version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 86
start: 9 19 118 22 52 52
data:
$ID,573
$MISSION,22
$DIVE,86
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,167
$T_MISSION,182
$T_ABORT,212
$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,30
$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,320
$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,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,55
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$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
$GPS1,190918,223803,-2906.8870,3207.4016,28,0.8,40,-24.0,0.0,305.9,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-62.6
$GPS2,190918,225241,-2906.8044,3207.3474,17,0.8,18,-24.0,0.0,215.9,11,9.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2857.452,3213.519
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,54.0,20000,-18.2,-9.980,-21.01,2240
$D_GRID,500
$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,-0.79,-146.0,73,2154,1372,1290,0.0,0.0,0,76,0.00,0.00,-56.38,0.000,16386,0.000,0.000,72,2154,2953,2967,2939,0,0,0,0,0,0,15.02,28.83,15.03
$GC,77,-0.79,-146.0,70,2154,2970,2939,3.7,-9.2,10,106,12.23,2.35,-7.97,0.000,19204,0.298,0.099,2213,3518,3409,3455,3364,0,0,0,0,0,0,14.71,14.08,14.85
$GC,295,-0.79,-146.0,2215,3519,3456,3365,48.2,-15.2,53,302,0.05,2.30,0.00,0.000,3078,0.249,0.039,2226,2117,3410,3456,3364,0,0,0,0,0,0,14.85,14.95,14.94
$GC,361,-0.79,-146.0,2226,2118,3457,3365,59.0,-16.8,66,367,0.00,0.00,0.00,0.000,2054,0.000,0.000,2226,2117,3410,3456,3364,0,0,0,0,0,0,15.14,15.14,15.14
$GC,426,-0.79,-146.0,2227,2118,3456,3365,70.2,-17.4,79,433,0.00,2.40,0.00,0.000,2308,0.000,0.070,2217,3513,3410,3456,3364,0,0,0,0,0,0,15.15,14.94,15.15
$GC,452,-0.79,-146.0,2219,3513,3455,3365,74.8,-17.7,84,459,0.08,2.28,0.00,0.000,3078,0.217,0.041,2234,2133,3410,3456,3364,0,0,0,0,0,0,14.89,14.97,14.98
$GC,518,-0.79,-146.0,2237,2133,3458,3365,85.8,-15.6,97,525,0.00,2.35,0.00,0.000,2564,0.000,0.067,2234,716,3410,3456,3365,0,0,0,0,0,0,15.16,14.95,15.16
$GC,559,-0.79,-146.0,2235,715,3456,3365,92.4,-16.4,105,566,0.00,2.30,0.00,0.000,3078,0.000,0.049,2231,2107,3410,3456,3364,0,0,0,0,0,0,15.00,14.96,15.04
$GC,625,-0.79,-146.0,2232,2108,3456,3364,102.9,-16.4,118,631,0.00,2.40,0.00,0.000,2308,0.000,0.073,2231,3537,3409,3456,3363,0,0,0,0,0,0,15.18,14.98,15.18
$GC,660,-0.79,-146.0,2232,3538,3456,3365,108.4,-15.4,125,667,0.00,2.30,0.00,0.000,3078,0.000,0.038,2231,2131,3410,3456,3364,0,0,0,0,0,0,15.03,15.00,15.05
$GC,726,-0.79,-146.0,2230,2131,3458,3366,118.4,-15.6,138,733,0.00,2.40,0.00,0.000,2308,0.000,0.072,2222,3532,3410,3456,3364,0,0,0,0,0,0,15.16,14.97,15.17
$GC,767,-0.79,-146.0,2224,3532,3456,3365,124.3,-14.2,146,774,0.00,2.30,0.00,0.000,3078,0.000,0.039,2223,2135,3410,3456,3364,0,0,0,0,0,0,15.04,15.00,15.05
$GC,833,-0.79,-146.0,2222,2135,3458,3365,133.6,-13.1,159,840,0.00,2.33,0.00,0.000,2564,0.000,0.066,2223,728,3410,3457,3364,0,0,0,0,0,0,15.20,14.97,15.20
$GC,864,-0.79,-146.0,2222,729,3458,3365,137.5,-12.8,165,871,0.00,2.33,0.00,0.000,3078,0.000,0.050,2223,2136,3410,3457,3364,0,0,0,0,0,0,15.06,14.98,15.04
$GC,930,-0.79,-146.0,2222,2138,3458,3365,146.1,-12.6,178,936,0.00,2.35,0.00,0.000,2308,0.000,0.071,2214,3547,3410,3456,3364,0,0,0,0,0,0,15.19,15.00,15.19
$GC,970,-0.79,-146.0,2214,3547,3458,3365,151.6,-13.1,186,978,0.08,2.33,0.00,0.000,3078,0.212,0.037,2231,2123,3410,3457,3364,0,0,0,0,0,0,14.94,15.01,15.02
$GC,1037,-0.79,-146.0,2239,2123,3456,3365,159.8,-12.8,199,1043,0.00,2.30,0.00,0.000,2564,0.000,0.066,2232,727,3410,3457,3364,0,0,0,0,0,0,15.19,15.00,15.19
$GC,1057,-0.79,-146.0,2231,728,3458,3365,162.7,-13.8,203,1064,0.00,2.33,0.00,0.000,3078,0.000,0.049,2231,2138,3410,3456,3364,0,0,0,0,0,0,15.06,15.01,15.07
$STATE,1067,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1067,begin apogee
$GC,1070,-0.17,0.0,2231,1926,3458,3365,164.4,-15.1,205,1185,0.95,0.00,106.90,1.157,10246,0.159,0.000,2426,1925,2812,2844,2780,0,0,0,0,0,0,14.92,14.48,14.09
$STATE,1186,end apogee,CONTROL_FINISHED_OK
$STATE,1186,begin climb
$GC,1187,0.79,146.0,2427,1926,2844,2781,169.3,0.0,226,1307,1.40,2.33,109.18,1.141,10756,0.096,0.070,2725,573,2215,2257,2173,0,0,0,0,0,0,14.55,14.38,14.00
$GC,1347,0.92,256.0,2727,573,2253,2173,169.4,4.9,255,1442,0.17,2.28,85.55,1.127,11270,0.097,0.043,2794,1965,1767,1827,1708,0,0,0,0,0,0,14.60,14.58,14.01
$GC,1501,0.92,256.0,2792,1966,1828,1707,153.0,12.5,284,1507,0.00,2.40,0.00,0.000,4612,0.000,0.072,2804,566,1766,1826,1706,0,0,0,0,0,0,14.81,14.63,14.82
$GC,1711,0.92,256.0,2805,567,1822,1707,130.4,12.5,326,1718,0.05,2.28,0.00,0.000,5126,0.242,0.043,2792,1953,1763,1821,1706,0,0,0,0,0,0,14.78,14.87,14.90
$GC,1778,0.92,256.0,2791,1954,1823,1707,122.8,12.3,339,1784,0.00,2.33,0.00,0.000,4356,0.000,0.066,2792,3345,1763,1822,1705,0,0,0,0,0,0,15.09,14.88,15.09
$GC,1833,0.92,256.0,2789,3346,1823,1706,115.8,12.3,350,1840,0.00,2.28,0.00,0.000,5126,0.000,0.044,2799,1970,1763,1822,1705,0,0,0,0,0,0,14.94,14.89,14.95
$GC,1900,0.92,256.0,2799,1970,1824,1706,108.3,10.5,363,1905,0.00,0.00,0.00,0.000,4102,0.000,0.000,2799,1970,1763,1822,1705,0,0,0,0,0,0,15.11,15.12,15.12
$GC,1964,0.94,267.1,2798,1973,1824,1706,102.0,9.5,376,1977,0.00,0.00,9.82,0.980,12294,0.000,0.000,2799,1970,1722,1782,1663,0,0,0,0,0,0,15.14,14.90,14.45
$GC,2036,0.95,277.0,2800,1971,1781,1659,95.1,9.5,390,2054,0.00,2.40,9.35,0.964,12804,0.000,0.073,2809,557,1682,1744,1621,0,0,0,0,0,0,15.11,14.88,14.44
$GC,2073,0.96,283.3,2808,558,1744,1622,91.7,9.7,397,2085,0.00,2.28,6.53,0.892,13318,0.000,0.044,2809,1940,1656,1718,1595,0,0,0,0,0,0,14.90,14.87,14.42
$GC,2145,0.96,283.3,2810,1941,1717,1595,84.1,10.7,411,2151,0.00,2.40,0.00,0.000,4612,0.000,0.074,2819,522,1655,1717,1594,0,0,0,0,0,0,15.09,14.88,15.09
$GC,2190,0.96,283.3,2820,522,1716,1595,78.8,11.4,420,2197,0.08,2.35,0.00,0.000,5126,0.207,0.044,2802,1959,1655,1716,1594,0,0,0,0,0,0,14.85,14.92,14.93
$GC,2257,0.96,283.6,2802,1959,1718,1595,72.1,10.0,433,2262,0.00,0.00,0.00,0.000,4102,0.000,0.000,2802,1958,1657,1721,1594,0,0,0,0,0,0,15.12,15.13,15.13
$GC,2321,0.96,283.6,2801,1959,1718,1595,65.5,10.2,446,2328,0.00,2.35,0.00,0.000,4356,0.000,0.067,2802,3343,1655,1716,1594,0,0,0,0,0,0,15.14,14.93,15.15
$GC,2357,0.96,283.6,2802,3343,1716,1594,61.8,11.1,453,2364,0.00,2.30,0.00,0.000,5126,0.000,0.045,2802,1952,1655,1716,1594,0,0,0,0,0,0,14.97,14.92,14.99
$GC,2423,0.97,291.0,2801,1950,1718,1594,55.3,9.6,466,2436,0.00,2.40,7.88,0.835,8708,0.000,0.075,2802,547,1624,1686,1562,0,0,0,0,0,0,15.16,14.92,14.50
$GC,2481,0.99,308.5,2801,547,1686,1563,49.6,9.2,477,2504,0.00,2.28,15.50,0.948,11270,0.000,0.043,2801,1944,1553,1615,1491,0,0,0,0,0,0,15.00,14.96,14.45
$GC,2563,1.03,346.9,2802,1945,1613,1488,43.0,8.2,493,2602,0.00,2.42,31.48,1.013,10756,0.000,0.075,2802,544,1396,1458,1334,0,0,0,0,0,0,15.10,14.76,14.34
$GC,2616,1.03,346.9,2800,545,1459,1335,37.5,11.7,503,2623,0.00,2.33,0.00,0.000,3078,0.000,0.042,2801,1949,1395,1457,1333,0,0,0,0,0,0,14.85,14.81,14.86
$GC,2683,1.03,346.9,2802,1951,1457,1332,29.8,10.2,516,2689,0.00,2.35,0.00,0.000,2308,0.000,0.062,2801,3354,1392,1456,1328,0,0,0,0,0,0,15.04,14.83,15.04
$GC,2728,1.03,346.9,2802,3354,1456,1330,24.3,10.7,525,2735,0.00,2.35,0.00,0.000,3078,0.000,0.045,2802,1944,1393,1457,1330,0,0,0,0,0,0,14.90,14.86,14.92
$GC,2794,1.03,346.9,2801,1945,1459,1330,17.5,10.9,538,2801,0.00,2.35,0.00,0.000,2564,0.000,0.074,2802,550,1393,1457,1329,0,0,0,0,0,0,15.10,14.90,15.10
$GC,2815,1.03,346.9,2802,550,1457,1330,15.2,11.2,542,2822,0.00,2.30,0.00,0.000,3078,0.000,0.045,2802,1937,1392,1456,1329,0,0,0,0,0,0,14.96,14.92,14.98
$GC,2881,1.03,346.9,2801,1939,1461,1329,8.1,10.4,555,2888,0.00,2.38,0.00,0.000,2308,0.000,0.070,2802,3358,1392,1456,1328,0,0,0,0,0,0,15.11,14.90,15.12
$GC,2901,1.03,346.9,2805,3359,1458,1328,5.1,15.3,559,2908,0.00,2.33,0.00,0.000,3078,0.000,0.046,2802,1953,1392,1457,1327,0,0,0,0,0,0,14.98,14.94,15.00
$STATE,2921,end climb,SURFACE_DEPTH_REACHED
$STATE,2921,begin surface coast
$FINISH,0.5,1.024506
$STATE,2941,end surface coast,CONTROL_FINISHED_OK
$STATE,2941,begin surface
$SM_CCo,3020,0.00,0.000,0,0,1387,349.55
$SM_GC,1.10,12.12,0.28,0.00,0.046,0.059,0.000,145,2171,1387,-7.27,-1.05,349.55,0,0,0,0,0,0,14.95,15.01,15.03
$IRIDIUM_FIX,-2855.60,3207.65,190918,210414
$TT8_MAMPS,0.036701,0.950481
$HUMID,45.43
$INTERNAL_PRESSURE,9.20898
$TCM_TEMP,24.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.9
$ALTIM_BOTTOM_PING,110.6,62.7
$SC_FREEKB,3877536
$24V_AH,14.00,25.985
$10V_AH,13.57,0.000
$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,27.200,89.325,382.175,0.000,0.000,25.951,64.338,572.753,1.000,0.000,19.430,0.000,1325.155,538.844,1914.704,103.526,0.000,1060.426,0.000,850.760,0.000,8.777,0.000
$DEVICE_MAMPS,297.585,98.685,1157.445,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3012.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.728,0.000,0.000,0.000
$MEM,343576
$DATA_FILE_SIZE,20129,567
$CAP_FILE_SIZE,115306,0
$CFSIZE,1023623168,1011007488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190918,234421,-2906.427,3207.639,24,0.7,52,-24.0,0.0,102.2,11,9.6