version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 50
start: 9 17 118 14 53 35
data:
$ID,573
$MISSION,22
$DIVE,50
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$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,100
$T_MISSION,115
$T_ABORT,145
$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,36
$R_STBD_OVSHOOT,29
$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,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
$GPS1,170918,144226,-2854.4451,3215.9846,21,0.8,38,-23.7,0.8,268.4,11,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.3
$GPS2,170918,145324,-2854.4463,3215.8958,21,0.8,28,-23.7,0.9,0.6,11,9.6
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,-2903.799,3209.719
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,233.7,20000,-19.7,-10.000,-22.33,1939
$D_GRID,300
$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,-126.5,72,2138,1553,1487,0.0,0.0,0,76,0.00,0.00,-56.75,0.000,16386,0.000,0.000,72,2138,3084,3091,3078,0,0,0,0,0,0,15.07,28.83,15.07
$GC,77,-0.81,-126.5,73,2139,3091,3080,3.2,-7.9,10,100,12.05,2.35,-4.50,0.000,18948,0.291,0.083,2218,714,3330,3376,3285,0,0,0,0,0,0,14.80,14.39,14.86
$GC,284,-0.81,-126.5,2219,715,3375,3285,42.9,-14.6,51,291,0.05,2.35,0.00,0.000,3078,0.285,0.050,2222,2137,3329,3374,3285,0,0,0,0,0,0,14.85,14.95,14.96
$GC,350,-0.81,-126.5,2223,2137,3379,3285,51.8,-13.9,64,357,0.00,2.40,0.00,0.000,2308,0.000,0.073,2213,3541,3330,3375,3285,0,0,0,0,0,0,15.17,14.97,15.17
$GC,386,-0.81,-126.5,2215,3542,3375,3285,57.0,-14.5,71,393,0.00,2.30,0.00,0.000,3078,0.000,0.039,2214,2136,3330,3375,3285,0,0,0,0,0,0,15.03,14.99,15.05
$GC,452,-0.81,-126.5,2215,2137,3375,3285,67.4,-16.2,84,453,0.00,0.00,0.00,0.000,2054,0.000,0.000,2215,2136,3330,3375,3285,0,0,0,0,0,0,15.18,15.19,15.19
$GC,512,-0.81,-126.5,2214,2136,3377,3285,77.1,-16.6,96,513,0.00,0.00,0.00,0.000,2054,0.000,0.000,2215,2136,3329,3374,3285,0,0,0,0,0,0,15.19,15.19,15.19
$GC,572,-0.81,-126.5,2215,2137,3375,3285,86.7,-16.6,108,579,0.00,2.40,0.00,0.000,2308,0.000,0.071,2210,3541,3330,3375,3285,0,0,0,0,0,0,15.19,15.00,15.20
$GC,602,-0.81,-126.5,2210,3541,3377,3286,92.0,-15.7,114,610,0.05,2.30,0.00,0.000,3078,0.249,0.038,2223,2130,3328,3375,3282,0,0,0,0,0,0,14.90,14.99,14.99
$GC,669,-0.81,-126.5,2222,2131,3377,3285,101.9,-14.4,127,676,0.00,2.30,0.00,0.000,2564,0.000,0.065,2220,728,3330,3375,3285,0,0,0,0,0,0,15.21,15.01,15.22
$GC,699,-0.81,-126.5,2223,728,3375,3285,106.3,-14.0,133,707,0.00,2.30,0.00,0.000,3078,0.000,0.050,2221,2128,3330,3375,3285,0,0,0,0,0,0,15.09,15.02,15.08
$GC,765,-0.81,-126.5,2220,2129,3377,3286,116.0,-14.7,146,766,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2128,3330,3375,3285,0,0,0,0,0,0,15.21,15.21,15.21
$GC,825,-0.81,-126.5,2220,2129,3377,3286,125.5,-18.3,158,832,0.00,2.40,0.00,0.000,2308,0.000,0.074,2221,3538,3329,3375,3284,0,0,0,0,0,0,15.21,15.01,15.21
$STATE,840,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,840,begin apogee
$GC,845,-0.17,0.0,2221,1979,3375,3286,127.9,-16.2,161,944,1.00,0.00,91.88,1.108,10246,0.153,0.000,2428,1977,2811,2840,2782,0,0,0,0,0,0,14.95,14.63,14.18
$STATE,945,end apogee,CONTROL_FINISHED_OK
$STATE,945,begin climb
$GC,946,0.81,126.5,2430,1978,2840,2783,133.5,0.0,179,1050,1.42,2.40,93.05,1.101,10756,0.091,0.068,2745,589,2294,2340,2248,0,0,0,0,0,0,14.63,14.45,14.07
$GC,1549,0.97,259.6,2745,589,2335,2249,129.9,2.9,297,1660,0.15,2.30,101.82,1.099,11270,0.076,0.045,2810,1996,1751,1808,1695,0,0,0,0,0,0,15.00,15.00,14.16
$GC,1719,0.97,259.6,2811,1997,1805,1692,112.3,14.7,329,1726,0.00,2.45,0.00,0.000,4612,0.000,0.070,2820,583,1747,1804,1691,0,0,0,0,0,0,14.90,14.71,14.90
$GC,1845,0.97,259.6,2821,584,1801,1691,94.1,13.7,354,1852,0.05,2.30,0.00,0.000,5126,0.247,0.044,2811,1981,1745,1801,1690,0,0,0,0,0,0,14.78,14.88,14.87
$GC,1911,0.97,259.6,2810,1982,1800,1690,85.7,12.6,367,1917,0.00,0.00,0.00,0.000,4102,0.000,0.000,2809,1981,1745,1801,1690,0,0,0,0,0,0,15.09,15.09,15.10
$GC,1976,0.97,259.6,2810,1982,1800,1690,77.4,13.5,380,1977,0.00,0.00,0.00,0.000,4102,0.000,0.000,2809,1981,1745,1800,1690,0,0,0,0,0,0,15.12,15.13,15.12
$GC,2036,0.97,259.6,2810,1981,1800,1690,69.7,12.8,392,2037,0.00,0.00,0.00,0.000,4102,0.000,0.000,2809,1981,1744,1800,1689,0,0,0,0,0,0,15.14,15.14,15.14
$GC,2096,0.97,259.6,2809,1982,1801,1690,61.9,12.2,404,2097,0.00,0.00,0.00,0.000,4102,0.000,0.000,2809,1981,1744,1800,1689,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2156,0.97,259.6,2808,1982,1802,1689,54.4,12.1,416,2157,0.00,0.00,0.00,0.000,4102,0.000,0.000,2809,1981,1744,1800,1688,0,0,0,0,0,0,15.17,15.18,15.18
$GC,2216,0.97,259.6,2809,1982,1802,1689,48.0,11.0,428,2217,0.00,0.00,0.00,0.000,4102,0.000,0.000,2809,1981,1744,1800,1688,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2276,0.97,259.6,2810,1982,1799,1689,41.0,11.5,440,2283,0.00,2.35,0.00,0.000,4356,0.000,0.066,2809,3386,1744,1800,1688,0,0,0,0,0,0,15.19,14.96,15.20
$GC,2312,0.97,259.6,2808,3387,1801,1688,36.6,12.6,447,2319,0.00,2.30,0.00,0.000,5126,0.000,0.045,2809,1991,1743,1800,1687,0,0,0,0,0,0,15.02,14.97,15.03
$GC,2378,0.97,259.6,2808,1992,1801,1688,29.4,10.9,460,2384,0.00,0.00,0.00,0.000,4102,0.000,0.000,2809,1991,1743,1800,1687,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2443,0.98,261.2,2808,1992,1801,1689,23.2,9.9,473,2443,0.00,0.00,0.00,0.000,4102,0.000,0.000,2809,1991,1743,1800,1687,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2503,0.98,261.2,2808,1992,1801,1687,16.1,11.7,485,2504,0.00,0.00,0.00,0.000,4102,0.000,0.000,2809,1991,1743,1800,1687,0,0,0,0,0,0,15.21,15.22,15.22
$GC,2562,0.98,261.2,2810,1992,1799,1683,8.8,12.9,497,2563,0.00,0.00,0.00,0.000,4102,0.000,0.000,2809,1991,1743,1799,1687,0,0,0,0,0,0,15.22,15.23,15.23
$STATE,2606,end climb,SURFACE_DEPTH_REACHED
$STATE,2607,begin surface coast
$FINISH,0.6,1.024376
$STATE,2627,end surface coast,CONTROL_FINISHED_OK
$STATE,2627,begin surface
$SM_CCo,2645,3.83,0.111,0,0,1709,270.07
$SM_GC,2.28,12.07,0.20,3.83,0.048,0.085,0.111,148,2144,1709,-7.26,-1.27,270.07,0,0,0,0,0,0,15.04,15.07,15.01
$IRIDIUM_FIX,-2840.83,3214.68,170918,133320
$TT8_MAMPS,0.038199,0.749
$HUMID,45.35
$INTERNAL_PRESSURE,9.28711
$TCM_TEMP,25.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.9
$ALTIM_BOTTOM_PING,110.1,32.4
$SC_FREEKB,3896800
$24V_AH,14.07,18.090
$10V_AH,13.86,0.000
$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,26.850,37.950,286.750,3.825,0.000,25.251,44.187,412.800,2.250,0.000,29.258,0.000,1261.790,371.222,1605.559,62.153,0.000,805.255,0.000,769.234,0.000,16.192,0.000
$DEVICE_MAMPS,290.700,84.915,1107.720,110.925,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2681.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.490,0.000,0.000,0.000
$MEM,343644
$DATA_FILE_SIZE,16769,510
$CAP_FILE_SIZE,92992,0
$CFSIZE,1023623168,1015365632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170918,153900,-2854.446,3215.711,41,0.8,58,-23.7,0.2,171.4,11,9.7