version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 740
start: 6 26 118 21 23 55
data:
$ID,148
$MISSION,15
$DIVE,740
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$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,56
$R_STBD_OVSHOOT,47
$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
$GPS1,260618,211603,2245.4961,-15758.0449,32,1.2,72,10.1,0.2,164.1,7,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-60.7
$GPS2,260618,212327,2245.4597,-15758.0557,12,1.1,52,10.1,0.8,247.0,7,4.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,A9
$TGT_LATLONG,2245.390,-15758.740
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,276.3,1177,-27.8,-10.000,-30.00,971
$D_GRID,360
$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,14,begin dive
$GC,16,-1.54,-63.2,433,1874,1356,1323,0.0,0.0,0,89,0.00,0.00,-67.32,0.000,16390,0.000,0.000,433,1875,3159,3204,3114,0,0,0,0,0,0,24.58,23.53,24.60
$GC,93,-1.60,-113.5,433,1875,3205,3114,2.8,-4.7,10,115,10.10,2.53,-3.78,0.000,19204,0.170,0.038,2245,333,3363,3421,3306,0,0,0,0,0,0,24.10,23.85,24.28
$GC,303,-1.60,-113.5,2245,333,3421,3308,54.9,-21.6,36,311,0.00,2.47,0.00,0.000,1030,0.000,0.015,2245,1915,3364,3421,3308,0,0,0,0,0,0,24.49,24.45,24.51
$GC,551,-1.60,-113.5,2244,1919,3421,3310,100.5,-16.5,61,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,1919,3365,3421,3310,0,0,0,0,0,0,24.70,24.72,24.72
$GC,799,-1.60,-113.5,2244,1919,3421,3311,140.7,-15.8,86,805,0.00,2.60,0.00,0.000,516,0.000,0.032,2245,325,3366,3421,3311,0,0,0,0,0,0,24.74,24.47,24.75
$GC,856,-1.60,-113.5,2244,325,3421,3311,150.6,-18.2,91,861,0.00,2.45,0.00,0.000,1030,0.000,0.015,2245,1900,3366,3421,3311,0,0,0,0,0,0,24.57,24.53,24.58
$GC,1112,-1.60,-113.5,2244,1901,3420,3311,191.2,-16.3,116,1118,0.00,2.50,0.00,0.000,260,0.000,0.027,2245,3472,3366,3421,3312,0,0,0,0,0,0,24.76,24.51,24.78
$GC,1170,-1.60,-113.5,2244,3471,3420,3312,200.1,-15.2,121,1175,0.00,2.42,0.00,0.000,1030,0.000,0.015,2245,1893,3366,3421,3312,0,0,0,0,0,0,24.60,24.56,24.61
$GC,1439,-1.60,-113.5,2244,1893,3421,3313,236.7,-13.4,128,1444,0.00,2.53,0.00,0.000,516,0.000,0.031,2245,332,3367,3421,3313,0,0,0,0,0,0,24.79,24.53,24.80
$GC,1491,-1.60,-113.5,2244,332,3421,3313,243.0,-13.6,129,1498,0.00,2.45,0.00,0.000,1030,0.000,0.016,2245,1894,3367,3421,3313,0,0,0,0,0,0,24.62,24.57,24.63
$GC,1766,-1.60,-113.5,2244,1894,3421,3313,280.7,-13.3,136,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,1894,3367,3421,3313,0,0,0,0,0,0,24.80,24.82,24.82
$GC,2007,-1.60,-113.5,2244,1894,3421,3313,313.1,-13.5,142,2012,0.00,2.58,0.00,0.000,516,0.000,0.035,2245,343,3366,3421,3312,0,0,0,0,0,0,24.82,24.53,24.83
$GC,2050,-1.60,-113.5,2244,342,3421,3313,319.4,-13.8,143,2055,0.00,2.47,0.00,0.000,1030,0.000,0.018,2245,1905,3366,3421,3312,0,0,0,0,0,0,24.64,24.58,24.65
$GC,2333,-1.60,-113.5,2244,1905,3421,3311,358.3,-13.5,150,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,1905,3366,3421,3311,0,0,0,0,0,0,24.83,24.85,24.84
$STATE,2371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2371,begin apogee
$GC,2378,-0.26,0.0,2245,1905,3421,3310,363.7,-13.4,151,2478,1.95,0.00,94.95,0.724,10246,0.080,0.000,2680,1905,2899,2960,2839,0,0,0,0,0,0,24.49,23.77,23.20
$STATE,2479,end apogee,CONTROL_FINISHED_OK
$STATE,2479,begin climb
$GC,2481,1.60,113.5,2680,1905,2960,2838,366.1,0.0,153,2584,2.40,0.00,96.85,0.710,10502,0.037,0.000,3281,1905,2436,2495,2377,0,0,0,0,0,0,24.08,23.73,23.18
$GC,2813,1.60,113.5,3281,1905,2495,2367,331.9,12.7,162,2819,0.00,2.60,0.00,0.000,260,0.000,0.054,3281,3413,2430,2494,2366,0,0,0,0,0,0,24.60,24.28,24.62
$GC,2898,1.60,113.5,3281,3413,2491,2366,321.1,12.8,164,2904,0.00,2.50,0.00,0.000,1030,0.000,0.026,3281,1886,2428,2491,2366,0,0,0,0,0,0,24.44,24.37,24.46
$GC,3182,1.60,113.5,3281,1886,2491,2362,284.8,12.7,171,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1886,2426,2491,2362,0,0,0,0,0,0,24.68,24.71,24.70
$GC,3422,1.60,113.5,3281,1886,2491,2360,259.5,10.1,177,3429,0.00,2.58,0.00,0.000,260,0.000,0.041,3281,3411,2425,2491,2360,0,0,0,0,0,0,24.70,24.40,24.72
$GC,3579,1.61,118.3,3281,3411,2489,2359,247.9,9.5,180,3584,0.00,2.55,0.00,0.000,1030,0.000,0.025,3281,1841,2424,2489,2359,0,0,0,0,0,0,24.54,24.47,24.56
$GC,3832,1.61,121.6,3281,1841,2489,2357,222.2,9.7,187,3840,0.00,0.00,6.15,0.529,8198,0.000,0.000,3281,1841,2403,2468,2338,0,0,0,0,0,0,24.73,24.20,23.67
$GC,4073,1.63,134.4,3281,1841,2468,2335,200.2,8.6,193,4092,0.00,2.72,12.77,0.596,8708,0.000,0.048,3281,262,2350,2413,2288,0,0,0,0,0,0,24.72,23.88,23.51
$GC,4140,1.64,145.4,3281,262,2412,2287,194.6,8.8,196,4157,0.00,2.58,10.88,0.575,9222,0.000,0.022,3282,1846,2306,2366,2246,0,0,0,0,0,0,24.44,24.39,23.47
$GC,4396,1.67,163.5,3281,1846,2366,2240,174.3,8.1,222,4415,0.00,0.00,16.58,0.588,8198,0.000,0.000,3282,1846,2232,2290,2175,0,0,0,0,0,0,24.67,23.94,23.44
$GC,4660,1.67,163.5,3280,1846,2290,2170,149.1,10.2,248,4665,0.00,2.65,0.00,0.000,260,0.000,0.041,3282,3428,2230,2290,2170,0,0,0,0,0,0,24.67,24.37,24.68
$GC,4712,1.67,163.5,3281,3427,2288,2170,143.5,10.4,252,4718,0.00,2.55,0.00,0.000,1030,0.000,0.021,3281,1838,2229,2288,2170,0,0,0,0,0,0,24.50,24.44,24.51
$GC,4969,1.67,163.5,3281,1838,2288,2168,116.2,10.3,277,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1839,2228,2288,2168,0,0,0,0,0,0,24.72,24.75,24.74
$GC,5218,1.68,173.0,3281,1838,2288,2167,93.2,9.0,302,5229,0.00,0.00,8.75,0.487,8198,0.000,0.000,3282,1839,2193,2252,2135,0,0,0,0,0,0,24.75,24.18,23.72
$GC,5471,1.68,177.2,3281,1839,2252,2133,70.0,9.6,327,5483,0.00,2.62,4.82,0.397,8452,0.000,0.029,3281,3432,2178,2236,2121,0,0,0,0,0,0,24.72,24.14,23.82
$GC,5542,1.68,177.2,3281,3432,2235,2121,62.9,10.3,333,5550,0.00,2.55,0.00,0.000,1030,0.000,0.019,3281,1849,2177,2235,2120,0,0,0,0,0,0,24.50,24.48,24.51
$GC,5791,1.71,195.3,3281,1849,2235,2120,41.2,8.1,358,5816,0.05,2.62,17.55,0.488,10500,0.131,0.028,3304,3430,2102,2153,2052,0,0,0,0,0,0,24.55,23.94,23.62
$GC,5935,1.71,195.3,3302,3430,2153,2050,28.1,10.3,372,5943,0.00,2.53,0.00,0.000,1030,0.000,0.018,3303,1846,2101,2153,2050,0,0,0,0,0,0,24.49,24.44,24.51
$GC,6215,1.73,216.0,3303,1846,2153,2049,6.5,7.8,421,6237,0.00,0.00,18.55,0.467,8198,0.000,0.000,3303,1846,2017,2063,1972,0,0,0,0,0,0,24.72,24.03,23.61
$STATE,6259,end climb,SURFACE_DEPTH_REACHED
$STATE,6259,begin surface coast
$FINISH,0.1,1.022888
$STATE,6306,end surface coast,CONTROL_FINISHED_OK
$STATE,6306,begin surface
$SM_CCo,6329,100.10,0.463,0,0,1350,380.21
$SM_GC,0.94,12.15,0.08,100.10,0.042,0.099,0.463,420,1921,1350,-7.31,-1.27,380.21,0,0,0,0,0,0,24.34,24.45,23.49
$IRIDIUM_FIX,2237.01,-15806.70,260618,190959
$TT8_MAMPS,0.021721,0.287616
$HUMID,56.14
$INTERNAL_PRESSURE,9.29123
$TCM_TEMP,22.50
$XPDR_PINGS,18
$24V_AH,23.18,84.524
$10V_AH,9.71,63.712
$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,26.650,56.125,287.850,100.100,0.000,29.894,48.565,191.595,4.500,0.000,54.803,1330.329,3370.904,489.571,1489.583,202.404,0.000,998.693,0.000,1170.062,0.000,0.541,0.000
$DEVICE_MAMPS,169.830,99.450,723.690,462.825,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,292.471,278.597,401.851,546.852,643.942,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342816
$DATA_FILE_SIZE,37256,436
$CAP_FILE_SIZE,71030,0
$CFSIZE,259248128,216170496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,213.06,1
$GPS,260618,231244,2245.177,-15758.962,19,1.4,59,10.1,0.2,255.3,6,5.1