version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 91
start: 9 20 118 3 51 45
data:
$ID,573
$MISSION,22
$DIVE,91
$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,37
$R_STBD_OVSHOOT,55
$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
$GPS1,200918,034026,-2905.2507,3208.6660,24,1.0,39,-23.9,0.6,85.5,9,4.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-63.0
$GPS2,200918,035133,-2905.1799,3208.6892,19,1.0,25,-23.9,0.8,149.7,8,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2855.828,3214.859
$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,-146.0,73,2146,1103,1003,0.0,0.0,0,86,0.00,0.00,-66.62,0.000,16386,0.000,0.000,72,2145,2937,2957,2918,0,0,0,0,0,0,15.11,28.83,15.12
$GC,87,-0.79,-146.0,71,2146,2958,2920,3.1,-5.6,12,116,12.00,2.33,-9.25,0.000,19204,0.286,0.090,2216,3515,3409,3455,3364,0,0,0,0,0,0,14.79,14.16,14.91
$GC,385,-0.79,-146.0,2216,3516,3456,3365,65.0,-13.5,71,392,0.03,2.28,0.00,0.000,3078,0.349,0.037,2223,2115,3409,3455,3364,0,0,0,0,0,0,14.88,15.03,15.01
$GC,452,-0.79,-146.0,2222,2115,3456,3365,73.7,-13.4,84,457,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2114,3410,3455,3365,0,0,0,0,0,0,15.21,15.21,15.21
$GC,516,-0.79,-146.0,2224,2115,3455,3365,83.6,-17.3,97,523,0.00,2.30,0.00,0.000,2564,0.000,0.064,2223,736,3409,3455,3364,0,0,0,0,0,0,15.21,15.02,15.21
$GC,547,-0.79,-146.0,2223,737,3456,3365,89.5,-19.7,103,554,0.05,2.28,0.00,0.000,3078,0.272,0.051,2228,2116,3409,3454,3364,0,0,0,0,0,0,14.94,15.03,15.03
$GC,613,-0.79,-146.0,2228,2116,3456,3365,102.9,-21.6,116,613,0.00,0.00,0.00,0.000,2054,0.000,0.000,2228,2116,3409,3454,3365,0,0,0,0,0,0,15.23,15.23,15.23
$GC,673,-0.79,-146.0,2228,2117,3456,3365,115.1,-20.4,128,674,0.00,0.00,0.00,0.000,2054,0.000,0.000,2228,2116,3409,3454,3364,0,0,0,0,0,0,15.23,15.24,15.24
$GC,733,-0.79,-146.0,2229,2117,3454,3365,126.2,-17.0,140,733,0.00,0.00,0.00,0.000,2054,0.000,0.000,2228,2116,3409,3454,3364,0,0,0,0,0,0,15.24,15.24,15.24
$GC,793,-0.79,-146.0,2229,2116,3454,3365,135.6,-15.5,152,800,0.00,2.40,0.00,0.000,2308,0.000,0.071,2220,3535,3409,3454,3364,0,0,0,0,0,0,15.25,15.00,15.24
$GC,824,-0.79,-146.0,2219,3536,3456,3364,140.0,-14.2,158,831,0.08,2.25,0.00,0.000,3078,0.268,0.041,2236,2125,3409,3454,3365,0,0,0,0,0,0,14.99,15.07,15.11
$GC,890,-0.79,-146.0,2235,2124,3456,3365,148.7,-14.1,171,897,0.00,2.30,0.00,0.000,516,0.000,0.065,2236,706,3409,3454,3365,0,0,0,0,0,0,15.23,15.04,15.23
$GC,920,-0.79,-146.0,2236,707,3456,3365,153.7,-17.1,177,927,0.00,2.33,0.00,0.000,3078,0.000,0.047,2231,2129,3409,3455,3364,0,0,0,0,0,0,15.09,15.04,15.11
$GC,987,-0.79,-146.0,2230,2135,3456,3365,165.0,-21.0,190,993,0.00,2.33,0.00,0.000,2308,0.000,0.070,2221,3540,3409,3455,3364,0,0,0,0,0,0,15.24,15.01,15.23
$GC,1032,-0.79,-146.0,2220,3540,3456,3365,172.7,-15.2,199,1039,0.00,2.30,0.00,0.000,3078,0.000,0.037,2221,2127,3409,3454,3364,0,0,0,0,0,0,15.07,15.03,15.09
$GC,1098,-0.79,-146.0,2222,2128,3454,3364,183.3,-16.8,212,1104,0.05,0.00,0.00,0.000,2054,0.346,0.000,2231,2126,3409,3454,3365,0,0,0,0,0,0,14.97,15.14,15.11
$GC,1163,-0.79,-146.0,2235,2127,3456,3365,193.0,-14.4,225,1170,0.00,2.38,0.00,0.000,2308,0.000,0.069,2223,3549,3409,3455,3364,0,0,0,0,0,0,15.26,15.04,15.26
$GC,1184,-0.79,-146.0,2222,3550,3456,3365,196.0,-14.5,229,1191,0.00,2.30,0.00,0.000,3078,0.000,0.036,2223,2131,3409,3454,3365,0,0,0,0,0,0,15.09,15.05,15.11
$STATE,1249,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1249,begin apogee
$GC,1252,-0.17,0.0,2224,1934,3454,3365,206.2,-16.5,242,1367,1.00,0.00,106.85,1.199,10246,0.155,0.000,2430,1933,2811,2844,2778,0,0,0,0,0,0,15.00,14.53,14.14
$STATE,1368,end apogee,CONTROL_FINISHED_OK
$STATE,1368,begin climb
$GC,1369,0.79,146.0,2430,1934,2843,2780,212.2,0.0,263,1485,1.38,2.30,109.00,1.185,10756,0.087,0.069,2730,562,2214,2256,2173,0,0,0,0,0,0,14.62,14.50,14.04
$GC,1579,0.92,256.2,2729,562,2252,2174,211.0,4.9,302,1674,0.15,2.30,85.45,1.172,11270,0.076,0.043,2798,1966,1764,1822,1707,0,0,0,0,0,0,14.80,14.81,14.08
$GC,1733,0.92,256.2,2798,1967,1821,1705,194.4,14.9,331,1739,0.00,2.33,0.00,0.000,4356,0.000,0.065,2805,3343,1761,1819,1704,0,0,0,0,0,0,14.90,14.71,14.90
$GC,1788,0.92,256.2,2799,3343,1819,1703,186.3,13.8,342,1796,0.05,2.28,0.00,0.000,5126,0.261,0.043,2790,1976,1760,1818,1702,0,0,0,0,0,0,14.71,14.81,14.81
$GC,1854,0.92,256.2,2790,1977,1819,1702,178.0,12.9,355,1855,0.00,0.00,0.00,0.000,4102,0.000,0.000,2789,1976,1760,1819,1701,0,0,0,0,0,0,15.05,15.06,15.06
$GC,1914,0.92,256.2,2789,1977,1820,1701,169.5,13.5,367,1922,0.00,2.33,0.00,0.000,4356,0.000,0.063,2790,3342,1759,1818,1701,0,0,0,0,0,0,15.09,14.86,15.10
$GC,1956,0.92,256.2,2790,3342,1819,1702,163.8,13.1,375,1963,0.00,2.30,0.00,0.000,5126,0.000,0.044,2791,1950,1759,1818,1701,0,0,0,0,0,0,14.98,14.93,14.97
$GC,2022,0.92,256.2,2790,1951,1819,1701,155.8,12.2,388,2028,0.00,2.33,0.00,0.000,4612,0.000,0.073,2797,549,1758,1817,1700,0,0,0,0,0,0,15.14,14.94,15.14
$GC,2037,0.92,256.2,2797,550,1818,1702,153.9,12.5,391,2045,0.00,2.28,0.00,0.000,5126,0.000,0.041,2797,1947,1759,1817,1701,0,0,0,0,0,0,15.02,14.97,15.01
$GC,2104,0.92,256.2,2796,1948,1818,1701,145.5,13.0,404,2110,0.00,2.35,0.00,0.000,4612,0.000,0.075,2797,547,1758,1816,1700,0,0,0,0,0,0,15.16,14.92,15.16
$GC,2129,0.92,256.2,2798,548,1815,1701,142.6,10.5,409,2136,0.00,2.28,0.00,0.000,5126,0.000,0.043,2797,1946,1758,1816,1701,0,0,0,0,0,0,14.99,14.95,15.04
$GC,2196,0.93,265.4,2798,1947,1815,1701,135.7,9.6,422,2208,0.00,2.33,7.15,0.882,12548,0.000,0.063,2797,3353,1730,1788,1672,0,0,0,0,0,0,15.19,14.86,14.47
$GC,2247,0.94,267.3,2798,3354,1789,1672,130.3,9.9,432,2254,0.00,2.30,0.00,0.000,5126,0.000,0.044,2797,1948,1730,1788,1672,0,0,0,0,0,0,15.08,14.97,15.09
$GC,2314,1.03,344.2,2797,1948,1790,1672,126.1,6.5,445,2386,0.00,2.40,64.03,1.108,10756,0.000,0.076,2798,559,1407,1469,1346,0,0,0,0,0,0,15.17,14.66,14.26
$GC,2400,1.06,365.2,2797,558,1469,1347,118.5,9.0,461,2424,0.03,2.33,18.17,1.040,11270,0.270,0.042,2832,1966,1322,1383,1261,0,0,0,0,0,0,14.63,14.74,14.23
$GC,2483,1.06,365.2,2832,1968,1382,1257,107.2,14.2,477,2490,0.00,2.45,0.00,0.000,4612,0.000,0.073,2832,552,1319,1382,1256,0,0,0,0,0,0,14.99,14.78,14.99
$GC,2504,1.06,365.2,2833,551,1382,1257,104.6,12.5,481,2511,0.00,2.30,0.00,0.000,5126,0.000,0.042,2833,1945,1319,1382,1256,0,0,0,0,0,0,14.84,14.81,14.85
$GC,2570,1.06,365.2,2832,1946,1383,1256,94.8,15.1,494,2576,0.00,0.00,0.00,0.000,4102,0.000,0.000,2833,1946,1318,1381,1255,0,0,0,0,0,0,15.07,15.08,15.08
$GC,2635,1.06,365.2,2833,1947,1381,1255,84.5,16.2,507,2635,0.00,0.00,0.00,0.000,4102,0.000,0.000,2832,1946,1317,1380,1255,0,0,0,0,0,0,15.11,15.11,15.11
$GC,2695,1.06,365.2,2833,1946,1380,1255,74.2,16.8,519,2701,0.00,2.40,0.00,0.000,4612,0.000,0.074,2835,551,1317,1380,1254,0,0,0,0,0,0,15.14,14.90,15.14
$GC,2721,1.06,365.2,2836,552,1380,1255,69.8,16.6,524,2727,0.00,2.28,0.00,0.000,1030,0.000,0.042,2835,1950,1317,1380,1254,0,0,0,0,0,0,14.99,14.95,15.00
$GC,2787,1.06,365.2,2836,1951,1380,1254,60.0,14.7,537,2793,0.00,2.33,0.00,0.000,4356,0.000,0.064,2836,3354,1316,1380,1253,0,0,0,0,0,0,15.16,14.97,15.16
$GC,2797,1.06,365.2,2836,3355,1379,1253,58.5,14.9,539,2804,0.00,2.30,0.00,0.000,5126,0.000,0.044,2835,1959,1316,1380,1253,0,0,0,0,0,0,15.02,14.98,15.03
$GC,2864,1.06,365.2,2836,1960,1385,1253,49.9,12.4,552,2869,0.00,0.00,0.00,0.000,4102,0.000,0.000,2835,1959,1316,1380,1253,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2928,1.06,365.2,2835,1959,1381,1253,41.1,13.6,565,2935,0.00,2.35,0.00,0.000,4356,0.000,0.060,2836,3353,1313,1374,1253,0,0,0,0,0,0,15.19,14.99,15.19
$GC,2969,1.06,365.2,2835,3353,1381,1253,36.4,11.8,573,2976,0.00,2.33,0.00,0.000,5126,0.000,0.045,2835,1943,1315,1379,1252,0,0,0,0,0,0,15.04,14.98,15.04
$GC,3035,1.06,365.2,2835,1942,1381,1253,28.2,13.7,586,3041,0.00,0.00,0.00,0.000,4102,0.000,0.000,2835,1942,1316,1380,1252,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3101,1.06,365.2,2835,1947,1381,1253,19.6,14.4,599,3106,0.00,0.00,0.00,0.000,4102,0.000,0.000,2835,1942,1315,1379,1252,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3165,1.06,365.2,2837,1942,1379,1253,11.0,10.9,612,3166,0.00,0.00,0.00,0.000,4102,0.000,0.000,2836,1942,1315,1379,1252,0,0,0,0,0,0,15.23,15.23,15.23
$GC,3225,1.06,365.2,2835,1942,1381,1252,3.7,12.4,624,3226,0.00,0.00,0.00,0.000,4102,0.000,0.000,2836,1942,1315,1380,1251,0,0,0,0,0,0,15.23,15.24,15.24
$STATE,3229,end climb,SURFACE_DEPTH_REACHED
$STATE,3229,begin surface coast
$FINISH,0.4,1.011657
$STATE,3254,end surface coast,CONTROL_FINISHED_OK
$STATE,3254,begin surface
$SM_CCo,3333,0.00,0.000,0,0,1311,368.19
$SM_GC,1.17,12.23,0.28,0.00,0.050,0.068,0.000,147,2141,1311,-7.26,-1.33,368.19,0,0,0,0,0,0,15.04,15.09,15.11
$IRIDIUM_FIX,-2853.13,3209.73,200918,034245
$TT8_MAMPS,0.03745,0.974449
$HUMID,46.73
$INTERNAL_PRESSURE,9.23828
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.5
$ALTIM_BOTTOM_PING,170.4,45.3
$SC_FREEKB,3874976
$24V_AH,14.04,27.017
$10V_AH,13.71,0.000
$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,27.025,79.400,390.650,0.000,0.000,51.758,63.177,326.396,3.000,0.000,26.274,0.000,1562.223,543.881,1798.224,93.303,0.000,1109.516,0.000,941.938,0.000,24.385,0.000
$DEVICE_MAMPS,348.840,90.270,1198.755,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3295.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.645,0.000,0.000,0.000
$MEM,343644
$DATA_FILE_SIZE,20090,630
$CAP_FILE_SIZE,121010,0
$CFSIZE,1023623168,1010515968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200918,044903,-2905.083,3208.823,87,0.9,88,-23.9,0.5,13.0,8,8.7