version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 89
start: 9 20 118 1 50 17
data:
$ID,573
$MISSION,22
$DIVE,89
$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,40
$R_STBD_OVSHOOT,42
$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
$GPS1,200918,013946,-2905.7209,3208.2461,18,0.9,24,-23.9,0.8,241.0,8,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-61.1
$GPS2,200918,015005,-2905.6616,3208.2793,25,0.9,37,-23.9,2.0,24.2,8,9.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2856.309,3214.449
$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,17,-0.79,-146.0,72,2146,1030,947,0.0,0.0,0,86,0.00,0.00,-66.68,0.000,16386,0.000,0.000,72,2141,2886,2889,2884,0,0,0,0,0,0,15.10,28.83,15.11
$GC,87,-0.79,-146.0,74,2141,2889,2884,3.1,-5.7,12,116,12.12,2.33,-10.07,0.000,18692,0.295,0.087,2217,3534,3409,3454,3364,0,0,0,0,0,0,14.78,14.38,14.89
$GC,365,-0.79,-146.0,2217,3534,3454,3364,56.3,-16.5,67,372,0.05,2.30,0.00,0.000,3078,0.252,0.038,2229,2126,3409,3454,3364,0,0,0,0,0,0,14.91,15.01,15.01
$GC,431,-0.79,-146.0,2228,2126,3456,3365,67.5,-16.9,80,438,0.00,2.35,0.00,0.000,2564,0.000,0.065,2229,727,3410,3456,3364,0,0,0,0,0,0,15.19,15.00,15.19
$GC,452,-0.79,-146.0,2229,728,3454,3364,71.2,-17.7,84,459,0.00,2.30,0.00,0.000,3078,0.000,0.047,2225,2128,3409,3454,3364,0,0,0,0,0,0,15.06,15.02,15.07
$GC,518,-0.79,-146.0,2224,2128,3455,3365,82.7,-16.9,97,525,0.00,2.40,0.00,0.000,2308,0.000,0.072,2225,3540,3412,3454,3370,0,0,0,0,0,0,15.21,14.99,15.22
$GC,563,-0.79,-146.0,2225,3540,3454,3365,90.1,-15.7,106,571,0.00,2.30,0.00,0.000,3078,0.000,0.037,2224,2134,3409,3454,3364,0,0,0,0,0,0,15.05,15.02,15.07
$GC,630,-0.79,-146.0,2225,2136,3454,3365,101.1,-17.2,119,637,0.00,2.33,0.00,0.000,2564,0.000,0.065,2225,718,3409,3454,3364,0,0,0,0,0,0,15.21,15.03,15.21
$GC,655,-0.79,-146.0,2225,718,3453,3365,105.6,-16.9,124,662,0.00,2.33,0.00,0.000,3078,0.000,0.048,2224,2137,3408,3454,3363,0,0,0,0,0,0,15.07,15.03,15.09
$GC,722,-0.79,-146.0,2224,2138,3456,3365,116.9,-16.9,137,728,0.00,2.33,0.00,0.000,2308,0.000,0.070,2225,3536,3409,3454,3364,0,0,0,0,0,0,15.22,14.99,15.22
$GC,747,-0.79,-146.0,2225,3537,3454,3365,121.5,-19.0,142,754,0.00,2.30,0.00,0.000,3078,0.000,0.037,2224,2124,3409,3454,3364,0,0,0,0,0,0,15.04,15.01,15.07
$GC,813,-0.79,-146.0,2224,2125,3454,3365,132.5,-17.5,155,820,0.00,2.40,0.00,0.000,2308,0.000,0.069,2224,3529,3408,3453,3364,0,0,0,0,0,0,15.23,15.00,15.23
$GC,844,-0.79,-146.0,2224,3531,3456,3365,137.6,-17.2,161,851,0.00,2.28,0.00,0.000,3078,0.000,0.037,2224,2141,3409,3454,3364,0,0,0,0,0,0,15.07,15.03,15.08
$GC,910,-0.79,-146.0,2225,2141,3453,3364,147.7,-15.2,174,916,0.00,2.33,0.00,0.000,2564,0.000,0.064,2225,720,3409,3454,3364,0,0,0,0,0,0,15.23,15.03,15.23
$GC,935,-0.79,-146.0,2225,721,3454,3364,151.6,-14.2,179,942,0.05,2.30,0.00,0.000,3078,0.271,0.047,2232,2129,3409,3454,3364,0,0,0,0,0,0,14.93,15.04,15.04
$GC,1002,-0.79,-146.0,2232,2129,3456,3365,160.8,-14.2,192,1007,0.00,0.00,0.00,0.000,2054,0.000,0.000,2232,2129,3409,3454,3364,0,0,0,0,0,0,15.23,15.26,15.23
$GC,1066,-0.79,-146.0,2232,2129,3455,3365,170.0,-13.9,205,1073,0.00,2.38,0.00,0.000,2308,0.000,0.070,2226,3534,3409,3454,3364,0,0,0,0,0,0,15.23,15.03,15.23
$GC,1087,-0.79,-146.0,2226,3534,3454,3365,173.1,-15.7,209,1094,0.00,2.30,0.00,0.000,3078,0.000,0.037,2225,2119,3409,3454,3364,0,0,0,0,0,0,15.07,15.02,15.08
$GC,1153,-0.79,-146.0,2226,2119,3454,3365,181.1,-11.8,222,1159,0.00,0.00,0.00,0.000,2054,0.000,0.000,2226,2119,3409,3454,3364,0,0,0,0,0,0,15.24,15.24,15.24
$GC,1218,-0.79,-146.0,2225,2119,3455,3365,189.8,-14.1,235,1225,0.00,2.40,0.00,0.000,2308,0.000,0.069,2222,3532,3409,3454,3364,0,0,0,0,0,0,15.26,15.01,15.25
$STATE,1227,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1228,begin apogee
$GC,1233,-0.17,0.0,2222,1942,3455,3365,191.1,-13.2,237,1347,1.00,0.00,106.15,1.179,10246,0.158,0.000,2428,1942,2812,2844,2780,0,0,0,0,0,0,14.97,14.63,14.14
$STATE,1348,end apogee,CONTROL_FINISHED_OK
$STATE,1348,begin climb
$GC,1350,0.79,146.0,2429,1942,2845,2781,196.9,0.0,258,1470,1.38,2.38,108.97,1.169,10756,0.083,0.063,2736,549,2213,2254,2173,0,0,0,0,0,0,14.61,14.42,14.04
$GC,1554,0.93,261.3,2735,549,2257,2174,193.6,4.7,296,1649,0.12,2.33,89.20,1.154,11270,0.080,0.045,2798,1967,1746,1803,1690,0,0,0,0,0,0,14.73,14.76,14.06
$GC,1709,0.93,261.3,2799,1963,1799,1686,178.2,12.5,325,1715,0.00,2.33,0.00,0.000,4356,0.000,0.069,2798,3333,1742,1799,1685,0,0,0,0,0,0,14.87,14.69,14.87
$GC,1874,0.93,261.3,2797,3333,1800,1682,155.6,13.9,358,1881,0.00,2.28,0.00,0.000,5126,0.000,0.043,2800,1959,1740,1798,1682,0,0,0,0,0,0,14.93,14.88,14.94
$GC,1941,0.97,296.8,2800,1958,1800,1682,148.0,8.4,371,1975,0.00,2.38,28.88,1.084,8708,0.000,0.072,2800,550,1599,1660,1539,0,0,0,0,0,0,15.10,14.71,14.33
$GC,2019,0.97,296.8,2801,549,1658,1540,139.7,11.2,386,2026,0.00,2.28,0.00,0.000,1030,0.000,0.043,2801,1927,1598,1658,1539,0,0,0,0,0,0,14.88,14.84,14.90
$GC,2086,0.97,296.8,2801,1929,1657,1539,132.7,10.9,399,2092,0.00,2.35,0.00,0.000,260,0.000,0.065,2801,3347,1597,1657,1538,0,0,0,0,0,0,15.07,14.87,15.08
$GC,2146,0.97,296.8,2800,3347,1659,1537,125.1,12.8,411,2152,0.00,2.33,0.00,0.000,5126,0.000,0.044,2804,1942,1596,1657,1536,0,0,0,0,0,0,14.95,14.90,14.95
$GC,2212,0.97,296.8,2804,1943,1659,1537,116.3,13.3,424,2217,0.00,0.00,0.00,0.000,4102,0.000,0.000,2805,1940,1596,1657,1536,0,0,0,0,0,0,15.14,15.14,15.14
$GC,2277,0.97,296.8,2806,1943,1657,1537,108.1,12.9,437,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1942,1596,1657,1536,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2341,0.97,296.8,2804,1943,1657,1536,99.8,13.4,450,2348,0.00,2.35,0.00,0.000,516,0.000,0.073,2804,553,1596,1657,1536,0,0,0,0,0,0,15.17,14.96,15.18
$GC,2367,0.97,296.8,2805,554,1656,1537,96.2,14.3,455,2374,0.00,2.28,0.00,0.000,5126,0.000,0.044,2804,1947,1596,1656,1536,0,0,0,0,0,0,15.03,14.99,15.05
$GC,2433,0.97,296.8,2805,1948,1656,1537,87.8,12.7,468,2440,0.00,2.30,0.00,0.000,260,0.000,0.067,2804,3348,1595,1655,1535,0,0,0,0,0,0,15.16,14.99,15.18
$GC,2449,0.97,296.8,2805,3349,1656,1535,85.8,12.6,471,2455,0.00,2.30,0.00,0.000,5126,0.000,0.044,2804,1949,1595,1656,1534,0,0,0,0,0,0,15.04,15.03,15.06
$GC,2515,0.97,296.8,2804,1949,1657,1535,78.0,11.9,484,2520,0.00,0.00,0.00,0.000,4102,0.000,0.000,2804,1949,1595,1655,1535,0,0,0,0,0,0,15.20,15.19,15.20
$GC,2579,0.97,296.8,2805,1950,1656,1535,70.4,11.5,497,2586,0.00,2.38,0.00,0.000,4612,0.000,0.074,2805,552,1595,1656,1534,0,0,0,0,0,0,15.21,14.97,15.21
$GC,2610,0.97,296.8,2804,552,1657,1535,67.2,10.6,503,2617,0.00,2.28,0.00,0.000,1030,0.000,0.043,2805,1954,1595,1655,1535,0,0,0,0,0,0,15.03,14.99,15.05
$GC,2676,0.98,305.3,2806,1955,1655,1535,60.6,9.6,516,2689,0.00,2.33,7.78,0.854,8452,0.000,0.063,2805,3348,1566,1627,1506,0,0,0,0,0,0,15.21,14.93,14.55
$GC,2728,0.98,305.3,2805,3350,1627,1505,55.3,10.3,526,2735,0.00,2.30,0.00,0.000,1030,0.000,0.044,2806,1953,1565,1626,1505,0,0,0,0,0,0,15.04,15.00,15.06
$GC,2795,0.99,307.9,2806,1954,1626,1505,48.7,9.9,539,2807,0.00,2.38,3.67,0.556,8708,0.000,0.073,2808,543,1555,1616,1495,0,0,0,0,0,0,15.19,14.98,14.54
$GC,2851,0.99,307.9,2808,544,1616,1496,43.3,10.0,550,2858,0.00,2.28,0.00,0.000,5126,0.000,0.041,2807,1950,1555,1615,1495,0,0,0,0,0,0,15.04,15.00,15.05
$GC,2917,1.04,347.7,2809,1952,1616,1495,37.8,8.2,563,2957,0.00,2.33,33.03,1.012,10500,0.000,0.064,2807,3340,1393,1454,1332,0,0,0,0,0,0,15.20,14.79,14.43
$GC,3006,1.08,379.9,2807,3341,1454,1328,30.8,8.5,580,3040,0.00,2.30,26.98,0.967,11270,0.000,0.044,2807,1956,1261,1322,1201,0,0,0,0,0,0,14.92,14.88,14.38
$GC,3099,1.08,379.9,2808,1956,1321,1196,21.4,10.4,598,3100,0.00,0.00,0.00,0.000,2054,0.000,0.000,2807,1956,1258,1321,1195,0,0,0,0,0,0,15.04,15.04,15.04
$GC,3159,1.10,401.6,2807,1957,1323,1194,15.5,9.0,610,3178,0.08,2.38,12.77,0.851,10500,0.187,0.061,2858,3343,1171,1226,1116,0,0,0,0,0,0,14.92,14.85,14.45
$GC,3197,1.10,401.6,2860,3344,1226,1111,10.2,15.6,617,3204,0.05,2.33,0.00,0.000,5126,0.246,0.045,2846,1947,1169,1228,1110,0,0,0,0,0,0,14.78,14.87,14.88
$STATE,3257,end climb,SURFACE_DEPTH_REACHED
$STATE,3257,begin surface coast
$FINISH,0.3,1.024403
$STATE,3277,end surface coast,CONTROL_FINISHED_OK
$STATE,3277,begin surface
$SM_CCo,3355,0.00,0.000,0,0,1163,404.49
$SM_GC,1.30,12.52,0.28,0.00,0.060,0.063,0.000,133,2194,1163,-7.30,-1.19,404.49,0,0,0,0,0,0,14.93,15.00,15.00
$IRIDIUM_FIX,-2853.13,3209.73,200918,004424
$TT8_MAMPS,0.03745,0.94374
$HUMID,46.10
$INTERNAL_PRESSURE,9.22851
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,130.8,70.3
$SC_FREEKB,3876000
$24V_AH,14.04,26.597
$10V_AH,13.56,0.000
$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,27.375,93.600,417.425,0.000,0.000,25.079,44.181,365.543,1.500,0.000,38.222,0.000,1489.881,581.889,1802.958,94.859,0.000,1154.263,0.000,948.517,0.000,12.446,0.000
$DEVICE_MAMPS,294.525,87.210,1178.865,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3321.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.117,0.000,0.000,0.000
$MEM,343644
$DATA_FILE_SIZE,20112,633
$CAP_FILE_SIZE,120249,0
$CFSIZE,1023623168,1010712576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200918,024652,-2905.407,3208.528,17,0.9,23,-23.9,0.0,13.9,8,9.7