version: 66.12
revision: CLOWNFISH
glider: 573
mission: 16
dive: 7
start: 5 31 117 17 1 54
data:
$ID,573
$MISSION,16
$DIVE,7
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,70
$D_ABORT,100
$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,23
$T_MISSION,33
$T_ABORT,90
$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,696.88593
$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,0
$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,10
$R_STBD_OVSHOOT,13
$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,-87.331184
$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,70
$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
$GPS1,310517,165639,-3353.7368,1815.0043,18,1.1,18,-24.4,0.0,0.0,7,62.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-62.2
$GPS2,310517,170132,-3353.7554,1814.9961,27,0.9,27,-24.4,0.0,0.0,8,12.9
$SPEED_LIMITS,0.176,0.265
$TGT_NAME,TRIAL
$TGT_LATLONG,-3353.000,1815.600
$TGT_RADIUS,300.000
$MHEAD_RNG_PITCHd_Wd,58.0,1679,-18.2,-10.145,-20.92,2278
$D_GRID,70
$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,-150.8,148,1970,449,343,0.0,0.0,0,160,0.00,0.00,-142.07,0.000,16390,0.000,0.000,146,1967,3866,3992,3741,0,0,0,0,0,0,26.24,25.11,26.25
$GC,162,-0.79,-150.8,146,1967,3993,3740,3.8,-5.2,15,183,10.25,2.60,0.00,0.000,2820,0.246,0.123,2679,3381,3868,4001,3735,0,0,1,0,0,0,25.77,25.86,25.91
$GC,193,0.42,-150.8,2679,3381,4003,3733,15.0,-29.3,18,205,1.27,2.45,0.00,0.000,3078,0.127,0.088,3094,1961,3868,4004,3733,0,0,0,0,0,0,25.89,25.96,25.98
$GC,267,-0.61,-150.8,3094,1961,4004,3733,17.3,-5.2,27,279,0.98,2.47,0.00,0.000,4612,0.107,0.103,2762,566,3868,4004,3733,0,0,0,0,0,0,26.00,25.92,26.08
$GC,386,-0.95,-150.8,2762,567,4004,3733,23.3,-4.4,42,397,0.30,2.50,0.00,0.000,5126,0.047,0.099,2604,1971,3868,4004,3732,0,0,0,0,0,0,26.13,26.08,26.20
$GC,573,-0.91,-150.8,2603,1971,4005,3733,43.9,-12.5,67,580,0.12,2.50,0.00,0.000,2308,0.155,0.119,2641,3383,3868,4005,3732,0,0,0,0,0,0,26.10,26.10,26.20
$GC,767,-0.95,-150.8,2640,3383,4007,3731,64.3,-10.9,100,777,0.00,2.42,0.00,0.000,3078,0.000,0.089,2641,1966,3869,4007,3731,0,0,0,0,0,0,26.27,26.19,26.31
$STATE,828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,829,begin apogee
$GC,832,-0.19,0.0,2640,1966,4007,3731,70.4,-11.4,109,951,0.73,0.00,111.57,0.652,10246,0.135,0.000,2881,1965,3251,3357,3146,0,0,0,0,0,0,26.14,24.95,24.60
$STATE,952,end apogee,CONTROL_FINISHED_OK
$STATE,952,begin climb
$GC,953,0.79,150.8,2881,1965,3357,3146,75.1,0.0,127,1082,0.90,2.62,117.10,0.633,10756,0.070,0.098,3217,555,2633,2718,2549,0,0,0,0,0,0,25.18,24.78,24.37
$GC,1218,0.65,150.8,3216,555,2713,2548,59.5,10.8,169,1225,0.17,2.58,0.00,0.000,5126,0.144,0.103,3162,1969,2630,2713,2548,0,0,0,0,0,0,25.51,25.51,25.64
$GC,1614,0.67,195.3,3161,1969,2710,2548,24.7,8.1,230,1645,0.05,2.60,20.62,0.575,10500,0.138,0.121,3201,3379,2450,2527,2374,0,0,0,0,0,0,26.16,25.65,25.32
$GC,1664,0.59,195.3,3200,3379,2525,2373,19.9,10.2,235,1675,0.20,2.45,0.00,0.000,5126,0.135,0.089,3146,1976,2449,2525,2373,0,0,0,0,0,0,25.77,25.77,25.86
$GC,1739,0.66,198.9,3145,1976,2523,2373,12.7,10.0,244,1750,0.08,2.55,1.17,0.070,10756,0.104,0.110,3215,567,2438,2513,2363,0,0,0,0,0,0,26.01,25.78,25.94
$GC,1820,0.57,198.9,3214,567,2512,2363,3.8,11.5,254,1832,0.22,2.58,0.00,0.000,5126,0.131,0.111,3142,1971,2437,2511,2363,0,0,0,0,0,0,25.91,25.91,25.99
$STATE,1841,end climb,SURFACE_DEPTH_REACHED
$STATE,1842,begin surface coast
$FINISH,0.6,1.022823
$STATE,1881,end surface coast,CONTROL_FINISHED_OK
$STATE,1881,begin surface
$SM_CCo,1895,216.05,0.044,0,0,408,696.89
$SM_GC,1.44,7.65,0.00,216.05,0.040,0.000,0.044,211,1972,408,-8.46,0.11,696.89,0,0,0,0,0,0,26.14,26.37,26.05
$IRIDIUM_FIX,-3338.31,1812.96,310517,145706
$TT8_MAMPS,0.026964,0.181258
$HUMID,56.85
$INTERNAL_PRESSURE,9.20623
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,22.9
$24V_AH,24.37,1.398
$10V_AH,10.49,0.753
$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,22.925,30.325,250.475,216.050,0.000,34.437,39.480,128.326,0.500,0.000,28.378,568.500,91.664,487.838,1248.909,29.115,0.000,895.298,0.000,1003.616,0.000,5.492,0.000
$DEVICE_MAMPS,245.565,123.165,651.780,43.605,0.000,92.570,160.000,223.000,420.000,0.000,32.960,14.760,2.190,14.010,41.720,52.960,0.000,15.200,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,183.755,758.571,89.185,783.254,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,7.490,9.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343588
$DATA_FILE_SIZE,17142,261
$CAP_FILE_SIZE,47119,0
$CFSIZE,2097086464,2090991616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,310517,173753,-3353.759,1815.120,16,1.7,16,-24.4,0.0,0.0,5,19.4