030,0.000,0.030,3271,1874,2516,2571,2461,0,0,0,0,0,0,24.31,24.22,24.32
$GC,4599,1.58,92.8,3271,1874,2571,2455,465.3,11.2,216,4604,0.00,2.65,0.00,0.000,260,0.000,0.046,3272,3424,2513,2571,2455,0,0,0,0,0,0,24.62,24.30,24.64
$GC,4682,1.58,92.8,3271,3425,2568,2454,456.2,11.1,218,4688,0.00,2.62,0.00,0.000,1030,0.000,0.029,3272,1841,2511,2569,2454,0,0,0,0,0,0,24.46,24.37,24.48
$GC,4966,1.58,94.4,3271,1841,2569,2453,427.8,9.9,225,4972,0.00,2.72,0.00,0.000,260,0.000,0.044,3272,3435,2511,2569,2453,0,0,0,0,0,0,24.68,24.37,24.70
$GC,4991,1.58,95.9,3271,3435,2568,2452,427.8,9.9,225,4996,0.00,2.62,0.00,0.000,1030,0.000,0.035,3272,1840,2510,2568,2452,0,0,0,0,0,0,24.50,24.41,24.51
$GC,5254,1.58,96.5,3271,1840,2568,2451,398.5,10.0,232,5259,0.00,2.70,0.00,0.000,260,0.000,0.044,3272,3425,2509,2568,2451,0,0,0,0,0,0,24.72,24.40,24.74
$GC,5332,1.59,97.3,3271,3425,2567,2451,394.1,10.0,233,5338,0.00,2.60,0.00,0.000,1030,0.000,0.028,3272,1841,2509,2567,2451,0,0,0,0,0,0,24.53,24.46,24.55
$GC,5579,1.59,103.9,3271,1840,2567,2450,368.5,9.3,240,5590,0.00,0.00,9.00,0.696,8198,0.000,0.000,3272,1841,2475,2533,2418,0,0,0,0,0,0,24.74,24.04,23.41
$GC,5817,1.59,103.9,3271,1840,2533,2415,342.8,11.1,246,5823,0.00,2.70,0.00,0.000,260,0.000,0.042,3272,3430,2474,2533,2415,0,0,0,0,0,0,24.70,24.39,24.72
$GC,5880,1.59,103.9,3271,3431,2531,2414,338.0,11.1,247,5885,0.00,2.62,0.00,0.000,1030,0.000,0.030,3272,1839,2473,2532,2414,0,0,0,0,0,0,24.51,24.43,24.53
$GC,6145,1.61,114.0,3271,1839,2532,2412,309.9,9.0,254,6157,0.00,0.00,10.02,0.682,8198,0.000,0.000,3272,1840,2434,2492,2376,0,0,0,0,0,0,24.74,24.02,23.42
$GC,6383,1.63,135.7,3271,1840,2492,2372,291.2,7.7,260,6406,0.00,0.00,20.85,0.715,8198,0.000,0.000,3272,1839,2345,2398,2292,0,0,0,0,0,0,24.70,23.83,23.25
$GC,6624,1.63,135.7,3271,1839,2397,2286,264.4,11.9,266,6629,0.00,2.70,0.00,0.000,260,0.000,0.041,3272,3433,2341,2397,2286,0,0,0,0,0,0,24.65,24.33,24.66
$GC,6912,1.63,135.7,3271,3433,2396,2284,231.3,11.3,273,6917,0.00,2.60,0.00,0.000,1030,0.000,0.025,3272,1840,2340,2396,2284,0,0,0,0,0,0,24.51,24.44,24.53
$GC,7191,1.65,148.4,3271,1840,2396,2283,205.1,8.7,280,7205,0.00,0.00,11.73,0.624,8198,0.000,0.000,3272,1840,2293,2347,2240,0,0,0,0,0,0,24.72,24.01,23.45
$GC,7432,1.65,149.9,3271,1840,2348,2236,183.7,9.9,298,7437,0.00,2.67,0.00,0.000,260,0.000,0.037,3272,3435,2292,2347,2237,0,0,0,0,0,0,24.67,24.39,24.69
$GC,7662,1.65,150.1,3271,3435,2346,2236,160.1,10.0,320,7668,0.00,2.58,0.00,0.000,1030,0.000,0.022,3272,1841,2291,2346,2236,0,0,0,0,0,0,24.54,24.48,24.56
$GC,7919,1.69,179.1,3271,1841,2346,2236,139.4,7.0,345,7955,0.08,2.70,27.48,0.601,10500,0.113,0.032,3300,3442,2168,2218,2119,0,0,0,0,0,0,24.49,23.73,23.38
$GC,8016,1.69,179.1,3300,3442,2217,2118,130.4,10.5,353,8021,0.00,2.60,0.00,0.000,1030,0.000,0.021,3300,1841,2167,2217,2117,0,0,0,0,0,0,24.40,24.34,24.41
$GC,8272,1.69,179.1,3300,1841,2217,2114,101.5,11.0,378,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1841,2165,2217,2114,0,0,0,0,0,0,24.67,24.70,24.69
$GC,8523,1.70,188.2,3300,1841,2217,2114,75.7,9.1,403,8540,0.00,2.67,9.20,0.492,8452,0.000,0.031,3300,3439,2131,2183,2080,0,0,0,0,0,0,24.72,24.16,23.66
$GC,8626,1.71,196.0,3300,3439,2182,2080,66.4,9.2,412,8644,0.00,2.58,8.25,0.470,9222,0.000,0.018,3301,1831,2100,2149,2052,0,0,0,0,0,0,24.49,24.44,23.65
$GC,8884,1.73,212.5,3300,1831,2148,2050,42.0,8.3,438,8908,0.00,2.60,15.85,0.488,8708,0.000,0.035,3301,279,2032,2079,1985,0,0,0,0,0,0,24.69,23.89,23.58
$GC,8936,1.75,228.9,3300,279,2079,1984,38.0,8.3,442,8961,0.00,2.55,15.55,0.481,9222,0.000,0.019,3301,1870,1964,2003,1926,0,0,0,0,0,0,24.39,24.34,23.53
$GC,9224,1.76,240.3,3300,1870,2003,1922,11.5,8.8,486,9241,0.05,2.60,11.30,0.444,10500,0.129,0.031,3322,3429,1919,1960,1878,0,0,0,0,0,0,24.46,24.10,23.66
$GC,9294,1.76,240.3,3321,3429,1960,1878,4.7,12.2,497,9302,0.00,2.53,0.00,0.000,1030,0.000,0.018,3322,1849,1919,1960,1878,0,0,0,0,0,0,24.43,24.38,24.44
$STATE,9307,end climb,SURFACE_DEPTH_REACHED
$STATE,9307,begin surface coast
$FINISH,0.1,1.015589
$STATE,9337,end surface coast,CONTROL_FINISHED_OK
$STATE,9337,begin surface
$SM_CCo,9359,80.93,0.469,0,0,1350,380.21
$SM_GC,0.75,12.15,0.00,80.93,0.041,0.000,0.469,434,1849,1350,-7.26,-1.44,380.21,0,0,0,0,0,0,24.34,24.65,23.46
$IRIDIUM_FIX,2234.68,-15800.20,240618,161827
$TT8_MAMPS,0.021721,0.280126
$HUMID,57.24
$INTERNAL_PRESSURE,9.26193
$TCM_TEMP,22.20
$XPDR_PINGS,112
$24V_AH,23.03,82.823
$10V_AH,9.70,62.366
$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,26.825,108.950,284.550,80.925,0.000,23.309,44.166,180.388,28.000,0.000,33.654,1711.184,5654.062,502.188,1721.036,264.514,0.000,1197.354,0.000,1441.800,0.000,0.538,0.000
$DEVICE_MAMPS,172.890,254.745,856.035,468.945,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,339.316,291.063,409.049,523.939,614.870,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342804
$DATA_FILE_SIZE,43948,504
$CAP_FILE_SIZE,99044,0
$CFSIZE,259248128,217112576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,235.69,1
$GPS,240618,215439,2244.880,-15759.570,13,1.6,53,10.1,0.4,111.6,5,8.6