version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 130
start: 9 23 118 13 54 48
data:
$ID,573
$MISSION,22
$DIVE,130
$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,44
$R_STBD_OVSHOOT,58
$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
$GPS1,230918,134340,-2937.7871,3138.7854,51,1.0,53,-24.5,0.8,318.3,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.7
$GPS2,230918,135438,-2937.7249,3138.7041,20,0.8,24,-24.5,0.7,319.4,11,9.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,INSHORE
$TGT_LATLONG,-2938.358,3139.344
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,163.2,1561,-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,-63.0,106,2122,1652,1586,0.0,0.0,0,65,0.00,0.00,-45.08,0.000,16386,0.000,0.000,104,2122,2911,2924,2898,0,0,0,0,0,0,15.07,28.83,15.07
$GC,67,-1.13,-83.0,105,2122,2923,2898,3.4,-7.9,8,90,11.27,2.38,-4.60,0.000,18692,0.282,0.088,2109,3512,3153,3180,3126,0,0,0,0,0,0,14.76,13.99,14.95
$GC,114,-1.13,-83.0,2109,3512,3182,3127,18.8,-25.1,17,121,0.03,2.28,0.00,0.000,3078,0.377,0.038,2114,2130,3153,3181,3126,0,0,0,0,0,0,14.73,14.89,14.86
$GC,180,-1.13,-83.0,2115,2130,3182,3127,35.1,-24.9,30,186,0.00,0.00,0.00,0.000,2054,0.000,0.000,2114,2129,3157,3189,3126,0,0,0,0,0,0,15.12,15.12,15.12
$GC,245,-1.13,-83.0,2115,2130,3182,3127,50.9,-22.4,43,250,0.00,0.00,0.00,0.000,2054,0.000,0.000,2114,2129,3154,3182,3126,0,0,0,0,0,0,15.14,15.14,15.15
$GC,310,-1.13,-83.0,2113,2129,3184,3127,64.9,-21.5,56,311,0.00,0.00,0.00,0.000,2054,0.000,0.000,2114,2129,3154,3182,3126,0,0,0,0,0,0,15.16,15.16,15.16
$GC,370,-1.13,-83.0,2113,2130,3183,3127,78.1,-22.1,68,371,0.00,0.00,0.00,0.000,2054,0.000,0.000,2114,2129,3154,3182,3126,0,0,0,0,0,0,15.17,15.17,15.17
$GC,430,-1.13,-83.0,2115,2129,3182,3127,90.8,-21.6,80,437,0.00,2.38,0.00,0.000,2308,0.000,0.066,2105,3515,3154,3183,3126,0,0,0,0,0,0,15.18,14.97,15.18
$GC,486,-1.13,-83.0,2105,3516,3184,3127,102.3,-20.0,91,493,0.05,2.28,0.00,0.000,3078,0.282,0.040,2116,2128,3154,3183,3126,0,0,0,0,0,0,14.85,14.98,14.98
$GC,552,-1.13,-83.0,2116,2129,3183,3127,115.3,-18.7,104,559,0.00,2.35,0.00,0.000,2564,0.000,0.064,2116,729,3154,3182,3126,0,0,0,0,0,0,15.19,14.97,15.19
$GC,568,-1.13,-83.0,2116,730,3181,3126,118.4,-19.2,107,575,0.08,2.28,0.00,0.000,3078,0.311,0.047,2121,2107,3154,3183,3126,0,0,0,0,0,0,14.86,14.94,15.01
$GC,635,-1.13,-83.0,2121,2109,3183,3127,130.6,-18.4,120,641,0.00,2.42,0.00,0.000,2308,0.000,0.069,2112,3548,3154,3183,3126,0,0,0,0,0,0,15.19,15.00,15.18
$GC,691,-1.13,-83.0,2113,3549,3183,3127,140.5,-17.7,131,697,0.00,2.28,0.00,0.000,3078,0.000,0.038,2112,2134,3155,3184,3126,0,0,0,0,0,0,15.11,15.02,15.12
$GC,757,-1.13,-83.0,2111,2135,3185,3127,152.5,-17.9,144,763,0.00,2.38,0.00,0.000,2308,0.000,0.067,2102,3548,3155,3184,3126,0,0,0,0,0,0,15.20,15.00,15.20
$GC,792,-1.13,-83.0,2101,3548,3185,3127,158.7,-17.2,151,799,0.08,2.33,0.00,0.000,3078,0.249,0.038,2118,2114,3155,3184,3126,0,0,0,0,0,0,14.90,15.00,15.00
$GC,858,-1.13,-83.0,2118,2115,3184,3127,169.5,-14.9,164,864,0.00,0.00,0.00,0.000,2054,0.000,0.000,2117,2114,3155,3184,3126,0,0,0,0,0,0,15.21,15.21,15.21
$GC,923,-1.13,-83.0,2118,2115,3184,3127,179.4,-15.6,177,924,0.00,0.00,0.00,0.000,2054,0.000,0.000,2117,2114,3155,3184,3126,0,0,0,0,0,0,15.21,15.21,15.21
$GC,983,-1.13,-83.0,2118,2115,3184,3126,188.6,-14.9,189,990,0.00,2.40,0.00,0.000,2308,0.000,0.067,2108,3545,3155,3184,3126,0,0,0,0,0,0,15.21,14.97,15.21
$GC,1019,-1.13,-83.0,2116,3546,3184,3127,194.2,-16.0,196,1026,0.05,2.30,0.00,0.000,3078,0.273,0.038,2118,2129,3155,3184,3126,0,0,0,0,0,0,14.87,15.00,14.99
$STATE,1084,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1085,begin apogee
$GC,1088,-0.19,0.0,2118,1908,3186,3127,204.4,-16.0,209,1154,1.52,0.00,61.55,1.199,10246,0.180,0.000,2422,1907,2812,2840,2785,0,0,0,0,0,0,14.92,14.74,14.24
$STATE,1156,end apogee,CONTROL_FINISHED_OK
$STATE,1156,begin climb
$GC,1157,1.13,83.0,2422,1908,2842,2786,208.0,0.0,221,1228,1.92,0.00,62.05,1.191,10246,0.090,0.000,2843,1907,2471,2512,2430,0,0,0,0,0,0,14.72,14.56,14.09
$GC,1288,1.21,142.8,2842,1907,2513,2429,207.1,3.6,245,1339,0.05,2.47,45.40,1.180,10500,0.252,0.059,2883,3326,2227,2266,2189,0,0,0,0,0,0,14.69,14.57,14.12
$GC,1363,1.21,142.8,2884,3327,2263,2189,200.8,11.2,259,1370,0.05,2.35,0.00,0.000,5126,0.298,0.041,2884,1930,2224,2263,2186,0,0,0,0,0,0,14.52,14.64,14.62
$GC,1429,1.21,142.8,2885,1930,2262,2187,193.2,11.6,272,1436,0.00,2.45,0.00,0.000,4612,0.000,0.070,2893,509,2223,2261,2186,0,0,0,0,0,0,14.95,14.74,14.95
$GC,1455,1.21,142.8,2894,510,2260,2187,189.9,13.1,277,1462,0.05,2.33,0.00,0.000,5126,0.286,0.041,2884,1926,2223,2260,2186,0,0,0,0,0,0,14.70,14.78,14.78
$GC,1521,1.21,142.8,2884,1927,2261,2187,181.9,12.6,290,1528,0.00,2.35,0.00,0.000,4356,0.000,0.062,2884,3303,2223,2260,2186,0,0,0,0,0,0,15.03,14.82,15.04
$GC,1632,1.21,142.8,2884,3303,2260,2184,168.4,11.4,312,1639,0.05,2.30,0.00,0.000,5126,0.295,0.044,2882,1916,2222,2259,2186,0,0,0,0,0,0,14.73,14.91,14.85
$GC,1698,1.21,145.4,2883,1916,2260,2186,161.8,9.7,325,1705,0.00,2.40,0.00,0.000,4612,0.000,0.070,2892,508,2221,2258,2185,0,0,0,0,0,0,15.12,14.90,15.12
$GC,1770,1.21,147.4,2892,508,2259,2186,154.6,9.8,339,1781,0.00,2.25,4.25,0.724,13318,0.000,0.043,2892,1913,2210,2246,2174,0,0,0,0,0,0,15.04,14.97,14.39
$GC,1841,1.22,156.6,2891,1913,2247,2174,147.9,9.0,353,1854,0.00,2.35,8.77,0.982,12548,0.000,0.063,2892,3302,2171,2209,2134,0,0,0,0,0,0,15.13,14.90,14.40
$GC,1958,1.22,156.6,2893,3302,2207,2134,137.4,10.0,376,1965,0.05,2.30,0.00,0.000,5126,0.295,0.043,2891,1910,2170,2207,2133,0,0,0,0,0,0,14.78,14.90,14.89
$GC,2024,1.23,162.1,2892,1909,2207,2132,130.8,9.4,389,2036,0.00,2.35,5.50,0.836,12804,0.000,0.071,2898,508,2149,2188,2111,0,0,0,0,0,0,15.16,14.93,14.40
$GC,2090,1.23,162.1,2899,508,2186,2112,123.8,10.5,402,2098,0.05,2.28,0.00,0.000,5126,0.289,0.044,2888,1909,2148,2186,2111,0,0,0,0,0,0,14.83,14.97,14.95
$GC,2157,1.25,177.7,2889,1910,2185,2112,117.9,8.3,415,2175,0.00,2.35,13.48,1.044,8452,0.000,0.063,2888,3293,2086,2128,2044,0,0,0,0,0,0,15.15,14.90,14.41
$GC,2294,1.25,181.0,2888,3294,2129,2041,104.3,9.6,442,2302,0.00,2.30,3.60,0.742,13318,0.000,0.043,2897,1907,2074,2118,2030,0,0,0,0,0,0,14.97,14.94,14.40
$GC,2362,1.27,197.3,2897,1908,2117,2030,98.6,8.3,455,2384,0.00,2.38,14.45,1.065,8708,0.000,0.073,2897,510,2005,2051,1960,0,0,0,0,0,0,15.13,14.85,14.40
$GC,2438,1.27,197.3,2897,511,2048,1961,91.0,10.8,470,2445,0.00,2.28,0.00,0.000,1030,0.000,0.043,2896,1898,2004,2048,1960,0,0,0,0,0,0,14.92,14.88,14.93
$GC,2505,1.27,197.3,2898,1899,2048,1960,84.0,10.3,483,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1899,2003,2048,1959,0,0,0,0,0,0,15.11,15.13,15.12
$GC,2569,1.28,198.9,2896,1899,2049,1959,77.5,9.8,496,2576,0.00,2.38,0.00,0.000,260,0.000,0.063,2897,3310,2003,2048,1958,0,0,0,0,0,0,15.14,14.93,15.15
$GC,2646,1.28,204.6,2897,3311,2048,1958,69.9,9.4,511,2658,0.00,2.28,6.62,0.855,13318,0.000,0.043,2906,1906,1977,2024,1931,0,0,0,0,0,0,15.07,14.99,14.42
$GC,2717,1.29,208.0,2905,1907,2025,1930,63.3,9.6,525,2724,0.00,0.00,4.12,0.778,12294,0.000,0.000,2906,1906,1963,2011,1916,0,0,0,0,0,0,15.14,14.95,14.46
$GC,2784,1.29,208.0,2905,1907,2013,1916,57.0,10.2,538,2789,0.00,0.00,0.00,0.000,4102,0.000,0.000,2906,1907,1963,2012,1915,0,0,0,0,0,0,15.15,15.15,15.15
$GC,2848,1.30,217.8,2907,1907,2011,1915,50.8,8.9,551,2861,0.00,0.00,9.65,0.924,8198,0.000,0.000,2906,1906,1922,1971,1873,0,0,0,0,0,0,15.16,14.95,14.46
$GC,2920,1.30,217.8,2906,1907,1971,1871,43.3,10.7,565,2926,0.00,2.33,0.00,0.000,260,0.000,0.061,2906,3309,1919,1969,1870,0,0,0,0,0,0,15.12,14.93,15.13
$GC,2961,1.30,217.8,2905,3310,1970,1871,38.7,11.1,573,2967,0.00,2.33,0.00,0.000,5126,0.000,0.044,2916,1907,1919,1969,1869,0,0,0,0,0,0,15.00,14.96,15.01
$GC,3027,1.32,233.5,2916,1908,1968,1869,32.7,8.3,586,3044,0.00,0.00,13.40,0.952,12294,0.000,0.000,2916,1907,1859,1910,1808,0,0,0,0,0,0,15.16,14.92,14.45
$GC,3104,1.32,233.5,2915,1908,1908,1805,25.5,10.5,601,3110,0.00,2.38,0.00,0.000,4612,0.000,0.071,2926,496,1855,1907,1804,0,0,0,0,0,0,15.12,14.92,15.13
$GC,3144,1.32,233.5,2926,497,1907,1805,20.9,10.9,609,3151,0.03,2.33,0.00,0.000,5126,0.363,0.042,2921,1921,1855,1906,1804,0,0,0,0,0,0,14.79,14.95,14.92
$GC,3210,1.32,233.5,2920,1922,1907,1805,13.4,10.1,622,3217,0.00,2.33,0.00,0.000,4356,0.000,0.063,2921,3295,1855,1906,1804,0,0,0,0,0,0,15.14,14.93,15.14
$STATE,3315,end climb,SURFACE_DEPTH_REACHED
$STATE,3315,begin surface coast
$FINISH,1.2,1.023941
$STATE,3330,end surface coast,CONTROL_FINISHED_OK
$STATE,3330,begin surface
$SM_CCo,3351,28.95,0.119,0,0,1627,290.19
$SM_GC,2.15,12.88,1.95,28.95,0.065,0.044,0.119,140,2118,1627,-7.28,0.96,290.19,0,0,0,0,0,0,14.99,15.00,14.94
$IRIDIUM_FIX,-2925.24,3140.35,230918,123650
$TT8_MAMPS,0.036701,0.841876
$HUMID,48.07
$INTERNAL_PRESSURE,9.20898
$TCM_TEMP,23.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.3
$ALTIM_BOTTOM_PING,190.9,23.4
$SC_FREEKB,3854112
$24V_AH,13.99,37.769
$10V_AH,13.53,0.000
$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,28.200,84.075,252.850,28.950,0.000,22.756,21.145,415.075,3.500,0.000,25.231,0.000,1577.352,456.631,1868.267,128.504,0.000,1002.938,0.000,974.256,0.000,26.870,0.000
$DEVICE_MAMPS,377.145,87.975,1198.755,118.575,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3386.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.233,0.000,0.000,0.000
$MEM,343428
$DATA_FILE_SIZE,20126,646
$CAP_FILE_SIZE,127958,0
$CFSIZE,1023623168,1004683264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230918,145309,-2937.854,3138.859,71,0.9,101,-24.5,0.0,291.8,9,10.0