version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 17
start: 9 15 118 0 16 28
data:
$ID,573
$MISSION,22
$DIVE,17
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$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,100
$T_MISSION,115
$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,38
$R_STBD_OVSHOOT,43
$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
$GPS1,150918,000927,-2757.0149,3238.4648,19,0.7,25,-22.5,0.4,206.0,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.6
$GPS2,150918,001617,-2757.1233,3238.4592,19,0.8,27,-22.5,0.4,193.9,10,10.0
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,GINA_DEPLOY
$TGT_LATLONG,-2747.000,3248.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,17.3,24411,-22.4,-10.000,-24.92,1493
$D_GRID,300
$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,-97.3,136,1998,1704,1627,0.0,0.0,0,68,0.00,0.00,-48.90,0.000,16386,0.000,0.000,136,1998,3039,3049,3030,0,0,0,0,0,0,15.12,28.83,15.13
$GC,69,-0.87,-97.3,137,1999,3049,3037,3.4,-7.6,8,94,11.93,2.35,-4.32,0.000,18948,0.303,0.087,2241,586,3266,3308,3224,0,0,0,0,0,0,14.81,14.19,14.99
$GC,252,-0.87,-97.3,2240,587,3310,3225,35.9,-14.2,44,259,0.00,2.28,0.00,0.000,3078,0.000,0.050,2235,1977,3266,3308,3224,0,0,0,0,0,0,15.04,15.00,15.06
$GC,319,-0.87,-97.3,2235,1978,3309,3225,46.1,-15.3,57,326,0.00,2.35,0.00,0.000,2308,0.000,0.070,2226,3393,3266,3308,3224,0,0,0,0,0,0,15.20,14.99,15.21
$GC,354,-0.87,-97.3,2227,3393,3308,3225,51.6,-16.0,64,362,0.05,2.30,0.00,0.000,3078,0.260,0.044,2238,1984,3266,3308,3224,0,0,0,0,0,0,14.91,15.00,15.01
$GC,421,-0.87,-97.3,2239,1985,3307,3225,61.9,-15.7,77,429,0.00,2.38,0.00,0.000,2308,0.000,0.070,2230,3384,3266,3308,3224,0,0,0,0,0,0,15.21,15.00,15.21
$GC,447,-0.87,-97.3,2231,3385,3308,3225,65.9,-15.7,82,455,0.05,2.28,0.00,0.000,3078,0.256,0.044,2242,1988,3266,3308,3224,0,0,0,0,0,0,14.92,15.03,15.03
$GC,513,-0.87,-97.3,2243,1989,3308,3225,75.5,-13.9,95,520,0.00,2.38,0.00,0.000,2308,0.000,0.070,2234,3385,3266,3308,3225,0,0,0,0,0,0,15.23,14.98,15.23
$GC,584,-0.87,-97.3,2234,3386,3310,3225,85.0,-13.5,109,592,0.00,2.28,0.00,0.000,3078,0.000,0.044,2235,1992,3266,3308,3224,0,0,0,0,0,0,15.07,15.03,15.08
$GC,650,-0.87,-97.3,2235,1992,3309,3225,94.0,-13.1,122,657,0.00,2.38,0.00,0.000,2308,0.000,0.071,2234,3386,3266,3308,3225,0,0,0,0,0,0,15.23,15.02,15.23
$GC,691,-0.87,-97.3,2233,3387,3308,3224,99.2,-12.6,130,698,0.00,2.28,0.00,0.000,3078,0.000,0.043,2229,1990,3270,3308,3232,0,0,0,0,0,0,15.09,15.05,15.11
$STATE,704,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,704,begin apogee
$GC,706,-0.17,0.0,2235,1990,3308,3225,100.5,-12.7,132,785,1.12,0.00,70.97,1.079,10246,0.158,0.000,2465,1988,2867,2894,2841,0,0,0,0,0,0,14.99,14.66,14.33
$STATE,786,end apogee,CONTROL_FINISHED_OK
$STATE,786,begin climb
$GC,787,0.87,97.3,2466,1989,2893,2842,104.6,0.0,146,871,1.50,2.42,72.07,1.069,10756,0.047,0.069,2844,582,2470,2513,2427,0,0,0,0,0,0,14.77,14.55,14.16
$GC,874,1.18,349.2,2843,583,2514,2429,111.8,-7.3,161,1076,0.17,2.35,194.27,1.063,11270,0.071,0.043,2901,1994,1443,1494,1392,0,0,0,0,0,0,14.64,14.62,14.08
$GC,1135,1.18,349.2,2898,1994,1493,1387,76.5,23.3,208,1141,0.00,2.35,0.00,0.000,260,0.000,0.063,2900,3375,1438,1491,1385,0,0,0,0,0,0,14.85,14.70,14.85
$GC,1330,1.18,349.2,2901,3376,1489,1383,35.7,21.7,247,1338,0.00,2.30,0.00,0.000,5126,0.000,0.049,2906,1995,1436,1490,1382,0,0,0,0,0,0,14.94,14.90,14.96
$GC,1397,1.18,349.2,2906,1995,1491,1382,21.9,20.7,260,1404,0.00,2.35,0.00,0.000,516,0.000,0.074,2907,581,1436,1490,1382,0,0,0,0,0,0,15.11,14.89,15.11
$GC,1432,1.18,349.2,2906,582,1491,1383,14.4,20.6,267,1441,0.00,2.28,0.00,0.000,1030,0.000,0.045,2907,1974,1436,1490,1382,0,0,0,0,0,0,14.95,14.91,14.97
$STATE,1488,end climb,SURFACE_DEPTH_REACHED
$STATE,1488,begin surface coast
$FINISH,0.3,1.024348
$STATE,1499,end surface coast,CONTROL_FINISHED_OK
$STATE,1499,begin surface
$SM_CCo,1576,0.00,0.000,0,0,1431,352.49
$SM_GC,1.08,12.62,0.00,0.00,0.050,0.000,0.000,140,1976,1431,-7.39,-0.31,352.49,0,0,0,0,0,0,14.98,15.16,15.05
$IRIDIUM_FIX,-2744.54,3237.81,140918,232654
$TT8_MAMPS,0.038199,0.89131
$HUMID,44.92
$INTERNAL_PRESSURE,9.26758
$TCM_TEMP,25.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,100.5,7.0
$SC_FREEKB,3913952
$24V_AH,14.08,9.936
$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,27.450,37.275,337.325,0.000,0.000,24.069,15.952,237.383,1.000,0.000,27.734,0.000,617.255,396.269,938.492,35.336,0.000,683.123,0.000,423.200,0.000,7.070,0.000
$DEVICE_MAMPS,302.940,87.210,1078.650,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1525.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.333,0.000,0.000,0.000
$MEM,343472
$DATA_FILE_SIZE,6818,280
$CAP_FILE_SIZE,56819,0
$CFSIZE,1023623168,1020264448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.542,184.81,1
$GPS,150918,004331,-2757.462,3238.333,17,0.9,31,-22.5,0.4,152.4,9,5.4