version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 441
start: 5 28 118 20 35 16
data:
$ID,148
$MISSION,15
$DIVE,441
$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,47
$R_STBD_OVSHOOT,49
$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
$GPS1,280518,202803,2245.7429,-15722.6748,11,1.5,51,10.1,0.4,326.1,6,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-60.8
$GPS2,280518,203451,2245.8203,-15722.7168,14,1.4,54,10.1,0.6,317.7,7,5.7
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED3B
$TGT_LATLONG,2245.400,-15722.300
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,146.1,1056,-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,16,-1.22,-116.8,432,1866,1353,1328,0.0,0.0,0,90,0.00,0.00,-71.90,0.000,16386,0.000,0.000,432,1867,3328,3376,3280,0,0,0,0,0,0,24.70,28.83,24.72
$GC,93,-1.22,-116.8,432,1867,3376,3280,3.3,-6.7,10,111,10.12,2.55,-0.88,0.000,18948,0.149,0.036,2359,307,3379,3434,3324,0,0,0,0,0,0,24.32,23.75,24.41
$GC,185,-1.22,-116.8,2358,307,3435,3324,27.3,-18.8,25,193,0.00,2.50,0.00,0.000,1030,0.000,0.015,2359,1913,3379,3435,3324,0,0,0,0,0,0,24.58,24.53,24.59
$GC,460,-1.22,-116.8,2358,1914,3435,3324,75.8,-16.0,74,467,0.00,2.50,0.00,0.000,260,0.000,0.030,2359,3481,3379,3435,3324,0,0,0,0,0,0,24.82,24.56,24.84
$GC,503,-1.22,-116.8,2359,3481,3435,3324,82.5,-15.7,81,512,0.00,2.50,0.00,0.000,1030,0.000,0.016,2359,1874,3379,3435,3324,0,0,0,0,0,0,24.65,24.61,24.67
$GC,772,-1.22,-116.8,2359,1874,3435,3325,119.6,-13.7,117,777,0.00,2.53,0.00,0.000,260,0.000,0.025,2359,3462,3380,3435,3325,0,0,0,0,0,0,24.87,24.62,24.88
$GC,850,-1.22,-116.8,2358,3462,3435,3325,130.4,-13.6,124,858,0.00,2.45,0.00,0.000,1030,0.000,0.016,2359,1889,3380,3435,3325,0,0,0,0,0,0,24.72,24.67,24.73
$GC,1099,-1.22,-116.8,2359,1889,3435,3325,161.2,-11.4,149,1105,0.00,2.50,0.00,0.000,516,0.000,0.031,2359,331,3380,3435,3325,0,0,0,0,0,0,24.91,24.65,24.92
$GC,1137,-1.22,-116.8,2359,331,3435,3325,165.6,-11.7,152,1144,0.00,2.42,0.00,0.000,1030,0.000,0.016,2359,1906,3380,3435,3325,0,0,0,0,0,0,24.74,24.70,24.75
$STATE,1261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1261,begin apogee
$GC,1266,-0.26,0.0,2359,1906,3435,3325,181.0,-11.6,165,1364,1.33,0.00,92.65,0.564,10246,0.078,0.000,2665,1906,2899,2961,2838,0,0,0,0,0,0,24.60,24.10,23.70
$STATE,1365,end apogee,CONTROL_FINISHED_OK
$STATE,1365,begin climb
$GC,1368,1.22,116.8,2664,1906,2961,2837,184.1,0.0,175,1474,1.90,2.58,94.95,0.554,10500,0.041,0.047,3147,3425,2421,2485,2357,0,0,0,0,0,0,24.26,24.08,23.69
$GC,1520,1.26,144.5,3147,3425,2485,2354,176.7,8.4,190,1553,0.00,2.47,23.80,0.526,9222,0.000,0.020,3147,1867,2309,2369,2250,0,0,0,0,0,0,24.41,24.37,23.72
$GC,1792,1.26,146.6,3147,1867,2369,2243,148.2,9.9,217,1798,0.00,2.65,0.00,0.000,516,0.000,0.040,3147,276,2306,2369,2243,0,0,0,0,0,0,24.71,24.44,24.72
$GC,1908,1.26,146.6,3146,276,2369,2243,136.1,10.2,228,1913,0.00,2.47,0.00,0.000,1030,0.000,0.018,3147,1837,2306,2369,2244,0,0,0,0,0,0,24.58,24.53,24.59
$GC,2165,1.32,198.2,3147,1837,2369,2241,112.9,7.0,253,2216,0.05,2.67,44.67,0.518,10500,0.117,0.037,3179,3419,2091,2145,2037,0,0,0,0,0,0,24.63,24.15,23.77
$GC,2281,1.32,198.2,3178,3420,2144,2036,100.9,11.8,264,2286,0.00,2.50,0.00,0.000,1030,0.000,0.028,3179,1850,2090,2144,2036,0,0,0,0,0,0,24.50,24.45,24.51
$GC,2551,1.32,198.2,3178,1850,2144,2030,71.2,10.8,312,2558,0.00,2.60,0.00,0.000,260,0.000,0.034,3179,3425,2087,2143,2031,0,0,0,0,0,0,24.78,24.51,24.79
$GC,2719,1.32,198.2,3178,3425,2144,2030,51.9,11.3,342,2728,0.00,2.50,0.00,0.000,1030,0.000,0.021,3179,1844,2087,2144,2030,0,0,0,0,0,0,24.64,24.58,24.65
$GC,2994,1.33,202.2,3178,1844,2144,2028,23.7,9.8,391,3009,0.00,2.60,4.10,0.324,8452,0.000,0.031,3179,3429,2075,2133,2017,0,0,0,0,0,0,24.86,24.53,24.18
$STATE,3197,end climb,SURFACE_DEPTH_REACHED
$STATE,3198,begin surface coast
$FINISH,0.3,1.023345
$STATE,3227,end surface coast,CONTROL_FINISHED_OK
$STATE,3227,begin surface
$SM_CCo,3250,93.43,0.443,0,0,1349,380.21
$SM_GC,0.95,11.38,2.42,93.43,0.040,0.015,0.443,432,1903,1349,-7.24,1.33,380.21,0,0,0,0,0,0,24.59,24.67,23.83
$IRIDIUM_FIX,2237.01,-15724.61,280518,192248
$TT8_MAMPS,0.020972,0.342293
$HUMID,53.78
$INTERNAL_PRESSURE,9.34982
$TCM_TEMP,22.40
$XPDR_PINGS,4
$24V_AH,23.69,58.079
$10V_AH,10.10,39.981
$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,24.775,45.425,260.175,93.425,0.000,28.199,42.994,181.800,1.000,0.000,56.837,1103.251,654.195,428.438,1458.267,119.127,0.000,856.432,0.000,1155.268,0.000,0.542,0.000
$DEVICE_MAMPS,149.175,47.430,563.805,442.935,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,288.526,306.935,440.549,725.088,896.192,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342788
$DATA_FILE_SIZE,37231,432
$CAP_FILE_SIZE,51788,0
$CFSIZE,259248128,231432192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.146,352.95,1
$GPS,280518,213232,2245.758,-15722.578,15,1.8,55,10.1,1.0,277.8,5,8.7