version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 69
start: 9 18 118 3 56 35
data:
$ID,573
$MISSION,22
$DIVE,69
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,65
$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,116
$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,62
$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
$GPS1,180918,034817,-2848.4280,3219.7932,42,0.9,54,-23.6,0.8,53.2,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.7
$GPS2,180918,035624,-2848.3018,3219.8772,31,0.9,34,-23.6,0.6,34.5,9,8.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2853.036,3230.962
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,139.6,20000,-18.3,-10.000,-21.04,2236
$D_GRID,150
$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,-0.79,-146.0,99,2167,1739,1674,0.0,0.0,0,70,0.00,0.00,-51.35,0.000,16386,0.000,0.000,97,2166,3182,3196,3169,0,0,0,0,0,0,15.15,28.83,15.16
$GC,72,-0.79,-146.0,98,2167,3197,3169,3.8,-9.0,9,95,11.93,2.22,-3.97,0.000,18692,0.291,0.089,2217,3517,3410,3451,3369,0,0,0,0,0,0,14.84,14.17,14.97
$GC,289,-0.79,-146.0,2220,3517,3454,3369,44.9,-15.3,52,296,0.05,2.28,0.00,0.000,3078,0.237,0.037,2230,2109,3410,3452,3368,0,0,0,0,0,0,14.90,15.01,15.02
$GC,355,-0.79,-146.0,2231,2108,3453,3369,55.0,-16.7,65,362,0.00,2.40,0.00,0.000,2308,0.000,0.071,2230,3512,3410,3452,3368,0,0,0,0,0,0,15.23,15.01,15.23
$GC,386,-0.79,-146.0,2230,3513,3453,3368,59.6,-14.9,71,393,0.00,2.22,0.00,0.000,3078,0.000,0.037,2230,2137,3410,3452,3368,0,0,0,0,0,0,15.08,15.02,15.10
$GC,452,-0.79,-146.0,2228,2138,3452,3369,68.9,-14.5,84,458,0.00,0.00,0.00,0.000,2054,0.000,0.000,2230,2137,3410,3452,3368,0,0,0,0,0,0,15.23,15.23,15.23
$GC,517,-0.79,-146.0,2230,2138,3452,3369,77.7,-12.0,97,524,0.00,2.35,0.00,0.000,2564,0.000,0.065,2230,727,3410,3452,3368,0,0,0,0,0,0,15.24,15.03,15.24
$GC,537,-0.79,-146.0,2229,728,3454,3369,80.5,-14.2,101,545,0.00,2.25,0.00,0.000,3078,0.000,0.047,2230,2106,3410,3452,3368,0,0,0,0,0,0,15.06,15.02,15.07
$GC,604,-0.79,-146.0,2229,2107,3453,3369,88.3,-11.4,114,609,0.00,0.00,0.00,0.000,2054,0.000,0.000,2229,2107,3410,3452,3368,0,0,0,0,0,0,15.26,15.26,15.26
$GC,668,-0.79,-146.0,2229,2107,3453,3369,95.2,-10.9,127,669,0.00,0.00,0.00,0.000,2054,0.000,0.000,2230,2106,3410,3452,3368,0,0,0,0,0,0,15.26,15.27,15.26
$GC,728,-0.79,-146.0,2231,2107,3452,3368,102.8,-13.5,139,735,0.00,2.40,0.00,0.000,2308,0.000,0.070,2228,3529,3410,3452,3368,0,0,0,0,0,0,15.26,15.04,15.27
$GC,749,-0.79,-146.0,2228,3530,3451,3368,105.6,-13.4,143,756,0.00,2.28,0.00,0.000,3078,0.000,0.037,2227,2123,3410,3452,3368,0,0,0,0,0,0,15.09,15.04,15.11
$GC,815,-0.79,-146.0,2228,2124,3452,3369,114.6,-14.0,156,821,0.00,0.00,0.00,0.000,2054,0.000,0.000,2227,2123,3409,3452,3367,0,0,0,0,0,0,15.26,15.26,15.26
$GC,880,-0.79,-146.0,2227,2123,3454,3368,123.0,-11.5,169,887,0.00,2.33,0.00,0.000,2564,0.000,0.064,2227,732,3410,3452,3368,0,0,0,0,0,0,15.26,15.05,15.26
$GC,931,-0.79,-146.0,2228,733,3452,3368,130.6,-15.3,179,938,0.00,2.28,0.00,0.000,3078,0.000,0.048,2227,2127,3410,3452,3368,0,0,0,0,0,0,15.11,15.07,15.14
$GC,997,-0.79,-146.0,2227,2128,3453,3368,140.1,-14.7,192,1003,0.00,2.33,0.00,0.000,2308,0.000,0.072,2221,3534,3410,3452,3368,0,0,0,0,0,0,15.26,15.04,15.26
$GC,1073,-0.79,-146.0,2222,3536,3451,3368,149.5,-11.3,207,1079,0.00,2.28,0.00,0.000,3078,0.000,0.039,2221,2126,3410,3452,3368,0,0,0,0,0,0,15.08,15.04,15.10
$STATE,1082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1082,begin apogee
$GC,1085,-0.17,0.0,2220,1969,3453,3369,150.8,-11.1,209,1195,1.00,0.00,106.30,1.128,10246,0.148,0.000,2430,1968,2812,2842,2782,0,0,0,0,0,0,15.01,14.68,14.19
$STATE,1197,end apogee,CONTROL_FINISHED_OK
$STATE,1197,begin climb
$GC,1198,0.79,146.0,2431,1968,2842,2783,154.2,0.0,229,1318,1.35,2.45,109.18,1.107,10500,0.060,0.062,2741,3387,2215,2257,2173,0,0,0,0,0,0,14.67,14.53,14.09
$GC,1387,0.82,169.1,2741,3388,2257,2173,149.7,8.9,264,1411,0.00,2.28,19.02,1.049,9222,0.000,0.041,2750,2013,2121,2166,2076,0,0,0,0,0,0,14.80,14.77,14.26
$GC,1470,0.87,213.8,2749,2013,2166,2073,142.6,7.9,280,1510,0.00,0.00,35.90,1.077,10502,0.000,0.000,2749,2013,1938,1989,1888,0,0,0,0,0,0,15.00,14.69,14.24
$GC,1569,0.88,221.5,2750,2014,1987,1884,133.8,9.6,299,1581,0.00,0.00,7.25,0.838,10502,0.000,0.000,2750,2013,1907,1959,1856,0,0,0,0,0,0,14.98,14.69,14.32
$GC,1640,0.93,261.2,2750,2014,1958,1854,127.1,8.2,313,1680,0.08,2.42,32.78,1.067,11012,0.183,0.069,2800,588,1744,1801,1688,0,0,0,0,0,0,14.83,14.71,14.29
$GC,1729,0.93,261.2,2799,588,1798,1689,118.7,11.0,330,1736,0.00,2.30,0.00,0.000,5126,0.000,0.042,2801,1983,1742,1796,1688,0,0,0,0,0,0,14.85,14.81,14.86
$GC,1795,0.93,261.2,2801,1983,1795,1687,111.3,11.8,343,1801,0.00,0.00,0.00,0.000,4102,0.000,0.000,2801,1983,1741,1795,1687,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1860,0.93,261.2,2801,1984,1794,1687,103.2,12.4,356,1867,0.00,2.38,0.00,0.000,4612,0.000,0.070,2800,593,1743,1800,1686,0,0,0,0,0,0,15.11,14.90,15.11
$GC,1906,0.93,261.2,2801,594,1794,1687,97.1,13.7,365,1913,0.00,2.30,0.00,0.000,5126,0.000,0.044,2801,1999,1740,1794,1686,0,0,0,0,0,0,15.00,14.95,15.01
$GC,1972,0.93,261.2,2801,2000,1794,1686,87.1,14.7,378,1978,0.00,0.00,0.00,0.000,4102,0.000,0.000,2800,1999,1739,1794,1685,0,0,0,0,0,0,15.15,15.16,15.16
$GC,2037,0.93,261.2,2800,2000,1796,1686,78.1,13.3,391,2044,0.00,2.40,0.00,0.000,4612,0.000,0.071,2801,591,1739,1794,1685,0,0,0,0,0,0,15.17,14.97,15.17
$GC,2137,0.93,261.2,2801,592,1794,1686,65.9,12.9,411,2144,0.00,2.25,0.00,0.000,5126,0.000,0.043,2800,1978,1739,1794,1685,0,0,0,0,0,0,15.05,15.02,15.07
$GC,2204,0.93,261.2,2800,1979,1795,1686,57.7,11.4,424,2209,0.00,0.00,0.00,0.000,4102,0.000,0.000,2801,1979,1739,1794,1685,0,0,0,0,0,0,15.22,15.23,15.23
$GC,2268,0.93,261.2,2800,1980,1795,1685,50.7,11.1,437,2275,0.00,2.38,0.00,0.000,4356,0.000,0.065,2801,3394,1739,1794,1684,0,0,0,0,0,0,15.23,14.99,15.23
$GC,2304,0.93,261.2,2800,3394,1795,1685,46.4,12.0,444,2311,0.00,2.30,0.00,0.000,5126,0.000,0.044,2801,1992,1739,1794,1684,0,0,0,0,0,0,15.09,15.02,15.08
$GC,2370,0.93,261.2,2801,1993,1796,1684,38.0,12.5,457,2377,0.00,2.38,0.00,0.000,4612,0.000,0.073,2801,590,1738,1793,1683,0,0,0,0,0,0,15.23,15.02,15.23
$GC,2421,0.93,261.2,2801,590,1793,1684,31.9,12.7,467,2428,0.00,2.28,0.00,0.000,5126,0.000,0.045,2801,1988,1738,1793,1683,0,0,0,0,0,0,15.10,15.07,15.10
$GC,2487,0.93,261.2,2800,1989,1795,1684,23.7,12.8,480,2493,0.00,0.00,0.00,0.000,4102,0.000,0.000,2801,1989,1738,1793,1683,0,0,0,0,0,0,15.23,15.24,15.24
$GC,2552,0.93,261.2,2800,1987,1795,1684,15.8,11.5,493,2557,0.00,0.00,0.00,0.000,4102,0.000,0.000,2801,1988,1738,1793,1683,0,0,0,0,0,0,15.23,15.24,15.24
$GC,2617,0.93,261.2,2802,1989,1793,1684,6.8,14.3,506,2624,0.00,2.35,0.00,0.000,4612,0.000,0.067,2807,585,1738,1793,1683,0,0,0,0,0,0,15.24,15.04,15.24
$STATE,2646,end climb,SURFACE_DEPTH_REACHED
$STATE,2646,begin surface coast
$FINISH,1.2,1.024432
$STATE,2657,end surface coast,CONTROL_FINISHED_OK
$STATE,2657,begin surface
$SM_CCo,2676,3.25,0.115,0,0,1711,270.07
$SM_GC,2.51,12.10,2.53,3.25,0.049,0.048,0.115,145,2126,1711,-7.26,-1.27,270.07,0,0,0,0,0,0,15.07,15.08,15.04
$IRIDIUM_FIX,-2838.37,3218.84,180918,030533
$TT8_MAMPS,0.036701,0.954975
$HUMID,46.92
$INTERNAL_PRESSURE,9.31641
$TCM_TEMP,25.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.0
$SC_FREEKB,3887072
$24V_AH,14.09,20.991
$10V_AH,13.51,0.000
$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,26.500,60.750,310.425,3.250,0.000,22.863,16.615,287.423,0.250,0.000,35.545,0.000,1196.616,448.319,1452.218,69.273,0.000,910.064,0.000,771.476,0.000,2.639,0.000
$DEVICE_MAMPS,291.465,91.035,1127.610,114.750,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2689.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.937,0.000,0.000,0.000
$MEM,343600
$DATA_FILE_SIZE,16841,514
$CAP_FILE_SIZE,97222,0
$CFSIZE,1023623168,1013678080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180918,044249,-2847.894,3220.856,37,0.8,76,-23.6,0.7,89.3,10,7.9