version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 394
start: 5 26 118 17 10 16
data:
$ID,148
$MISSION,15
$DIVE,394
$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,46
$R_STBD_OVSHOOT,46
$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
$GPS1,260518,165833,2245.6121,-15723.0518,44,1.2,84,10.1,0.9,74.4,7,5.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-60.8
$GPS2,260518,170950,2245.7217,-15723.0508,12,1.3,45,10.1,0.6,40.4,8,5.4
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED3A
$TGT_LATLONG,2245.400,-15723.500
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,200.6,971,-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,-116.8,432,1831,1348,1328,0.0,0.0,0,96,0.00,0.05,-73.90,0.000,16390,0.000,0.613,432,2019,3377,3426,3328,0,0,0,0,0,0,24.70,24.13,24.72
$GC,99,-1.22,-116.8,432,2019,3426,3328,4.6,-11.2,11,115,10.52,2.38,0.00,0.000,2308,0.166,0.027,2360,3478,3378,3428,3328,0,0,0,0,0,0,24.32,24.44,24.44
$GC,336,-1.22,-116.8,2360,3478,3429,3329,56.9,-16.5,52,344,0.00,2.50,0.00,0.000,1030,0.000,0.017,2360,1880,3379,3429,3329,0,0,0,0,0,0,24.63,24.58,24.64
$GC,612,-1.22,-116.8,2360,1880,3429,3329,99.0,-14.6,101,620,0.00,2.58,0.00,0.000,260,0.000,0.028,2360,3481,3378,3428,3328,0,0,0,0,0,0,24.86,24.60,24.87
$GC,638,-1.22,-116.8,2360,3481,3429,3329,102.8,-14.4,104,644,0.00,2.45,0.00,0.000,1030,0.000,0.022,2360,1893,3378,3429,3328,0,0,0,0,0,0,24.68,24.61,24.68
$GC,895,-1.22,-116.8,2360,1893,3430,3329,136.2,-12.8,129,900,0.00,2.53,0.00,0.000,260,0.000,0.027,2360,3475,3378,3429,3328,0,0,0,0,0,0,24.89,24.63,24.91
$GC,919,-1.22,-116.8,2360,3475,3429,3329,139.6,-12.2,131,924,0.00,2.42,0.00,0.000,1030,0.000,0.016,2360,1899,3379,3429,3329,0,0,0,0,0,0,24.72,24.68,24.73
$GC,1173,-1.22,-116.8,2360,1899,3429,3329,168.9,-10.8,156,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1899,3378,3429,3328,0,0,0,0,0,0,24.92,24.94,24.94
$STATE,1280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1280,begin apogee
$GC,1284,-0.26,0.0,2360,1899,3429,3329,181.0,-11.5,167,1383,1.33,0.00,92.60,0.564,10246,0.083,0.000,2664,1899,2899,2960,2839,0,0,0,0,0,0,24.61,24.12,23.75
$STATE,1384,end apogee,CONTROL_FINISHED_OK
$STATE,1384,begin climb
$GC,1386,1.22,116.8,2663,1899,2961,2839,184.1,0.0,177,1490,1.95,2.72,95.05,0.555,10756,0.047,0.040,3138,283,2421,2485,2357,0,0,0,0,0,0,24.26,23.99,23.72
$GC,1521,1.29,172.2,3137,283,2485,2355,178.7,6.8,190,1576,0.05,2.50,46.12,0.543,11270,0.122,0.018,3163,1845,2195,2250,2141,0,0,0,0,0,0,24.30,24.35,23.73
$GC,1816,1.29,172.2,3162,1845,2250,2133,144.8,11.9,219,1821,0.00,2.65,0.00,0.000,260,0.000,0.054,3163,3424,2191,2250,2133,0,0,0,0,0,0,24.70,24.41,24.72
$GC,1880,1.29,172.2,3162,3424,2249,2133,136.9,12.0,225,1885,0.00,2.47,0.00,0.000,1030,0.000,0.020,3163,1863,2190,2249,2132,0,0,0,0,0,0,24.56,24.50,24.57
$GC,2134,1.32,194.1,3162,1863,2250,2130,112.2,8.7,250,2164,0.00,2.60,18.88,0.502,8452,0.000,0.041,3163,3417,2106,2160,2053,0,0,0,0,0,0,24.79,24.26,23.89
$GC,2196,1.32,194.1,3162,3417,2158,2053,105.3,11.2,256,2202,0.00,2.50,0.00,0.000,1030,0.000,0.021,3163,1842,2105,2158,2052,0,0,0,0,0,0,24.53,24.47,24.54
$GC,2468,1.35,219.8,3162,1842,2159,2049,78.5,8.5,300,2498,0.00,2.62,22.08,0.490,8452,0.000,0.031,3163,3422,2003,2047,1959,0,0,0,0,0,0,24.80,24.14,23.89
$GC,2566,1.35,219.8,3162,3423,2045,1958,67.9,11.4,316,2574,0.00,2.50,0.00,0.000,1030,0.000,0.019,3163,1848,2001,2045,1958,0,0,0,0,0,0,24.56,24.50,24.57
$GC,2841,1.35,223.0,3162,1847,2046,1954,39.1,9.8,365,2851,0.00,2.62,3.97,0.324,8452,0.000,0.031,3163,3431,1989,2034,1944,0,0,0,0,0,0,24.82,24.50,24.15
$GC,3018,1.35,223.0,3162,3431,2033,1944,17.9,11.4,396,3026,0.00,2.53,0.00,0.000,1030,0.000,0.017,3163,1839,1988,2034,1943,0,0,0,0,0,0,24.64,24.62,24.66
$STATE,3171,end climb,SURFACE_DEPTH_REACHED
$STATE,3171,begin surface coast
$FINISH,0.1,1.010889
$STATE,3216,end surface coast,CONTROL_FINISHED_OK
$STATE,3216,begin surface
$SM_CCo,3235,83.30,0.442,0,0,1349,380.21
$SM_GC,0.83,11.12,0.08,83.30,0.031,0.089,0.442,433,2018,1349,-7.23,-1.30,380.21,0,0,0,0,0,0,24.60,24.70,23.86
$IRIDIUM_FIX,2239.35,-15723.71,260518,165956
$TT8_MAMPS,0.021721,0.347536
$HUMID,52.52
$INTERNAL_PRESSURE,9.34982
$TCM_TEMP,22.40
$XPDR_PINGS,4
$24V_AH,23.72,54.962
$10V_AH,10.08,36.752
$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,24.975,40.850,278.700,83.300,0.000,48.489,93.478,203.694,1.000,0.000,47.900,1078.841,752.621,417.254,1649.103,112.065,0.000,839.756,0.000,1136.040,0.000,0.541,0.000
$DEVICE_MAMPS,166.005,612.765,563.805,442.170,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,288.112,307.146,439.385,726.955,903.347,0.000,0.000,0.000,0.000,0.000
$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,33968,431
$CAP_FILE_SIZE,52814,0
$CFSIZE,259248128,233189376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,22.28,1
$GPS,260518,180703,2245.577,-15723.143,11,1.0,51,10.1,0.3,5.1,7,5.1