version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 143
start: 6 27 117 22 26 51
data:
$ID,574
$MISSION,23
$DIVE,143
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,133
$T_MISSION,143
$T_ABORT,360
$T_TURN,500
$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,0
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,17
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52970
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,300
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,446.92932
$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,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3888
$C_PITCH,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,45
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,2062
$C_ROLL_CLIMB,1896
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2322
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,145
$AH0_10V,96.25
$MINV_24V,19
$MINV_10V,8.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.230709
$PRESSURE_SLOPE,0.0001171049
$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,200
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,38
$DEVICE3,51
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$GPS1,270617,221425,-2957.4741,3130.1384,6,1.2,6,-24.9,1.1,235.1,6,33.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.1
$GPS2,270617,222605,-2957.8933,3129.6824,6,1.2,6,-24.9,0.9,215.8,6,171.8
$SPEED_LIMITS,0.328,0.338
$TGT_NAME,HEADING
$TGT_LATLONG,-2952.494,3118.897
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,324.9,20000,-13.3,-10.025,-16.52,4023
$D_GRID,400
$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,-0.45,-126.5,127,2072,530,444,0.0,0.0,0,103,0.00,0.00,-85.40,0.000,16390,0.000,0.000,127,2072,2838,2837,2839,0,0,0,0,0,0,26.25,24.94,26.27
$GC,106,-0.45,-126.5,127,2072,2844,2834,3.0,-3.2,11,123,9.82,2.15,0.00,0.000,2564,0.219,0.022,2699,628,2840,2853,2828,0,0,0,0,0,0,25.75,25.98,25.90
$GC,143,-0.45,-126.5,2698,628,2860,2822,17.4,-39.2,16,152,0.00,2.22,0.00,0.000,1030,0.000,0.028,2690,2066,2841,2863,2819,0,0,0,0,0,0,26.11,26.08,26.13
$GC,201,-0.45,-126.5,2689,2065,2867,2814,31.7,-22.4,25,210,0.00,2.15,0.00,0.000,516,0.000,0.029,2690,655,2840,2867,2814,0,0,0,0,0,0,26.40,26.12,26.41
$GC,368,-0.45,-126.5,2688,655,2868,2814,67.0,-18.0,55,374,0.00,2.12,0.00,0.000,1030,0.000,0.031,2680,2059,2841,2868,2814,0,0,0,0,0,0,26.29,26.22,26.32
$GC,682,-0.45,-126.5,2679,2065,2870,2813,134.7,-18.4,99,686,0.00,2.08,0.00,0.000,260,0.000,0.033,2669,3481,2841,2870,2813,0,0,0,0,0,0,26.63,26.33,26.63
$GC,821,-0.45,-126.5,2668,3481,2870,2813,154.8,-11.0,112,829,0.10,2.10,0.00,0.000,3078,0.145,0.028,2700,2052,2841,2870,2813,0,0,0,0,0,0,26.23,26.38,26.36
$GC,1128,-0.45,-126.5,2700,2048,2874,2812,191.0,-13.9,143,1132,0.00,2.10,0.00,0.000,260,0.000,0.034,2692,3481,2843,2874,2812,0,0,0,0,0,0,26.71,26.41,26.72
$GC,1165,-0.45,-126.5,2691,3481,2874,2811,195.7,-13.5,146,1174,0.00,2.08,0.00,0.000,1030,0.000,0.025,2692,2059,2843,2874,2812,0,0,0,0,0,0,26.51,26.44,26.53
$GC,1484,-0.45,-126.5,2691,2058,2874,2812,232.4,-10.6,164,1490,0.00,2.08,0.00,0.000,260,0.000,0.033,2681,3475,2843,2874,2812,0,0,0,0,0,0,26.75,26.46,26.76
$GC,1544,-0.45,-126.5,2681,3476,2874,2811,238.7,-10.5,167,1548,0.00,2.08,0.00,0.000,1030,0.000,0.025,2681,2060,2842,2874,2811,0,0,0,0,0,0,26.55,26.48,26.56
$GC,2366,-0.45,-126.5,2681,2058,2875,2808,321.3,-12.0,208,2371,0.00,2.10,0.00,0.000,260,0.000,0.035,2671,3484,2840,2874,2807,0,0,0,0,0,0,26.77,26.50,26.78
$GC,2498,-0.45,-126.5,2671,3484,2874,2807,334.5,-10.6,214,2505,0.00,2.08,0.00,0.000,1030,0.000,0.025,2671,2063,2840,2874,2807,0,0,0,0,0,0,26.60,26.53,26.61
$STATE,3066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3066,begin apogee
$GC,3070,0.00,0.0,2671,1853,2874,2802,400.7,-10.0,243,3169,0.55,0.00,94.65,0.845,10246,0.133,0.000,2840,1851,2321,2363,2280,0,0,0,0,0,0,26.32,25.20,24.65
$STATE,3169,end apogee,CONTROL_FINISHED_OK
$STATE,3170,begin climb
$GC,3171,0.45,126.5,2840,1852,2362,2280,401.8,0.0,248,3278,0.38,2.15,99.22,0.839,10756,0.032,0.034,3032,533,1804,1870,1739,0,0,0,0,0,0,25.37,24.92,24.37
$GC,3430,0.45,126.5,3032,533,1858,1736,357.7,19.6,261,3435,0.12,2.10,0.00,0.000,5126,0.174,0.029,2997,1905,1797,1858,1736,0,0,0,0,0,0,25.63,25.79,25.80
$GC,4242,0.45,126.5,2997,1910,1857,1725,215.6,14.0,302,4246,0.00,2.08,0.00,0.000,260,0.000,0.033,2997,3304,1791,1857,1725,0,0,0,0,0,0,26.61,26.33,26.63
$GC,4337,0.45,126.5,2997,3304,1857,1725,202.8,13.3,307,4341,0.00,2.03,0.00,0.000,1030,0.000,0.029,3006,1940,1791,1856,1726,0,0,0,0,0,0,26.43,26.35,26.45
$GC,5147,0.51,174.9,3005,1940,1853,1722,94.6,8.8,391,5190,0.00,2.05,35.50,0.656,8452,0.000,0.031,3006,3310,1607,1687,1527,0,0,0,0,0,0,26.74,25.95,25.41
$GC,5308,0.52,184.4,3005,3311,1681,1527,77.9,9.8,420,5323,0.00,2.17,8.52,0.572,9222,0.000,0.028,3016,1884,1569,1651,1487,0,0,0,0,0,0,26.18,26.15,25.43
$GC,5644,0.52,184.4,3016,1882,1647,1483,35.5,16.4,482,5653,0.00,2.15,0.00,0.000,516,0.000,0.036,3027,491,1564,1646,1483,0,0,0,0,0,0,26.54,26.24,26.55
$GC,5726,0.52,184.4,3026,491,1636,1484,22.9,13.6,495,5735,0.00,2.17,0.00,0.000,1030,0.000,0.031,3026,1901,1560,1637,1484,0,0,0,0,0,0,26.33,26.29,26.36
$STATE,5876,end climb,SURFACE_DEPTH_REACHED
$STATE,5876,begin surface coast
$FINISH,0.5,1.025042
$STATE,5902,end surface coast,CONTROL_FINISHED_OK
$STATE,5902,begin surface
$SM_CCo,5917,112.75,0.048,0,0,499,446.93
$SM_GC,1.41,7.40,0.22,112.75,0.026,0.057,0.048,126,2067,499,-8.40,-1.22,446.93,0,0,0,0,0,0,26.34,26.38,26.24
$IRIDIUM_FIX,-2940.11,3134.50,270617,202644
$TT8_MAMPS,0.026215,0.288365
$HUMID,55.63
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,24.37,12.511
$10V_AH,10.38,5.572
$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,18.375,42.675,237.900,112.750,0.000,71.619,55.923,413.300,5.750,0.000,12.975,1277.961,3256.892,409.494,1747.747,70.667,0.000,951.854,0.000,1153.090,0.000,41.978,0.000
$DEVICE_MAMPS,218.790,56.610,845.325,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,360.236,86.269,366.435,376.137,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342336
$DATA_FILE_SIZE,33692,524
$CAP_FILE_SIZE,70867,0
$CFSIZE,2097086464,2078212096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,280617,000832,-3000.155,3125.856,37,0.8,37,-25.0,1.5,230.0,10,7.2