version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 98
start: 9 20 118 10 44 26
data:
$ID,573
$MISSION,22
$DIVE,98
$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,147
$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,38
$R_STBD_OVSHOOT,47
$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
$GPS1,200918,103250,-2905.6692,3208.7761,53,0.8,73,-23.9,0.9,67.6,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-65.9
$GPS2,200918,104415,-2905.8518,3208.7288,16,0.8,56,-23.9,1.0,221.9,10,10.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2914.909,3215.470
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,170.9,20000,-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,-146.0,72,2144,1465,1401,0.0,0.0,0,69,0.00,0.00,-50.58,0.000,16386,0.000,0.000,72,2143,2927,2938,2917,0,0,0,0,0,0,15.14,28.83,15.15
$GC,71,-0.79,-146.0,73,2144,2936,2917,3.9,-8.8,9,100,12.07,2.33,-8.48,0.000,18692,0.291,0.090,2216,3521,3409,3452,3366,0,0,0,0,0,0,14.83,14.12,14.95
$GC,124,-0.79,-146.0,2215,3523,3456,3365,20.4,-23.0,19,131,0.08,2.30,0.00,0.000,3078,0.220,0.041,2232,2117,3410,3454,3367,0,0,0,0,0,0,14.89,14.96,14.97
$GC,190,-0.79,-146.0,2233,2117,3454,3368,32.6,-19.0,32,196,0.00,2.28,0.00,0.000,2564,0.000,0.064,2232,729,3410,3454,3367,0,0,0,0,0,0,15.18,14.99,15.18
$GC,235,-0.79,-146.0,2232,728,3455,3368,41.4,-19.2,41,242,0.00,2.28,0.00,0.000,3078,0.000,0.048,2224,2120,3410,3454,3367,0,0,0,0,0,0,15.05,15.01,15.07
$GC,302,-0.79,-146.0,2224,2120,3456,3368,54.4,-20.0,54,308,0.00,2.30,0.00,0.000,2564,0.000,0.064,2225,723,3410,3454,3366,0,0,0,0,0,0,15.21,14.97,15.21
$GC,337,-0.79,-146.0,2224,724,3456,3368,61.7,-18.9,61,344,0.00,2.30,0.00,0.000,3078,0.000,0.050,2223,2123,3410,3454,3367,0,0,0,0,0,0,15.03,14.99,15.04
$GC,404,-0.79,-146.0,2222,2124,3456,3368,72.4,-15.6,74,410,0.00,2.35,0.00,0.000,2308,0.000,0.070,2214,3539,3410,3454,3367,0,0,0,0,0,0,15.23,15.01,15.23
$GC,489,-0.79,-146.0,2214,3540,3453,3368,85.4,-15.4,91,496,0.08,2.28,0.00,0.000,3078,0.213,0.037,2231,2134,3410,3454,3367,0,0,0,0,0,0,14.95,15.03,15.03
$GC,555,-0.79,-146.0,2232,2135,3454,3368,95.8,-16.6,104,561,0.00,0.00,0.00,0.000,2054,0.000,0.000,2231,2133,3410,3454,3367,0,0,0,0,0,0,15.23,15.23,15.23
$GC,620,-0.79,-146.0,2231,2135,3454,3369,107.5,-18.8,117,621,0.00,0.00,0.00,0.000,2054,0.000,0.000,2231,2134,3410,3454,3367,0,0,0,0,0,0,15.24,15.24,15.24
$GC,680,-0.79,-146.0,2232,2135,3454,3368,118.4,-17.8,129,681,0.00,0.00,0.00,0.000,2054,0.000,0.000,2231,2134,3410,3453,3368,0,0,0,0,0,0,15.24,15.24,15.24
$GC,740,-0.79,-146.0,2230,2135,3456,3368,128.7,-16.2,141,741,0.00,0.00,0.00,0.000,2054,0.000,0.000,2231,2134,3410,3454,3367,0,0,0,0,0,0,15.25,15.25,15.25
$GC,800,-0.79,-146.0,2232,2135,3454,3367,137.6,-15.0,153,801,0.00,0.00,0.00,0.000,2054,0.000,0.000,2231,2134,3410,3454,3367,0,0,0,0,0,0,15.25,15.26,15.25
$GC,860,-0.79,-146.0,2231,2132,3456,3368,145.6,-10.9,165,867,0.00,2.40,0.00,0.000,2308,0.000,0.076,2228,3541,3410,3454,3367,0,0,0,0,0,0,15.25,15.04,15.26
$GC,941,-0.79,-146.0,2228,3542,3454,3367,156.4,-13.7,181,948,0.00,2.28,0.00,0.000,3078,0.000,0.040,2228,2139,3410,3454,3367,0,0,0,0,0,0,15.11,15.07,15.12
$GC,1007,-0.79,-146.0,2227,2139,3456,3368,166.9,-16.8,194,1014,0.00,2.33,0.00,0.000,2564,0.000,0.063,2227,716,3410,3454,3367,0,0,0,0,0,0,15.26,15.02,15.26
$GC,1033,-0.79,-146.0,2227,716,3456,3367,171.4,-17.4,199,1039,0.00,2.33,0.00,0.000,3078,0.000,0.048,2227,2139,3410,3454,3367,0,0,0,0,0,0,15.07,15.03,15.09
$GC,1099,-0.79,-146.0,2228,2140,3454,3368,180.9,-14.9,212,1104,0.00,0.00,0.00,0.000,2054,0.000,0.000,2227,2139,3410,3454,3367,0,0,0,0,0,0,15.26,15.26,15.26
$GC,1163,-0.79,-146.0,2227,2139,3456,3368,189.8,-13.8,225,1164,0.00,0.00,0.00,0.000,2054,0.000,0.000,2227,2139,3410,3454,3367,0,0,0,0,0,0,15.27,15.27,15.27
$GC,1223,-0.79,-146.0,2227,2139,3455,3365,198.0,-13.9,237,1224,0.00,0.00,0.00,0.000,2054,0.000,0.000,2227,2139,3410,3454,3366,0,0,0,0,0,0,15.27,15.27,15.27
$GC,1283,-0.79,-146.0,2227,2139,3456,3368,205.6,-13.5,249,1284,0.00,0.00,0.00,0.000,2054,0.000,0.000,2227,2139,3410,3454,3367,0,0,0,0,0,0,15.28,15.28,15.28
$GC,1343,-0.79,-146.0,2228,2140,3454,3368,214.7,-15.1,261,1344,0.00,0.00,0.00,0.000,2054,0.000,0.000,2227,2139,3410,3454,3367,0,0,0,0,0,0,15.28,15.28,15.28
$GC,1403,-0.79,-146.0,2228,2140,3453,3367,223.1,-13.7,273,1404,0.00,0.00,0.00,0.000,2054,0.000,0.000,2227,2138,3410,3454,3367,0,0,0,0,0,0,15.29,15.29,15.29
$GC,1464,-0.79,-146.0,2226,2139,3456,3368,231.6,-13.4,285,1469,0.00,0.00,0.00,0.000,2054,0.000,0.000,2227,2139,3411,3454,3368,0,0,0,0,0,0,15.29,15.30,15.29
$GC,1529,-0.79,-146.0,2227,2139,3456,3368,240.1,-13.1,298,1534,0.00,0.00,0.00,0.000,2054,0.000,0.000,2228,2138,3410,3454,3367,0,0,0,0,0,0,15.27,15.28,15.28
$GC,1593,-0.79,-146.0,2227,2143,3456,3368,248.8,-12.8,311,1600,0.00,2.35,0.00,0.000,2308,0.000,0.072,2222,3532,3410,3454,3367,0,0,0,0,0,0,15.28,15.07,15.29
$GC,1629,-0.79,-146.0,2222,3533,3455,3368,252.9,-11.7,318,1636,0.00,2.28,0.00,0.000,3078,0.000,0.037,2222,2126,3410,3454,3367,0,0,0,0,0,0,15.14,15.10,15.15
$GC,1695,-0.79,-146.0,2222,2128,3455,3368,261.1,-13.0,331,1702,0.03,2.25,0.00,0.000,2564,0.510,0.063,2231,731,3410,3454,3367,0,0,0,0,0,0,14.99,15.09,15.15
$GC,1726,-0.79,-146.0,2231,731,3455,3367,265.2,-13.6,337,1733,0.00,2.28,0.00,0.000,3078,0.000,0.048,2231,2128,3410,3453,3367,0,0,0,0,0,0,15.14,15.09,15.15
$GC,1792,-0.79,-146.0,2232,2128,3453,3367,273.5,-11.7,350,1798,0.00,0.00,0.00,0.000,2054,0.000,0.000,2231,2128,3410,3453,3367,0,0,0,0,0,0,15.28,15.29,15.29
$GC,1857,-0.79,-146.0,2232,2129,3453,3367,280.8,-11.8,363,1864,0.00,2.38,0.00,0.000,2308,0.000,0.072,2230,3535,3410,3453,3367,0,0,0,0,0,0,15.29,15.04,15.29
$GC,1878,-0.79,-146.0,2230,3536,3452,3367,283.2,-12.2,367,1885,0.00,2.28,0.00,0.000,3078,0.000,0.037,2229,2130,3410,3453,3367,0,0,0,0,0,0,15.11,15.07,15.11
$GC,1945,-0.79,-146.0,2230,2131,3453,3367,290.6,-11.1,380,1951,0.00,2.30,0.00,0.000,2564,0.000,0.065,2230,721,3409,3452,3367,0,0,0,0,0,0,15.28,15.09,15.28
$GC,1965,-0.79,-146.0,2229,721,3454,3368,292.9,-10.5,384,1972,0.00,2.30,0.00,0.000,3078,0.000,0.048,2224,2129,3409,3452,3366,0,0,0,0,0,0,15.14,15.07,15.15
$GC,2032,-0.79,-146.0,2225,2129,3452,3367,299.8,-10.9,397,2038,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2129,3409,3452,3367,0,0,0,0,0,0,15.28,15.28,15.28
$GC,2096,-0.79,-146.0,2224,2129,3453,3367,307.5,-11.7,401,2101,0.00,2.38,0.00,0.000,2308,0.000,0.073,2224,3533,3409,3451,3367,0,0,0,0,0,0,15.30,15.11,15.31
$GC,2121,-0.79,-146.0,2223,3534,3453,3367,310.0,-12.0,402,2126,0.00,2.28,0.00,0.000,3078,0.000,0.037,2224,2128,3409,3451,3367,0,0,0,0,0,0,15.14,15.11,15.16
$GC,2256,-0.79,-146.0,2225,2128,3451,3367,327.1,-12.3,409,2257,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2128,3408,3451,3366,0,0,0,0,0,0,15.32,15.32,15.33
$STATE,2377,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2378,begin apogee
$GC,2381,-0.17,0.0,2225,1934,3454,3367,342.5,-12.9,415,2498,1.00,0.00,110.57,1.412,10246,0.155,0.000,2431,1932,2812,2846,2778,0,0,0,0,0,0,15.07,14.50,14.04
$STATE,2499,end apogee,CONTROL_FINISHED_OK
$STATE,2499,begin climb
$GC,2500,0.79,146.0,2432,1933,2846,2779,347.1,0.0,421,2620,1.38,2.40,111.35,1.392,10756,0.084,0.070,2732,567,2214,2258,2170,0,0,0,0,0,0,14.60,14.47,13.93
$GC,2783,0.88,220.2,2733,566,2249,2171,337.5,6.6,435,2850,0.08,2.30,58.45,1.373,11270,0.116,0.044,2784,1970,1913,1965,1861,0,0,0,0,0,0,14.86,14.87,14.08
$GC,2979,0.88,220.2,2783,1970,1961,1857,314.8,12.6,445,2984,0.00,2.35,0.00,0.000,4356,0.000,0.067,2784,3345,1908,1959,1857,0,0,0,0,0,0,15.04,14.83,15.07
$GC,3013,0.88,220.2,2785,3346,1958,1857,312.2,12.7,446,3021,0.05,2.28,0.00,0.000,5126,0.272,0.044,2777,1973,1907,1959,1856,0,0,0,0,0,0,14.78,14.88,14.88
$GC,3139,0.88,220.2,2776,1973,1960,1856,296.3,10.8,456,3146,0.00,2.40,0.00,0.000,4612,0.000,0.073,2785,541,1906,1958,1855,0,0,0,0,0,0,15.16,14.93,15.16
$GC,3184,0.88,220.2,2786,540,1957,1856,291.3,11.5,465,3191,0.00,2.30,0.00,0.000,5126,0.000,0.044,2785,1950,1906,1957,1855,0,0,0,0,0,0,15.02,14.99,15.04
$GC,3251,0.88,220.2,2785,1951,1956,1856,283.9,10.6,478,3257,0.00,2.30,0.00,0.000,4356,0.000,0.067,2785,3346,1905,1956,1855,0,0,0,0,0,0,15.19,15.00,15.19
$GC,3271,0.88,220.2,2785,3346,1956,1856,281.6,11.9,482,3278,0.05,2.30,0.00,0.000,5126,0.275,0.045,2776,1953,1905,1956,1855,0,0,0,0,0,0,14.89,15.00,15.00
$GC,3338,0.88,220.2,2777,1954,1956,1855,274.7,10.4,495,3343,0.00,0.00,0.00,0.000,4102,0.000,0.000,2776,1953,1905,1956,1854,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3402,0.88,220.2,2777,1954,1956,1854,267.9,10.0,508,3409,0.00,2.38,0.00,0.000,4612,0.000,0.074,2779,545,1904,1956,1853,0,0,0,0,0,0,15.22,15.00,15.23
$GC,3433,0.90,239.3,2780,545,1955,1854,265.2,9.1,514,3456,0.00,2.28,15.77,1.240,9222,0.000,0.044,2780,1943,1835,1887,1783,0,0,0,0,0,0,15.07,15.02,14.38
$GC,3515,0.90,239.3,2778,1944,1887,1780,256.5,10.3,530,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1944,1832,1885,1779,0,0,0,0,0,0,15.15,15.16,15.16
$GC,3580,0.90,239.3,2779,1945,1885,1779,249.4,11.4,543,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1944,1832,1885,1779,0,0,0,0,0,0,15.19,15.19,15.19
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$STATE,5828,end climb,SURFACE_DEPTH_REACHED
$STATE,5828,begin surface coast
$FINISH,0.6,1.020273
$STATE,5858,end surface coast,CONTROL_FINISHED_OK
$STATE,5858,begin surface
$SM_CCo,5936,0.00,0.000,0,0,1236,386.59
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$IRIDIUM_FIX,-2853.13,3209.73,200918,093127
$TT8_MAMPS,0.038199,0.942991
$HUMID,49.80
$INTERNAL_PRESSURE,9.17968
$TCM_TEMP,23.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,342.5,6.8
$SC_FREEKB,3871392
$24V_AH,13.93,28.469
$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,27.300,126.000,411.800,0.000,0.000,25.672,41.635,403.918,7.500,0.000,57.195,0.000,3075.589,683.983,2719.523,135.887,0.000,1561.656,0.000,1577.398,0.000,53.419,0.000
$DEVICE_MAMPS,510.255,90.270,1412.190,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5896.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.919,0.000,0.000,0.000
$MEM,343576
$DATA_FILE_SIZE,33335,992
$CAP_FILE_SIZE,196476,0
$CFSIZE,1023623168,1009762304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200918,122426,-2907.328,3208.724,32,0.9,46,-24.0,0.0,222.3,9,5.5