version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 87
start: 9 19 118 23 56 55
data:
$ID,573
$MISSION,22
$DIVE,87
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,167
$T_MISSION,182
$T_ABORT,212
$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,30
$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,320
$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,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,74
$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,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,190918,234421,-2906.4275,3207.6387,24,0.7,52,-24.0,0.0,102.2,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-60.9
$GPS2,190918,235643,-2906.3435,3207.6089,31,0.8,71,-24.0,0.4,214.7,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2856.991,3213.780
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,54.0,20000,-18.2,-9.980,-21.01,2240
$D_GRID,500
$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,-146.0,73,2094,1431,1342,0.0,0.0,0,76,0.00,0.00,-56.60,0.000,16386,0.000,0.000,72,2094,3037,3035,3039,0,0,0,0,0,0,15.09,28.83,15.10
$GC,77,-0.79,-146.0,73,2094,3030,3039,4.1,-10.3,10,101,12.15,2.40,-6.32,0.000,18692,0.295,0.086,2218,3502,3410,3454,3367,0,0,0,0,0,0,14.76,14.13,14.89
$GC,300,-0.79,-146.0,2218,3503,3455,3368,48.5,-16.0,54,307,0.05,2.20,0.00,0.000,3078,0.250,0.038,2230,2153,3411,3455,3367,0,0,0,0,0,0,14.88,14.97,14.98
$GC,366,-0.79,-146.0,2229,2153,3457,3368,59.0,-16.2,67,373,0.00,2.35,0.00,0.000,2564,0.000,0.064,2230,729,3411,3455,3367,0,0,0,0,0,0,15.16,14.98,15.16
$GC,391,-0.79,-146.0,2231,728,3455,3368,63.4,-16.9,72,398,0.00,2.25,0.00,0.000,3078,0.000,0.049,2227,2094,3411,3455,3367,0,0,0,0,0,0,15.02,14.99,15.05
$GC,458,-0.79,-146.0,2228,2095,3454,3368,74.9,-16.8,85,464,0.00,2.42,0.00,0.000,2308,0.000,0.072,2221,3545,3411,3455,3367,0,0,0,0,0,0,15.19,14.95,15.19
$GC,503,-0.79,-146.0,2220,3545,3456,3368,82.2,-15.7,94,510,0.00,2.30,0.00,0.000,3078,0.000,0.037,2221,2139,3411,3455,3367,0,0,0,0,0,0,15.02,14.98,15.04
$GC,569,-0.79,-146.0,2222,2140,3454,3368,92.5,-16.2,107,576,0.05,2.33,0.00,0.000,2564,0.346,0.064,2231,719,3411,3455,3367,0,0,0,0,0,0,14.90,15.00,15.02
$GC,600,-0.79,-146.0,2232,719,3455,3368,97.4,-16.6,113,607,0.00,2.33,0.00,0.000,3078,0.000,0.049,2231,2131,3411,3455,3367,0,0,0,0,0,0,15.05,15.00,15.07
$GC,666,-0.79,-146.0,2230,2131,3457,3368,108.0,-16.4,126,673,0.00,2.35,0.00,0.000,2308,0.000,0.072,2229,3542,3410,3454,3367,0,0,0,0,0,0,15.19,15.01,15.19
$GC,701,-0.79,-146.0,2230,3543,3454,3368,114.1,-16.8,133,708,0.00,2.33,0.00,0.000,3078,0.000,0.037,2229,2120,3410,3455,3366,0,0,0,0,0,0,15.07,15.02,15.07
$GC,768,-0.79,-146.0,2228,2119,3456,3368,125.0,-15.8,146,774,0.00,2.38,0.00,0.000,2308,0.000,0.070,2221,3538,3411,3455,3367,0,0,0,0,0,0,15.21,14.98,15.21
$GC,798,-0.79,-146.0,2222,3539,3455,3367,129.8,-15.6,152,805,0.00,2.30,0.00,0.000,3078,0.000,0.038,2221,2135,3411,3455,3367,0,0,0,0,0,0,15.04,15.00,15.04
$STATE,858,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,858,begin apogee
$GC,862,-0.17,0.0,2222,1924,3453,3367,138.8,-14.8,164,972,1.00,0.00,105.62,1.116,10246,0.162,0.000,2426,1923,2811,2842,2781,0,0,0,0,0,0,14.95,14.58,14.12
$STATE,973,end apogee,CONTROL_FINISHED_OK
$STATE,973,begin climb
$GC,974,0.79,146.0,2426,1924,2844,2781,143.9,0.0,184,1089,1.40,2.28,108.10,1.096,10756,0.093,0.073,2730,571,2213,2257,2170,0,0,0,0,0,0,14.59,14.45,14.04
$GC,1178,0.98,299.2,2730,572,2253,2171,142.0,3.0,222,1305,0.22,2.30,118.68,1.090,11270,0.059,0.043,2813,1968,1594,1654,1534,0,0,0,0,0,0,14.75,14.73,14.03
$GC,1364,0.98,299.2,2814,1968,1654,1526,126.0,11.0,257,1371,0.00,2.38,0.00,0.000,4356,0.000,0.063,2814,3340,1587,1650,1525,0,0,0,0,0,0,14.85,14.62,14.85
$GC,1455,0.98,299.2,2815,3341,1651,1523,115.0,12.4,275,1463,0.05,2.28,0.00,0.000,5126,0.262,0.044,2810,1974,1586,1651,1522,0,0,0,0,0,0,14.68,14.77,14.77
$GC,1521,0.98,299.2,2809,1975,1653,1523,106.9,11.6,288,1528,0.00,2.45,0.00,0.000,4612,0.000,0.073,2813,551,1586,1651,1522,0,0,0,0,0,0,15.03,14.81,15.03
$GC,1557,0.98,299.2,2816,552,1650,1523,102.6,12.4,295,1564,0.00,2.28,0.00,0.000,5126,0.000,0.042,2815,1936,1586,1650,1522,0,0,0,0,0,0,14.92,14.88,14.92
$GC,1624,0.98,299.2,2817,1937,1649,1522,94.3,12.8,308,1630,0.00,2.33,0.00,0.000,4612,0.000,0.073,2825,550,1586,1650,1522,0,0,0,0,0,0,15.09,14.85,15.09
$GC,1654,0.98,299.2,2826,551,1649,1523,90.5,12.5,314,1661,0.08,2.30,0.00,0.000,5126,0.206,0.043,2809,1957,1585,1649,1522,0,0,0,0,0,0,14.83,14.88,14.89
$GC,1720,0.98,299.2,2808,1958,1650,1523,82.3,12.1,327,1726,0.00,0.00,0.00,0.000,4102,0.000,0.000,2808,1957,1585,1649,1522,0,0,0,0,0,0,15.13,15.12,15.13
$GC,1785,0.98,299.2,2808,1958,1650,1523,74.6,11.8,340,1791,0.00,0.00,0.00,0.000,4102,0.000,0.000,2808,1958,1585,1649,1522,0,0,0,0,0,0,15.14,15.15,15.15
$GC,1850,0.98,299.2,2808,1958,1650,1523,66.9,12.2,353,1857,0.00,2.35,0.00,0.000,4356,0.000,0.065,2808,3344,1585,1648,1522,0,0,0,0,0,0,15.16,14.94,15.16
$GC,1866,0.98,299.2,2808,3344,1650,1522,64.8,13.1,356,1873,0.00,2.30,0.00,0.000,5126,0.000,0.044,2808,1951,1585,1649,1522,0,0,0,0,0,0,14.99,14.95,15.01
$GC,1932,0.98,299.2,2809,1951,1648,1522,57.1,11.4,369,1939,0.00,2.35,0.00,0.000,4612,0.000,0.076,2808,548,1585,1648,1522,0,0,0,0,0,0,15.16,14.97,15.16
$GC,1957,0.98,299.2,2808,547,1651,1523,53.9,12.6,374,1964,0.00,2.28,0.00,0.000,5126,0.000,0.042,2804,1944,1583,1648,1519,0,0,0,0,0,0,15.03,14.98,15.05
$GC,2024,0.98,299.2,2808,1944,1650,1522,45.7,12.5,387,2029,0.00,0.00,0.00,0.000,4102,0.000,0.000,2808,1944,1585,1648,1522,0,0,0,0,0,0,15.18,15.18,15.19
$GC,2088,0.98,299.2,2809,1945,1648,1522,37.9,11.0,400,2095,0.00,2.40,0.00,0.000,4612,0.000,0.075,2808,544,1584,1647,1522,0,0,0,0,0,0,15.19,14.97,15.19
$GC,2149,0.98,299.2,2809,544,1648,1522,31.4,12.0,412,2156,0.00,2.30,0.00,0.000,5126,0.000,0.042,2808,1954,1585,1648,1522,0,0,0,0,0,0,15.02,14.99,15.04
$GC,2216,1.00,319.8,2808,1955,1650,1522,24.7,9.0,425,2239,0.00,2.33,14.98,0.897,8452,0.000,0.061,2808,3346,1507,1569,1445,0,0,0,0,0,0,15.20,14.92,14.54
$GC,2292,1.00,319.8,2809,3346,1568,1438,16.3,11.0,440,2299,0.00,2.30,0.00,0.000,1030,0.000,0.043,2808,1951,1508,1574,1442,0,0,0,0,0,0,15.03,14.97,15.03
$GC,2359,1.00,319.8,2809,1951,1568,1442,8.8,12.9,453,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1950,1505,1569,1442,0,0,0,0,0,0,15.16,15.17,15.16
$STATE,2422,end climb,SURFACE_DEPTH_REACHED
$STATE,2422,begin surface coast
$FINISH,0.2,1.024363
$STATE,2452,end surface coast,CONTROL_FINISHED_OK
$STATE,2453,begin surface
$SM_CCo,2530,0.00,0.000,0,0,1499,322.07
$SM_GC,1.47,12.12,0.28,0.00,0.047,0.073,0.000,142,2143,1499,-7.28,-1.13,322.07,0,0,0,0,0,0,15.01,15.03,15.07
$IRIDIUM_FIX,-2855.60,3207.65,190918,224113
$TT8_MAMPS,0.036701,0.729526
$HUMID,45.31
$INTERNAL_PRESSURE,9.24804
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.0
$ALTIM_BOTTOM_PING,100.8,47.8
$SC_FREEKB,3877024
$24V_AH,14.03,26.171
$10V_AH,13.75,0.000
$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,27.125,65.700,347.375,0.000,0.000,26.363,41.848,446.696,0.750,0.000,72.683,0.000,1108.160,463.339,1612.831,81.860,0.000,902.071,0.000,711.918,0.000,7.181,0.000
$DEVICE_MAMPS,345.780,187.425,1116.135,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2501.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.619,0.000,0.000,0.000
$MEM,343644
$DATA_FILE_SIZE,16778,472
$CAP_FILE_SIZE,92336,0
$CFSIZE,1023623168,1010941952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200918,004028,-2906.062,3207.867,64,1.0,66,-23.9,0.3,318.4,8,8.4