version: 66.12
revision: CLOWNFISH
glider: 573
mission: 19
dive: 6
start: 10 19 117 18 5 25
data:
$ID,573
$MISSION,19
$DIVE,6
$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,12
$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
$GPS1,191017,175620,-5248.4512,-4009.4272,27,0.8,31,-6.7,0.0,0.0,9,30.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-68.7
$GPS2,191017,180502,-5248.3945,-4009.4014,37,1.2,37,-6.7,0.5,253.5,6,14.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,GOCART5
$TGT_LATLONG,-5251.486,-4003.546
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,137.9,8698,-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,-150.8,211,2106,2216,2157,0.0,0.0,0,102,0.00,0.00,-83.62,0.000,16390,0.000,0.000,207,2106,3867,3982,3752,0,0,0,0,0,0,25.88,24.52,25.89
$GC,104,-0.78,-150.8,207,2107,3985,3752,3.9,-6.7,11,122,11.23,2.65,0.00,0.000,2308,0.281,0.145,2680,3454,3870,3991,3749,0,0,0,0,0,0,25.24,25.37,25.43
$GC,364,-0.98,-150.8,2679,3453,4003,3740,31.9,-7.6,54,373,0.15,2.38,0.00,0.000,5126,0.097,0.086,2618,2109,3871,4003,3740,0,0,0,0,0,0,25.70,25.68,25.76
$GC,424,-1.02,-150.8,2617,2109,4003,3740,37.4,-10.4,63,432,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,2109,3871,4003,3740,0,0,0,0,0,0,26.10,26.10,26.10
$GC,481,-1.06,-150.8,2617,2109,4003,3740,43.4,-10.4,72,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2109,3871,4003,3740,0,0,0,0,0,0,26.11,26.13,26.12
$GC,540,-1.10,-150.8,2617,2109,4003,3740,49.4,-10.2,81,549,0.08,2.60,0.00,0.000,4356,0.132,0.140,2569,3452,3872,4004,3740,0,0,1,0,0,0,25.82,25.63,25.86
$GC,592,-1.05,-150.8,2569,3452,4003,3740,55.9,-12.7,89,602,0.15,2.38,0.00,0.000,3078,0.182,0.088,2614,2109,3872,4004,3740,0,0,0,0,0,0,25.65,25.72,25.77
$STATE,632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,632,begin apogee
$GC,635,-0.19,0.0,2613,2109,4003,3740,60.6,-10.7,95,758,0.88,0.00,118.28,0.770,10246,0.154,0.000,2886,2107,3250,3356,3144,0,0,0,0,0,0,25.65,24.46,23.87
$STATE,759,end apogee,CONTROL_FINISHED_OK
$STATE,759,begin climb
$GC,760,0.78,150.8,2886,2107,3356,3144,65.4,0.0,111,892,0.90,2.65,120.62,0.731,10756,0.069,0.111,3217,742,2634,2713,2556,0,0,0,0,0,0,24.58,24.08,23.69
$GC,953,0.55,150.8,3217,742,2706,2557,54.4,12.7,138,963,0.28,2.50,0.00,0.000,5126,0.168,0.094,3140,2075,2631,2706,2557,0,0,0,0,0,0,24.68,24.72,24.78
$GC,1012,0.46,150.8,3139,2075,2704,2557,47.9,10.9,147,1020,0.08,0.00,0.00,0.000,4102,0.193,0.000,3112,2075,2630,2704,2557,0,0,0,0,0,0,24.91,25.06,25.01
$GC,1071,0.48,178.4,3111,2075,2703,2557,42.6,8.8,156,1103,0.00,2.55,23.30,0.703,12804,0.000,0.108,3121,743,2521,2594,2448,0,0,0,0,0,0,25.46,24.63,24.23
$GC,1170,0.48,178.4,3120,743,2592,2448,33.1,10.0,171,1178,0.00,2.47,0.00,0.000,5126,0.000,0.096,3121,2074,2519,2591,2448,0,0,0,0,0,0,25.10,25.01,25.15
$GC,1227,0.48,178.4,3120,2074,2590,2448,27.3,10.6,180,1235,0.00,0.00,0.00,0.000,4102,0.000,0.000,3120,2074,2519,2590,2448,0,0,0,0,0,0,25.52,25.53,25.52
$GC,1284,0.48,178.4,3120,2074,2589,2448,21.4,11.5,189,1292,0.00,0.00,0.00,0.000,4102,0.000,0.000,3120,2074,2518,2589,2448,0,0,0,0,0,0,25.61,25.62,25.62
$GC,1343,0.45,185.4,3120,2074,2588,2448,15.4,9.7,198,1352,0.05,0.00,2.97,0.345,12294,0.220,0.000,3106,2075,2494,2565,2424,0,0,0,0,0,0,25.35,25.10,24.68
$GC,1403,0.45,185.4,3106,2074,2563,2424,9.0,11.7,207,1411,0.00,2.45,0.00,0.000,4612,0.000,0.101,3115,747,2493,2563,2424,0,0,0,0,0,0,25.74,25.33,25.75
$GC,1432,0.45,185.4,3114,747,2564,2424,5.9,10.4,211,1442,0.03,2.42,0.00,0.000,5126,0.203,0.096,3107,2077,2492,2561,2423,0,0,1,0,0,0,25.34,25.37,25.42
$STATE,1462,end climb,SURFACE_DEPTH_REACHED
$STATE,1462,begin surface coast
$FINISH,0.6,1.023297
$STATE,1494,end surface coast,CONTROL_FINISHED_OK
$STATE,1494,begin surface
$SM_CCo,1568,0.00,0.000,0,0,2490,186.42
$SM_GC,1.85,7.95,0.00,0.00,0.056,0.000,0.000,244,2077,2490,-8.41,1.05,186.42,0,0,0,0,0,0,25.51,25.83,25.58
$IRIDIUM_FIX,-5227.86,-4012.51,191017,175305
$TT8_MAMPS,0.026964,0.296604
$HUMID,58.70
$INTERNAL_PRESSURE,9.16717
$TCM_TEMP,9.10
$XPDR_PINGS,0
$24V_AH,23.69,5.909
$10V_AH,10.17,4.816
$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,21.750,25.050,265.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,37.741,491.806,60.024,260.450,822.712,24.020,0.000,623.133,0.000,785.527,0.000,1.002,0.000
$DEVICE_MAMPS,280.755,144.585,769.590,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.960,14.760,2.190,14.010,41.720,52.960,0.000,15.200,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,153.219,777.064,112.778,741.192,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,7.490,9.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343304
$DATA_FILE_SIZE,13798,220
$CAP_FILE_SIZE,53871,0
$CFSIZE,2097086464,2091024384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,191017,183222,-5248.619,-4009.246,19,1.2,19,-6.7,0.0,0.0,7,53.5