version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 67
start: 9 18 118 2 31 6
data:
$ID,573
$MISSION,22
$DIVE,67
$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,112
$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,66
$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
$GPS1,180918,022052,-2849.5811,3218.3325,25,0.9,26,-23.6,0.7,49.3,8,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.6
$GPS2,180918,023054,-2849.4199,3218.4136,15,0.8,17,-23.6,1.0,24.7,9,9.9
$SPEED_LIMITS,0.176,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,-2853.465,3229.850
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,135.6,20000,-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,17,-0.80,-146.0,75,2176,1682,1629,0.0,0.0,0,67,0.00,0.00,-47.75,0.000,16386,0.000,0.000,72,2176,3004,3019,2989,0,0,0,0,0,0,15.12,28.83,15.12
$GC,68,-0.80,-146.0,74,2177,3021,2990,3.5,-8.6,8,92,12.15,2.28,-7.55,0.000,18692,0.298,0.092,2215,3508,3409,3454,3365,0,0,0,0,0,0,14.80,14.15,14.92
$GC,241,-0.80,-146.0,2214,3509,3456,3366,35.8,-15.7,42,248,0.05,2.25,0.00,0.000,3078,0.252,0.038,2227,2120,3409,3454,3365,0,0,0,0,0,0,14.90,15.02,15.01
$GC,308,-0.80,-146.0,2227,2119,3455,3366,46.1,-15.6,55,313,0.00,0.00,0.00,0.000,2054,0.000,0.000,2227,2119,3409,3454,3365,0,0,0,0,0,0,15.21,15.22,15.22
$GC,372,-0.80,-146.0,2228,2119,3454,3366,56.2,-14.5,68,373,0.00,0.00,0.00,0.000,2054,0.000,0.000,2227,2118,3409,3454,3365,0,0,0,0,0,0,15.23,15.23,15.23
$GC,432,-0.80,-146.0,2228,2119,3454,3363,64.8,-14.3,80,439,0.00,2.33,0.00,0.000,2564,0.000,0.065,2227,732,3409,3454,3365,0,0,0,0,0,0,15.23,14.99,15.23
$GC,473,-0.80,-146.0,2228,733,3455,3365,71.1,-14.5,88,480,0.00,2.25,0.00,0.000,3078,0.000,0.049,2232,2107,3410,3454,3366,0,0,0,0,0,0,15.05,15.01,15.07
$GC,539,-0.80,-146.0,2224,2106,3456,3366,79.8,-14.0,101,544,0.00,0.00,0.00,0.000,2054,0.000,0.000,2227,2107,3409,3454,3365,0,0,0,0,0,0,15.25,15.25,15.25
$GC,604,-0.80,-146.0,2228,2107,3454,3366,88.8,-13.5,114,610,0.00,2.40,0.00,0.000,2308,0.000,0.070,2227,3527,3409,3454,3364,0,0,0,0,0,0,15.25,15.02,15.26
$GC,624,-0.80,-146.0,2227,3528,3456,3366,91.7,-13.3,118,631,0.00,2.25,0.00,0.000,3078,0.000,0.037,2227,2142,3409,3454,3365,0,0,0,0,0,0,15.09,15.05,15.11
$GC,691,-0.80,-146.0,2227,2142,3455,3366,100.9,-12.9,131,697,0.00,2.33,0.00,0.000,2308,0.000,0.068,2225,3539,3409,3454,3365,0,0,0,0,0,0,15.24,15.06,15.25
$GC,721,-0.80,-146.0,2226,3540,3454,3366,105.5,-15.6,137,728,0.00,2.30,0.00,0.000,3078,0.000,0.037,2225,2120,3409,3454,3365,0,0,0,0,0,0,15.10,15.07,15.12
$STATE,751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,751,begin apogee
$GC,754,-0.17,0.0,2225,1963,3455,3366,110.1,-15.6,143,864,0.98,0.00,105.55,1.076,10246,0.153,0.000,2428,1961,2812,2842,2782,0,0,0,0,0,0,14.97,14.69,14.23
$STATE,865,end apogee,CONTROL_FINISHED_OK
$STATE,865,begin climb
$GC,866,0.80,146.0,2427,1961,2843,2784,116.0,0.0,163,982,1.38,2.50,108.45,1.062,11012,0.067,0.060,2739,3399,2215,2258,2173,0,0,0,0,0,0,14.67,14.53,14.12
$GC,1006,0.99,306.2,2740,3400,2255,2173,118.1,2.7,188,1139,0.17,2.30,123.88,1.054,11270,0.067,0.038,2813,2011,1562,1620,1505,0,0,0,0,0,0,14.65,14.66,14.10
$GC,1198,0.99,306.2,2812,2012,1619,1502,96.0,18.1,224,1205,0.00,2.38,0.00,0.000,4356,0.000,0.061,2813,3391,1558,1616,1501,0,0,0,0,0,0,14.93,14.70,14.94
$GC,1284,0.99,306.2,2814,3392,1615,1500,80.5,17.9,241,1291,0.00,2.33,0.00,0.000,5126,0.000,0.044,2815,1998,1557,1616,1499,0,0,0,0,0,0,14.89,14.85,14.90
$GC,1350,0.99,306.2,2814,1999,1618,1500,68.8,16.7,254,1357,0.00,2.40,0.00,0.000,4612,0.000,0.072,2815,593,1557,1616,1499,0,0,0,0,0,0,15.08,14.88,15.09
$GC,1441,0.99,306.2,2814,592,1617,1500,56.8,12.0,272,1448,0.00,2.28,0.00,0.000,5126,0.000,0.042,2814,1986,1557,1615,1499,0,0,0,0,0,0,14.99,14.95,15.02
$GC,1507,0.99,306.2,2815,1987,1614,1499,48.0,14.8,285,1512,0.00,0.00,0.00,0.000,4102,0.000,0.000,2814,1987,1556,1614,1499,0,0,0,0,0,0,15.16,15.17,15.16
$GC,1572,0.99,306.2,2815,1987,1614,1500,37.4,16.3,298,1572,0.00,0.00,0.00,0.000,4102,0.000,0.000,2814,1986,1556,1614,1499,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1632,0.99,306.2,2815,1987,1613,1499,28.4,14.3,310,1639,0.00,2.38,0.00,0.000,4356,0.000,0.063,2814,3401,1556,1614,1499,0,0,0,0,0,0,15.20,14.96,15.20
$GC,1683,0.99,306.2,2815,3402,1613,1499,21.1,13.6,320,1690,0.00,2.33,0.00,0.000,5126,0.000,0.043,2815,1982,1556,1614,1498,0,0,0,0,0,0,15.04,15.00,15.06
$GC,1749,0.99,306.2,2814,1983,1615,1499,12.1,13.1,333,1755,0.00,2.38,0.00,0.000,4356,0.000,0.063,2815,3392,1555,1613,1498,0,0,0,0,0,0,15.21,15.00,15.22
$GC,1759,0.99,306.2,2816,3394,1613,1499,10.6,13.3,335,1766,0.00,2.30,0.00,0.000,5126,0.000,0.044,2815,1991,1555,1613,1498,0,0,0,0,0,0,15.07,15.02,15.09
$STATE,1814,end climb,SURFACE_DEPTH_REACHED
$STATE,1814,begin surface coast
$FINISH,0.2,1.024410
$STATE,1834,end surface coast,CONTROL_FINISHED_OK
$STATE,1834,begin surface
$SM_CCo,1912,0.00,0.000,0,0,1551,309.32
$SM_GC,1.34,12.20,0.22,0.00,0.051,0.079,0.000,130,2163,1551,-7.30,-0.85,309.32,0,0,0,0,0,0,15.04,15.08,15.11
$IRIDIUM_FIX,-2838.37,3216.76,180918,012346
$TT8_MAMPS,0.038199,0.965461
$HUMID,46.37
$INTERNAL_PRESSURE,9.31641
$TCM_TEMP,25.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.7
$SC_FREEKB,3888096
$24V_AH,14.10,20.677
$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,26.925,42.325,337.875,0.000,0.000,24.316,40.748,378.299,0.250,0.000,17.883,0.000,804.021,402.966,1242.949,62.194,0.000,746.884,0.000,528.553,0.000,2.642,0.000
$DEVICE_MAMPS,298.350,91.800,1076.355,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1884.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.202,0.000,0.000,0.000
$MEM,343576
$DATA_FILE_SIZE,10167,350
$CAP_FILE_SIZE,71943,0
$CFSIZE,1023623168,1013907456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,3732.88,0x212b66,7,24
$GPS,180918,030336,-2849.006,3219.027,18,0.9,21,-23.6,1.1,37.9,8,9.4