version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 68
start: 9 18 118 3 11 47
data:
$ID,573
$MISSION,22
$DIVE,68
$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,37
$R_STBD_OVSHOOT,59
$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
$GPS1,180918,030336,-2849.0059,3219.0269,18,0.9,21,-23.6,1.1,37.9,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.4
$GPS2,180918,031136,-2848.8728,3219.1145,15,0.9,18,-23.6,0.8,353.4,8,9.3
$SPEED_LIMITS,0.176,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,-2852.918,3230.550
$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,-146.0,77,2166,1587,1512,0.0,0.0,0,76,0.00,0.00,-56.58,0.000,16386,0.000,0.000,73,2164,3165,3180,3151,0,0,0,0,0,0,15.14,28.83,15.15
$GC,77,-0.80,-146.0,73,2164,3183,3152,3.9,-9.5,10,100,12.07,2.22,-4.25,0.000,18692,0.297,0.084,2213,3528,3409,3453,3366,0,0,0,0,0,0,14.81,14.17,14.93
$GC,274,-0.80,-146.0,2213,3528,3454,3368,41.8,-14.1,49,281,0.05,2.28,0.00,0.000,3078,0.251,0.037,2226,2122,3411,3454,3368,0,0,0,0,0,0,14.92,15.02,15.02
$GC,341,-0.80,-146.0,2225,2118,3455,3368,51.0,-15.6,62,346,0.00,0.00,0.00,0.000,2054,0.000,0.000,2226,2117,3413,3454,3373,0,0,0,0,0,0,15.22,15.23,15.22
$GC,405,-0.80,-146.0,2226,2118,3455,3368,61.0,-13.8,75,406,0.00,0.00,0.00,0.000,2054,0.000,0.000,2226,2117,3410,3454,3367,0,0,0,0,0,0,15.23,15.23,15.23
$GC,465,-0.80,-146.0,2225,2118,3455,3368,68.2,-12.3,87,472,0.00,2.33,0.00,0.000,2564,0.000,0.064,2226,728,3410,3453,3367,0,0,0,0,0,0,15.23,15.03,15.24
$GC,501,-0.80,-146.0,2226,728,3455,3368,73.4,-15.1,94,508,0.00,2.25,0.00,0.000,3078,0.000,0.048,2220,2107,3410,3453,3367,0,0,0,0,0,0,15.09,15.06,15.11
$GC,568,-0.80,-146.0,2220,2108,3455,3368,82.9,-14.2,107,574,0.00,2.38,0.00,0.000,2308,0.000,0.071,2220,3539,3410,3454,3367,0,0,0,0,0,0,15.26,15.02,15.26
$GC,593,-0.80,-146.0,2221,3538,3453,3368,85.9,-11.7,112,600,0.00,2.28,0.00,0.000,3078,0.000,0.035,2220,2129,3410,3453,3367,0,0,0,0,0,0,15.07,15.04,15.09
$GC,659,-0.80,-146.0,2220,2129,3455,3368,94.2,-14.6,125,665,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2129,3410,3453,3367,0,0,0,0,0,0,15.26,15.26,15.26
$GC,724,-0.80,-146.0,2221,2130,3454,3368,103.8,-14.8,138,731,0.00,2.40,0.00,0.000,2308,0.000,0.074,2216,3533,3410,3454,3367,0,0,0,0,0,0,15.26,15.03,15.26
$GC,750,-0.80,-146.0,2217,3534,3454,3367,107.3,-12.4,143,757,0.03,2.28,0.00,0.000,3078,0.335,0.037,2220,2125,3410,3453,3367,0,0,0,0,0,0,14.93,15.07,15.06
$STATE,770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,770,begin apogee
$GC,773,-0.17,0.0,2225,1967,3453,3368,110.5,-15.0,147,883,0.98,0.00,104.40,1.079,10246,0.155,0.000,2428,1966,2811,2841,2782,0,0,0,0,0,0,15.00,14.69,14.23
$STATE,884,end apogee,CONTROL_FINISHED_OK
$STATE,884,begin climb
$GC,885,0.80,146.0,2428,1966,2843,2784,117.9,0.0,167,1001,1.38,2.50,108.00,1.064,11012,0.074,0.062,2737,3400,2216,2258,2174,0,0,0,0,0,0,14.70,14.54,14.12
$GC,1105,0.94,262.7,2737,3401,2255,2174,118.9,4.7,208,1201,0.12,2.30,90.28,1.057,11270,0.085,0.040,2798,2007,1738,1795,1682,0,0,0,0,0,0,14.80,14.82,14.14
$GC,1260,0.94,262.7,2798,2007,1796,1681,103.5,13.4,237,1265,0.00,0.00,0.00,0.000,4102,0.000,0.000,2798,2007,1737,1794,1680,0,0,0,0,0,0,14.92,14.93,14.92
$GC,1325,0.94,262.7,2799,2008,1793,1680,94.7,13.4,250,1325,0.00,0.00,0.00,0.000,4102,0.000,0.000,2799,2007,1736,1793,1679,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1384,0.94,262.7,2799,2008,1793,1679,86.3,13.4,262,1385,0.00,0.00,0.00,0.000,4102,0.000,0.000,2798,2006,1736,1793,1679,0,0,0,0,0,0,15.07,15.08,15.08
$GC,1444,0.94,262.7,2804,2007,1794,1679,78.6,12.5,274,1452,0.00,2.40,0.00,0.000,4612,0.000,0.071,2800,594,1735,1792,1678,0,0,0,0,0,0,15.11,14.88,15.11
$GC,1530,0.94,262.7,2799,595,1792,1680,68.7,12.3,291,1538,0.00,2.28,0.00,0.000,5126,0.000,0.043,2800,1984,1734,1790,1678,0,0,0,0,0,0,14.98,14.95,15.00
$GC,1597,0.94,262.7,2801,1985,1789,1679,60.2,11.7,304,1602,0.00,0.00,0.00,0.000,4102,0.000,0.000,2800,1984,1733,1789,1678,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1662,0.94,262.7,2800,1985,1791,1679,52.7,12.0,317,1667,0.00,0.00,0.00,0.000,4102,0.000,0.000,2800,1984,1733,1789,1678,0,0,0,0,0,0,15.20,15.19,15.20
$GC,1726,0.94,262.7,2800,1985,1791,1679,45.4,10.8,330,1733,0.00,2.35,0.00,0.000,4356,0.000,0.064,2800,3389,1733,1789,1678,0,0,0,0,0,0,15.21,14.99,15.21
$GC,1807,0.94,262.7,2800,3390,1790,1678,36.2,11.4,346,1814,0.00,2.30,0.00,0.000,5126,0.000,0.044,2800,1987,1733,1789,1677,0,0,0,0,0,0,15.07,15.03,15.09
$GC,1873,0.94,262.7,2800,1987,1787,1678,28.6,11.4,359,1879,0.00,0.00,0.00,0.000,4102,0.000,0.000,2800,1987,1733,1789,1678,0,0,0,0,0,0,15.22,15.23,15.23
$GC,1939,0.94,262.7,2800,1987,1791,1678,20.0,13.3,372,1944,0.00,0.00,0.00,0.000,4102,0.000,0.000,2800,1987,1733,1789,1677,0,0,0,0,0,0,15.19,15.20,15.20
$GC,2003,0.94,262.7,2802,1987,1789,1678,11.8,11.4,385,2009,0.00,0.00,0.00,0.000,4102,0.000,0.000,2800,1987,1733,1789,1677,0,0,0,0,0,0,15.23,15.24,15.24
$GC,2068,0.94,262.7,2801,1988,1789,1678,3.9,12.8,398,2069,0.00,0.00,0.00,0.000,4102,0.000,0.000,2800,1987,1733,1789,1677,0,0,0,0,0,0,15.24,15.25,15.24
$STATE,2077,end climb,SURFACE_DEPTH_REACHED
$STATE,2077,begin surface coast
$FINISH,0.4,1.024429
$STATE,2097,end surface coast,CONTROL_FINISHED_OK
$STATE,2097,begin surface
$SM_CCo,2115,2.50,0.113,0,0,1710,270.07
$SM_GC,2.08,12.00,0.22,2.50,0.046,0.071,0.113,147,2163,1710,-7.27,-0.93,270.07,0,0,0,0,0,0,15.07,15.11,15.04
$IRIDIUM_FIX,-2835.91,3218.84,180918,022315
$TT8_MAMPS,0.03745,0.969955
$HUMID,46.77
$INTERNAL_PRESSURE,9.33594
$TCM_TEMP,25.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.5
$SC_FREEKB,3887584
$24V_AH,14.12,20.827
$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,26.625,32.925,302.675,2.500,0.000,23.074,25.309,287.197,0.250,0.000,19.451,0.000,922.593,385.962,1231.658,58.190,0.000,760.253,0.000,608.228,0.000,2.639,0.000
$DEVICE_MAMPS,335.070,84.915,1079.415,113.220,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2128.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.025,0.000,0.000,0.000
$MEM,343644
$DATA_FILE_SIZE,13463,404
$CAP_FILE_SIZE,76480,0
$CFSIZE,1023623168,1013809152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180918,034817,-2848.428,3219.793,42,0.9,54,-23.6,0.8,53.2,9,8.9