version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 66
start: 9 18 118 1 28 52
data:
$ID,573
$MISSION,22
$DIVE,66
$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,105
$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,44
$R_STBD_OVSHOOT,37
$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
$GPS1,180918,012201,-2850.2476,3217.6960,25,1.0,30,-23.6,1.2,30.8,8,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-61.1
$GPS2,180918,012841,-2850.1309,3217.7588,19,1.0,20,-23.6,0.4,7.7,8,7.6
$SPEED_LIMITS,0.176,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,-2852.926,3229.672
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,128.6,20000,-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,18,-0.80,-146.0,100,2138,586,593,0.0,0.0,0,108,0.00,0.00,-88.65,0.000,16386,0.000,0.000,90,2137,3035,3040,3031,0,0,0,0,0,0,15.17,28.83,15.18
$GC,110,-0.80,-146.0,91,2138,3040,3032,3.1,-6.8,16,134,11.95,2.38,-6.88,0.000,19204,0.295,0.089,2214,3540,3410,3456,3364,0,0,0,0,0,0,14.89,14.21,14.99
$GC,373,-0.80,-146.0,2214,3540,3456,3365,48.1,-13.6,68,380,0.05,2.28,0.00,0.000,3078,0.253,0.037,2226,2123,3410,3456,3365,0,0,0,0,0,0,14.93,15.02,15.02
$GC,439,-0.80,-146.0,2227,2123,3456,3365,57.2,-14.1,81,446,0.00,2.30,0.00,0.000,2564,0.000,0.063,2226,743,3410,3456,3365,0,0,0,0,0,0,15.25,15.02,15.26
$GC,459,-0.80,-146.0,2227,744,3455,3365,59.9,-12.9,85,466,0.00,2.28,0.00,0.000,3078,0.000,0.047,2224,2137,3410,3456,3365,0,0,0,0,0,0,15.09,15.05,15.09
$GC,525,-0.80,-146.0,2228,2138,3457,3365,68.4,-12.9,98,532,0.00,2.38,0.00,0.000,2308,0.000,0.072,2223,3538,3410,3456,3365,0,0,0,0,0,0,15.26,15.04,15.26
$GC,541,-0.80,-146.0,2223,3540,3457,3366,70.2,-11.6,101,548,0.00,2.28,0.00,0.000,3078,0.000,0.037,2223,2139,3410,3456,3364,0,0,0,0,0,0,15.11,15.07,15.13
$GC,607,-0.80,-146.0,2224,2140,3455,3365,78.5,-13.4,114,614,0.00,2.35,0.00,0.000,2564,0.000,0.063,2223,725,3410,3456,3364,0,0,0,0,0,0,15.24,15.05,15.25
$GC,623,-0.80,-146.0,2224,725,3456,3365,81.0,-14.5,117,630,0.00,2.30,0.00,0.000,3078,0.000,0.048,2223,2135,3410,3455,3365,0,0,0,0,0,0,15.09,15.03,15.09
$GC,688,-0.80,-146.0,2224,2135,3455,3365,89.2,-12.8,130,689,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2135,3410,3455,3365,0,0,0,0,0,0,15.27,15.27,15.28
$GC,748,-0.80,-146.0,2223,2135,3457,3365,97.7,-15.9,142,755,0.00,2.38,0.00,0.000,2308,0.000,0.071,2220,3546,3410,3456,3365,0,0,0,0,0,0,15.27,15.02,15.27
$GC,834,-0.80,-146.0,2220,3543,3457,3365,109.3,-13.6,159,841,0.00,2.30,0.00,0.000,3078,0.000,0.035,2220,2109,3410,3456,3364,0,0,0,0,0,0,15.11,15.07,15.12
$GC,900,-0.80,-146.0,2221,2109,3455,3365,108.9,-1.3,172,907,0.00,2.38,0.00,0.000,2308,0.000,0.070,2220,3538,3409,3455,3364,0,0,0,0,0,0,15.27,15.08,15.28
$GC,1031,-0.80,-146.0,2220,3540,3457,3365,108.6,1.4,198,1038,0.00,2.25,0.00,0.000,3078,0.000,0.036,2220,2140,3410,3456,3364,0,0,0,0,0,0,15.13,15.08,15.14
$GC,1097,-0.80,-146.0,2221,2137,3455,3365,109.0,-2.0,211,1104,0.00,2.33,0.00,0.000,2308,0.000,0.070,2220,3535,3410,3455,3365,0,0,0,0,0,0,15.27,15.07,15.27
$GC,1122,-0.80,-146.0,2221,3535,3455,3365,108.9,0.3,216,1129,0.00,2.25,0.00,0.000,3078,0.000,0.034,2220,2118,3409,3455,3364,0,0,0,0,0,0,15.13,15.10,15.15
$GC,1189,-0.80,-146.0,2221,2116,3455,3365,109.3,-0.5,229,1194,0.00,0.00,0.00,0.000,2054,0.000,0.000,2220,2116,3409,3455,3364,0,0,0,0,0,0,15.28,15.28,15.28
$GC,1253,-0.80,-146.0,2221,2116,3455,3364,109.4,-1.6,242,1260,0.00,2.42,0.00,0.000,2308,0.000,0.079,2219,3528,3410,3455,3365,0,0,0,0,0,0,15.28,15.02,15.28
$GC,1289,-0.80,-146.0,2220,3530,3457,3365,109.1,-0.4,249,1296,0.00,2.22,0.00,0.000,3078,0.000,0.032,2220,2127,3410,3455,3365,0,0,0,0,0,0,15.11,15.09,15.13
$GC,1356,-0.80,-146.0,2221,2127,3455,3365,108.9,0.0,262,1362,0.00,2.35,0.00,0.000,2308,0.000,0.070,2220,3544,3409,3455,3364,0,0,0,0,0,0,15.28,15.09,15.27
$GC,1451,-0.80,-146.0,2220,3550,3438,3382,109.0,1.0,281,1458,0.00,2.47,0.00,0.000,3078,0.000,0.109,2220,2161,3410,3441,3380,0,0,0,0,0,0,15.12,15.07,15.15
$STATE,1506,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1506,begin apogee
$GC,1509,-0.17,0.0,2220,1955,3450,3371,109.2,-0.9,292,1620,0.88,0.00,105.75,1.086,10246,0.070,0.000,2431,1952,2811,2839,2783,0,0,0,0,0,0,15.05,14.70,14.24
$STATE,1621,end apogee,CONTROL_FINISHED_OK
$STATE,1621,begin climb
$GC,1622,0.80,146.0,2433,1953,2840,2783,109.3,0.0,312,1737,1.42,2.45,108.30,1.061,10500,0.067,0.077,2746,3390,2214,2257,2171,0,0,0,0,0,0,14.66,14.52,14.12
$GC,2206,0.91,241.1,2746,3392,2251,2169,85.5,5.7,426,2285,0.00,2.28,72.28,1.043,11270,0.000,0.041,2755,1992,1826,1878,1774,0,0,0,0,0,0,15.03,15.02,14.30
$GC,2344,0.91,241.1,2754,1992,1878,1771,73.4,10.5,452,2351,0.00,2.40,0.00,0.000,2564,0.000,0.071,2756,592,1823,1876,1770,0,0,0,0,0,0,15.00,14.80,15.01
$GC,2560,0.92,246.8,2756,596,1872,1771,49.6,9.9,495,2572,0.00,2.28,4.75,0.767,11270,0.000,0.042,2756,1988,1805,1857,1753,0,0,0,0,0,0,15.02,14.98,14.52
$GC,2631,0.94,264.0,2757,1989,1855,1749,43.0,9.4,509,2655,0.08,2.35,15.10,0.951,10756,0.183,0.070,2807,604,1734,1787,1681,0,0,0,0,0,0,15.00,14.86,14.50
$GC,2674,0.94,264.0,2806,605,1785,1681,37.7,13.9,517,2681,0.05,2.28,0.00,0.000,5126,0.246,0.043,2796,1992,1731,1783,1680,0,0,0,0,0,0,14.83,14.95,14.94
$GC,2740,0.94,264.0,2795,1993,1785,1680,29.9,11.7,530,2746,0.00,0.00,0.00,0.000,4102,0.000,0.000,2795,1998,1731,1783,1679,0,0,0,0,0,0,15.14,15.15,15.15
$GC,2805,0.94,264.0,2795,1993,1784,1679,22.7,10.2,543,2812,0.00,2.35,0.00,0.000,260,0.000,0.067,2795,3393,1730,1783,1678,0,0,0,0,0,0,15.16,14.97,15.18
$GC,2831,0.94,264.0,2795,3393,1784,1678,19.5,13.0,548,2838,0.00,2.30,0.00,0.000,5126,0.000,0.044,2795,1994,1730,1783,1677,0,0,0,0,0,0,15.02,14.97,15.02
$GC,2897,0.94,264.0,2795,1994,1784,1677,12.8,10.5,561,2904,0.00,2.38,0.00,0.000,4612,0.000,0.073,2795,592,1729,1783,1676,0,0,0,0,0,0,15.20,14.95,15.21
$GC,2923,0.96,279.4,2795,592,1783,1677,9.9,9.5,566,2936,0.00,2.28,8.15,0.757,9222,0.000,0.043,2795,1985,1671,1725,1617,0,0,0,0,0,0,15.04,15.00,14.57
$STATE,2979,end climb,SURFACE_DEPTH_REACHED
$STATE,2979,begin surface coast
$FINISH,0.6,1.024402
$STATE,2999,end surface coast,CONTROL_FINISHED_OK
$STATE,2999,begin surface
$SM_CCo,3077,0.00,0.000,0,0,1661,282.34
$SM_GC,1.28,12.05,0.22,0.00,0.048,0.079,0.000,149,2169,1661,-7.26,-0.85,282.34,0,0,0,0,0,0,15.01,15.05,15.08
$IRIDIUM_FIX,-2840.83,3216.76,180918,003517
$TT8_MAMPS,0.036701,0.92876
$HUMID,46.85
$INTERNAL_PRESSURE,9.31641
$TCM_TEMP,25.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.3
$SC_FREEKB,3888608
$24V_AH,14.12,20.513
$10V_AH,13.67,0.000
$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,26.475,65.700,314.325,0.000,0.000,23.669,40.313,213.149,0.250,0.000,20.899,0.000,1469.248,454.671,1490.352,64.061,0.000,955.350,0.000,871.651,0.000,3.024,0.000
$DEVICE_MAMPS,295.290,109.395,1086.300,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3020.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.177,0.000,0.000,0.000
$MEM,343644
$DATA_FILE_SIZE,20086,581
$CAP_FILE_SIZE,100379,0
$CFSIZE,1023623168,1013956608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180918,022052,-2849.581,3218.333,25,0.9,26,-23.6,0.7,49.3,8,8.8