version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 128
start: 9 23 118 11 35 44
data:
$ID,573
$MISSION,22
$DIVE,128
$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,45
$R_STBD_OVSHOOT,45
$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
$GPS1,230918,112434,-2937.8843,3138.6069,62,0.8,81,-24.5,0.5,224.2,11,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.4
$GPS2,230918,113533,-2937.7847,3138.6050,23,0.8,39,-24.5,1.2,205.4,11,9.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,INSHORE
$TGT_LATLONG,-2938.358,3139.344
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,156.3,1595,-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,-63.0,77,2121,1653,1586,0.0,0.0,0,65,0.00,0.00,-45.10,0.000,16386,0.000,0.000,74,2120,2898,2899,2897,0,0,0,0,0,0,15.07,28.83,15.09
$GC,67,-1.16,-101.9,74,2121,2901,2898,3.1,-5.9,8,90,11.35,2.38,-6.32,0.000,18692,0.278,0.088,2101,3531,3229,3263,3195,0,0,0,0,0,0,14.76,14.26,14.95
$GC,189,-1.16,-101.9,2100,3532,3265,3196,37.1,-25.2,32,196,0.05,2.30,0.00,0.000,3078,0.296,0.038,2110,2125,3229,3264,3195,0,0,0,0,0,0,14.78,14.92,14.90
$GC,256,-1.16,-101.9,2109,2125,3266,3197,52.6,-22.4,45,262,0.00,2.38,0.00,0.000,2308,0.000,0.067,2107,3532,3230,3264,3196,0,0,0,0,0,0,15.14,14.95,15.14
$GC,276,-1.16,-101.9,2102,3533,3264,3196,57.4,-22.4,49,283,0.05,2.30,0.00,0.000,3078,0.284,0.039,2111,2126,3230,3265,3195,0,0,0,0,0,0,14.83,14.96,14.94
$GC,343,-1.16,-101.9,2112,2127,3265,3195,72.3,-23.7,62,348,0.00,0.00,0.00,0.000,2054,0.000,0.000,2111,2126,3230,3265,3195,0,0,0,0,0,0,15.16,15.17,15.17
$GC,407,-1.16,-101.9,2111,2126,3266,3196,87.1,-22.5,75,414,0.00,2.40,0.00,0.000,2308,0.000,0.069,2103,3524,3230,3265,3195,0,0,0,0,0,0,15.17,14.92,15.18
$GC,463,-1.16,-101.9,2102,3527,3266,3196,99.4,-19.9,86,470,0.00,2.28,0.00,0.000,3078,0.000,0.039,2103,2137,3230,3265,3195,0,0,0,0,0,0,14.98,14.94,15.00
$GC,529,-1.16,-101.9,2102,2138,3263,3196,111.8,-19.2,99,535,0.05,0.00,0.00,0.000,2054,0.361,0.000,2111,2136,3230,3265,3195,0,0,0,0,0,0,14.88,15.07,15.04
$GC,595,-1.16,-101.9,2112,2137,3266,3196,125.0,-21.0,112,601,0.00,2.35,0.00,0.000,2308,0.000,0.067,2102,3537,3230,3265,3195,0,0,0,0,0,0,15.20,15.00,15.21
$GC,626,-1.16,-101.9,2103,3537,3267,3196,131.0,-18.8,118,632,0.05,2.28,0.00,0.000,3078,0.354,0.038,2112,2120,3230,3266,3195,0,0,0,0,0,0,14.88,15.02,15.05
$GC,691,-1.16,-101.9,2112,2119,3267,3196,144.1,-19.1,131,698,0.00,2.40,0.00,0.000,2308,0.000,0.067,2104,3525,3230,3266,3195,0,0,0,0,0,0,15.19,14.99,15.19
$GC,753,-1.16,-101.9,2103,3526,3267,3196,155.5,-18.6,143,759,0.00,2.22,0.00,0.000,3078,0.000,0.039,2106,2132,3230,3266,3195,0,0,0,0,0,0,15.06,14.98,15.07
$GC,818,-1.16,-101.9,2103,2132,3268,3196,166.9,-16.0,156,825,0.03,2.35,0.00,0.000,2564,0.496,0.063,2112,724,3231,3267,3195,0,0,0,0,0,0,14.90,14.95,15.05
$GC,869,-1.16,-101.9,2113,725,3267,3196,175.8,-18.1,166,876,0.00,2.30,0.00,0.000,3078,0.000,0.047,2103,2124,3231,3267,3195,0,0,0,0,0,0,15.04,14.99,15.04
$GC,936,-1.16,-101.9,2103,2125,3268,3196,186.8,-16.2,179,941,0.03,0.00,0.00,0.000,2054,0.518,0.000,2111,2125,3229,3264,3195,0,0,0,0,0,0,14.88,15.05,15.02
$GC,1001,-1.16,-101.9,2112,2125,3266,3196,197.5,-17.4,192,1006,0.00,0.00,0.00,0.000,2054,0.000,0.000,2111,2125,3231,3267,3195,0,0,0,0,0,0,15.21,15.20,15.21
$STATE,1049,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1049,begin apogee
$GC,1053,-0.19,0.0,2113,1891,3267,3195,205.8,-16.1,202,1132,1.52,0.00,75.12,1.196,10246,0.181,0.000,2424,1890,2811,2840,2783,0,0,0,0,0,0,14.94,14.69,14.19
$STATE,1134,end apogee,CONTROL_FINISHED_OK
$STATE,1134,begin climb
$GC,1135,1.16,101.9,2425,1891,2840,2784,209.4,0.0,216,1217,1.95,0.00,75.47,1.188,10758,0.080,0.000,2853,1890,2394,2438,2350,0,0,0,0,0,0,14.68,14.52,14.06
$GC,1277,1.17,116.6,2854,1891,2436,2350,204.0,8.4,242,1295,0.00,2.40,12.20,1.053,10500,0.000,0.058,2854,3312,2334,2375,2293,0,0,0,0,0,0,14.88,14.59,14.19
$GC,1324,1.17,116.6,2854,3314,2374,2293,199.3,10.2,251,1330,0.00,2.33,0.00,0.000,1030,0.000,0.041,2862,1924,2332,2374,2291,0,0,0,0,0,0,14.76,14.72,14.78
$GC,1390,1.17,116.6,2862,1925,2375,2291,192.6,10.1,264,1396,0.00,0.00,0.00,0.000,2054,0.000,0.000,2862,1924,2330,2374,2286,0,0,0,0,0,0,14.99,14.99,14.99
$GC,1455,1.19,129.2,2863,1925,2373,2290,186.5,8.7,277,1473,0.00,2.40,10.60,1.027,10756,0.000,0.072,2862,515,2283,2323,2244,0,0,0,0,0,0,15.04,14.75,14.31
$GC,1572,1.19,129.2,2862,515,2321,2244,174.7,10.1,300,1579,0.00,2.30,0.00,0.000,3078,0.000,0.041,2863,1918,2282,2320,2244,0,0,0,0,0,0,14.92,14.89,14.94
$GC,1639,1.22,154.3,2863,1920,2320,2244,169.2,7.3,313,1667,0.00,2.35,20.40,1.113,10500,0.000,0.061,2862,3309,2179,2217,2141,0,0,0,0,0,0,15.09,14.79,14.31
$GC,1681,1.23,162.0,2863,3309,2215,2141,165.4,9.2,321,1694,0.00,2.33,7.12,0.983,11270,0.000,0.044,2862,1920,2150,2190,2110,0,0,0,0,0,0,14.85,14.81,14.31
$GC,1753,1.23,162.0,2863,1921,2189,2107,157.9,10.3,335,1760,0.00,2.42,0.00,0.000,2564,0.000,0.072,2870,483,2147,2187,2108,0,0,0,0,0,0,15.03,14.88,15.04
$GC,1894,1.23,162.0,2869,484,2187,2109,142.8,10.5,363,1901,0.00,2.33,0.00,0.000,3078,0.000,0.041,2870,1912,2146,2185,2108,0,0,0,0,0,0,14.97,14.93,14.98
$GC,1961,1.24,170.3,2871,1913,2185,2109,136.4,9.1,376,1973,0.00,2.38,7.40,0.933,10500,0.000,0.062,2866,3312,2116,2157,2076,0,0,0,0,0,0,15.14,14.90,14.39
$GC,2037,1.24,170.3,2869,3313,2158,2075,128.4,11.6,391,2043,0.00,2.33,0.00,0.000,3078,0.000,0.042,2880,1912,2115,2157,2074,0,0,0,0,0,0,14.97,14.92,14.98
$GC,2103,1.24,170.3,2879,1912,2158,2073,121.2,10.8,404,2109,0.00,2.35,0.00,0.000,2308,0.000,0.062,2879,3316,2115,2157,2073,0,0,0,0,0,0,15.13,14.97,15.14
$GC,2169,1.25,179.7,2880,3316,2156,2073,114.7,9.0,417,2182,0.00,2.28,8.57,0.955,9222,0.000,0.041,2889,1905,2079,2122,2036,0,0,0,0,0,0,15.04,14.99,14.42
$GC,2241,1.25,179.7,2889,1906,2122,2035,107.8,10.7,431,2247,0.00,2.35,0.00,0.000,260,0.000,0.061,2889,3298,2077,2120,2034,0,0,0,0,0,0,15.14,14.88,15.14
$GC,2266,1.25,179.7,2890,3299,2120,2035,104.9,10.1,436,2273,0.00,2.30,0.00,0.000,1030,0.000,0.044,2889,1918,2076,2119,2034,0,0,0,0,0,0,14.97,14.94,14.98
$GC,2333,1.25,179.7,2890,1914,2119,2034,98.1,10.2,449,2339,0.00,2.35,0.00,0.000,516,0.000,0.073,2890,501,2076,2119,2033,0,0,0,0,0,0,15.15,14.95,15.15
$GC,2413,1.25,179.7,2891,502,2118,2034,90.3,10.0,465,2420,0.00,2.30,0.00,0.000,1030,0.000,0.041,2889,1918,2075,2118,2033,0,0,0,0,0,0,15.02,14.99,15.04
$GC,2480,1.26,189.7,2890,1919,2120,2033,84.4,8.9,478,2497,0.00,2.30,9.00,1.001,10500,0.000,0.061,2890,3294,2038,2083,1994,0,0,0,0,0,0,15.17,14.93,14.45
$GC,2581,1.29,207.5,2889,3295,2084,1992,76.0,8.1,498,2605,0.00,2.30,15.20,1.018,11270,0.000,0.043,2890,1906,1964,2013,1915,0,0,0,0,0,0,14.98,14.95,14.42
$GC,2664,1.29,213.1,2889,1906,2013,1915,68.5,9.4,514,2676,0.00,2.33,5.85,0.889,10500,0.000,0.060,2890,3310,1941,1990,1893,0,0,0,0,0,0,15.10,14.85,14.42
$GC,2745,1.29,213.1,2889,3310,1991,1892,60.0,10.9,530,2752,0.00,2.33,0.00,0.000,3078,0.000,0.044,2890,1913,1940,1989,1891,0,0,0,0,0,0,14.92,14.89,14.95
$GC,2812,1.29,213.1,2890,1914,1989,1891,53.1,10.5,543,2818,0.00,2.38,0.00,0.000,2564,0.000,0.074,2890,498,1939,1989,1890,0,0,0,0,0,0,15.14,14.91,15.14
$GC,2887,1.29,213.1,2889,498,1989,1892,45.1,10.4,558,2894,0.00,2.28,0.00,0.000,3078,0.000,0.041,2890,1920,1939,1988,1891,0,0,0,0,0,0,15.09,14.98,15.07
$GC,2953,1.31,229.7,2889,1920,1989,1892,38.6,8.2,571,2972,0.00,2.35,14.23,0.965,10500,0.000,0.062,2890,3306,1873,1924,1823,0,0,0,0,0,0,15.16,14.90,14.43
$GC,3041,1.32,237.3,2889,3306,1924,1821,31.4,9.2,588,3053,0.00,2.33,7.43,0.906,11270,0.000,0.044,2890,1907,1843,1896,1790,0,0,0,0,0,0,14.94,14.90,14.45
$GC,3113,1.33,244.5,2891,1908,1895,1789,24.7,9.2,602,3125,0.00,2.40,4.50,0.763,10756,0.000,0.074,2890,502,1815,1869,1761,0,0,0,0,0,0,15.11,14.88,14.42
$GC,3189,1.33,244.5,2890,503,1866,1762,16.8,10.6,617,3196,0.00,2.30,0.00,0.000,3078,0.000,0.040,2890,1915,1813,1866,1761,0,0,0,0,0,0,14.98,14.95,15.00
$GC,3256,1.35,255.6,2890,1916,1866,1757,10.9,8.8,630,3268,0.05,2.30,6.72,0.768,10500,0.266,0.061,2926,3299,1766,1822,1710,0,0,0,0,0,0,14.91,14.83,14.47
$STATE,3326,end climb,SURFACE_DEPTH_REACHED
$STATE,3326,begin surface coast
$FINISH,0.1,1.011544
$STATE,3351,end surface coast,CONTROL_FINISHED_OK
$STATE,3351,begin surface
$SM_CCo,3372,17.05,0.116,0,0,1628,290.19
$SM_GC,2.50,12.88,1.92,17.05,0.061,0.037,0.116,152,2123,1628,-7.26,1.24,290.19,0,0,0,0,0,0,14.95,14.99,14.92
$IRIDIUM_FIX,-2925.24,3125.89,230918,101542
$TT8_MAMPS,0.03745,0.857605
$HUMID,48.03
$INTERNAL_PRESSURE,9.20898
$TCM_TEMP,24.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.6
$ALTIM_BOTTOM_PING,160.3,55.5
$SC_FREEKB,3855136
$24V_AH,14.06,37.433
$10V_AH,13.52,0.000
$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,28.000,93.225,279.825,17.050,0.000,23.437,19.592,407.724,2.250,0.000,41.582,0.000,1569.189,473.034,1872.302,128.100,0.000,1025.947,0.000,983.275,0.000,16.552,0.000
$DEVICE_MAMPS,517.905,87.975,1196.460,116.280,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3406.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.885,0.000,0.000,0.000
$MEM,343436
$DATA_FILE_SIZE,23408,649
$CAP_FILE_SIZE,126641,0
$CFSIZE,1023623168,1004945408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1050.73,0x212b6e,2,24
$GPS,230918,123402,-2937.809,3138.722,77,0.7,88,-24.5,0.6,1.8,11,9.9