version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 270
start: 7 6 117 7 19 30
data:
$ID,574
$MISSION,23
$DIVE,270
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,167
$T_MISSION,177
$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,180
$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,100
$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,310
$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,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,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,50
$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,1980
$C_ROLL_CLIMB,1896
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,94
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2465
$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,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,060717,071147,-3009.4631,3107.9585,9,1.0,9,-25.0,0.0,0.0,9,258.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-78.0
$GPS2,060717,071844,-3009.6294,3107.9448,6,1.4,6,-25.0,0.0,0.0,5,54.8
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3011.505,3120.249
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,125.0,20000,-13.3,-9.980,-16.52,4015
$D_GRID,500
$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,-0.48,-175.2,124,2079,1255,1115,0.0,0.0,0,80,0.00,0.00,-62.62,0.000,16386,0.000,0.000,125,2079,2969,2978,2961,0,0,0,0,0,0,26.27,28.83,26.29
$GC,83,-0.48,-175.2,125,2079,2978,2961,3.7,-4.9,8,109,9.80,2.22,-3.85,0.000,18948,0.220,0.038,2671,615,3183,3214,3152,0,0,0,0,0,0,25.62,24.65,25.79
$GC,136,-0.48,-175.2,2670,615,3220,3149,25.8,-41.1,15,145,0.00,2.10,0.00,0.000,1030,0.000,0.028,2663,1970,3185,3223,3147,0,0,0,0,0,0,26.07,26.04,26.10
$GC,279,-0.48,-175.2,2662,1971,3227,3143,60.3,-23.9,40,287,0.00,2.15,0.00,0.000,260,0.000,0.031,2652,3396,3185,3227,3143,0,0,0,0,0,0,26.40,26.10,26.41
$GC,358,-0.48,-175.2,2651,3396,3228,3141,75.0,-15.6,54,367,0.00,2.05,0.00,0.000,1030,0.000,0.023,2652,2032,3184,3229,3140,0,0,0,0,0,0,26.22,26.18,26.24
$GC,673,-0.48,-175.2,2651,2028,3232,3139,139.9,-10.9,93,676,0.00,2.10,0.00,0.000,516,0.000,0.030,2652,625,3185,3232,3139,0,0,0,0,0,0,26.57,26.26,26.58
$GC,723,-0.48,-175.2,2651,622,3232,3140,148.1,-16.9,98,728,0.12,2.05,0.00,0.000,3078,0.159,0.027,2681,1997,3186,3233,3139,0,0,0,0,0,0,26.08,26.29,26.23
$GC,1029,-0.48,-175.2,2680,1996,3235,3140,193.1,-7.1,128,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1996,3187,3235,3139,0,0,0,0,0,0,26.65,26.66,26.65
$GC,1339,-0.48,-175.2,2679,1996,3236,3139,234.8,-13.8,147,1345,0.00,2.05,0.00,0.000,260,0.000,0.033,2671,3393,3187,3236,3139,0,0,0,0,0,0,26.68,26.36,26.70
$GC,1438,-0.48,-175.2,2671,3394,3237,3139,245.6,-10.1,152,1442,0.00,2.00,0.00,0.000,1030,0.000,0.022,2671,2021,3187,3236,3139,0,0,0,0,0,0,26.47,26.41,26.49
$GC,2256,-0.48,-175.2,2671,2020,3236,3133,351.8,-12.9,193,2261,0.00,2.12,0.00,0.000,516,0.000,0.031,2672,580,3184,3236,3133,0,0,0,0,0,0,26.72,26.41,26.73
$GC,2282,-0.48,-175.2,2671,579,3236,3133,354.5,-12.8,194,2286,0.00,2.08,0.00,0.000,1030,0.000,0.026,2661,1979,3184,3236,3133,0,0,0,0,0,0,26.51,26.44,26.53
$GC,3089,-0.48,-175.2,2661,1981,3235,3128,466.4,-14.1,234,3093,0.00,2.08,0.00,0.000,516,0.000,0.028,2661,576,3182,3235,3129,0,0,0,0,0,0,26.77,26.44,26.77
$GC,3148,-0.48,-175.2,2661,575,3235,3128,472.0,-11.2,237,3152,0.00,2.15,0.00,0.000,1030,0.000,0.029,2651,1980,3181,3234,3128,0,0,0,0,0,0,26.48,26.46,26.51
$STATE,3346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3346,begin apogee
$GC,3351,0.00,0.0,2651,1848,3234,3126,500.3,-12.8,247,3490,0.57,0.05,133.75,0.948,10246,0.141,0.122,2828,1929,2465,2538,2392,0,0,0,0,0,0,26.17,24.84,24.29
$STATE,3491,end apogee,CONTROL_FINISHED_OK
$STATE,3491,begin climb
$GC,3492,0.48,175.2,2828,1930,2538,2391,506.4,0.0,254,3639,0.40,2.22,138.65,0.948,10756,0.036,0.032,3026,551,1749,1840,1659,0,0,0,0,0,0,25.08,24.69,24.11
$GC,3719,0.48,175.2,3026,551,1825,1659,480.4,19.7,265,3727,0.12,2.05,0.00,0.000,5126,0.187,0.027,2994,1869,1742,1825,1659,0,0,0,0,0,0,25.23,25.39,25.41
$GC,4527,0.48,175.2,2993,1873,1824,1655,330.4,17.0,306,4532,0.00,2.15,0.00,0.000,260,0.000,0.030,2994,3313,1740,1825,1655,0,0,0,0,0,0,26.49,26.20,26.51
$GC,4546,0.48,175.2,2994,3313,1823,1655,327.1,16.8,307,4551,0.00,2.05,0.00,0.000,1030,0.000,0.028,3002,1946,1739,1824,1655,0,0,0,0,0,0,26.28,26.20,26.30
$GC,5352,0.48,175.2,3002,1945,1822,1654,172.4,13.2,356,5357,0.00,2.20,0.00,0.000,516,0.000,0.035,3014,490,1737,1821,1653,0,0,0,0,0,0,26.65,26.31,26.66
$GC,5482,0.48,175.2,3013,489,1815,1654,158.4,10.7,368,5489,0.00,2.10,0.00,0.000,1030,0.000,0.027,3014,1900,1734,1815,1653,0,0,0,0,0,0,26.44,26.36,26.46
$GC,5788,0.48,175.2,3013,1904,1817,1654,108.8,19.4,399,5792,0.00,2.12,0.00,0.000,516,0.000,0.031,3024,487,1735,1818,1653,0,0,0,0,0,0,26.68,26.35,26.69
$GC,5864,0.48,175.2,3024,486,1813,1653,96.3,14.5,408,5873,0.10,2.15,0.00,0.000,5126,0.182,0.028,2994,1895,1734,1814,1654,0,0,0,0,0,0,26.12,26.39,26.25
$GC,6194,0.69,341.7,2993,1899,1817,1654,61.1,5.7,469,6332,0.17,2.33,130.73,0.664,10756,0.087,0.037,3099,485,1070,1193,948,0,0,0,0,0,0,26.41,25.11,24.63
$GC,6411,0.69,341.7,3098,484,1176,947,13.0,24.2,504,6421,0.12,2.22,0.00,0.000,5126,0.162,0.027,3063,1895,1061,1176,947,0,0,0,0,0,0,25.42,25.60,25.52
$STATE,6451,end climb,SURFACE_DEPTH_REACHED
$STATE,6451,begin surface coast
$FINISH,0.7,1.025523
$STATE,6465,end surface coast,CONTROL_FINISHED_OK
$STATE,6465,begin surface
$SM_CCo,6541,0.00,0.000,0,0,1056,345.62
$SM_GC,1.82,7.72,0.10,0.00,0.028,0.066,0.000,125,2082,1056,-8.39,-1.24,345.62,0,0,0,0,0,0,25.72,25.81,25.77
$IRIDIUM_FIX,-2955.02,3107.23,060717,071255
$TT8_MAMPS,0.025466,0.26215
$HUMID,58.46
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.3,33.1
$24V_AH,24.11,22.665
$10V_AH,10.30,11.380
$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,19.150,47.000,403.125,0.000,0.000,30.726,52.304,237.875,11.750,0.000,12.720,1238.342,3827.696,404.694,1434.770,82.572,0.000,966.128,0.000,1054.332,0.000,73.865,0.000
$DEVICE_MAMPS,219.555,121.635,947.835,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.453,60.412,256.513,262.347,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342348
$DATA_FILE_SIZE,33755,512
$CAP_FILE_SIZE,70232,0
$CFSIZE,2097086464,2065727488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,060717,090930,-3010.403,3109.752,26,0.9,26,-25.1,1.0,203.3,9,8.0