version: 66.12
revision: CLOWNFISH
glider: 573
mission: 19
dive: 4
start: 10 19 117 16 23 20
data:
$ID,573
$MISSION,19
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,60
$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,20
$T_MISSION,30
$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,2040
$C_ROLL_CLIMB,2081
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,82
$R_STBD_OVSHOOT,11
$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
$GPS1,191017,161621,-5247.9819,-4009.5400,16,1.2,16,-6.7,0.0,0.0,6,23.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-69.0
$GPS2,191017,162257,-5247.9761,-4009.5315,14,1.3,14,-6.7,0.7,159.7,5,26.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,GOCART5
$TGT_LATLONG,-5251.486,-4003.546
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,140.9,9330,-17.9,-10.000,-20.74,2310
$D_GRID,60
$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,-0.78,-150.8,233,2059,2286,2221,0.0,0.0,0,95,0.00,0.00,-77.93,0.000,16386,0.000,0.000,229,2056,3792,3886,3698,0,0,0,0,0,0,25.88,28.83,25.89
$GC,97,-0.78,-150.8,231,2055,3890,3699,3.2,-4.4,10,123,11.05,2.85,-1.67,0.000,18692,0.279,0.174,2681,3452,3870,3994,3746,0,0,3,0,0,0,25.22,24.44,25.44
$GC,388,-0.99,-150.8,2681,3452,4004,3739,34.2,-7.8,58,398,0.15,2.40,0.00,0.000,5126,0.093,0.096,2618,2114,3871,4004,3738,0,0,0,0,0,0,25.73,25.68,25.79
$GC,447,-1.03,-150.8,2617,2114,4004,3738,39.5,-9.9,67,456,0.00,2.67,0.00,0.000,2308,0.000,0.152,2608,3445,3871,4004,3738,0,0,0,0,0,0,26.11,25.57,26.12
$GC,494,-1.07,-150.8,2608,3446,4004,3738,44.4,-10.8,74,502,0.00,2.35,0.00,0.000,3078,0.000,0.086,2609,2115,3871,4004,3738,0,0,0,0,0,0,25.80,25.71,25.83
$GC,551,-1.07,-150.8,2608,2115,4004,3738,50.5,-10.2,83,559,0.00,0.00,0.00,0.000,2054,0.000,0.000,2609,2115,3871,4004,3738,0,0,0,0,0,0,26.15,26.15,26.15
$GC,609,-1.07,-150.8,2608,2115,4004,3738,56.4,-10.0,92,617,0.00,0.00,0.00,0.000,2054,0.000,0.000,2609,2115,3871,4004,3738,0,0,0,0,0,0,26.17,26.17,26.17
$STATE,647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,647,begin apogee
$GC,651,-0.19,0.0,2609,2114,4004,3738,60.6,-10.2,98,774,0.90,0.00,118.30,0.772,10246,0.161,0.000,2884,2112,3250,3357,3143,0,0,0,0,0,0,25.63,24.46,23.88
$STATE,775,end apogee,CONTROL_FINISHED_OK
$STATE,775,begin climb
$GC,776,0.78,150.8,2885,2112,3357,3143,64.7,0.0,114,907,0.90,2.65,120.93,0.730,10756,0.072,0.111,3212,741,2632,2717,2548,0,0,0,0,0,0,24.58,24.10,23.70
$GC,1108,0.55,150.8,3211,741,2707,2550,36.4,13.3,165,1118,0.25,2.50,0.00,0.000,5126,0.172,0.104,3140,2077,2628,2706,2550,0,0,1,0,0,0,25.06,25.08,25.18
$GC,1167,0.45,150.8,3140,2077,2706,2550,29.8,10.1,174,1176,0.10,0.00,0.00,0.000,4102,0.184,0.000,3106,2077,2628,2706,2550,0,0,0,0,0,0,25.19,25.34,25.29
$GC,1227,0.49,214.6,3105,2077,2705,2550,24.9,7.2,183,1266,0.00,0.00,31.58,0.678,10246,0.000,0.000,3106,2077,2372,2450,2295,0,0,0,0,0,0,25.70,24.75,24.39
$GC,1316,0.50,238.1,3105,2077,2443,2295,16.9,9.0,196,1333,0.05,0.00,11.27,0.598,10758,0.143,0.000,3135,2077,2277,2347,2207,0,0,0,0,0,0,25.24,24.96,24.44
$GC,1383,0.50,238.1,3135,2077,2339,2207,9.9,10.5,206,1393,0.05,2.53,0.00,0.000,4612,0.199,0.109,3128,742,2273,2339,2207,0,0,0,0,0,0,25.19,25.06,25.26
$GC,1436,0.50,238.1,3128,742,2336,2207,3.9,10.7,214,1444,0.00,2.53,0.00,0.000,5126,0.000,0.110,3128,2072,2271,2336,2207,0,0,0,0,0,0,25.27,25.15,25.32
$STATE,1451,end climb,SURFACE_DEPTH_REACHED
$STATE,1451,begin surface coast
$FINISH,0.6,1.017351
$STATE,1482,end surface coast,CONTROL_FINISHED_OK
$STATE,1483,begin surface
$SM_CCo,1557,0.00,0.000,0,0,2269,240.64
$SM_GC,1.50,8.07,0.00,0.00,0.054,0.000,0.000,223,2072,2269,-8.46,0.90,240.64,0,0,0,0,0,0,25.41,25.67,25.46
$IRIDIUM_FIX,-5227.86,-4002.47,191017,161322
$TT8_MAMPS,0.026964,0.296604
$HUMID,58.86
$INTERNAL_PRESSURE,9.14764
$TCM_TEMP,9.10
$XPDR_PINGS,0
$24V_AH,23.70,5.709
$10V_AH,10.15,4.727
$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,21.525,20.475,282.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,15.797,480.687,60.321,259.194,803.404,22.461,0.000,615.051,0.000,789.509,0.000,1.001,0.000
$DEVICE_MAMPS,279.225,173.655,771.885,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.960,14.760,2.190,14.010,41.720,52.960,0.000,15.200,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,154.310,779.829,113.849,744.576,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,7.490,9.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343264
$DATA_FILE_SIZE,13678,221
$CAP_FILE_SIZE,51610,0
$CFSIZE,2097086464,2091220992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,1,0
$GPS,191017,165005,-5248.150,-4009.505,19,1.2,19,-6.7,0.6,33.7,5,25.6