version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 57
start: 9 17 118 19 5 6
data:
$ID,573
$MISSION,22
$DIVE,57
$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,150
$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,35
$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,61
$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,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,20
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$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
$GPS1,170918,185916,-2853.9360,3215.6689,25,0.8,26,-23.7,0.0,201.0,11,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.9
$GPS2,170918,190456,-2853.9399,3215.6555,16,0.8,19,-23.7,0.2,280.6,11,8.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2845.094,3222.721
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,58.7,20000,-18.3,-10.000,-21.04,2236
$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,-0.79,-146.0,80,2123,1733,1672,0.0,0.0,0,70,0.00,0.00,-51.30,0.000,16386,0.000,0.000,76,2123,3186,3207,3166,0,0,0,0,0,0,15.14,28.83,15.15
$GC,72,-0.79,-146.0,77,2124,3207,3167,3.7,-9.1,9,95,12.00,2.33,-3.92,0.000,18692,0.291,0.086,2216,3542,3409,3453,3366,0,0,0,0,0,0,14.84,14.22,14.96
$GC,149,-0.79,-146.0,2216,3544,3462,3367,23.3,-14.0,24,156,0.05,2.28,0.00,0.000,3078,0.249,0.037,2229,2132,3410,3454,3366,0,0,0,0,0,0,14.90,14.98,14.99
$GC,215,-0.79,-146.0,2229,2132,3455,3367,32.9,-14.9,37,215,0.00,0.00,0.00,0.000,2054,0.000,0.000,2229,2132,3410,3454,3366,0,0,0,0,0,0,15.20,15.20,15.20
$GC,275,-0.79,-146.0,2229,2132,3455,3367,41.8,-14.5,49,276,0.00,0.00,0.00,0.000,2054,0.000,0.000,2229,2131,3409,3453,3366,0,0,0,0,0,0,15.21,15.21,15.21
$GC,335,-0.79,-146.0,2229,2132,3455,3367,49.2,-11.7,61,342,0.00,2.38,0.00,0.000,2308,0.000,0.070,2227,3534,3409,3453,3366,0,0,0,0,0,0,15.22,15.02,15.22
$GC,356,-0.79,-146.0,2228,3534,3453,3367,51.6,-10.9,65,363,0.00,2.25,0.00,0.000,3078,0.000,0.036,2227,2146,3409,3453,3366,0,0,0,0,0,0,15.09,15.05,15.10
$GC,422,-0.79,-146.0,2228,2147,3453,3366,59.1,-11.7,78,428,0.00,2.38,0.00,0.000,2564,0.000,0.064,2228,722,3410,3454,3366,0,0,0,0,0,0,15.23,15.02,15.23
$GC,457,-0.79,-146.0,2229,722,3453,3367,63.6,-12.6,85,464,0.00,2.30,0.00,0.000,3078,0.000,0.048,2224,2128,3410,3454,3366,0,0,0,0,0,0,15.09,15.04,15.11
$GC,523,-0.79,-146.0,2225,2129,3454,3366,72.3,-12.8,98,530,0.00,2.33,0.00,0.000,2308,0.000,0.071,2223,3538,3409,3453,3366,0,0,0,0,0,0,15.24,15.03,15.25
$GC,579,-0.79,-146.0,2224,3539,3453,3367,78.8,-12.0,109,586,0.00,2.28,0.00,0.000,3078,0.000,0.036,2223,2133,3410,3454,3366,0,0,0,0,0,0,15.09,15.05,15.11
$GC,645,-0.79,-146.0,2224,2134,3453,3366,87.0,-13.2,122,645,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2133,3409,3453,3366,0,0,0,0,0,0,15.26,15.26,15.26
$GC,705,-0.79,-146.0,2219,2134,3455,3366,94.8,-12.0,134,711,0.00,2.35,0.00,0.000,2564,0.000,0.063,2223,720,3410,3454,3366,0,0,0,0,0,0,15.26,15.04,15.26
$STATE,724,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,725,begin apogee
$GC,729,-0.17,0.0,2222,1992,3454,3367,97.3,-12.5,138,839,1.00,0.00,103.12,1.061,10246,0.149,0.000,2430,1992,2810,2842,2779,0,0,0,0,0,0,14.99,14.67,14.24
$STATE,840,end apogee,CONTROL_FINISHED_OK
$STATE,840,begin climb
$GC,841,0.79,146.0,2432,1993,2842,2780,102.2,0.0,158,956,1.40,2.38,106.20,1.041,11012,0.057,0.060,2757,3400,2215,2257,2173,0,0,0,0,0,0,14.71,14.48,14.14
$GC,1070,0.79,150.4,2758,3401,2253,2171,94.6,9.8,201,1082,0.08,2.35,4.72,0.771,13318,0.239,0.041,2751,1974,2196,2239,2153,0,0,0,0,0,0,14.76,14.83,14.39
$GC,1142,0.85,199.3,2750,1975,2241,2153,89.2,7.8,215,1187,0.00,2.35,37.08,1.016,10756,0.000,0.069,2757,591,1994,2047,1941,0,0,0,0,0,0,15.07,14.72,14.29
$GC,1246,0.88,218.0,2757,591,2045,1946,80.3,9.1,235,1269,0.00,2.30,15.30,0.944,11270,0.000,0.043,2757,1987,1920,1972,1868,0,0,0,0,0,0,14.86,14.83,14.36
$GC,1328,0.89,229.5,2758,1988,1970,1865,72.9,9.5,251,1346,0.00,2.40,9.93,0.876,10500,0.000,0.065,2757,3396,1873,1927,1820,0,0,0,0,0,0,15.05,14.83,14.40
$GC,1395,0.89,229.5,2758,3396,1929,1820,66.0,10.8,264,1402,0.00,2.33,0.00,0.000,3078,0.000,0.042,2763,1987,1873,1927,1819,0,0,0,0,0,0,14.92,14.89,14.95
$GC,1461,0.89,229.5,2763,1987,1928,1819,59.8,10.3,277,1468,0.00,2.33,0.00,0.000,2564,0.000,0.071,2766,586,1871,1926,1817,0,0,0,0,0,0,15.11,14.90,15.12
$GC,1532,0.89,229.5,2765,587,1926,1819,52.3,10.6,291,1538,0.00,2.30,0.00,0.000,3078,0.000,0.044,2765,1989,1872,1925,1819,0,0,0,0,0,0,14.98,14.94,15.00
$GC,1598,0.89,229.5,2767,1990,1925,1818,44.5,11.6,304,1604,0.00,2.33,0.00,0.000,2308,0.000,0.065,2766,3397,1871,1925,1818,0,0,0,0,0,0,15.18,14.99,15.19
$GC,1628,0.89,229.5,2765,3397,1926,1819,40.8,12.6,310,1635,0.00,2.33,0.00,0.000,3078,0.000,0.044,2766,1984,1871,1924,1819,0,0,0,0,0,0,15.04,15.02,15.06
$GC,1695,0.91,247.4,2765,1985,1926,1819,34.4,9.2,323,1718,0.00,2.35,15.18,0.919,10500,0.000,0.063,2766,3386,1800,1857,1744,0,0,0,0,0,0,15.20,14.95,14.53
$GC,1741,0.91,247.4,2767,3387,1856,1744,30.0,10.4,332,1748,0.00,2.30,0.00,0.000,3078,0.000,0.043,2765,1987,1799,1856,1742,0,0,0,0,0,0,14.97,14.93,14.99
$GC,1807,0.91,247.4,2767,1988,1856,1741,23.2,10.2,345,1814,0.00,2.38,0.00,0.000,2564,0.000,0.071,2766,586,1798,1855,1741,0,0,0,0,0,0,15.18,14.95,15.19
$GC,1843,0.91,247.4,2765,585,1856,1741,19.4,10.5,352,1850,0.00,2.28,0.00,0.000,3078,0.000,0.042,2766,1979,1798,1855,1741,0,0,0,0,0,0,15.04,15.00,15.06
$GC,1909,0.91,247.4,2766,1979,1855,1742,12.8,10.0,365,1915,0.00,0.00,0.00,0.000,2054,0.000,0.000,2766,1978,1798,1856,1741,0,0,0,0,0,0,15.19,15.20,15.20
$GC,1974,0.91,247.4,2767,1980,1854,1742,6.3,10.5,378,1974,0.00,0.00,0.00,0.000,2054,0.000,0.000,2769,1979,1797,1854,1741,0,0,0,0,0,0,15.21,15.21,15.21
$STATE,2003,end climb,SURFACE_DEPTH_REACHED
$STATE,2003,begin surface coast
$FINISH,0.1,1.024379
$STATE,2028,end surface coast,CONTROL_FINISHED_OK
$STATE,2028,begin surface
$SM_CCo,2046,11.05,0.107,0,0,1710,270.07
$SM_GC,1.39,11.85,0.22,11.05,0.045,0.073,0.107,148,2165,1710,-7.26,-1.05,270.07,0,0,0,0,0,0,15.04,15.09,15.02
$IRIDIUM_FIX,-2840.83,3214.68,170918,183558
$TT8_MAMPS,0.039697,0.849366
$HUMID,45.58
$INTERNAL_PRESSURE,9.31641
$TCM_TEMP,25.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.1
$ALTIM_BOTTOM_PING,90.4,21.7
$SC_FREEKB,3893216
$24V_AH,14.14,18.957
$10V_AH,13.61,0.000
$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,26.375,55.825,291.525,11.050,0.000,26.281,15.651,184.696,2.750,0.000,20.337,0.000,850.327,406.169,1094.024,51.830,0.000,772.643,0.000,588.210,0.000,20.386,0.000
$DEVICE_MAMPS,290.700,85.680,1061.055,107.100,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2045.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.947,0.000,0.000,0.000
$MEM,343576
$DATA_FILE_SIZE,13467,389
$CAP_FILE_SIZE,78195,0
$CFSIZE,1023623168,1014792192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,2045.35,0x212b6e,7,24
$GPS,170918,194022,-2853.459,3215.782,22,0.9,40,-23.7,0.7,145.9,10,10.0