version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 444
start: 5 28 118 23 50 53
data:
$ID,148
$MISSION,15
$DIVE,444
$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,45
$R_STBD_OVSHOOT,45
$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
$GPS1,280518,234432,2245.7207,-15722.6260,12,1.0,45,10.1,0.8,327.7,9,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-60.3
$GPS2,280518,235027,2245.7861,-15722.6270,12,1.7,28,10.1,1.2,318.3,8,5.7
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED3A
$TGT_LATLONG,2245.400,-15723.500
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,206.5,1653,-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,-116.8,428,1819,1350,1330,0.0,0.0,0,97,0.00,0.08,-74.07,0.000,16390,0.000,0.408,428,2032,3377,3425,3329,0,0,0,0,0,0,24.68,24.11,24.70
$GC,99,-1.22,-116.8,428,2033,3425,3329,4.8,-11.9,11,116,10.50,2.83,0.00,0.000,2564,0.164,0.030,2359,310,3377,3426,3329,0,0,0,0,0,0,24.29,24.42,24.42
$GC,229,-1.22,-116.8,2358,310,3427,3329,37.3,-17.7,33,238,0.00,2.53,0.00,0.000,1030,0.000,0.015,2359,1923,3378,3427,3329,0,0,0,0,0,0,24.58,24.54,24.60
$GC,509,-1.22,-116.8,2358,1924,3427,3329,85.6,-15.8,82,517,0.00,2.50,0.00,0.000,260,0.000,0.028,2359,3491,3378,3427,3329,0,0,0,0,0,0,24.82,24.57,24.84
$GC,530,-1.22,-116.8,2358,3491,3427,3329,89.1,-15.3,85,539,0.00,2.50,0.00,0.000,1030,0.000,0.016,2359,1877,3378,3427,3329,0,0,0,0,0,0,24.66,24.62,24.67
$GC,786,-1.22,-116.8,2358,1877,3427,3329,125.7,-13.1,116,791,0.00,2.55,0.00,0.000,260,0.000,0.028,2358,3472,3378,3427,3329,0,0,0,0,0,0,24.87,24.61,24.88
$GC,850,-1.22,-116.8,2358,3472,3428,3329,134.4,-13.3,122,856,0.00,2.42,0.00,0.000,1030,0.000,0.016,2359,1901,3378,3428,3329,0,0,0,0,0,0,24.70,24.66,24.71
$GC,1105,-1.22,-116.8,2358,1901,3428,3329,168.8,-13.8,147,1110,0.00,2.50,0.00,0.000,260,0.000,0.026,2359,3469,3378,3428,3329,0,0,0,0,0,0,24.90,24.65,24.91
$GC,1132,-1.22,-116.8,2358,3469,3428,3329,172.2,-13.6,149,1139,0.00,2.42,0.00,0.000,1030,0.000,0.016,2359,1895,3378,3428,3329,0,0,0,0,0,0,24.73,24.69,24.74
$STATE,1196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1196,begin apogee
$GC,1201,-0.26,0.0,2358,1895,3428,3329,180.5,-11.4,156,1300,1.38,0.00,92.53,0.558,10246,0.084,0.000,2670,1895,2899,2957,2842,0,0,0,0,0,0,24.58,24.10,23.72
$STATE,1300,end apogee,CONTROL_FINISHED_OK
$STATE,1301,begin climb
$GC,1303,1.22,116.8,2669,1895,2957,2842,182.8,0.0,166,1409,1.92,2.58,94.55,0.549,10500,0.048,0.047,3137,3397,2421,2484,2358,0,0,0,0,0,0,24.26,23.97,23.70
$GC,1417,1.32,200.2,3136,3397,2483,2357,178.7,5.2,176,1498,0.10,2.42,69.47,0.538,11270,0.083,0.020,3170,1864,2081,2127,2036,0,0,0,0,0,0,24.27,24.30,23.69
$GC,1736,1.32,200.2,3169,1864,2125,2031,139.7,13.2,208,1742,0.00,2.65,0.00,0.000,516,0.000,0.045,3170,278,2078,2125,2031,0,0,0,0,0,0,24.69,24.41,24.70
$GC,1790,1.32,200.2,3169,278,2125,2030,132.5,13.5,213,1796,0.00,2.50,0.00,0.000,1030,0.000,0.018,3170,1851,2077,2124,2030,0,0,0,0,0,0,24.54,24.49,24.56
$GC,2045,1.32,200.2,3169,1851,2124,2029,102.3,11.7,238,2051,0.00,2.58,0.00,0.000,260,0.000,0.037,3170,3418,2076,2124,2029,0,0,0,0,0,0,24.78,24.49,24.79
$GC,2244,1.32,200.2,3169,3418,2123,2028,77.4,12.4,272,2251,0.00,2.50,0.00,0.000,1030,0.000,0.020,3170,1840,2075,2123,2028,0,0,0,0,0,0,24.65,24.59,24.66
$GC,2518,1.34,212.4,3169,1840,2123,2027,50.8,9.3,321,2533,0.00,0.00,10.12,0.434,8198,0.000,0.000,3170,1840,2033,2082,1985,0,0,0,0,0,0,24.86,24.39,24.06
$GC,2804,1.34,212.4,3169,1840,2082,1982,21.6,10.4,371,2812,0.00,2.58,0.00,0.000,260,0.000,0.031,3170,3419,2032,2082,1983,0,0,0,0,0,0,24.84,24.57,24.86
$GC,2904,1.34,212.4,3169,3419,2082,1983,10.8,10.9,388,2912,0.00,2.50,0.00,0.000,1030,0.000,0.018,3170,1827,2032,2082,1982,0,0,0,0,0,0,24.68,24.63,24.70
$STATE,2985,end climb,SURFACE_DEPTH_REACHED
$STATE,2985,begin surface coast
$FINISH,0.1,1.023401
$STATE,3023,end surface coast,CONTROL_FINISHED_OK
$STATE,3023,begin surface
$SM_CCo,3043,85.78,0.437,0,0,1349,380.21
$SM_GC,0.96,11.23,0.10,85.78,0.035,0.067,0.437,433,2009,1349,-7.23,-1.22,380.21,0,0,0,0,0,0,24.60,24.70,23.84
$IRIDIUM_FIX,2237.01,-15721.55,280518,223947
$TT8_MAMPS,0.020972,0.283122
$HUMID,53.74
$INTERNAL_PRESSURE,9.34982
$TCM_TEMP,22.70
$XPDR_PINGS,3
$24V_AH,23.69,58.273
$10V_AH,10.17,40.184
$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,25.125,40.875,266.675,85.775,0.000,23.451,41.665,158.941,0.750,0.000,30.325,1020.391,607.671,407.626,1345.897,115.946,0.000,828.150,0.000,1094.201,0.000,0.542,0.000
$DEVICE_MAMPS,164.475,407.745,557.685,436.815,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,271.992,289.267,416.104,699.577,866.449,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342756
$DATA_FILE_SIZE,33772,408
$CAP_FILE_SIZE,49710,0
$CFSIZE,259248128,231325696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,19.66,1
$GPS,290518,004433,2245.670,-15722.748,13,1.2,53,10.1,0.2,86.8,7,4.7