version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 389
start: 5 26 118 11 30 23
data:
$ID,148
$MISSION,15
$DIVE,389
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,60
$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,2760
$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,49
$R_STBD_OVSHOOT,48
$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
$GPS1,260518,112251,2245.4119,-15723.1641,32,2.1,72,10.1,0.7,296.3,6,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-60.3
$GPS2,260518,112957,2245.4561,-15723.1611,14,1.3,54,10.1,0.4,311.9,9,5.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED3B
$TGT_LATLONG,2245.400,-15722.300
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,85.7,1475,-20.5,-10.000,-23.08,1791
$D_GRID,180
$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,15,-1.22,-116.8,419,1800,1349,1327,0.0,0.0,0,96,0.00,0.10,-73.75,0.000,16390,0.000,0.309,419,2020,3377,3429,3326,0,0,0,0,0,0,24.70,24.13,24.72
$GC,99,-1.22,-116.8,419,2019,3429,3326,4.8,-11.5,11,116,10.60,2.38,0.00,0.000,2308,0.167,0.027,2359,3482,3378,3430,3326,0,0,0,0,0,0,24.31,24.44,24.44
$GC,146,-1.22,-116.8,2358,3482,3431,3326,22.1,-23.1,18,154,0.00,2.50,0.00,0.000,1030,0.000,0.017,2359,1888,3378,3431,3326,0,0,0,0,0,0,24.56,24.51,24.57
$GC,425,-1.22,-116.8,2358,1888,3431,3326,69.6,-17.1,67,432,0.00,2.55,0.00,0.000,260,0.000,0.028,2359,3473,3378,3430,3326,0,0,0,0,0,0,24.81,24.56,24.83
$GC,572,-1.22,-116.8,2358,3473,3430,3326,95.2,-16.3,93,581,0.00,2.50,0.00,0.000,1030,0.000,0.017,2359,1890,3378,3431,3326,0,0,0,0,0,0,24.65,24.63,24.66
$GC,825,-1.22,-116.8,2358,1890,3431,3326,129.7,-12.4,120,830,0.00,2.53,0.00,0.000,260,0.000,0.027,2358,3475,3378,3431,3326,0,0,0,0,0,0,24.88,24.63,24.89
$GC,894,-1.22,-116.8,2358,3475,3431,3326,139.6,-15.4,126,903,0.00,2.47,0.00,0.000,1030,0.000,0.017,2358,1876,3378,3431,3326,0,0,0,0,0,0,24.71,24.67,24.72
$GC,1143,-1.22,-116.8,2358,1876,3430,3326,170.9,-11.9,151,1149,0.00,2.47,0.00,0.000,516,0.000,0.038,2358,322,3378,3431,3326,0,0,0,0,0,0,24.91,24.65,24.92
$GC,1162,-1.22,-116.8,2358,321,3430,3327,172.7,-12.2,152,1170,0.00,2.45,0.00,0.000,1030,0.000,0.015,2359,1913,3378,3431,3326,0,0,0,0,0,0,24.74,24.70,24.75
$STATE,1225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1225,begin apogee
$GC,1230,-0.26,0.0,2359,1784,3430,3327,180.9,-10.8,159,1329,1.35,0.00,92.85,0.556,10246,0.080,0.000,2668,1784,2899,2959,2840,0,0,0,0,0,0,24.60,24.12,23.74
$STATE,1330,end apogee,CONTROL_FINISHED_OK
$STATE,1330,begin climb
$GC,1333,1.22,116.8,2668,1784,2959,2840,183.4,0.0,169,1438,1.92,2.58,94.82,0.548,10756,0.043,0.040,3140,287,2421,2485,2358,0,0,0,0,0,0,24.27,24.10,23.72
$GC,1476,1.28,166.9,3140,287,2485,2355,177.3,7.1,182,1526,0.00,2.47,42.00,0.534,9222,0.000,0.018,3140,1840,2218,2274,2162,0,0,0,0,0,0,24.41,24.36,23.74
$GC,1765,1.28,167.4,3139,1840,2274,2154,148.1,10.0,211,1771,0.00,2.65,0.00,0.000,260,0.000,0.044,3140,3424,2214,2274,2154,0,0,0,0,0,0,24.70,24.41,24.72
$GC,1873,1.29,176.5,3139,3425,2274,2154,137.3,9.5,221,1889,0.05,2.50,8.65,0.458,11270,0.126,0.020,3161,1856,2179,2236,2123,0,0,0,0,0,0,24.46,24.52,23.96
$GC,2140,1.30,177.9,3160,1856,2235,2120,111.6,9.9,247,2145,0.00,2.58,0.00,0.000,260,0.000,0.034,3160,3425,2178,2236,2120,0,0,0,0,0,0,24.79,24.51,24.80
$GC,2264,1.30,177.9,3160,3425,2234,2120,98.5,10.3,259,2273,0.00,2.53,0.00,0.000,1030,0.000,0.019,3161,1849,2177,2234,2120,0,0,0,0,0,0,24.62,24.60,24.63
$GC,2538,1.33,206.5,3160,1850,2233,2118,75.4,8.4,308,2574,0.00,2.65,26.12,0.487,8708,0.000,0.036,3161,280,2056,2108,2005,0,0,0,0,0,0,24.85,24.24,23.89
$GC,2595,1.34,212.2,3160,281,2108,2003,70.4,9.7,316,2609,0.00,2.53,6.45,0.402,9222,0.000,0.018,3161,1858,2033,2086,1980,0,0,0,0,0,0,24.51,24.46,23.97
$GC,2875,1.34,213.1,3160,1858,2086,1976,43.2,9.9,366,2882,0.00,2.55,0.00,0.000,260,0.000,0.034,3161,3421,2031,2086,1976,0,0,0,0,0,0,24.79,24.53,24.81
$GC,2943,1.34,213.1,3160,3421,2086,1976,35.1,12.7,378,2952,0.00,2.53,0.00,0.000,1030,0.000,0.019,3161,1843,2030,2085,1976,0,0,0,0,0,0,24.62,24.59,24.63
$GC,3219,1.37,239.7,3160,1843,2086,1974,11.2,8.5,427,3249,0.08,2.65,24.08,0.441,10500,0.091,0.031,3201,3426,1921,1967,1876,0,0,0,0,0,0,24.66,24.29,23.96
$STATE,3293,end climb,SURFACE_DEPTH_REACHED
$STATE,3293,begin surface coast
$FINISH,0.2,1.023353
$STATE,3325,end surface coast,CONTROL_FINISHED_OK
$STATE,3325,begin surface
$SM_CCo,3347,73.12,0.436,0,0,1350,380.21
$SM_GC,0.98,11.45,2.42,73.12,0.037,0.014,0.436,433,1905,1350,-7.23,1.41,380.21,0,0,0,0,0,0,24.49,24.55,23.86
$IRIDIUM_FIX,2234.68,-15731.98,260518,101808
$TT8_MAMPS,0.020972,0.343042
$HUMID,52.12
$INTERNAL_PRESSURE,9.34982
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,23.72,54.616
$10V_AH,10.16,36.404
$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,25.450,50.800,294.975,73.125,0.000,26.516,47.506,187.264,0.500,0.000,57.044,1120.767,677.697,424.975,1516.317,120.173,0.000,892.209,0.000,1197.395,0.000,0.541,0.000
$DEVICE_MAMPS,166.770,309.060,556.155,436.050,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,295.661,317.083,453.348,754.870,930.511,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342808
$DATA_FILE_SIZE,37365,444
$CAP_FILE_SIZE,55133,0
$CFSIZE,259248128,233365504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,83.79,1
$GPS,260518,122921,2245.465,-15722.717,40,1.2,80,10.1,0.6,133.9,7,4.8