version: 66.12
revision: CLOWNFISH
glider: 573
mission: 16
dive: 25
start: 6 1 117 4 50 31
data:
$ID,573
$MISSION,16
$DIVE,25
$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,12
$R_STBD_OVSHOOT,10
$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
$GPS1,010617,044602,-3353.2529,1815.6024,38,0.9,38,-24.4,0.0,0.0,9,12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-63.7
$GPS2,010617,045009,-3353.2622,1815.5944,17,1.1,17,-24.4,0.0,0.0,8,12.0
$SPEED_LIMITS,0.176,0.265
$TGT_NAME,TRIAL
$TGT_LATLONG,-3353.000,1815.600
$TGT_RADIUS,300.000
$MHEAD_RNG_PITCHd_Wd,25.4,485,-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,14,begin dive
$GC,15,-0.79,-150.8,171,1967,453,341,0.0,0.0,0,160,0.00,0.00,-140.32,0.000,16390,0.000,0.000,166,1964,3866,3992,3740,0,0,0,0,0,0,26.20,25.10,26.21
$GC,162,-0.79,-150.8,165,1964,3993,3740,4.0,-6.0,15,183,10.25,2.50,0.00,0.000,2564,0.249,0.099,2691,556,3867,3997,3738,0,0,0,0,0,0,25.73,25.88,25.89
$GC,441,-0.89,-150.8,2690,556,4002,3735,40.1,-9.7,51,450,0.08,2.53,0.00,0.000,5126,0.125,0.106,2642,1974,3868,4003,3733,0,0,0,0,0,0,26.09,26.01,26.18
$STATE,697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,697,begin apogee
$GC,700,-0.19,0.0,2642,1974,4004,3733,70.5,-11.6,94,819,0.73,0.00,111.70,0.642,10246,0.137,0.000,2880,1973,3250,3358,3142,0,0,0,0,0,0,26.10,24.90,24.56
$STATE,820,end apogee,CONTROL_FINISHED_OK
$STATE,820,begin climb
$GC,821,0.79,150.8,2880,1973,3357,3142,76.1,0.0,112,946,0.95,2.70,116.30,0.623,10756,0.080,0.104,3226,553,2634,2723,2545,0,0,0,0,0,0,25.10,24.72,24.27
$GC,1206,0.63,150.8,3225,552,2716,2545,47.4,10.3,175,1213,0.22,2.58,0.00,0.000,5126,0.148,0.103,3156,1976,2630,2715,2545,0,0,0,0,0,0,25.63,25.65,25.77
$GC,1644,0.67,224.2,3156,1976,2712,2544,15.0,6.8,236,1684,0.08,2.55,32.42,0.550,10756,0.111,0.100,3220,548,2332,2409,2255,0,0,0,0,0,0,26.12,25.58,25.27
$GC,1739,0.63,224.2,3219,548,2402,2255,5.3,12.2,247,1751,0.17,2.60,0.00,0.000,5126,0.138,0.105,3164,1971,2328,2402,2255,0,0,0,0,0,0,25.72,25.72,25.81
$STATE,1767,end climb,SURFACE_DEPTH_REACHED
$STATE,1767,begin surface coast
$FINISH,0.7,1.009701
$STATE,1807,end surface coast,CONTROL_FINISHED_OK
$STATE,1808,begin surface
$SM_CCo,1821,205.30,0.044,0,0,407,696.89
$SM_GC,1.27,7.78,0.00,205.30,0.043,0.000,0.044,224,1971,407,-8.43,0.11,696.89,0,0,0,0,0,0,25.97,26.21,25.93
$IRIDIUM_FIX,-3340.91,1816.24,010617,040631
$TT8_MAMPS,0.026964,0.176764
$HUMID,54.88
$INTERNAL_PRESSURE,9.19647
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,14.5
$24V_AH,24.27,2.456
$10V_AH,10.48,1.445
$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,20.250,15.450,260.425,205.300,0.000,25.766,19.155,120.563,0.500,0.000,18.636,540.655,87.109,456.719,1182.656,29.015,0.000,828.262,0.000,987.299,0.000,5.468,0.000
$DEVICE_MAMPS,248.625,105.570,641.835,44.370,0.000,92.570,160.000,223.000,420.000,0.000,32.960,14.760,2.190,14.010,41.720,52.960,0.000,15.200,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,181.361,746.206,88.555,773.434,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,7.490,9.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343608
$DATA_FILE_SIZE,13742,255
$CAP_FILE_SIZE,39308,0
$CFSIZE,2097086464,2089222144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010617,052503,-3353.224,1815.644,13,1.8,13,-24.4,0.0,0.0,6,18.4