version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 65
start: 9 18 118 0 40 4
data:
$ID,573
$MISSION,22
$DIVE,65
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,110
$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,36
$T_MISSION,50
$T_ABORT,70
$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,105
$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,42
$R_STBD_OVSHOOT,37
$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,1000
$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
$GPS1,180918,003333,-2850.7764,3217.3049,28,0.9,38,-23.6,1.1,63.5,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-63.5
$GPS2,180918,003953,-2850.6787,3217.3235,21,0.9,23,-23.6,1.1,42.6,9,9.6
$SPEED_LIMITS,0.176,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,-2853.474,3229.237
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,128.6,20000,-18.6,-10.185,-21.28,2196
$D_GRID,110
$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,18,-0.80,-146.0,100,2126,580,595,0.0,0.0,0,108,0.00,0.00,-88.40,0.000,16386,0.000,0.000,88,2125,3024,3037,3011,0,0,0,0,0,0,15.16,28.83,15.18
$GC,110,-0.80,-146.0,90,2126,3032,3018,3.1,-7.1,16,134,11.98,2.42,-7.40,0.000,18692,0.297,0.094,2213,3541,3409,3454,3364,0,0,0,0,0,0,14.87,14.20,14.99
$GC,308,-0.80,-146.0,2213,3541,3456,3366,38.5,-14.3,55,315,0.05,2.30,0.00,0.000,3078,0.261,0.038,2226,2132,3409,3454,3365,0,0,0,0,0,0,14.90,15.04,15.01
$GC,374,-0.80,-146.0,2226,2133,3456,3365,47.8,-14.5,68,380,0.00,0.00,0.00,0.000,2054,0.000,0.000,2226,2132,3409,3454,3364,0,0,0,0,0,0,15.24,15.24,15.24
$GC,439,-0.80,-146.0,2226,2133,3456,3361,56.9,-13.3,81,446,0.00,2.35,0.00,0.000,2564,0.000,0.063,2226,727,3409,3454,3365,0,0,0,0,0,0,15.25,15.02,15.25
$GC,459,-0.80,-146.0,2226,728,3456,3369,59.6,-12.7,85,466,0.00,2.30,0.00,0.000,3078,0.000,0.049,2224,2130,3409,3454,3364,0,0,0,0,0,0,15.08,15.05,15.09
$GC,525,-0.80,-146.0,2225,2131,3453,3365,68.6,-14.1,98,526,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2130,3409,3454,3365,0,0,0,0,0,0,15.25,15.26,15.26
$GC,585,-0.80,-146.0,2224,2131,3456,3366,75.6,-10.9,110,586,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2130,3409,3454,3364,0,0,0,0,0,0,15.26,15.26,15.26
$GC,645,-0.80,-146.0,2225,2131,3454,3365,83.1,-14.6,122,646,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2130,3409,3454,3365,0,0,0,0,0,0,15.26,15.27,15.26
$GC,705,-0.80,-146.0,2224,2131,3456,3366,91.2,-10.4,134,712,0.00,2.35,0.00,0.000,2308,0.000,0.063,2224,3539,3409,3454,3365,0,0,0,0,0,0,15.26,15.07,15.27
$GC,786,-0.80,-146.0,2224,3540,3456,3366,100.4,-10.4,150,793,0.00,2.30,0.00,0.000,3078,0.000,0.039,2224,2115,3409,3454,3364,0,0,0,0,0,0,15.12,15.08,15.14
$GC,853,-0.80,-146.0,2223,2112,3456,3365,104.6,-0.3,163,859,0.00,2.40,0.00,0.000,2308,0.000,0.085,2224,3534,3409,3454,3365,0,0,0,0,0,0,15.27,15.03,15.27
$STATE,1007,end dive,NO_VERTICAL_VELOCITY
$STATE,1007,begin apogee
$GC,1012,-0.17,0.0,2224,1979,3456,3365,105.5,0.0,194,1122,0.95,0.00,104.85,1.073,10246,0.102,0.000,2436,1978,2811,2841,2781,0,0,0,0,0,0,15.06,14.70,14.25
$STATE,1123,end apogee,CONTROL_FINISHED_OK
$STATE,1123,begin climb
$GC,1124,0.80,146.0,2436,1978,2843,2781,105.5,0.0,214,1240,1.42,2.40,108.38,1.049,11012,0.094,0.081,2744,3391,2213,2257,2170,0,0,0,0,0,0,14.67,14.53,14.14
$STATE,1383,end climb,NO_VERTICAL_VELOCITY
$STATE,1383,begin surface
$SM_CCo,1385,309.83,1.040,0,0,600,542.59
$SM_GC,0.92,11.88,2.03,0.00,0.065,0.041,0.000,147,2142,589,-7.27,1.70,545.29,0,0,0,0,0,0,15.14,15.14,15.21
$IRIDIUM_FIX,-2838.37,3216.76,170918,235437
$TT8_MAMPS,0.038199,0.917525
$HUMID,48.26
$INTERNAL_PRESSURE,9.21875
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3889120
$24V_AH,14.14,20.351
$10V_AH,13.90,0.000
$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,26.275,23.325,213.225,309.825,0.000,24.127,17.001,212.546,0.000,0.000,23.851,0.000,1325.306,601.307,881.036,45.172,0.000,870.047,0.000,399.195,0.000,1.020,0.000
$DEVICE_MAMPS,296.820,94.095,1072.530,1040.400,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1404.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.005,0.000,0.000,0.000
$MEM,343600
$DATA_FILE_SIZE,6821,263
$CAP_FILE_SIZE,55854,0
$CFSIZE,1023623168,1014104064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180918,012201,-2850.248,3217.696,25,1.0,30,-23.6,1.2,30.8,8,5.5