version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 93
start: 9 20 118 6 8 41
data:
$ID,573
$MISSION,22
$DIVE,93
$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,40
$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,44
$R_STBD_OVSHOOT,44
$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
$GPS1,200918,055807,-2904.8406,3208.9568,21,0.9,23,-23.9,1.3,281.4,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-63.0
$GPS2,200918,060829,-2904.8157,3208.9014,16,1.0,17,-23.9,0.5,249.6,9,8.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2856.543,3216.833
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,63.9,20000,-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,17,-0.79,-146.0,72,2141,865,813,0.0,0.0,0,91,0.00,0.00,-72.05,0.000,16386,0.000,0.000,72,2140,2852,2853,2852,0,0,0,0,0,0,15.09,28.83,15.09
$GC,93,-0.79,-146.0,73,2141,2853,2852,3.1,-6.7,13,122,12.15,2.33,-10.95,0.000,18948,0.294,0.087,2226,735,3409,3456,3363,0,0,0,0,0,0,14.77,14.37,14.89
$GC,256,-0.79,-146.0,2227,735,3456,3364,34.8,-17.3,45,263,0.08,2.28,0.00,0.000,3078,0.298,0.047,2233,2147,3409,3456,3362,0,0,0,0,0,0,14.90,15.00,15.04
$GC,322,-0.79,-146.0,2233,2148,3457,3363,46.4,-16.5,58,329,0.00,2.33,0.00,0.000,2308,0.000,0.070,2225,3542,3409,3456,3362,0,0,0,0,0,0,15.19,14.95,15.19
$GC,367,-0.79,-146.0,2225,3543,3456,3364,54.2,-16.0,67,374,0.00,2.30,0.00,0.000,3078,0.000,0.038,2224,2139,3409,3456,3363,0,0,0,0,0,0,15.00,14.97,15.03
$GC,434,-0.79,-146.0,2225,2140,3456,3363,66.2,-18.6,80,440,0.00,2.35,0.00,0.000,2308,0.000,0.069,2218,3542,3409,3456,3363,0,0,0,0,0,0,15.21,15.02,15.21
$GC,449,-0.79,-146.0,2215,3543,3456,3364,68.9,-17.1,83,456,0.05,2.33,0.00,0.000,3078,0.250,0.037,2230,2110,3409,3456,3363,0,0,0,0,0,0,14.92,15.02,15.02
$GC,516,-0.79,-146.0,2229,2110,3457,3364,80.5,-18.9,96,521,0.00,0.00,0.00,0.000,2054,0.000,0.000,2230,2106,3409,3456,3363,0,0,0,0,0,0,15.21,15.21,15.21
$GC,580,-0.79,-146.0,2230,2109,3457,3364,92.6,-19.8,109,587,0.00,2.42,0.00,0.000,2308,0.000,0.066,2221,3544,3409,3456,3363,0,0,0,0,0,0,15.21,15.02,15.22
$GC,611,-0.79,-146.0,2221,3542,3457,3364,98.8,-20.3,115,618,0.03,2.30,0.00,0.000,3078,0.338,0.039,2228,2128,3409,3455,3363,0,0,0,0,0,0,14.90,15.02,15.02
$GC,677,-0.79,-146.0,2229,2128,3455,3363,113.2,-20.5,128,684,0.00,2.35,0.00,0.000,2564,0.000,0.065,2228,726,3409,3456,3363,0,0,0,0,0,0,15.23,14.98,15.23
$GC,713,-0.79,-146.0,2229,727,3456,3363,120.7,-20.7,135,720,0.00,2.30,0.00,0.000,3078,0.000,0.048,2221,2127,3409,3456,3363,0,0,0,0,0,0,15.05,15.02,15.08
$GC,779,-0.79,-146.0,2222,2128,3455,3363,134.9,-20.9,148,786,0.05,2.33,0.00,0.000,2308,0.360,0.068,2222,3540,3409,3455,3363,0,0,0,0,0,0,14.92,15.04,15.05
$GC,800,-0.79,-146.0,2221,3540,3457,3364,139.0,-19.3,152,807,0.00,2.30,0.00,0.000,3078,0.000,0.037,2222,2125,3411,3456,3367,0,0,0,0,0,0,15.09,15.05,15.11
$STATE,865,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,865,begin apogee
$GC,869,-0.17,0.0,2223,1931,3456,3363,151.7,-18.7,165,979,1.02,0.00,106.22,1.125,10246,0.170,0.000,2429,1929,2811,2843,2780,0,0,0,0,0,0,14.94,14.66,14.18
$STATE,980,end apogee,CONTROL_FINISHED_OK
$STATE,980,begin climb
$GC,981,0.79,146.0,2430,1930,2845,2780,159.7,0.0,185,1102,1.38,2.35,109.30,1.114,10756,0.099,0.070,2729,570,2214,2256,2173,0,0,0,0,0,0,14.60,14.50,14.06
$GC,1111,0.85,198.5,2729,571,2256,2174,160.6,7.6,208,1157,0.08,2.33,41.42,1.086,11270,0.112,0.041,2782,1974,2001,2050,1953,0,0,0,0,0,0,14.59,14.59,14.09
$GC,1216,0.85,198.5,2783,1976,2046,1948,149.7,12.8,228,1223,0.08,2.33,0.00,0.000,4356,0.257,0.063,2767,3337,1997,2046,1949,0,0,0,0,0,0,14.64,14.66,14.76
$GC,1242,0.85,198.5,2767,3338,2046,1950,146.2,13.6,233,1249,0.00,2.28,0.00,0.000,5126,0.000,0.042,2766,1970,1998,2047,1949,0,0,0,0,0,0,14.77,14.72,14.76
$GC,1308,0.90,234.0,2768,1970,2045,1948,139.8,8.4,246,1342,0.00,2.33,28.15,1.043,10500,0.000,0.062,2766,3343,1856,1909,1803,0,0,0,0,0,0,15.02,14.66,14.28
$GC,1346,0.93,265.8,2767,3344,1908,1802,136.6,8.5,253,1380,0.00,2.33,26.33,1.052,11270,0.000,0.045,2767,1959,1726,1784,1668,0,0,0,0,0,0,14.76,14.69,14.21
$GC,1440,0.95,277.6,2767,1960,1783,1665,129.1,9.4,271,1457,0.00,2.40,10.27,0.966,10756,0.000,0.073,2767,553,1679,1739,1620,0,0,0,0,0,0,14.96,14.73,14.29
$GC,1506,0.95,277.6,2768,554,1737,1621,122.5,10.3,284,1514,0.00,2.28,0.00,0.000,3078,0.000,0.042,2767,1940,1677,1735,1620,0,0,0,0,0,0,14.84,14.81,14.85
$GC,1573,0.95,277.6,2766,1940,1737,1621,115.6,10.6,297,1578,0.00,0.00,0.00,0.000,2054,0.000,0.000,2767,1940,1677,1735,1620,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1637,0.95,277.6,2766,1941,1737,1620,108.8,10.8,310,1644,0.00,2.40,0.00,0.000,2564,0.000,0.073,2766,543,1677,1735,1620,0,0,0,0,0,0,15.11,14.88,15.11
$GC,1663,0.95,277.6,2767,544,1735,1621,105.7,12.5,315,1670,0.00,2.30,0.00,0.000,3078,0.000,0.042,2767,1947,1677,1734,1620,0,0,0,0,0,0,14.95,14.92,14.98
$GC,1729,0.95,277.6,2768,1948,1734,1620,96.5,15.2,328,1735,0.00,0.00,0.00,0.000,2054,0.000,0.000,2766,1947,1677,1734,1620,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1794,0.95,277.6,2766,1946,1737,1620,87.0,14.8,341,1801,0.00,2.38,0.00,0.000,2308,0.000,0.064,2767,3351,1676,1734,1619,0,0,0,0,0,0,15.16,14.96,15.16
$GC,1845,0.95,277.6,2768,3351,1734,1619,79.9,14.7,351,1852,0.00,2.30,0.00,0.000,3078,0.000,0.044,2766,1952,1676,1734,1618,0,0,0,0,0,0,15.03,15.00,15.05
$GC,1911,0.95,281.2,2765,1952,1736,1619,72.2,9.8,364,1923,0.00,2.38,3.90,0.558,10500,0.000,0.061,2767,3357,1664,1723,1605,0,0,0,0,0,0,15.19,14.98,14.52
$GC,1952,0.95,281.2,2766,3357,1725,1606,68.3,10.4,372,1959,0.00,2.33,0.00,0.000,3078,0.000,0.042,2767,1943,1664,1724,1605,0,0,0,0,0,0,15.02,14.97,15.02
$GC,2019,0.97,298.5,2768,1943,1724,1606,62.1,9.2,385,2037,0.08,0.00,15.45,0.936,10246,0.183,0.000,2821,1943,1594,1654,1534,0,0,0,0,0,0,14.99,14.94,14.50
$GC,2096,0.97,298.5,2821,1943,1654,1533,52.3,13.7,400,2101,0.08,0.00,0.00,0.000,4102,0.254,0.000,2804,1942,1592,1653,1532,0,0,0,0,0,0,14.91,15.05,15.02
$GC,2161,0.97,298.5,2805,1943,1652,1532,44.8,11.6,413,2167,0.00,2.35,0.00,0.000,260,0.000,0.063,2804,3355,1591,1651,1532,0,0,0,0,0,0,15.16,14.98,15.17
$GC,2187,0.98,302.8,2803,3356,1653,1532,42.1,9.8,418,2199,0.00,2.33,4.60,0.618,9222,0.000,0.044,2804,1947,1576,1637,1515,0,0,0,0,0,0,14.99,14.95,14.52
$GC,2258,0.98,302.8,2805,1948,1637,1516,34.9,10.1,432,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1948,1576,1637,1516,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2318,1.02,336.2,2805,1948,1637,1516,29.2,8.4,444,2353,0.00,2.38,26.55,0.968,10500,0.000,0.063,2804,3347,1439,1499,1379,0,0,0,0,0,0,15.20,14.88,14.47
$GC,2382,1.02,336.2,2805,3347,1499,1377,21.6,11.5,456,2389,0.00,2.33,0.00,0.000,3078,0.000,0.044,2805,1944,1437,1499,1376,0,0,0,0,0,0,14.92,14.88,14.94
$GC,2448,1.02,336.2,2805,1945,1498,1376,13.8,10.8,469,2454,0.00,2.35,0.00,0.000,2564,0.000,0.074,2805,542,1437,1499,1375,0,0,0,0,0,0,15.14,14.93,15.14
$GC,2473,1.02,336.2,2805,542,1500,1376,10.8,11.7,474,2480,0.00,2.30,0.00,0.000,3078,0.000,0.040,2805,1956,1436,1498,1375,0,0,0,0,0,0,14.99,14.95,15.01
$GC,2540,1.04,353.7,2805,1957,1499,1374,3.4,9.2,487,2553,0.00,1.90,9.20,0.117,10499,0.000,0.066,2805,3093,1366,1426,1306,0,0,0,0,0,0,15.16,15.02,14.92
$STATE,2553,end climb,SURFACE_DEPTH_REACHED
$STATE,2553,begin surface coast
$FINISH,0.5,1.024171
$STATE,2581,end surface coast,CONTROL_FINISHED_OK
$STATE,2581,begin surface
$SM_CCo,2661,0.00,0.000,0,0,1361,355.92
$SM_GC,1.22,12.20,1.60,0.00,0.057,0.051,0.000,149,2132,1361,-7.27,1.27,355.92,0,0,0,0,0,0,14.98,15.00,15.06
$IRIDIUM_FIX,-2853.13,3209.73,200918,045400
$TT8_MAMPS,0.038199,0.957222
$HUMID,45.66
$INTERNAL_PRESSURE,9.27734
$TCM_TEMP,25.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.7
$ALTIM_BOTTOM_PING,101.1,60.2
$SC_FREEKB,3873952
$24V_AH,14.06,27.440
$10V_AH,13.52,0.000
$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,27.250,78.350,381.400,0.000,0.000,23.374,39.953,384.971,0.750,0.000,18.519,0.000,1116.942,527.855,1540.956,90.219,0.000,1000.106,0.000,740.059,0.000,7.218,0.000
$DEVICE_MAMPS,359.550,87.210,1124.550,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2633.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.092,0.000,0.000,0.000
$MEM,343644
$DATA_FILE_SIZE,16758,495
$CAP_FILE_SIZE,102885,0
$CFSIZE,1023623168,1010335744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200918,065339,-2904.684,3209.072,18,1.0,20,-23.9,0.6,164.0,9,9.0