version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 156
start: 9 25 118 16 43 12
data:
$ID,573
$MISSION,22
$DIVE,156
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$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,234
$T_MISSION,249
$T_ABORT,268
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,332
$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,31
$R_STBD_OVSHOOT,47
$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
$GPS1,250918,162542,-2956.0840,3119.6616,23,0.9,26,-24.8,1.1,268.4,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-66.5
$GPS2,250918,164301,-2956.2461,3119.5415,17,0.9,21,-24.8,0.6,269.5,10,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2946.711,3113.700
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,356.8,20000,-18.2,-9.972,-21.00,2242
$D_GRID,700
$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,-0.85,-146.0,72,2137,1264,1151,0.0,0.0,0,86,0.00,0.00,-66.38,0.000,16386,0.000,0.000,72,2137,3059,3062,3057,0,0,0,0,0,0,14.97,28.83,14.98
$GC,88,-0.85,-146.0,72,2138,3062,3061,4.0,-10.9,12,112,12.18,2.42,-6.10,0.000,18692,0.293,0.092,2195,3527,3409,3448,3371,0,0,0,0,0,0,14.62,13.88,14.76
$GC,176,-0.85,-146.0,2196,3528,3450,3371,27.7,-20.2,29,183,0.08,2.35,0.00,0.000,3078,0.226,0.041,2212,2120,3410,3450,3371,0,0,0,0,0,0,14.74,14.83,14.84
$GC,243,-0.85,-146.0,2216,2119,3452,3372,41.0,-19.3,42,249,0.00,2.42,0.00,0.000,2308,0.000,0.071,2202,3532,3409,3448,3370,0,0,0,0,0,0,15.05,14.81,15.05
$GC,288,-0.85,-146.0,2202,3531,3452,3371,49.9,-18.1,51,294,0.00,2.33,0.00,0.000,3078,0.000,0.040,2202,2129,3410,3451,3370,0,0,0,0,0,0,14.87,14.82,14.88
$GC,354,-0.85,-146.0,2202,2128,3452,3371,60.9,-16.4,64,359,0.00,0.00,0.00,0.000,2054,0.000,0.000,2202,2129,3411,3451,3371,0,0,0,0,0,0,15.09,15.10,15.09
$GC,419,-0.85,-146.0,2203,2130,3451,3372,71.1,-16.2,77,419,0.00,0.00,0.00,0.000,2054,0.000,0.000,2202,2129,3411,3451,3371,0,0,0,0,0,0,15.11,15.10,15.11
$GC,479,-0.85,-146.0,2202,2130,3453,3371,81.7,-17.9,89,484,0.00,0.00,0.00,0.000,2054,0.000,0.000,2202,2129,3411,3451,3371,0,0,0,0,0,0,15.11,15.12,15.12
$GC,544,-0.85,-146.0,2202,2130,3453,3371,92.1,-15.6,102,550,0.00,2.35,0.00,0.000,2564,0.000,0.067,2202,726,3411,3452,3371,0,0,0,0,0,0,15.13,14.89,15.13
$GC,559,-0.85,-146.0,2202,726,3453,3371,94.7,-15.6,105,566,0.05,2.33,0.00,0.000,3078,0.270,0.047,2206,2120,3411,3451,3371,0,0,0,0,0,0,14.78,14.90,14.90
$GC,625,-0.85,-146.0,2205,2120,3453,3372,104.9,-15.7,118,632,0.00,2.42,0.00,0.000,2308,0.000,0.073,2196,3527,3411,3451,3371,0,0,0,0,0,0,15.12,14.90,15.12
$GC,666,-0.85,-146.0,2195,3529,3453,3371,111.3,-16.1,126,673,0.05,2.30,0.00,0.000,3078,0.249,0.040,2208,2134,3411,3452,3371,0,0,0,0,0,0,14.81,14.92,14.92
$GC,732,-0.85,-146.0,2209,2135,3452,3371,121.7,-15.5,139,739,0.00,2.40,0.00,0.000,2564,0.000,0.067,2209,721,3411,3452,3370,0,0,0,0,0,0,15.14,14.91,15.14
$GC,763,-0.85,-146.0,2208,722,3454,3372,126.8,-16.2,145,770,0.00,2.33,0.00,0.000,3078,0.000,0.048,2204,2120,3411,3452,3370,0,0,0,0,0,0,14.94,14.89,14.95
$GC,829,-0.85,-146.0,2203,2123,3454,3371,136.3,-14.7,158,835,0.00,2.40,0.00,0.000,2308,0.000,0.073,2194,3544,3411,3452,3370,0,0,0,0,0,0,15.15,14.93,15.15
$GC,900,-0.85,-146.0,2194,3545,3452,3371,146.7,-14.2,172,907,0.08,2.30,0.00,0.000,3078,0.269,0.038,2210,2126,3412,3453,3371,0,0,0,0,0,0,14.88,14.97,15.01
$GC,966,-0.85,-146.0,2211,2127,3453,3371,155.6,-12.7,185,973,0.00,2.38,0.00,0.000,2564,0.000,0.067,2210,728,3411,3453,3370,0,0,0,0,0,0,15.14,14.93,15.14
$GC,997,-0.85,-146.0,2211,729,3452,3371,159.8,-14.1,191,1004,0.00,2.33,0.00,0.000,3078,0.000,0.049,2203,2126,3411,3453,3370,0,0,0,0,0,0,15.00,14.95,15.02
$GC,1064,-0.85,-146.0,2203,2126,3454,3371,169.0,-13.2,204,1070,0.00,2.40,0.00,0.000,2308,0.000,0.073,2204,3542,3411,3452,3371,0,0,0,0,0,0,15.16,14.95,15.16
$GC,1099,-0.85,-146.0,2204,3543,3452,3371,173.4,-12.9,211,1106,0.00,2.35,0.00,0.000,3078,0.000,0.037,2204,2122,3412,3453,3371,0,0,0,0,0,0,14.99,14.95,15.00
$GC,1166,-0.85,-146.0,2203,2123,3454,3372,181.8,-13.3,224,1172,0.00,2.33,0.00,0.000,2564,0.000,0.066,2204,719,3411,3453,3370,0,0,0,0,0,0,15.15,14.95,15.15
$GC,1181,-0.85,-146.0,2204,719,3453,3371,183.9,-13.3,227,1188,0.05,2.35,0.00,0.000,3078,0.268,0.048,2209,2134,3412,3453,3371,0,0,0,0,0,0,14.83,14.96,14.95
$GC,1247,-0.85,-146.0,2208,2135,3454,3371,192.3,-12.4,240,1254,0.00,2.40,0.00,0.000,2308,0.000,0.073,2199,3532,3412,3453,3371,0,0,0,0,0,0,15.16,14.94,15.16
$GC,1303,-0.85,-146.0,2200,3533,3452,3371,199.3,-11.6,251,1309,0.00,2.30,0.00,0.000,3078,0.000,0.037,2199,2135,3411,3453,3370,0,0,0,0,0,0,14.95,14.92,14.97
$GC,1369,-0.85,-146.0,2200,2136,3452,3371,207.4,-12.4,264,1376,0.05,2.33,0.00,0.000,2564,0.331,0.066,2211,724,3411,3453,3370,0,0,0,0,0,0,14.88,14.96,15.02
$GC,1400,-0.85,-146.0,2210,725,3454,3371,211.2,-12.6,270,1406,0.00,2.33,0.00,0.000,3078,0.000,0.048,2211,2127,3411,3453,3370,0,0,0,0,0,0,15.02,14.97,15.03
$GC,1466,-0.85,-146.0,2211,2128,3452,3371,218.7,-11.7,283,1472,0.00,2.40,0.00,0.000,2308,0.000,0.073,2210,3547,3411,3452,3371,0,0,0,0,0,0,15.18,14.97,15.17
$GC,1501,-0.85,-146.0,2210,3547,3454,3371,223.0,-12.0,290,1508,0.00,2.33,0.00,0.000,3078,0.000,0.037,2211,2133,3411,3452,3371,0,0,0,0,0,0,15.03,14.98,15.04
$GC,1569,-0.85,-146.0,2210,2133,3454,3372,230.5,-11.4,303,1574,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2133,3412,3453,3371,0,0,0,0,0,0,15.17,15.18,15.18
$GC,1633,-0.85,-146.0,2211,2133,3452,3371,238.2,-11.7,316,1639,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2132,3411,3453,3370,0,0,0,0,0,0,15.20,15.20,15.20
$GC,1699,-0.85,-146.0,2210,2133,3454,3371,245.9,-11.3,329,1705,0.00,2.38,0.00,0.000,2308,0.000,0.072,2210,3540,3411,3452,3370,0,0,0,0,0,0,15.20,14.98,15.20
$GC,1734,-0.85,-146.0,2211,3540,3453,3371,249.5,-10.9,336,1742,0.00,2.33,0.00,0.000,3078,0.000,0.037,2210,2124,3411,3452,3370,0,0,0,0,0,0,15.01,14.96,15.00
$GC,1802,-0.85,-146.0,2210,2125,3454,3371,256.9,-11.2,349,1807,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2124,3411,3452,3370,0,0,0,0,0,0,15.19,15.20,15.19
$GC,1866,-0.85,-146.0,2210,2125,3454,3371,264.4,-11.6,362,1872,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2124,3411,3452,3370,0,0,0,0,0,0,15.19,15.20,15.19
$GC,1931,-0.85,-146.0,2211,2125,3450,3370,271.8,-11.4,375,1936,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2124,3410,3452,3369,0,0,0,0,0,0,15.20,15.20,15.20
$GC,1996,-0.85,-146.0,2211,2125,3452,3369,279.3,-11.3,388,2001,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2124,3410,3452,3369,0,0,0,0,0,0,15.19,15.21,15.20
$GC,2061,-0.85,-146.0,2211,2125,3452,3370,286.8,-11.7,401,2066,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2124,3410,3452,3368,0,0,0,0,0,0,15.20,15.20,15.20
$GC,2126,-0.85,-146.0,2211,2125,3452,3369,294.6,-12.0,414,2131,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2124,3410,3451,3369,0,0,0,0,0,0,15.19,15.20,15.20
$GC,2191,-0.85,-146.0,2210,2125,3455,3369,302.5,-12.2,424,2196,0.00,2.45,0.00,0.000,2308,0.000,0.073,2210,3538,3409,3451,3368,0,0,0,0,0,0,15.22,14.98,15.22
$GC,2211,-0.85,-146.0,2210,3538,3452,3369,304.8,-12.1,425,2216,0.00,2.33,0.00,0.000,3078,0.000,0.039,2210,2121,3409,3451,3368,0,0,0,0,0,0,15.04,15.00,15.06
$GC,2352,-0.85,-146.0,2211,2122,3450,3370,321.1,-11.6,432,2352,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2121,3409,3450,3368,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2471,-0.85,-146.0,2210,2121,3449,3366,335.5,-12.0,438,2476,0.00,2.45,0.00,0.000,2308,0.000,0.073,2201,3537,3408,3449,3368,0,0,0,0,0,0,15.25,15.01,15.25
$GC,2496,-0.85,-146.0,2201,3537,3450,3369,337.9,-12.0,439,2501,0.00,2.30,0.00,0.000,3078,0.000,0.039,2201,2132,3408,3449,3368,0,0,0,0,0,0,15.07,15.03,15.09
$GC,2631,-0.85,-146.0,2201,2132,3449,3369,355.8,-12.9,446,2632,0.00,0.00,0.00,0.000,2054,0.000,0.000,2201,2132,3408,3449,3368,0,0,0,0,0,0,15.25,15.25,15.25
$GC,2751,-0.85,-146.0,2202,2132,3448,3368,371.2,-12.8,452,2756,0.00,2.33,0.00,0.000,2564,0.000,0.069,2201,732,3407,3448,3367,0,0,0,0,0,0,15.26,15.04,15.26
$GC,2771,-0.85,-146.0,2203,732,3450,3368,373.9,-13.0,453,2777,0.05,2.33,0.00,0.000,3078,0.265,0.050,2209,2134,3407,3448,3367,0,0,0,0,0,0,14.92,15.04,15.04
$GC,2911,-0.85,-146.0,2211,2135,3448,3366,391.3,-12.3,460,2917,0.00,2.40,0.00,0.000,2308,0.000,0.075,2201,3530,3407,3448,3366,0,0,0,0,0,0,15.26,15.02,15.27
$GC,2946,-0.85,-146.0,2201,3530,3447,3367,393.8,-12.4,461,2953,0.00,2.30,0.00,0.000,3078,0.000,0.040,2200,2140,3406,3447,3366,0,0,0,0,0,0,15.09,15.05,15.11
$STATE,3070,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3070,begin apogee
$GC,3074,-0.19,0.0,2201,1898,3448,3366,411.0,-12.3,468,3193,1.10,0.00,112.65,1.546,10246,0.161,0.000,2423,1897,2811,2849,2773,0,0,0,0,0,0,14.93,14.37,13.91
$STATE,3194,end apogee,CONTROL_FINISHED_OK
$STATE,3194,begin climb
$GC,3195,0.85,146.0,2424,1898,2850,2773,416.7,0.0,474,3318,1.52,2.42,114.97,1.514,10756,0.091,0.074,2757,520,2215,2257,2173,0,0,0,0,0,0,14.47,14.25,13.80
$GC,3353,0.97,243.0,2757,521,2252,2173,413.2,5.5,482,3439,0.08,2.38,78.95,1.492,11270,0.119,0.043,2800,1921,1819,1877,1762,0,0,0,0,0,0,14.50,14.51,13.81
$GC,3574,0.97,243.0,2801,1921,1872,1758,385.0,13.7,493,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1921,1814,1872,1757,0,0,0,0,0,0,14.89,14.90,14.90
$GC,3694,0.97,243.0,2799,1922,1871,1757,368.9,13.4,499,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1921,1812,1870,1755,0,0,0,0,0,0,15.01,15.02,15.01
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$STATE,6799,end climb,SURFACE_DEPTH_REACHED
$STATE,6799,begin surface coast
$FINISH,-0.0,1.024213
$STATE,6820,end surface coast,CONTROL_FINISHED_OK
$STATE,6820,begin surface
$SM_CCo,6899,0.00,0.000,0,0,1295,372.11
$SM_GC,0.71,12.65,0.32,0.00,0.058,0.065,0.000,147,2140,1295,-7.27,-1.41,372.11,0,0,0,0,0,0,14.83,14.87,14.91
$IRIDIUM_FIX,-2942.59,3120.00,250918,141731
$TT8_MAMPS,0.038948,0.954226
$HUMID,50.82
$INTERNAL_PRESSURE,9.06249
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.2
$ALTIM_BOTTOM_PING,360.9,57.9
$SC_FREEKB,3840512
$24V_AH,13.80,44.974
$10V_AH,13.54,0.000
$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,28.275,170.950,414.950,0.000,0.000,24.901,41.832,711.671,7.250,0.000,23.239,0.000,3778.278,781.323,3126.170,230.559,0.000,1735.339,0.000,1656.859,0.000,48.661,0.000
$DEVICE_MAMPS,331.245,91.800,1546.065,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6903.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.582,0.000,0.000,0.000
$MEM,343552
$DATA_FILE_SIZE,36684,1037
$CAP_FILE_SIZE,220266,0
$CFSIZE,1023623168,1000685568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250918,183909,-2955.474,3118.695,32,1.0,39,-24.8,0.6,258.5,9,10.0