version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 163
start: 9 26 118 7 3 0
data:
$ID,573
$MISSION,22
$DIVE,163
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,45
$T_ABORT,60
$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,303
$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,86
$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
$GPS1,260918,063948,-2949.0928,3120.1262,14,1.0,17,-24.7,0.3,0.0,9,8.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.1
$GPS2,260918,070250,-2948.8018,3120.1577,24,0.9,27,-24.6,0.0,10.3,10,9.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2942.920,3109.729
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,327.6,20000,-18.3,-10.000,-21.04,2236
$D_GRID,90
$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,19,-0.86,-146.0,73,2168,1403,1308,0.0,0.0,0,77,0.00,0.00,-56.35,0.000,16386,0.000,0.000,72,2167,2920,2929,2912,0,0,0,0,0,0,15.02,28.83,15.03
$GC,79,-0.86,-146.0,73,2168,2930,2913,3.2,-6.7,10,107,12.00,2.45,-9.27,0.000,18948,0.280,0.085,2205,710,3410,3453,3368,0,0,0,0,0,0,14.66,13.88,14.79
$GC,141,-0.86,-146.0,2205,711,3455,3369,19.8,-19.6,22,148,0.05,2.30,0.00,0.000,3078,0.280,0.047,2208,2084,3411,3454,3368,0,0,0,0,0,0,14.73,14.88,14.85
$GC,209,-0.86,-146.0,2207,2086,3456,3369,33.5,-21.5,35,214,0.00,2.45,0.00,0.000,2308,0.000,0.067,2198,3537,3411,3454,3368,0,0,0,0,0,0,15.08,14.83,15.08
$GC,284,-0.86,-146.0,2199,3538,3454,3369,50.3,-17.7,50,291,0.05,2.33,0.00,0.000,3078,0.330,0.040,2209,2104,3411,3454,3368,0,0,0,0,0,0,14.78,14.90,14.93
$GC,351,-0.86,-146.0,2210,2105,3454,3369,61.6,-17.0,63,357,0.00,2.45,0.00,0.000,2308,0.000,0.072,2207,3538,3411,3454,3368,0,0,0,0,0,0,15.11,14.90,15.11
$GC,376,-0.86,-146.0,2208,3539,3454,3369,66.1,-16.8,68,382,0.00,2.33,0.00,0.000,3078,0.000,0.039,2207,2134,3414,3454,3374,0,0,0,0,0,0,14.97,14.92,14.97
$GC,443,-0.86,-146.0,2207,2135,3456,3369,77.0,-15.8,81,448,0.00,2.35,0.00,0.000,2564,0.000,0.066,2207,720,3411,3454,3368,0,0,0,0,0,0,15.12,14.88,15.12
$GC,462,-0.86,-146.0,2206,720,3456,3369,80.4,-15.8,85,469,0.00,2.35,0.00,0.000,3078,0.000,0.049,2206,2131,3409,3450,3368,0,0,0,0,0,0,14.97,14.92,15.00
$STATE,527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,528,begin apogee
$GC,532,-0.19,0.0,2208,1898,3454,3369,90.2,-14.0,98,647,1.05,0.00,106.43,1.045,10246,0.158,0.000,2421,1897,2811,2843,2779,0,0,0,0,0,0,14.85,14.46,14.12
$STATE,648,end apogee,CONTROL_FINISHED_OK
$STATE,648,begin climb
$GC,649,0.86,146.0,2421,1897,2845,2779,96.1,0.0,119,765,1.55,2.42,107.40,1.027,10756,0.093,0.071,2753,523,2214,2254,2175,0,0,0,0,0,0,14.56,14.41,14.04
$GC,794,0.97,241.1,2753,524,2251,2176,94.6,5.6,145,873,0.12,2.35,72.80,1.015,11270,0.083,0.041,2812,1931,1829,1885,1773,0,0,0,0,0,0,14.55,14.54,14.06
$GC,932,0.97,241.1,2812,1932,1883,1769,79.6,12.7,171,939,0.00,2.33,0.00,0.000,4356,0.000,0.063,2813,3295,1825,1882,1768,0,0,0,0,0,0,14.80,14.62,14.80
$GC,948,0.97,241.1,2812,3295,1883,1769,77.6,13.4,174,955,0.05,2.33,0.00,0.000,5126,0.258,0.044,2810,1924,1824,1881,1767,0,0,0,0,0,0,14.55,14.66,14.66
$GC,1015,0.97,241.1,2809,1925,1882,1767,69.7,11.7,187,1021,0.00,2.42,0.00,0.000,4612,0.000,0.074,2810,506,1822,1879,1766,0,0,0,0,0,0,14.92,14.70,14.92
$GC,1040,0.97,241.1,2809,507,1880,1767,67.1,10.5,192,1047,0.00,2.30,0.00,0.000,5126,0.000,0.041,2810,1899,1822,1878,1766,0,0,0,0,0,0,14.78,14.74,14.80
$GC,1107,0.99,257.8,2811,1899,1878,1767,60.6,9.2,205,1124,0.00,0.00,14.18,0.903,8198,0.000,0.000,2810,1899,1759,1820,1699,0,0,0,0,0,0,15.00,14.74,14.31
$GC,1184,1.00,261.4,2811,1900,1818,1698,52.8,9.8,220,1195,0.00,2.40,3.97,0.696,8452,0.000,0.063,2810,3304,1746,1807,1686,0,0,0,0,0,0,14.98,14.77,14.33
$GC,1250,1.00,261.4,2811,3305,1806,1685,46.4,10.2,233,1257,0.00,2.33,0.00,0.000,1030,0.000,0.045,2812,1901,1745,1806,1684,0,0,0,0,0,0,14.90,14.83,14.92
$GC,1317,1.05,306.1,2813,1902,1806,1684,40.4,7.9,246,1361,0.00,2.40,36.92,0.957,10756,0.000,0.074,2814,512,1563,1630,1497,0,0,0,0,0,0,15.06,14.65,14.30
$GC,1376,1.16,394.3,2814,512,1631,1497,36.2,5.9,257,1454,0.12,2.28,71.60,0.959,11270,0.124,0.040,2877,1919,1203,1271,1135,0,0,0,0,0,0,14.77,14.74,14.15
$GC,1513,1.16,394.3,2876,1920,1267,1127,18.8,14.4,283,1520,0.05,2.38,0.00,0.000,4356,0.321,0.061,2866,3296,1198,1270,1126,0,0,0,0,0,0,14.60,14.63,14.74
$GC,1534,1.16,394.3,2866,3296,1272,1126,16.2,12.1,287,1541,0.00,2.35,0.00,0.000,5126,0.000,0.044,2870,1911,1197,1270,1125,0,0,0,0,0,0,14.72,14.68,14.73
$GC,1601,1.16,394.3,2872,1911,1272,1125,6.5,15.1,300,1607,0.00,2.40,0.00,0.000,4612,0.000,0.076,2869,503,1197,1270,1124,0,0,0,0,0,0,14.97,14.76,14.98
$GC,1621,1.16,394.3,2870,503,1270,1125,3.3,15.6,304,1628,0.00,2.30,0.00,0.000,5126,0.000,0.036,2869,1913,1197,1270,1124,0,0,0,0,0,0,14.84,14.83,14.86
$STATE,1631,end climb,SURFACE_DEPTH_REACHED
$STATE,1631,begin surface coast
$FINISH,0.2,1.012018
$STATE,1646,end surface coast,CONTROL_FINISHED_OK
$STATE,1646,begin surface
$SM_CCo,1725,0.00,0.000,0,0,1192,397.38
$SM_GC,1.04,12.65,0.30,0.00,0.050,0.054,0.000,129,2175,1192,-7.31,-1.58,397.38,0,0,0,0,0,0,14.84,14.89,14.90
$IRIDIUM_FIX,-2937.63,3120.83,260918,065314
$TT8_MAMPS,0.036701,0.722036
$HUMID,45.43
$INTERNAL_PRESSURE,9.19921
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.2
$SC_FREEKB,3836928
$24V_AH,13.88,46.899
$10V_AH,13.91,0.000
$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,27.700,52.625,413.300,0.000,0.000,103.224,82.973,731.210,0.250,0.000,28.049,0.000,791.655,466.895,1691.929,138.938,0.000,802.738,0.000,465.340,0.000,2.633,0.000
$DEVICE_MAMPS,329.715,84.915,1044.990,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1723.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.082,0.000,0.000,0.000
$MEM,343552
$DATA_FILE_SIZE,10124,309
$CAP_FILE_SIZE,77661,0
$CFSIZE,1023623168,999768064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260918,073229,-2948.536,3120.157,17,0.8,25,-24.6,0.2,358.3,10,9.7