version: 66.12
revision: CLOWNFISH
glider: 573
mission: 19
dive: 2
start: 10 19 117 14 36 53
data:
$ID,573
$MISSION,19
$DIVE,2
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,100
$D_ABORT,1050
$D_NO_BLEED,500
$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,33
$T_MISSION,43
$T_ABORT,1440
$T_TURN,225
$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,155
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52788
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,150
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3858
$C_PITCH,2954
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1967
$C_ROLL_CLIMB,1967
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,3250
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-84.138329
$PRESSURE_SLOPE,0.00011693723
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,55
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$GPS1,191017,142913,-5247.4585,-4009.5986,26,1.6,29,-6.7,0.5,284.2,4,10.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.6
$GPS2,191017,143631,-5247.4561,-4009.5984,23,1.9,23,-6.7,0.0,0.0,3,39.3
$SPEED_LIMITS,0.175,0.265
$TGT_NAME,GOCART5
$TGT_LATLONG,-5251.486,-4003.546
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,144.5,10075,-18.1,-10.101,-20.87,2287
$D_GRID,100
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.79,-150.8,223,1968,2665,2553,0.0,0.0,0,86,0.00,0.00,-63.80,0.000,16390,0.000,0.000,217,1968,3865,3981,3749,0,0,0,0,0,0,25.87,25.08,25.89
$GC,88,-0.79,-150.8,216,1969,3982,3749,3.7,-5.8,9,106,11.23,2.92,0.00,0.000,2308,0.282,0.158,2677,3422,3868,3990,3746,0,0,0,0,0,0,25.20,25.34,25.39
$GC,331,-1.00,-150.8,2676,3421,4002,3736,31.0,-6.7,49,340,0.15,2.60,0.00,0.000,5126,0.090,0.093,2613,1960,3869,4002,3736,0,0,0,0,0,0,25.67,25.61,25.72
$GC,391,-1.06,-150.8,2613,1960,4002,3736,36.5,-10.5,58,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1960,3869,4002,3736,0,0,0,0,0,0,26.08,26.10,26.09
$GC,448,-1.10,-150.8,2613,1960,4002,3736,42.5,-10.3,67,457,0.08,0.00,0.00,0.000,4102,0.137,0.000,2578,1960,3869,4002,3736,0,0,0,0,0,0,25.79,25.86,25.84
$GC,507,-1.10,-150.8,2578,1960,4002,3736,49.6,-13.2,76,516,0.05,2.75,0.00,0.000,2308,0.230,0.141,2582,3400,3869,4002,3736,0,0,5,0,0,0,25.77,25.60,25.88
$GC,554,-1.10,-150.8,2581,3399,4003,3736,55.6,-12.9,83,562,0.00,2.50,0.00,0.000,3078,0.000,0.093,2582,1974,3869,4003,3736,0,0,2,0,0,0,25.79,25.68,25.83
$GC,613,-1.10,-150.8,2582,1974,4003,3736,63.2,-12.9,92,621,0.05,0.00,0.00,0.000,2054,0.236,0.000,2595,1974,3869,4003,3736,0,0,0,0,0,0,25.81,25.92,25.90
$GC,670,-1.10,-150.8,2594,1974,4003,3735,70.4,-12.4,101,679,0.00,2.75,0.00,0.000,2308,0.000,0.136,2585,3410,3869,4002,3736,0,0,1,0,0,0,26.20,25.66,26.21
$GC,716,-1.10,-150.8,2584,3410,4003,3735,75.9,-12.1,108,724,0.00,2.55,0.00,0.000,3078,0.000,0.095,2585,1964,3869,4003,3735,0,0,1,0,0,0,25.83,25.76,25.88
$GC,775,-1.10,-150.8,2584,1964,4002,3735,83.1,-12.9,117,783,0.00,0.00,0.00,0.000,2054,0.000,0.000,2585,1964,3869,4003,3735,0,0,0,0,0,0,26.23,26.23,26.23
$GC,831,-1.10,-150.8,2584,1964,4002,3735,90.5,-12.4,126,839,0.00,0.00,0.00,0.000,2054,0.000,0.000,2585,1964,3869,4003,3735,0,0,0,0,0,0,26.25,26.25,26.25
$GC,889,-1.10,-150.8,2584,1964,4003,3735,97.7,-12.5,135,897,0.00,0.00,0.00,0.000,2054,0.000,0.000,2584,1964,3869,4003,3735,0,0,0,0,0,0,26.27,26.27,26.27
$STATE,910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,910,begin apogee
$GC,913,-0.19,0.0,2585,1964,4003,3735,100.6,-12.4,138,1036,0.98,0.00,117.57,0.805,10246,0.171,0.000,2880,1960,3249,3358,3141,0,0,0,0,0,0,25.66,24.47,23.88
$STATE,1037,end apogee,CONTROL_FINISHED_OK
$STATE,1037,begin climb
$GC,1038,0.79,150.8,2880,1960,3358,3142,105.8,0.0,157,1172,0.93,2.83,123.07,0.758,10756,0.082,0.126,3210,540,2633,2733,2534,0,0,0,0,0,0,24.58,24.27,23.72
$GC,1337,0.56,150.8,3210,540,2724,2533,82.3,12.9,206,1346,0.25,2.70,0.00,0.000,5126,0.175,0.101,3140,1993,2627,2723,2532,0,0,2,0,0,0,25.01,25.06,25.13
$GC,1397,0.47,150.8,3139,1993,2724,2531,75.7,10.3,215,1405,0.08,0.00,0.00,0.000,4102,0.198,0.000,3113,1993,2627,2723,2531,0,0,0,0,0,0,25.18,25.32,25.27
$GC,1454,0.48,162.9,3113,1993,2724,2530,70.2,9.6,224,1471,0.00,2.72,10.32,0.689,12804,0.000,0.116,3122,545,2585,2678,2493,0,0,1,0,0,0,25.68,24.97,24.55
$GC,1504,0.46,178.4,3122,544,2674,2493,65.8,9.4,231,1529,0.05,2.67,14.62,0.692,13318,0.188,0.099,3108,1996,2521,2610,2433,0,0,1,0,0,0,25.15,25.18,24.43
$GC,1580,0.48,213.3,3107,1996,2605,2433,59.0,8.5,242,1612,0.00,0.00,29.77,0.733,8198,0.000,0.000,3108,1996,2380,2467,2293,0,0,0,0,0,0,25.55,24.78,24.22
$GC,1662,0.48,224.0,3107,1996,2457,2292,51.5,9.6,254,1679,0.00,2.75,9.77,0.639,8708,0.000,0.115,3117,544,2336,2418,2255,0,0,0,0,0,0,25.37,24.75,24.32
$GC,1711,0.48,225.3,3117,544,2414,2255,46.8,10.0,261,1720,0.00,2.70,0.00,0.000,5126,0.000,0.099,3117,2003,2333,2413,2254,0,0,3,0,0,0,25.10,24.99,25.15
$GC,1769,0.48,225.3,3117,2004,2411,2255,40.6,11.4,270,1777,0.00,0.00,0.00,0.000,4102,0.000,0.000,3117,2004,2333,2411,2255,0,0,0,0,0,0,25.53,25.55,25.54
$GC,1827,0.48,225.3,3117,2004,2410,2255,34.2,11.7,279,1836,0.00,2.75,0.00,0.000,4612,0.000,0.111,3127,544,2332,2410,2255,0,0,0,0,0,0,25.65,25.21,25.65
$GC,1861,0.48,225.3,3126,544,2409,2255,30.0,11.7,284,1870,0.03,2.67,0.00,0.000,5126,0.201,0.099,3118,1996,2332,2409,2255,0,0,1,0,0,0,25.26,25.25,25.34
$GC,1921,0.48,225.3,3118,1996,2409,2255,23.6,11.0,293,1929,0.00,0.00,0.00,0.000,4102,0.000,0.000,3118,1996,2332,2409,2255,0,0,0,0,0,0,25.76,25.77,25.76
$GC,1977,0.48,225.3,3117,1996,2408,2255,17.0,11.8,302,1985,0.00,0.00,0.00,0.000,4102,0.000,0.000,3118,1996,2331,2407,2255,0,0,0,0,0,0,25.82,25.83,25.83
$GC,2036,0.48,225.3,3117,1996,2406,2255,10.7,10.5,311,2043,0.00,0.00,0.00,0.000,4102,0.000,0.000,3118,1996,2331,2407,2255,0,0,0,0,0,0,25.88,25.88,25.88
$GC,2092,0.50,245.6,3118,1996,2406,2255,4.4,9.2,320,2110,0.00,2.65,9.88,0.062,12548,0.000,0.140,3118,3394,2244,2320,2169,0,0,1,0,0,0,25.93,25.45,25.60
$STATE,2117,end climb,SURFACE_DEPTH_REACHED
$STATE,2117,begin surface coast
$FINISH,0.7,1.023732
$STATE,2124,end surface coast,CONTROL_FINISHED_OK
$STATE,2125,begin surface
$SM_CCo,2201,0.00,0.000,0,0,2236,248.73
$SM_GC,1.43,8.00,2.53,0.00,0.057,0.087,0.000,232,1955,2236,-8.46,0.28,248.73,0,0,1,0,0,0,25.61,25.53,25.68
$IRIDIUM_FIX,-5227.86,-4007.49,191017,143002
$TT8_MAMPS,0.027713,0.327313
$HUMID,59.01
$INTERNAL_PRESSURE,9.14764
$TCM_TEMP,9.10
$XPDR_PINGS,0
$24V_AH,23.72,5.512
$10V_AH,10.11,4.641
$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,21.850,43.050,315.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,24.647,715.577,62.074,343.104,1124.782,32.485,0.000,794.802,0.000,1061.002,0.000,1.001,0.000
$DEVICE_MAMPS,281.520,158.355,804.780,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.960,14.760,2.190,14.010,41.720,52.960,0.000,15.200,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,226.437,1085.206,158.964,1004.155,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,7.490,9.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343272
$DATA_FILE_SIZE,23742,324
$CAP_FILE_SIZE,70713,0
$CFSIZE,2097086464,2091384832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,1,0
$GPS,191017,151430,-5247.761,-4009.504,26,1.6,26,-6.7,0.0,0.0,3,12.2