version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 53
start: 9 17 118 17 15 34
data:
$ID,573
$MISSION,22
$DIVE,53
$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,145
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,80
$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,2490
$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,2130
$C_ROLL_CLIMB,1987
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,72
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2812
$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,4
$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,50
$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
$GPS1,170918,170809,-2854.2566,3215.7725,19,0.9,19,-23.7,0.0,0.0,9,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.4
$GPS2,170918,171523,-2854.2610,3215.7190,26,0.9,27,-23.7,0.0,65.4,10,8.8
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,-2852.386,3227.864
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,103.7,20000,-19.7,-10.000,-22.33,1939
$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,-0.81,-126.5,80,2169,1652,1570,0.0,0.0,0,70,0.00,0.00,-51.38,0.000,16386,0.000,0.000,76,2168,3087,3092,3082,0,0,0,0,0,0,15.13,28.83,15.14
$GC,72,-0.81,-126.5,75,2168,3094,3082,3.7,-9.8,9,90,11.98,0.00,-4.35,0.000,18950,0.289,0.000,2219,2168,3327,3373,3282,0,0,0,0,0,0,14.83,14.23,14.95
$GC,148,-0.81,-126.5,2219,2169,3376,3286,23.0,-15.8,24,149,0.00,0.00,0.00,0.000,2054,0.000,0.000,2219,2168,3330,3374,3286,0,0,0,0,0,0,15.16,15.17,15.17
$GC,208,-0.81,-126.5,2219,2168,3376,3287,32.1,-15.4,36,209,0.00,0.00,0.00,0.000,2054,0.000,0.000,2219,2168,3330,3374,3286,0,0,0,0,0,0,15.19,15.19,15.19
$GC,268,-0.81,-126.5,2220,2169,3374,3286,41.0,-14.4,48,275,0.00,2.28,0.00,0.000,2308,0.000,0.069,2212,3501,3329,3373,3285,0,0,0,0,0,0,15.20,14.97,15.21
$GC,294,-0.81,-126.5,2210,3501,3376,3286,44.4,-12.9,53,302,0.08,2.20,0.00,0.000,3078,0.209,0.037,2229,2146,3329,3374,3285,0,0,0,0,0,0,14.92,15.00,15.01
$STATE,348,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,348,begin apogee
$GC,351,-0.17,0.0,2230,1966,3375,3286,50.4,-11.2,63,449,0.95,0.00,90.03,1.000,10246,0.149,0.000,2429,1964,2811,2840,2783,0,0,0,0,0,0,14.95,14.71,14.29
$STATE,450,end apogee,CONTROL_FINISHED_OK
$STATE,450,begin climb
$GC,451,0.81,126.5,2429,1965,2841,2784,54.3,0.0,81,550,1.38,2.35,91.43,0.986,10756,0.073,0.068,2739,609,2293,2339,2248,0,0,0,0,0,0,14.70,14.57,14.16
$GC,899,0.93,225.0,2739,610,2334,2249,46.4,4.8,168,978,0.12,2.20,73.62,0.977,11270,0.090,0.043,2800,1965,1893,1945,1842,0,0,0,0,0,0,14.99,14.97,14.33
$GC,1037,0.93,225.0,2801,1965,1942,1839,34.5,11.1,194,1044,0.00,2.33,0.00,0.000,4612,0.000,0.069,2808,613,1889,1941,1838,0,0,0,0,0,0,15.00,14.79,15.00
$GC,1158,0.93,225.0,2807,613,1940,1839,20.7,10.3,218,1165,0.08,2.25,0.00,0.000,5126,0.213,0.042,2792,1986,1888,1938,1838,0,0,0,0,0,0,14.84,14.92,14.92
$GC,1224,0.93,225.0,2792,1987,1939,1833,13.7,11.6,231,1231,0.00,2.35,0.00,0.000,4612,0.000,0.070,2794,609,1887,1938,1837,0,0,0,0,0,0,15.13,14.93,15.14
$GC,1234,0.93,225.0,2793,610,1940,1839,12.4,11.8,233,1242,0.00,2.25,0.00,0.000,5126,0.000,0.044,2793,1983,1886,1938,1834,0,0,0,0,0,0,15.00,14.96,15.02
$GC,1301,0.93,225.0,2794,1984,1938,1838,5.7,10.4,246,1307,0.00,0.00,0.00,0.000,4102,0.000,0.000,2793,1983,1887,1938,1837,0,0,0,0,0,0,15.16,15.16,15.16
$STATE,1325,end climb,SURFACE_DEPTH_REACHED
$STATE,1325,begin surface coast
$FINISH,0.3,1.024376
$STATE,1350,end surface coast,CONTROL_FINISHED_OK
$STATE,1350,begin surface
$SM_CCo,1367,21.98,0.104,0,0,1710,270.07
$SM_GC,0.99,12.12,0.22,21.98,0.050,0.078,0.104,132,2164,1710,-7.30,-0.96,270.07,0,0,0,0,0,0,15.01,15.03,14.97
$IRIDIUM_FIX,-2840.83,3225.63,170918,163441
$TT8_MAMPS,0.03745,0.760235
$HUMID,44.09
$INTERNAL_PRESSURE,9.32617
$TCM_TEMP,25.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.5
$ALTIM_BOTTOM_PING,50.4,6.8
$SC_FREEKB,3895264
$24V_AH,14.16,18.501
$10V_AH,13.93,0.000
$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,26.700,18.650,255.075,21.975,0.000,26.214,38.125,237.229,0.750,0.000,28.717,0.000,559.330,315.829,911.585,40.269,0.000,567.053,0.000,390.579,0.000,7.065,0.000
$DEVICE_MAMPS,289.170,78.030,999.855,104.040,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1373.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.674,0.000,0.000,0.000
$MEM,343576
$DATA_FILE_SIZE,6847,256
$CAP_FILE_SIZE,50730,0
$CFSIZE,1023623168,1015136256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170918,173924,-2854.135,3215.812,21,0.8,23,-23.7,0.8,284.5,12,9.2