version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 51
start: 9 17 118 15 48 45
data:
$ID,573
$MISSION,22
$DIVE,51
$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,110
$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,38
$R_STBD_OVSHOOT,55
$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
$GPS1,170918,153900,-2854.4458,3215.7109,41,0.8,58,-23.7,0.2,171.4,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.8
$GPS2,170918,154835,-2854.4575,3215.6394,25,0.8,40,-23.7,0.9,152.0,11,9.9
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,-2858.151,3227.239
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,133.7,20000,-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,-126.5,76,2147,1734,1675,0.0,0.0,0,69,0.00,0.00,-50.65,0.000,16386,0.000,0.000,72,2146,3105,3114,3097,0,0,0,0,0,0,15.11,28.83,15.11
$GC,71,-0.81,-126.5,73,2147,3117,3098,3.1,-7.0,9,94,12.05,2.33,-4.20,0.000,18948,0.292,0.083,2221,717,3330,3374,3286,0,0,0,0,0,0,14.81,14.19,14.92
$GC,123,-0.81,-126.5,2221,718,3377,3287,18.8,-17.3,19,130,0.00,2.30,0.00,0.000,3078,0.000,0.051,2217,2109,3331,3375,3287,0,0,0,0,0,0,14.95,14.91,14.97
$GC,189,-0.81,-126.5,2218,2110,3375,3287,29.5,-16.2,32,195,0.03,0.00,0.00,0.000,2054,0.526,0.000,2222,2110,3330,3375,3286,0,0,0,0,0,0,14.90,15.04,15.02
$GC,253,-0.81,-126.5,2222,2110,3376,3287,39.8,-15.7,45,254,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2110,3330,3375,3286,0,0,0,0,0,0,15.18,15.18,15.18
$GC,313,-0.81,-126.5,2223,2110,3375,3287,49.7,-16.5,57,321,0.00,2.42,0.00,0.000,2308,0.000,0.072,2220,3538,3330,3374,3286,0,0,0,0,0,0,15.19,14.96,15.19
$GC,350,-0.81,-126.5,2221,3539,3375,3286,55.3,-15.6,64,357,0.00,2.30,0.00,0.000,3078,0.000,0.038,2220,2120,3330,3374,3286,0,0,0,0,0,0,15.04,15.01,15.07
$GC,416,-0.81,-126.5,2219,2121,3377,3287,64.1,-13.3,77,423,0.00,2.33,0.00,0.000,2564,0.000,0.065,2220,730,3330,3375,3286,0,0,0,0,0,0,15.19,15.00,15.19
$GC,452,-0.81,-126.5,2221,730,3374,3287,69.2,-14.6,84,459,0.00,2.30,0.00,0.000,3078,0.000,0.050,2217,2129,3330,3375,3286,0,0,0,0,0,0,15.06,15.01,15.07
$GC,518,-0.81,-126.5,2217,2129,3377,3287,78.4,-13.6,97,519,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2129,3330,3375,3286,0,0,0,0,0,0,15.21,15.22,15.21
$GC,578,-0.81,-126.5,2218,2129,3375,3287,88.1,-16.6,109,585,0.00,2.38,0.00,0.000,2308,0.000,0.073,2222,3530,3330,3375,3286,0,0,0,0,0,0,15.22,14.98,15.22
$GC,608,-0.81,-126.5,2218,3531,3375,3287,92.9,-15.3,115,615,0.00,2.28,0.00,0.000,3078,0.000,0.037,2217,2132,3330,3375,3286,0,0,0,0,0,0,15.05,15.01,15.07
$GC,674,-0.81,-126.5,2216,2132,3377,3287,103.2,-15.3,128,675,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2132,3330,3375,3286,0,0,0,0,0,0,15.22,15.23,15.23
$GC,734,-0.81,-126.5,2218,2133,3378,3286,111.7,-14.1,140,741,0.00,2.38,0.00,0.000,2308,0.000,0.071,2217,3521,3330,3374,3286,0,0,0,0,0,0,15.23,15.02,15.23
$STATE,774,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,774,begin apogee
$GC,779,-0.17,0.0,2217,1990,3377,3287,117.5,-14.7,148,878,1.02,0.00,91.80,1.089,10246,0.145,0.000,2431,1989,2812,2841,2783,0,0,0,0,0,0,14.97,14.69,14.23
$STATE,879,end apogee,CONTROL_FINISHED_OK
$STATE,879,begin climb
$GC,880,0.81,126.5,2431,1989,2843,2784,122.3,0.0,166,984,1.40,2.42,93.18,1.076,10756,0.080,0.069,2749,589,2293,2339,2248,0,0,0,0,0,0,14.66,14.48,14.09
$GC,1483,0.94,231.6,2749,589,2335,2249,114.4,4.4,284,1572,0.08,2.30,80.20,1.078,11270,0.117,0.044,2802,2002,1865,1918,1812,0,0,0,0,0,0,14.99,15.00,14.28
$GC,1631,0.94,231.6,2799,2001,1915,1809,100.6,12.7,312,1638,0.00,2.45,0.00,0.000,4612,0.000,0.070,2809,585,1862,1915,1809,0,0,0,0,0,0,14.96,14.73,14.97
$GC,1852,0.94,231.6,2808,586,1912,1809,73.4,11.5,356,1859,0.05,2.28,0.00,0.000,5126,0.250,0.044,2798,1979,1859,1910,1809,0,0,0,0,0,0,14.84,14.94,14.94
$GC,1918,0.94,231.6,2797,1980,1912,1809,65.3,12.3,369,1919,0.00,0.00,0.00,0.000,4102,0.000,0.000,2798,1980,1859,1910,1808,0,0,0,0,0,0,15.14,15.15,15.14
$GC,1978,0.94,231.6,2797,1980,1912,1809,58.3,10.9,381,1985,0.00,2.35,0.00,0.000,4612,0.000,0.070,2805,586,1859,1910,1808,0,0,0,0,0,0,15.16,14.96,15.16
$GC,2109,0.94,231.6,2806,587,1909,1808,43.4,11.6,407,2116,0.05,2.28,0.00,0.000,5126,0.249,0.045,2794,1982,1858,1909,1808,0,0,0,0,0,0,14.92,15.01,15.01
$GC,2175,0.94,231.6,2794,1983,1911,1808,36.4,11.1,420,2176,0.00,0.00,0.00,0.000,4102,0.000,0.000,2794,1982,1858,1909,1807,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2235,0.94,231.6,2794,1982,1911,1808,30.2,10.3,432,2236,0.00,0.00,0.00,0.000,4102,0.000,0.000,2794,1982,1857,1909,1806,0,0,0,0,0,0,15.22,15.22,15.22
$GC,2295,0.95,237.7,2795,1983,1909,1805,24.1,9.7,444,2302,0.00,0.00,4.85,0.654,8198,0.000,0.000,2794,1982,1841,1893,1789,0,0,0,0,0,0,15.22,15.04,14.62
$GC,2361,0.96,249.5,2793,1983,1894,1789,17.5,9.4,457,2374,0.00,2.33,7.07,0.786,10756,0.000,0.069,2801,582,1793,1847,1740,0,0,0,0,0,0,15.21,14.92,14.60
$GC,2413,0.97,257.8,2800,582,1845,1748,12.4,9.6,467,2426,0.00,2.30,4.62,0.657,9222,0.000,0.046,2801,2014,1759,1813,1706,0,0,0,0,0,0,15.09,15.02,14.61
$GC,2485,0.97,257.8,2801,2016,1812,1703,3.3,12.8,481,2491,0.00,2.30,0.00,0.000,260,0.000,0.067,2801,3391,1757,1812,1702,0,0,0,0,0,0,15.18,14.95,15.19
$STATE,2494,end climb,SURFACE_DEPTH_REACHED
$STATE,2494,begin surface coast
$FINISH,1.6,1.024383
$STATE,2499,end surface coast,CONTROL_FINISHED_OK
$STATE,2499,begin surface
$SM_CCo,2519,5.72,0.108,0,0,1709,270.07
$SM_GC,1.73,12.18,2.10,5.72,0.054,0.044,0.108,146,2108,1709,-7.27,0.88,270.07,0,0,0,0,0,0,15.01,15.03,14.98
$IRIDIUM_FIX,-2843.29,3214.68,170918,144458
$TT8_MAMPS,0.03745,0.94374
$HUMID,45.15
$INTERNAL_PRESSURE,9.29687
$TCM_TEMP,25.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.0
$ALTIM_BOTTOM_PING,100.2,32.2
$SC_FREEKB,3896288
$24V_AH,14.09,18.245
$10V_AH,13.77,0.000
$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,26.850,46.625,281.725,5.725,0.000,23.922,17.180,362.855,2.000,0.000,40.906,0.000,1182.957,376.097,1481.641,57.378,0.000,792.510,0.000,729.038,0.000,14.685,0.000
$DEVICE_MAMPS,526.320,83.385,1088.595,107.865,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2541.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.986,0.000,0.000,0.000
$MEM,343576
$DATA_FILE_SIZE,16778,484
$CAP_FILE_SIZE,88563,0
$CFSIZE,1023623168,1015267328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170918,163232,-2854.308,3215.821,51,0.8,83,-23.7,0.4,340.1,11,6.2