version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 88
start: 9 20 118 0 53 1
data:
$ID,573
$MISSION,22
$DIVE,88
$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,38
$R_STBD_OVSHOOT,49
$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
$GPS1,200918,004028,-2906.0615,3207.8674,64,1.0,66,-23.9,0.3,318.4,8,8.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-67.9
$GPS2,200918,005250,-2906.0210,3207.9092,20,1.0,23,-23.9,0.0,11.9,8,8.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2856.669,3214.079
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,53.9,20000,-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,18,-0.79,-146.0,73,2146,1540,1455,0.0,0.0,0,65,0.00,0.00,-45.20,0.000,16386,0.000,0.000,72,2146,2821,2819,2823,0,0,0,0,0,0,15.09,28.83,15.10
$GC,66,-0.79,-146.0,71,2146,2821,2824,3.4,-6.4,8,95,12.10,2.33,-10.93,0.000,19204,0.291,0.087,2224,3533,3409,3455,3363,0,0,0,0,0,0,14.78,14.38,14.92
$GC,314,-0.79,-146.0,2224,3535,3457,3364,47.5,-14.8,57,321,0.00,2.30,0.00,0.000,3078,0.000,0.038,2225,2134,3409,3455,3363,0,0,0,0,0,0,15.03,14.99,15.04
$GC,380,-0.79,-146.0,2225,2135,3455,3364,58.2,-17.4,70,387,0.00,2.38,0.00,0.000,2564,0.000,0.065,2224,723,3409,3455,3363,0,0,0,0,0,0,15.19,14.98,15.19
$GC,396,-0.79,-146.0,2224,724,3457,3364,61.1,-17.7,73,403,0.00,2.28,0.00,0.000,3078,0.000,0.047,2223,2113,3409,3455,3363,0,0,0,0,0,0,15.05,15.00,15.06
$GC,462,-0.79,-146.0,2224,2114,3455,3364,72.8,-17.4,86,469,0.00,2.38,0.00,0.000,2308,0.000,0.072,2223,3537,3410,3455,3366,0,0,0,0,0,0,15.19,14.97,15.20
$GC,503,-0.79,-146.0,2222,3537,3457,3364,80.0,-16.6,94,510,0.00,2.30,0.00,0.000,3078,0.000,0.037,2223,2132,3409,3455,3363,0,0,0,0,0,0,15.02,14.99,15.04
$GC,569,-0.79,-146.0,2225,2133,3454,3364,90.6,-16.2,107,575,0.00,2.33,0.00,0.000,2564,0.000,0.065,2223,716,3409,3455,3363,0,0,0,0,0,0,15.21,15.00,15.21
$GC,604,-0.79,-146.0,2223,717,3456,3364,96.5,-17.2,114,611,0.00,2.33,0.00,0.000,3078,0.000,0.047,2221,2130,3408,3453,3363,0,0,0,0,0,0,15.05,15.01,15.07
$GC,670,-0.79,-146.0,2220,2130,3457,3364,107.6,-16.9,127,676,0.05,0.00,0.00,0.000,2054,0.356,0.000,2231,2130,3409,3455,3363,0,0,0,0,0,0,14.91,15.07,15.05
$GC,735,-0.79,-146.0,2230,2131,3457,3364,117.9,-15.6,140,742,0.00,2.35,0.00,0.000,2308,0.000,0.070,2222,3542,3409,3455,3363,0,0,0,0,0,0,15.21,15.02,15.21
$GC,801,-0.79,-146.0,2222,3543,3457,3364,128.3,-16.1,153,808,0.00,2.30,0.00,0.000,3078,0.000,0.038,2222,2133,3409,3455,3363,0,0,0,0,0,0,15.08,15.04,15.09
$GC,867,-0.79,-146.0,2221,2133,3457,3364,138.4,-14.9,166,874,0.00,2.33,0.00,0.000,2564,0.000,0.066,2222,719,3409,3455,3363,0,0,0,0,0,0,15.22,15.00,15.22
$GC,902,-0.79,-146.0,2223,719,3455,3364,144.3,-15.4,173,909,0.00,2.33,0.00,0.000,3078,0.000,0.047,2221,2134,3409,3455,3363,0,0,0,0,0,0,15.06,15.01,15.07
$STATE,922,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,922,begin apogee
$GC,925,-0.17,0.0,2222,1924,3455,3364,147.3,-15.1,177,1036,1.00,0.00,105.82,1.125,10246,0.161,0.000,2426,1923,2812,2843,2781,0,0,0,0,0,0,14.95,14.64,14.16
$STATE,1037,end apogee,CONTROL_FINISHED_OK
$STATE,1037,begin climb
$GC,1038,0.79,146.0,2427,1924,2843,2781,151.8,0.0,197,1153,1.40,2.28,108.28,1.106,10756,0.102,0.071,2724,563,2215,2257,2173,0,0,0,0,0,0,14.59,14.47,14.06
$GC,1172,0.90,240.3,2725,564,2255,2173,150.6,5.7,221,1251,0.15,2.33,73.35,1.093,11270,0.073,0.041,2791,1968,1830,1887,1774,0,0,0,0,0,0,14.61,14.60,14.06
$GC,1311,0.90,240.3,2791,1969,1886,1773,138.2,11.0,247,1317,0.00,2.45,0.00,0.000,4612,0.000,0.071,2793,564,1828,1884,1772,0,0,0,0,0,0,14.85,14.65,14.86
$GC,1346,0.90,240.3,2794,565,1882,1772,133.6,13.3,254,1354,0.05,2.28,0.00,0.000,5126,0.247,0.043,2783,1941,1827,1882,1772,0,0,0,0,0,0,14.65,14.74,14.76
$GC,1412,0.90,240.3,2784,1942,1882,1772,126.0,11.4,267,1419,0.00,2.38,0.00,0.000,4612,0.000,0.073,2787,566,1826,1881,1771,0,0,0,0,0,0,15.00,14.79,15.00
$GC,1438,0.90,240.3,2787,567,1881,1772,123.3,10.4,272,1445,0.00,2.25,0.00,0.000,5126,0.000,0.043,2787,1933,1825,1880,1771,0,0,0,0,0,0,14.86,14.81,14.86
$GC,1505,0.93,258.0,2787,1935,1881,1772,116.4,9.2,285,1523,0.00,2.42,14.68,1.008,8452,0.000,0.065,2787,3354,1760,1819,1702,0,0,0,0,0,0,15.07,14.80,14.39
$GC,1572,0.93,258.0,2787,3355,1818,1700,109.6,10.6,298,1579,0.00,2.30,0.00,0.000,1030,0.000,0.044,2786,1968,1758,1818,1699,0,0,0,0,0,0,14.90,14.86,14.92
$GC,1639,0.93,258.3,2786,1968,1819,1699,103.0,10.0,311,1645,0.00,2.38,0.00,0.000,516,0.000,0.074,2787,540,1757,1817,1698,0,0,0,0,0,0,15.09,14.86,15.09
$GC,1669,0.93,258.3,2787,541,1816,1699,100.1,10.1,317,1676,0.00,2.30,0.00,0.000,1030,0.000,0.042,2787,1949,1757,1817,1698,0,0,0,0,0,0,14.93,14.90,14.95
$GC,1735,0.95,279.1,2788,1949,1816,1699,93.9,9.0,330,1759,0.00,2.42,18.12,1.013,10756,0.000,0.073,2787,546,1673,1735,1612,0,0,0,0,0,0,15.14,14.83,14.42
$GC,1778,0.97,298.3,2786,545,1733,1612,89.9,9.1,338,1801,0.00,2.30,16.77,0.970,11270,0.000,0.042,2787,1948,1594,1657,1531,0,0,0,0,0,0,14.92,14.88,14.36
$GC,1860,1.00,316.7,2786,1948,1657,1529,82.7,9.1,354,1878,0.00,0.00,16.12,0.962,10246,0.000,0.000,2786,1948,1520,1582,1458,0,0,0,0,0,0,15.05,14.81,14.35
$GC,1938,1.00,316.7,2788,1948,1581,1455,74.6,11.0,369,1943,0.00,0.00,0.00,0.000,2054,0.000,0.000,2787,1948,1518,1581,1455,0,0,0,0,0,0,15.04,15.04,15.04
$GC,2002,1.00,316.7,2786,1948,1583,1455,67.6,10.6,382,2003,0.00,0.00,0.00,0.000,2054,0.000,0.000,2787,1947,1517,1581,1454,0,0,0,0,0,0,15.08,15.08,15.08
$GC,2062,1.00,316.7,2788,1948,1580,1455,61.1,11.6,394,2063,0.00,0.00,0.00,0.000,2054,0.000,0.000,2787,1948,1517,1580,1454,0,0,0,0,0,0,15.11,15.11,15.11
$GC,2122,1.00,316.7,2786,1948,1581,1454,54.1,11.2,406,2129,0.00,2.40,0.00,0.000,2564,0.000,0.074,2787,553,1517,1580,1454,0,0,0,0,0,0,15.12,14.92,15.13
$GC,2153,1.00,316.7,2786,554,1581,1455,50.8,10.4,412,2160,0.00,2.28,0.00,0.000,3078,0.000,0.042,2787,1949,1516,1579,1454,0,0,0,0,0,0,15.01,14.96,15.02
$GC,2219,1.01,327.1,2788,1949,1579,1454,44.7,9.5,425,2237,0.00,2.40,9.75,0.864,10756,0.000,0.073,2787,543,1477,1539,1415,0,0,0,0,0,0,15.17,14.89,14.52
$GC,2266,1.02,335.0,2788,544,1537,1416,39.8,9.6,434,2279,0.00,2.30,7.88,0.880,11270,0.000,0.041,2787,1952,1445,1505,1385,0,0,0,0,0,0,15.00,14.96,14.48
$GC,2338,1.04,350.5,2786,1953,1506,1383,33.2,9.3,448,2356,0.08,2.38,14.12,0.945,10500,0.182,0.067,2844,3346,1381,1441,1321,0,0,0,0,0,0,14.96,14.88,14.47
$GC,2396,1.04,354.1,2845,3348,1441,1317,26.9,9.8,459,2404,0.08,2.30,3.03,0.586,13318,0.285,0.042,2829,1927,1367,1430,1305,0,0,0,0,0,0,14.84,14.92,14.47
$GC,2464,1.04,354.1,2830,1928,1430,1304,19.9,10.3,472,2469,0.00,0.00,0.00,0.000,4102,0.000,0.000,2829,1927,1366,1430,1303,0,0,0,0,0,0,15.10,15.11,15.11
$GC,2528,1.06,371.6,2829,1927,1432,1303,13.5,9.2,485,2540,0.00,0.00,10.75,0.824,8198,0.000,0.000,2829,1926,1294,1354,1235,0,0,0,0,0,0,15.14,14.95,14.53
$GC,2600,1.15,443.2,2830,1926,1353,1232,9.0,6.7,499,2645,0.00,2.38,39.60,0.838,10756,0.000,0.073,2835,552,1001,1032,970,0,0,0,0,0,0,15.13,14.79,14.43
$STATE,2658,end climb,SURFACE_DEPTH_REACHED
$STATE,2658,begin surface coast
$FINISH,0.6,1.011876
$STATE,2683,end surface coast,CONTROL_FINISHED_OK
$STATE,2683,begin surface
$SM_CCo,2764,0.00,0.000,0,0,994,445.95
$SM_GC,1.20,12.38,2.62,0.00,0.044,0.047,0.000,133,2134,994,-7.31,-1.13,445.95,0,0,0,0,0,0,14.87,14.88,14.94
$IRIDIUM_FIX,-2855.60,3211.05,190918,234651
$TT8_MAMPS,0.036701,0.967708
$HUMID,45.11
$INTERNAL_PRESSURE,9.20898
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.4
$ALTIM_BOTTOM_PING,100.8,56.0
$SC_FREEKB,3876512
$24V_AH,14.06,26.379
$10V_AH,13.58,0.000
$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,27.275,75.325,438.275,0.000,0.000,56.319,53.244,400.528,0.750,0.000,23.927,0.000,1246.210,528.426,1641.763,85.798,0.000,1011.585,0.000,771.115,0.000,7.202,0.000
$DEVICE_MAMPS,356.490,87.210,1124.550,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2724.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.179,0.000,0.000,0.000
$MEM,343600
$DATA_FILE_SIZE,16803,515
$CAP_FILE_SIZE,103712,0
$CFSIZE,1023623168,1010827264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200918,013946,-2905.721,3208.246,18,0.9,24,-23.9,0.8,241.0,8,8.4