version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 271
start: 7 6 117 9 15 58
data:
$ID,574
$MISSION,23
$DIVE,271
$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,45
$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,37
$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
$GPS1,060717,090930,-3010.4033,3109.7517,26,0.9,26,-25.1,1.0,203.3,9,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-77.8
$GPS2,060717,091511,-3010.5276,3109.7488,5,0.9,5,-25.1,0.0,0.0,9,16.0
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3002.891,3118.571
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,70.1,20000,-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,-175.2,125,1980,1141,961,0.0,0.0,0,80,0.00,0.00,-63.03,0.000,16386,0.000,0.000,126,1981,2808,2800,2816,0,0,0,0,0,0,26.15,28.83,26.17
$GC,83,-0.48,-175.2,125,1980,2801,2816,3.3,-3.4,8,108,9.75,2.17,-7.20,0.000,18948,0.217,0.041,2672,569,3184,3220,3149,0,0,0,0,0,0,25.60,25.39,25.75
$GC,124,-0.48,-175.2,2671,569,3223,3148,18.5,-38.0,13,133,0.00,2.17,0.00,0.000,1030,0.000,0.026,2663,1973,3185,3225,3146,0,0,0,0,0,0,25.98,25.96,26.01
$GC,183,-0.48,-175.2,2662,1973,3228,3143,34.4,-26.7,22,192,0.00,2.15,0.00,0.000,260,0.000,0.032,2651,3385,3185,3228,3143,0,0,0,0,0,0,26.27,25.97,26.29
$GC,226,-0.48,-175.2,2651,3385,3229,3141,45.0,-21.5,29,233,0.00,2.12,0.00,0.000,1030,0.000,0.027,2652,1972,3185,3231,3140,0,0,0,0,0,0,26.09,26.03,26.11
$GC,553,-0.48,-175.2,2651,1971,3233,3139,127.1,-29.6,81,561,0.00,2.10,0.00,0.000,260,0.000,0.028,2642,3397,3186,3233,3139,0,0,0,0,0,0,26.48,26.19,26.48
$GC,574,-0.48,-175.2,2642,3397,3234,3139,133.4,-30.3,83,584,0.12,2.12,0.00,0.000,3078,0.158,0.024,2681,1967,3186,3234,3139,0,0,0,0,0,0,26.02,26.20,26.17
$GC,883,-0.48,-175.2,2680,1965,3238,3138,183.2,-15.1,114,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1965,3187,3237,3138,0,0,0,0,0,0,26.57,26.58,26.58
$GC,1185,-0.48,-175.2,2680,1963,3240,3138,222.4,-16.4,136,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1963,3189,3240,3138,0,0,0,0,0,0,26.60,26.62,26.61
$GC,1983,-0.48,-175.2,2680,1963,3240,3137,325.7,-14.2,176,1987,0.00,2.12,0.00,0.000,260,0.000,0.031,2672,3397,3188,3240,3136,0,0,0,0,0,0,26.71,26.40,26.72
$GC,2084,-0.48,-175.2,2672,3397,3240,3135,337.2,-11.2,181,2088,0.00,2.08,0.00,0.000,1030,0.000,0.024,2672,1978,3187,3240,3135,0,0,0,0,0,0,26.50,26.43,26.51
$GC,2902,-0.48,-175.2,2672,1975,3240,3130,454.2,-11.8,222,2908,0.00,2.08,0.00,0.000,516,0.000,0.031,2672,581,3185,3240,3130,0,0,0,0,0,0,26.74,26.42,26.76
$GC,2924,-0.48,-175.2,2672,580,3240,3130,456.8,-12.2,223,2928,0.00,2.08,0.00,0.000,1030,0.000,0.027,2662,1981,3184,3240,3129,0,0,0,0,0,0,26.52,26.45,26.53
$STATE,3281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3281,begin apogee
$GC,3286,0.00,0.0,2661,1835,3239,3127,501.3,-11.7,241,3425,0.55,0.08,134.45,0.955,10246,0.137,0.089,2835,1940,2464,2535,2393,0,0,0,0,0,0,26.22,24.84,24.27
$STATE,3426,end apogee,CONTROL_FINISHED_OK
$STATE,3426,begin climb
$GC,3427,0.48,175.2,2834,1940,2533,2393,504.0,0.0,248,3575,0.40,2.40,138.43,0.939,10756,0.043,0.034,3035,498,1748,1838,1659,0,0,0,0,0,0,25.06,24.68,24.10
$GC,3615,0.48,175.2,3034,497,1826,1659,479.4,21.8,257,3623,0.15,2.12,0.00,0.000,5126,0.187,0.022,2996,1866,1742,1826,1659,0,0,0,0,0,0,25.05,25.21,25.22
$GC,4422,0.48,175.2,2996,1870,1824,1653,310.6,17.3,298,4426,0.00,2.10,0.00,0.000,516,0.000,0.034,3005,498,1738,1824,1653,0,0,0,0,0,0,26.47,26.15,26.48
$GC,4438,0.48,175.2,3005,497,1820,1653,307.7,17.5,299,4442,0.00,2.10,0.00,0.000,1030,0.000,0.024,3005,1895,1736,1820,1653,0,0,0,0,0,0,26.27,26.20,26.29
$GC,5244,0.48,175.2,3005,1900,1819,1650,183.7,16.3,344,5248,0.00,2.12,0.00,0.000,260,0.000,0.032,3005,3310,1734,1819,1650,0,0,0,0,0,0,26.63,26.34,26.65
$GC,5395,0.48,175.2,3005,3310,1818,1650,163.4,13.5,359,5404,0.00,2.10,0.00,0.000,1030,0.000,0.028,3015,1903,1734,1818,1650,0,0,0,0,0,0,26.43,26.35,26.45
$GC,5705,0.66,320.1,3015,1901,1817,1649,117.4,6.3,390,5826,0.00,2.33,113.85,0.707,8708,0.000,0.037,3026,487,1157,1285,1030,0,0,0,0,0,0,26.67,25.11,24.60
$GC,5933,0.66,320.1,3026,487,1263,1029,81.1,17.5,421,5940,0.00,2.17,0.00,0.000,1030,0.000,0.028,3026,1890,1145,1263,1028,0,0,0,0,0,0,25.72,25.65,25.75
$GC,6274,0.66,320.1,3026,1894,1263,1028,10.5,20.0,482,6282,0.00,2.20,0.00,0.000,516,0.000,0.037,3037,499,1145,1263,1028,0,0,0,0,0,0,26.32,26.04,26.34
$STATE,6312,end climb,SURFACE_DEPTH_REACHED
$STATE,6312,begin surface coast
$FINISH,1.3,1.025261
$STATE,6325,end surface coast,CONTROL_FINISHED_OK
$STATE,6325,begin surface
$SM_CCo,6402,0.00,0.000,0,0,1140,324.77
$SM_GC,1.92,7.47,2.28,0.00,0.023,0.021,0.000,126,1983,1140,-8.37,-1.30,324.77,0,0,0,0,0,0,26.08,26.10,26.13
$IRIDIUM_FIX,-2957.51,3108.52,060717,091040
$TT8_MAMPS,0.025466,0.289114
$HUMID,58.62
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,24.10,22.775
$10V_AH,10.23,11.423
$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,18.450,43.450,386.725,0.000,0.000,31.452,19.455,192.530,11.500,0.000,12.736,1194.414,3780.027,405.959,1315.621,77.145,0.000,926.724,0.000,1011.980,0.000,70.859,0.000
$DEVICE_MAMPS,217.260,88.740,955.485,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.017,62.568,274.282,272.735,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342332
$DATA_FILE_SIZE,30382,490
$CAP_FILE_SIZE,65211,0
$CFSIZE,2097086464,2065694720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,060717,110318,-3011.034,3111.459,6,1.5,6,-25.1,1.1,177.6,6,70.8