version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 759
start: 6 28 118 13 30 53
data:
$ID,148
$MISSION,15
$DIVE,759
$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,44
$R_STBD_OVSHOOT,78
$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
$GPS1,280618,132227,2245.1433,-15759.1172,15,1.2,55,10.1,0.5,44.4,6,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-59.5
$GPS2,280618,133027,2245.0686,-15759.2061,32,1.4,72,10.1,1.5,251.3,6,5.4
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,A9
$TGT_LATLONG,2245.390,-15758.740
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,31.6,994,-20.5,-10.000,-23.08,1791
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.22,-116.8,432,1838,1360,1325,0.0,0.0,0,95,0.00,0.00,-72.85,0.000,16390,0.000,0.000,433,1838,3378,3426,3331,0,0,0,0,0,0,24.59,23.56,24.61
$GC,99,-1.22,-116.8,433,1838,3426,3332,5.0,-12.8,11,115,11.05,2.62,0.00,0.000,2308,0.178,0.021,2369,3453,3380,3427,3333,0,0,0,0,0,0,24.11,24.30,24.27
$GC,157,-1.22,-116.8,2368,3453,3429,3333,24.9,-21.4,20,164,0.00,2.50,0.00,0.000,1030,0.000,0.019,2369,1888,3381,3429,3333,0,0,0,0,0,0,24.44,24.38,24.45
$GC,414,-1.22,-116.8,2368,1888,3430,3333,63.7,-14.1,47,419,0.00,2.53,0.00,0.000,260,0.000,0.026,2369,3446,3381,3430,3332,0,0,0,0,0,0,24.70,24.44,24.71
$GC,442,-1.22,-116.8,2368,3446,3430,3333,67.3,-14.1,49,449,0.00,2.47,0.00,0.000,1030,0.000,0.016,2369,1866,3381,3430,3333,0,0,0,0,0,0,24.53,24.48,24.53
$GC,688,-1.22,-116.8,2368,1866,3430,3333,100.4,-13.3,74,694,0.00,2.47,0.00,0.000,516,0.000,0.031,2369,325,3382,3431,3333,0,0,0,0,0,0,24.74,24.47,24.75
$GC,733,-1.22,-116.8,2368,325,3431,3333,106.5,-13.5,78,739,0.00,2.42,0.00,0.000,1030,0.000,0.014,2369,1889,3382,3431,3333,0,0,0,0,0,0,24.57,24.53,24.58
$GC,992,-1.22,-116.8,2369,1890,3431,3333,137.2,-11.3,103,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1890,3382,3432,3333,0,0,0,0,0,0,24.77,24.79,24.78
$GC,1237,-1.22,-116.8,2368,1890,3432,3333,164.5,-11.1,128,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1890,3382,3432,3333,0,0,0,0,0,0,24.79,24.81,24.80
$GC,1477,-1.22,-116.8,2368,1890,3432,3334,191.7,-11.4,152,1482,0.00,2.53,0.00,0.000,516,0.000,0.031,2369,328,3383,3432,3334,0,0,0,0,0,0,24.81,24.53,24.82
$GC,1555,-1.22,-116.8,2368,328,3432,3334,200.9,-12.4,159,1562,0.00,2.45,0.00,0.000,1030,0.000,0.016,2369,1907,3383,3432,3334,0,0,0,0,0,0,24.63,24.59,24.65
$GC,1803,-1.22,-116.8,2368,1907,3433,3334,226.9,-10.0,166,1808,0.00,2.50,0.00,0.000,260,0.000,0.027,2369,3472,3383,3433,3334,0,0,0,0,0,0,24.82,24.56,24.84
$GC,1821,-1.22,-116.8,2368,3472,3433,3334,226.9,-10.0,166,1827,0.00,2.45,0.00,0.000,1030,0.000,0.016,2369,1886,3383,3432,3334,0,0,0,0,0,0,24.65,24.60,24.66
$GC,2090,-1.22,-116.8,2368,1886,3432,3334,255.2,-9.7,173,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1886,3383,3433,3334,0,0,0,0,0,0,24.84,24.85,24.84
$GC,2331,-1.22,-116.8,2368,1887,3433,3334,278.1,-9.7,179,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1886,3383,3433,3334,0,0,0,0,0,0,24.84,24.87,24.87
$GC,2570,-1.22,-116.8,2368,1886,3432,3332,301.1,-9.7,185,2575,0.00,2.55,0.00,0.000,516,0.000,0.035,2369,335,3382,3433,3332,0,0,0,0,0,0,24.85,24.57,24.87
$GC,2598,-1.22,-116.8,2368,334,3432,3332,301.1,-9.7,185,2604,0.00,2.47,0.00,0.000,1030,0.000,0.018,2369,1900,3382,3432,3332,0,0,0,0,0,0,24.68,24.63,24.69
$GC,2859,-1.22,-116.8,2368,1901,3432,3329,328.2,-9.4,192,2864,0.00,2.60,0.00,0.000,516,0.000,0.037,2369,339,3380,3432,3329,0,0,0,0,0,0,24.86,24.57,24.87
$GC,2898,-1.22,-116.8,2368,339,3432,3329,328.2,-9.4,192,2905,0.00,2.47,0.00,0.000,1030,0.000,0.018,2369,1904,3380,3432,3329,0,0,0,0,0,0,24.68,24.63,24.70
$GC,3143,-1.22,-116.8,2368,1904,3432,3326,357.0,-10.0,199,3148,0.00,2.58,0.00,0.000,516,0.000,0.039,2369,349,3379,3432,3326,0,0,0,0,0,0,24.87,24.57,24.88
$STATE,3184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3184,begin apogee
$GC,3193,-0.26,0.0,2369,1858,3432,3327,361.4,-10.1,200,3294,1.38,0.00,96.75,0.751,10246,0.080,0.000,2678,1857,2899,2956,2843,0,0,0,0,0,0,24.53,23.76,23.18
$STATE,3295,end apogee,CONTROL_FINISHED_OK
$STATE,3295,begin climb
$GC,3298,1.22,116.8,2678,1858,2956,2843,364.0,0.0,202,3406,1.92,2.72,98.40,0.740,10500,0.040,0.054,3144,3412,2421,2483,2360,0,0,0,0,0,0,24.05,23.58,23.16
$GC,3435,1.22,116.8,3143,3412,2482,2356,361.0,4.2,205,3440,0.00,2.50,0.00,0.000,1030,0.000,0.024,3144,1878,2418,2481,2356,0,0,0,0,0,0,24.27,24.20,24.29
$GC,3689,1.25,142.5,3143,1878,2482,2349,336.0,8.5,212,3718,0.00,2.85,22.48,0.685,8708,0.000,0.057,3144,270,2317,2378,2257,0,0,0,0,0,0,24.63,23.68,23.28
$GC,3725,1.28,168.1,3143,270,2378,2257,336.0,8.5,212,3755,0.08,2.58,23.42,0.675,11270,0.095,0.021,3174,1845,2213,2269,2158,0,0,0,0,0,0,24.15,24.18,23.23
$GC,4015,1.28,168.1,3174,1845,2269,2149,301.2,11.0,220,4020,0.00,2.72,0.00,0.000,260,0.000,0.054,3174,3427,2209,2269,2149,0,0,0,0,0,0,24.63,24.30,24.64
$GC,4037,1.28,168.1,3173,3428,2268,2149,301.2,11.0,220,4043,0.00,2.58,0.00,0.000,1030,0.000,0.024,3174,1840,2208,2267,2149,0,0,0,0,0,0,24.44,24.38,24.46
$GC,4301,1.28,168.1,3174,1841,2268,2146,270.8,10.6,227,4307,0.00,2.67,0.00,0.000,260,0.000,0.040,3174,3427,2207,2268,2146,0,0,0,0,0,0,24.68,24.37,24.69
$GC,4313,1.28,168.1,3173,3427,2268,2146,270.8,10.6,227,4319,0.00,2.55,0.00,0.000,1030,0.000,0.024,3174,1849,2207,2268,2146,0,0,0,0,0,0,24.50,24.44,24.52
$GC,4587,1.28,168.1,3174,1849,2267,2144,238.8,11.4,234,4593,0.00,2.62,0.00,0.000,260,0.000,0.039,3174,3419,2205,2267,2144,0,0,0,0,0,0,24.71,24.41,24.73
$GC,4672,1.28,168.1,3174,3418,2267,2144,229.1,11.6,236,4677,0.00,2.55,0.00,0.000,1030,0.000,0.024,3174,1844,2205,2267,2144,0,0,0,0,0,0,24.55,24.49,24.57
$GC,4956,1.32,194.5,3174,1844,2267,2143,202.9,8.5,243,4985,0.00,2.72,22.80,0.638,8452,0.000,0.037,3174,3431,2105,2159,2052,0,0,0,0,0,0,24.74,23.76,23.39
$GC,5009,1.36,227.8,3174,3431,2158,2052,198.5,8.1,245,5046,0.00,2.58,30.10,0.619,9222,0.000,0.023,3174,1849,1969,2012,1927,0,0,0,0,0,0,24.36,24.30,23.33
$GC,5294,1.36,227.8,3174,1849,2012,1920,167.9,11.3,273,5299,0.00,2.62,0.00,0.000,260,0.000,0.034,3174,3424,1966,2012,1920,0,0,0,0,0,0,24.63,24.35,24.65
$GC,5318,1.36,227.8,3174,3424,2012,1920,165.4,10.9,275,5323,0.00,2.55,0.00,0.000,1030,0.000,0.021,3174,1842,1966,2013,1920,0,0,0,0,0,0,24.46,24.41,24.48
$GC,5574,1.36,227.8,3174,1842,2012,1916,137.9,10.8,300,5580,0.00,2.62,0.00,0.000,260,0.000,0.033,3174,3427,1965,2013,1917,0,0,0,0,0,0,24.70,24.43,24.72
$GC,5704,1.36,227.8,3174,3428,2012,1917,123.7,10.2,312,5709,0.00,2.53,0.00,0.000,1030,0.000,0.020,3174,1844,1964,2012,1917,0,0,0,0,0,0,24.54,24.49,24.56
$GC,5961,1.36,227.8,3174,1844,2012,1916,96.2,11.3,337,5966,0.00,2.60,0.00,0.000,260,0.000,0.031,3174,3437,1964,2012,1916,0,0,0,0,0,0,24.75,24.48,24.77
$GC,5986,1.36,227.8,3174,3437,2012,1916,93.1,11.2,339,5991,0.00,2.53,0.00,0.000,1030,0.000,0.020,3174,1851,1964,2012,1916,0,0,0,0,0,0,24.57,24.51,24.58
$GC,6244,1.37,239.6,3174,1851,2012,1915,67.3,9.3,364,6262,0.05,2.60,11.00,0.484,10756,0.135,0.035,3195,272,1922,1970,1874,0,0,0,0,0,0,24.56,24.18,23.72
$GC,6272,1.40,258.1,3195,272,1970,1874,64.7,8.9,366,6296,0.00,2.55,18.30,0.500,9222,0.000,0.018,3195,1865,1846,1888,1805,0,0,0,0,0,0,24.43,24.39,23.53
$GC,6535,1.40,258.1,3195,1865,1888,1801,40.2,10.0,392,6541,0.00,2.53,0.00,0.000,260,0.000,0.031,3195,3430,1844,1888,1800,0,0,0,0,0,0,24.68,24.41,24.69
$GC,6575,1.40,258.1,3195,3430,1888,1801,36.3,10.7,395,6582,0.00,2.53,0.00,0.000,1030,0.000,0.021,3195,1851,1844,1888,1800,0,0,0,0,0,0,24.51,24.44,24.52
$GC,6844,1.43,287.5,3195,1851,1888,1800,11.6,8.3,438,6880,0.05,2.62,27.23,0.466,10500,0.129,0.030,3218,3421,1726,1768,1684,0,0,0,0,0,0,24.54,23.86,23.59
$STATE,6925,end climb,SURFACE_DEPTH_REACHED
$STATE,6925,begin surface coast
$FINISH,1.9,1.022891
$STATE,6935,end surface coast,CONTROL_FINISHED_OK
$STATE,6935,begin surface
$SM_CCo,6960,51.65,0.463,0,0,1348,380.21
$SM_GC,0.81,11.77,2.47,51.65,0.043,0.015,0.463,435,1867,1348,-7.26,1.02,380.21,0,0,0,0,0,0,24.32,24.40,23.51
$IRIDIUM_FIX,2234.68,-15757.16,280618,111658
$TT8_MAMPS,0.021721,0.280875
$HUMID,58.07
$INTERNAL_PRESSURE,9.28146
$TCM_TEMP,21.50
$XPDR_PINGS,8
$24V_AH,23.16,86.157
$10V_AH,9.64,65.009
$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,26.300,102.525,350.475,51.650,0.000,24.966,59.387,195.668,2.000,0.000,74.730,1355.929,3865.915,493.956,1555.466,228.767,0.000,1077.539,0.000,1200.908,0.000,0.539,0.000
$DEVICE_MAMPS,178.245,136.170,751.230,462.825,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,303.395,286.198,396.706,533.344,633.873,0.000,0.000,0.000,0.000,0.000
$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,37196,452
$CAP_FILE_SIZE,81955,0
$CFSIZE,259248128,215277568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,224.97,1
$GPS,280618,153003,2245.513,-15759.009,56,99.0,96,10.1,0.6,284.2,4,-1.0