version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 159
start: 9 25 118 23 17 19
data:
$ID,573
$MISSION,22
$DIVE,159
$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,212
$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,20
$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,29
$R_STBD_OVSHOOT,43
$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
$GPS1,250918,225802,-2953.5532,3117.3921,158,0.7,158,-24.7,1.9,46.6,11,7.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-69.0
$GPS2,250918,231709,-2953.3955,3117.4211,19,0.8,19,-24.7,0.8,48.5,10,9.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2943.248,3121.674
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,44.7,20000,-18.2,-9.980,-21.01,2240
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.85,-146.0,72,2136,1477,1386,0.0,0.0,0,76,0.00,0.00,-55.67,0.000,16386,0.000,0.000,72,2136,2984,2998,2970,0,0,0,0,0,0,14.99,28.83,15.00
$GC,78,-0.85,-146.0,73,2137,2999,2971,3.2,-7.5,10,107,12.10,2.40,-7.70,0.000,18948,0.286,0.084,2206,719,3410,3451,3369,0,0,0,0,0,0,14.62,13.88,14.76
$GC,216,-0.85,-146.0,2208,720,3451,3370,33.6,-15.9,37,223,0.03,2.35,0.00,0.000,3078,0.372,0.048,2206,2121,3410,3452,3369,0,0,0,0,0,0,14.69,14.86,14.83
$GC,283,-0.85,-146.0,2206,2120,3454,3370,44.8,-18.1,50,289,0.00,2.40,0.00,0.000,2308,0.000,0.072,2196,3538,3411,3453,3369,0,0,0,0,0,0,15.07,14.82,15.07
$GC,303,-0.85,-146.0,2196,3538,3454,3369,48.9,-20.8,54,310,0.05,2.38,0.00,0.000,3078,0.252,0.041,2214,2104,3411,3453,3369,0,0,0,0,0,0,14.76,14.83,14.90
$GC,370,-0.85,-146.0,2215,2105,3452,3370,60.1,-17.5,67,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2104,3411,3453,3369,0,0,0,0,0,0,15.10,15.11,15.10
$GC,434,-0.85,-146.0,2215,2105,3453,3370,71.2,-17.1,80,441,0.00,2.47,0.00,0.000,260,0.000,0.072,2205,3559,3411,3453,3369,0,0,0,0,0,0,15.10,14.88,15.11
$GC,465,-0.85,-146.0,2204,3560,3454,3370,75.8,-14.7,86,472,0.00,2.35,0.00,0.000,3078,0.000,0.038,2205,2143,3411,3453,3369,0,0,0,0,0,0,14.95,14.91,14.97
$GC,531,-0.85,-146.0,2204,2143,3455,3369,85.1,-15.1,99,537,0.00,2.40,0.00,0.000,2308,0.000,0.073,2204,3545,3410,3451,3369,0,0,0,0,0,0,15.11,14.91,15.11
$GC,561,-0.85,-146.0,2205,3546,3453,3370,89.6,-14.6,105,568,0.00,2.35,0.00,0.000,3078,0.000,0.038,2203,2119,3411,3453,3369,0,0,0,0,0,0,14.97,14.92,14.97
$GC,628,-0.85,-146.0,2203,2120,3455,3370,98.5,-13.3,118,634,0.00,2.33,0.00,0.000,2564,0.000,0.066,2204,724,3411,3453,3369,0,0,0,0,0,0,15.14,14.87,15.14
$GC,658,-0.85,-146.0,2203,725,3455,3369,102.9,-14.3,124,665,0.05,2.33,0.00,0.000,3078,0.264,0.048,2208,2124,3411,3454,3369,0,0,0,0,0,0,14.78,14.94,14.88
$GC,724,-0.85,-146.0,2208,2125,3453,3370,111.4,-13.1,137,731,0.00,2.45,0.00,0.000,2308,0.000,0.073,2199,3542,3411,3453,3369,0,0,0,0,0,0,15.14,14.90,15.14
$GC,755,-0.85,-146.0,2199,3543,3455,3370,115.4,-13.4,143,762,0.00,2.33,0.00,0.000,3078,0.000,0.038,2199,2141,3411,3453,3369,0,0,0,0,0,0,14.99,14.95,15.00
$GC,821,-0.85,-146.0,2199,2141,3456,3370,123.9,-13.4,156,827,0.05,0.00,0.00,0.000,2054,0.344,0.000,2210,2139,3411,3454,3369,0,0,0,0,0,0,14.82,15.00,14.97
$GC,887,-0.85,-146.0,2211,2139,3453,3370,132.4,-12.8,169,893,0.00,2.35,0.00,0.000,2564,0.000,0.066,2210,724,3411,3454,3369,0,0,0,0,0,0,15.14,14.94,15.14
$GC,912,-0.85,-146.0,2211,724,3452,3369,136.0,-13.8,174,919,0.00,2.35,0.00,0.000,3078,0.000,0.050,2210,2134,3411,3454,3369,0,0,0,0,0,0,15.00,14.95,15.01
$GC,979,-0.85,-146.0,2211,2135,3453,3370,145.6,-13.9,187,985,0.00,2.38,0.00,0.000,2308,0.000,0.074,2210,3538,3411,3453,3369,0,0,0,0,0,0,15.16,14.92,15.16
$GC,1040,-0.85,-146.0,2211,3538,3453,3370,153.4,-12.5,199,1046,0.00,2.30,0.00,0.000,3078,0.000,0.037,2210,2119,3411,3454,3369,0,0,0,0,0,0,15.06,14.98,15.07
$GC,1106,-0.85,-146.0,2212,2120,3455,3370,161.8,-12.7,212,1112,0.00,2.33,0.00,0.000,2564,0.000,0.065,2211,718,3411,3454,3369,0,0,0,0,0,0,15.15,14.95,15.16
$GC,1126,-0.85,-146.0,2210,719,3455,3370,164.5,-13.0,216,1133,0.00,2.35,0.00,0.000,3078,0.000,0.048,2210,2133,3411,3453,3369,0,0,0,0,0,0,15.00,14.96,15.01
$GC,1192,-0.85,-146.0,2211,2134,3454,3370,172.1,-11.0,229,1198,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2133,3411,3453,3370,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1257,-0.85,-146.0,2211,2134,3454,3370,179.5,-11.4,242,1264,0.00,2.38,0.00,0.000,2308,0.000,0.073,2210,3541,3411,3453,3369,0,0,0,0,0,0,15.15,14.95,15.16
$GC,1313,-0.85,-146.0,2210,3541,3455,3370,185.5,-10.8,253,1319,0.00,2.33,0.00,0.000,3078,0.000,0.037,2210,2132,3411,3453,3369,0,0,0,0,0,0,14.96,14.92,14.98
$GC,1379,-0.85,-146.0,2211,2132,3453,3370,193.3,-11.4,266,1385,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2131,3411,3453,3369,0,0,0,0,0,0,15.17,15.18,15.18
$GC,1444,-0.85,-146.0,2211,2132,3453,3369,200.6,-11.1,279,1449,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2132,3411,3453,3369,0,0,0,0,0,0,15.17,15.17,15.19
$GC,1509,-0.85,-146.0,2211,2133,3453,3370,207.8,-11.8,292,1516,0.00,2.40,0.00,0.000,2564,0.000,0.067,2209,722,3409,3450,3369,0,0,0,0,0,0,15.19,14.92,15.19
$GC,1525,-0.85,-146.0,2211,722,3454,3369,209.9,-11.5,295,1532,0.00,2.33,0.00,0.000,3078,0.000,0.048,2210,2125,3411,3453,3369,0,0,0,0,0,0,15.02,14.97,15.02
$GC,1592,-0.85,-146.0,2209,2126,3455,3370,217.5,-11.5,308,1598,0.00,2.40,0.00,0.000,2308,0.000,0.073,2210,3544,3411,3453,3369,0,0,0,0,0,0,15.18,14.97,15.19
$GC,1618,-0.85,-146.0,2211,3545,3453,3370,220.5,-11.7,313,1624,0.00,2.30,0.00,0.000,3078,0.000,0.037,2210,2122,3411,3453,3369,0,0,0,0,0,0,15.02,14.95,15.03
$GC,1684,-0.85,-146.0,2211,2122,3453,3370,228.3,-11.6,326,1689,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2122,3411,3453,3369,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1749,-0.85,-146.0,2210,2122,3455,3370,235.7,-11.9,339,1754,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2121,3411,3453,3369,0,0,0,0,0,0,15.20,15.21,15.21
$GC,1813,-0.85,-146.0,2210,2122,3455,3370,243.6,-11.6,352,1819,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2121,3411,3453,3369,0,0,0,0,0,0,15.20,15.21,15.21
$GC,1879,-0.85,-146.0,2210,2121,3453,3370,250.5,-11.0,365,1884,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2122,3410,3451,3369,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1943,-0.85,-146.0,2209,2122,3453,3369,258.0,-11.1,378,1950,0.00,2.38,0.00,0.000,2564,0.000,0.068,2210,721,3410,3452,3369,0,0,0,0,0,0,15.21,14.97,15.21
$GC,1965,-0.85,-146.0,2210,722,3452,3369,260.3,-11.1,382,1971,0.00,2.30,0.00,0.000,3078,0.000,0.049,2211,2130,3410,3452,3369,0,0,0,0,0,0,15.10,15.02,15.11
$GC,2031,-0.85,-146.0,2211,2131,3452,3368,267.7,-11.3,395,2037,0.00,2.38,0.00,0.000,2308,0.000,0.075,2210,3535,3410,3452,3369,0,0,0,0,0,0,15.20,14.99,15.21
$GC,2071,-0.85,-146.0,2211,3536,3453,3369,272.2,-10.8,403,2078,0.00,2.33,0.00,0.000,3078,0.000,0.037,2210,2129,3410,3452,3368,0,0,0,0,0,0,15.07,14.99,15.06
$GC,2138,-0.85,-146.0,2209,2129,3453,3369,279.6,-11.7,416,2144,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2129,3410,3452,3368,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2203,-0.85,-146.0,2211,2130,3451,3369,287.5,-11.4,429,2209,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2129,3409,3451,3368,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2268,-0.85,-146.0,2210,2129,3453,3369,294.7,-11.8,442,2275,0.00,2.45,0.00,0.000,2308,0.000,0.073,2202,3537,3409,3450,3368,0,0,0,0,0,0,15.22,14.92,15.22
$GC,2294,-0.85,-146.0,2201,3537,3452,3369,298.0,-12.4,447,2301,0.00,2.33,0.00,0.000,3078,0.000,0.038,2202,2122,3408,3450,3367,0,0,0,0,0,0,15.04,14.99,15.05
$GC,2375,-0.85,-146.0,2203,2122,3450,3368,307.9,-12.5,454,2376,0.00,0.00,0.00,0.000,2054,0.000,0.000,2202,2121,3409,3450,3368,0,0,0,0,0,0,15.22,15.23,15.23
$GC,2495,-0.85,-146.0,2201,2122,3451,3369,322.9,-12.4,460,2496,0.00,0.00,0.00,0.000,2054,0.000,0.000,2202,2121,3408,3449,3368,0,0,0,0,0,0,15.25,15.25,15.25
$GC,2615,-0.85,-146.0,2203,2122,3448,3368,337.8,-12.3,466,2620,0.00,2.45,0.00,0.000,2308,0.000,0.073,2193,3535,3408,3448,3368,0,0,0,0,0,0,15.25,15.01,15.25
$GC,2645,-0.85,-146.0,2194,3536,3449,3370,340.3,-12.4,467,2651,0.08,2.30,0.00,0.000,3078,0.207,0.039,2211,2134,3408,3448,3368,0,0,0,0,0,0,14.94,15.02,15.04
$GC,2775,-0.85,-146.0,2210,2135,3450,3368,357.3,-12.1,474,2776,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,2134,3407,3448,3367,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2895,-0.85,-146.0,2210,2135,3450,3367,371.7,-12.2,480,2896,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,2134,3407,3448,3367,0,0,0,0,0,0,15.26,15.26,15.26
$GC,3015,-0.85,-146.0,2212,2135,3447,3366,386.7,-12.6,486,3016,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,2134,3407,3448,3366,0,0,0,0,0,0,15.30,15.28,15.28
$STATE,3054,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3054,begin apogee
$GC,3058,-0.19,0.0,2212,1906,3447,3366,391.6,-12.5,488,3177,1.05,0.00,112.03,1.523,10246,0.155,0.000,2424,1905,2812,2850,2774,0,0,0,0,0,0,15.00,14.49,13.94
$STATE,3178,end apogee,CONTROL_FINISHED_OK
$STATE,3178,begin climb
$GC,3179,0.85,146.0,2424,1906,2852,2775,396.8,0.0,494,3302,1.55,2.45,113.82,1.494,10756,0.090,0.076,2760,512,2214,2258,2170,0,0,0,0,0,0,14.49,14.33,13.82
$GC,3331,1.06,314.8,2761,512,2257,2171,397.0,2.2,501,3480,0.20,2.38,138.18,1.472,11270,0.069,0.044,2829,1916,1527,1597,1457,0,0,0,0,0,0,14.51,14.50,13.81
$GC,3597,1.06,314.8,2828,1917,1593,1454,357.2,17.4,515,3602,0.00,2.40,0.00,0.000,260,0.000,0.065,2829,3294,1522,1590,1454,0,0,0,0,0,0,14.85,14.64,14.85
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$STATE,6064,end climb,SURFACE_DEPTH_REACHED
$STATE,6064,begin surface coast
$FINISH,0.1,1.024245
$STATE,6090,end surface coast,CONTROL_FINISHED_OK
$STATE,6090,begin surface
$SM_CCo,6168,0.00,0.000,0,0,1330,363.53
$SM_GC,0.81,12.57,0.35,0.00,0.063,0.067,0.000,155,2145,1330,-7.27,-1.02,363.53,0,0,0,0,0,0,14.85,14.93,14.96
$IRIDIUM_FIX,-2942.59,3120.00,250918,230153
$TT8_MAMPS,0.036701,0.96621
$HUMID,51.65
$INTERNAL_PRESSURE,9.08202
$TCM_TEMP,22.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.2
$ALTIM_BOTTOM_PING,361.9,39.3
$SC_FREEKB,3838976
$24V_AH,13.81,45.854
$10V_AH,13.50,0.000
$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,28.000,156.975,400.250,0.000,0.000,56.709,64.807,687.028,7.750,0.000,20.678,0.000,3347.918,740.087,2985.669,220.999,0.000,1614.421,0.000,1507.952,0.000,53.442,0.000
$DEVICE_MAMPS,372.555,84.150,1523.115,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6163.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.317,0.000,0.000,0.000
$MEM,343528
$DATA_FILE_SIZE,33358,956
$CAP_FILE_SIZE,203188,0
$CFSIZE,1023623168,1000210432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260918,010046,-2952.169,3117.774,19,0.9,20,-24.7,0.0,351.5,8,9.9