version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 97
start: 9 20 118 9 39 24
data:
$ID,573
$MISSION,22
$DIVE,97
$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,129
$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,48
$R_STBD_OVSHOOT,59
$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
$GPS1,200918,092153,-2904.9639,3208.6931,23,72.7,63,-23.9,0.8,211.4,3,10.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-63.8
$GPS2,200918,093912,-2905.1960,3208.5273,58,0.8,71,-23.9,0.8,179.4,10,9.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2911.992,3218.142
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,152.9,20000,-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,-146.0,72,2155,1527,1463,0.0,0.0,0,69,0.00,0.00,-50.58,0.000,16386,0.000,0.000,71,2155,2950,2964,2936,0,0,0,0,0,0,15.16,28.83,15.17
$GC,71,-0.79,-146.0,73,2156,2964,2937,3.1,-5.3,9,99,12.05,2.30,-8.48,0.000,18692,0.290,0.090,2218,3521,3409,3453,3366,0,0,0,0,0,0,14.83,14.14,14.97
$GC,218,-0.79,-146.0,2217,3522,3455,3368,38.1,-18.7,38,226,0.05,2.25,0.00,0.000,3078,0.257,0.037,2230,2138,3410,3454,3367,0,0,0,0,0,0,14.90,15.01,15.00
$GC,285,-0.79,-146.0,2230,2138,3454,3367,50.0,-18.1,51,291,0.00,2.33,0.00,0.000,2564,0.000,0.063,2230,719,3410,3453,3367,0,0,0,0,0,0,15.21,15.02,15.21
$GC,310,-0.79,-146.0,2230,719,3455,3368,54.6,-16.9,56,317,0.00,2.28,0.00,0.000,3078,0.000,0.048,2229,2109,3410,3453,3367,0,0,0,0,0,0,15.07,15.02,15.09
$GC,377,-0.79,-146.0,2231,2110,3453,3367,64.6,-15.6,69,383,0.00,2.28,0.00,0.000,2564,0.000,0.063,2230,720,3410,3453,3367,0,0,0,0,0,0,15.23,15.04,15.23
$GC,397,-0.79,-146.0,2231,721,3451,3367,67.9,-16.2,73,404,0.00,2.30,0.00,0.000,3078,0.000,0.047,2222,2126,3410,3453,3367,0,0,0,0,0,0,15.09,15.04,15.10
$GC,463,-0.79,-146.0,2222,2128,3453,3367,80.5,-19.2,86,468,0.00,0.00,0.00,0.000,2054,0.000,0.000,2222,2127,3410,3453,3367,0,0,0,0,0,0,15.24,15.24,15.24
$GC,528,-0.79,-146.0,2222,2128,3453,3367,92.9,-20.8,99,535,0.00,2.38,0.00,0.000,2308,0.000,0.067,2212,3543,3410,3453,3367,0,0,0,0,0,0,15.25,15.01,15.24
$GC,609,-0.79,-146.0,2211,3544,3456,3367,107.8,-17.4,115,616,0.08,2.30,0.00,0.000,3078,0.214,0.037,2229,2120,3410,3454,3367,0,0,0,0,0,0,14.97,15.05,15.05
$GC,675,-0.79,-146.0,2229,2123,3455,3368,119.4,-17.1,128,685,0.00,2.40,0.00,0.000,2308,0.000,0.068,2221,3539,3413,3453,3373,0,0,0,0,0,0,15.25,15.04,15.25
$GC,718,-0.79,-146.0,2222,3540,3453,3367,126.9,-16.0,136,725,0.00,2.28,0.00,0.000,3078,0.000,0.037,2221,2136,3410,3453,3367,0,0,0,0,0,0,15.07,15.05,15.10
$GC,785,-0.79,-146.0,2221,2137,3455,3368,136.4,-15.1,149,791,0.05,0.00,0.00,0.000,2054,0.348,0.000,2231,2134,3410,3453,3367,0,0,0,0,0,0,14.94,15.10,15.07
$GC,850,-0.79,-146.0,2232,2135,3453,3367,146.9,-14.3,162,855,0.00,0.00,0.00,0.000,2054,0.000,0.000,2231,2134,3409,3453,3366,0,0,0,0,0,0,15.26,15.26,15.28
$GC,915,-0.79,-146.0,2232,2135,3453,3365,156.0,-13.6,175,921,0.00,2.38,0.00,0.000,2308,0.000,0.067,2223,3543,3410,3453,3367,0,0,0,0,0,0,15.26,15.05,15.26
$GC,940,-0.79,-146.0,2222,3544,3455,3367,159.6,-13.6,180,947,0.00,2.28,0.00,0.000,3078,0.000,0.036,2222,2133,3409,3453,3366,0,0,0,0,0,0,15.11,15.08,15.14
$GC,1006,-0.79,-146.0,2222,2132,3455,3367,168.5,-15.5,193,1013,0.00,2.35,0.00,0.000,2308,0.000,0.070,2214,3546,3410,3453,3367,0,0,0,0,0,0,15.26,15.07,15.26
$GC,1042,-0.79,-146.0,2215,3547,3453,3367,173.9,-14.8,200,1049,0.08,2.30,0.00,0.000,3078,0.208,0.037,2232,2114,3410,3453,3367,0,0,0,0,0,0,14.97,15.07,15.03
$STATE,1098,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1098,begin apogee
$GC,1101,-0.17,0.0,2232,1934,3455,3368,180.9,-12.4,211,1211,0.95,0.00,105.80,1.158,10246,0.159,0.000,2430,1934,2812,2844,2781,0,0,0,0,0,0,15.00,14.63,14.18
$STATE,1212,end apogee,CONTROL_FINISHED_OK
$STATE,1212,begin climb
$GC,1213,0.79,146.0,2431,1935,2843,2782,185.8,0.0,231,1328,1.38,0.00,109.38,1.136,10758,0.097,0.000,2725,1934,2216,2259,2173,0,0,0,0,0,0,14.63,14.52,14.07
$GC,1388,0.96,289.5,2726,1934,2255,2170,185.5,3.4,263,1505,0.25,2.47,111.30,1.128,10500,0.077,0.060,2815,3353,1629,1689,1570,0,0,0,0,0,0,14.77,14.54,14.09
$GC,1579,0.96,289.5,2815,3354,1687,1566,162.3,14.6,299,1586,0.08,2.30,0.00,0.000,5126,0.225,0.044,2804,1977,1625,1686,1565,0,0,0,0,0,0,14.66,14.73,14.73
$GC,1645,0.96,289.5,2805,1978,1685,1565,153.6,12.6,312,1646,0.00,0.00,0.00,0.000,4102,0.000,0.000,2805,1977,1625,1686,1564,0,0,0,0,0,0,15.03,15.04,15.03
$GC,1705,0.96,289.5,2805,1978,1685,1563,146.4,12.3,324,1712,0.00,2.35,0.00,0.000,4356,0.000,0.061,2804,3356,1624,1685,1564,0,0,0,0,0,0,15.09,14.88,15.09
$GC,1746,0.96,289.5,2804,3356,1686,1565,141.1,12.9,332,1754,0.00,2.33,0.00,0.000,5126,0.000,0.044,2807,1948,1624,1684,1564,0,0,0,0,0,0,14.96,14.92,14.97
$GC,1813,0.96,289.5,2805,1949,1686,1564,133.4,10.8,345,1819,0.00,2.33,0.00,0.000,4612,0.000,0.073,2807,550,1623,1684,1563,0,0,0,0,0,0,15.14,14.94,15.14
$GC,1863,0.96,289.5,2806,551,1684,1564,127.0,14.0,355,1870,0.00,2.30,0.00,0.000,5126,0.000,0.043,2808,1960,1623,1683,1563,0,0,0,0,0,0,14.98,14.94,15.00
$GC,1930,0.96,289.5,2807,1961,1685,1564,118.8,11.4,368,1936,0.00,2.33,0.00,0.000,4356,0.000,0.063,2807,3347,1622,1682,1563,0,0,0,0,0,0,15.19,14.95,15.19
$GC,1960,0.96,289.5,2807,3347,1684,1564,114.8,11.9,374,1967,0.00,2.30,0.00,0.000,5126,0.000,0.044,2808,1944,1622,1682,1563,0,0,0,0,0,0,15.02,14.97,15.04
$GC,2027,0.96,289.5,2809,1945,1683,1561,107.5,10.7,387,2032,0.00,0.00,0.00,0.000,4102,0.000,0.000,2807,1944,1623,1683,1563,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2091,0.96,289.5,2809,1945,1683,1561,100.0,11.7,400,2092,0.00,0.00,0.00,0.000,4102,0.000,0.000,2808,1944,1622,1682,1563,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2151,0.96,289.5,2809,1945,1683,1563,93.3,11.4,412,2158,0.00,2.38,0.00,0.000,4356,0.000,0.064,2808,3351,1622,1682,1563,0,0,0,0,0,0,15.22,15.00,15.22
$GC,2187,0.96,289.5,2808,3352,1682,1563,89.1,11.2,419,2194,0.00,2.30,0.00,0.000,5126,0.000,0.045,2808,1954,1621,1681,1562,0,0,0,0,0,0,15.07,15.02,15.09
$GC,2253,0.96,289.5,2807,1954,1684,1563,81.6,11.0,432,2258,0.00,0.00,0.00,0.000,4102,0.000,0.000,2808,1953,1622,1682,1562,0,0,0,0,0,0,15.23,15.23,15.23
$GC,2318,0.96,289.5,2809,1953,1683,1563,74.3,11.1,445,2323,0.00,0.00,0.00,0.000,4102,0.000,0.000,2808,1953,1622,1682,1562,0,0,0,0,0,0,15.23,15.23,15.23
$GC,2383,0.96,289.5,2809,1954,1682,1562,67.7,10.6,458,2389,0.00,2.35,0.00,0.000,4356,0.000,0.062,2815,3354,1621,1681,1562,0,0,0,0,0,0,15.23,15.02,15.23
$GC,2413,0.99,307.6,2807,3355,1683,1563,64.6,9.1,464,2437,0.00,2.33,14.98,0.960,9222,0.000,0.044,2808,1938,1556,1616,1497,0,0,0,0,0,0,15.05,15.01,14.51
$GC,2496,0.99,307.6,2809,1939,1614,1496,55.3,11.0,480,2503,0.00,2.35,0.00,0.000,516,0.000,0.073,2808,544,1554,1613,1495,0,0,0,0,0,0,15.19,14.97,15.19
$GC,2546,0.99,307.6,2809,545,1612,1496,49.8,10.6,490,2553,0.00,2.28,0.00,0.000,1030,0.000,0.041,2807,1956,1553,1612,1495,0,0,0,0,0,0,15.06,15.02,15.08
$GC,2613,0.99,307.6,2807,1956,1613,1496,42.5,11.1,503,2619,0.00,2.33,0.00,0.000,516,0.000,0.073,2808,550,1553,1611,1495,0,0,0,0,0,0,15.21,14.97,15.21
$GC,2643,1.00,318.8,2807,551,1610,1496,39.4,9.5,509,2661,0.00,2.25,10.20,0.881,9222,0.000,0.041,2807,1944,1511,1569,1453,0,0,0,0,0,0,15.04,15.00,14.50
$GC,2720,1.00,318.8,2809,1945,1566,1453,31.2,10.4,524,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1944,1510,1568,1452,0,0,0,0,0,0,15.19,15.20,15.20
$GC,2785,1.00,318.8,2808,1945,1567,1451,24.5,10.0,537,2792,0.00,2.38,0.00,0.000,516,0.000,0.073,2807,545,1509,1567,1451,0,0,0,0,0,0,15.21,15.00,15.21
$GC,2901,1.02,335.1,2806,545,1567,1452,13.0,9.2,560,2914,0.00,2.28,9.52,0.810,11270,0.000,0.040,2807,1954,1443,1496,1390,0,0,0,0,0,0,15.08,15.04,14.59
$GC,2974,1.02,335.1,2807,1955,1496,1385,5.5,12.1,574,2979,0.00,0.00,0.00,0.000,2054,0.000,0.000,2808,1954,1439,1495,1384,0,0,0,0,0,0,15.21,15.21,15.21
$STATE,3002,end climb,SURFACE_DEPTH_REACHED
$STATE,3002,begin surface coast
$FINISH,0.6,1.010536
$STATE,3038,end surface coast,CONTROL_FINISHED_OK
$STATE,3038,begin surface
$SM_CCo,3116,0.00,0.000,0,0,1434,338.26
$SM_GC,1.37,12.23,0.25,0.00,0.057,0.073,0.000,147,2137,1434,-7.27,-1.24,338.26,0,0,0,0,0,0,15.02,15.07,15.09
$IRIDIUM_FIX,-2853.13,3209.73,200918,092943
$TT8_MAMPS,0.038199,0.587965
$HUMID,47.55
$INTERNAL_PRESSURE,9.27734
$TCM_TEMP,25.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,17.9
$ALTIM_BOTTOM_PING,120.2,70.1
$SC_FREEKB,3871904
$24V_AH,14.07,28.204
$10V_AH,13.94,0.000
$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,27.175,74.750,361.175,0.000,0.000,127.869,99.695,348.733,1.250,0.000,72.245,0.000,1651.989,507.860,1898.973,94.840,0.000,1038.903,0.000,879.208,0.000,10.358,0.000
$DEVICE_MAMPS,348.075,89.505,1158.210,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3080.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.925,0.000,0.000,0.000
$MEM,343644
$DATA_FILE_SIZE,20072,587
$CAP_FILE_SIZE,114708,0
$CFSIZE,1023623168,1009958912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200918,103250,-2905.669,3208.776,53,0.8,73,-23.9,0.9,67.6,11,9.6