version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 74
start: 9 18 118 8 51 32
data:
$ID,573
$MISSION,22
$DIVE,74
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,67
$T_MISSION,82
$T_ABORT,102
$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,10
$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,39
$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,10
$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
$GPS1,180918,084101,-2848.0815,3224.7698,29,0.8,39,-23.6,1.0,208.7,11,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.4
$GPS2,180918,085121,-2848.3354,3224.7551,31,0.9,31,-23.6,0.8,133.2,9,9.6
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2837.700,3226.892
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,33.6,20000,-18.2,-9.950,-20.98,2247
$D_GRID,200
$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,-146.0,73,2127,1672,1591,0.0,0.0,0,70,0.00,0.00,-51.25,0.000,16386,0.000,0.000,73,2126,3080,3084,3077,0,0,0,0,0,0,15.12,28.83,15.13
$GC,72,-0.79,-146.0,74,2127,3084,3078,3.4,-7.8,9,95,12.10,2.30,-5.88,0.000,18948,0.293,0.082,2227,725,3407,3450,3365,0,0,0,0,0,0,14.81,14.38,14.95
$GC,219,-0.79,-146.0,2228,723,3450,3365,34.3,-13.7,38,226,0.00,2.33,0.00,0.000,3078,0.000,0.048,2224,2132,3408,3451,3365,0,0,0,0,0,0,15.04,14.98,15.04
$GC,285,-0.79,-146.0,2225,2132,3450,3365,44.1,-15.6,51,292,0.00,2.38,0.00,0.000,2308,0.000,0.073,2224,3532,3408,3451,3365,0,0,0,0,0,0,15.20,15.00,15.20
$GC,336,-0.79,-146.0,2224,3534,3452,3365,51.0,-13.1,61,343,0.00,2.30,0.00,0.000,3078,0.000,0.037,2224,2118,3408,3451,3365,0,0,0,0,0,0,15.07,15.02,15.08
$GC,402,-0.79,-146.0,2224,2116,3453,3366,59.8,-14.3,74,408,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2116,3408,3451,3365,0,0,0,0,0,0,15.21,15.22,15.22
$GC,467,-0.79,-146.0,2225,2117,3450,3365,68.3,-13.1,87,474,0.00,2.40,0.00,0.000,2308,0.000,0.070,2224,3530,3408,3451,3365,0,0,0,0,0,0,15.22,15.02,15.22
$GC,497,-0.79,-146.0,2224,3530,3451,3366,73.0,-15.7,93,504,0.00,2.28,0.00,0.000,3078,0.000,0.037,2223,2126,3408,3451,3365,0,0,0,0,0,0,15.04,15.00,15.07
$GC,563,-0.79,-146.0,2223,2125,3453,3366,81.5,-14.6,106,564,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2126,3408,3451,3365,0,0,0,0,0,0,15.24,15.25,15.25
$GC,623,-0.79,-146.0,2224,2126,3452,3365,90.2,-15.4,118,630,0.00,2.40,0.00,0.000,2308,0.000,0.070,2221,3535,3408,3452,3364,0,0,0,0,0,0,15.25,15.00,15.26
$GC,644,-0.79,-146.0,2220,3535,3453,3366,93.0,-13.8,122,651,0.03,2.28,0.00,0.000,3078,0.339,0.037,2228,2121,3408,3451,3365,0,0,0,0,0,0,14.90,15.03,15.02
$GC,710,-0.79,-146.0,2227,2120,3453,3365,102.2,-14.6,135,717,0.00,2.40,0.00,0.000,2308,0.000,0.069,2219,3559,3408,3451,3365,0,0,0,0,0,0,15.24,15.05,15.24
$GC,786,-0.79,-146.0,2220,3560,3453,3366,114.1,-16.5,150,793,0.00,2.30,0.00,0.000,3078,0.000,0.038,2221,2140,3408,3452,3365,0,0,0,0,0,0,15.09,15.06,15.12
$GC,852,-0.79,-146.0,2220,2141,3453,3366,124.9,-15.8,163,859,0.05,2.33,0.00,0.000,2564,0.336,0.063,2231,731,3408,3452,3365,0,0,0,0,0,0,14.97,15.04,15.11
$GC,878,-0.79,-146.0,2231,732,3453,3366,129.2,-17.1,168,885,0.00,2.28,0.00,0.000,3078,0.000,0.048,2231,2125,3408,3452,3365,0,0,0,0,0,0,15.07,15.02,15.08
$GC,944,-0.79,-146.0,2232,2126,3452,3364,137.3,-10.6,181,950,0.00,2.40,0.00,0.000,2308,0.000,0.072,2231,3570,3408,3452,3365,0,0,0,0,0,0,15.26,15.04,15.26
$GC,979,-0.79,-146.0,2232,3571,3451,3365,140.3,-8.4,188,986,0.00,2.33,0.00,0.000,3078,0.000,0.037,2231,2132,3408,3452,3365,0,0,0,0,0,0,15.13,15.04,15.11
$GC,1045,-0.79,-146.0,2230,2132,3454,3366,147.2,-13.0,201,1052,0.00,2.33,0.00,0.000,2564,0.000,0.063,2231,732,3408,3452,3364,0,0,0,0,0,0,15.26,15.05,15.26
$GC,1116,-0.79,-146.0,2232,732,3452,3365,157.2,-12.5,215,1123,0.00,2.28,0.00,0.000,3078,0.000,0.044,2231,2132,3408,3452,3365,0,0,0,0,0,0,15.11,15.07,15.13
$GC,1182,-0.79,-146.0,2232,2133,3452,3365,166.6,-16.5,228,1189,0.00,2.30,0.00,0.000,2308,0.000,0.063,2231,3540,3408,3452,3365,0,0,0,0,0,0,15.26,15.04,15.26
$GC,1202,-0.79,-146.0,2230,3540,3454,3366,169.8,-15.5,232,1209,0.00,2.28,0.00,0.000,3078,0.000,0.041,2231,2139,3408,3452,3365,0,0,0,0,0,0,15.10,15.04,15.09
$GC,1269,-0.79,-146.0,2230,2137,3454,3366,177.1,-13.5,245,1274,0.00,0.00,0.00,0.000,2054,0.000,0.000,2231,2137,3408,3452,3365,0,0,0,0,0,0,15.27,15.27,15.27
$GC,1333,-0.79,-146.0,2230,2138,3454,3366,186.0,-13.9,258,1340,0.00,2.35,0.00,0.000,2564,0.000,0.063,2231,728,3409,3453,3365,0,0,0,0,0,0,15.27,15.03,15.27
$GC,1349,-0.79,-146.0,2230,728,3454,3366,188.1,-12.1,261,1356,0.00,2.28,0.00,0.000,3078,0.000,0.047,2231,2127,3408,3452,3365,0,0,0,0,0,0,15.10,15.05,15.11
$GC,1415,-0.79,-146.0,2232,2128,3452,3366,197.3,-14.2,274,1422,0.00,2.38,0.00,0.000,2308,0.000,0.071,2231,3535,3408,3452,3365,0,0,0,0,0,0,15.26,15.05,15.26
$STATE,1435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1435,begin apogee
$GC,1440,-0.17,0.0,2232,1986,3452,3365,200.4,-14.2,278,1550,0.95,0.00,106.12,1.192,10246,0.139,0.000,2432,1985,2811,2842,2781,0,0,0,0,0,0,15.01,14.66,14.16
$STATE,1551,end apogee,CONTROL_FINISHED_OK
$STATE,1551,begin climb
$GC,1552,0.79,146.0,2433,1986,2842,2781,206.9,0.0,298,1667,1.38,2.33,108.38,1.180,10756,0.054,0.067,2765,583,2215,2257,2173,0,0,0,0,0,0,14.66,14.51,14.06
$GC,1837,0.88,221.9,2766,583,2251,2174,197.6,6.5,352,1903,0.00,2.30,58.83,1.158,11270,0.000,0.041,2765,1989,1905,1956,1854,0,0,0,0,0,0,14.92,14.88,14.17
$GC,1963,0.90,238.2,2767,1989,1954,1851,188.9,9.2,376,1981,0.00,0.00,13.75,1.076,10246,0.000,0.000,2766,1989,1841,1894,1788,0,0,0,0,0,0,14.96,14.74,14.26
$GC,2040,1.01,330.8,2765,1989,1893,1786,181.5,5.7,391,2118,0.12,0.00,74.97,1.154,10502,0.122,0.000,2822,1989,1462,1521,1403,0,0,0,0,0,0,14.83,14.59,14.12
$GC,2177,1.01,330.8,2823,1992,1517,1400,165.6,17.2,417,2184,0.00,2.42,0.00,0.000,4612,0.000,0.071,2829,592,1458,1517,1399,0,0,0,0,0,0,14.92,14.68,14.92
$GC,2218,1.01,330.8,2830,592,1513,1400,158.8,16.9,425,2225,0.05,2.28,0.00,0.000,5126,0.237,0.035,2817,1995,1457,1516,1399,0,0,0,0,0,0,14.69,14.78,14.78
$GC,2284,1.01,330.8,2818,1996,1515,1398,149.9,11.4,438,2291,0.00,2.42,0.00,0.000,4612,0.000,0.071,2826,591,1456,1515,1398,0,0,0,0,0,0,15.05,14.82,15.05
$GC,2365,1.01,330.8,2826,591,1516,1399,135.1,20.0,454,2372,0.00,2.28,0.00,0.000,5126,0.000,0.043,2826,1976,1456,1514,1398,0,0,0,0,0,0,14.96,14.92,14.97
$GC,2431,1.01,330.8,2827,1976,1514,1398,122.4,20.1,467,2437,0.00,2.38,0.00,0.000,4356,0.000,0.065,2826,3391,1454,1513,1396,0,0,0,0,0,0,15.13,14.93,15.13
$GC,2451,1.01,330.8,2827,3392,1513,1396,118.0,21.9,471,2458,0.00,2.33,0.00,0.000,5126,0.000,0.047,2828,1993,1455,1514,1396,0,0,0,0,0,0,15.00,14.98,15.02
$GC,2518,1.01,330.8,2827,1993,1515,1397,105.3,19.2,484,2524,0.00,2.35,0.00,0.000,4612,0.000,0.074,2828,581,1454,1513,1396,0,0,0,0,0,0,15.17,14.92,15.18
$GC,2538,1.01,330.8,2829,583,1513,1397,101.5,17.4,488,2545,0.00,2.30,0.00,0.000,5126,0.000,0.044,2828,1987,1454,1513,1396,0,0,0,0,0,0,15.00,14.95,15.01
$GC,2604,1.01,330.8,2828,1988,1515,1397,88.9,20.0,501,2611,0.00,2.35,0.00,0.000,4356,0.000,0.064,2828,3391,1455,1514,1397,0,0,0,0,0,0,15.19,14.97,15.19
$GC,2660,1.01,330.8,2828,3392,1514,1396,78.3,17.1,512,2666,0.00,2.33,0.00,0.000,5126,0.000,0.047,2828,1982,1454,1513,1395,0,0,0,0,0,0,15.05,15.01,15.06
$GC,2726,1.01,330.8,2828,1982,1515,1396,67.8,18.9,525,2731,0.00,0.00,0.00,0.000,4102,0.000,0.000,2827,1981,1453,1513,1393,0,0,0,0,0,0,15.20,15.20,15.20
$GC,2790,1.01,330.8,2829,1983,1513,1396,56.3,18.5,538,2797,0.00,2.35,0.00,0.000,4612,0.000,0.074,2828,590,1454,1513,1395,0,0,0,0,0,0,15.21,15.00,15.21
$GC,2821,1.01,330.8,2828,590,1515,1396,51.2,16.7,544,2828,0.00,2.28,0.00,0.000,5126,0.000,0.042,2828,1987,1454,1513,1395,0,0,0,0,0,0,15.07,15.04,15.09
$GC,2887,1.01,330.8,2829,1988,1512,1396,41.2,14.9,557,2894,0.00,2.35,0.00,0.000,4356,0.000,0.065,2828,3394,1453,1512,1395,0,0,0,0,0,0,15.22,14.98,15.22
$GC,2948,1.01,330.8,2829,3395,1512,1395,32.3,15.5,569,2955,0.00,2.33,0.00,0.000,5126,0.000,0.047,2828,1989,1454,1513,1395,0,0,0,0,0,0,15.05,15.01,15.07
$GC,3014,1.01,330.8,2828,1989,1514,1396,22.1,15.2,582,3020,0.00,2.33,0.00,0.000,4356,0.000,0.063,2828,3399,1454,1513,1395,0,0,0,0,0,0,15.23,15.04,15.24
$GC,3059,1.01,330.8,2828,3400,1514,1395,15.2,14.7,591,3066,0.00,2.33,0.00,0.000,5126,0.000,0.047,2828,1988,1453,1513,1394,0,0,0,0,0,0,15.09,15.05,15.11
$GC,3126,1.01,330.8,2829,1989,1513,1395,6.1,13.7,604,3132,0.00,2.30,0.00,0.000,4356,0.000,0.062,2828,3394,1453,1512,1394,0,0,0,0,0,0,15.23,15.04,15.23
$GC,3136,1.01,330.8,2829,3395,1512,1395,4.6,13.5,606,3143,0.00,2.30,0.00,0.000,5126,0.000,0.044,2828,1991,1453,1512,1394,0,0,0,0,0,0,15.09,15.06,15.11
$STATE,3151,end climb,SURFACE_DEPTH_REACHED
$STATE,3151,begin surface coast
$FINISH,0.1,1.023948
$STATE,3171,end surface coast,CONTROL_FINISHED_OK
$STATE,3171,begin surface
$SM_CCo,3249,0.00,0.000,0,0,1449,334.34
$SM_GC,1.03,12.20,0.20,0.00,0.052,0.073,0.000,147,2180,1449,-7.27,-1.22,334.34,0,0,0,0,0,0,15.05,15.11,15.12
$IRIDIUM_FIX,-2835.91,3224.31,180918,073825
$TT8_MAMPS,0.03745,0.971453
$HUMID,47.75
$INTERNAL_PRESSURE,9.28711
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.0
$SC_FREEKB,3884512
$24V_AH,14.06,21.962
$10V_AH,13.49,0.000
$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,26.875,98.175,362.050,0.000,0.000,23.010,19.346,395.240,0.250,0.000,32.301,0.000,1470.506,533.925,1769.417,88.703,0.000,1083.532,0.000,919.017,0.000,2.639,0.000
$DEVICE_MAMPS,338.895,81.855,1191.870,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3224.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.068,0.000,0.000,0.000
$MEM,343644
$DATA_FILE_SIZE,20078,613
$CAP_FILE_SIZE,119619,0
$CFSIZE,1023623168,1013153792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180918,094616,-2848.697,3225.161,17,0.8,18,-23.6,0.9,216.3,10,7.5