version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 131
start: 9 23 118 15 4 55
data:
$ID,573
$MISSION,22
$DIVE,131
$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,42
$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
$GPS1,230918,145309,-2937.8535,3138.8591,71,0.9,101,-24.5,0.0,291.8,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.2
$GPS2,230918,150445,-2937.8000,3138.8071,17,0.9,34,-24.5,0.0,226.2,10,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,INSHORE
$TGT_LATLONG,-2938.358,3139.344
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,164.6,1347,-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,-63.0,87,2115,1652,1586,0.0,0.0,0,65,0.00,0.00,-45.03,0.000,16386,0.000,0.000,83,2114,2896,2899,2893,0,0,0,0,0,0,15.07,28.83,15.08
$GC,66,-1.15,-94.0,83,2115,2901,2894,3.2,-6.7,8,90,11.35,2.38,-5.75,0.000,18692,0.278,0.086,2106,3525,3198,3229,3167,0,0,0,0,0,0,14.77,14.23,14.95
$GC,134,-1.15,-94.0,2105,3527,3232,3169,23.5,-24.0,21,141,0.00,2.30,0.00,0.000,3078,0.000,0.037,2106,2131,3199,3231,3167,0,0,0,0,0,0,14.94,14.90,14.95
$GC,200,-1.15,-94.0,2106,2131,3231,3168,39.8,-26.4,34,206,0.05,0.00,0.00,0.000,2054,0.375,0.000,2114,2129,3199,3231,3167,0,0,0,0,0,0,14.78,14.96,14.94
$GC,265,-1.15,-94.0,2115,2129,3231,3168,55.2,-23.8,47,271,0.00,2.40,0.00,0.000,2308,0.000,0.067,2105,3525,3204,3240,3168,0,0,0,0,0,0,15.16,14.94,15.15
$GC,285,-1.15,-94.0,2106,3526,3231,3168,60.2,-23.5,51,293,0.05,2.30,0.00,0.000,3078,0.285,0.038,2115,2121,3200,3232,3168,0,0,0,0,0,0,14.83,14.95,14.94
$GC,352,-1.15,-94.0,2116,2122,3232,3168,75.1,-22.6,64,358,0.00,0.00,0.00,0.000,2054,0.000,0.000,2115,2121,3199,3231,3167,0,0,0,0,0,0,15.16,15.16,15.16
$GC,417,-1.15,-94.0,2115,2121,3233,3168,89.1,-21.2,77,418,0.00,0.00,0.00,0.000,2054,0.000,0.000,2114,2121,3199,3232,3167,0,0,0,0,0,0,15.16,15.16,15.16
$GC,477,-1.15,-94.0,2114,2121,3233,3168,102.1,-21.1,89,478,0.00,0.00,0.00,0.000,2054,0.000,0.000,2115,2121,3199,3232,3167,0,0,0,0,0,0,15.17,15.18,15.18
$GC,537,-1.15,-94.0,2114,2121,3234,3168,114.7,-20.4,101,542,0.00,0.00,0.00,0.000,2054,0.000,0.000,2115,2121,3199,3232,3167,0,0,0,0,0,0,15.18,15.19,15.19
$GC,602,-1.15,-94.0,2116,2122,3231,3168,127.2,-18.6,114,603,0.00,0.00,0.00,0.000,2054,0.000,0.000,2115,2121,3199,3232,3167,0,0,0,0,0,0,15.19,15.19,15.19
$GC,662,-1.15,-94.0,2115,2121,3234,3168,138.4,-18.6,126,667,0.00,0.00,0.00,0.000,2054,0.000,0.000,2115,2121,3199,3232,3167,0,0,0,0,0,0,15.19,15.19,15.19
$GC,728,-1.15,-94.0,2116,2121,3232,3168,150.2,-17.9,139,734,0.00,2.35,0.00,0.000,2308,0.000,0.067,2106,3522,3199,3232,3167,0,0,0,0,0,0,15.19,14.96,15.19
$GC,783,-1.15,-94.0,2106,3522,3234,3168,160.4,-17.5,150,790,0.05,2.22,0.00,0.000,3078,0.347,0.037,2116,2130,3200,3233,3167,0,0,0,0,0,0,14.86,14.99,15.02
$GC,852,-1.15,-94.0,2117,2130,3234,3168,170.6,-15.2,163,858,0.00,0.00,0.00,0.000,2054,0.000,0.000,2116,2130,3200,3233,3167,0,0,0,0,0,0,15.19,15.19,15.19
$GC,917,-1.15,-94.0,2115,2129,3234,3168,180.5,-14.8,176,923,0.00,0.00,0.00,0.000,2054,0.000,0.000,2116,2129,3199,3232,3167,0,0,0,0,0,0,15.19,15.19,15.22
$GC,982,-1.15,-94.0,2117,2130,3233,3168,190.0,-14.8,189,992,0.00,2.38,0.00,0.000,2308,0.000,0.068,2108,3519,3201,3235,3167,0,0,0,0,0,0,15.21,14.99,15.21
$GC,1036,-1.15,-94.0,2108,3520,3233,3167,199.2,-17.5,199,1043,0.00,2.22,0.00,0.000,3078,0.000,0.038,2108,2125,3200,3233,3167,0,0,0,0,0,0,15.12,15.04,15.13
$STATE,1076,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1076,begin apogee
$GC,1079,-0.19,0.0,2107,1895,3235,3168,206.0,-16.5,207,1156,1.55,0.00,69.62,1.196,10246,0.178,0.000,2425,1895,2810,2839,2782,0,0,0,0,0,0,14.93,14.60,14.21
$STATE,1158,end apogee,CONTROL_FINISHED_OK
$STATE,1158,begin climb
$GC,1159,1.15,94.0,2425,1895,2841,2784,209.8,0.0,221,1237,1.92,2.40,69.43,1.190,10756,0.085,0.068,2858,520,2426,2469,2383,0,0,0,0,0,0,14.71,14.53,14.08
$GC,1291,1.19,131.8,2858,521,2467,2384,206.3,6.0,245,1325,0.00,2.30,29.38,1.155,11270,0.000,0.040,2858,1912,2272,2313,2231,0,0,0,0,0,0,14.74,14.71,14.15
$GC,1385,1.20,140.9,2859,1913,2310,2231,198.1,9.0,263,1397,0.00,0.00,8.18,0.968,10246,0.000,0.000,2858,1912,2236,2274,2198,0,0,0,0,0,0,14.92,14.71,14.23
$GC,1456,1.20,140.9,2859,1912,2273,2196,190.2,10.8,277,1462,0.00,0.00,0.00,0.000,2054,0.000,0.000,2858,1912,2234,2272,2196,0,0,0,0,0,0,15.00,14.98,14.98
$GC,1521,1.20,140.9,2858,1913,2273,2197,182.3,11.8,290,1528,0.00,2.38,0.00,0.000,2308,0.000,0.062,2858,3301,2233,2271,2195,0,0,0,0,0,0,15.04,14.82,15.04
$GC,1917,1.22,152.5,2859,3302,2269,2196,140.5,8.8,369,1935,0.00,2.28,9.88,1.048,11270,0.000,0.041,2868,1918,2189,2227,2151,0,0,0,0,0,0,15.02,14.97,14.43
$GC,1994,1.24,168.2,2867,1919,2228,2151,134.0,8.3,384,2012,0.00,2.38,13.55,1.081,10500,0.000,0.061,2868,3305,2123,2165,2082,0,0,0,0,0,0,15.14,14.88,14.40
$GC,2031,1.25,175.6,2869,3305,2164,2082,130.7,9.2,391,2044,0.00,2.33,7.05,0.902,11270,0.000,0.043,2877,1911,2096,2138,2054,0,0,0,0,0,0,14.93,14.89,14.38
$GC,2103,1.25,175.6,2877,1912,2137,2050,123.4,10.9,405,2110,0.00,2.40,0.00,0.000,2564,0.000,0.073,2884,483,2092,2135,2049,0,0,0,0,0,0,15.08,14.89,15.08
$GC,2149,1.25,175.6,2885,484,2133,2049,118.3,11.2,414,2156,0.00,2.33,0.00,0.000,3078,0.000,0.043,2884,1900,2091,2134,2049,0,0,0,0,0,0,14.93,14.88,14.94
$GC,2215,1.25,180.2,2883,1900,2135,2050,112.0,9.5,427,2227,0.00,2.35,4.80,0.759,10500,0.000,0.063,2883,3300,2077,2120,2034,0,0,0,0,0,0,15.14,14.89,14.42
$GC,2251,1.25,180.2,2884,3301,2120,2034,108.0,11.1,434,2258,0.00,2.30,0.00,0.000,1030,0.000,0.043,2894,1908,2075,2119,2032,0,0,0,0,0,0,14.97,14.92,15.00
$GC,2318,1.26,189.3,2893,1909,2121,2032,102.1,9.0,447,2331,0.00,2.40,8.82,1.000,8708,0.000,0.070,2903,500,2039,2084,1994,0,0,0,0,0,0,15.12,14.90,14.41
$GC,2455,1.26,189.3,2903,501,2081,1994,88.5,10.3,474,2461,0.00,2.30,0.00,0.000,5126,0.000,0.043,2903,1908,2037,2080,1994,0,0,0,0,0,0,14.95,14.92,14.97
$GC,2521,1.27,194.4,2904,1909,2080,1994,82.0,9.4,487,2533,0.00,2.33,5.30,0.877,12548,0.000,0.063,2904,3315,2017,2061,1974,0,0,0,0,0,0,15.16,14.93,14.42
$GC,2578,1.28,203.5,2903,3316,2064,1974,76.4,9.0,498,2591,0.00,2.28,8.80,0.980,13318,0.000,0.042,2913,1913,1981,2028,1935,0,0,0,0,0,0,15.05,14.97,14.44
$GC,2650,1.28,203.5,2914,1914,2027,1931,69.9,10.2,512,2656,0.00,2.38,0.00,0.000,4612,0.000,0.071,2923,497,1978,2026,1931,0,0,0,0,0,0,15.14,14.90,15.14
$GC,2700,1.28,203.5,2923,498,2025,1932,64.2,11.0,522,2707,0.08,2.33,0.00,0.000,5126,0.243,0.042,2908,1922,1978,2025,1931,0,0,0,0,0,0,14.83,14.94,14.93
$GC,2767,1.28,204.5,2908,1923,2026,1932,57.5,9.9,535,2773,0.00,0.00,0.00,0.000,4102,0.000,0.000,2910,1923,1978,2025,1931,0,0,0,0,0,0,15.15,15.15,15.15
$GC,2832,1.30,215.2,2908,1923,2026,1936,51.2,8.9,548,2849,0.00,2.30,10.45,0.938,12548,0.000,0.063,2908,3291,1932,1981,1884,0,0,0,0,0,0,15.16,14.90,14.46
$GC,2899,1.30,215.2,2907,3291,1983,1882,44.3,10.4,561,2906,0.00,2.30,0.00,0.000,5126,0.000,0.044,2915,1903,1930,1980,1881,0,0,0,0,0,0,14.95,14.91,14.97
$GC,2965,1.30,222.7,2915,1903,1982,1881,38.4,9.2,574,2978,0.00,2.38,7.22,0.841,12804,0.000,0.071,2926,507,1902,1952,1853,0,0,0,0,0,0,15.16,14.92,14.45
$GC,2992,1.30,222.7,2926,508,1950,1854,35.5,10.5,579,2999,0.05,2.30,0.00,0.000,5126,0.272,0.042,2915,1921,1901,1949,1853,0,0,0,0,0,0,14.82,14.94,14.95
$GC,3058,1.30,222.7,2916,1922,1949,1853,29.1,10.1,592,3065,0.00,2.30,0.00,0.000,4356,0.000,0.062,2915,3302,1900,1948,1852,0,0,0,0,0,0,15.13,14.95,15.14
$GC,3109,1.31,225.4,2914,3302,1950,1853,23.9,9.7,602,3116,0.00,2.30,1.30,0.237,13318,0.000,0.044,2922,1913,1893,1943,1844,0,0,0,0,0,0,14.96,14.92,14.83
$GC,3175,1.33,243.0,2922,1913,1944,1844,18.7,8.1,615,3193,0.00,2.30,11.02,0.889,12548,0.000,0.062,2922,3293,1818,1871,1765,0,0,0,0,0,0,15.17,14.92,14.47
$GC,3212,1.33,243.0,2923,3294,1870,1765,14.5,12.3,622,3219,0.00,2.30,0.00,0.000,5126,0.000,0.044,2930,1912,1816,1870,1763,0,0,0,0,0,0,14.97,14.93,15.00
$GC,3279,1.33,243.0,2931,1912,1870,1763,7.4,10.1,635,3285,0.00,2.33,0.00,0.000,4356,0.000,0.061,2930,3302,1816,1869,1763,0,0,0,0,0,0,15.13,14.90,15.14
$GC,3304,1.33,243.0,2930,3302,1871,1763,4.7,10.4,640,3311,0.05,2.33,0.00,0.000,5126,0.294,0.045,2923,1905,1815,1869,1762,0,0,0,0,0,0,14.79,14.91,14.91
$STATE,3324,end climb,SURFACE_DEPTH_REACHED
$STATE,3324,begin surface coast
$FINISH,0.4,1.023252
$STATE,3355,end surface coast,CONTROL_FINISHED_OK
$STATE,3355,begin surface
$SM_CCo,3374,23.83,0.117,0,0,1628,290.19
$SM_GC,2.41,12.73,0.32,23.83,0.050,0.066,0.117,145,2131,1628,-7.26,-1.55,290.19,0,0,0,0,0,0,14.98,15.00,14.92
$IRIDIUM_FIX,-2925.24,3140.35,230918,134626
$TT8_MAMPS,0.036701,0.883071
$HUMID,47.79
$INTERNAL_PRESSURE,9.22851
$TCM_TEMP,24.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,999.0
$ALTIM_BOTTOM_PING,190.5,25.4
$SC_FREEKB,3853600
$24V_AH,14.08,37.944
$10V_AH,13.51,0.000
$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,27.875,79.750,264.800,23.825,0.000,24.219,17.279,444.659,3.250,0.000,35.042,0.000,1597.804,454.098,1908.089,126.340,0.000,1007.146,0.000,979.544,0.000,24.014,0.000
$DEVICE_MAMPS,374.850,85.680,1196.460,117.045,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3410.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.189,0.000,0.000,0.000
$MEM,343412
$DATA_FILE_SIZE,20115,650
$CAP_FILE_SIZE,126694,0
$CFSIZE,1023623168,1004552192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230918,160414,-2937.966,3138.987,101,0.8,141,-24.5,0.8,127.9,11,23.4