version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 90
start: 9 20 118 2 59 1
data:
$ID,573
$MISSION,22
$DIVE,90
$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,54
$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
$GPS1,200918,024652,-2905.4072,3208.5276,17,0.9,23,-23.9,0.0,13.9,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-65.1
$GPS2,200918,025849,-2905.3303,3208.5012,34,0.9,36,-23.9,0.6,63.4,8,9.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2855.978,3214.671
$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,-146.0,72,2103,1208,1120,0.0,0.0,0,81,0.00,0.00,-61.70,0.000,16386,0.000,0.000,71,2101,2910,2916,2904,0,0,0,0,0,0,15.09,28.83,15.10
$GC,83,-0.79,-146.0,72,2101,2920,2903,3.4,-6.7,11,111,12.10,2.25,-9.85,0.000,19204,0.291,0.088,2227,731,3411,3458,3364,0,0,0,0,0,0,14.76,14.12,14.88
$GC,270,-0.79,-146.0,2227,733,3458,3365,43.6,-18.5,48,278,0.05,2.28,0.00,0.000,3078,0.286,0.050,2231,2111,3413,3458,3368,0,0,0,0,0,0,14.88,14.98,14.98
$GC,337,-0.79,-146.0,2230,2112,3460,3365,57.3,-20.3,61,344,0.00,2.38,0.00,0.000,2308,0.000,0.073,2221,3535,3411,3458,3364,0,0,0,0,0,0,15.19,14.96,15.19
$GC,422,-0.79,-146.0,2221,3536,3458,3365,73.7,-15.4,78,429,0.00,2.28,0.00,0.000,3078,0.000,0.038,2221,2143,3411,3458,3364,0,0,0,0,0,0,15.02,14.99,15.04
$GC,489,-0.79,-146.0,2221,2143,3460,3365,83.9,-16.2,91,495,0.05,2.33,0.00,0.000,2564,0.356,0.063,2231,720,3411,3458,3364,0,0,0,0,0,0,14.92,15.00,15.07
$GC,504,-0.79,-146.0,2232,721,3457,3364,86.5,-15.7,94,511,0.00,2.33,0.00,0.000,3078,0.000,0.048,2228,2132,3411,3458,3364,0,0,0,0,0,0,15.05,15.00,15.06
$GC,570,-0.79,-146.0,2229,2133,3458,3364,96.8,-16.2,107,577,0.00,2.38,0.00,0.000,2308,0.000,0.072,2224,3528,3411,3458,3364,0,0,0,0,0,0,15.21,15.01,15.22
$GC,595,-0.79,-146.0,2224,3528,3459,3365,100.7,-14.6,112,603,0.00,2.28,0.00,0.000,3078,0.000,0.037,2224,2131,3411,3458,3364,0,0,0,0,0,0,15.08,15.04,15.09
$GC,662,-0.79,-146.0,2224,2132,3458,3365,111.5,-16.6,125,668,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2131,3411,3458,3364,0,0,0,0,0,0,15.22,15.23,15.22
$GC,727,-0.79,-146.0,2225,2132,3463,3365,122.4,-16.9,138,733,0.00,2.40,0.00,0.000,2308,0.000,0.069,2215,3539,3411,3458,3364,0,0,0,0,0,0,15.22,15.02,15.22
$GC,747,-0.79,-146.0,2215,3540,3460,3364,126.3,-19.9,142,755,0.08,2.30,0.00,0.000,3078,0.221,0.037,2232,2125,3411,3458,3364,0,0,0,0,0,0,14.94,15.00,15.02
$STATE,813,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,813,begin apogee
$GC,816,-0.17,0.0,2233,1933,3458,3364,136.7,-14.9,155,928,0.95,0.00,105.20,1.112,10246,0.164,0.000,2428,1931,2812,2843,2781,0,0,0,0,0,0,14.97,14.65,14.17
$STATE,929,end apogee,CONTROL_FINISHED_OK
$STATE,929,begin climb
$GC,930,0.79,146.0,2428,1931,2845,2782,141.4,0.0,175,1046,1.40,2.50,107.55,1.092,11012,0.112,0.063,2722,3361,2217,2258,2176,0,0,0,0,0,0,14.60,14.46,14.09
$GC,1545,1.12,418.6,2722,3362,2253,2175,141.0,-2.5,295,1766,0.45,2.28,211.68,1.095,11270,0.047,0.043,2870,1962,1106,1162,1050,0,0,0,0,0,0,14.99,15.00,14.10
$GC,1825,1.12,418.6,2869,1963,1163,1038,93.5,32.6,347,1832,0.08,2.35,0.00,0.000,4356,0.271,0.063,2854,3360,1099,1161,1037,0,0,0,0,0,0,14.64,14.66,14.75
$GC,1850,1.12,418.6,2855,3360,1161,1037,85.3,31.3,352,1858,0.00,2.35,0.00,0.000,5126,0.000,0.044,2856,1959,1099,1161,1037,0,0,0,0,0,0,14.76,14.71,14.77
$GC,1917,1.12,418.6,2856,1959,1164,1037,63.7,30.6,365,1923,0.00,2.40,0.00,0.000,4612,0.000,0.075,2860,547,1098,1161,1036,0,0,0,0,0,0,15.02,14.81,15.02
$GC,1957,1.12,418.6,2860,548,1163,1037,52.4,25.1,373,1964,0.00,2.30,0.00,0.000,5126,0.000,0.040,2860,1958,1098,1161,1035,0,0,0,0,0,0,14.91,14.88,14.92
$GC,2023,1.12,418.6,2860,1959,1163,1036,39.7,16.9,386,2029,0.00,0.00,0.00,0.000,4102,0.000,0.000,2861,1958,1098,1161,1035,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2088,1.12,418.6,2860,1959,1163,1036,30.8,11.8,399,2095,0.00,2.42,0.00,0.000,4612,0.000,0.076,2863,552,1098,1162,1034,0,0,0,0,0,0,15.14,14.91,15.12
$GC,2124,1.14,429.9,2865,553,1161,1033,27.1,9.5,406,2137,0.00,2.28,8.27,0.848,13318,0.000,0.043,2865,1938,1058,1116,1001,0,0,0,0,0,0,15.00,14.96,14.51
$GC,2196,1.14,429.9,2864,1940,1117,998,20.3,10.7,420,2204,0.00,2.40,0.00,0.000,4356,0.000,0.065,2865,3346,1056,1116,997,0,0,0,0,0,0,15.13,14.90,15.14
$GC,2222,1.14,429.9,2864,3347,1117,997,16.4,13.7,425,2230,0.00,2.33,0.00,0.000,5126,0.000,0.044,2865,1944,1056,1116,996,0,0,0,0,0,0,15.00,14.95,15.02
$GC,2289,1.14,429.9,2867,1945,1117,996,7.9,14.9,438,2295,0.00,2.33,0.00,0.000,4612,0.000,0.073,2866,549,1057,1117,997,0,0,0,0,0,0,15.14,14.96,15.15
$GC,2304,1.14,429.9,2867,548,1117,995,5.2,17.7,441,2311,0.00,2.28,0.00,0.000,5126,0.000,0.037,2867,1964,1055,1117,994,0,0,0,0,0,0,15.02,14.98,15.04
$STATE,2324,end climb,SURFACE_DEPTH_REACHED
$STATE,2324,begin surface coast
$FINISH,0.7,1.015356
$STATE,2349,end surface coast,CONTROL_FINISHED_OK
$STATE,2350,begin surface
$SM_CCo,2429,0.00,0.000,0,0,1053,431.48
$SM_GC,1.03,12.40,0.22,0.00,0.050,0.080,0.000,147,2138,1053,-7.26,-1.41,431.48,0,0,0,0,0,0,15.00,15.02,15.07
$IRIDIUM_FIX,-2855.60,3209.73,200918,014212
$TT8_MAMPS,0.03745,0.975198
$HUMID,45.35
$INTERNAL_PRESSURE,9.21875
$TCM_TEMP,25.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.8
$ALTIM_BOTTOM_PING,100.0,46.5
$SC_FREEKB,3875488
$24V_AH,14.09,26.807
$10V_AH,13.78,0.000
$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,27.550,51.950,432.700,0.000,0.000,25.586,22.867,473.280,0.750,0.000,37.556,0.000,1034.947,498.315,1527.813,78.055,0.000,926.452,0.000,678.386,0.000,7.184,0.000
$DEVICE_MAMPS,356.490,117.810,1111.545,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2403.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.579,0.000,0.000,0.000
$MEM,343576
$DATA_FILE_SIZE,16799,450
$CAP_FILE_SIZE,84309,0
$CFSIZE,1023623168,1010647040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,865.65,0x2338ba,2,24
$GPS,200918,034026,-2905.251,3208.666,24,1.0,39,-23.9,0.6,85.5,9,4.3