version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 72
start: 9 18 118 6 43 28
data:
$ID,573
$MISSION,22
$DIVE,72
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,175
$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,59
$T_MISSION,74
$T_ABORT,94
$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,294
$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,36
$R_STBD_OVSHOOT,52
$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
$GPS1,180918,063401,-2847.7773,3223.4268,21,0.8,27,-23.6,0.4,164.0,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-65.6
$GPS2,180918,064317,-2847.8184,3223.5164,15,0.8,17,-23.6,0.3,200.1,10,10.0
$SPEED_LIMITS,0.171,0.259
$TGT_NAME,HEADING
$TGT_LATLONG,-2843.426,3212.267
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,317.6,20000,-18.1,-9.887,-20.89,2261
$D_GRID,175
$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,-0.78,-146.0,96,2140,1206,1128,0.0,0.0,0,92,0.00,0.00,-72.12,0.000,16386,0.000,0.000,88,2139,3200,3219,3182,0,0,0,0,0,0,15.11,28.83,15.12
$GC,93,-0.78,-146.0,90,2140,3219,3183,4.3,-11.6,13,117,12.00,2.35,-3.60,0.000,18948,0.294,0.082,2228,723,3410,3453,3367,0,0,0,0,0,0,14.78,14.14,14.91
$GC,225,-0.78,-146.0,2227,724,3454,3368,33.6,-15.2,39,233,0.00,2.28,0.00,0.000,3078,0.000,0.047,2224,2110,3410,3453,3367,0,0,0,0,0,0,15.04,14.99,15.05
$GC,292,-0.78,-146.0,2224,2110,3454,3368,44.2,-17.3,52,299,0.00,2.42,0.00,0.000,2308,0.000,0.071,2216,3541,3410,3453,3368,0,0,0,0,0,0,15.19,15.00,15.19
$GC,342,-0.78,-146.0,2216,3542,3453,3368,53.2,-17.6,62,350,0.08,2.33,0.00,0.000,3078,0.219,0.038,2233,2107,3410,3453,3368,0,0,0,0,0,0,14.95,15.02,15.00
$GC,409,-0.78,-146.0,2233,2107,3459,3368,64.6,-15.9,75,416,0.00,2.45,0.00,0.000,2308,0.000,0.073,2227,3537,3410,3453,3368,0,0,0,0,0,0,15.23,15.00,15.23
$GC,464,-0.78,-146.0,2228,3537,3453,3368,74.2,-16.5,86,472,0.00,2.30,0.00,0.000,3078,0.000,0.039,2227,2124,3410,3453,3367,0,0,0,0,0,0,15.07,15.02,15.08
$GC,530,-0.78,-146.0,2227,2124,3453,3368,84.9,-16.4,99,537,0.00,2.30,0.00,0.000,2564,0.000,0.064,2226,745,3410,3453,3368,0,0,0,0,0,0,15.23,15.03,15.23
$GC,561,-0.78,-146.0,2226,745,3455,3368,89.8,-15.3,105,568,0.00,2.28,0.00,0.000,3078,0.000,0.048,2224,2134,3410,3453,3367,0,0,0,0,0,0,15.09,15.04,15.10
$GC,627,-0.78,-146.0,2224,2135,3454,3369,99.2,-14.4,118,634,0.00,2.38,0.00,0.000,2308,0.000,0.071,2221,3538,3410,3453,3368,0,0,0,0,0,0,15.23,15.03,15.23
$GC,658,-0.78,-146.0,2222,3539,3452,3368,103.7,-15.0,124,665,0.05,2.28,0.00,0.000,3078,0.246,0.038,2233,2128,3410,3453,3367,0,0,0,0,0,0,14.95,15.06,15.07
$GC,724,-0.78,-146.0,2233,2128,3454,3368,112.8,-13.6,137,729,0.00,0.00,0.00,0.000,2054,0.000,0.000,2234,2128,3410,3453,3367,0,0,0,0,0,0,15.27,15.25,15.26
$GC,789,-0.78,-146.0,2234,2128,3453,3368,120.7,-11.5,150,795,0.00,2.33,0.00,0.000,2564,0.000,0.068,2234,740,3410,3453,3368,0,0,0,0,0,0,15.26,15.00,15.26
$GC,819,-0.78,-146.0,2235,741,3453,3368,124.8,-13.6,156,827,0.00,2.28,0.00,0.000,3078,0.000,0.047,2234,2130,3410,3453,3368,0,0,0,0,0,0,15.08,15.04,15.11
$GC,886,-0.78,-146.0,2235,2131,3453,3368,130.7,-8.4,169,892,0.00,2.33,0.00,0.000,2308,0.000,0.072,2234,3537,3410,3453,3367,0,0,0,0,0,0,15.25,15.06,15.25
$GC,936,-0.78,-146.0,2234,3537,3453,3368,136.1,-10.3,179,943,0.00,2.28,0.00,0.000,3078,0.000,0.038,2233,2127,3410,3453,3368,0,0,0,0,0,0,15.10,15.07,15.12
$GC,1002,-0.78,-146.0,2233,2128,3454,3369,144.9,-13.8,192,1008,0.00,0.00,0.00,0.000,2054,0.000,0.000,2234,2127,3410,3453,3367,0,0,0,0,0,0,15.25,15.26,15.26
$GC,1067,-0.78,-146.0,2233,2128,3454,3368,153.3,-12.7,205,1074,0.00,2.40,0.00,0.000,2308,0.000,0.070,2234,3539,3409,3452,3367,0,0,0,0,0,0,15.25,15.04,15.25
$GC,1113,-0.78,-146.0,2234,3540,3453,3368,158.7,-11.0,214,1120,0.00,2.28,0.00,0.000,3078,0.000,0.037,2234,2129,3410,3453,3368,0,0,0,0,0,0,15.11,15.07,15.13
$GC,1179,-0.78,-146.0,2233,2130,3454,3368,166.0,-10.5,227,1184,0.00,0.00,0.00,0.000,2054,0.000,0.000,2234,2129,3409,3452,3367,0,0,0,0,0,0,15.26,15.27,15.27
$GC,1244,-0.78,-146.0,2234,2130,3453,3368,172.2,-8.8,240,1244,0.00,0.00,0.00,0.000,2054,0.000,0.000,2234,2129,3408,3450,3367,0,0,0,0,0,0,15.27,15.27,15.27
$STATE,1282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1282,begin apogee
$GC,1285,-0.17,0.0,2235,1961,3453,3368,175.1,-7.0,248,1401,0.93,0.00,107.53,1.154,10246,0.150,0.000,2428,1959,2810,2842,2779,0,0,0,0,0,0,15.00,14.52,14.15
$STATE,1402,end apogee,CONTROL_FINISHED_OK
$STATE,1402,begin climb
$GC,1403,0.78,146.0,2429,1959,2843,2780,176.2,0.0,269,1519,1.35,2.25,108.85,1.141,10756,0.067,0.065,2739,612,2215,2256,2174,0,0,0,0,0,0,14.66,14.45,14.07
$GC,2018,0.82,177.2,2738,612,2243,2175,134.0,8.5,389,2047,0.00,2.22,24.27,1.083,11270,0.000,0.042,2739,1984,2089,2132,2046,0,0,0,0,0,0,15.06,15.02,14.45
$GC,2106,0.97,295.4,2739,1985,2132,2041,128.0,4.5,406,2206,0.17,2.35,91.68,1.100,10756,0.096,0.070,2821,605,1606,1665,1548,0,0,0,0,0,0,14.94,14.59,14.19
$GC,2290,0.97,295.4,2821,604,1661,1549,108.1,13.8,441,2297,0.08,2.30,0.00,0.000,5126,0.212,0.044,2805,1990,1603,1659,1548,0,0,0,0,0,0,14.73,14.81,14.82
$GC,2356,0.97,295.4,2804,1991,1661,1546,99.0,13.5,454,2363,0.00,2.38,0.00,0.000,4356,0.000,0.066,2804,3390,1601,1658,1545,0,0,0,0,0,0,15.06,14.85,15.06
$GC,2387,0.97,295.4,2804,3390,1661,1545,94.2,15.1,460,2394,0.00,2.28,0.00,0.000,5126,0.000,0.045,2808,2015,1601,1659,1544,0,0,0,0,0,0,14.95,14.90,14.95
$GC,2454,0.97,295.4,2806,2015,1661,1545,84.8,14.7,473,2460,0.00,2.40,0.00,0.000,4612,0.000,0.073,2808,586,1601,1659,1543,0,0,0,0,0,0,15.13,14.90,15.13
$GC,2484,0.97,295.4,2809,587,1659,1544,80.3,14.7,479,2491,0.00,2.28,0.00,0.000,5126,0.000,0.041,2808,1983,1601,1659,1543,0,0,0,0,0,0,14.96,14.92,14.98
$GC,2550,0.97,295.4,2809,1983,1658,1544,71.1,12.3,492,2556,0.00,0.00,0.00,0.000,4102,0.000,0.000,2807,1983,1601,1658,1544,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2615,1.04,354.3,2807,1984,1661,1543,64.3,7.2,505,2666,0.00,2.40,46.65,1.023,10500,0.000,0.063,2808,3393,1365,1419,1312,0,0,0,0,0,0,15.19,14.78,14.37
$GC,2726,1.04,354.3,2811,3394,1421,1305,47.0,16.7,526,2732,0.00,2.33,0.00,0.000,3078,0.000,0.047,2804,1998,1361,1419,1304,0,0,0,0,0,0,14.90,14.87,14.93
$GC,2792,1.04,354.3,2808,1999,1419,1304,37.1,15.1,539,2797,0.00,0.00,0.00,0.000,2054,0.000,0.000,2808,1998,1361,1419,1303,0,0,0,0,0,0,15.09,15.10,15.09
$GC,2856,1.04,354.3,2807,1999,1421,1304,27.7,14.3,552,2857,0.00,0.00,0.00,0.000,2054,0.000,0.000,2808,1998,1361,1419,1303,0,0,0,0,0,0,15.13,15.14,15.14
$GC,2917,1.04,354.3,2807,1999,1421,1304,18.7,16.2,564,2923,0.00,2.38,0.00,0.000,2564,0.000,0.073,2816,581,1361,1419,1303,0,0,0,0,0,0,15.15,14.96,15.15
$GC,2932,1.04,354.3,2817,581,1419,1303,16.2,16.3,567,2939,0.00,2.28,0.00,0.000,3078,0.000,0.042,2816,1980,1360,1419,1302,0,0,0,0,0,0,15.02,14.98,15.04
$GC,2999,1.04,354.3,2816,1980,1420,1302,5.9,17.0,580,3005,0.00,2.35,0.00,0.000,2564,0.000,0.073,2821,576,1360,1418,1303,0,0,0,0,0,0,15.19,14.95,15.19
$STATE,3018,end climb,SURFACE_DEPTH_REACHED
$STATE,3018,begin surface coast
$FINISH,0.4,1.024399
$STATE,3033,end surface coast,CONTROL_FINISHED_OK
$STATE,3033,begin surface
$SM_CCo,3113,0.00,0.000,0,0,1357,356.91
$SM_GC,0.96,12.25,2.53,0.00,0.057,0.039,0.000,145,2138,1357,-7.27,-1.22,356.91,0,0,0,0,0,0,15.01,15.04,15.08
$IRIDIUM_FIX,-2835.91,3220.92,180918,053924
$TT8_MAMPS,0.03745,0.972202
$HUMID,47.48
$INTERNAL_PRESSURE,9.26758
$TCM_TEMP,25.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.4
$SC_FREEKB,3885536
$24V_AH,14.07,21.571
$10V_AH,13.63,0.000
$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,26.900,70.125,378.975,0.000,0.000,25.456,32.939,339.249,0.250,0.000,18.708,0.000,1433.846,508.948,1642.943,78.512,0.000,1030.125,0.000,878.489,0.000,2.641,0.000
$DEVICE_MAMPS,293.760,83.385,1154.385,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3078.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.176,0.000,0.000,0.000
$MEM,343644
$DATA_FILE_SIZE,20133,587
$CAP_FILE_SIZE,106997,0
$CFSIZE,1023623168,1013366784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,470.41,0x212b66,0,24
$GPS,180918,073600,-2847.866,3224.142,20,0.8,22,-23.6,0.0,181.9,11,8.6