version: 66.12
revision: CLOWNFISH
glider: 573
mission: 19
dive: 5
start: 10 19 117 17 14 15
data:
$ID,573
$MISSION,19
$DIVE,5
$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,5
$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
$GPS1,191017,170640,-5248.1826,-4009.4976,25,1.2,25,-6.7,0.8,68.2,5,17.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-69.0
$GPS2,191017,171352,-5248.1812,-4009.4961,22,1.0,23,-6.7,0.0,0.0,6,19.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,GOCART5
$TGT_LATLONG,-5251.486,-4003.546
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,139.3,9040,-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,-150.8,214,2084,2290,2227,0.0,0.0,0,95,0.00,0.00,-78.00,0.000,16386,0.000,0.000,212,2086,3798,3897,3700,0,0,0,0,0,0,25.84,28.83,25.86
$GC,97,-0.78,-150.8,212,2085,3899,3700,3.1,-4.2,10,116,11.02,2.78,-1.55,0.000,18692,0.275,0.164,2684,3458,3869,3992,3746,0,0,0,0,0,0,25.22,24.41,25.42
$GC,329,-1.00,-150.8,2684,3458,4004,3739,27.7,-8.1,48,338,0.15,2.40,0.00,0.000,5126,0.096,0.090,2621,2109,3871,4004,3739,0,0,0,0,0,0,25.67,25.60,25.73
$GC,389,-1.05,-150.8,2620,2109,4003,3739,32.6,-9.4,57,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2109,3871,4004,3739,0,0,0,0,0,0,26.06,26.07,26.06
$GC,447,-1.10,-150.8,2620,2109,4004,3738,38.6,-10.7,66,455,0.08,0.00,0.00,0.000,4102,0.126,0.000,2581,2109,3870,4003,3738,0,0,0,0,0,0,25.77,25.85,25.82
$GC,506,-1.07,-150.8,2580,2109,4003,3738,45.6,-13.3,75,515,0.08,2.65,0.00,0.000,2308,0.200,0.145,2598,3464,3871,4004,3739,0,0,2,0,0,0,25.67,25.60,25.75
$GC,540,-1.07,-150.8,2597,3464,4004,3738,50.2,-12.7,80,549,0.00,2.38,0.00,0.000,3078,0.000,0.086,2598,2114,3871,4004,3738,0,0,0,0,0,0,25.79,25.70,25.84
$GC,599,-1.07,-150.8,2597,2114,4004,3738,57.0,-11.3,89,607,0.00,0.00,0.00,0.000,2054,0.000,0.000,2598,2114,3871,4004,3738,0,0,0,0,0,0,26.15,26.15,26.15
$STATE,626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,626,begin apogee
$GC,629,-0.19,0.0,2598,2114,4004,3738,60.3,-11.6,93,754,0.90,0.00,117.88,0.768,10246,0.161,0.000,2874,2111,3251,3358,3145,0,0,0,0,0,0,25.63,24.29,23.87
$STATE,755,end apogee,CONTROL_FINISHED_OK
$STATE,755,begin climb
$GC,757,0.78,150.8,2874,2111,3357,3145,63.9,0.0,109,888,0.95,2.65,120.93,0.728,10756,0.083,0.111,3209,742,2634,2715,2553,0,0,0,0,0,0,24.58,24.10,23.72
$GC,1049,0.56,150.8,3209,742,2705,2554,37.0,13.7,153,1058,0.25,2.53,0.00,0.000,5126,0.172,0.099,3139,2095,2629,2705,2554,0,0,0,0,0,0,24.97,25.03,25.08
$GC,1109,0.46,150.8,3138,2095,2704,2554,30.4,10.9,162,1117,0.08,0.00,0.00,0.000,4102,0.199,0.000,3111,2095,2629,2704,2554,0,0,0,0,0,0,25.14,25.28,25.22
$GC,1167,0.44,174.1,3111,2095,2703,2554,24.9,9.0,171,1185,0.05,2.55,11.23,0.636,12804,0.219,0.107,3106,741,2539,2617,2461,0,0,0,0,0,0,25.31,25.06,24.54
$GC,1228,0.46,202.0,3106,741,2613,2462,19.2,8.8,180,1253,0.00,2.45,13.57,0.622,13318,0.000,0.096,3106,2067,2424,2502,2347,0,0,0,0,0,0,25.27,25.18,24.49
$GC,1304,0.48,243.9,3106,2067,2496,2347,12.3,8.1,191,1336,0.00,2.83,20.35,0.608,8452,0.000,0.139,3106,3489,2251,2318,2185,0,0,0,0,0,0,25.54,24.87,24.44
$GC,1344,0.49,255.7,3106,3489,2315,2185,8.3,9.5,196,1361,0.00,2.42,5.30,0.467,13318,0.000,0.084,3115,2146,2205,2270,2141,0,0,0,0,0,0,25.08,24.98,24.44
$STATE,1391,end climb,SURFACE_DEPTH_REACHED
$STATE,1391,begin surface coast
$FINISH,0.6,1.004286
$STATE,1422,end surface coast,CONTROL_FINISHED_OK
$STATE,1422,begin surface
$SM_CCo,1497,0.00,0.000,0,0,2197,258.30
$SM_GC,1.40,8.20,0.08,0.00,0.061,0.158,0.000,227,2104,2197,-8.46,2.32,258.30,0,0,0,0,0,0,25.25,25.23,25.30
$IRIDIUM_FIX,-5231.40,-4007.06,191017,170310
$TT8_MAMPS,0.026964,0.327313
$HUMID,58.62
$INTERNAL_PRESSURE,9.13787
$TCM_TEMP,9.20
$XPDR_PINGS,0
$24V_AH,23.72,5.811
$10V_AH,10.13,4.770
$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,21.750,25.700,289.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,24.715,456.884,59.987,269.264,766.044,22.935,0.000,625.477,0.000,743.265,0.000,1.002,0.000
$DEVICE_MAMPS,274.635,163.710,768.060,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.960,14.760,2.190,14.010,41.720,52.960,0.000,15.200,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,144.724,733.442,104.731,700.446,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,7.490,9.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343276
$DATA_FILE_SIZE,13701,208
$CAP_FILE_SIZE,52204,0
$CFSIZE,2097086464,2091122688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$INTR,0,627.35,0x212b66,2,24
$GPS,191017,174038,-5248.333,-4009.419,36,2.9,56,-6.7,0.0,54.3,3,12.3