version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 7
start: 9 14 118 8 56 57
data:
$ID,573
$MISSION,22
$DIVE,7
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,250
$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,67
$T_MISSION,82
$T_ABORT,90
$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,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$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,2527
$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,1987
$C_ROLL_CLIMB,1987
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2868
$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,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,110
$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
$GPS1,140918,085031,-2749.9724,3240.1887,22,0.8,25,-22.3,0.0,0.0,11,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.8
$GPS2,140918,085633,-2750.0090,3240.1665,20,0.8,25,-22.3,0.5,161.8,11,9.3
$SPEED_LIMITS,0.172,0.239
$TGT_NAME,GINA_DEPLOY
$TGT_LATLONG,-2747.000,3248.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,43.8,13993,-20.0,-9.950,-22.62,1875
$D_GRID,200
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.82,-121.7,126,1980,1773,1740,0.0,0.0,0,70,0.00,0.00,-47.50,0.000,16386,0.000,0.000,126,1980,3088,3101,3075,0,0,0,0,0,0,15.25,28.83,15.26
$GC,72,-0.82,-121.7,126,1980,3102,3075,3.3,-7.4,8,98,11.70,2.35,-5.25,0.000,18692,0.278,0.090,2248,3385,3365,3414,3316,0,0,0,0,0,0,14.91,14.22,15.09
$GC,390,-0.82,-121.7,2247,3385,3414,3316,44.6,-11.0,70,397,0.05,2.25,0.00,0.000,3078,0.326,0.044,2261,1975,3365,3414,3316,0,0,0,0,0,0,14.97,15.07,15.10
$GC,458,-0.82,-121.7,2259,1974,3414,3317,52.4,-10.9,83,465,0.00,2.35,0.00,0.000,2308,0.000,0.070,2261,3390,3365,3414,3317,0,0,0,0,0,0,15.29,15.07,15.29
$GC,492,-0.82,-121.7,2261,3390,3413,3317,55.7,-10.9,89,499,0.00,2.25,0.00,0.000,3078,0.000,0.044,2261,1983,3365,3414,3316,0,0,0,0,0,0,15.16,15.09,15.17
$GC,562,-0.82,-121.7,2261,1982,3414,3316,63.3,-11.2,102,569,0.00,2.30,0.00,0.000,2564,0.000,0.069,2261,578,3365,3414,3317,0,0,0,0,0,0,15.29,15.07,15.30
$GC,580,-0.82,-121.7,2261,578,3415,3316,65.6,-11.7,105,587,0.00,2.25,0.00,0.000,3078,0.000,0.050,2261,1986,3365,3414,3317,0,0,0,0,0,0,15.14,15.05,15.14
$GC,650,-0.82,-121.7,2261,1986,3414,3317,73.7,-11.2,118,656,0.00,2.33,0.00,0.000,2308,0.000,0.073,2260,3401,3365,3414,3317,0,0,0,0,0,0,15.29,15.04,15.29
$GC,708,-0.82,-121.7,2259,3396,3414,3316,80.5,-11.2,129,715,0.00,2.25,0.00,0.000,3078,0.000,0.044,2260,1985,3365,3415,3316,0,0,0,0,0,0,15.17,15.11,15.20
$GC,777,-0.82,-121.7,2259,1984,3415,3317,88.2,-11.8,142,783,0.00,0.00,0.00,0.000,2054,0.000,0.000,2260,1984,3368,3415,3322,0,0,0,0,0,0,15.30,15.30,15.30
$GC,844,-0.82,-121.7,2259,1984,3415,3316,96.1,-11.3,155,850,0.00,2.28,0.00,0.000,2564,0.000,0.068,2260,584,3365,3415,3316,0,0,0,0,0,0,15.30,15.08,15.30
$GC,872,-0.82,-121.7,2259,585,3421,3317,99.3,-11.7,160,879,0.00,2.25,0.00,0.000,3078,0.000,0.050,2256,1987,3365,3415,3316,0,0,0,0,0,0,15.19,15.10,15.20
$GC,940,-0.82,-121.7,2255,1987,3415,3316,106.2,-10.6,173,947,0.00,2.33,0.00,0.000,2308,0.000,0.073,2255,3394,3365,3415,3316,0,0,0,0,0,0,15.29,15.04,15.30
$GC,1033,-0.82,-121.7,2255,3395,3415,3316,116.3,-10.4,191,1040,0.00,2.25,0.00,0.000,3078,0.000,0.044,2256,1983,3365,3415,3316,0,0,0,0,0,0,15.20,15.11,15.21
$GC,1102,-0.82,-121.7,2255,1983,3415,3316,124.3,-12.0,204,1109,0.00,2.28,0.00,0.000,2564,0.000,0.067,2256,585,3365,3415,3316,0,0,0,0,0,0,15.30,15.09,15.31
$GC,1125,-0.82,-121.7,2255,585,3416,3316,126.8,-10.7,208,1132,0.00,2.25,0.00,0.000,3078,0.000,0.050,2255,1989,3365,3415,3316,0,0,0,0,0,0,15.15,15.07,15.16
$GC,1194,-0.82,-121.7,2255,1988,3415,3316,135.4,-12.2,221,1200,0.00,0.00,0.00,0.000,2054,0.000,0.000,2255,1988,3365,3415,3316,0,0,0,0,0,0,15.30,15.30,15.30
$GC,1262,-0.82,-121.7,2255,1988,3415,3316,143.4,-11.7,234,1268,0.00,0.00,0.00,0.000,2054,0.000,0.000,2256,1988,3365,3414,3316,0,0,0,0,0,0,15.31,15.33,15.30
$GC,1331,-0.82,-121.7,2255,1988,3415,3316,151.1,-10.7,247,1337,0.00,2.33,0.00,0.000,2308,0.000,0.073,2255,3396,3365,3415,3316,0,0,0,0,0,0,15.30,15.06,15.30
$GC,1429,-0.82,-121.7,2255,3396,3416,3316,160.7,-9.5,266,1436,0.00,2.25,0.00,0.000,3078,0.000,0.044,2255,1982,3366,3415,3317,0,0,0,0,0,0,15.21,15.13,15.21
$GC,1498,-0.82,-121.7,2255,1982,3416,3316,166.6,-8.8,279,1503,0.00,0.00,0.00,0.000,2054,0.000,0.000,2255,1981,3366,3416,3316,0,0,0,0,0,0,15.31,15.31,15.31
$GC,1565,-0.82,-121.7,2255,1982,3415,3316,172.1,-7.6,292,1571,0.00,0.00,0.00,0.000,2054,0.000,0.000,2255,1982,3365,3415,3316,0,0,0,0,0,0,15.30,15.30,15.30
$GC,1633,-0.82,-121.7,2255,1982,3416,3316,177.6,-7.5,305,1640,0.00,2.35,0.00,0.000,2308,0.000,0.071,2255,3397,3366,3416,3316,0,0,0,0,0,0,15.31,15.09,15.31
$GC,1663,-0.82,-121.7,2255,3397,3416,3317,179.3,-6.0,310,1669,0.00,2.25,0.00,0.000,3078,0.000,0.044,2255,1986,3365,3415,3316,0,0,0,0,0,0,15.20,15.12,15.21
$GC,1731,-0.82,-121.7,2255,1984,3415,3316,183.9,-6.7,323,1738,0.00,2.33,0.00,0.000,2308,0.000,0.071,2255,3388,3366,3416,3316,0,0,0,0,0,0,15.30,15.07,15.31
$GC,1774,-0.82,-121.7,2261,3389,3415,3316,186.9,-6.1,331,1781,0.00,2.22,0.00,0.000,3078,0.000,0.043,2255,1988,3365,3415,3316,0,0,0,0,0,0,15.20,15.13,15.21
$GC,1845,-0.82,-121.7,2255,1987,3416,3316,191.0,-5.0,344,1851,0.00,2.30,0.00,0.000,2564,0.000,0.070,2255,580,3366,3415,3317,0,0,0,0,0,0,15.30,15.09,15.30
$GC,1868,-0.82,-121.7,2255,581,3415,3316,192.7,-7.6,348,1875,0.00,2.25,0.00,0.000,3078,0.000,0.051,2255,1987,3365,3415,3316,0,0,0,0,0,0,15.20,15.11,15.21
$GC,1936,-0.82,-121.7,2254,1987,3415,3316,196.4,-6.0,361,1944,0.00,2.33,0.00,0.000,2308,0.000,0.075,2255,3390,3365,3415,3316,0,0,0,0,0,0,15.30,15.07,15.30
$GC,1976,-0.82,-121.7,2255,3390,3415,3316,198.7,-5.9,368,1982,0.00,2.25,0.00,0.000,3078,0.000,0.044,2255,1980,3365,3415,3316,0,0,0,0,0,0,15.18,15.07,15.16
$STATE,1998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1998,begin apogee
$GC,2001,-0.17,0.0,2255,1980,3415,3316,200.2,-6.7,372,2099,0.98,0.00,89.97,1.226,10246,0.121,0.000,2466,1977,2867,2897,2837,0,0,0,0,0,0,15.06,14.71,14.23
$STATE,2100,end apogee,CONTROL_FINISHED_OK
$STATE,2100,begin climb
$GC,2102,0.82,121.7,2467,1977,2897,2837,203.4,0.0,389,2203,1.42,2.40,91.12,1.212,10500,0.042,0.064,2812,3391,2370,2417,2324,0,0,0,0,0,0,14.73,14.48,14.09
$GC,2410,0.84,139.5,2811,3391,2414,2322,191.5,9.0,447,2436,0.10,2.28,14.75,1.102,13318,0.289,0.047,2800,1989,2298,2344,2252,0,0,0,0,0,0,14.85,14.95,14.40
$GC,2498,0.87,163.5,2799,1988,2342,2250,184.1,8.6,463,2528,0.00,2.40,19.98,1.133,10756,0.000,0.072,2800,584,2198,2239,2157,0,0,0,0,0,0,15.12,14.81,14.34
$GC,2560,0.87,163.5,2799,584,2237,2157,178.3,10.6,474,2567,0.00,2.30,0.00,0.000,3078,0.000,0.050,2799,1990,2197,2237,2157,0,0,0,0,0,0,14.97,14.88,14.98
$GC,2631,0.88,175.3,2799,1990,2237,2155,171.4,9.3,487,2649,0.00,2.33,10.48,1.031,10500,0.000,0.070,2800,3395,2151,2192,2110,0,0,0,0,0,0,15.13,14.85,14.42
$GC,2656,0.89,179.5,2799,3395,2192,2110,168.8,9.7,491,2669,0.00,2.30,4.85,0.877,9222,0.000,0.047,2808,1984,2134,2177,2092,0,0,0,0,0,0,14.94,14.88,14.39
$GC,2730,0.89,179.5,2808,1984,2177,2089,161.1,10.3,505,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1984,2133,2177,2089,0,0,0,0,0,0,15.12,15.13,15.13
$GC,2797,0.91,194.9,2807,1984,2177,2088,154.6,9.1,518,2816,0.00,2.42,13.45,1.064,10500,0.000,0.070,2808,3401,2072,2117,2027,0,0,0,0,0,0,15.16,14.90,14.43
$GC,2938,0.91,194.9,2807,3401,2117,2025,139.9,10.7,545,2945,0.00,2.30,0.00,0.000,1030,0.000,0.047,2818,1984,2070,2117,2024,0,0,0,0,0,0,15.04,14.97,15.06
$GC,3006,0.91,194.9,2818,1984,2117,2021,133.3,10.0,558,3013,0.00,2.30,0.00,0.000,516,0.000,0.073,2818,583,2069,2116,2022,0,0,0,0,0,0,15.19,14.98,15.19
$GC,3135,0.91,194.9,2818,583,2112,2022,119.4,11.3,583,3142,0.00,2.28,0.00,0.000,1030,0.000,0.050,2818,1994,2068,2115,2021,0,0,0,0,0,0,15.11,15.04,15.13
$GC,3204,0.91,197.2,2817,1994,2114,2022,111.9,9.8,596,3211,0.00,2.30,0.00,0.000,260,0.000,0.071,2818,3398,2068,2114,2022,0,0,0,0,0,0,15.24,15.04,15.25
$GC,3327,0.94,223.2,2818,3399,2114,2021,99.8,8.5,620,3356,0.00,2.28,23.00,1.087,9222,0.000,0.047,2825,1987,1957,2006,1908,0,0,0,0,0,0,15.09,15.03,14.50
$GC,3418,0.94,223.2,2824,1987,2004,1904,90.7,11.1,637,3424,0.00,2.35,0.00,0.000,516,0.000,0.073,2825,575,1953,2003,1904,0,0,0,0,0,0,15.17,14.94,15.18
$GC,3631,0.94,223.2,2824,576,2001,1904,60.0,15.8,679,3638,0.00,2.28,0.00,0.000,1030,0.000,0.050,2825,1988,1952,2001,1904,0,0,0,0,0,0,15.08,15.04,15.09
$GC,3699,0.94,223.2,2825,1988,2001,1903,50.4,14.5,692,3706,0.00,2.33,0.00,0.000,516,0.000,0.071,2825,576,1952,2001,1904,0,0,0,0,0,0,15.24,15.03,15.25
$GC,3727,0.94,223.2,2825,575,2000,1904,45.9,15.8,697,3734,0.00,2.28,0.00,0.000,1030,0.000,0.050,2825,1990,1952,2001,1904,0,0,0,0,0,0,15.10,15.03,15.11
$GC,3796,0.94,223.2,2825,1990,2000,1904,36.6,13.5,710,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1991,1952,2000,1904,0,0,0,0,0,0,15.25,15.26,15.26
$GC,3864,0.94,223.2,2825,1990,2000,1904,27.9,11.8,723,3871,0.00,2.33,0.00,0.000,260,0.000,0.070,2825,3398,1952,2001,1904,0,0,0,0,0,0,15.26,15.05,15.27
$GC,3958,0.94,223.2,2825,3398,2000,1904,15.9,12.6,741,3964,0.00,2.28,0.00,0.000,1030,0.000,0.048,2825,1987,1951,2000,1903,0,0,0,0,0,0,15.14,15.07,15.15
$GC,4026,0.94,223.2,2825,1987,2001,1903,8.1,11.9,754,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1987,1950,1997,1904,0,0,0,0,0,0,15.26,15.27,15.27
$STATE,4073,end climb,SURFACE_DEPTH_REACHED
$STATE,4073,begin surface coast
$FINISH,0.1,1.024236
$STATE,4099,end surface coast,CONTROL_FINISHED_OK
$STATE,4099,begin surface
$SM_CCo,4118,23.67,0.117,0,0,1766,270.07
$SM_GC,1.51,12.23,0.00,23.67,0.057,0.000,0.117,146,1985,1766,-7.39,-0.06,270.07,0,0,0,0,0,0,15.08,15.30,15.04
$IRIDIUM_FIX,-2737.23,3135.01,140918,085110
$TT8_MAMPS,0.019474,0.990178
$HUMID,48.11
$INTERNAL_PRESSURE,9.31641
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.9
$SC_FREEKB,3919072
$24V_AH,14.09,7.645
$10V_AH,13.83,0.000
$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,26.475,96.500,267.600,23.675,0.000,0.000,0.000,0.000,2.750,0.000,25.693,1765.520,708.506,476.881,1227.216,48.128,0.000,1137.782,0.000,1152.777,0.000,18.492,0.000
$DEVICE_MAMPS,325.890,89.505,1225.530,117.045,0.000,0.000,0.000,0.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4083.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.493,0.000,0.000,0.000
$MEM,343420
$DATA_FILE_SIZE,20061,768
$CAP_FILE_SIZE,147039,0
$CFSIZE,1023623168,1021509632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.438,194.76,1
$GPS,140918,100719,-2750.585,3240.140,26,1.1,46,-22.3,0.0,225.2,9,5.0