version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 129
start: 9 23 118 12 45 15
data:
$ID,573
$MISSION,22
$DIVE,129
$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,43
$R_STBD_OVSHOOT,51
$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
$GPS1,230918,123402,-2937.8093,3138.7224,77,0.7,88,-24.5,0.6,1.8,11,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.5
$GPS2,230918,124504,-2937.7212,3138.6499,21,0.7,23,-24.5,0.7,3.3,11,9.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,INSHORE
$TGT_LATLONG,-2938.358,3139.344
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,161.0,1624,-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,-63.0,105,2120,1652,1586,0.0,0.0,0,65,0.00,0.00,-45.03,0.000,16386,0.000,0.000,100,2119,2923,2935,2912,0,0,0,0,0,0,15.06,28.83,15.07
$GC,66,-1.13,-78.4,101,2121,2932,2913,3.6,-8.4,8,90,11.30,2.40,-4.00,0.000,18692,0.281,0.085,2110,3532,3135,3160,3110,0,0,0,0,0,0,14.76,13.99,14.95
$GC,144,-1.13,-78.4,2111,3533,3160,3111,26.9,-25.0,23,151,0.05,2.33,0.00,0.000,3078,0.286,0.039,2119,2122,3135,3161,3110,0,0,0,0,0,0,14.77,14.90,14.89
$GC,211,-1.13,-78.4,2118,2122,3163,3111,42.1,-23.1,36,217,0.00,2.30,0.00,0.000,2564,0.000,0.064,2120,728,3135,3161,3110,0,0,0,0,0,0,15.12,14.93,15.13
$GC,231,-1.13,-78.4,2119,728,3163,3111,47.0,-22.9,40,238,0.00,2.30,0.00,0.000,3078,0.000,0.049,2111,2113,3135,3161,3110,0,0,0,0,0,0,14.98,14.94,15.00
$GC,298,-1.13,-78.4,2110,2113,3164,3111,61.2,-21.3,53,303,0.05,0.00,0.00,0.000,2054,0.381,0.000,2120,2113,3136,3162,3110,0,0,0,0,0,0,14.83,15.04,15.00
$GC,362,-1.13,-78.4,2119,2113,3164,3111,75.0,-21.0,66,369,0.00,2.42,0.00,0.000,2308,0.000,0.070,2110,3535,3135,3161,3110,0,0,0,0,0,0,15.17,14.90,15.17
$GC,423,-1.13,-78.4,2110,3536,3164,3111,87.9,-20.8,78,430,0.05,2.30,0.00,0.000,3078,0.279,0.038,2120,2129,3136,3163,3110,0,0,0,0,0,0,14.81,14.93,14.92
$GC,491,-1.13,-78.4,2121,2129,3163,3111,100.0,-19.4,91,496,0.00,0.00,0.00,0.000,2054,0.000,0.000,2120,2129,3136,3163,3109,0,0,0,0,0,0,15.15,15.15,15.15
$GC,555,-1.13,-78.4,2121,2130,3158,3110,111.8,-18.5,104,556,0.00,0.00,0.00,0.000,2054,0.000,0.000,2120,2129,3136,3163,3109,0,0,0,0,0,0,15.19,15.19,15.19
$GC,615,-1.13,-78.4,2119,2129,3165,3111,122.4,-18.8,116,622,0.00,2.40,0.00,0.000,2308,0.000,0.067,2112,3532,3136,3163,3110,0,0,0,0,0,0,15.19,14.98,15.19
$GC,646,-1.13,-78.4,2111,3533,3165,3110,128.0,-18.7,122,652,0.00,2.30,0.00,0.000,3078,0.000,0.038,2110,2122,3137,3164,3110,0,0,0,0,0,0,15.04,15.01,15.06
$GC,712,-1.13,-78.4,2111,2122,3165,3111,139.5,-17.4,135,723,0.05,2.35,0.00,0.000,2308,0.352,0.067,2112,3538,3137,3164,3110,0,0,0,0,0,0,14.90,15.00,15.05
$GC,747,-1.13,-78.4,2113,3539,3163,3111,145.6,-17.3,141,754,0.00,2.30,0.00,0.000,3078,0.000,0.037,2112,2127,3136,3164,3109,0,0,0,0,0,0,15.05,15.01,15.07
$GC,814,-1.13,-78.4,2111,2126,3165,3110,157.2,-16.3,154,819,0.05,0.00,0.00,0.000,2054,0.353,0.000,2121,2126,3136,3164,3109,0,0,0,0,0,0,14.90,15.09,15.06
$GC,879,-1.13,-78.4,2121,2126,3166,3110,166.8,-14.4,167,885,0.00,2.30,0.00,0.000,2564,0.000,0.064,2121,730,3136,3164,3109,0,0,0,0,0,0,15.21,14.99,15.21
$GC,914,-1.13,-78.4,2122,731,3164,3108,172.3,-16.0,174,921,0.00,2.30,0.00,0.000,3078,0.000,0.047,2113,2129,3135,3161,3109,0,0,0,0,0,0,15.04,15.00,15.06
$GC,981,-1.13,-78.4,2113,2129,3166,3110,182.0,-14.6,187,987,0.00,2.35,0.00,0.000,2308,0.000,0.070,2102,3543,3136,3164,3109,0,0,0,0,0,0,15.20,15.02,15.21
$GC,1051,-1.13,-78.4,2102,3544,3165,3110,193.0,-15.2,201,1058,0.08,2.30,0.00,0.000,3078,0.248,0.037,2118,2129,3136,3164,3108,0,0,0,0,0,0,14.91,15.02,15.01
$GC,1118,-1.13,-78.4,2119,2129,3164,3109,203.2,-15.2,214,1124,0.00,2.30,0.00,0.000,2564,0.000,0.064,2118,729,3136,3164,3109,0,0,0,0,0,0,15.22,14.97,15.23
$STATE,1127,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1127,begin apogee
$GC,1132,-0.19,0.0,2111,1924,3165,3110,204.8,-16.1,216,1198,1.52,0.00,58.33,1.192,10246,0.182,0.000,2422,1925,2811,2839,2784,0,0,0,0,0,0,14.93,14.65,14.23
$STATE,1199,end apogee,CONTROL_FINISHED_OK
$STATE,1199,begin climb
$GC,1201,1.13,78.4,2424,1926,2839,2785,208.3,0.0,228,1267,1.92,2.47,58.25,1.187,10756,0.093,0.067,2851,506,2490,2530,2450,0,0,0,0,0,0,14.73,14.57,14.10
$GC,1316,1.19,133.2,2852,506,2527,2451,206.6,4.2,249,1362,0.00,2.33,41.53,1.166,11270,0.000,0.039,2851,1919,2267,2308,2227,0,0,0,0,0,0,14.73,14.69,14.12
$GC,1421,1.19,133.2,2850,1920,2305,2226,198.0,10.9,269,1427,0.00,0.00,0.00,0.000,2054,0.000,0.000,2851,1920,2263,2302,2225,0,0,0,0,0,0,14.91,14.92,14.92
$GC,1486,1.19,133.2,2852,1920,2302,2225,190.4,11.3,282,1493,0.00,2.42,0.00,0.000,2564,0.000,0.068,2862,513,2262,2301,2224,0,0,0,0,0,0,15.00,14.75,15.00
$GC,1542,1.19,133.2,2862,514,2302,2225,183.7,11.9,293,1549,0.00,2.28,0.00,0.000,3078,0.000,0.041,2862,1903,2262,2300,2225,0,0,0,0,0,0,14.88,14.83,14.92
$GC,1609,1.19,133.2,2862,1904,2301,2225,176.5,11.2,306,1614,0.00,0.00,0.00,0.000,2054,0.000,0.000,2862,1903,2262,2300,2224,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1673,1.19,133.2,2863,1904,2300,2225,169.2,10.4,319,1680,0.00,2.38,0.00,0.000,2308,0.000,0.062,2862,3304,2262,2300,2225,0,0,0,0,0,0,15.10,14.89,15.11
$GC,1759,1.19,133.2,2862,3305,2299,2225,159.9,10.2,336,1766,0.00,2.30,0.00,0.000,1030,0.000,0.041,2871,1907,2261,2299,2224,0,0,0,0,0,0,14.98,14.94,15.00
$GC,1825,1.21,145.7,2873,1908,2299,2225,154.0,8.7,349,1843,0.00,2.33,10.40,1.017,10756,0.000,0.069,2882,500,2215,2251,2180,0,0,0,0,0,0,15.14,14.85,14.41
$GC,1982,1.22,155.6,2881,501,2250,2180,139.9,8.9,380,2000,0.00,2.28,9.20,1.034,9222,0.000,0.042,2882,1920,2175,2210,2140,0,0,0,0,0,0,15.02,14.95,14.40
$GC,2059,1.23,163.3,2884,1921,2209,2139,132.5,9.2,395,2071,0.00,2.30,7.35,0.988,8452,0.000,0.061,2883,3305,2144,2181,2107,0,0,0,0,0,0,15.11,14.81,14.40
$GC,2125,1.23,163.3,2883,3305,2180,2105,125.8,10.4,408,2133,0.00,2.30,0.00,0.000,1030,0.000,0.044,2883,1917,2142,2181,2104,0,0,0,0,0,0,14.91,14.89,14.93
$GC,2192,1.25,175.9,2882,1918,2182,2104,120.2,8.6,421,2209,0.00,0.00,11.12,1.053,8198,0.000,0.000,2883,1917,2092,2134,2050,0,0,0,0,0,0,15.14,14.89,14.40
$GC,2269,1.26,186.3,2884,1918,2132,2048,113.3,8.9,436,2286,0.00,2.35,9.55,1.021,10500,0.000,0.060,2882,3303,2050,2095,2006,0,0,0,0,0,0,15.10,14.86,14.38
$GC,2360,1.26,186.3,2883,3304,2095,2004,103.5,10.0,454,2367,0.00,2.33,0.00,0.000,1030,0.000,0.043,2892,1902,2048,2095,2002,0,0,0,0,0,0,14.96,14.92,14.98
$GC,2427,1.28,198.5,2894,1903,2093,2002,98.2,8.7,467,2444,0.00,2.33,10.75,0.986,10756,0.000,0.071,2903,506,2001,2047,1955,0,0,0,0,0,0,15.14,14.88,14.40
$GC,2538,1.28,198.5,2903,506,2042,1955,86.0,10.3,489,2545,0.00,2.30,0.00,0.000,5126,0.000,0.042,2902,1911,1998,2043,1954,0,0,0,0,0,0,14.98,14.94,14.99
$GC,2605,1.28,205.6,2903,1909,2043,1955,79.7,9.2,502,2617,0.00,2.33,6.85,0.868,8452,0.000,0.062,2903,3304,1972,2019,1925,0,0,0,0,0,0,15.13,14.84,14.43
$GC,2746,1.28,205.6,2900,3305,2018,1923,64.6,10.9,530,2753,0.00,2.30,0.00,0.000,5126,0.000,0.043,2911,1911,1973,2019,1927,0,0,0,0,0,0,14.97,14.93,15.00
$GC,2813,1.28,205.6,2911,1912,2025,1923,57.4,10.8,543,2819,0.00,2.35,0.00,0.000,4612,0.000,0.072,2922,502,1969,2017,1922,0,0,0,0,0,0,15.17,14.96,15.17
$GC,2843,1.28,205.6,2921,502,2018,1923,53.9,11.2,549,2850,0.08,2.30,0.00,0.000,5126,0.244,0.043,2908,1915,1969,2017,1922,0,0,0,0,0,0,14.87,14.97,14.97
$GC,2910,1.28,205.6,2907,1915,2018,1923,46.5,11.4,562,2916,0.00,2.33,0.00,0.000,4356,0.000,0.064,2907,3304,1969,2016,1922,0,0,0,0,0,0,15.16,14.97,15.16
$GC,2965,1.28,205.6,2908,3305,2016,1923,40.4,10.1,573,2972,0.00,2.30,0.00,0.000,5126,0.000,0.044,2915,1908,1969,2016,1922,0,0,0,0,0,0,15.03,14.97,15.04
$GC,3032,1.31,223.7,2915,1909,2018,1922,35.0,8.1,586,3055,0.00,2.38,15.25,0.968,12804,0.000,0.071,2926,509,1898,1947,1850,0,0,0,0,0,0,15.19,14.88,14.46
$GC,3104,1.31,223.7,2925,510,1946,1850,27.8,10.9,600,3111,0.05,2.28,0.00,0.000,5126,0.269,0.042,2916,1911,1897,1944,1850,0,0,0,0,0,0,14.82,14.95,14.93
$GC,3171,1.31,225.6,2917,1911,1944,1849,21.1,9.8,613,3176,0.00,0.00,0.00,0.000,4102,0.000,0.000,2916,1911,1896,1944,1848,0,0,0,0,0,0,15.16,15.14,15.14
$GC,3236,1.31,228.0,2916,1911,1945,1848,14.4,9.7,626,3242,0.00,0.00,2.17,0.337,12294,0.000,0.000,2916,1911,1880,1929,1832,0,0,0,0,0,0,15.16,14.95,14.41
$GC,3302,1.32,231.5,2915,1912,1930,1831,8.6,9.6,639,3309,0.00,2.35,1.67,0.154,12548,0.000,0.061,2916,3297,1871,1918,1825,0,0,0,0,0,0,15.17,14.97,14.88
$STATE,3357,end climb,SURFACE_DEPTH_REACHED
$STATE,3357,begin surface coast
$FINISH,0.3,1.024061
$STATE,3382,end surface coast,CONTROL_FINISHED_OK
$STATE,3382,begin surface
$SM_CCo,3402,30.35,0.119,0,0,1628,290.19
$SM_GC,2.51,12.65,1.92,30.35,0.047,0.039,0.119,145,2126,1628,-7.27,1.24,290.19,0,0,0,0,0,0,14.98,15.02,14.95
$IRIDIUM_FIX,-2925.24,3140.35,230918,112719
$TT8_MAMPS,0.036701,0.850115
$HUMID,48.26
$INTERNAL_PRESSURE,9.21875
$TCM_TEMP,24.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.2
$ALTIM_BOTTOM_PING,190.7,22.7
$SC_FREEKB,3854624
$24V_AH,13.99,37.601
$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,27.850,92.400,242.425,30.350,0.000,26.016,17.624,424.764,3.500,0.000,24.062,0.000,1600.492,469.087,1887.645,130.267,0.000,1026.544,0.000,984.686,0.000,26.910,0.000
$DEVICE_MAMPS,380.970,84.915,1191.870,118.575,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3438.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.582,0.000,0.000,0.000
$MEM,343420
$DATA_FILE_SIZE,23430,655
$CAP_FILE_SIZE,128272,0
$CFSIZE,1023623168,1004814336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230918,134340,-2937.787,3138.785,51,1.0,53,-24.5,0.8,318.3,9,9.0