version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 127
start: 9 23 118 10 24 27
data:
$ID,573
$MISSION,22
$DIVE,127
$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,36
$R_STBD_OVSHOOT,70
$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
$GPS1,230918,101237,-2938.1013,3138.4087,85,0.8,92,-24.5,0.2,45.8,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.6
$GPS2,230918,102417,-2938.0173,3138.4473,30,0.8,32,-24.5,0.3,179.9,11,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,INSHORE
$TGT_LATLONG,-2938.358,3139.344
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,138.1,1575,-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,16,begin dive
$GC,18,-1.11,-63.0,75,2168,1654,1586,0.0,0.0,0,65,0.00,0.00,-45.03,0.000,16386,0.000,0.000,75,2168,2900,2905,2895,0,0,0,0,0,0,15.06,28.83,15.07
$GC,66,-1.15,-96.8,76,2169,2906,2895,3.1,-6.4,8,90,11.40,2.25,-5.90,0.000,18692,0.281,0.087,2103,3504,3206,3239,3173,0,0,0,0,0,0,14.75,14.24,14.95
$GC,240,-1.15,-96.8,2103,3504,3242,3175,48.6,-22.6,42,246,0.08,2.25,0.00,0.000,3078,0.301,0.040,2117,2109,3206,3240,3173,0,0,0,0,0,0,14.84,14.96,15.00
$GC,306,-1.15,-96.8,2116,2111,3242,3175,62.3,-20.6,55,311,0.00,0.00,0.00,0.000,2054,0.000,0.000,2117,2110,3207,3240,3174,0,0,0,0,0,0,15.14,15.14,15.15
$GC,370,-1.15,-96.8,2116,2111,3242,3175,77.0,-22.3,68,371,0.00,0.00,0.00,0.000,2054,0.000,0.000,2117,2109,3208,3242,3174,0,0,0,0,0,0,15.16,15.16,15.16
$GC,430,-1.15,-96.8,2116,2111,3242,3174,90.7,-23.0,80,437,0.00,2.38,0.00,0.000,2308,0.000,0.066,2108,3500,3208,3242,3174,0,0,0,0,0,0,15.17,14.96,15.17
$GC,511,-1.15,-96.8,2109,3500,3241,3174,107.1,-18.8,96,518,0.00,2.25,0.00,0.000,3078,0.000,0.039,2108,2125,3207,3241,3174,0,0,0,0,0,0,15.03,14.99,15.05
$GC,578,-1.15,-96.8,2109,2126,3242,3174,120.0,-20.1,109,587,0.00,2.33,0.00,0.000,2308,0.000,0.067,2099,3508,3208,3242,3174,0,0,0,0,0,0,15.19,14.95,15.19
$GC,641,-1.15,-96.8,2098,3508,3243,3175,132.7,-19.9,121,648,0.08,2.20,0.00,0.000,3078,0.296,0.038,2113,2130,3208,3242,3174,0,0,0,0,0,0,14.90,15.02,15.06
$GC,707,-1.15,-96.8,2114,2131,3243,3174,144.9,-18.1,134,712,0.00,0.00,0.00,0.000,2054,0.000,0.000,2113,2130,3208,3243,3174,0,0,0,0,0,0,15.19,15.19,15.19
$GC,772,-1.15,-96.8,2113,2131,3244,3174,156.9,-18.1,147,773,0.00,0.00,0.00,0.000,2054,0.000,0.000,2113,2130,3208,3243,3174,0,0,0,0,0,0,15.19,15.20,15.19
$GC,832,-1.15,-96.8,2113,2131,3245,3175,166.8,-15.9,159,833,0.00,0.00,0.00,0.000,2054,0.000,0.000,2113,2130,3208,3243,3174,0,0,0,0,0,0,15.20,15.20,15.20
$GC,892,-1.15,-96.8,2113,2131,3244,3174,176.6,-16.8,171,899,0.00,2.35,0.00,0.000,2564,0.000,0.063,2114,727,3208,3243,3173,0,0,0,0,0,0,15.20,15.00,15.20
$GC,948,-1.15,-96.8,2113,728,3245,3175,186.0,-17.9,182,954,0.00,2.25,0.00,0.000,3078,0.000,0.046,2105,2104,3208,3243,3174,0,0,0,0,0,0,15.01,14.97,15.04
$GC,1013,-1.15,-96.8,2104,2104,3245,3172,197.4,-17.0,195,1014,0.05,0.00,0.00,0.000,2054,0.373,0.000,2114,2104,3208,3243,3173,0,0,0,0,0,0,14.90,15.09,15.07
$GC,1074,-1.15,-96.8,2115,2104,3243,3174,206.9,-16.2,207,1079,0.00,0.00,0.00,0.000,2054,0.000,0.000,2114,2103,3208,3243,3174,0,0,0,0,0,0,15.23,15.23,15.23
$STATE,1087,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1087,begin apogee
$GC,1091,-0.19,0.0,2114,1895,3244,3175,209.5,-16.0,210,1168,1.55,0.00,71.43,1.201,10246,0.176,0.000,2424,1894,2811,2840,2783,0,0,0,0,0,0,14.94,14.66,14.21
$STATE,1169,end apogee,CONTROL_FINISHED_OK
$STATE,1169,begin climb
$GC,1171,1.15,96.8,2424,1895,2842,2784,212.2,0.0,224,1253,1.92,2.47,71.43,1.192,11012,0.081,0.059,2848,3315,2415,2459,2371,0,0,0,0,0,0,14.69,14.51,14.06
$GC,1407,1.17,114.5,2849,3318,2456,2370,200.7,8.1,269,1426,0.00,2.33,14.23,1.110,11270,0.000,0.041,2857,1918,2344,2387,2302,0,0,0,0,0,0,14.85,14.81,14.30
$GC,1485,1.18,121.6,2858,1920,2385,2301,194.5,9.2,284,1498,0.00,2.38,7.05,0.933,10756,0.000,0.068,2867,506,2314,2356,2272,0,0,0,0,0,0,15.02,14.72,14.32
$GC,1567,1.18,121.6,2869,507,2353,2273,186.2,10.6,300,1574,0.00,2.33,0.00,0.000,1030,0.000,0.041,2867,1917,2312,2352,2272,0,0,0,0,0,0,14.88,14.84,14.90
$GC,1633,1.19,130.2,2868,1918,2351,2273,179.5,9.1,313,1646,0.00,2.38,7.80,0.959,10500,0.000,0.062,2867,3313,2279,2319,2240,0,0,0,0,0,0,15.08,14.83,14.36
$GC,1675,1.20,137.6,2867,3313,2320,2241,175.7,9.2,321,1688,0.00,2.33,7.25,0.995,9222,0.000,0.043,2873,1911,2250,2288,2212,0,0,0,0,0,0,14.91,14.88,14.34
$GC,1747,1.22,149.9,2874,1912,2286,2210,169.4,8.7,335,1765,0.00,2.35,10.98,1.072,10756,0.000,0.073,2873,506,2198,2235,2161,0,0,0,0,0,0,15.08,14.82,14.32
$GC,2059,1.22,149.9,2874,507,2230,2162,137.5,10.2,397,2066,0.00,2.30,0.00,0.000,3078,0.000,0.041,2874,1920,2195,2230,2161,0,0,0,0,0,0,15.00,14.97,15.04
$GC,2125,1.23,160.1,2874,1921,2230,2162,131.5,8.9,410,2143,0.00,2.35,9.02,0.981,10500,0.000,0.062,2874,3309,2157,2193,2121,0,0,0,0,0,0,15.16,14.95,14.42
$GC,2178,1.23,163.1,2875,3310,2193,2121,126.7,9.7,420,2190,0.00,2.28,3.92,0.781,9222,0.000,0.042,2884,1905,2145,2184,2107,0,0,0,0,0,0,15.02,14.95,14.39
$GC,2249,1.24,172.5,2883,1905,2185,2108,120.3,9.0,434,2262,0.00,2.40,8.70,0.962,10500,0.000,0.061,2884,3305,2106,2148,2065,0,0,0,0,0,0,15.13,14.90,14.39
$GC,2331,1.25,175.2,2883,3306,2150,2065,112.2,9.7,450,2338,0.00,2.30,3.55,0.597,13318,0.000,0.042,2893,1914,2096,2138,2054,0,0,0,0,0,0,14.94,14.89,14.39
$GC,2398,1.25,176.1,2893,1915,2138,2054,105.8,9.9,463,2404,0.00,2.33,0.00,0.000,4356,0.000,0.062,2894,3299,2095,2138,2053,0,0,0,0,0,0,15.14,14.93,15.14
$GC,2538,1.26,187.5,2896,3299,2139,2054,91.9,8.8,491,2556,0.00,2.30,11.15,0.990,9222,0.000,0.044,2894,1909,2046,2092,2000,0,0,0,0,0,0,15.02,14.97,14.43
$GC,2616,1.29,212.0,2895,1909,2089,1999,86.2,7.4,506,2639,0.00,0.00,20.33,1.075,10246,0.000,0.000,2894,1909,1946,1995,1898,0,0,0,0,0,0,15.14,14.89,14.39
$GC,2698,1.29,214.4,2894,1909,1994,1894,79.2,9.7,522,2704,0.00,2.35,0.00,0.000,2308,0.000,0.060,2895,3307,1942,1991,1894,0,0,0,0,0,0,15.07,14.88,15.07
$GC,2788,1.29,214.4,2895,3308,1992,1893,69.4,10.8,540,2796,0.00,2.33,0.00,0.000,1030,0.000,0.043,2902,1908,1941,1991,1892,0,0,0,0,0,0,14.96,14.92,14.98
$GC,2855,1.29,214.4,2901,1909,1993,1892,63.2,10.3,553,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1909,1941,1991,1891,0,0,0,0,0,0,15.12,15.13,15.13
$GC,2919,1.29,214.4,2903,1909,1990,1891,56.2,10.2,566,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1909,1941,1990,1892,0,0,0,0,0,0,15.14,15.14,15.14
$GC,2979,1.29,214.4,2901,1909,1992,1893,50.2,10.1,578,2986,0.00,2.35,0.00,0.000,260,0.000,0.061,2902,3293,1940,1990,1891,0,0,0,0,0,0,15.15,14.95,15.16
$GC,3070,1.29,214.4,2902,3294,1990,1892,40.6,10.9,596,3077,0.00,2.28,0.00,0.000,5126,0.000,0.043,2910,1914,1940,1989,1891,0,0,0,0,0,0,15.03,14.98,15.04
$GC,3137,1.31,229.5,2910,1915,1992,1892,35.3,8.4,609,3154,0.00,0.00,14.12,0.963,8198,0.000,0.000,2910,1914,1875,1926,1824,0,0,0,0,0,0,15.18,14.95,14.47
$GC,3214,1.32,231.3,2910,1915,1925,1821,27.8,9.8,624,3220,0.00,2.35,0.00,0.000,516,0.000,0.071,2921,503,1871,1923,1820,0,0,0,0,0,0,15.12,14.92,15.13
$GC,3269,1.32,231.3,2922,504,1922,1821,21.4,12.3,635,3276,0.00,2.30,0.00,0.000,5126,0.000,0.043,2921,1905,1871,1923,1820,0,0,0,0,0,0,15.00,14.95,15.02
$GC,3335,1.32,231.3,2922,1906,1923,1820,14.1,10.5,648,3341,0.00,0.00,0.00,0.000,4102,0.000,0.000,2921,1905,1871,1922,1820,0,0,0,0,0,0,15.16,15.18,15.16
$GC,3400,1.34,254.0,2921,1906,1922,1821,8.7,7.6,661,3418,0.00,2.38,13.52,0.845,8452,0.000,0.063,2921,3303,1774,1830,1719,0,0,0,0,0,0,15.16,14.92,14.51
$STATE,3462,end climb,SURFACE_DEPTH_REACHED
$STATE,3462,begin surface coast
$FINISH,2.4,1.024017
$STATE,3466,end surface coast,CONTROL_FINISHED_OK
$STATE,3466,begin surface
$SM_CCo,3487,18.20,0.122,0,0,1627,290.19
$SM_GC,3.33,13.18,1.95,18.20,0.090,0.043,0.122,147,2125,1627,-7.26,1.27,290.19,0,0,0,0,0,0,14.95,14.96,14.90
$IRIDIUM_FIX,-2925.24,3138.24,230918,090221
$TT8_MAMPS,0.038948,0.953477
$HUMID,48.38
$INTERNAL_PRESSURE,9.21875
$TCM_TEMP,23.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,190.6,28.8
$SC_FREEKB,3855648
$24V_AH,14.06,37.257
$10V_AH,13.55,0.000
$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,28.250,69.625,274.475,18.200,0.000,23.972,34.527,440.953,3.500,0.000,32.875,0.000,1692.518,429.915,1951.083,124.934,0.000,985.230,0.000,1013.415,0.000,26.892,0.000
$DEVICE_MAMPS,372.555,87.210,1201.050,121.635,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3522.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.958,0.000,0.000,0.000
$MEM,343428
$DATA_FILE_SIZE,23375,674
$CAP_FILE_SIZE,124420,0
$CFSIZE,1023623168,1005060096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230918,112434,-2937.884,3138.607,62,0.8,81,-24.5,0.5,224.2,11,9.9