version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 58
start: 9 17 118 19 49 27
data:
$ID,573
$MISSION,22
$DIVE,58
$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,55
$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,40
$R_STBD_OVSHOOT,67
$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
$GPS1,170918,194022,-2853.4595,3215.7825,22,0.9,40,-23.7,0.7,145.9,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.1
$GPS2,170918,194916,-2853.4460,3215.7729,21,1.0,55,-23.7,0.4,43.6,9,9.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2847.252,3225.867
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,78.7,20000,-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,-146.0,76,2173,1730,1674,0.0,0.0,0,70,0.00,0.00,-51.25,0.000,16386,0.000,0.000,73,2172,3152,3164,3140,0,0,0,0,0,0,15.16,28.83,15.16
$GC,72,-0.79,-146.0,73,2173,3167,3141,3.6,-9.4,9,94,12.05,0.00,-4.62,0.000,18438,0.293,0.000,2226,2172,3411,3455,3368,0,0,0,0,0,0,14.85,14.49,14.97
$GC,153,-0.79,-146.0,2227,2173,3457,3368,23.4,-13.6,25,154,0.00,0.00,0.00,0.000,2054,0.000,0.000,2226,2172,3411,3455,3368,0,0,0,0,0,0,15.20,15.21,15.21
$STATE,177,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,178,begin apogee
$GC,181,-0.17,0.0,2227,1966,3458,3368,27.1,-13.9,30,275,0.98,0.00,90.05,0.978,10246,0.155,0.000,2430,1965,2811,2840,2783,0,0,0,0,0,0,14.94,14.72,14.30
$STATE,276,end apogee,CONTROL_FINISHED_OK
$STATE,276,begin climb
$GC,277,0.79,146.0,2429,1966,2841,2784,30.8,0.0,47,391,1.33,2.38,104.78,0.964,11012,0.073,0.062,2728,3373,2214,2256,2173,0,0,0,0,0,0,14.70,14.58,14.17
$GC,520,0.95,273.9,2728,3373,2256,2168,29.1,4.1,93,615,0.17,2.25,85.97,0.942,11270,0.068,0.040,2798,1997,1692,1751,1633,0,0,0,0,0,0,14.89,14.87,14.23
$GC,673,0.95,273.9,2798,1998,1749,1631,14.4,13.5,122,680,0.00,2.40,0.00,0.000,4612,0.000,0.070,2808,599,1689,1749,1630,0,0,0,0,0,0,14.97,14.76,14.97
$GC,729,0.95,273.9,2807,599,1748,1631,6.2,14.7,133,737,0.05,2.25,0.00,0.000,5126,0.248,0.042,2796,1966,1687,1745,1630,0,0,0,0,0,0,14.76,14.87,14.85
$STATE,754,end climb,SURFACE_DEPTH_REACHED
$STATE,754,begin surface coast
$FINISH,0.2,1.024378
$STATE,775,end surface coast,CONTROL_FINISHED_OK
$STATE,775,begin surface
$SM_CCo,853,0.00,0.000,0,0,1681,277.18
$SM_GC,1.36,12.12,0.22,0.00,0.049,0.072,0.000,148,2151,1681,-7.26,-1.39,277.18,0,0,0,0,0,0,14.91,14.95,14.98
$IRIDIUM_FIX,-2843.29,3216.76,170918,190052
$TT8_MAMPS,0.038199,0.432922
$HUMID,44.72
$INTERNAL_PRESSURE,9.35547
$TCM_TEMP,25.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.0
$ALTIM_BOTTOM_PING,20.5,21.0
$SC_FREEKB,3892704
$24V_AH,14.17,19.073
$10V_AH,14.08,0.000
$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,26.700,9.775,280.800,0.000,0.000,23.462,16.077,314.151,0.750,0.000,56.319,0.000,270.504,291.894,783.521,39.654,0.000,468.998,0.000,218.935,0.000,7.468,0.000
$DEVICE_MAMPS,292.995,71.910,977.670,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,806.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.873,0.000,0.000,0.000
$MEM,343644
$DATA_FILE_SIZE,3512,142
$CAP_FILE_SIZE,35473,0
$CFSIZE,1023623168,1014726656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170918,200422,-2853.345,3215.785,24,0.8,25,-23.7,0.0,0.0,10,8.0