version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 49
start: 9 17 118 13 44 54
data:
$ID,573
$MISSION,22
$DIVE,49
$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,210
$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,42
$R_STBD_OVSHOOT,46
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$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
$GPS1,170918,133005,-2854.5996,3216.1760,33,0.7,36,-23.7,0.4,165.0,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-60.3
$GPS2,170918,134443,-2854.6118,3216.1160,20,0.8,28,-23.7,0.6,246.3,11,9.7
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,-2903.964,3209.938
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,233.7,20000,-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,17,-0.81,-126.5,72,2132,566,609,0.0,0.0,0,107,0.00,0.00,-88.25,0.000,16386,0.000,0.000,72,2132,3011,3034,2989,0,0,0,0,0,0,15.04,28.83,15.04
$GC,109,-0.81,-126.5,72,2133,3036,2991,3.4,-8.7,16,133,12.12,2.33,-5.82,0.000,18948,0.295,0.086,2220,730,3327,3375,3280,0,0,0,0,0,0,14.75,14.36,14.87
$GC,256,-0.81,-126.5,2221,731,3376,3281,35.4,-17.0,45,263,0.00,2.30,0.00,0.000,3078,0.000,0.050,2217,2119,3328,3376,3281,0,0,0,0,0,0,14.97,14.93,14.99
$GC,322,-0.81,-126.5,2216,2119,3378,3282,46.3,-16.3,58,329,0.00,2.42,0.00,0.000,2308,0.000,0.074,2213,3535,3328,3376,3281,0,0,0,0,0,0,15.14,14.90,15.14
$GC,408,-0.81,-126.5,2214,3536,3376,3281,60.4,-15.2,75,415,0.00,2.30,0.00,0.000,3078,0.000,0.039,2213,2130,3328,3376,3281,0,0,0,0,0,0,15.00,14.95,15.01
$GC,475,-0.81,-126.5,2213,2129,3378,3282,70.7,-15.6,88,480,0.05,0.00,0.00,0.000,2054,0.345,0.000,2224,2127,3328,3376,3281,0,0,0,0,0,0,14.86,15.02,15.00
$GC,540,-0.81,-126.5,2223,2128,3378,3282,80.2,-14.3,101,545,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2128,3328,3376,3281,0,0,0,0,0,0,15.15,15.16,15.16
$GC,605,-0.81,-126.5,2224,2128,3376,3281,90.1,-15.1,114,611,0.00,2.38,0.00,0.000,2308,0.000,0.072,2217,3539,3328,3376,3281,0,0,0,0,0,0,15.16,14.99,15.16
$GC,640,-0.81,-126.5,2216,3540,3378,3281,95.1,-14.4,121,647,0.00,2.30,0.00,0.000,3078,0.000,0.039,2216,2129,3328,3376,3281,0,0,0,0,0,0,15.04,15.00,15.05
$GC,706,-0.81,-126.5,2217,2130,3376,3281,104.3,-13.3,134,707,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2129,3329,3377,3281,0,0,0,0,0,0,15.19,15.19,15.19
$GC,766,-0.81,-126.5,2216,2130,3377,3281,112.3,-14.6,146,767,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2129,3329,3377,3281,0,0,0,0,0,0,15.20,15.20,15.20
$GC,826,-0.81,-126.5,2216,2129,3378,3282,122.4,-17.1,158,833,0.00,2.35,0.00,0.000,2564,0.000,0.067,2216,732,3329,3377,3281,0,0,0,0,0,0,15.20,14.99,15.21
$GC,862,-0.81,-126.5,2218,731,3377,3281,128.6,-16.3,165,870,0.03,2.30,0.00,0.000,3078,0.396,0.051,2218,2129,3329,3377,3281,0,0,0,0,0,0,14.85,15.01,14.96
$GC,928,-0.81,-126.5,2220,2129,3377,3281,139.1,-16.3,178,929,0.00,0.00,0.00,0.000,2054,0.000,0.000,2215,2129,3329,3377,3281,0,0,0,0,0,0,15.21,15.21,15.21
$GC,988,-0.81,-126.5,2220,2130,3377,3281,148.4,-14.2,190,989,0.00,0.00,0.00,0.000,2054,0.000,0.000,2219,2128,3329,3377,3281,0,0,0,0,0,0,15.21,15.22,15.22
$GC,1049,-0.81,-126.5,2218,2130,3379,3282,157.4,-14.7,202,1049,0.00,0.00,0.00,0.000,2054,0.000,0.000,2219,2129,3329,3377,3281,0,0,0,0,0,0,15.21,15.22,15.22
$GC,1108,-0.81,-126.5,2220,2130,3378,3281,167.1,-15.9,214,1116,0.00,2.40,0.00,0.000,2308,0.000,0.076,2214,3537,3329,3377,3281,0,0,0,0,0,0,15.22,14.99,15.22
$GC,1134,-0.81,-126.5,2215,3537,3377,3281,170.7,-14.5,219,1141,0.00,2.30,0.00,0.000,3078,0.000,0.040,2214,2129,3329,3378,3281,0,0,0,0,0,0,15.06,15.02,15.07
$STATE,1144,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1144,begin apogee
$GC,1147,-0.17,0.0,2215,1955,3377,3282,172.0,-12.5,221,1246,1.05,0.00,92.28,1.178,10246,0.158,0.000,2430,1953,2812,2842,2782,0,0,0,0,0,0,14.96,14.62,14.14
$STATE,1247,end apogee,CONTROL_FINISHED_OK
$STATE,1247,begin climb
$GC,1248,0.81,126.5,2431,1954,2842,2783,179.5,0.0,239,1352,1.42,2.35,96.15,1.168,10756,0.090,0.069,2743,618,2294,2342,2247,0,0,0,0,0,0,14.59,14.44,14.00
$GC,1846,0.94,231.5,2742,618,2335,2247,163.1,4.4,356,1936,0.10,2.25,80.53,1.167,11270,0.096,0.044,2795,1999,1866,1919,1813,0,0,0,0,0,0,14.97,14.95,14.14
$GC,1995,0.94,231.5,2795,2000,1917,1809,149.7,12.7,384,1996,0.00,0.00,0.00,0.000,4102,0.000,0.000,2795,1999,1862,1916,1808,0,0,0,0,0,0,14.90,14.90,14.90
$GC,2055,0.94,231.5,2796,2000,1915,1808,142.3,12.8,396,2062,0.00,2.40,0.00,0.000,4612,0.000,0.070,2806,616,1864,1922,1807,0,0,0,0,0,0,14.98,14.77,14.98
$GC,2100,0.94,231.5,2805,617,1912,1807,136.6,12.3,405,2108,0.05,2.25,0.00,0.000,5126,0.252,0.044,2796,1978,1859,1912,1807,0,0,0,0,0,0,14.74,14.84,14.83
$GC,2167,0.94,233.9,2796,1979,1912,1806,129.2,9.9,418,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1978,1859,1913,1806,0,0,0,0,0,0,15.04,15.05,15.04
$GC,2227,0.94,234.1,2796,1979,1912,1806,123.5,10.0,430,2234,0.00,2.33,0.00,0.000,4612,0.000,0.072,2798,623,1858,1912,1805,0,0,0,0,0,0,15.07,14.88,15.08
$GC,2332,0.94,234.1,2795,623,1912,1806,110.9,12.9,451,2339,0.00,2.25,0.00,0.000,5126,0.000,0.045,2798,1984,1858,1910,1806,0,0,0,0,0,0,14.98,14.93,15.00
$GC,2399,0.94,234.1,2799,1986,1910,1806,102.2,13.8,464,2404,0.00,0.00,0.00,0.000,4102,0.000,0.000,2797,1985,1857,1910,1805,0,0,0,0,0,0,15.14,15.14,15.14
$GC,2463,0.94,234.1,2795,1985,1912,1805,93.7,12.9,477,2470,0.00,2.38,0.00,0.000,4356,0.000,0.069,2798,3385,1857,1910,1805,0,0,0,0,0,0,15.16,14.92,15.16
$GC,2494,0.94,234.1,2797,3386,1911,1806,89.4,14.1,483,2501,0.05,2.28,0.00,0.000,5126,0.277,0.044,2797,2010,1857,1910,1804,0,0,0,0,0,0,14.85,14.96,14.96
$GC,2560,0.94,234.1,2796,2011,1912,1805,80.9,12.5,496,2561,0.00,0.00,0.00,0.000,4102,0.000,0.000,2796,2010,1857,1910,1804,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2620,0.94,234.1,2798,2011,1910,1804,73.5,12.2,508,2621,0.00,0.00,0.00,0.000,4102,0.000,0.000,2797,2011,1857,1910,1804,0,0,0,0,0,0,15.17,15.21,15.18
$GC,2680,0.94,234.1,2797,2011,1910,1804,66.3,12.4,520,2687,0.00,2.35,0.00,0.000,4356,0.000,0.067,2796,3392,1856,1910,1803,0,0,0,0,0,0,15.19,14.97,15.19
$GC,2706,0.94,234.1,2796,3393,1911,1804,63.1,12.4,525,2713,0.00,2.33,0.00,0.000,5126,0.000,0.045,2801,1984,1855,1908,1803,0,0,0,0,0,0,15.04,15.00,15.05
$GC,2772,0.94,234.1,2801,1985,1910,1803,56.5,10.1,538,2773,0.00,0.00,0.00,0.000,4102,0.000,0.000,2801,1984,1856,1910,1803,0,0,0,0,0,0,15.19,15.19,15.18
$GC,2832,0.96,246.5,2800,1985,1910,1804,50.5,9.3,550,2850,0.00,2.33,11.60,0.936,12804,0.000,0.074,2803,583,1805,1858,1752,0,0,0,0,0,0,15.19,14.91,14.52
$GC,2864,0.98,267.5,2804,582,1857,1753,47.5,8.9,556,2888,0.00,2.30,17.88,0.981,9222,0.000,0.044,2803,1981,1720,1776,1664,0,0,0,0,0,0,14.98,14.94,14.46
$GC,2947,0.98,267.5,2803,1982,1776,1660,39.1,10.5,572,2954,0.00,2.38,0.00,0.000,260,0.000,0.068,2803,3386,1716,1773,1659,0,0,0,0,0,0,15.09,14.88,15.09
$GC,2988,0.98,267.5,2802,3387,1774,1659,34.7,11.5,580,2995,0.00,2.33,0.00,0.000,1030,0.000,0.045,2804,1988,1715,1773,1658,0,0,0,0,0,0,14.92,14.89,14.94
$GC,3054,1.00,282.1,2805,1988,1773,1658,28.4,9.2,593,3071,0.00,0.00,11.77,0.961,10246,0.000,0.000,2804,1989,1659,1718,1601,0,0,0,0,0,0,15.14,14.81,14.45
$GC,3131,1.00,284.0,2805,1989,1715,1599,21.0,9.9,608,3136,0.00,0.00,0.00,0.000,2054,0.000,0.000,2804,1988,1657,1717,1598,0,0,0,0,0,0,15.10,15.10,15.10
$GC,3196,1.04,313.8,2803,1988,1718,1598,14.1,8.4,621,3219,0.00,0.00,18.25,0.889,10246,0.000,0.000,2804,1987,1531,1589,1474,0,0,0,0,0,0,15.13,14.80,14.50
$GC,3278,1.04,313.8,2804,1988,1589,1470,4.5,14.7,637,3284,0.00,2.42,0.00,0.000,2564,0.000,0.076,2804,577,1528,1588,1469,0,0,0,0,0,0,15.09,14.84,15.09
$STATE,3297,end climb,SURFACE_DEPTH_REACHED
$STATE,3297,begin surface coast
$FINISH,1.5,1.024370
$STATE,3317,end surface coast,CONTROL_FINISHED_OK
$STATE,3317,begin surface
$SM_CCo,3398,0.00,0.000,0,0,1523,316.19
$SM_GC,1.06,12.45,2.62,0.00,0.074,0.058,0.000,147,2132,1523,-7.27,-0.88,316.19,0,0,0,0,0,0,14.92,14.93,15.00
$IRIDIUM_FIX,-2843.29,3214.68,170918,112257
$TT8_MAMPS,0.038948,0.746753
$HUMID,46.06
$INTERNAL_PRESSURE,9.24804
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.6
$ALTIM_BOTTOM_PING,150.7,35.3
$SC_FREEKB,3897312
$24V_AH,14.00,17.923
$10V_AH,13.68,0.000
$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,27.325,61.100,328.450,0.000,0.000,22.313,36.994,586.537,3.250,0.000,29.244,0.000,1627.025,477.384,2072.045,83.919,0.000,1029.302,0.000,968.438,0.000,22.223,0.000
$DEVICE_MAMPS,396.270,85.680,1178.100,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3406.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.521,0.000,0.000,0.000
$MEM,343624
$DATA_FILE_SIZE,20138,645
$CAP_FILE_SIZE,122665,0
$CFSIZE,1023623168,1015447552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170918,144226,-2854.445,3215.985,21,0.8,38,-23.7,0.8,268.4,11,8.9