version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 402
start: 5 27 118 1 55 35
data:
$ID,148
$MISSION,15
$DIVE,402
$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,48
$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
$GPS1,270518,014909,2245.4509,-15722.8389,14,1.2,54,10.1,0.1,206.4,7,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-60.5
$GPS2,270518,015509,2245.4807,-15722.8574,9,1.2,49,10.1,0.3,229.3,8,4.4
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED3A
$TGT_LATLONG,2245.400,-15723.500
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,238.9,1108,-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,-116.8,432,1812,1348,1332,0.0,0.0,0,90,0.00,0.00,-71.97,0.000,16386,0.000,0.000,432,1812,3310,3355,3266,0,0,0,0,0,0,24.70,28.83,24.72
$GC,93,-1.22,-116.8,432,1812,3355,3266,3.1,-5.9,10,110,10.70,2.45,-1.27,0.000,18948,0.171,0.037,2361,317,3378,3433,3324,0,0,0,0,0,0,24.30,23.77,24.45
$GC,276,-1.22,-116.8,2360,316,3435,3324,42.3,-17.2,42,284,0.00,2.50,0.00,0.000,1030,0.000,0.015,2361,1911,3379,3435,3324,0,0,0,0,0,0,24.61,24.57,24.63
$GC,549,-1.22,-116.8,2360,1911,3435,3324,86.1,-15.8,91,556,0.00,2.50,0.00,0.000,260,0.000,0.028,2361,3476,3379,3435,3324,0,0,0,0,0,0,24.84,24.59,24.86
$GC,602,-1.22,-116.8,2360,3476,3435,3324,93.9,-14.7,100,610,0.00,2.50,0.00,0.000,1030,0.000,0.016,2361,1886,3379,3435,3324,0,0,0,0,0,0,24.67,24.64,24.68
$GC,855,-1.22,-116.8,2360,1886,3435,3324,129.9,-13.5,128,861,0.00,2.53,0.00,0.000,260,0.000,0.027,2361,3470,3379,3435,3324,0,0,0,0,0,0,24.89,24.63,24.90
$GC,882,-1.22,-116.8,2360,3469,3435,3325,133.5,-13.8,130,891,0.00,2.45,0.00,0.000,1030,0.000,0.016,2361,1903,3380,3435,3325,0,0,0,0,0,0,24.72,24.68,24.74
$GC,1130,-1.22,-116.8,2360,1903,3435,3325,165.3,-12.4,155,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1903,3380,3435,3325,0,0,0,0,0,0,24.91,24.94,24.93
$STATE,1256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1256,begin apogee
$GC,1261,-0.26,0.0,2360,1903,3435,3325,181.0,-12.7,168,1360,1.35,0.00,92.95,0.559,10246,0.086,0.000,2667,1902,2899,2960,2839,0,0,0,0,0,0,24.61,24.11,23.75
$STATE,1361,end apogee,CONTROL_FINISHED_OK
$STATE,1361,begin climb
$GC,1363,1.22,116.8,2667,1902,2960,2839,184.0,0.0,178,1469,1.92,0.00,94.57,0.551,10758,0.047,0.000,3142,1902,2421,2485,2358,0,0,0,0,0,0,24.26,24.08,23.72
$GC,1709,1.26,152.2,3141,1902,2485,2351,159.6,8.0,213,1745,0.00,2.58,29.73,0.529,8452,0.000,0.044,3142,3410,2278,2336,2220,0,0,0,0,0,0,24.70,24.06,23.78
$GC,1839,1.28,167.1,3141,3410,2337,2215,148.6,9.2,225,1859,0.00,2.45,13.60,0.496,9222,0.000,0.020,3142,1857,2217,2275,2159,0,0,0,0,0,0,24.51,24.46,23.86
$GC,2099,1.33,202.5,3142,1856,2275,2154,123.6,8.0,251,2137,0.08,0.00,30.60,0.515,10758,0.091,0.000,3179,1857,2072,2121,2024,0,0,0,0,0,0,24.56,24.06,23.81
$GC,2383,1.33,202.5,3178,1857,2120,2020,92.6,11.9,285,2391,0.00,2.58,0.00,0.000,260,0.000,0.033,3179,3419,2070,2120,2020,0,0,0,0,0,0,24.76,24.50,24.77
$GC,2481,1.33,202.5,3178,3419,2118,2020,80.3,11.7,302,2489,0.00,2.50,0.00,0.000,1030,0.000,0.018,3179,1842,2069,2118,2020,0,0,0,0,0,0,24.63,24.57,24.63
$GC,2756,1.34,214.0,3179,1842,2117,2018,51.4,9.3,351,2772,0.00,2.62,10.18,0.436,8452,0.000,0.031,3179,3417,2026,2075,1978,0,0,0,0,0,0,24.84,24.41,24.06
$GC,2851,1.34,214.0,3178,3417,2074,1977,41.0,11.3,367,2858,0.00,2.50,0.00,0.000,1030,0.000,0.019,3179,1838,2025,2074,1976,0,0,0,0,0,0,24.62,24.57,24.63
$GC,3124,1.35,224.0,3179,1838,2074,1974,13.6,9.4,416,3140,0.00,2.55,9.73,0.413,8708,0.000,0.034,3179,276,1984,2030,1939,0,0,0,0,0,0,24.85,24.34,24.13
$GC,3182,1.38,245.6,3179,276,2028,1939,7.9,8.8,425,3211,0.00,2.50,19.75,0.435,9222,0.000,0.018,3179,1852,1897,1940,1854,0,0,0,0,0,0,24.61,24.56,23.95
$STATE,3228,end climb,SURFACE_DEPTH_REACHED
$STATE,3228,begin surface coast
$FINISH,0.2,1.010257
$STATE,3258,end surface coast,CONTROL_FINISHED_OK
$STATE,3258,begin surface
$SM_CCo,3278,73.62,0.438,0,0,1349,380.21
$SM_GC,0.91,11.43,0.00,73.62,0.039,0.000,0.438,432,1856,1349,-7.23,-1.24,380.21,0,0,0,0,0,0,24.46,24.74,23.86
$IRIDIUM_FIX,2234.68,-15721.55,270518,004545
$TT8_MAMPS,0.020972,0.342293
$HUMID,53.11
$INTERNAL_PRESSURE,9.35959
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.72,55.484
$10V_AH,10.14,37.301
$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,25.475,35.350,301.100,73.625,0.000,22.828,45.898,144.241,0.000,0.000,51.542,1072.346,728.277,422.168,1393.448,109.562,0.000,853.986,0.000,1134.416,0.000,0.541,0.000
$DEVICE_MAMPS,171.360,49.725,559.215,437.580,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,291.037,312.304,445.267,731.283,902.258,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342828
$DATA_FILE_SIZE,37252,437
$CAP_FILE_SIZE,50918,0
$CFSIZE,259248128,232890368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,10.37,1
$GPS,270518,025258,2245.497,-15723.196,14,1.3,54,10.1,1.1,267.7,6,5.6