version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 73
start: 9 18 118 7 46 22
data:
$ID,573
$MISSION,22
$DIVE,73
$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,341
$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,35
$R_STBD_OVSHOOT,48
$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
$GPS1,180918,073600,-2847.8660,3224.1421,20,0.8,22,-23.6,0.0,181.9,11,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.6
$GPS2,180918,074611,-2847.9922,3224.2161,20,0.9,26,-23.6,0.5,213.8,9,8.9
$SPEED_LIMITS,0.171,0.259
$TGT_NAME,HEADING
$TGT_LATLONG,-2837.781,3220.210
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,4.6,20000,-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,17,-0.78,-146.0,75,2146,1397,1318,0.0,0.0,0,81,0.00,0.00,-61.92,0.000,16386,0.000,0.000,73,2147,3118,3126,3111,0,0,0,0,0,0,15.12,28.83,15.12
$GC,83,-0.78,-146.0,72,2147,3128,3112,3.9,-10.6,11,106,12.18,2.35,-5.12,0.000,18948,0.299,0.077,2228,712,3410,3454,3366,0,0,0,0,0,0,14.78,14.38,14.91
$GC,230,-0.78,-146.0,2228,713,3454,3367,40.4,-18.3,40,237,0.00,2.30,0.00,0.000,3078,0.000,0.047,2224,2114,3410,3454,3366,0,0,0,0,0,0,15.04,15.00,15.06
$GC,296,-0.78,-146.0,2224,2115,3456,3367,52.7,-18.8,53,303,0.00,2.40,0.00,0.000,2308,0.000,0.072,2224,3532,3410,3454,3366,0,0,0,0,0,0,15.18,15.00,15.19
$GC,356,-0.78,-146.0,2225,3533,3452,3366,63.6,-16.8,65,364,0.00,2.28,0.00,0.000,3078,0.000,0.037,2224,2127,3412,3454,3370,0,0,0,0,0,0,15.07,15.02,15.07
$GC,423,-0.78,-146.0,2224,2126,3456,3366,75.1,-16.5,78,429,0.00,2.38,0.00,0.000,2308,0.000,0.072,2221,3541,3410,3454,3366,0,0,0,0,0,0,15.23,14.99,15.23
$GC,518,-0.78,-146.0,2220,3542,3455,3366,87.5,-11.0,97,525,0.05,2.30,0.00,0.000,3078,0.244,0.037,2234,2114,3410,3454,3366,0,0,0,0,0,0,14.92,15.02,15.02
$GC,585,-0.78,-146.0,2233,2114,3456,3366,93.8,-9.9,110,591,0.00,2.25,0.00,0.000,2564,0.000,0.063,2234,735,3410,3454,3366,0,0,0,0,0,0,15.24,15.04,15.25
$GC,615,-0.78,-146.0,2235,736,3454,3366,96.8,-10.3,116,622,0.00,2.28,0.00,0.000,3078,0.000,0.048,2234,2126,3410,3454,3366,0,0,0,0,0,0,15.10,15.05,15.11
$GC,681,-0.78,-146.0,2234,2126,3454,3367,104.5,-13.6,129,688,0.00,2.38,0.00,0.000,2308,0.000,0.073,2234,3553,3410,3454,3366,0,0,0,0,0,0,15.23,15.04,15.24
$GC,727,-0.78,-146.0,2234,3556,3454,3367,111.4,-14.7,138,733,0.00,2.30,0.00,0.000,3078,0.000,0.037,2234,2137,3410,3454,3366,0,0,0,0,0,0,15.08,15.07,15.11
$GC,793,-0.78,-146.0,2233,2138,3456,3367,123.6,-19.4,151,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2137,3410,3454,3366,0,0,0,0,0,0,15.25,15.26,15.26
$GC,857,-0.78,-146.0,2233,2138,3455,3367,135.6,-17.6,164,858,0.00,0.00,0.00,0.000,2054,0.000,0.000,2234,2137,3410,3454,3366,0,0,0,0,0,0,15.26,15.26,15.26
$GC,917,-0.78,-146.0,2233,2138,3455,3370,144.8,-14.1,176,924,0.00,2.35,0.00,0.000,2564,0.000,0.063,2234,727,3410,3454,3366,0,0,0,0,0,0,15.26,15.02,15.26
$GC,928,-0.78,-146.0,2234,728,3454,3366,146.3,-13.5,178,935,0.00,2.30,0.00,0.000,3078,0.000,0.047,2234,2135,3410,3454,3366,0,0,0,0,0,0,15.07,15.03,15.09
$GC,995,-0.78,-146.0,2233,2136,3456,3367,152.5,-8.5,191,1001,0.00,2.33,0.00,0.000,2564,0.000,0.064,2234,726,3410,3454,3366,0,0,0,0,0,0,15.26,15.06,15.26
$GC,1025,-0.78,-146.0,2234,727,3454,3366,155.0,-9.0,197,1032,0.00,2.30,0.00,0.000,3078,0.000,0.048,2233,2134,3410,3454,3366,0,0,0,0,0,0,15.11,15.07,15.13
$GC,1091,-0.78,-146.0,2233,2135,3455,3367,159.5,-5.2,210,1098,0.00,2.33,0.00,0.000,2564,0.000,0.065,2234,721,3410,3454,3366,0,0,0,0,0,0,15.26,15.06,15.26
$GC,1121,-0.78,-146.0,2234,723,3454,3366,161.2,-5.5,216,1128,0.00,2.30,0.00,0.000,3078,0.000,0.048,2234,2129,3410,3454,3366,0,0,0,0,0,0,15.11,15.07,15.12
$GC,1188,-0.78,-146.0,2233,2129,3456,3367,166.6,-10.0,229,1193,0.00,0.00,0.00,0.000,2054,0.000,0.000,2234,2129,3410,3454,3366,0,0,0,0,0,0,15.26,15.27,15.27
$GC,1252,-0.78,-146.0,2233,2130,3456,3367,173.8,-10.1,242,1259,0.00,2.35,0.00,0.000,2564,0.000,0.060,2234,720,3410,3454,3366,0,0,0,0,0,0,15.27,15.02,15.27
$STATE,1262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1262,begin apogee
$GC,1266,-0.17,0.0,2234,1990,3455,3367,175.6,-13.5,244,1377,0.93,0.00,106.82,1.161,10246,0.144,0.000,2430,1992,2812,2842,2782,0,0,0,0,0,0,15.02,14.63,14.16
$STATE,1378,end apogee,CONTROL_FINISHED_OK
$STATE,1378,begin climb
$GC,1379,0.78,146.0,2432,1993,2842,2782,181.1,0.0,264,1494,1.40,2.33,107.93,1.147,10500,0.063,0.063,2749,3394,2215,2256,2175,0,0,0,0,0,0,14.66,14.50,14.07
$GC,1593,0.78,146.0,2750,3394,2252,2174,176.9,13.8,304,1600,0.05,2.35,0.00,0.000,5126,0.275,0.044,2745,1980,2212,2252,2173,0,0,0,0,0,0,14.68,14.80,14.79
$GC,1660,0.85,202.9,2745,1980,2254,2172,171.7,7.3,317,1710,0.00,2.35,43.97,1.125,10756,0.000,0.067,2750,587,1983,2032,1934,0,0,0,0,0,0,15.05,14.60,14.24
$GC,2094,0.86,206.9,2750,588,2024,1934,134.1,9.7,403,2102,0.00,2.30,3.88,0.601,11270,0.000,0.044,2749,1991,1967,2015,1920,0,0,0,0,0,0,15.01,14.97,14.50
$GC,2162,0.89,236.6,2750,1992,2015,1919,127.6,8.5,416,2190,0.00,0.00,24.70,1.089,10758,0.000,0.000,2749,1991,1846,1897,1795,0,0,0,0,0,0,15.19,14.87,14.40
$GC,2249,0.95,285.9,2751,1991,1897,1793,120.7,7.6,433,2294,0.12,2.35,39.45,1.100,10500,0.122,0.067,2810,3390,1643,1702,1585,0,0,0,0,0,0,14.96,14.68,14.31
$GC,2323,0.95,285.9,2810,3391,1703,1584,112.6,13.0,447,2331,0.08,2.35,0.00,0.000,5126,0.233,0.045,2798,1981,1644,1706,1583,0,0,0,0,0,0,14.72,14.80,14.81
$GC,2390,0.95,285.9,2798,1982,1703,1582,104.4,13.7,460,2397,0.00,2.38,0.00,0.000,260,0.000,0.063,2798,3386,1641,1700,1582,0,0,0,0,0,0,15.06,14.84,15.07
$GC,2410,0.95,285.9,2799,3386,1700,1581,101.2,14.3,464,2417,0.00,2.33,0.00,0.000,5126,0.000,0.046,2801,1990,1640,1699,1581,0,0,0,0,0,0,14.92,14.88,14.92
$GC,2477,0.95,285.9,2801,1991,1700,1581,92.1,13.3,477,2484,0.00,2.40,0.00,0.000,4612,0.000,0.073,2801,587,1640,1700,1580,0,0,0,0,0,0,15.11,14.90,15.11
$GC,2497,0.95,285.9,2800,583,1700,1581,89.2,13.9,481,2504,0.00,2.30,0.00,0.000,5126,0.000,0.042,2801,1984,1639,1699,1580,0,0,0,0,0,0,14.99,14.95,15.00
$GC,2564,0.95,285.9,2800,1985,1700,1581,80.1,14.3,494,2570,0.00,2.38,0.00,0.000,4356,0.000,0.063,2801,3395,1639,1699,1580,0,0,0,0,0,0,15.15,14.92,15.16
$GC,2679,0.95,285.9,2800,3396,1700,1580,63.3,16.2,517,2686,0.00,2.33,0.00,0.000,5126,0.000,0.046,2800,1986,1638,1698,1579,0,0,0,0,0,0,15.01,14.96,15.02
$GC,2745,0.95,285.9,2801,1986,1698,1580,53.9,13.7,530,2752,0.00,2.38,0.00,0.000,4356,0.000,0.063,2801,3395,1638,1698,1579,0,0,0,0,0,0,15.21,14.97,15.21
$GC,2796,0.95,285.9,2801,3396,1697,1580,46.2,15.2,540,2803,0.00,2.33,0.00,0.000,5126,0.000,0.047,2801,1989,1638,1698,1579,0,0,0,0,0,0,15.06,15.02,15.08
$GC,2862,0.95,285.9,2801,1989,1698,1580,36.9,13.6,553,2868,0.00,0.00,0.00,0.000,4102,0.000,0.000,2800,1989,1638,1697,1579,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2927,0.95,285.9,2801,1989,1700,1580,28.1,13.8,566,2928,0.00,0.00,0.00,0.000,4102,0.000,0.000,2800,1989,1638,1698,1579,0,0,0,0,0,0,15.22,15.22,15.22
$GC,2987,0.95,285.9,2801,1989,1698,1580,20.0,13.2,578,2994,0.00,2.33,0.00,0.000,4612,0.000,0.073,2801,579,1638,1697,1579,0,0,0,0,0,0,15.19,15.02,15.19
$GC,3007,0.95,285.9,2801,575,1699,1580,17.2,13.3,582,3015,0.00,2.30,0.00,0.000,5126,0.000,0.044,2801,1992,1637,1697,1578,0,0,0,0,0,0,15.09,15.04,15.11
$GC,3074,0.95,285.9,2801,1993,1699,1580,8.8,12.5,595,3080,0.00,2.33,0.00,0.000,4356,0.000,0.064,2801,3388,1638,1697,1579,0,0,0,0,0,0,15.23,14.98,15.24
$STATE,3123,end climb,SURFACE_DEPTH_REACHED
$STATE,3123,begin surface coast
$FINISH,0.4,1.010910
$STATE,3143,end surface coast,CONTROL_FINISHED_OK
$STATE,3143,begin surface
$SM_CCo,3223,0.00,0.000,0,0,1633,289.20
$SM_GC,1.31,12.12,2.08,0.00,0.057,0.047,0.000,143,2131,1633,-7.27,1.19,289.20,0,0,0,0,0,0,15.07,15.07,15.13
$IRIDIUM_FIX,-2835.91,3224.31,180918,063621
$TT8_MAMPS,0.038199,0.967708
$HUMID,47.79
$INTERNAL_PRESSURE,9.30664
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.3
$SC_FREEKB,3885024
$24V_AH,14.07,21.759
$10V_AH,13.54,0.000
$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,26.925,83.375,326.750,0.000,0.000,22.697,43.372,372.458,0.250,0.000,27.148,0.000,1519.768,478.372,1744.704,85.434,0.000,1008.566,0.000,913.183,0.000,2.639,0.000
$DEVICE_MAMPS,299.115,77.265,1161.270,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3193.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.943,0.000,0.000,0.000
$MEM,343576
$DATA_FILE_SIZE,20136,609
$CAP_FILE_SIZE,113268,0
$CFSIZE,1023623168,1013268480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180918,084101,-2848.082,3224.770,29,0.8,39,-23.6,1.0,208.7,11,5.3