version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 101
start: 9 20 118 16 47 35
data:
$ID,573
$MISSION,22
$DIVE,101
$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,112
$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,48
$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
$GPS1,200918,163246,-2911.1516,3209.3940,21,1.0,61,-24.1,0.9,191.9,11,11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.8
$GPS2,200918,164724,-2911.5630,3209.2478,18,0.9,31,-24.1,1.2,124.0,10,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2915.608,3220.725
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,136.1,20000,-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,-146.0,71,2151,1178,1092,0.0,0.0,0,81,0.00,0.00,-61.72,0.000,16386,0.000,0.000,72,2151,2883,2878,2888,0,0,0,0,0,0,15.04,28.83,15.05
$GC,83,-0.79,-146.0,73,2152,2879,2888,3.0,-6.0,11,112,12.20,2.30,-9.75,0.000,18692,0.293,0.088,2217,3528,3410,3453,3367,0,0,0,0,0,0,14.70,14.00,14.83
$GC,215,-0.79,-146.0,2221,3529,3453,3368,35.1,-20.5,37,223,0.05,2.30,0.00,0.000,3078,0.259,0.038,2228,2134,3410,3453,3368,0,0,0,0,0,0,14.81,14.93,14.92
$GC,282,-0.79,-146.0,2228,2135,3456,3369,48.2,-20.3,50,288,0.00,2.35,0.00,0.000,2564,0.000,0.067,2228,716,3411,3454,3368,0,0,0,0,0,0,15.13,14.90,15.13
$GC,358,-0.79,-146.0,2228,717,3455,3369,63.4,-18.1,65,365,0.05,2.33,0.00,0.000,3078,0.361,0.047,2230,2151,3411,3454,3368,0,0,0,0,0,0,14.81,14.92,14.97
$GC,424,-0.79,-146.0,2231,2152,3454,3368,74.4,-15.1,78,430,0.00,0.00,0.00,0.000,2054,0.000,0.000,2230,2151,3411,3454,3368,0,0,0,0,0,0,15.16,15.16,15.16
$GC,489,-0.79,-146.0,2232,2152,3454,3368,85.1,-16.8,91,490,0.00,0.00,0.00,0.000,2054,0.000,0.000,2230,2151,3411,3454,3368,0,0,0,0,0,0,15.18,15.19,15.18
$GC,549,-0.79,-146.0,2231,2152,3454,3368,95.0,-16.7,103,549,0.00,0.00,0.00,0.000,2054,0.000,0.000,2230,2151,3410,3453,3368,0,0,0,0,0,0,15.19,15.19,15.19
$GC,609,-0.79,-146.0,2231,2152,3453,3368,105.3,-17.5,115,615,0.00,2.35,0.00,0.000,2308,0.000,0.072,2221,3529,3410,3454,3367,0,0,0,0,0,0,15.19,14.96,15.19
$GC,629,-0.79,-146.0,2222,3530,3456,3369,108.8,-17.0,119,637,0.03,2.30,0.00,0.000,3078,0.342,0.039,2231,2127,3411,3454,3368,0,0,0,0,0,0,14.83,14.98,14.97
$GC,696,-0.79,-146.0,2228,2128,3456,3369,120.2,-17.1,132,702,0.00,0.00,0.00,0.000,2054,0.000,0.000,2228,2127,3411,3454,3368,0,0,0,0,0,0,15.15,15.16,15.15
$GC,761,-0.79,-146.0,2228,2128,3456,3369,131.0,-16.0,145,767,0.00,2.40,0.00,0.000,2308,0.000,0.071,2221,3531,3410,3453,3368,0,0,0,0,0,0,15.19,14.98,15.19
$GC,791,-0.79,-146.0,2222,3532,3454,3368,135.7,-15.3,151,798,0.00,2.28,0.00,0.000,3078,0.000,0.037,2221,2133,3411,3454,3368,0,0,0,0,0,0,15.06,15.00,15.07
$GC,858,-0.79,-146.0,2220,2133,3455,3369,145.3,-15.1,164,864,0.08,2.30,0.00,0.000,2564,0.288,0.065,2237,721,3411,3454,3368,0,0,0,0,0,0,14.92,14.95,15.07
$GC,878,-0.79,-146.0,2236,722,3456,3365,148.7,-16.4,168,885,0.00,2.30,0.00,0.000,3078,0.000,0.047,2235,2123,3410,3454,3367,0,0,0,0,0,0,15.01,15.00,15.03
$GC,945,-0.79,-146.0,2233,2124,3456,3369,157.9,-15.0,181,951,0.00,2.38,0.00,0.000,260,0.000,0.073,2233,3543,3411,3454,3368,0,0,0,0,0,0,15.20,15.01,15.21
$GC,975,-0.79,-146.0,2232,3544,3456,3369,162.1,-12.9,187,982,0.00,2.33,0.00,0.000,3078,0.000,0.037,2232,2120,3411,3454,3368,0,0,0,0,0,0,15.06,15.02,15.07
$GC,1041,-0.79,-146.0,2232,2120,3456,3369,170.9,-13.4,200,1047,0.00,0.00,0.00,0.000,2054,0.000,0.000,2233,2120,3411,3454,3368,0,0,0,0,0,0,15.19,15.20,15.19
$GC,1106,-0.79,-146.0,2233,2120,3454,3368,180.0,-14.3,213,1107,0.00,0.00,0.00,0.000,2054,0.000,0.000,2233,2119,3411,3454,3368,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1166,-0.79,-146.0,2234,2120,3454,3368,187.3,-12.3,225,1167,0.00,0.00,0.00,0.000,2054,0.000,0.000,2233,2119,3411,3454,3368,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1226,-0.79,-146.0,2233,2120,3454,3368,195.6,-14.3,237,1233,0.00,2.40,0.00,0.000,2308,0.000,0.070,2223,3531,3410,3454,3367,0,0,0,0,0,0,15.20,15.00,15.21
$GC,1247,-0.79,-146.0,2223,3531,3455,3368,198.5,-13.8,241,1254,0.00,2.28,0.00,0.000,3078,0.000,0.037,2224,2136,3411,3454,3368,0,0,0,0,0,0,15.06,15.03,15.09
$GC,1313,-0.79,-146.0,2223,2134,3455,3368,207.7,-14.8,254,1319,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2133,3411,3454,3368,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1378,-0.79,-146.0,2224,2134,3454,3368,217.7,-15.0,267,1378,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2133,3411,3454,3368,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1438,-0.79,-146.0,2224,2134,3454,3368,226.7,-15.0,279,1438,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2133,3410,3453,3368,0,0,0,0,0,0,15.23,15.24,15.23
$GC,1498,-0.79,-146.0,2224,2134,3454,3367,235.5,-13.7,291,1503,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2133,3410,3454,3367,0,0,0,0,0,0,15.24,15.24,15.24
$GC,1563,-0.79,-146.0,2223,2134,3456,3368,244.0,-13.3,304,1569,0.00,2.40,0.00,0.000,2308,0.000,0.071,2221,3534,3410,3454,3367,0,0,0,0,0,0,15.25,14.98,15.25
$GC,1593,-0.79,-146.0,2220,3534,3456,3368,247.9,-12.9,310,1600,0.00,2.28,0.00,0.000,3078,0.000,0.037,2220,2138,3410,3454,3367,0,0,0,0,0,0,15.06,15.02,15.07
$GC,1660,-0.79,-146.0,2222,2135,3454,3368,256.2,-12.4,323,1665,0.05,0.00,0.00,0.000,2054,0.331,0.000,2231,2133,3410,3454,3367,0,0,0,0,0,0,14.96,15.13,15.10
$GC,1725,-0.79,-146.0,2232,2134,3454,3367,264.3,-12.6,336,1730,0.00,0.00,0.00,0.000,2054,0.000,0.000,2231,2133,3410,3454,3367,0,0,0,0,0,0,15.24,15.28,15.26
$GC,1789,-0.79,-146.0,2232,2134,3454,3366,272.1,-11.5,349,1790,0.00,0.00,0.00,0.000,2054,0.000,0.000,2231,2133,3410,3454,3367,0,0,0,0,0,0,15.26,15.26,15.26
$GC,1849,-0.79,-146.0,2231,2133,3456,3368,278.8,-11.5,361,1850,0.00,0.00,0.00,0.000,2054,0.000,0.000,2231,2133,3410,3454,3367,0,0,0,0,0,0,15.26,15.28,15.26
$GC,1909,-0.79,-146.0,2231,2134,3456,3368,286.0,-12.2,373,1916,0.00,2.38,0.00,0.000,2308,0.000,0.070,2223,3528,3410,3454,3367,0,0,0,0,0,0,15.26,15.03,15.26
$GC,1930,-0.79,-146.0,2222,3528,3455,3368,288.4,-11.3,377,1937,0.00,2.28,0.00,0.000,3078,0.000,0.037,2223,2127,3410,3454,3367,0,0,0,0,0,0,15.10,15.07,15.11
$GC,1996,-0.79,-146.0,2224,2128,3453,3367,296.4,-12.7,390,2002,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2127,3410,3453,3367,0,0,0,0,0,0,15.25,15.25,15.25
$GC,2066,-0.79,-146.0,2222,2128,3455,3367,305.5,-13.0,398,2071,0.00,2.40,0.00,0.000,2308,0.000,0.071,2217,3534,3410,3453,3367,0,0,0,0,0,0,15.28,15.04,15.28
$GC,2091,-0.79,-146.0,2217,3534,3454,3367,308.1,-13.0,399,2097,0.05,2.28,0.00,0.000,3078,0.236,0.037,2230,2133,3411,3456,3367,0,0,0,0,0,0,14.97,15.07,15.07
$GC,2226,-0.79,-146.0,2231,2132,3453,3367,324.0,-10.8,406,2231,0.00,2.35,0.00,0.000,2308,0.000,0.072,2224,3541,3409,3452,3367,0,0,0,0,0,0,15.29,15.07,15.30
$GC,2276,-0.79,-146.0,2223,3541,3454,3367,328.3,-10.6,408,2281,0.00,2.30,0.00,0.000,3078,0.000,0.036,2223,2122,3409,3452,3367,0,0,0,0,0,0,15.13,15.09,15.14
$GC,2406,-0.79,-146.0,2224,2122,3451,3367,345.7,-13.1,415,2407,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2121,3409,3452,3367,0,0,0,0,0,0,15.30,15.30,15.30
$GC,2527,-0.79,-146.0,2224,2122,3451,3367,360.2,-11.9,421,2531,0.00,2.28,0.00,0.000,2564,0.000,0.066,2223,728,3408,3450,3367,0,0,0,0,0,0,15.28,15.09,15.28
$GC,2561,-0.79,-146.0,2223,728,3452,3367,362.8,-12.0,422,2568,0.00,2.28,0.00,0.000,3078,0.000,0.049,2223,2121,3408,3450,3367,0,0,0,0,0,0,15.14,15.09,15.16
$STATE,2607,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2607,begin apogee
$GC,2611,-0.17,0.0,2223,1926,3452,3367,370.4,-12.8,425,2728,1.02,0.00,110.70,1.444,10246,0.155,0.000,2432,1924,2811,2847,2776,0,0,0,0,0,0,15.04,14.45,14.00
$STATE,2729,end apogee,CONTROL_FINISHED_OK
$STATE,2729,begin climb
$GC,2730,0.79,146.0,2434,1924,2847,2777,376.0,0.0,431,2853,1.38,2.38,112.53,1.424,10756,0.084,0.071,2733,569,2216,2258,2174,0,0,0,0,0,0,14.56,14.38,13.90
$GC,2992,0.86,205.7,2732,569,2254,2174,367.8,7.2,444,3049,0.05,2.30,47.60,1.390,11270,0.157,0.044,2776,1963,1974,2025,1923,0,0,0,0,0,0,14.74,14.79,14.04
$GC,3167,0.86,205.7,2777,1964,2021,1919,349.7,11.1,453,3173,0.00,2.42,0.00,0.000,4612,0.000,0.073,2785,565,1969,2020,1919,0,0,0,0,0,0,15.00,14.77,15.00
$GC,3212,0.86,205.7,2786,566,2018,1919,345.5,10.7,455,3218,0.05,2.28,0.00,0.000,5126,0.249,0.044,2774,1950,1972,2019,1926,0,0,0,0,0,0,14.75,14.84,14.85
$GC,3347,0.87,214.4,2772,1947,2018,1918,331.8,9.6,462,3359,0.00,2.35,7.78,1.106,12548,0.000,0.067,2773,3339,1938,1988,1889,0,0,0,0,0,0,15.14,14.81,14.33
$GC,3433,0.87,214.4,2775,3340,1988,1889,322.9,11.2,466,3438,0.00,2.28,0.00,0.000,5126,0.000,0.046,2774,1972,1938,1988,1888,0,0,0,0,0,0,14.97,14.92,14.99
$GC,3568,0.87,214.4,2774,1973,1989,1887,306.8,11.3,473,3573,0.00,2.42,0.00,0.000,4612,0.000,0.076,2774,553,1936,1987,1886,0,0,0,0,0,0,15.19,14.95,15.19
$GC,3593,0.87,214.4,2775,554,1987,1887,304.5,11.3,474,3598,0.00,2.28,0.00,0.000,5126,0.000,0.044,2774,1943,1936,1987,1886,0,0,0,0,0,0,15.03,15.00,15.04
$GC,3718,0.87,214.4,2775,1944,1986,1886,289.4,11.9,494,3724,0.00,2.38,0.00,0.000,4356,0.000,0.067,2774,3344,1935,1986,1885,0,0,0,0,0,0,15.20,14.96,15.21
$GC,3773,0.87,214.4,2775,3345,1986,1886,282.9,12.1,505,3780,0.00,2.30,0.00,0.000,5126,0.000,0.047,2774,1952,1935,1986,1885,0,0,0,0,0,0,15.05,15.01,15.07
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$STATE,6464,end climb,SURFACE_DEPTH_REACHED
$STATE,6464,begin surface coast
$FINISH,0.3,1.010973
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$ALTIM_BOTTOM_PING,370.4,6.8
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$10V_AH,13.57,0.000
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,36684,1036
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$CFSIZE,1023623168,1009254400
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