version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 10
start: 9 14 118 13 14 5
data:
$ID,573
$MISSION,22
$DIVE,10
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,167
$T_MISSION,182
$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,100
$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,36
$R_STBD_OVSHOOT,36
$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,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
$GPS1,140918,130132,-2751.8748,3239.8843,24,1.0,45,-22.4,0.0,232.6,8,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.3
$GPS2,140918,131340,-2751.9644,3239.8201,20,1.1,20,-22.4,0.6,200.9,8,9.2
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,GINA_DEPLOY
$TGT_LATLONG,-2747.000,3248.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,33.0,16253,-22.4,-9.980,-24.89,1496
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,20,-0.87,-97.3,103,1978,1775,1739,0.0,0.0,0,70,0.00,0.00,-47.70,0.000,16386,0.000,0.000,103,1978,3083,3097,3070,0,0,0,0,0,0,15.14,28.83,15.14
$GC,72,-0.87,-97.3,102,1978,3096,3071,3.3,-7.5,8,93,11.90,2.40,-3.50,0.000,18692,0.283,0.089,2233,3396,3265,3309,3222,0,0,0,0,0,0,14.83,14.14,15.02
$GC,251,-0.87,-97.3,2233,3395,3310,3222,30.8,-11.5,42,257,0.00,2.28,0.00,0.000,3078,0.000,0.044,2233,1982,3266,3310,3222,0,0,0,0,0,0,15.07,15.00,15.08
$GC,319,-0.87,-97.3,2233,1981,3310,3222,39.1,-11.9,55,325,0.00,2.35,0.00,0.000,2308,0.000,0.071,2223,3392,3266,3311,3222,0,0,0,0,0,0,15.22,15.01,15.23
$GC,347,-0.87,-97.3,2221,3392,3310,3222,42.8,-13.3,60,354,0.10,2.28,0.00,0.000,3078,0.233,0.044,2246,1976,3266,3310,3222,0,0,0,0,0,0,14.97,15.04,15.09
$GC,416,-0.87,-97.3,2245,1976,3311,3222,50.6,-11.5,73,424,0.00,2.38,0.00,0.000,2308,0.000,0.070,2238,3397,3266,3311,3222,0,0,0,0,0,0,15.24,15.01,15.24
$GC,450,-0.87,-97.3,2237,3398,3311,3222,54.4,-11.6,79,456,0.00,2.28,0.00,0.000,3078,0.000,0.044,2238,1978,3268,3311,3226,0,0,0,0,0,0,15.09,15.07,15.11
$GC,517,-0.87,-97.3,2238,1978,3311,3222,62.6,-11.6,92,524,0.00,2.30,0.00,0.000,2564,0.000,0.070,2238,581,3266,3311,3222,0,0,0,0,0,0,15.26,15.04,15.26
$GC,546,-0.87,-97.3,2238,580,3311,3222,65.5,-10.6,97,553,0.00,2.28,0.00,0.000,3078,0.000,0.052,2238,1990,3266,3311,3222,0,0,0,0,0,0,15.11,15.03,15.11
$GC,615,-0.87,-97.3,2237,1990,3311,3222,73.1,-10.2,110,621,0.00,0.00,0.00,0.000,2054,0.000,0.000,2238,1990,3266,3311,3222,0,0,0,0,0,0,15.26,15.26,15.26
$GC,681,-0.87,-97.3,2237,1991,3311,3222,80.1,-10.5,123,688,0.00,2.33,0.00,0.000,2308,0.000,0.073,2234,3393,3266,3311,3222,0,0,0,0,0,0,15.28,15.04,15.28
$GC,750,-0.87,-97.3,2234,3393,3311,3222,86.3,-8.9,136,757,0.00,2.25,0.00,0.000,3078,0.000,0.044,2235,1986,3267,3312,3222,0,0,0,0,0,0,15.12,15.04,15.13
$GC,819,-0.87,-97.3,2234,1986,3313,3222,92.5,-9.0,149,827,0.00,2.30,0.00,0.000,2564,0.000,0.070,2235,589,3267,3312,3222,0,0,0,0,0,0,15.27,15.06,15.27
$GC,849,-0.87,-97.3,2234,583,3312,3223,95.4,-10.3,154,855,0.00,2.28,0.00,0.000,3078,0.000,0.051,2234,1995,3267,3312,3222,0,0,0,0,0,0,15.17,15.09,15.18
$GC,917,-0.87,-97.3,2234,1995,3313,3222,101.6,-9.4,167,923,0.00,2.33,0.00,0.000,2308,0.000,0.073,2231,3398,3267,3312,3222,0,0,0,0,0,0,15.28,15.06,15.28
$GC,1000,-0.87,-97.3,2230,3398,3313,3222,110.1,-10.5,183,1008,0.05,2.25,0.00,0.000,3078,0.319,0.043,2244,1985,3267,3312,3222,0,0,0,0,0,0,14.97,15.06,15.10
$GC,1069,-0.87,-97.3,2243,1985,3313,3222,117.3,-10.9,196,1076,0.00,2.30,0.00,0.000,2564,0.000,0.070,2244,580,3267,3313,3222,0,0,0,0,0,0,15.27,15.07,15.28
$GC,1118,-0.87,-97.3,2244,580,3312,3222,123.5,-12.5,205,1125,0.00,2.28,0.00,0.000,3078,0.000,0.050,2244,1994,3267,3313,3222,0,0,0,0,0,0,15.16,15.10,15.19
$GC,1187,-0.87,-97.3,2244,1994,3313,3222,130.9,-11.0,218,1194,0.00,2.33,0.00,0.000,2308,0.000,0.074,2244,3398,3267,3313,3222,0,0,0,0,0,0,15.29,15.07,15.30
$GC,1312,-0.87,-97.3,2244,3398,3313,3222,143.6,-9.4,242,1318,0.00,2.25,0.00,0.000,3078,0.000,0.043,2240,1984,3267,3313,3222,0,0,0,0,0,0,15.16,15.07,15.17
$GC,1380,-0.87,-97.3,2243,1984,3313,3222,149.4,-8.2,255,1386,0.00,0.00,0.00,0.000,2054,0.000,0.000,2244,1984,3267,3313,3222,0,0,0,0,0,0,15.28,15.29,15.29
$GC,1448,-0.87,-97.3,2244,1984,3313,3222,155.3,-8.0,268,1454,0.00,2.35,0.00,0.000,2308,0.000,0.071,2244,3395,3267,3313,3222,0,0,0,0,0,0,15.29,15.08,15.30
$GC,1476,-0.87,-97.3,2243,3396,3313,3222,157.0,-6.2,273,1484,0.00,2.25,0.00,0.000,3078,0.000,0.043,2243,1987,3267,3313,3222,0,0,0,0,0,0,15.16,15.09,15.17
$GC,1546,-0.87,-97.3,2243,1986,3312,3222,161.8,-6.7,286,1553,0.00,2.30,0.00,0.000,2564,0.000,0.070,2244,586,3267,3313,3222,0,0,0,0,0,0,15.30,15.06,15.30
$GC,1574,-0.87,-97.3,2243,584,3314,3222,164.1,-8.1,291,1581,0.00,2.25,0.00,0.000,3078,0.000,0.051,2244,1989,3267,3313,3222,0,0,0,0,0,0,15.19,15.10,15.19
$GC,1644,-0.87,-97.3,2246,1989,3313,3222,169.8,-7.7,304,1651,0.00,2.33,0.00,0.000,2308,0.000,0.074,2242,3393,3267,3313,3222,0,0,0,0,0,0,15.29,15.07,15.29
$GC,1679,-0.87,-97.3,2242,3394,3313,3222,172.6,-8.3,310,1686,0.00,2.25,0.00,0.000,3078,0.000,0.044,2242,1983,3267,3313,3222,0,0,0,0,0,0,15.19,15.10,15.19
$GC,1747,-0.87,-97.3,2242,1983,3313,3222,177.9,-8.5,323,1754,0.00,2.30,0.00,0.000,2564,0.000,0.071,2242,585,3267,3313,3222,0,0,0,0,0,0,15.29,15.07,15.29
$GC,1766,-0.87,-97.3,2242,584,3312,3222,179.5,-7.3,326,1773,0.00,2.25,0.00,0.000,3078,0.000,0.051,2244,1987,3267,3313,3222,0,0,0,0,0,0,15.16,15.08,15.17
$GC,1835,-0.87,-97.3,2241,1988,3313,3222,185.6,-8.9,339,1841,0.00,2.33,0.00,0.000,2308,0.000,0.074,2242,3392,3267,3313,3222,0,0,0,0,0,0,15.28,15.04,15.29
$GC,1893,-0.87,-97.3,2241,3393,3313,3222,190.9,-9.2,350,1900,0.00,2.25,0.00,0.000,3078,0.000,0.044,2242,1986,3267,3313,3222,0,0,0,0,0,0,15.19,15.11,15.20
$GC,1962,-0.87,-97.3,2242,1986,3313,3222,197.0,-9.4,363,1968,0.00,2.35,0.00,0.000,2308,0.000,0.073,2242,3394,3267,3312,3222,0,0,0,0,0,0,15.29,15.07,15.30
$GC,1995,-0.87,-97.3,2241,3394,3312,3222,200.0,-9.3,369,2003,0.00,2.25,0.00,0.000,3078,0.000,0.044,2242,1986,3267,3313,3222,0,0,0,0,0,0,15.19,15.11,15.20
$GC,2066,-0.87,-97.3,2241,1986,3313,3222,206.5,-9.2,382,2071,0.00,0.00,0.00,0.000,2054,0.000,0.000,2242,1986,3267,3313,3222,0,0,0,0,0,0,15.30,15.30,15.30
$GC,2135,-0.87,-97.3,2241,1986,3312,3222,213.2,-9.6,395,2142,0.00,2.35,0.00,0.000,2308,0.000,0.073,2242,3394,3266,3312,3220,0,0,0,0,0,0,15.30,15.09,15.30
$GC,2169,-0.87,-97.3,2241,3394,3312,3217,216.4,-8.3,401,2176,0.00,2.25,0.00,0.000,3078,0.000,0.044,2242,1986,3267,3312,3222,0,0,0,0,0,0,15.19,15.11,15.21
$GC,2239,-0.87,-97.3,2241,1986,3312,3222,222.5,-8.3,414,2245,0.00,0.00,0.00,0.000,2054,0.000,0.000,2242,1986,3267,3312,3222,0,0,0,0,0,0,15.31,15.32,15.32
$GC,2306,-0.87,-97.3,2241,1986,3311,3222,227.9,-8.5,427,2312,0.00,0.00,0.00,0.000,2054,0.000,0.000,2242,1986,3266,3311,3222,0,0,0,0,0,0,15.30,15.31,15.31
$GC,2375,-0.87,-97.3,2242,1986,3311,3222,233.8,-9.0,440,2381,0.00,0.00,0.00,0.000,2054,0.000,0.000,2242,1986,3266,3311,3222,0,0,0,0,0,0,15.30,15.31,15.30
$GC,2442,-0.87,-97.3,2241,1986,3311,3222,239.8,-8.9,453,2450,0.00,2.35,0.00,0.000,2308,0.000,0.073,2242,3391,3265,3309,3222,0,0,0,0,0,0,15.32,15.09,15.33
$GC,2482,-0.87,-97.3,2246,3391,3310,3222,243.3,-8.9,460,2489,0.00,2.25,0.00,0.000,3078,0.000,0.045,2242,1988,3266,3310,3222,0,0,0,0,0,0,15.21,15.11,15.21
$STATE,2504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2504,begin apogee
$GC,2507,-0.17,0.0,2242,1987,3310,3222,245.4,-8.5,464,2588,1.05,0.00,73.25,1.314,10246,0.129,0.000,2467,1988,2868,2896,2841,0,0,0,0,0,0,15.06,14.70,14.21
$STATE,2590,end apogee,CONTROL_FINISHED_OK
$STATE,2590,begin climb
$GC,2591,0.87,97.3,2467,1987,2896,2838,249.6,0.0,478,2603,1.50,0.00,7.95,1.043,10242,0.043,0.000,2828,1987,2833,2858,2809,0,0,0,0,0,0,14.76,28.83,14.78
$STATE,2604,end climb,ABORT_DEPTH_EXCEEDED
$SM_CCo,2616,432.23,1.281,0,0,599,556.33
$SM_GC,0.79,12.52,0.00,0.00,0.093,0.000,0.000,149,1987,588,-7.38,0.00,559.27,0,0,0,0,0,0,15.14,15.38,15.21
$IRIDIUM_FIX,-2739.67,3239.87,140918,114337
$TT8_MAMPS,0.038199,0.983437
$HUMID,51.65
$INTERNAL_PRESSURE,9.14062
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3917536
$24V_AH,14.02,8.313
$10V_AH,14.01,0.000
$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,27.125,78.050,81.200,432.225,0.000,24.057,38.217,470.776,3.750,0.000,20.946,1172.811,1281.695,706.852,1429.547,63.890,0.000,1161.980,0.000,725.736,0.000,24.593,0.000
$DEVICE_MAMPS,319.005,88.740,1313.505,1281.375,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2675.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.976,0.000,0.000,0.000
$MEM,343468
$DATA_FILE_SIZE,10129,479
$CAP_FILE_SIZE,112927,1
$CFSIZE,1023623168,1021116416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,140918,142006,-2752.536,3239.706,19,0.8,21,-22.4,0.7,204.8,10,10.0