version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 16
start: 9 14 118 23 36 39
data:
$ID,573
$MISSION,22
$DIVE,16
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,1050
$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,135
$T_MISSION,150
$T_ABORT,250
$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,33
$R_STBD_OVSHOOT,39
$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,15
$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,1
$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
$GPS1,140918,232403,-2756.4307,3238.6116,64,0.8,64,-22.5,0.0,0.0,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.4
$GPS2,140918,233628,-2756.6333,3238.6150,21,0.7,22,-22.5,0.6,183.6,12,7.0
$SPEED_LIMITS,0.171,0.214
$TGT_NAME,GINA_DEPLOY
$TGT_LATLONG,-2747.000,3248.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,18.3,23553,-22.2,-9.877,-24.73,1512
$D_GRID,400
$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,-0.86,-97.3,125,1994,1776,1744,0.0,0.0,0,63,0.00,0.00,-44.35,0.000,16386,0.000,0.000,123,1993,3020,3041,3000,0,0,0,0,0,0,15.06,28.83,15.07
$GC,65,-0.86,-97.3,123,1994,3036,3010,3.5,-8.0,7,89,12.05,2.35,-4.53,0.000,18948,0.305,0.082,2238,580,3266,3308,3224,0,0,0,0,0,0,14.76,14.12,14.87
$GC,203,-0.86,-97.3,2240,581,3309,3226,34.1,-17.2,34,210,0.03,2.33,0.00,0.000,3078,0.383,0.050,2240,1984,3267,3309,3225,0,0,0,0,0,0,14.77,14.91,14.90
$GC,269,-0.86,-97.3,2241,1985,3307,3225,45.5,-18.2,47,276,0.00,2.40,0.00,0.000,2308,0.000,0.073,2233,3393,3266,3308,3225,0,0,0,0,0,0,15.16,14.93,15.16
$GC,310,-0.86,-97.3,2232,3393,3310,3225,52.8,-17.8,55,317,0.05,2.33,0.00,0.000,3078,0.252,0.044,2244,1982,3267,3309,3225,0,0,0,0,0,0,14.87,14.96,14.97
$GC,376,-0.86,-97.3,2244,1982,3311,3225,64.8,-18.7,68,377,0.00,0.00,0.00,0.000,2054,0.000,0.000,2245,1982,3267,3309,3225,0,0,0,0,0,0,15.16,15.17,15.17
$GC,436,-0.86,-97.3,2245,1982,3310,3225,75.5,-16.4,80,443,0.00,2.40,0.00,0.000,2308,0.000,0.070,2237,3390,3267,3310,3224,0,0,0,0,0,0,15.18,14.96,15.18
$GC,512,-0.86,-97.3,2238,3391,3310,3225,88.3,-17.0,95,519,0.00,2.30,0.00,0.000,3078,0.000,0.044,2238,1986,3267,3310,3225,0,0,0,0,0,0,15.04,15.01,15.07
$GC,578,-0.86,-97.3,2238,1986,3311,3225,99.8,-17.5,108,585,0.00,2.35,0.00,0.000,2564,0.000,0.070,2237,589,3267,3311,3224,0,0,0,0,0,0,15.20,14.95,15.20
$GC,594,-0.86,-97.3,2238,590,3311,3225,102.8,-18.5,111,601,0.00,2.30,0.00,0.000,3078,0.000,0.050,2235,1987,3268,3311,3225,0,0,0,0,0,0,15.02,14.98,15.04
$GC,660,-0.86,-97.3,2236,1988,3310,3225,112.5,-14.4,124,667,0.00,2.38,0.00,0.000,2308,0.000,0.074,2235,3383,3268,3311,3225,0,0,0,0,0,0,15.21,14.99,15.21
$GC,710,-0.86,-97.3,2236,3384,3311,3225,119.1,-12.4,134,717,0.00,2.30,0.00,0.000,3078,0.000,0.043,2235,1979,3268,3312,3225,0,0,0,0,0,0,15.07,15.02,15.08
$GC,777,-0.86,-97.3,2236,1980,3311,3225,126.9,-12.0,147,783,0.00,2.35,0.00,0.000,2564,0.000,0.070,2235,555,3268,3312,3225,0,0,0,0,0,0,15.21,15.01,15.21
$STATE,804,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,804,begin apogee
$GC,808,-0.17,0.0,2235,1992,3312,3225,130.1,-12.0,152,887,1.12,0.00,71.95,1.125,10246,0.161,0.000,2465,1993,2867,2894,2841,0,0,0,0,0,0,14.97,14.62,14.25
$STATE,888,end apogee,CONTROL_FINISHED_OK
$STATE,888,begin climb
$GC,889,0.86,97.3,2465,1994,2896,2842,132.9,0.0,166,972,1.50,2.45,72.55,1.116,10756,0.042,0.069,2841,583,2470,2513,2427,0,0,0,0,0,0,14.73,14.47,14.10
$GC,976,1.10,291.2,2841,584,2513,2428,135.8,-3.3,181,1134,0.05,2.38,148.93,1.106,11270,0.167,0.044,2876,2001,1679,1735,1624,0,0,0,0,0,0,14.53,14.57,14.03
$GC,1193,1.10,291.2,2877,2002,1733,1620,107.2,18.3,220,1199,0.00,2.35,0.00,0.000,260,0.000,0.065,2876,3378,1675,1731,1620,0,0,0,0,0,0,14.82,14.64,14.83
$GC,1513,1.10,291.2,2876,3379,1733,1617,55.2,15.8,284,1520,0.00,2.30,0.00,0.000,5126,0.000,0.047,2886,1984,1673,1731,1616,0,0,0,0,0,0,14.99,14.94,15.00
$GC,1579,1.10,291.2,2886,1985,1733,1617,44.8,15.9,297,1587,0.00,2.38,0.00,0.000,4612,0.000,0.072,2896,584,1673,1730,1616,0,0,0,0,0,0,15.16,14.91,15.16
$GC,1605,1.10,291.2,2897,585,1730,1617,40.5,16.9,302,1613,0.05,2.28,0.00,0.000,5126,0.281,0.045,2886,1980,1673,1730,1617,0,0,0,0,0,0,14.85,14.95,14.95
$GC,1672,1.10,291.2,2887,1981,1730,1617,29.5,16.2,315,1679,0.00,2.35,0.00,0.000,4612,0.000,0.071,2894,590,1673,1730,1616,0,0,0,0,0,0,15.16,14.96,15.17
$GC,1692,1.10,291.2,2896,591,1730,1617,26.0,16.9,319,1700,0.05,2.28,0.00,0.000,5126,0.280,0.045,2885,1987,1672,1729,1616,0,0,0,0,0,0,14.86,14.99,14.98
$GC,1758,1.10,291.2,2884,1987,1730,1617,15.1,16.8,332,1765,0.00,2.35,0.00,0.000,4612,0.000,0.071,2893,591,1672,1729,1616,0,0,0,0,0,0,15.18,14.97,15.18
$GC,1779,1.10,291.2,2893,591,1731,1617,12.2,13.7,336,1786,0.05,2.28,0.00,0.000,5126,0.282,0.044,2884,1991,1672,1729,1616,0,0,0,0,0,0,14.90,15.00,15.01
$STATE,1834,end climb,SURFACE_DEPTH_REACHED
$STATE,1834,begin surface coast
$FINISH,0.4,1.024353
$STATE,1849,end surface coast,CONTROL_FINISHED_OK
$STATE,1849,begin surface
$SM_CCo,1927,0.00,0.000,0,0,1668,294.36
$SM_GC,1.48,12.52,0.00,0.00,0.057,0.000,0.000,146,1992,1668,-7.39,0.14,294.36,0,0,0,0,0,0,15.00,15.21,15.08
$IRIDIUM_FIX,-2744.54,3237.81,140918,215215
$TT8_MAMPS,0.03745,0.970704
$HUMID,45.98
$INTERNAL_PRESSURE,9.27734
$TCM_TEMP,25.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.2
$ALTIM_BOTTOM_PING,130.1,7.0
$SC_FREEKB,3914464
$24V_AH,14.03,9.789
$10V_AH,13.71,0.000
$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,27.475,51.525,293.425,0.000,0.000,26.081,14.211,513.325,1.750,0.000,22.740,0.000,829.465,385.956,1393.738,50.086,0.000,717.338,0.000,528.108,0.000,14.560,0.000
$DEVICE_MAMPS,382.500,81.855,1125.315,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1919.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.246,0.000,0.000,0.000
$MEM,343468
$DATA_FILE_SIZE,6817,350
$CAP_FILE_SIZE,75327,0
$CFSIZE,1023623168,1020346368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.544,187.96,1
$GPS,150918,000927,-2757.015,3238.465,19,0.7,25,-22.5,0.4,206.0,11,9.7