version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 273
start: 7 6 117 13 7 30
data:
$ID,574
$MISSION,23
$DIVE,273
$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,42
$R_STBD_OVSHOOT,77
$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
$GPS1,060717,130100,-3012.3186,3112.5381,29,0.8,29,-25.1,0.9,209.2,10,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-78.4
$GPS2,060717,130644,-3012.4807,3112.4470,5,0.8,5,-25.1,2.4,212.3,10,17.3
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3004.844,3121.272
$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,-175.2,126,2025,1259,1112,0.0,0.0,0,80,0.00,0.00,-62.75,0.000,16386,0.000,0.000,125,2026,3000,3010,2991,0,0,0,0,0,0,26.32,28.83,26.33
$GC,83,-0.48,-175.2,126,2026,3011,2991,4.1,-6.2,8,102,9.60,2.05,-3.12,0.000,18692,0.213,0.045,2658,3366,3182,3207,3158,0,0,0,0,0,0,25.67,24.71,25.84
$GC,110,-0.48,-175.2,2658,3366,3213,3152,17.9,-38.1,11,119,0.00,2.10,0.00,0.000,1030,0.000,0.023,2658,1974,3183,3216,3150,0,0,0,0,0,0,26.10,26.06,26.12
$GC,169,-0.48,-175.2,2658,1975,3225,3144,38.5,-31.1,20,177,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1975,3184,3225,3144,0,0,0,0,0,0,26.38,26.39,26.39
$GC,306,-0.48,-175.2,2658,1975,3227,3142,74.6,-27.0,45,313,0.00,2.05,0.00,0.000,260,0.000,0.028,2649,3362,3184,3227,3142,0,0,0,0,0,0,26.46,26.17,26.46
$GC,341,-0.48,-175.2,2648,3362,3226,3142,83.5,-22.9,51,348,0.10,2.05,0.00,0.000,3078,0.187,0.023,2680,1974,3184,3227,3142,0,0,0,0,0,0,25.97,26.19,26.13
$GC,661,-0.48,-175.2,2679,1970,3233,3140,151.1,-21.3,90,669,0.00,2.03,0.00,0.000,516,0.000,0.028,2680,585,3186,3232,3140,0,0,0,0,0,0,26.55,26.27,26.57
$GC,704,-0.48,-175.2,2679,584,3233,3140,158.8,-18.0,94,712,0.00,2.03,0.00,0.000,1030,0.000,0.028,2672,1948,3186,3232,3140,0,0,0,0,0,0,26.36,26.29,26.38
$GC,1022,-0.48,-175.2,2672,1949,3235,3140,212.6,-15.6,122,1028,0.00,2.12,0.00,0.000,260,0.000,0.034,2661,3391,3187,3235,3140,0,0,0,0,0,0,26.61,26.33,26.63
$GC,1136,-0.48,-175.2,2660,3391,3235,3140,222.3,-8.9,127,1143,0.00,2.05,0.00,0.000,1030,0.000,0.021,2661,1972,3188,3236,3140,0,0,0,0,0,0,26.45,26.39,26.46
$GC,1942,-0.48,-175.2,2660,1969,3236,3137,342.7,-14.1,168,1948,0.00,2.10,0.00,0.000,260,0.000,0.033,2650,3394,3186,3236,3137,0,0,0,0,0,0,26.73,26.41,26.74
$GC,2030,-0.48,-175.2,2650,3394,3236,3137,349.2,-8.0,172,2034,0.00,2.05,0.00,0.000,1030,0.000,0.024,2651,1986,3186,3236,3137,0,0,0,0,0,0,26.51,26.44,26.53
$GC,2837,-0.48,-175.2,2649,1985,3235,3130,474.9,-18.0,212,2843,0.00,2.08,0.00,0.000,260,0.000,0.035,2641,3383,3182,3235,3130,0,0,0,0,0,0,26.76,26.43,26.77
$GC,2889,-0.48,-175.2,2640,3382,3235,3131,481.8,-17.6,214,2897,0.12,2.08,0.00,0.000,3078,0.183,0.026,2682,1974,3182,3234,3131,0,0,0,0,0,0,26.19,26.45,26.38
$STATE,3016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3016,begin apogee
$GC,3020,0.00,0.0,2682,1824,3234,3130,501.6,-14.2,221,3158,0.47,0.10,133.68,0.930,10246,0.129,0.078,2836,1894,2465,2537,2393,0,0,0,0,0,0,26.25,24.87,24.31
$STATE,3159,end apogee,CONTROL_FINISHED_OK
$STATE,3159,begin climb
$GC,3161,0.48,175.2,2836,1921,2536,2393,510.8,0.0,228,3308,0.43,2.33,137.75,0.920,10756,0.037,0.033,3038,498,1749,1839,1659,0,0,0,0,0,0,25.08,24.56,24.15
$GC,3468,0.48,175.2,3038,498,1821,1659,466.7,22.5,243,3476,0.17,2.17,0.00,0.000,5126,0.181,0.030,2992,1901,1740,1822,1659,0,0,0,0,0,0,25.44,25.63,25.64
$GC,4275,0.48,175.2,2991,1905,1822,1653,293.8,22.7,284,4279,0.00,2.15,0.00,0.000,516,0.000,0.034,3000,497,1737,1821,1653,0,0,0,0,0,0,26.52,26.20,26.53
$GC,4294,0.48,175.2,3000,496,1818,1654,290.1,23.1,285,4298,0.00,2.12,0.00,0.000,1030,0.000,0.028,3001,1903,1735,1818,1653,0,0,0,0,0,0,26.31,26.24,26.33
$GC,5101,0.48,175.2,3000,1909,1818,1649,145.0,18.2,342,5104,0.00,2.10,0.00,0.000,260,0.000,0.034,3001,3305,1734,1818,1650,0,0,0,0,0,0,26.65,26.34,26.67
$GC,5145,0.48,175.2,3000,3305,1818,1649,138.1,16.8,346,5151,0.00,2.10,0.00,0.000,1030,0.000,0.028,3011,1891,1733,1818,1649,0,0,0,0,0,0,26.44,26.36,26.46
$GC,5454,0.48,175.2,3010,1891,1818,1650,94.7,10.5,381,5460,0.00,2.12,0.00,0.000,516,0.000,0.034,3022,486,1733,1818,1649,0,0,0,0,0,0,26.68,26.36,26.70
$GC,5530,0.53,211.6,3021,485,1812,1650,85.9,9.0,395,5562,0.00,2.12,27.15,0.659,9222,0.000,0.031,3022,1894,1601,1696,1507,0,0,0,0,0,0,26.46,26.39,25.44
$GC,5886,0.53,211.6,3021,1898,1692,1506,35.2,15.1,460,5895,0.00,2.15,0.00,0.000,260,0.000,0.034,3022,3308,1598,1691,1506,0,0,0,0,0,0,26.51,26.21,26.52
$GC,5956,0.53,211.6,3021,3308,1691,1506,24.4,13.7,471,5965,0.00,2.15,0.00,0.000,1030,0.000,0.028,3032,1901,1598,1691,1506,0,0,0,0,0,0,26.27,26.25,26.30
$STATE,6100,end climb,SURFACE_DEPTH_REACHED
$STATE,6100,begin surface coast
$FINISH,0.8,1.025238
$STATE,6120,end surface coast,CONTROL_FINISHED_OK
$STATE,6121,begin surface
$SM_CCo,6136,42.15,0.047,0,0,1200,310.05
$SM_GC,2.09,7.55,0.10,42.15,0.034,0.068,0.047,125,2072,1200,-8.41,-1.33,310.05,0,0,0,0,0,0,26.29,26.39,26.22
$IRIDIUM_FIX,-3000.00,3111.94,060717,130211
$TT8_MAMPS,0.024717,0.260652
$HUMID,57.08
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,24.15,22.955
$10V_AH,10.28,11.516
$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,18.450,46.600,298.575,42.150,0.000,31.447,19.539,197.750,11.500,0.000,12.756,1236.810,3464.753,394.653,1372.705,84.113,0.000,918.475,0.000,1069.425,0.000,72.489,0.000
$DEVICE_MAMPS,213.435,81.855,930.240,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.828,74.399,308.249,316.468,0.000,0.000,0.000,0.000,0.000,0.000
$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,33703,498
$CAP_FILE_SIZE,69144,0
$CFSIZE,2097086464,2065432576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,060717,145109,-3013.660,3113.413,7,1.4,7,-25.2,0.9,188.3,7,31.3