version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 416
start: 5 27 118 17 16 4
data:
$ID,148
$MISSION,15
$DIVE,416
$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,43
$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
$GPS1,270518,170902,2245.7422,-15722.7773,35,1.3,68,10.1,0.6,328.8,9,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-61.2
$GPS2,270518,171539,2245.7830,-15722.8008,13,1.8,30,10.1,0.5,349.5,9,4.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED3B
$TGT_LATLONG,2245.400,-15722.300
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,149.1,1113,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.22,-116.8,416,1849,1344,1335,0.0,0.0,0,97,0.00,0.03,-73.80,0.000,16390,0.000,1.195,416,1977,3376,3425,3327,0,0,0,0,0,0,24.69,23.86,24.71
$GC,100,-1.22,-116.8,416,1977,3425,3327,4.7,-10.8,11,116,10.68,2.72,0.00,0.000,2564,0.168,0.024,2359,312,3376,3426,3327,0,0,0,0,0,0,24.30,24.44,24.43
$GC,213,-1.22,-116.8,2358,312,3427,3327,35.1,-19.0,30,220,0.00,2.53,0.00,0.000,1030,0.000,0.016,2359,1922,3377,3427,3327,0,0,0,0,0,0,24.58,24.54,24.60
$GC,492,-1.22,-116.8,2359,1922,3427,3327,81.5,-15.7,79,499,0.00,2.50,0.00,0.000,260,0.000,0.028,2359,3481,3377,3428,3327,0,0,0,0,0,0,24.83,24.58,24.84
$GC,513,-1.22,-116.8,2359,3481,3427,3327,84.6,-15.6,82,520,0.00,2.50,0.00,0.000,1030,0.000,0.015,2359,1873,3377,3427,3327,0,0,0,0,0,0,24.66,24.62,24.68
$GC,772,-1.22,-116.8,2359,1873,3427,3327,120.2,-13.8,116,777,0.00,2.55,0.00,0.000,260,0.000,0.027,2359,3467,3377,3427,3327,0,0,0,0,0,0,24.87,24.62,24.89
$GC,806,-1.22,-116.8,2358,3467,3427,3327,125.2,-15.4,119,811,0.00,2.42,0.00,0.000,1030,0.000,0.015,2359,1892,3377,3427,3327,0,0,0,0,0,0,24.71,24.67,24.72
$GC,1060,-1.22,-116.8,2359,1892,3427,3327,159.1,-12.5,144,1065,0.00,2.47,0.00,0.000,516,0.000,0.031,2359,337,3377,3427,3327,0,0,0,0,0,0,24.90,24.65,24.92
$GC,1107,-1.22,-116.8,2359,337,3427,3327,165.0,-13.4,148,1115,0.00,2.42,0.00,0.000,1030,0.000,0.015,2359,1911,3377,3427,3327,0,0,0,0,0,0,24.75,24.70,24.75
$STATE,1243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1243,begin apogee
$GC,1248,-0.26,0.0,2359,1911,3427,3327,180.9,-10.7,162,1346,1.35,0.00,91.72,0.578,10246,0.080,0.000,2668,1911,2899,2957,2842,0,0,0,0,0,0,24.60,24.10,23.70
$STATE,1347,end apogee,CONTROL_FINISHED_OK
$STATE,1347,begin climb
$GC,1349,1.22,116.8,2668,1912,2957,2842,183.4,0.0,172,1453,1.92,0.00,94.72,0.555,10758,0.046,0.000,3134,1912,2421,2484,2359,0,0,0,0,0,0,24.25,23.98,23.71
$GC,1693,1.26,145.0,3133,1912,2484,2351,159.9,8.4,207,1725,0.00,2.50,24.08,0.526,8452,0.000,0.044,3134,3400,2306,2366,2247,0,0,0,0,0,0,24.70,24.17,23.79
$GC,1891,1.27,159.6,3133,3400,2365,2243,140.5,9.2,226,1914,0.05,2.45,12.85,0.494,11270,0.123,0.020,3155,1855,2248,2307,2189,0,0,0,0,0,0,24.45,24.50,23.89
$GC,2152,1.30,184.0,3155,1855,2307,2185,115.2,8.6,252,2175,0.00,0.00,21.30,0.504,8710,0.000,0.000,3155,1855,2149,2205,2094,0,0,0,0,0,0,24.77,24.20,23.85
$GC,2425,1.35,218.2,3155,1855,2205,2088,88.6,8.0,289,2462,0.05,2.62,29.67,0.496,10500,0.117,0.032,3187,3407,2009,2054,1964,0,0,0,0,0,0,24.60,24.20,23.83
$GC,2525,1.35,218.2,3187,3407,2052,1963,77.5,12.9,305,2533,0.00,2.50,0.00,0.000,1030,0.000,0.020,3188,1843,2007,2052,1963,0,0,0,0,0,0,24.52,24.47,24.53
$GC,2800,1.35,218.2,3186,1843,2052,1960,45.3,11.5,354,2808,0.00,2.58,0.00,0.000,260,0.000,0.033,3187,3409,2006,2052,1960,0,0,0,0,0,0,24.79,24.53,24.81
$GC,2891,1.35,218.2,3187,3408,2052,1960,34.1,12.1,370,2900,0.00,2.50,0.00,0.000,1030,0.000,0.019,3187,1848,2005,2052,1959,0,0,0,0,0,0,24.63,24.60,24.64
$GC,3167,1.35,225.1,3186,1848,2050,1958,4.9,9.6,419,3183,0.00,2.60,6.40,0.376,8708,0.000,0.035,3188,276,1981,2026,1937,0,0,0,0,0,0,24.87,24.51,24.16
$STATE,3189,end climb,SURFACE_DEPTH_REACHED
$STATE,3189,begin surface coast
$FINISH,1.3,1.023350
$STATE,3195,end surface coast,CONTROL_FINISHED_OK
$STATE,3195,begin surface
$SM_CCo,3218,81.50,0.441,0,0,1349,380.21
$SM_GC,0.93,11.25,2.60,81.50,0.032,0.015,0.441,433,1915,1349,-7.22,-1.50,380.21,0,0,0,0,0,0,24.55,24.59,23.85
$IRIDIUM_FIX,2239.35,-15725.87,270518,160403
$TT8_MAMPS,0.021721,0.286867
$HUMID,52.83
$INTERNAL_PRESSURE,9.34982
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.70,56.419
$10V_AH,10.19,38.263
$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,25.300,40.700,280.750,81.500,0.000,29.731,41.814,196.307,0.000,0.000,32.686,1060.333,708.161,419.313,1408.591,112.506,0.000,849.570,0.000,1115.093,0.000,0.540,0.000
$DEVICE_MAMPS,167.535,1194.930,577.575,441.405,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,282.033,302.495,431.411,701.612,864.943,0.000,0.000,0.000,0.000,0.000
$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,33909,423
$CAP_FILE_SIZE,51469,0
$CFSIZE,259248128,232378368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,356.40,1
$GPS,270518,181226,2245.670,-15722.668,12,1.0,45,10.1,0.3,62.8,9,4.3