version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 126
start: 9 23 118 9 11 52
data:
$ID,573
$MISSION,22
$DIVE,126
$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,202
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$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,290
$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,27
$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,1910
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$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,3
$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
$GPS1,230918,085930,-2938.4336,3138.2751,69,0.8,84,-24.5,0.5,34.6,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.1
$GPS2,230918,091142,-2938.3904,3138.3171,22,0.8,26,-24.5,0.4,155.4,10,8.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,INSHORE
$TGT_LATLONG,-2938.358,3139.344
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,112.4,1654,-27.8,-9.980,-30.00,970
$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,17,begin dive
$GC,18,-1.11,-63.0,78,2135,1654,1587,0.0,0.0,0,67,0.00,0.00,-47.05,0.000,16386,0.000,0.000,75,2134,2975,2992,2959,0,0,0,0,0,0,15.05,28.83,15.06
$GC,69,-1.11,-66.6,76,2135,2991,2960,3.8,-9.6,8,87,11.52,2.40,-2.05,0.000,18692,0.285,0.084,2122,3547,3086,3103,3070,0,0,0,0,0,0,14.71,14.00,14.88
$GC,386,-1.11,-66.6,2116,3547,3105,3070,77.1,-18.4,71,393,0.05,2.33,0.00,0.000,3078,0.288,0.040,2124,2124,3088,3106,3070,0,0,0,0,0,0,14.85,14.98,14.97
$GC,453,-1.11,-66.6,2125,2125,3108,3070,90.5,-18.9,84,458,0.00,0.00,0.00,0.000,2054,0.000,0.000,2124,2125,3088,3107,3069,0,0,0,0,0,0,15.18,15.19,15.19
$GC,517,-1.11,-66.6,2124,2125,3108,3070,102.6,-18.1,97,518,0.00,0.00,0.00,0.000,2054,0.000,0.000,2125,2124,3088,3107,3069,0,0,0,0,0,0,15.19,15.19,15.19
$GC,577,-1.11,-66.6,2125,2125,3107,3070,113.2,-17.7,109,584,0.00,2.40,0.00,0.000,2308,0.000,0.067,2116,3529,3088,3107,3069,0,0,0,0,0,0,15.19,14.97,15.20
$GC,638,-1.11,-66.6,2115,3530,3109,3070,124.9,-18.4,121,645,0.00,2.30,0.00,0.000,3078,0.000,0.038,2115,2127,3088,3107,3069,0,0,0,0,0,0,15.01,14.97,15.03
$GC,705,-1.11,-66.6,2116,2128,3108,3070,136.0,-16.5,134,710,0.05,0.00,0.00,0.000,2054,0.356,0.000,2124,2125,3087,3106,3069,0,0,0,0,0,0,14.90,15.07,15.05
$GC,770,-1.11,-66.6,2124,2126,3109,3070,147.1,-16.9,147,776,0.00,2.33,0.00,0.000,2564,0.000,0.064,2128,727,3088,3108,3069,0,0,0,0,0,0,15.21,15.00,15.21
$GC,800,-1.11,-66.6,2126,729,3109,3069,152.3,-17.6,153,807,0.00,2.33,0.00,0.000,3078,0.000,0.047,2117,2136,3088,3109,3068,0,0,0,0,0,0,15.04,15.01,15.07
$GC,867,-1.11,-66.6,2118,2137,3109,3069,163.7,-16.4,166,873,0.00,2.35,0.00,0.000,2308,0.000,0.071,2106,3542,3088,3109,3068,0,0,0,0,0,0,15.19,15.00,15.20
$GC,897,-1.11,-66.6,2106,3543,3108,3069,168.3,-15.5,172,904,0.08,2.33,0.00,0.000,3078,0.245,0.038,2121,2117,3088,3109,3068,0,0,0,0,0,0,14.90,15.00,15.04
$GC,963,-1.11,-66.6,2121,2118,3110,3069,178.0,-13.2,185,969,0.00,0.00,0.00,0.000,2054,0.000,0.000,2122,2117,3088,3109,3068,0,0,0,0,0,0,15.21,15.22,15.22
$GC,1028,-1.11,-66.6,2120,2118,3110,3074,187.8,-14.3,198,1034,0.00,0.00,0.00,0.000,2054,0.000,0.000,2121,2117,3088,3109,3068,0,0,0,0,0,0,15.22,15.22,15.22
$GC,1094,-1.11,-66.6,2119,2118,3115,3069,196.7,-14.1,211,1099,0.00,0.00,0.00,0.000,2054,0.000,0.000,2121,2117,3088,3109,3068,0,0,0,0,0,0,15.22,15.22,15.22
$GC,1158,-1.11,-66.6,2122,2118,3109,3069,205.4,-13.4,224,1165,0.00,2.33,0.00,0.000,2564,0.000,0.064,2122,736,3088,3109,3068,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1184,-1.11,-66.6,2123,737,3109,3069,209.4,-15.3,229,1191,0.05,2.28,0.00,0.000,3078,0.295,0.047,2123,2126,3088,3110,3067,0,0,0,0,0,0,14.89,15.03,15.02
$STATE,1219,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1220,begin apogee
$GC,1223,-0.19,0.0,2125,1900,3110,3068,214.4,-14.2,236,1279,1.48,0.00,50.28,1.204,10246,0.176,0.000,2428,1899,2811,2838,2785,0,0,0,0,0,0,14.95,14.79,14.28
$STATE,1280,end apogee,CONTROL_FINISHED_OK
$STATE,1280,begin climb
$GC,1281,1.11,66.6,2429,1899,2839,2785,216.9,0.0,246,1342,1.88,2.35,49.92,1.196,10756,0.096,0.069,2844,532,2538,2571,2506,0,0,0,0,0,0,14.76,14.57,14.12
$GC,1411,1.22,150.0,2844,535,2569,2506,216.1,1.1,270,1480,0.08,2.28,62.65,1.198,11270,0.113,0.040,2894,1931,2199,2236,2162,0,0,0,0,0,0,14.76,14.78,14.09
$GC,1539,1.22,150.0,2894,1931,2235,2161,206.6,13.2,294,1546,0.05,2.28,0.00,0.000,4356,0.345,0.061,2885,3292,2196,2232,2160,0,0,0,0,0,0,14.59,14.69,14.72
$GC,1755,1.22,150.0,2885,3292,2232,2158,175.6,12.4,337,1762,0.05,2.25,0.00,0.000,5126,0.298,0.042,2884,1928,2193,2230,2156,0,0,0,0,0,0,14.76,14.89,14.88
$GC,1821,1.22,150.0,2884,1928,2231,2156,166.9,12.4,350,1828,0.00,2.40,0.00,0.000,4612,0.000,0.073,2883,516,2192,2229,2155,0,0,0,0,0,0,15.10,14.85,15.11
$GC,1927,1.22,150.0,2884,517,2228,2156,154.7,10.8,371,1934,0.00,2.25,0.00,0.000,5126,0.000,0.041,2884,1895,2191,2228,2155,0,0,0,0,0,0,14.95,14.91,14.97
$GC,1994,1.22,151.7,2883,1895,2230,2156,148.0,9.8,384,1999,0.00,0.00,0.00,0.000,4102,0.000,0.000,2884,1895,2191,2228,2155,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2058,1.23,162.0,2889,1896,2228,2156,141.7,8.9,397,2070,0.00,0.00,9.27,0.991,8198,0.000,0.000,2883,1899,2152,2189,2115,0,0,0,0,0,0,15.16,14.95,14.43
$GC,2130,1.23,162.0,2885,1896,2189,2114,134.7,10.3,411,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1895,2151,2189,2113,0,0,0,0,0,0,15.12,15.13,15.13
$GC,2195,1.23,162.0,2884,1896,2190,2114,127.5,10.3,424,2201,0.00,2.35,0.00,0.000,516,0.000,0.070,2892,506,2149,2187,2112,0,0,0,0,0,0,15.14,14.93,15.14
$GC,2280,1.23,162.0,2893,507,2186,2113,118.9,10.1,441,2287,0.00,2.30,0.00,0.000,5126,0.000,0.043,2893,1916,2148,2186,2110,0,0,0,0,0,0,15.02,14.98,15.04
$GC,2347,1.25,176.8,2892,1917,2189,2113,113.0,8.4,454,2365,0.00,2.35,12.98,1.034,12548,0.000,0.063,2893,3301,2089,2131,2048,0,0,0,0,0,0,15.18,14.92,14.43
$GC,2444,1.25,176.8,2894,3301,2130,2047,103.5,10.6,473,2451,0.00,2.30,0.00,0.000,5126,0.000,0.043,2902,1916,2089,2133,2046,0,0,0,0,0,0,14.99,14.94,15.00
$GC,2510,1.25,176.8,2901,1916,2137,2046,96.7,10.5,486,2516,0.00,0.00,0.00,0.000,4102,0.000,0.000,2902,1916,2087,2130,2045,0,0,0,0,0,0,15.14,15.14,15.14
$GC,2575,1.26,184.1,2901,1916,2131,2045,90.7,9.2,499,2588,0.00,2.33,7.18,0.899,12548,0.000,0.060,2907,3309,2059,2102,2016,0,0,0,0,0,0,15.16,14.86,14.45
$GC,2637,1.26,184.3,2901,3309,2104,2015,84.9,10.0,511,2644,0.08,2.28,0.00,0.000,5126,0.313,0.043,2896,1908,2058,2102,2014,0,0,0,0,0,0,14.84,14.93,14.99
$GC,2704,1.29,212.5,2896,1909,2104,2014,79.8,7.0,524,2732,0.00,2.40,23.40,1.058,10500,0.000,0.062,2896,3306,1943,1992,1894,0,0,0,0,0,0,15.16,14.83,14.40
$GC,2776,1.30,217.0,2897,3306,1990,1892,73.6,9.5,538,2789,0.00,2.33,4.75,0.718,9222,0.000,0.043,2902,1915,1925,1976,1875,0,0,0,0,0,0,14.89,14.85,14.33
$GC,2848,1.30,217.0,2902,1915,1977,1875,66.2,10.5,552,2855,0.00,2.40,0.00,0.000,516,0.000,0.073,2903,479,1924,1974,1874,0,0,0,0,0,0,15.09,14.88,15.09
$GC,2879,1.30,217.0,2903,480,1973,1874,62.9,10.4,558,2886,0.00,2.35,0.00,0.000,1030,0.000,0.041,2903,1912,1923,1973,1873,0,0,0,0,0,0,14.95,14.92,14.97
$GC,2946,1.30,217.0,2902,1913,1974,1875,55.8,10.9,571,2952,0.00,2.30,0.00,0.000,260,0.000,0.063,2903,3304,1923,1973,1874,0,0,0,0,0,0,15.11,14.92,15.11
$GC,3071,1.30,217.0,2904,3304,1972,1874,41.9,10.7,596,3078,0.00,2.33,0.00,0.000,1030,0.000,0.045,2903,1903,1922,1972,1872,0,0,0,0,0,0,15.00,14.95,15.02
$GC,3138,1.31,228.7,2905,1907,1973,1873,36.0,8.7,609,3155,0.00,2.33,10.30,0.916,10500,0.000,0.060,2903,3301,1878,1928,1828,0,0,0,0,0,0,15.16,14.90,14.47
$GC,3164,1.32,232.5,2903,3302,1929,1827,33.1,9.6,614,3176,0.00,2.33,4.32,0.761,11270,0.000,0.044,2903,1907,1864,1917,1812,0,0,0,0,0,0,14.97,14.93,14.43
$GC,3236,1.32,235.8,2904,1908,1916,1811,26.1,9.6,628,3243,0.00,2.40,3.25,0.645,10756,0.000,0.074,2903,505,1849,1902,1796,0,0,0,0,0,0,15.12,14.92,14.43
$GC,3302,1.32,235.8,2904,506,1899,1797,19.1,12.0,641,3309,0.00,2.30,0.00,0.000,3078,0.000,0.043,2903,1911,1848,1900,1796,0,0,0,0,0,0,14.95,14.90,14.97
$GC,3369,1.34,250.9,2903,1911,1902,1796,12.5,8.4,654,3381,0.00,0.00,8.62,0.820,10246,0.000,0.000,2903,1911,1787,1842,1732,0,0,0,0,0,0,15.16,14.95,14.50
$GC,3441,1.34,252.5,2904,1911,1841,1728,5.8,9.8,668,3446,0.00,0.00,0.00,0.000,2054,0.000,0.000,2903,1911,1784,1841,1728,0,0,0,0,0,0,15.12,15.12,15.13
$STATE,3469,end climb,SURFACE_DEPTH_REACHED
$STATE,3469,begin surface coast
$FINISH,0.3,1.023947
$STATE,3494,end surface coast,CONTROL_FINISHED_OK
$STATE,3494,begin surface
$SM_CCo,3514,19.58,0.116,0,0,1629,290.19
$SM_GC,2.44,12.60,0.32,19.58,0.044,0.060,0.116,148,2160,1629,-7.27,-1.24,290.19,0,0,0,0,0,0,14.96,15.00,14.92
$IRIDIUM_FIX,-2925.24,3138.24,230918,074557
$TT8_MAMPS,0.03745,0.905541
$HUMID,48.07
$INTERNAL_PRESSURE,9.19921
$TCM_TEMP,23.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.3
$ALTIM_BOTTOM_PING,210.8,13.4
$SC_FREEKB,3856160
$24V_AH,14.00,37.079
$10V_AH,13.58,0.000
$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,27.950,75.150,246.925,19.575,0.000,23.364,40.925,466.967,4.000,0.000,27.133,0.000,1695.695,434.208,1994.411,130.886,0.000,997.697,0.000,1022.647,0.000,29.982,0.000
$DEVICE_MAMPS,356.490,84.150,1204.110,115.515,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3552.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.706,0.000,0.000,0.000
$MEM,343420
$DATA_FILE_SIZE,23442,679
$CAP_FILE_SIZE,128264,0
$CFSIZE,1023623168,1005191168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,4583.99,0x212b66,7,24
$GPS,230918,101237,-2938.101,3138.409,85,0.8,92,-24.5,0.2,45.8,10,9.6