version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 11
start: 9 14 118 14 30 11
data:
$ID,573
$MISSION,22
$DIVE,11
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,250
$D_NO_BLEED,29
$D_BOOST,5
$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,167
$T_MISSION,182
$T_ABORT,90
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,270
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$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,139
$PITCH_MAX,3926
$C_PITCH,2527
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,167
$ROLL_MAX,3807
$ROLL_DEG,40
$C_ROLL_DIVE,1987
$C_ROLL_CLIMB,1987
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2868
$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,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-167.59918
$PRESSURE_SLOPE,0.00010902
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.85000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043368991
$SEABIRD_T_H,0.00062533951
$SEABIRD_T_I,2.3700677e-05
$SEABIRD_T_J,2.5956786e-06
$SEABIRD_C_G,-9.9432478
$SEABIRD_C_H,1.1588655
$SEABIRD_C_I,-0.0013646155
$SEABIRD_C_J,0.00018066024
$SC_RECORDABOVE,1000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,140918,142006,-2752.5361,3239.7061,19,0.8,21,-22.4,0.7,204.8,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-61.6
$GPS2,140918,143000,-2752.6218,3239.6018,17,0.8,18,-22.4,0.5,155.7,11,9.8
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,GINA_DEPLOY
$TGT_LATLONG,-2747.000,3248.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,30.3,17255,-22.4,-9.980,-24.89,1496
$D_GRID,500
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.87,-97.3,119,1986,573,606,0.0,0.0,0,113,0.00,0.00,-93.53,0.000,16386,0.000,0.000,117,1986,3157,3180,3134,0,0,0,0,0,0,15.19,28.83,15.19
$GC,115,-0.87,-97.3,118,1987,3180,3133,3.5,-8.1,16,134,11.82,2.38,-2.03,0.000,18692,0.291,0.086,2230,3392,3266,3308,3224,0,0,0,0,0,0,14.88,14.23,15.05
$GC,317,-0.87,-97.3,2229,3392,3309,3225,36.8,-12.2,56,325,0.05,2.30,0.00,0.000,3078,0.243,0.044,2242,1987,3266,3308,3224,0,0,0,0,0,0,14.96,15.05,15.07
$GC,384,-0.87,-97.3,2243,1988,3308,3225,45.2,-12.4,69,391,0.00,2.40,0.00,0.000,2308,0.000,0.073,2242,3393,3268,3307,3229,0,0,0,0,0,0,15.24,15.00,15.25
$GC,420,-0.87,-97.3,2242,3393,3308,3225,49.5,-12.5,76,427,0.00,2.30,0.00,0.000,3078,0.000,0.044,2241,1985,3266,3308,3224,0,0,0,0,0,0,15.09,15.04,15.11
$GC,486,-0.87,-97.3,2241,1986,3310,3225,57.6,-12.1,89,487,0.00,0.00,0.00,0.000,2054,0.000,0.000,2242,1985,3265,3308,3223,0,0,0,0,0,0,15.24,15.25,15.25
$GC,546,-0.87,-97.3,2241,1986,3310,3225,65.0,-12.2,101,553,0.00,2.38,0.00,0.000,2308,0.000,0.071,2242,3386,3266,3308,3224,0,0,0,0,0,0,15.25,15.04,15.25
$GC,602,-0.87,-97.3,2242,3387,3308,3225,71.7,-11.8,112,609,0.00,2.28,0.00,0.000,3078,0.000,0.044,2242,1991,3267,3310,3224,0,0,0,0,0,0,15.11,15.07,15.13
$GC,668,-0.87,-97.3,2241,1992,3310,3225,80.2,-12.2,125,675,0.00,2.35,0.00,0.000,2564,0.000,0.070,2241,587,3266,3308,3224,0,0,0,0,0,0,15.26,15.02,15.26
$GC,684,-0.87,-97.3,2241,588,3310,3222,82.1,-12.1,128,691,0.00,2.30,0.00,0.000,3078,0.000,0.050,2238,1986,3266,3308,3224,0,0,0,0,0,0,15.09,15.04,15.11
$GC,750,-0.87,-97.3,2238,1986,3310,3225,89.8,-11.0,141,758,0.00,2.38,0.00,0.000,2308,0.000,0.073,2238,3390,3266,3308,3224,0,0,0,0,0,0,15.26,15.04,15.27
$GC,796,-0.87,-97.3,2239,3391,3308,3224,94.6,-10.2,150,804,0.00,2.30,0.00,0.000,3078,0.000,0.043,2238,1979,3266,3308,3224,0,0,0,0,0,0,15.14,15.07,15.14
$GC,862,-0.87,-97.3,2238,1980,3310,3225,101.7,-11.0,163,869,0.00,2.38,0.00,0.000,2308,0.000,0.071,2238,3383,3266,3308,3225,0,0,0,0,0,0,15.26,15.05,15.26
$GC,898,-0.87,-97.3,2237,3383,3311,3225,106.0,-10.9,170,905,0.00,2.28,0.00,0.000,3078,0.000,0.044,2238,1986,3266,3309,3224,0,0,0,0,0,0,15.08,15.04,15.10
$GC,964,-0.87,-97.3,2237,1987,3310,3225,112.9,-10.2,183,965,0.00,0.00,0.00,0.000,2054,0.000,0.000,2237,1986,3266,3309,3224,0,0,0,0,0,0,15.27,15.28,15.27
$GC,1024,-0.87,-97.3,2239,1986,3309,3225,119.1,-10.3,195,1031,0.00,2.35,0.00,0.000,2564,0.000,0.069,2238,581,3267,3310,3224,0,0,0,0,0,0,15.28,15.02,15.28
$GC,1049,-0.87,-97.3,2239,581,3309,3225,121.6,-10.2,200,1056,0.00,2.30,0.00,0.000,3078,0.000,0.050,2235,1988,3266,3309,3224,0,0,0,0,0,0,15.11,15.06,15.12
$GC,1115,-0.87,-97.3,2236,1988,3309,3225,127.4,-8.9,213,1123,0.00,2.38,0.00,0.000,2308,0.000,0.073,2235,3394,3266,3309,3224,0,0,0,0,0,0,15.27,15.04,15.27
$GC,1177,-0.87,-97.3,2235,3395,3311,3225,132.5,-8.1,225,1185,0.00,2.30,0.00,0.000,3078,0.000,0.044,2235,1979,3267,3310,3224,0,0,0,0,0,0,15.12,15.09,15.14
$GC,1244,-0.87,-97.3,2236,1980,3310,3225,138.5,-9.1,238,1250,0.00,0.00,0.00,0.000,2054,0.000,0.000,2235,1979,3266,3310,3223,0,0,0,0,0,0,15.28,15.28,15.28
$GC,1309,-0.87,-97.3,2234,1979,3312,3225,144.8,-10.0,251,1310,0.00,0.00,0.00,0.000,2054,0.000,0.000,2235,1979,3267,3310,3224,0,0,0,0,0,0,15.28,15.28,15.28
$GC,1369,-0.87,-97.3,2234,1980,3312,3225,150.7,-9.4,263,1376,0.00,2.40,0.00,0.000,2308,0.000,0.070,2236,3392,3267,3311,3224,0,0,0,0,0,0,15.30,15.04,15.28
$GC,1414,-0.87,-97.3,2234,3395,3312,3225,154.7,-8.8,272,1421,0.00,2.30,0.00,0.000,3078,0.000,0.042,2234,1978,3267,3310,3224,0,0,0,0,0,0,15.11,15.08,15.13
$GC,1481,-0.87,-97.3,2234,1979,3312,3225,160.3,-8.5,285,1488,0.00,2.30,0.00,0.000,2564,0.000,0.070,2235,578,3267,3311,3224,0,0,0,0,0,0,15.24,15.07,15.24
$GC,1502,-0.87,-97.3,2236,579,3311,3225,162.3,-8.8,289,1510,0.00,2.30,0.00,0.000,3078,0.000,0.050,2235,1987,3267,3310,3224,0,0,0,0,0,0,15.13,15.08,15.14
$GC,1569,-0.87,-97.3,2234,1988,3312,3225,168.5,-8.8,302,1576,0.00,2.38,0.00,0.000,2308,0.000,0.074,2235,3394,3267,3310,3224,0,0,0,0,0,0,15.28,15.04,15.28
$GC,1609,-0.87,-97.3,2234,3395,3312,3225,171.7,-8.2,310,1616,0.00,2.28,0.00,0.000,3078,0.000,0.044,2235,1994,3267,3310,3224,0,0,0,0,0,0,15.11,15.08,15.13
$GC,1675,-0.87,-97.3,2236,1994,3310,3225,177.2,-8.6,323,1682,0.00,2.38,0.00,0.000,2564,0.000,0.071,2235,579,3267,3310,3225,0,0,0,0,0,0,15.28,15.06,15.28
$GC,1701,-0.87,-97.3,2236,579,3310,3225,179.6,-8.9,328,1708,0.00,2.30,0.00,0.000,3078,0.000,0.051,2235,1985,3267,3310,3224,0,0,0,0,0,0,15.13,15.08,15.14
$GC,1767,-0.87,-97.3,2235,1986,3310,3225,185.1,-8.7,341,1775,0.00,2.38,0.00,0.000,2308,0.000,0.075,2234,3392,3267,3310,3224,0,0,0,0,0,0,15.26,15.06,15.27
$GC,1818,-0.87,-97.3,2234,3393,3312,3225,189.4,-7.7,351,1825,0.00,2.30,0.00,0.000,3078,0.000,0.044,2234,1980,3267,3310,3224,0,0,0,0,0,0,15.09,15.04,15.11
$GC,1884,-0.87,-97.3,2234,1981,3311,3226,194.9,-8.8,364,1885,0.00,0.00,0.00,0.000,2054,0.000,0.000,2234,1980,3267,3310,3224,0,0,0,0,0,0,15.28,15.28,15.28
$GC,1944,-0.87,-97.3,2235,1981,3310,3225,200.5,-9.4,376,1951,0.00,2.40,0.00,0.000,2308,0.000,0.073,2234,3393,3267,3310,3224,0,0,0,0,0,0,15.28,15.06,15.29
$GC,1960,-0.87,-97.3,2236,3394,3310,3225,201.9,-8.8,379,1967,0.00,2.30,0.00,0.000,3078,0.000,0.044,2234,1983,3267,3310,3224,0,0,0,0,0,0,15.13,15.11,15.14
$GC,2026,-0.87,-97.3,2234,1984,3312,3225,207.7,-8.9,392,2033,0.00,2.40,0.00,0.000,2308,0.000,0.073,2234,3391,3267,3310,3224,0,0,0,0,0,0,15.28,15.07,15.29
$GC,2047,-0.87,-97.3,2234,3392,3312,3225,209.5,-8.6,396,2054,0.00,2.30,0.00,0.000,3078,0.000,0.044,2234,1983,3267,3310,3224,0,0,0,0,0,0,15.13,15.09,15.15
$GC,2113,-0.87,-97.3,2234,1983,3310,3225,215.3,-8.7,409,2120,0.00,2.38,0.00,0.000,2308,0.000,0.073,2232,3382,3267,3310,3224,0,0,0,0,0,0,15.29,15.07,15.29
$GC,2139,-0.87,-97.3,2233,3383,3310,3225,217.6,-8.4,414,2146,0.03,2.28,0.00,0.000,3078,0.317,0.044,2240,1985,3264,3304,3224,0,0,0,0,0,0,14.97,15.07,15.07
$GC,2205,-0.87,-97.3,2239,1985,3312,3225,223.2,-8.7,427,2206,0.00,0.00,0.00,0.000,2054,0.000,0.000,2240,1985,3267,3310,3224,0,0,0,0,0,0,15.28,15.30,15.30
$GC,2265,-0.87,-97.3,2241,1985,3309,3225,228.5,-8.9,439,2272,0.00,2.38,0.00,0.000,2308,0.000,0.073,2240,3382,3266,3309,3224,0,0,0,0,0,0,15.29,15.07,15.29
$GC,2291,-0.87,-97.3,2239,3382,3311,3225,230.7,-8.4,444,2298,0.00,2.28,0.00,0.000,3078,0.000,0.045,2240,1991,3266,3309,3224,0,0,0,0,0,0,15.14,15.11,15.16
$GC,2357,-0.87,-97.3,2240,1993,3311,3225,236.3,-8.3,457,2364,0.00,2.38,0.00,0.000,2308,0.000,0.075,2240,3388,3266,3308,3224,0,0,0,0,0,0,15.30,15.07,15.30
$GC,2393,-0.87,-97.3,2241,3388,3308,3224,239.6,-8.4,464,2400,0.00,2.28,0.00,0.000,3078,0.000,0.044,2240,1989,3266,3309,3224,0,0,0,0,0,0,15.14,15.11,15.16
$GC,2459,-0.87,-97.3,2241,1990,3308,3224,244.8,-8.4,477,2467,0.00,2.38,0.00,0.000,2308,0.000,0.075,2240,3381,3266,3308,3224,0,0,0,0,0,0,15.30,15.07,15.31
$STATE,2470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2470,begin apogee
$GC,2474,-0.17,0.0,2241,1981,3308,3224,245.7,-8.4,479,2554,1.05,0.00,72.00,1.319,10246,0.125,0.000,2467,1979,2867,2894,2840,0,0,0,0,0,0,15.07,14.73,14.22
$STATE,2555,end apogee,CONTROL_FINISHED_OK
$STATE,2555,begin climb
$GC,2556,0.87,97.3,2467,1979,2896,2841,249.1,0.0,493,2573,1.50,0.00,13.98,1.206,10754,0.041,0.000,2832,1979,2801,2826,2776,0,0,0,0,0,0,14.76,28.83,14.79
$STATE,2574,end climb,ABORT_DEPTH_EXCEEDED
$SM_CCo,2585,424.17,1.279,0,0,599,556.33
$SM_GC,0.81,12.55,0.00,0.00,0.090,0.000,0.000,146,1978,588,-7.39,-0.25,559.03,0,0,0,0,0,0,15.13,15.38,15.20
$IRIDIUM_FIX,-2739.67,3236.50,140918,130416
$TT8_MAMPS,0.038948,0.931007
$HUMID,51.77
$INTERNAL_PRESSURE,9.13085
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3917024
$24V_AH,14.01,8.568
$10V_AH,13.99,0.000
$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,27.000,88.650,85.975,424.175,0.000,0.000,0.000,0.000,3.750,0.000,19.285,0.000,2055.675,778.476,1076.409,33.960,0.000,1220.502,0.000,742.590,0.000,24.676,0.000
$DEVICE_MAMPS,317.475,86.445,1318.860,1279.080,0.000,0.000,0.000,0.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2570.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.701,0.000,0.000,0.000
$MEM,343492
$DATA_FILE_SIZE,13436,495
$CAP_FILE_SIZE,115676,1
$CFSIZE,1023623168,1020985344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,140918,153534,-2753.215,3239.428,15,0.9,16,-22.4,0.6,263.6,10,9.3