version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 92
start: 9 20 118 5 2 40
data:
$ID,573
$MISSION,22
$DIVE,92
$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,36
$R_STBD_OVSHOOT,54
$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
$GPS1,200918,044903,-2905.0825,3208.8225,87,0.9,88,-23.9,0.5,13.0,8,8.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-62.8
$GPS2,200918,050229,-2905.0300,3208.8025,17,1.0,18,-23.9,0.6,22.3,8,9.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2855.678,3214.972
$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,-146.0,72,2145,1354,1268,0.0,0.0,0,81,0.00,0.00,-61.67,0.000,16386,0.000,0.000,72,2144,3068,3072,3065,0,0,0,0,0,0,15.10,28.83,15.11
$GC,83,-0.79,-146.0,73,2145,3074,3066,3.6,-8.7,11,106,12.18,2.35,-5.97,0.000,18692,0.297,0.093,2219,3518,3410,3453,3367,0,0,0,0,0,0,14.77,14.12,14.89
$GC,335,-0.79,-146.0,2218,3519,3454,3368,60.4,-19.8,61,342,0.05,2.28,0.00,0.000,3078,0.260,0.038,2230,2127,3410,3454,3367,0,0,0,0,0,0,14.90,15.02,15.00
$GC,402,-0.79,-146.0,2231,2127,3452,3368,73.2,-18.5,74,408,0.00,2.30,0.00,0.000,2564,0.000,0.064,2230,720,3410,3453,3368,0,0,0,0,0,0,15.20,15.01,15.21
$GC,422,-0.79,-146.0,2230,719,3455,3369,77.1,-18.6,78,429,0.00,2.28,0.00,0.000,3078,0.000,0.047,2228,2113,3410,3453,3368,0,0,0,0,0,0,15.07,15.02,15.07
$GC,488,-0.79,-146.0,2227,2114,3454,3369,87.9,-15.1,91,494,0.00,0.00,0.00,0.000,2054,0.000,0.000,2228,2114,3411,3454,3368,0,0,0,0,0,0,15.22,15.22,15.23
$GC,553,-0.79,-146.0,2227,2114,3455,3369,98.6,-17.4,104,560,0.00,2.40,0.00,0.000,2308,0.000,0.071,2228,3531,3410,3453,3368,0,0,0,0,0,0,15.23,14.99,15.23
$GC,574,-0.79,-146.0,2227,3533,3455,3368,102.2,-17.8,108,581,0.00,2.30,0.00,0.000,3078,0.000,0.038,2228,2128,3410,3453,3367,0,0,0,0,0,0,15.06,15.02,15.07
$GC,640,-0.79,-146.0,2227,2128,3455,3369,114.6,-19.9,121,646,0.00,2.30,0.00,0.000,2564,0.000,0.065,2228,720,3409,3451,3368,0,0,0,0,0,0,15.22,15.03,15.23
$GC,665,-0.79,-146.0,2224,721,3453,3368,119.5,-19.2,126,673,0.00,2.33,0.00,0.000,3078,0.000,0.049,2224,2133,3410,3453,3367,0,0,0,0,0,0,15.08,15.04,15.10
$GC,733,-0.79,-146.0,2225,2134,3452,3368,132.1,-19.2,139,739,0.00,2.33,0.00,0.000,2308,0.000,0.071,2215,3538,3410,3453,3368,0,0,0,0,0,0,15.24,15.01,15.24
$GC,779,-0.79,-146.0,2214,3539,3455,3369,140.0,-14.2,148,785,0.08,2.25,0.00,0.000,3078,0.274,0.037,2231,2123,3410,3453,3368,0,0,0,0,0,0,14.97,15.04,15.09
$GC,848,-0.79,-146.0,2230,2122,3454,3373,150.6,-15.5,161,853,0.00,0.00,0.00,0.000,2054,0.000,0.000,2231,2122,3410,3453,3368,0,0,0,0,0,0,15.22,15.21,15.22
$GC,912,-0.79,-146.0,2230,2122,3455,3369,160.8,-15.2,174,913,0.00,0.00,0.00,0.000,2054,0.000,0.000,2230,2122,3410,3453,3368,0,0,0,0,0,0,15.23,15.24,15.24
$GC,972,-0.79,-146.0,2230,2122,3455,3369,169.2,-13.2,186,973,0.00,0.00,0.00,0.000,2054,0.000,0.000,2231,2119,3410,3453,3368,0,0,0,0,0,0,15.24,15.24,15.24
$GC,1032,-0.79,-146.0,2230,2122,3455,3368,177.0,-12.8,198,1039,0.00,2.40,0.00,0.000,2308,0.000,0.070,2227,3538,3410,3453,3368,0,0,0,0,0,0,15.24,15.03,15.24
$GC,1048,-0.79,-146.0,2225,3539,3453,3368,179.3,-14.8,201,1055,0.00,2.30,0.00,0.000,3078,0.000,0.038,2227,2124,3410,3453,3368,0,0,0,0,0,0,15.06,15.02,15.07
$GC,1114,-0.79,-146.0,2228,2125,3453,3368,187.6,-12.7,214,1120,0.00,2.30,0.00,0.000,2564,0.000,0.064,2226,717,3410,3453,3368,0,0,0,0,0,0,15.25,15.03,15.26
$GC,1149,-0.79,-146.0,2226,718,3455,3369,192.1,-12.7,221,1156,0.00,2.33,0.00,0.000,3078,0.000,0.048,2225,2137,3410,3453,3368,0,0,0,0,0,0,15.08,15.04,15.09
$STATE,1209,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1210,begin apogee
$GC,1213,-0.17,0.0,2225,1924,3455,3368,199.1,-11.4,233,1323,1.00,0.00,106.65,1.193,10246,0.163,0.000,2429,1922,2810,2843,2778,0,0,0,0,0,0,14.99,14.64,14.14
$STATE,1324,end apogee,CONTROL_FINISHED_OK
$STATE,1324,begin climb
$GC,1325,0.79,146.0,2431,1922,2843,2779,202.2,0.0,253,1446,1.38,2.35,109.00,1.175,10756,0.092,0.070,2729,565,2214,2255,2174,0,0,0,0,0,0,14.61,14.48,14.04
$GC,1585,0.84,186.3,2730,565,2249,2174,192.5,8.1,302,1625,0.00,2.30,31.55,1.128,11270,0.000,0.043,2729,1964,2051,2098,2004,0,0,0,0,0,0,14.88,14.83,14.23
$GC,1684,0.89,226.1,2729,1965,2098,2002,185.0,8.2,321,1718,0.12,0.00,31.88,1.121,10502,0.120,0.000,2794,1964,1890,1942,1838,0,0,0,0,0,0,14.83,14.70,14.22
$GC,1777,0.89,226.1,2794,1965,1938,1835,175.0,11.9,339,1784,0.08,2.40,0.00,0.000,4612,0.262,0.071,2786,563,1885,1937,1834,0,0,0,0,0,0,14.73,14.76,14.84
$GC,1803,0.89,226.1,2787,564,1937,1835,171.7,13.4,344,1810,0.00,2.30,0.00,0.000,5126,0.000,0.044,2786,1955,1885,1937,1834,0,0,0,0,0,0,14.86,14.83,14.88
$GC,1870,0.89,226.1,2787,1955,1936,1835,162.6,13.1,357,1875,0.00,0.00,0.00,0.000,4102,0.000,0.000,2786,1951,1885,1936,1834,0,0,0,0,0,0,15.05,15.05,15.05
$GC,1934,0.89,226.1,2786,1955,1937,1835,154.9,11.4,370,1935,0.00,0.00,0.00,0.000,4102,0.000,0.000,2787,1954,1885,1936,1834,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1994,0.90,234.5,2785,1955,1937,1834,148.8,9.6,382,2007,0.00,2.33,7.45,0.906,12804,0.000,0.070,2787,563,1855,1907,1803,0,0,0,0,0,0,15.12,14.83,14.43
$GC,2031,0.91,246.1,2788,564,1905,1803,145.5,9.4,389,2049,0.00,2.28,10.93,1.030,13318,0.000,0.042,2787,1955,1807,1862,1753,0,0,0,0,0,0,14.93,14.90,14.43
$GC,2108,0.97,294.3,2788,1956,1861,1751,138.2,7.8,404,2153,0.00,2.35,39.15,1.112,10500,0.000,0.062,2787,3355,1610,1672,1549,0,0,0,0,0,0,15.10,14.65,14.27
$GC,2173,1.06,371.2,2788,3356,1672,1548,133.6,6.5,416,2241,0.10,2.28,62.22,1.100,11270,0.140,0.042,2840,1959,1297,1361,1234,0,0,0,0,0,0,14.81,14.79,14.14
$GC,2300,1.06,371.2,2841,1959,1360,1228,119.4,12.1,440,2306,0.00,2.42,0.00,0.000,4612,0.000,0.073,2845,555,1293,1358,1228,0,0,0,0,0,0,14.92,14.71,14.92
$GC,2335,1.06,371.2,2845,555,1360,1228,114.8,14.4,447,2343,0.03,2.30,0.00,0.000,5126,0.338,0.040,2838,1962,1292,1358,1227,0,0,0,0,0,0,14.64,14.77,14.76
$GC,2402,1.06,371.2,2839,1963,1358,1227,105.4,14.8,460,2409,0.00,2.42,0.00,0.000,4612,0.000,0.075,2848,557,1292,1357,1227,0,0,0,0,0,0,15.05,14.82,15.05
$GC,2427,1.06,371.2,2848,558,1358,1228,101.5,16.2,465,2435,0.05,2.28,0.00,0.000,5126,0.244,0.042,2835,1944,1292,1358,1227,0,0,0,0,0,0,14.79,14.88,14.89
$GC,2494,1.06,371.2,2834,1945,1360,1228,92.7,13.2,478,2500,0.00,2.35,0.00,0.000,4356,0.000,0.064,2835,3355,1291,1357,1226,0,0,0,0,0,0,15.09,14.91,15.08
$GC,2509,1.06,371.2,2834,3355,1359,1225,90.4,14.9,481,2516,0.00,2.33,0.00,0.000,5126,0.000,0.045,2834,1948,1291,1357,1226,0,0,0,0,0,0,14.96,14.92,14.98
$GC,2576,1.06,371.2,2836,1948,1358,1226,81.6,13.6,494,2582,0.00,2.35,0.00,0.000,4612,0.000,0.076,2835,549,1291,1357,1226,0,0,0,0,0,0,15.14,14.90,15.14
$GC,2591,1.06,371.2,2836,549,1358,1227,79.4,13.2,497,2598,0.00,2.28,0.00,0.000,5126,0.000,0.041,2835,1946,1291,1357,1226,0,0,0,0,0,0,14.97,14.92,14.99
$GC,2657,1.06,371.2,2836,1946,1357,1226,70.9,12.4,510,2663,0.00,0.00,0.00,0.000,4102,0.000,0.000,2835,1945,1291,1357,1226,0,0,0,0,0,0,15.16,15.17,15.16
$GC,2722,1.06,371.2,2836,1946,1357,1226,62.7,12.9,523,2723,0.00,0.00,0.00,0.000,4102,0.000,0.000,2835,1946,1291,1357,1225,0,0,0,0,0,0,15.18,15.19,15.19
$GC,2782,1.06,371.2,2836,1946,1357,1226,54.4,13.9,535,2789,0.00,2.35,0.00,0.000,4356,0.000,0.061,2835,3344,1291,1357,1225,0,0,0,0,0,0,15.19,14.97,15.19
$GC,2803,1.06,371.2,2836,3345,1357,1225,51.4,14.5,539,2810,0.00,2.30,0.00,0.000,5126,0.000,0.044,2835,1949,1290,1357,1224,0,0,0,0,0,0,15.04,15.00,15.06
$GC,2869,1.06,371.2,2834,1950,1359,1225,42.4,14.8,552,2875,0.00,2.33,0.00,0.000,4356,0.000,0.063,2835,3358,1290,1357,1224,0,0,0,0,0,0,15.20,15.00,15.20
$GC,2889,1.06,371.2,2834,3359,1359,1220,39.5,13.7,556,2896,0.00,2.33,0.00,0.000,5126,0.000,0.045,2835,1949,1290,1357,1224,0,0,0,0,0,0,15.06,15.01,15.07
$GC,2956,1.06,371.2,2834,1949,1359,1225,30.6,12.3,569,2961,0.00,0.00,0.00,0.000,4102,0.000,0.000,2835,1948,1290,1357,1224,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3020,1.06,371.2,2834,1948,1358,1225,21.7,13.5,582,3027,0.00,2.35,0.00,0.000,4612,0.000,0.075,2835,553,1289,1355,1224,0,0,0,0,0,0,15.22,14.97,15.23
$GC,3041,1.06,371.2,2836,554,1357,1224,18.8,13.5,586,3048,0.00,2.28,0.00,0.000,5126,0.000,0.041,2836,1958,1290,1357,1224,0,0,0,0,0,0,15.04,15.01,15.06
$GC,3108,1.12,417.7,2835,1961,1359,1224,12.1,7.8,599,3141,0.00,2.30,26.58,0.877,10500,0.000,0.067,2835,3351,1106,1159,1053,0,0,0,0,0,0,15.23,14.91,14.57
$GC,3150,1.20,480.2,2835,3351,1159,1050,8.9,7.1,607,3191,0.08,2.33,34.60,0.830,11270,0.120,0.042,2887,1938,853,856,851,0,0,0,0,0,0,14.88,14.89,14.44
$STATE,3194,end climb,SURFACE_DEPTH_REACHED
$STATE,3194,begin surface coast
$FINISH,0.3,0.999946
$STATE,3209,end surface coast,CONTROL_FINISHED_OK
$STATE,3209,begin surface
$SM_CCo,3287,0.00,0.000,0,0,845,482.74
$SM_GC,0.98,12.68,0.30,0.00,0.054,0.077,0.000,147,2138,845,-7.27,-1.13,482.74,0,0,0,0,0,0,14.85,14.85,14.92
$IRIDIUM_FIX,-2853.13,3209.73,200918,045151
$TT8_MAMPS,0.03745,0.883071
$HUMID,46.02
$INTERNAL_PRESSURE,9.19921
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.2
$ALTIM_BOTTOM_PING,150.6,58.3
$SC_FREEKB,3874464
$24V_AH,14.04,27.251
$10V_AH,13.57,0.000
$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,27.800,88.875,460.000,0.000,0.000,61.216,60.753,441.290,2.000,0.000,18.934,0.000,1485.956,599.870,1901.194,98.011,0.000,1171.284,0.000,924.891,0.000,15.004,0.000
$DEVICE_MAMPS,338.130,93.330,1192.635,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3261.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.712,0.000,0.000,0.000
$MEM,343576
$DATA_FILE_SIZE,20123,618
$CAP_FILE_SIZE,123188,0
$CFSIZE,1023623168,1010417664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200918,055807,-2904.841,3208.957,21,0.9,23,-23.9,1.3,281.4,9,9.4