version: 66.12
revision: CLOWNFISH
glider: 573
mission: 19
dive: 7
start: 10 19 117 18 48 55
data:
$ID,573
$MISSION,19
$DIVE,7
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,220
$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,40
$T_MISSION,50
$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,1946
$C_ROLL_CLIMB,2105
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,82
$R_STBD_OVSHOOT,8
$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
$GPS1,191017,184321,-5248.6230,-4009.2246,22,1.1,22,-6.7,0.5,197.3,8,61.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-68.3
$GPS2,191017,184815,-5248.6279,-4009.2146,24,1.2,24,-6.7,0.0,0.0,6,42.6
$SPEED_LIMITS,0.318,0.328
$TGT_NAME,GOCART5
$TGT_LATLONG,-5251.486,-4003.546
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,136.6,8258,-27.6,-18.333,-29.24,1389
$D_GRID,220
$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,14,-1.15,-150.8,225,2001,2526,2443,0.0,0.0,0,86,0.00,0.00,-68.05,0.000,16390,0.000,0.000,224,2003,3867,3982,3753,0,0,0,0,0,0,25.85,24.51,25.86
$GC,89,-1.15,-150.8,223,2003,3984,3753,3.8,-6.4,9,106,10.30,2.70,0.00,0.000,2308,0.270,0.142,2564,3391,3869,3991,3748,0,0,0,0,0,0,25.24,25.40,25.42
$GC,261,-1.37,-150.8,2563,3390,4002,3741,32.4,-13.3,37,270,0.15,2.45,0.00,0.000,5126,0.089,0.089,2506,2011,3871,4002,3741,0,0,0,0,0,0,25.64,25.60,25.70
$GC,320,-1.46,-150.8,2506,2011,4002,3741,41.3,-16.5,46,329,0.08,0.00,0.00,0.000,4102,0.150,0.000,2473,2011,3871,4001,3741,0,0,0,0,0,0,25.66,25.76,25.73
$GC,378,-1.50,-150.8,2472,2011,4001,3741,51.5,-17.1,55,387,0.00,2.62,0.00,0.000,260,0.000,0.135,2463,3390,3871,4002,3741,0,0,3,0,0,0,26.05,25.56,26.06
$GC,442,-1.50,-150.8,2462,3391,4002,3741,63.3,-18.7,65,450,0.00,2.40,0.00,0.000,3078,0.000,0.086,2463,2017,3871,4002,3741,0,0,1,0,0,0,25.77,25.67,25.80
$GC,500,-1.50,-150.8,2463,2017,4001,3741,73.7,-18.4,74,508,0.00,0.00,0.00,0.000,2054,0.000,0.000,2463,2017,3871,4002,3741,0,0,0,0,0,0,26.11,26.11,26.11
$GC,557,-1.50,-150.8,2463,2017,4002,3741,84.1,-18.4,83,566,0.00,2.60,0.00,0.000,2308,0.000,0.130,2454,3390,3871,4002,3741,0,0,2,0,0,0,26.14,25.65,26.13
$GC,664,-1.50,-150.8,2454,3390,4003,3740,104.9,-18.8,101,672,0.03,2.40,0.00,0.000,3078,0.265,0.085,2460,2014,3871,4002,3740,0,0,0,0,0,0,25.71,25.77,25.79
$GC,795,-1.50,-150.8,2460,2014,4002,3740,128.7,-18.2,126,802,0.00,2.55,0.00,0.000,2308,0.000,0.128,2451,3386,3871,4003,3740,0,0,1,0,0,0,26.22,25.73,26.22
$GC,905,-1.50,-150.8,2450,3386,4003,3740,149.7,-18.8,147,913,0.05,2.35,0.00,0.000,3078,0.249,0.085,2463,2013,3871,4003,3740,0,0,0,0,0,0,25.75,25.84,25.92
$GC,1036,-1.50,-150.8,2463,2013,4003,3740,173.4,-18.1,172,1042,0.00,0.00,0.00,0.000,2054,0.000,0.000,2463,2013,3871,4003,3740,0,0,0,0,0,0,26.28,26.29,26.29
$GC,1167,-1.53,-150.8,2462,2012,4003,3740,196.1,-17.0,197,1174,0.00,2.50,0.00,0.000,260,0.000,0.125,2454,3387,3871,4003,3740,0,0,1,0,0,0,26.30,25.84,26.32
$GC,1237,-1.53,-150.8,2453,3387,4003,3740,208.8,-17.4,210,1244,0.00,2.35,0.00,0.000,3078,0.000,0.082,2454,2007,3871,4003,3740,0,0,0,0,0,0,26.08,25.93,26.11
$STATE,1307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1307,begin apogee
$GC,1310,-0.19,0.0,2454,2107,4003,3740,220.7,-16.7,223,1439,1.50,0.00,120.20,0.871,10246,0.190,0.000,2885,2107,3250,3357,3143,0,0,0,0,0,0,25.75,24.22,23.79
$STATE,1440,end apogee,CONTROL_FINISHED_OK
$STATE,1440,begin climb
$GC,1441,1.15,150.8,2885,2107,3357,3143,225.4,0.0,243,1575,1.23,2.62,123.18,0.829,10756,0.068,0.108,3331,762,2633,2704,2563,0,0,0,0,0,0,24.58,24.01,23.57
$GC,1709,0.97,152.7,3330,762,2693,2564,190.4,18.2,290,1717,0.22,2.47,0.00,0.000,5126,0.202,0.093,3273,2117,2628,2693,2564,0,0,1,0,0,0,24.84,24.93,25.04
$GC,1841,0.91,187.9,3272,2117,2692,2564,169.4,15.7,315,1881,0.08,2.53,30.88,0.786,12804,0.231,0.103,3256,759,2483,2551,2415,0,0,0,0,0,0,25.13,24.75,24.15
$GC,2025,0.93,217.8,3256,759,2546,2415,140.3,16.1,349,2058,0.00,2.42,26.23,0.767,13318,0.000,0.094,3256,2102,2361,2427,2296,0,0,1,0,0,0,25.33,25.16,24.20
$GC,2182,0.94,238.1,3255,2101,2419,2296,113.8,16.8,378,2208,0.00,2.50,18.38,0.737,8708,0.000,0.099,3264,760,2278,2339,2218,0,0,0,0,0,0,25.52,24.89,24.30
$GC,2240,0.95,242.7,3264,760,2334,2218,103.1,18.0,388,2255,0.00,2.45,5.22,0.545,13318,0.000,0.092,3264,2106,2259,2318,2201,0,0,0,0,0,0,25.18,25.01,24.35
$GC,2397,0.95,242.7,3264,2106,2312,2201,74.4,19.1,414,2406,0.00,2.47,0.00,0.000,4612,0.000,0.096,3273,760,2256,2312,2201,0,0,0,0,0,0,25.64,25.25,25.65
$GC,2478,0.95,242.7,3272,760,2311,2200,58.9,19.3,427,2488,0.03,2.45,0.00,0.000,5126,0.252,0.093,3267,2103,2255,2311,2200,0,0,0,0,0,0,25.32,25.34,25.40
$GC,2538,0.95,242.7,3267,2103,2310,2201,47.7,18.8,436,2546,0.00,0.00,0.00,0.000,4102,0.000,0.000,3267,2103,2255,2310,2200,0,0,0,0,0,0,25.79,25.80,25.80
$GC,2595,0.95,242.7,3266,2103,2309,2200,36.3,19.1,445,2603,0.00,2.45,0.00,0.000,4612,0.000,0.096,3275,757,2255,2310,2201,0,0,0,0,0,0,25.84,25.44,25.85
$GC,2658,0.91,242.7,3275,757,2309,2201,23.4,20.9,455,2667,0.05,2.45,0.00,0.000,5126,0.224,0.094,3259,2106,2255,2309,2201,0,0,0,0,0,0,25.41,25.49,25.53
$GC,2718,0.91,242.7,3258,2106,2309,2201,11.6,19.2,464,2726,0.00,2.40,0.00,0.000,4612,0.000,0.091,3267,763,2255,2309,2201,0,0,0,0,0,0,25.93,25.53,25.94
$GC,2748,0.91,242.7,3266,763,2308,2201,5.5,20.1,468,2757,0.05,2.42,0.00,0.000,5126,0.219,0.093,3254,2108,2254,2307,2201,0,0,0,0,0,0,25.46,25.55,25.58
$STATE,2764,end climb,SURFACE_DEPTH_REACHED
$STATE,2764,begin surface coast
$FINISH,0.7,1.003180
$STATE,2784,end surface coast,CONTROL_FINISHED_OK
$STATE,2784,begin surface
$SM_CCo,2859,0.00,0.000,0,0,2250,245.30
$SM_GC,1.79,8.38,0.20,0.00,0.058,0.097,0.000,228,1989,2250,-8.45,2.21,245.30,0,0,0,0,0,0,25.69,25.65,25.74
$IRIDIUM_FIX,-5227.86,-4010.21,191017,184017
$TT8_MAMPS,0.026964,0.295855
$HUMID,60.15
$INTERNAL_PRESSURE,9.12811
$TCM_TEMP,8.60
$XPDR_PINGS,0
$24V_AH,23.57,6.017
$10V_AH,10.15,4.875
$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,22.125,54.975,324.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,25.802,1061.905,185.468,362.253,1307.448,38.092,0.000,885.271,0.000,1083.633,0.000,1.003,0.000
$DEVICE_MAMPS,270.045,141.525,870.570,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.960,14.760,2.190,14.010,41.720,52.960,0.000,15.200,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,329.819,1265.234,103.397,1008.513,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,7.490,9.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343296
$DATA_FILE_SIZE,33908,473
$CAP_FILE_SIZE,73464,0
$CFSIZE,2097086464,2090860544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,1,0
$GPS,191017,193740,-5249.024,-4008.746,36,1.0,36,-6.7,0.0,0.0,7,16.0