version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 96
start: 9 20 118 8 37 49
data:
$ID,573
$MISSION,22
$DIVE,96
$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,68
$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,46
$R_STBD_OVSHOOT,38
$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
$GPS1,200918,083052,-2904.9316,3208.5974,19,0.8,25,-23.9,0.8,221.3,11,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-60.9
$GPS2,200918,083739,-2904.9800,3208.5054,19,0.8,25,-23.9,0.6,235.8,11,8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2900.935,3219.955
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,91.9,20000,-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,-146.0,83,2140,585,595,0.0,0.0,0,92,0.00,0.00,-72.35,0.000,16386,0.000,0.000,74,2139,2652,2678,2626,0,0,0,0,0,0,15.17,28.83,15.19
$GC,94,-0.79,-146.0,75,2140,2677,2627,3.1,-7.0,13,128,12.05,2.33,-15.60,0.000,18692,0.292,0.090,2219,3539,3411,3458,3365,0,0,0,0,0,0,14.85,14.45,14.97
$GC,247,-0.79,-146.0,2220,3541,3453,3366,32.4,-16.1,43,254,0.05,2.30,0.00,0.000,3078,0.253,0.038,2230,2127,3409,3453,3365,0,0,0,0,0,0,14.92,15.03,15.03
$GC,313,-0.79,-146.0,2231,2128,3455,3366,42.9,-15.2,56,319,0.00,0.00,0.00,0.000,2054,0.000,0.000,2231,2127,3409,3453,3365,0,0,0,0,0,0,15.23,15.23,15.23
$GC,378,-0.79,-146.0,2230,2128,3455,3366,53.8,-17.5,69,379,0.00,0.00,0.00,0.000,2054,0.000,0.000,2230,2127,3409,3453,3365,0,0,0,0,0,0,15.23,15.24,15.24
$GC,438,-0.79,-146.0,2230,2128,3455,3366,63.7,-16.6,81,439,0.00,0.00,0.00,0.000,2054,0.000,0.000,2231,2127,3409,3453,3365,0,0,0,0,0,0,15.24,15.25,15.25
$GC,498,-0.79,-146.0,2230,2128,3455,3366,73.6,-16.0,93,505,0.00,2.40,0.00,0.000,2308,0.000,0.069,2223,3540,3409,3453,3365,0,0,0,0,0,0,15.25,15.01,15.25
$GC,518,-0.79,-146.0,2224,3540,3453,3366,75.9,-12.3,97,526,0.00,2.30,0.00,0.000,3078,0.000,0.038,2223,2125,3409,3453,3365,0,0,0,0,0,0,15.07,15.02,15.09
$GC,585,-0.79,-146.0,2224,2126,3453,3366,84.9,-15.5,110,591,0.00,2.28,0.00,0.000,2564,0.000,0.064,2223,726,3409,3453,3365,0,0,0,0,0,0,15.25,15.05,15.26
$GC,625,-0.79,-146.0,2223,727,3453,3366,91.1,-16.1,118,632,0.03,2.30,0.00,0.000,3078,0.379,0.049,2227,2135,3409,3453,3365,0,0,0,0,0,0,14.91,15.07,15.04
$GC,691,-0.79,-146.0,2228,2136,3453,3366,101.1,-16.2,131,692,0.00,0.00,0.00,0.000,2054,0.000,0.000,2227,2136,3409,3453,3365,0,0,0,0,0,0,15.23,15.24,15.24
$GC,752,-0.79,-146.0,2227,2136,3454,3366,111.0,-16.1,143,758,0.00,2.35,0.00,0.000,2308,0.000,0.070,2218,3531,3409,3453,3365,0,0,0,0,0,0,15.26,15.05,15.26
$STATE,761,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,761,begin apogee
$GC,766,-0.17,0.0,2218,1946,3455,3366,112.7,-15.6,145,877,1.02,0.00,105.72,1.067,10246,0.170,0.000,2427,1946,2812,2842,2783,0,0,0,0,0,0,14.99,14.69,14.23
$STATE,878,end apogee,CONTROL_FINISHED_OK
$STATE,878,begin climb
$GC,879,0.79,146.0,2428,1947,2842,2783,120.1,0.0,165,999,1.40,2.42,108.75,1.050,11012,0.109,0.061,2723,3353,2211,2250,2172,0,0,0,0,0,0,14.65,14.54,14.13
$GC,1453,0.93,262.4,2724,3354,2249,2171,104.7,4.6,277,1548,0.17,2.30,87.97,1.045,11270,0.072,0.041,2800,1938,1741,1799,1683,0,0,0,0,0,0,15.03,15.01,14.26
$GC,1608,0.94,267.0,2799,1939,1796,1680,92.2,9.8,306,1620,0.00,2.35,4.62,0.760,12804,0.000,0.073,2800,562,1723,1780,1666,0,0,0,0,0,0,14.97,14.77,14.35
$GC,1664,0.94,267.0,2801,562,1777,1666,86.4,10.7,317,1671,0.00,2.30,0.00,0.000,5126,0.000,0.047,2800,1949,1721,1777,1665,0,0,0,0,0,0,14.92,14.83,14.92
$GC,1730,0.94,267.0,2801,1950,1777,1665,78.8,12.5,330,1737,0.00,2.35,0.00,0.000,4612,0.000,0.071,2800,553,1720,1776,1664,0,0,0,0,0,0,15.10,14.88,15.10
$GC,1761,0.94,267.0,2801,554,1776,1664,74.7,13.0,336,1768,0.00,2.30,0.00,0.000,5126,0.000,0.043,2800,1959,1720,1776,1664,0,0,0,0,0,0,14.95,14.92,14.97
$GC,1827,0.94,267.0,2801,1959,1775,1664,67.1,10.2,349,1833,0.00,0.00,0.00,0.000,4102,0.000,0.000,2801,1959,1718,1775,1661,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1892,0.94,272.7,2802,1959,1775,1664,60.6,9.7,362,1899,0.00,0.00,5.50,0.708,12294,0.000,0.000,2800,1958,1700,1758,1642,0,0,0,0,0,0,15.16,14.97,14.52
$GC,1959,0.95,276.8,2800,1959,1758,1642,54.4,9.8,375,1965,0.00,0.00,4.78,0.646,12294,0.000,0.000,2801,1958,1683,1740,1626,0,0,0,0,0,0,15.16,14.99,14.52
$GC,2025,0.97,294.1,2801,1959,1740,1624,48.6,9.2,388,2042,0.00,0.00,14.90,0.945,8198,0.000,0.000,2800,1959,1612,1672,1553,0,0,0,0,0,0,15.18,14.95,14.50
$GC,2102,0.97,294.1,2801,1959,1669,1551,40.1,11.6,403,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1959,1610,1670,1550,0,0,0,0,0,0,15.14,15.14,15.14
$GC,2166,0.97,294.1,2800,1959,1671,1550,32.7,11.4,416,2173,0.00,2.38,0.00,0.000,516,0.000,0.073,2800,560,1609,1668,1550,0,0,0,0,0,0,15.17,14.96,15.18
$GC,2192,0.97,294.1,2801,561,1668,1551,29.7,12.0,421,2199,0.00,2.25,0.00,0.000,1030,0.000,0.042,2796,1947,1608,1667,1550,0,0,0,0,0,0,15.04,15.00,15.07
$GC,2258,0.97,294.1,2805,1948,1667,1550,22.0,11.6,434,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1947,1608,1667,1549,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2323,0.97,294.1,2800,1948,1669,1551,14.5,11.8,447,2329,0.00,2.30,0.00,0.000,516,0.000,0.073,2800,559,1608,1667,1549,0,0,0,0,0,0,15.19,15.00,15.20
$GC,2378,1.00,319.6,2801,565,1666,1551,8.7,8.8,458,2397,0.00,2.25,13.68,0.795,11270,0.000,0.040,2800,1955,1508,1565,1452,0,0,0,0,0,0,15.07,15.03,14.60
$STATE,2450,end climb,SURFACE_DEPTH_REACHED
$STATE,2450,begin surface coast
$FINISH,0.4,1.024071
$STATE,2485,end surface coast,CONTROL_FINISHED_OK
$STATE,2485,begin surface
$SM_CCo,2563,0.00,0.000,0,0,1498,322.07
$SM_GC,1.44,12.15,0.25,0.00,0.053,0.077,0.000,150,2147,1498,-7.26,-1.33,322.07,0,0,0,0,0,0,15.00,15.04,15.08
$IRIDIUM_FIX,-2850.67,3211.82,200918,074543
$TT8_MAMPS,0.03745,0.969206
$HUMID,46.18
$INTERNAL_PRESSURE,9.30664
$TCM_TEMP,25.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.3
$ALTIM_BOTTOM_PING,100.3,21.6
$SC_FREEKB,3872416
$24V_AH,14.13,28.004
$10V_AH,13.63,0.000
$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,26.875,42.275,345.925,0.000,0.000,25.435,39.140,207.389,0.750,0.000,25.904,0.000,1168.165,435.904,1298.801,69.131,0.000,867.691,0.000,720.566,0.000,7.670,0.000
$DEVICE_MAMPS,378.675,90.270,1067.175,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2504.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.878,0.000,0.000,0.000
$MEM,343600
$DATA_FILE_SIZE,16748,479
$CAP_FILE_SIZE,84274,0
$CFSIZE,1023623168,1010089984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200918,092153,-2904.964,3208.693,23,72.7,63,-23.9,0.8,211.4,3,10.7