version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 48
start: 9 17 118 11 29 43
data:
$ID,573
$MISSION,22
$DIVE,48
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$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,200
$T_MISSION,215
$T_ABORT,345
$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,130
$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,290
$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,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,1987
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,73
$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,15
$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,3
$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
$GPS1,170918,110332,-2855.1677,3216.5037,16,1.0,56,-23.7,0.3,204.0,11,15.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.5
$GPS2,170918,112933,-2855.2537,3216.4075,41,0.7,59,-23.7,0.2,237.7,11,10.0
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,-2851.560,3204.821
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,313.7,20000,-19.7,-10.000,-22.33,1939
$D_GRID,600
$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,-0.81,-126.5,73,2171,1799,1732,0.0,0.0,0,64,0.00,0.00,-45.17,0.000,16386,0.000,0.000,76,2171,3046,3049,3044,0,0,0,0,0,0,15.05,28.83,15.07
$GC,66,-0.81,-126.5,73,2172,3051,3045,3.2,-6.5,8,89,12.12,2.28,-6.25,0.000,18692,0.296,0.088,2208,3500,3385,3429,3342,0,0,0,0,0,0,14.75,14.14,14.88
$GC,248,-0.81,-126.5,2207,3500,3432,3342,38.0,-15.7,44,256,0.05,2.25,0.00,0.000,3078,0.249,0.039,2220,2123,3386,3430,3342,0,0,0,0,0,0,14.82,14.91,14.92
$GC,315,-0.81,-126.5,2220,2123,3432,3342,47.8,-15.3,57,321,0.00,2.30,0.00,0.000,2564,0.000,0.065,2221,734,3385,3430,3341,0,0,0,0,0,0,15.14,14.95,15.15
$GC,340,-0.81,-126.5,2221,730,3430,3342,51.4,-13.4,62,347,0.00,2.25,0.00,0.000,3078,0.000,0.050,2221,2093,3385,3430,3341,0,0,0,0,0,0,15.00,14.96,15.01
$GC,406,-0.81,-126.5,2220,2093,3432,3342,60.1,-12.7,75,413,0.00,2.42,0.00,0.000,2308,0.000,0.075,2221,3537,3385,3429,3342,0,0,0,0,0,0,15.15,14.96,15.15
$GC,491,-0.81,-126.5,2220,3537,3432,3342,71.8,-13.4,92,499,0.00,2.30,0.00,0.000,3078,0.000,0.037,2221,2127,3386,3431,3342,0,0,0,0,0,0,15.02,14.98,15.04
$GC,558,-0.81,-126.5,2219,2127,3432,3340,81.3,-15.4,105,563,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2127,3386,3431,3342,0,0,0,0,0,0,15.18,15.18,15.18
$GC,622,-0.81,-126.5,2220,2127,3432,3342,91.4,-15.1,118,623,0.00,0.00,0.00,0.000,2054,0.000,0.000,2220,2127,3386,3431,3341,0,0,0,0,0,0,15.18,15.18,15.19
$GC,683,-0.81,-126.5,2221,2128,3431,3342,100.2,-14.9,130,688,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2126,3386,3431,3341,0,0,0,0,0,0,15.16,15.17,15.17
$GC,747,-0.81,-126.5,2219,2128,3431,3342,109.4,-13.8,143,754,0.00,2.35,0.00,0.000,2564,0.000,0.065,2220,727,3385,3429,3342,0,0,0,0,0,0,15.19,14.99,15.19
$GC,793,-0.81,-126.5,2221,729,3433,3342,116.3,-14.5,152,800,0.00,2.30,0.00,0.000,3078,0.000,0.050,2220,2126,3386,3431,3341,0,0,0,0,0,0,15.02,14.97,15.03
$GC,859,-0.81,-126.5,2221,2126,3431,3342,124.8,-13.7,165,866,0.00,2.40,0.00,0.000,2308,0.000,0.074,2213,3532,3386,3431,3341,0,0,0,0,0,0,15.20,14.99,15.21
$GC,954,-0.81,-126.5,2214,3532,3432,3342,138.2,-13.4,184,962,0.00,2.28,0.00,0.000,3078,0.000,0.037,2214,2136,3386,3431,3342,0,0,0,0,0,0,15.04,14.98,15.05
$GC,1021,-0.81,-126.5,2215,2137,3431,3342,146.8,-13.2,197,1026,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2136,3384,3432,3337,0,0,0,0,0,0,15.20,15.21,15.21
$GC,1085,-0.81,-126.5,2214,2137,3433,3342,156.0,-15.0,210,1092,0.00,2.40,0.00,0.000,2308,0.000,0.073,2214,3532,3386,3431,3341,0,0,0,0,0,0,15.21,15.00,15.21
$GC,1146,-0.81,-126.5,2214,3534,3433,3342,164.9,-13.4,222,1153,0.00,2.28,0.00,0.000,3078,0.000,0.037,2214,2132,3386,3431,3342,0,0,0,0,0,0,15.07,15.04,15.09
$GC,1212,-0.81,-126.5,2215,2132,3432,3342,173.6,-13.5,235,1217,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2131,3387,3432,3342,0,0,0,0,0,0,15.20,15.21,15.20
$GC,1277,-0.81,-126.5,2215,2132,3431,3342,181.8,-12.2,248,1278,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2131,3386,3432,3341,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1337,-0.81,-126.5,2215,2132,3432,3342,188.4,-11.1,260,1344,0.00,2.40,0.00,0.000,2308,0.000,0.073,2212,3534,3387,3432,3342,0,0,0,0,0,0,15.21,15.01,15.21
$GC,1382,-0.81,-126.5,2213,3534,3433,3342,193.6,-10.9,269,1390,0.00,2.30,0.00,0.000,3078,0.000,0.038,2214,2122,3386,3432,3341,0,0,0,0,0,0,15.07,15.03,15.09
$GC,1449,-0.81,-126.5,2215,2122,3431,3342,200.7,-9.2,282,1454,0.03,0.00,0.00,0.000,2054,0.489,0.000,2222,2120,3387,3432,3342,0,0,0,0,0,0,14.95,15.11,15.09
$GC,1514,-0.81,-126.5,2223,2121,3432,3341,207.5,-9.4,295,1520,0.00,2.38,0.00,0.000,2308,0.000,0.073,2220,3535,3386,3431,3341,0,0,0,0,0,0,15.23,15.02,15.23
$GC,1534,-0.81,-126.5,2221,3536,3431,3342,209.2,-8.6,299,1541,0.00,2.30,0.00,0.000,3078,0.000,0.037,2221,2119,3387,3432,3342,0,0,0,0,0,0,15.07,15.04,15.09
$GC,1600,-0.81,-126.5,2220,2119,3433,3342,215.7,-10.8,312,1601,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2118,3386,3431,3341,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1660,-0.81,-126.5,2220,2118,3433,3342,222.3,-11.3,324,1661,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2118,3386,3431,3341,0,0,0,0,0,0,15.23,15.24,15.26
$GC,1720,-0.81,-126.5,2221,2118,3431,3342,228.7,-11.1,336,1721,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2117,3387,3432,3342,0,0,0,0,0,0,15.24,15.24,15.24
$GC,1780,-0.81,-126.5,2222,2117,3432,3342,234.9,-9.8,348,1787,0.00,2.33,0.00,0.000,2564,0.000,0.066,2220,732,3386,3431,3341,0,0,0,0,0,0,15.24,15.02,15.24
$GC,1811,-0.81,-126.5,2222,733,3431,3342,237.9,-10.1,354,1818,0.00,2.30,0.00,0.000,3078,0.000,0.050,2220,2133,3386,3431,3341,0,0,0,0,0,0,15.09,15.04,15.10
$GC,1877,-0.81,-126.5,2222,2134,3432,3342,243.7,-9.9,367,1882,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2133,3386,3431,3341,0,0,0,0,0,0,15.24,15.24,15.24
$GC,1941,-0.81,-126.5,2221,2135,3431,3342,247.1,0.4,380,1948,0.00,2.35,0.00,0.000,2564,0.000,0.067,2220,740,3386,3431,3341,0,0,0,0,0,0,15.25,15.04,15.26
$STATE,2111,end dive,NO_VERTICAL_VELOCITY
$STATE,2112,begin apogee
$GC,2116,-0.17,0.0,2223,1985,3432,3341,246.6,0.0,414,2215,0.98,0.00,93.45,1.287,10246,0.114,0.000,2434,1986,2867,2898,2837,0,0,0,0,0,0,15.03,14.60,14.10
$STATE,2216,end apogee,CONTROL_FINISHED_OK
$STATE,2216,begin climb
$GC,2217,0.81,126.5,2435,1987,2898,2838,246.4,0.0,432,2320,1.38,2.42,94.22,1.273,10756,0.081,0.073,2735,597,2351,2402,2301,0,0,0,0,0,0,14.59,14.35,13.95
$GC,2819,1.04,311.7,2737,597,2394,2301,245.8,0.2,550,2973,0.30,2.28,145.27,1.300,11270,0.055,0.041,2836,1989,1597,1663,1532,0,0,0,0,0,0,14.99,14.97,13.96
$GC,3032,1.27,499.9,2837,1989,1660,1527,245.8,0.0,590,3191,0.17,2.47,151.27,1.284,10756,0.096,0.077,2909,593,827,855,800,0,0,0,0,0,0,14.68,14.29,13.91
$GC,3690,1.50,690.8,2909,593,862,783,245.8,-0.1,719,3746,0.17,2.28,46.95,1.297,11270,0.073,0.035,2981,2004,597,552,643,0,0,0,0,0,0,14.97,14.97,14.21
$GC,3806,1.74,879.6,2980,2004,553,634,245.8,-0.0,741,3813,0.20,2.42,0.00,0.000,2564,0.089,0.081,3051,596,592,553,632,0,0,0,0,0,0,14.80,14.76,14.85
$GC,4311,1.97,1069.2,3052,596,558,618,245.8,-0.0,842,4319,0.22,2.22,0.00,0.000,3078,0.073,0.034,3133,1989,587,558,617,0,0,0,0,0,0,15.02,15.01,15.01
$GC,4378,2.20,1256.1,3134,1990,559,618,246.0,0.1,855,4385,0.20,2.35,0.00,0.000,2564,0.093,0.080,3210,599,588,559,617,0,0,0,0,0,0,15.04,14.98,15.09
$GC,4883,2.43,1445.9,3211,599,560,613,245.7,-0.1,956,4891,0.17,2.22,0.00,0.000,3078,0.080,0.034,3278,1989,586,560,613,0,0,0,0,0,0,15.05,15.04,15.08
$GC,4950,2.67,1634.6,3279,1991,560,614,245.7,0.0,969,4957,0.20,2.35,0.00,0.000,2564,0.090,0.081,3354,599,586,560,613,0,0,0,0,0,0,15.09,15.02,15.14
$GC,5456,2.90,1823.1,3354,599,562,618,245.7,0.0,1070,5463,0.20,2.22,0.00,0.000,3078,0.076,0.034,3429,1992,587,562,612,0,0,0,0,0,0,15.08,15.08,15.11
$GC,5522,3.13,2014.2,3429,1993,560,612,245.8,-0.1,1083,5529,0.20,2.40,0.00,0.000,2564,0.096,0.091,3504,597,586,561,611,0,0,0,0,0,0,15.09,15.00,15.14
$GC,6028,3.37,2205.6,3504,598,563,611,246.0,-0.1,1184,6035,0.17,2.22,0.00,0.000,3078,0.074,0.035,3573,1984,586,562,610,0,0,0,0,0,0,15.08,15.08,15.11
$GC,6094,3.61,2398.2,3574,1985,561,611,245.7,-0.2,1197,6101,0.22,2.38,0.00,0.000,2564,0.084,0.086,3653,593,586,562,610,0,0,0,0,0,0,15.07,15.03,15.11
$GC,6600,3.84,2588.0,3652,594,564,611,245.7,-0.1,1298,6607,0.20,2.25,0.00,0.000,3078,0.076,0.040,3724,1981,585,561,610,0,0,0,0,0,0,15.11,15.07,15.12
$GC,6666,4.08,2782.2,3724,1982,564,611,245.6,-0.3,1311,6673,0.22,2.33,0.00,0.000,2564,0.089,0.079,3805,590,585,561,610,0,0,0,0,0,0,15.10,15.04,15.16
$GC,6792,4.08,2782.2,3805,589,563,611,194.4,72.2,1336,6799,0.00,2.28,0.00,0.000,5126,0.000,0.044,3805,1993,586,562,610,0,0,0,0,0,0,15.08,15.04,15.09
$GC,6859,4.08,2782.2,3805,2000,563,611,148.1,68.7,1349,6865,0.00,2.28,0.00,0.000,4356,0.000,0.053,3805,3385,586,562,610,0,0,0,0,0,0,15.25,15.05,15.26
$STATE,7078,end climb,SURFACE_DEPTH_REACHED
$STATE,7078,begin surface coast
$FINISH,0.0,1.024352
$STATE,7083,end surface coast,CONTROL_FINISHED_OK
$STATE,7083,begin surface
$SM_CCo,7168,0.00,0.000,0,0,585,560.01
$SM_GC,0.73,16.95,2.05,0.00,0.067,0.044,0.000,148,2135,585,-7.27,1.53,560.01,0,0,0,0,0,0,15.04,15.08,15.12
$IRIDIUM_FIX,-2843.29,3214.68,170918,110912
$TT8_MAMPS,0.038199,0.903294
$HUMID,51.18
$INTERNAL_PRESSURE,9.07226
$TCM_TEMP,22.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,17.6,16.3
$ALTIM_BOTTOM_PING,210.2,66.4
$SC_FREEKB,3897824
$24V_AH,13.91,17.717
$10V_AH,13.42,0.000
$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,34.375,87.875,531.175,0.000,0.000,76.267,133.183,925.788,3.500,0.000,59.949,0.000,3944.881,649.061,4001.712,115.078,0.000,1697.508,0.000,2095.854,0.000,24.377,0.000
$DEVICE_MAMPS,488.835,91.035,1300.500,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7176.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.698,0.000,0.000,0.000
$MEM,343616
$DATA_FILE_SIZE,36640,1394
$CAP_FILE_SIZE,209727,0
$CFSIZE,1023623168,1015496704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170918,133005,-2854.600,3216.176,33,0.7,36,-23.7,0.4,165.0,11,10.0