version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 164
start: 9 26 118 7 50 21
data:
$ID,573
$MISSION,22
$DIVE,164
$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,250
$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,61
$R_STBD_OVSHOOT,96
$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
$GPS1,260918,074616,-2948.3711,3120.1611,16,0.8,17,-24.6,0.9,23.8,10,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-65.5
$GPS2,260918,075011,-2948.3223,3120.1653,16,0.8,17,-24.6,0.9,10.8,10,7.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2952.016,3108.463
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,274.6,20000,-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,18,-0.86,-146.0,116,2096,1248,1133,0.0,0.0,0,88,0.00,0.00,-67.22,0.000,16386,0.000,0.000,105,2097,3077,3080,3075,0,0,0,0,0,0,15.16,28.83,15.17
$GC,89,-0.86,-146.0,105,2097,3082,3075,3.8,-10.4,12,113,11.52,2.22,-5.95,0.000,18948,0.269,0.083,2202,739,3408,3447,3369,0,0,0,0,0,0,14.78,14.34,14.91
$GC,152,-0.86,-146.0,2202,740,3449,3369,21.9,-20.2,24,159,0.05,2.20,0.00,0.000,3078,0.271,0.046,2207,2073,3408,3448,3369,0,0,0,0,0,0,14.85,14.97,14.95
$GC,219,-0.86,-146.0,2208,2073,3448,3369,36.3,-22.2,37,225,0.00,2.22,0.00,0.000,2564,0.000,0.066,2207,742,3408,3448,3369,0,0,0,0,0,0,15.20,14.95,15.17
$GC,279,-0.86,-146.0,2207,742,3450,3369,48.3,-18.5,49,285,0.00,2.20,0.00,0.000,3078,0.000,0.049,2207,2072,3408,3448,3369,0,0,0,0,0,0,14.97,14.93,15.00
$GC,345,-0.86,-146.0,2208,2073,3448,3369,59.7,-17.3,62,351,0.00,2.40,0.00,0.000,2308,0.000,0.070,2202,3474,3408,3448,3369,0,0,0,0,0,0,15.18,14.95,15.19
$GC,370,-0.86,-146.0,2201,3474,3449,3370,64.2,-16.4,67,377,0.00,2.17,0.00,0.000,3078,0.000,0.038,2202,2157,3408,3448,3368,0,0,0,0,0,0,15.02,14.98,15.03
$GC,437,-0.86,-146.0,2201,2158,3450,3370,75.4,-16.5,80,442,0.00,0.00,0.00,0.000,2054,0.000,0.000,2202,2155,3408,3448,3369,0,0,0,0,0,0,15.16,15.17,15.17
$GC,501,-0.86,-146.0,2201,2158,3450,3370,85.1,-14.9,93,507,0.00,0.00,0.00,0.000,2054,0.000,0.000,2202,2157,3408,3448,3369,0,0,0,0,0,0,15.18,15.18,15.19
$STATE,540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,540,begin apogee
$GC,544,-0.19,0.0,2203,1894,3455,3369,90.7,-14.0,101,654,1.08,0.00,104.45,1.032,10246,0.156,0.000,2422,1893,2811,2843,2779,0,0,0,0,0,0,14.88,14.60,14.17
$STATE,655,end apogee,CONTROL_FINISHED_OK
$STATE,655,begin climb
$GC,656,0.86,146.0,2422,1893,2846,2780,96.5,0.0,121,772,1.52,2.38,106.60,1.014,10756,0.089,0.068,2759,510,2215,2253,2177,0,0,0,0,0,0,14.60,14.42,14.08
$GC,887,0.95,219.7,2760,511,2248,2178,90.4,6.6,164,948,0.05,2.22,55.90,0.998,11270,0.156,0.041,2804,1863,1914,1966,1863,0,0,0,0,0,0,14.66,14.71,14.17
$GC,1008,0.95,219.7,2804,1863,1965,1860,79.5,10.5,187,1015,0.00,2.42,0.00,0.000,4356,0.000,0.060,2804,3299,1910,1962,1859,0,0,0,0,0,0,14.90,14.71,14.90
$GC,1114,0.96,232.0,2804,3299,1964,1859,67.9,9.4,208,1132,0.00,2.30,10.60,0.899,13318,0.000,0.043,2808,1925,1864,1918,1810,0,0,0,0,0,0,14.87,14.81,14.35
$GC,1191,1.00,261.5,2808,1926,1917,1809,61.3,8.6,223,1220,0.00,2.45,24.12,0.959,8708,0.000,0.073,2808,509,1743,1804,1683,0,0,0,0,0,0,15.01,14.73,14.31
$GC,1234,1.00,261.5,2809,510,1801,1683,57.2,10.0,231,1241,0.00,2.30,0.00,0.000,1030,0.000,0.040,2808,1900,1742,1801,1683,0,0,0,0,0,0,14.81,14.76,14.84
$GC,1301,1.00,261.5,2809,1901,1801,1682,50.1,10.1,244,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1900,1741,1801,1682,0,0,0,0,0,0,15.00,15.01,15.00
$GC,1365,1.04,294.4,2807,1901,1802,1682,44.3,8.5,257,1400,0.00,2.40,26.75,0.948,10500,0.000,0.062,2808,3303,1609,1675,1544,0,0,0,0,0,0,15.04,14.72,14.35
$GC,1409,1.09,335.3,2808,3304,1675,1544,40.7,8.1,265,1449,0.00,2.35,34.05,0.942,11270,0.000,0.044,2811,1909,1443,1512,1375,0,0,0,0,0,0,14.81,14.78,14.24
$GC,1508,1.10,345.2,2811,1910,1511,1372,31.9,9.5,284,1526,0.05,2.42,9.18,0.851,10756,0.251,0.070,2867,508,1402,1471,1334,0,0,0,0,0,0,14.73,14.69,14.32
$GC,1570,1.10,345.2,2867,508,1471,1334,24.6,11.7,296,1577,0.08,2.33,0.00,0.000,5126,0.209,0.041,2849,1919,1400,1468,1333,0,0,0,0,0,0,14.72,14.79,14.81
$GC,1636,1.10,345.2,2849,1920,1470,1333,16.6,12.7,309,1637,0.00,0.00,0.00,0.000,4102,0.000,0.000,2849,1919,1400,1468,1332,0,0,0,0,0,0,15.03,15.03,15.03
$GC,1696,1.10,345.2,2850,1921,1467,1332,9.2,12.9,321,1702,0.00,0.00,0.00,0.000,4102,0.000,0.000,2849,1920,1399,1467,1332,0,0,0,0,0,0,15.06,15.07,15.07
$STATE,1745,end climb,SURFACE_DEPTH_REACHED
$STATE,1745,begin surface coast
$FINISH,0.2,1.011228
$STATE,1771,end surface coast,CONTROL_FINISHED_OK
$STATE,1771,begin surface
$SM_CCo,1850,0.00,0.000,0,0,1395,347.58
$SM_GC,1.03,12.48,0.30,0.00,0.056,0.063,0.000,146,2138,1395,-7.27,-1.47,347.58,0,0,0,0,0,0,14.91,14.95,14.99
$IRIDIUM_FIX,-2937.63,3118.71,260918,074134
$TT8_MAMPS,0.038199,0.919772
$HUMID,45.23
$INTERNAL_PRESSURE,9.23828
$TCM_TEMP,25.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.4
$SC_FREEKB,3836416
$24V_AH,14.08,47.068
$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,26.825,37.675,371.650,0.000,0.000,0.000,0.000,0.000,0.250,0.000,17.875,0.000,731.906,430.025,700.838,40.648,0.000,768.124,0.000,507.666,0.000,2.637,0.000
$DEVICE_MAMPS,270.810,82.620,1031.985,0.000,0.000,0.000,0.000,0.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1758.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.136,0.000,0.000,0.000
$MEM,343564
$DATA_FILE_SIZE,10142,336
$CAP_FILE_SIZE,73885,0
$CFSIZE,1023623168,999669760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260918,082157,-2948.204,3120.092,17,0.8,27,-24.6,0.5,301.0,11,8.6