version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 95
start: 9 20 118 7 50 16
data:
$ID,573
$MISSION,22
$DIVE,95
$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,294
$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,47
$R_STBD_OVSHOOT,38
$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
$GPS1,200918,074401,-2904.8247,3208.8430,20,0.9,24,-23.9,1.1,131.5,9,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-64.5
$GPS2,200918,075005,-2904.8796,3208.8044,25,0.8,26,-23.9,0.6,95.1,11,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2900.487,3157.524
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,317.9,20000,-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,18,-0.79,-146.0,82,2134,572,599,0.0,0.0,0,103,0.00,0.00,-83.00,0.000,16386,0.000,0.000,72,2133,2965,2982,2948,0,0,0,0,0,0,15.18,28.83,15.19
$GC,105,-0.79,-146.0,72,2133,2984,2949,3.3,-6.8,15,134,12.05,2.33,-8.12,0.000,18948,0.295,0.084,2224,733,3409,3452,3367,0,0,0,0,0,0,14.87,14.17,15.00
$GC,257,-0.79,-146.0,2224,733,3454,3368,38.6,-18.1,45,264,0.00,2.28,0.00,0.000,3078,0.000,0.047,2221,2124,3409,3452,3367,0,0,0,0,0,0,15.03,15.03,15.05
$GC,323,-0.79,-146.0,2220,2125,3453,3368,50.3,-18.3,58,330,0.05,2.38,0.00,0.000,2308,0.363,0.070,2222,3541,3409,3452,3367,0,0,0,0,0,0,14.94,15.00,15.09
$GC,354,-0.79,-146.0,2222,3542,3452,3368,55.6,-17.4,64,361,0.00,2.28,0.00,0.000,3078,0.000,0.038,2223,2143,3406,3451,3362,0,0,0,0,0,0,15.07,15.03,15.09
$GC,420,-0.79,-146.0,2223,2144,3452,3368,66.6,-17.1,77,427,0.00,2.33,0.00,0.000,2308,0.000,0.072,2213,3538,3409,3452,3367,0,0,0,0,0,0,15.23,15.04,15.23
$GC,496,-0.79,-146.0,2212,3539,3454,3369,79.5,-15.8,92,503,0.08,2.28,0.00,0.000,3078,0.223,0.038,2230,2137,3409,3452,3367,0,0,0,0,0,0,14.97,15.06,15.06
$GC,562,-0.79,-146.0,2231,2137,3452,3368,88.8,-14.1,105,569,0.00,2.30,0.00,0.000,2564,0.000,0.065,2230,726,3409,3452,3367,0,0,0,0,0,0,15.24,15.02,15.24
$GC,588,-0.79,-146.0,2231,727,3452,3368,93.0,-17.5,110,594,0.00,2.30,0.00,0.000,3078,0.000,0.048,2230,2132,3409,3452,3367,0,0,0,0,0,0,15.05,15.02,15.08
$GC,654,-0.79,-146.0,2230,2131,3454,3368,102.8,-15.3,123,659,0.00,0.00,0.00,0.000,2054,0.000,0.000,2230,2132,3409,3452,3367,0,0,0,0,0,0,15.26,15.26,15.26
$GC,719,-0.79,-146.0,2231,2132,3452,3368,113.2,-16.1,136,724,0.00,0.00,0.00,0.000,2054,0.000,0.000,2230,2131,3409,3452,3367,0,0,0,0,0,0,15.26,15.26,15.26
$STATE,747,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,747,begin apogee
$GC,751,-0.17,0.0,2231,1933,3454,3367,117.8,-15.3,142,861,0.98,0.00,105.22,1.072,10246,0.167,0.000,2430,1931,2813,2842,2784,0,0,0,0,0,0,14.97,14.69,14.23
$STATE,862,end apogee,CONTROL_FINISHED_OK
$STATE,862,begin climb
$GC,863,0.79,146.0,2430,1931,2844,2784,123.4,0.0,162,984,1.38,2.50,109.07,1.050,10500,0.099,0.074,2726,3343,2216,2258,2174,0,0,0,0,0,0,14.65,14.53,14.12
$STATE,1116,end climb,NO_VERTICAL_VELOCITY
$STATE,1116,begin surface
$SM_CCo,1119,310.90,1.048,0,0,599,542.59
$SM_GC,1.06,11.70,1.92,0.00,0.057,0.037,0.000,147,2143,589,-7.27,1.89,545.29,0,0,0,0,0,0,15.15,15.18,15.22
$IRIDIUM_FIX,-2850.67,3208.42,200918,065603
$TT8_MAMPS,0.036701,0.889063
$HUMID,47.36
$INTERNAL_PRESSURE,9.20898
$TCM_TEMP,25.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.7,16.9
$SC_FREEKB,3872928
$24V_AH,14.12,27.844
$10V_AH,13.98,0.000
$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,26.225,23.150,214.300,310.900,0.000,23.777,16.356,186.447,0.750,0.000,27.537,0.000,1331.251,609.252,768.401,50.825,0.000,850.562,0.000,320.481,0.000,7.040,0.000
$DEVICE_MAMPS,363.375,84.150,1071.765,1048.050,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1134.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.817,0.000,0.000,0.000
$MEM,343668
$DATA_FILE_SIZE,6810,210
$CAP_FILE_SIZE,49770,0
$CFSIZE,1023623168,1010221056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200918,083052,-2904.932,3208.597,19,0.8,25,-23.9,0.8,221.3,11,8.8