version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 59
start: 9 17 118 20 10 22
data:
$ID,573
$MISSION,22
$DIVE,59
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,110
$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,36
$T_MISSION,50
$T_ABORT,70
$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,150
$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,50
$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,49
$R_STBD_OVSHOOT,64
$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,1000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$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
$GPS1,170918,200422,-2853.3452,3215.7849,24,0.8,25,-23.7,0.0,0.0,10,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.9
$GPS2,170918,201011,-2853.3293,3215.7773,16,0.8,18,-23.7,0.4,71.1,10,8.0
$SPEED_LIMITS,0.176,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,-2846.388,3225.215
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,73.7,20000,-18.6,-10.185,-21.28,2196
$D_GRID,110
$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,-0.80,-146.0,100,2160,1722,1636,0.0,0.0,0,70,0.00,0.00,-51.28,0.000,16386,0.000,0.000,96,2159,3127,3141,3113,0,0,0,0,0,0,15.15,28.83,15.16
$GC,72,-0.80,-146.0,96,2160,3143,3114,3.3,-7.5,9,95,11.85,2.25,-5.22,0.000,18692,0.290,0.086,2213,3519,3409,3454,3365,0,0,0,0,0,0,14.85,14.43,14.95
$GC,109,-0.80,-146.0,2214,3520,3454,3366,15.4,-24.2,16,116,0.05,2.25,0.00,0.000,3078,0.268,0.037,2226,2130,3410,3454,3366,0,0,0,0,0,0,14.88,14.97,14.97
$GC,175,-0.80,-146.0,2226,2131,3456,3366,25.0,-14.6,29,182,0.00,2.33,0.00,0.000,2564,0.000,0.064,2226,741,3411,3455,3368,0,0,0,0,0,0,15.19,14.98,15.19
$GC,205,-0.80,-146.0,2227,742,3455,3366,29.6,-14.5,35,213,0.00,2.22,0.00,0.000,3078,0.000,0.048,2223,2102,3409,3454,3365,0,0,0,0,0,0,15.04,15.00,15.07
$GC,272,-0.80,-146.0,2222,2103,3454,3366,39.0,-14.5,48,278,0.00,2.38,0.00,0.000,2308,0.000,0.072,2221,3536,3409,3454,3365,0,0,0,0,0,0,15.21,15.02,15.21
$GC,307,-0.80,-146.0,2220,3536,3454,3366,43.7,-12.4,55,314,0.00,2.28,0.00,0.000,3078,0.000,0.036,2221,2133,3409,3454,3365,0,0,0,0,0,0,15.08,15.04,15.09
$GC,373,-0.80,-146.0,2220,2134,3457,3366,52.5,-13.1,68,374,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2133,3409,3454,3365,0,0,0,0,0,0,15.23,15.23,15.23
$GC,433,-0.80,-146.0,2221,2134,3456,3366,60.3,-13.3,80,440,0.00,2.38,0.00,0.000,2308,0.000,0.070,2218,3532,3410,3455,3365,0,0,0,0,0,0,15.23,15.01,15.24
$GC,454,-0.80,-146.0,2218,3533,3456,3366,63.0,-13.6,84,461,0.00,2.28,0.00,0.000,3078,0.000,0.037,2219,2124,3409,3454,3365,0,0,0,0,0,0,15.07,15.03,15.09
$GC,520,-0.80,-146.0,2218,2125,3455,3366,71.5,-13.3,97,527,0.00,2.33,0.00,0.000,2564,0.000,0.064,2218,733,3409,3454,3365,0,0,0,0,0,0,15.24,15.04,15.25
$GC,546,-0.80,-146.0,2218,734,3456,3366,75.2,-14.0,102,553,0.00,2.28,0.00,0.000,3078,0.000,0.049,2217,2126,3409,3454,3365,0,0,0,0,0,0,15.10,15.06,15.11
$GC,612,-0.80,-146.0,2218,2127,3453,3366,83.9,-13.3,115,619,0.05,2.33,0.00,0.000,2308,0.353,0.070,2221,3545,3409,3454,3365,0,0,0,0,0,0,14.97,15.02,15.11
$GC,663,-0.80,-146.0,2220,3546,3456,3366,90.6,-12.0,125,670,0.00,2.28,0.00,0.000,3078,0.000,0.036,2221,2140,3409,3454,3365,0,0,0,0,0,0,15.07,15.04,15.08
$GC,729,-0.80,-146.0,2222,2140,3454,3366,97.7,-11.2,138,734,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2139,3409,3454,3364,0,0,0,0,0,0,15.26,15.26,15.26
$GC,793,-0.80,-146.0,2221,2138,3456,3366,105.0,-9.3,151,800,0.00,2.35,0.00,0.000,2308,0.000,0.070,2221,3532,3409,3454,3365,0,0,0,0,0,0,15.28,15.04,15.27
$STATE,928,end dive,NO_VERTICAL_VELOCITY
$STATE,928,begin apogee
$GC,933,-0.17,0.0,2221,1969,3456,3366,105.0,0.0,178,1044,0.95,0.00,104.75,1.069,10246,0.084,0.000,2439,1969,2810,2842,2778,0,0,0,0,0,0,15.04,14.67,14.23
$STATE,1045,end apogee,CONTROL_FINISHED_OK
$STATE,1045,begin climb
$GC,1046,0.80,146.0,2441,1969,2842,2779,104.7,0.0,198,1161,1.33,2.33,106.55,1.048,10756,0.081,0.065,2734,586,2213,2257,2170,0,0,0,0,0,0,14.68,14.54,14.14
$GC,1294,0.96,274.3,2733,585,2254,2170,103.0,4.2,245,1401,0.17,2.30,99.22,1.047,11270,0.070,0.044,2802,1995,1691,1750,1632,0,0,0,0,0,0,14.88,14.86,14.18
$GC,1460,0.96,274.3,2804,1996,1747,1629,85.0,14.9,276,1466,0.00,2.33,0.00,0.000,4356,0.000,0.066,2803,3381,1687,1746,1628,0,0,0,0,0,0,14.92,14.74,14.93
$GC,1580,0.96,274.3,2804,3382,1745,1627,67.4,14.9,300,1587,0.03,2.28,0.00,0.000,5126,0.396,0.044,2805,1998,1685,1745,1626,0,0,0,0,0,0,14.76,14.90,14.88
$GC,1647,0.96,274.3,2802,1999,1747,1626,58.4,13.7,313,1653,0.00,2.40,0.00,0.000,4612,0.000,0.072,2812,580,1687,1745,1629,0,0,0,0,0,0,15.13,14.90,15.14
$GC,1687,0.96,274.3,2807,581,1746,1626,52.1,15.1,321,1695,0.00,2.28,0.00,0.000,5126,0.000,0.044,2807,1974,1685,1745,1625,0,0,0,0,0,0,14.99,14.95,15.00
$GC,1754,0.96,274.3,2807,1975,1746,1626,42.7,14.0,334,1760,0.00,2.30,0.00,0.000,4612,0.000,0.071,2807,587,1684,1744,1625,0,0,0,0,0,0,15.16,14.97,15.16
$GC,1814,0.96,274.3,2808,588,1744,1626,34.8,13.0,346,1821,0.00,2.28,0.00,0.000,5126,0.000,0.044,2808,1994,1684,1744,1625,0,0,0,0,0,0,15.05,15.00,15.08
$GC,1880,0.96,274.3,2807,1987,1745,1626,26.4,12.3,359,1887,0.00,2.28,0.00,0.000,4356,0.000,0.065,2808,3384,1684,1744,1625,0,0,0,0,0,0,15.20,14.97,15.20
$GC,1896,0.96,274.3,2807,3385,1745,1625,24.7,11.4,362,1903,0.00,2.30,0.00,0.000,5126,0.000,0.044,2807,1982,1684,1744,1624,0,0,0,0,0,0,15.02,14.98,15.04
$GC,1962,0.96,274.3,2807,1982,1745,1625,16.4,12.6,375,1969,0.00,2.35,0.00,0.000,4612,0.000,0.072,2814,585,1683,1743,1624,0,0,0,0,0,0,15.22,14.99,15.22
$GC,1998,0.96,274.3,2815,585,1743,1625,11.8,12.6,382,2005,0.05,2.28,0.00,0.000,5126,0.255,0.041,2803,1988,1683,1743,1624,0,0,0,0,0,0,14.94,15.02,15.04
$GC,2064,0.96,274.3,2804,1990,1743,1625,3.3,12.7,395,2069,0.00,0.00,0.00,0.000,4102,0.000,0.000,2803,1989,1683,1743,1624,0,0,0,0,0,0,15.23,15.23,15.23
$STATE,2072,end climb,SURFACE_DEPTH_REACHED
$STATE,2072,begin surface coast
$FINISH,0.1,1.024437
$STATE,2093,end surface coast,CONTROL_FINISHED_OK
$STATE,2093,begin surface
$SM_CCo,2170,0.00,0.000,0,0,1678,278.17
$SM_GC,1.62,12.07,0.20,0.00,0.052,0.083,0.000,142,2161,1678,-7.27,-1.22,278.17,0,0,0,0,0,0,15.05,15.08,15.12
$IRIDIUM_FIX,-2840.83,3216.76,170918,194220
$TT8_MAMPS,0.035952,0.889812
$HUMID,46.25
$INTERNAL_PRESSURE,9.31641
$TCM_TEMP,25.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.9
$SC_FREEKB,3892192
$24V_AH,14.14,19.217
$10V_AH,13.92,0.000
$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,26.550,60.300,310.525,0.000,0.000,24.093,39.326,175.490,0.250,0.000,18.869,0.000,944.663,415.929,1111.750,50.780,0.000,796.320,0.000,603.712,0.000,2.640,0.000
$DEVICE_MAMPS,396.270,85.680,1068.705,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2103.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.047,0.000,0.000,0.000
$MEM,343576
$DATA_FILE_SIZE,13456,401
$CAP_FILE_SIZE,77514,0
$CFSIZE,1023623168,1014611968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170918,204715,-2852.902,3215.999,20,0.8,26,-23.7,0.3,246.4,10,9.8