version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 70
start: 9 18 118 4 52 57
data:
$ID,573
$MISSION,22
$DIVE,70
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,65
$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,39
$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
$GPS1,180918,044249,-2847.8938,3220.8562,37,0.8,76,-23.6,0.7,89.3,10,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.3
$GPS2,180918,045245,-2847.8447,3220.8909,18,0.8,29,-23.6,0.0,42.0,9,8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2850.640,3232.800
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,128.6,20000,-18.3,-10.000,-21.04,2236
$D_GRID,150
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.79,-146.0,86,2133,1733,1686,0.0,0.0,0,64,0.00,0.00,-45.25,0.000,16386,0.000,0.000,82,2132,2983,2998,2968,0,0,0,0,0,0,15.13,28.83,15.14
$GC,65,-0.79,-146.0,83,2133,2999,2969,3.2,-6.5,8,94,11.93,2.40,-8.07,0.000,18692,0.284,0.089,2217,3545,3409,3455,3364,0,0,0,0,0,0,14.83,14.14,14.95
$GC,203,-0.79,-146.0,2218,3546,3454,3366,28.5,-13.6,35,211,0.05,2.33,0.00,0.000,3078,0.246,0.037,2229,2113,3410,3455,3365,0,0,0,0,0,0,14.90,14.99,15.00
$GC,270,-0.79,-146.0,2229,2113,3457,3366,37.6,-14.4,48,275,0.00,0.00,0.00,0.000,2054,0.000,0.000,2229,2112,3410,3455,3365,0,0,0,0,0,0,15.21,15.21,15.21
$GC,334,-0.79,-146.0,2230,2112,3455,3366,46.6,-13.6,61,335,0.00,0.00,0.00,0.000,2054,0.000,0.000,2229,2112,3410,3455,3365,0,0,0,0,0,0,15.22,15.22,15.22
$GC,394,-0.79,-146.0,2230,2113,3454,3366,55.1,-14.5,73,395,0.00,0.00,0.00,0.000,2054,0.000,0.000,2230,2111,3410,3455,3365,0,0,0,0,0,0,15.23,15.23,15.23
$GC,454,-0.79,-146.0,2229,2112,3456,3366,64.2,-15.5,85,455,0.00,0.00,0.00,0.000,2054,0.000,0.000,2229,2112,3410,3455,3365,0,0,0,0,0,0,15.23,15.24,15.24
$GC,514,-0.79,-146.0,2229,2112,3457,3366,73.3,-14.6,97,521,0.00,2.42,0.00,0.000,2308,0.000,0.067,2223,3541,3410,3455,3365,0,0,0,0,0,0,15.24,15.04,15.25
$GC,545,-0.79,-146.0,2222,3541,3457,3366,77.4,-12.7,103,552,0.00,2.28,0.00,0.000,3078,0.000,0.037,2223,2139,3409,3455,3363,0,0,0,0,0,0,15.10,15.07,15.11
$GC,611,-0.79,-146.0,2224,2139,3455,3366,85.8,-13.0,116,618,0.00,2.35,0.00,0.000,2564,0.000,0.064,2223,729,3410,3455,3365,0,0,0,0,0,0,15.25,15.04,15.25
$GC,642,-0.79,-146.0,2222,729,3457,3366,90.0,-13.9,122,649,0.00,2.30,0.00,0.000,3078,0.000,0.047,2221,2133,3410,3455,3365,0,0,0,0,0,0,15.10,15.06,15.12
$GC,708,-0.79,-146.0,2222,2133,3456,3366,99.1,-13.7,135,709,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2133,3410,3455,3365,0,0,0,0,0,0,15.26,15.26,15.26
$GC,767,-0.79,-146.0,2220,2133,3457,3366,108.0,-14.7,147,775,0.00,2.35,0.00,0.000,2564,0.000,0.063,2222,730,3410,3455,3365,0,0,0,0,0,0,15.26,15.02,15.26
$GC,793,-0.79,-146.0,2224,730,3457,3366,111.8,-16.2,152,801,0.05,2.30,0.00,0.000,3078,0.274,0.049,2229,2136,3410,3455,3365,0,0,0,0,0,0,14.92,15.04,15.05
$GC,860,-0.79,-146.0,2231,2136,3455,3366,120.8,-13.3,165,867,0.00,2.33,0.00,0.000,2308,0.000,0.072,2223,3541,3409,3454,3365,0,0,0,0,0,0,15.26,15.06,15.26
$GC,880,-0.79,-146.0,2224,3542,3455,3366,123.5,-12.5,169,887,0.00,2.30,0.00,0.000,3078,0.000,0.038,2223,2123,3410,3455,3365,0,0,0,0,0,0,15.11,15.08,15.15
$GC,947,-0.79,-146.0,2222,2121,3457,3366,132.1,-13.4,182,953,0.00,2.28,0.00,0.000,2564,0.000,0.063,2223,725,3412,3460,3365,0,0,0,0,0,0,15.26,15.03,15.26
$GC,967,-0.79,-146.0,2224,725,3455,3366,135.2,-14.8,186,974,0.00,2.30,0.00,0.000,3078,0.000,0.048,2221,2131,3409,3455,3364,0,0,0,0,0,0,15.08,15.04,15.10
$GC,1033,-0.79,-146.0,2222,2131,3455,3366,144.2,-14.6,199,1040,0.03,2.30,0.00,0.000,2308,0.512,0.070,2222,3536,3410,3455,3365,0,0,0,0,0,0,14.97,15.05,15.12
$GC,1054,-0.79,-146.0,2222,3537,3455,3366,147.3,-14.6,203,1061,0.00,2.28,0.00,0.000,3078,0.000,0.036,2222,2133,3410,3456,3365,0,0,0,0,0,0,15.10,15.06,15.11
$STATE,1074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1074,begin apogee
$GC,1077,-0.17,0.0,2222,1949,3457,3366,150.3,-14.3,207,1192,1.00,0.00,107.25,1.128,10246,0.151,0.000,2430,1949,2811,2842,2780,0,0,0,0,0,0,15.00,14.56,14.18
$STATE,1193,end apogee,CONTROL_FINISHED_OK
$STATE,1193,begin climb
$GC,1194,0.79,146.0,2430,1950,2844,2780,158.6,0.0,228,1315,1.35,2.33,109.40,1.120,10756,0.069,0.068,2735,606,2214,2256,2173,0,0,0,0,0,0,14.66,14.52,14.07
$GC,1604,0.86,207.7,2735,607,2251,2174,150.7,7.2,307,1660,0.03,2.25,48.15,1.103,11270,0.276,0.044,2770,1987,1963,2013,1914,0,0,0,0,0,0,14.83,14.96,14.28
$GC,1720,0.93,260.4,2770,1988,2013,1913,142.1,7.6,329,1770,0.00,2.42,42.42,1.095,10500,0.000,0.064,2770,3398,1749,1805,1694,0,0,0,0,0,0,15.02,14.66,14.24
$GC,1785,1.01,322.5,2767,3398,1806,1693,136.8,7.1,341,1841,0.08,2.33,50.38,1.077,11270,0.116,0.044,2824,2005,1496,1551,1441,0,0,0,0,0,0,14.73,14.70,14.17
$GC,1901,1.01,322.5,2825,2006,1549,1435,117.2,19.0,363,1907,0.00,2.45,0.00,0.000,4612,0.000,0.074,2825,592,1492,1549,1435,0,0,0,0,0,0,14.95,14.71,14.95
$GC,2006,1.01,322.5,2826,591,1545,1435,98.1,17.3,384,2013,0.00,2.30,0.00,0.000,5126,0.000,0.041,2825,1989,1491,1547,1435,0,0,0,0,0,0,14.91,14.88,14.93
$GC,2072,1.01,322.5,2826,1989,1546,1435,87.1,16.4,397,2079,0.00,2.38,0.00,0.000,4612,0.000,0.073,2824,581,1490,1546,1434,0,0,0,0,0,0,15.10,14.90,15.10
$GC,2113,1.01,322.5,2826,582,1545,1434,80.0,17.3,405,2120,0.00,2.30,0.00,0.000,5126,0.000,0.042,2825,1989,1489,1544,1434,0,0,0,0,0,0,14.99,14.95,15.01
$GC,2179,1.01,322.5,2825,1990,1546,1434,68.4,17.1,418,2184,0.00,0.00,0.00,0.000,4102,0.000,0.000,2825,1989,1489,1545,1433,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2244,1.01,322.5,2826,1990,1545,1434,58.5,16.4,431,2244,0.00,0.00,0.00,0.000,4102,0.000,0.000,2825,1989,1489,1545,1433,0,0,0,0,0,0,15.17,15.18,15.18
$GC,2303,1.01,322.5,2825,1990,1545,1434,47.3,18.8,443,2310,0.00,2.35,0.00,0.000,4356,0.000,0.065,2825,3387,1488,1544,1433,0,0,0,0,0,0,15.19,14.98,15.19
$GC,2354,1.01,322.5,2825,3387,1545,1433,37.1,21.5,453,2362,0.05,2.30,0.00,0.000,5126,0.281,0.046,2820,1989,1488,1544,1432,0,0,0,0,0,0,14.88,14.99,14.99
$GC,2421,1.01,322.5,2820,1989,1545,1433,23.1,20.7,466,2427,0.00,2.33,0.00,0.000,4612,0.000,0.073,2828,582,1488,1544,1433,0,0,0,0,0,0,15.22,15.00,15.22
$GC,2471,1.01,322.5,2827,582,1546,1432,13.0,19.5,476,2478,0.05,2.30,0.00,0.000,5126,0.245,0.043,2816,1994,1488,1543,1433,0,0,0,0,0,0,14.93,15.02,15.03
$STATE,2526,end climb,SURFACE_DEPTH_REACHED
$STATE,2527,begin surface coast
$FINISH,0.7,1.024415
$STATE,2541,end surface coast,CONTROL_FINISHED_OK
$STATE,2541,begin surface
$SM_CCo,2619,0.00,0.000,0,0,1483,326.00
$SM_GC,1.01,12.12,0.20,0.00,0.051,0.073,0.000,149,2181,1483,-7.26,-0.99,326.00,0,0,0,0,0,0,15.04,15.10,15.11
$IRIDIUM_FIX,-2835.91,3218.84,180918,035017
$TT8_MAMPS,0.038199,0.954975
$HUMID,47.12
$INTERNAL_PRESSURE,9.27734
$TCM_TEMP,24.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.8
$SC_FREEKB,3886560
$24V_AH,14.07,21.177
$10V_AH,13.51,0.000
$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,26.725,60.950,357.600,0.000,0.000,23.816,20.690,377.136,0.250,0.000,29.894,0.000,1176.339,459.039,1506.206,71.291,0.000,906.282,0.000,735.037,0.000,2.640,0.000
$DEVICE_MAMPS,511.785,88.740,1127.610,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2585.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.942,0.000,0.000,0.000
$MEM,343644
$DATA_FILE_SIZE,16788,490
$CAP_FILE_SIZE,95208,0
$CFSIZE,1023623168,1013579776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180918,053712,-2847.490,3222.096,16,0.9,19,-23.6,0.4,84.6,9,9.2