version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 71
start: 9 18 118 5 46 39
data:
$ID,573
$MISSION,22
$DIVE,71
$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,80
$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,130
$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,64
$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
$GPS1,180918,053712,-2847.4895,3222.0957,16,0.9,19,-23.6,0.4,84.6,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-66.1
$GPS2,180918,054627,-2847.5137,3222.2546,16,0.9,20,-23.6,0.5,193.4,10,9.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2854.455,3231.705
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,153.6,20000,-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,-146.0,93,2098,1518,1446,0.0,0.0,0,76,0.00,0.00,-56.83,0.000,16386,0.000,0.000,90,2097,3054,3058,3051,0,0,0,0,0,0,15.13,28.83,15.14
$GC,77,-0.79,-146.0,91,2098,3057,3052,3.3,-8.0,10,101,11.93,2.45,-6.55,0.000,18692,0.288,0.086,2216,3543,3410,3455,3365,0,0,0,0,0,0,14.82,14.14,14.92
$GC,210,-0.79,-146.0,2217,3545,3455,3366,29.9,-14.5,36,217,0.05,2.28,0.00,0.000,3078,0.242,0.037,2229,2149,3411,3456,3366,0,0,0,0,0,0,14.90,15.00,15.00
$GC,276,-0.79,-146.0,2229,2149,3457,3366,40.0,-16.3,49,282,0.00,0.00,0.00,0.000,2054,0.000,0.000,2229,2149,3410,3455,3365,0,0,0,0,0,0,15.19,15.19,15.19
$GC,341,-0.79,-146.0,2230,2148,3455,3366,50.6,-16.9,62,342,0.00,0.00,0.00,0.000,2054,0.000,0.000,2229,2147,3410,3455,3365,0,0,0,0,0,0,15.21,15.21,15.21
$GC,401,-0.79,-146.0,2230,2148,3455,3366,61.2,-17.0,74,402,0.00,0.00,0.00,0.000,2054,0.000,0.000,2229,2148,3410,3455,3366,0,0,0,0,0,0,15.21,15.22,15.21
$GC,461,-0.79,-146.0,2229,2148,3457,3367,70.5,-15.4,86,462,0.00,0.00,0.00,0.000,2054,0.000,0.000,2229,2147,3410,3455,3366,0,0,0,0,0,0,15.22,15.23,15.23
$GC,521,-0.79,-146.0,2229,2148,3456,3366,80.9,-18.6,98,522,0.00,0.00,0.00,0.000,2054,0.000,0.000,2229,2147,3410,3455,3366,0,0,0,0,0,0,15.23,15.23,15.23
$GC,581,-0.79,-146.0,2230,2148,3455,3366,92.9,-18.5,110,582,0.00,0.00,0.00,0.000,2054,0.000,0.000,2229,2148,3410,3455,3365,0,0,0,0,0,0,15.23,15.23,15.23
$GC,641,-0.79,-146.0,2229,2148,3457,3366,103.0,-16.9,122,642,0.00,0.00,0.00,0.000,2054,0.000,0.000,2229,2147,3410,3455,3365,0,0,0,0,0,0,15.23,15.24,15.24
$GC,701,-0.79,-146.0,2229,2148,3457,3366,113.0,-14.7,134,702,0.00,0.00,0.00,0.000,2054,0.000,0.000,2229,2147,3410,3455,3366,0,0,0,0,0,0,15.24,15.24,15.24
$GC,761,-0.79,-146.0,2232,2148,3455,3366,122.3,-14.4,146,768,0.00,2.38,0.00,0.000,2564,0.000,0.063,2228,723,3410,3455,3365,0,0,0,0,0,0,15.24,15.04,15.25
$GC,792,-0.79,-146.0,2228,722,3457,3366,126.7,-14.7,152,799,0.00,2.30,0.00,0.000,3078,0.000,0.049,2229,2128,3410,3455,3366,0,0,0,0,0,0,15.11,15.07,15.12
$GC,858,-0.79,-146.0,2228,2129,3457,3366,136.9,-14.4,165,864,0.00,2.40,0.00,0.000,2308,0.000,0.072,2228,3546,3410,3455,3365,0,0,0,0,0,0,15.26,15.02,15.26
$GC,883,-0.79,-146.0,2228,3547,3457,3370,140.2,-15.0,170,890,0.00,2.30,0.00,0.000,3078,0.000,0.037,2229,2125,3410,3455,3366,0,0,0,0,0,0,15.07,15.02,15.09
$GC,949,-0.79,-146.0,2230,2126,3455,3366,148.5,-13.2,183,956,0.00,2.33,0.00,0.000,2564,0.000,0.065,2229,729,3410,3455,3366,0,0,0,0,0,0,15.26,15.05,15.26
$STATE,964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,964,begin apogee
$GC,969,-0.17,0.0,2228,1994,3457,3366,150.6,-12.6,186,1083,0.98,0.00,107.50,1.133,10246,0.157,0.000,2429,1994,2811,2841,2782,0,0,0,0,0,0,14.97,14.56,14.18
$STATE,1084,end apogee,CONTROL_FINISHED_OK
$STATE,1084,begin climb
$GC,1085,0.79,146.0,2429,1994,2843,2783,156.7,0.0,207,1206,1.35,2.40,108.85,1.116,10756,0.067,0.067,2737,594,2214,2255,2173,0,0,0,0,0,0,14.66,14.46,14.08
$GC,1605,0.93,264.6,2736,595,2250,2174,145.8,4.5,308,1705,0.12,2.28,91.47,1.116,11270,0.086,0.042,2799,2001,1733,1789,1677,0,0,0,0,0,0,15.01,15.00,14.21
$GC,1765,1.00,316.5,2799,2003,1786,1673,137.5,7.6,338,1815,0.00,2.42,42.70,1.080,10756,0.000,0.070,2800,575,1519,1573,1465,0,0,0,0,0,0,14.95,14.63,14.19
$GC,1844,1.00,316.5,2802,575,1570,1466,126.6,15.7,353,1851,0.00,2.33,0.00,0.000,3078,0.000,0.043,2800,1972,1517,1570,1465,0,0,0,0,0,0,14.78,14.73,14.79
$GC,1910,1.00,316.5,2799,1973,1571,1463,117.2,13.4,366,1917,0.00,2.38,0.00,0.000,2564,0.000,0.070,2800,597,1515,1569,1462,0,0,0,0,0,0,15.00,14.81,15.01
$GC,1941,1.01,329.9,2800,597,1571,1463,114.5,9.4,372,1959,0.00,2.28,11.90,0.942,11270,0.000,0.045,2800,1980,1464,1515,1414,0,0,0,0,0,0,14.87,14.83,14.36
$GC,2018,1.01,329.9,2800,1980,1516,1414,105.3,11.2,387,2025,0.00,2.38,0.00,0.000,2308,0.000,0.063,2800,3384,1462,1514,1410,0,0,0,0,0,0,15.06,14.85,15.07
$GC,2054,1.01,329.9,2799,3384,1516,1410,100.7,13.5,394,2061,0.00,2.30,0.00,0.000,3078,0.000,0.043,2800,1994,1462,1515,1410,0,0,0,0,0,0,14.95,14.90,14.96
$GC,2120,1.01,329.9,2801,1995,1514,1410,91.5,15.5,407,2127,0.00,2.40,0.00,0.000,2564,0.000,0.075,2800,590,1462,1515,1409,0,0,0,0,0,0,15.12,14.88,15.12
$GC,2155,1.01,329.9,2800,590,1517,1410,86.2,15.9,414,2162,0.00,2.28,0.00,0.000,3078,0.000,0.041,2804,1988,1461,1514,1408,0,0,0,0,0,0,14.95,14.92,14.98
$GC,2222,1.01,329.9,2801,1989,1513,1409,76.0,13.7,427,2227,0.00,0.00,0.00,0.000,2054,0.000,0.000,2800,1989,1461,1514,1409,0,0,0,0,0,0,15.17,15.18,15.18
$GC,2286,1.01,329.9,2800,1990,1515,1409,63.0,23.6,440,2293,0.00,2.35,0.00,0.000,2308,0.000,0.067,2800,3385,1461,1514,1409,0,0,0,0,0,0,15.19,14.95,15.19
$GC,2307,1.01,329.9,2801,3386,1514,1409,58.9,20.8,444,2314,0.00,2.30,0.00,0.000,3078,0.000,0.047,2800,1993,1461,1514,1409,0,0,0,0,0,0,15.02,14.98,15.04
$GC,2373,1.01,329.9,2800,1993,1516,1409,48.9,13.9,457,2380,0.00,2.35,0.00,0.000,2564,0.000,0.073,2801,578,1462,1515,1409,0,0,0,0,0,0,15.19,14.99,15.20
$GC,2444,1.01,329.9,2800,578,1516,1409,38.8,14.5,471,2451,0.00,2.28,0.00,0.000,3078,0.000,0.041,2801,1983,1461,1514,1408,0,0,0,0,0,0,15.07,15.03,15.08
$GC,2510,1.01,329.9,2801,1984,1514,1409,30.3,13.1,484,2515,0.00,0.00,0.00,0.000,2054,0.000,0.000,2800,1983,1461,1514,1408,0,0,0,0,0,0,15.21,15.22,15.23
$GC,2574,1.01,329.9,2801,1983,1514,1409,20.7,15.2,497,2575,0.00,0.00,0.00,0.000,2054,0.000,0.000,2800,1983,1461,1514,1408,0,0,0,0,0,0,15.22,15.23,15.23
$GC,2635,1.10,400.0,2800,1984,1515,1409,13.7,6.8,509,2681,0.10,2.38,39.92,0.879,10500,0.155,0.061,2855,3391,1178,1222,1135,0,0,0,0,0,0,15.07,14.84,14.51
$GC,2699,1.10,400.0,2855,3392,1224,1126,4.7,19.1,521,2707,0.08,2.33,0.00,0.000,5126,0.235,0.044,2842,1988,1174,1225,1124,0,0,0,0,0,0,14.82,14.90,14.91
$STATE,2709,end climb,SURFACE_DEPTH_REACHED
$STATE,2709,begin surface coast
$FINISH,1.3,1.024402
$STATE,2720,end surface coast,CONTROL_FINISHED_OK
$STATE,2720,begin surface
$SM_CCo,2798,0.00,0.000,0,0,1170,402.78
$SM_GC,1.05,12.32,0.20,0.00,0.045,0.080,0.000,149,2138,1170,-7.27,-1.39,402.78,0,0,0,0,0,0,14.92,14.95,15.00
$IRIDIUM_FIX,-2835.91,3220.92,180918,044505
$TT8_MAMPS,0.036701,0.9737
$HUMID,46.61
$INTERNAL_PRESSURE,9.26758
$TCM_TEMP,25.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,0.0
$SC_FREEKB,3886048
$24V_AH,14.08,21.373
$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,26.925,56.175,402.350,0.000,0.000,22.268,38.331,337.702,0.250,0.000,21.190,0.000,1262.233,487.323,1527.145,73.377,0.000,963.665,0.000,785.775,0.000,3.255,0.000
$DEVICE_MAMPS,288.405,139.230,1132.965,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2761.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.866,0.000,0.000,0.000
$MEM,343576
$DATA_FILE_SIZE,16786,525
$CAP_FILE_SIZE,98782,0
$CFSIZE,1023623168,1013465088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180918,063401,-2847.777,3223.427,21,0.8,27,-23.6,0.4,164.0,10,8.6