version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 276
start: 7 6 117 18 48 7
data:
$ID,574
$MISSION,23
$DIVE,276
$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,270
$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,90
$R_STBD_OVSHOOT,44
$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
$GPS1,060717,184132,-3017.4695,3112.7068,31,1.0,31,-25.2,1.0,218.7,8,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-76.2
$GPS2,060717,184719,-3017.6106,3112.6045,6,1.0,6,-25.2,1.1,185.7,9,17.4
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3017.611,3100.098
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,295.2,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.48,-175.2,126,1985,1259,1120,0.0,0.0,0,74,0.00,0.00,-55.70,0.000,16386,0.000,0.000,126,1984,2750,2735,2765,0,0,0,0,0,0,26.24,28.83,26.25
$GC,76,-0.48,-175.2,126,1984,2736,2766,3.1,-2.9,7,102,9.70,2.12,-8.55,0.000,18692,0.216,0.045,2662,3388,3178,3213,3143,0,0,0,0,0,0,25.65,25.46,25.82
$GC,245,-0.48,-175.2,2662,3388,3224,3136,40.5,-17.2,34,251,0.00,2.03,0.00,0.000,1030,0.000,0.026,2662,2025,3180,3226,3134,0,0,0,0,0,0,26.17,26.10,26.19
$GC,569,-0.48,-175.2,2661,2024,3228,3131,122.3,-24.0,86,578,0.00,1.98,0.00,0.000,260,0.000,0.026,2653,3399,3179,3228,3131,0,0,0,0,0,0,26.51,26.25,26.52
$GC,643,-0.48,-175.2,2652,3399,3229,3132,134.9,-13.6,93,650,0.00,2.10,0.00,0.000,1030,0.000,0.027,2652,1983,3180,3229,3132,0,0,0,0,0,0,26.33,26.26,26.35
$GC,960,-0.48,-175.2,2652,1982,3233,3131,204.7,-18.2,124,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1982,3182,3233,3131,0,0,0,0,0,0,26.62,26.64,26.63
$GC,1760,-0.48,-175.2,2652,1982,3236,3131,348.0,-16.5,164,1764,0.00,2.08,0.00,0.000,260,0.000,0.032,2643,3394,3183,3236,3131,0,0,0,0,0,0,26.72,26.41,26.72
$GC,1876,-0.48,-175.2,2642,3394,3235,3131,363.4,-12.1,170,1883,0.10,2.10,0.00,0.000,3078,0.171,0.024,2676,1965,3183,3235,3131,0,0,0,0,0,0,26.24,26.43,26.39
$GC,2696,-0.48,-175.2,2675,1964,3234,3125,475.7,-14.7,211,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1965,3179,3234,3125,0,0,0,0,0,0,26.75,26.77,26.77
$STATE,2875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2875,begin apogee
$GC,2880,0.00,0.0,2676,1837,3233,3123,500.8,-13.3,220,3017,0.50,0.08,132.85,0.938,10246,0.132,0.089,2836,1927,2465,2537,2393,0,0,0,0,0,0,26.25,24.89,24.32
$STATE,3018,end apogee,CONTROL_FINISHED_OK
$STATE,3019,begin climb
$GC,3020,0.48,175.2,2836,1927,2536,2393,507.5,0.0,227,3169,0.43,2.12,137.90,0.926,11012,0.037,0.028,3035,3278,1748,1835,1661,0,0,0,0,0,0,25.09,24.58,24.17
$GC,3276,0.48,175.2,3034,3278,1828,1661,472.4,18.6,240,3283,0.20,2.12,0.00,0.000,5126,0.199,0.028,2991,1901,1744,1828,1661,0,0,0,0,0,0,25.34,25.53,25.51
$GC,4096,0.48,175.2,2990,1901,1825,1654,320.0,18.5,281,4102,0.00,2.15,0.00,0.000,516,0.000,0.035,3001,489,1739,1825,1654,0,0,0,0,0,0,26.52,26.20,26.53
$GC,4256,0.48,175.2,3000,488,1815,1654,293.9,15.4,289,4260,0.00,2.08,0.00,0.000,1030,0.000,0.030,3001,1861,1734,1815,1654,0,0,0,0,0,0,26.34,26.27,26.36
$GC,5062,0.48,175.2,3000,1866,1818,1650,152.3,14.6,345,5066,0.00,2.10,0.00,0.000,516,0.000,0.034,3011,486,1734,1818,1650,0,0,0,0,0,0,26.67,26.34,26.67
$GC,5113,0.48,175.2,3010,485,1812,1650,144.9,14.4,350,5117,0.00,2.15,0.00,0.000,1030,0.000,0.033,3011,1901,1731,1812,1650,0,0,0,0,0,0,26.44,26.36,26.46
$GC,5418,0.48,175.2,3010,1906,1816,1650,103.2,11.7,380,5422,0.00,2.12,0.00,0.000,516,0.000,0.032,3020,490,1733,1816,1650,0,0,0,0,0,0,26.69,26.36,26.70
$GC,5435,0.48,175.2,3020,489,1814,1650,101.1,12.0,381,5444,0.08,2.10,0.00,0.000,5126,0.194,0.028,2997,1908,1732,1815,1650,0,0,0,0,0,0,26.15,26.38,26.27
$GC,5760,0.48,175.2,2997,1910,1818,1650,62.5,12.4,441,5767,0.00,2.08,0.00,0.000,260,0.000,0.031,2997,3311,1734,1818,1650,0,0,0,0,0,0,26.71,26.40,26.72
$GC,5796,0.48,175.2,2996,3311,1819,1650,58.2,11.7,447,5803,0.00,2.10,0.00,0.000,1030,0.000,0.026,3006,1892,1734,1819,1650,0,0,0,0,0,0,26.48,26.41,26.51
$GC,6140,0.48,175.2,3005,1890,1821,1650,15.5,12.3,508,6149,0.00,2.15,0.00,0.000,516,0.000,0.035,3017,491,1734,1819,1650,0,0,0,0,0,0,26.72,26.37,26.74
$GC,6198,0.48,175.2,3016,491,1816,1651,7.9,14.2,517,6207,0.00,2.15,0.00,0.000,1030,0.000,0.028,3017,1901,1735,1820,1650,0,0,0,0,0,0,26.47,26.42,26.49
$STATE,6243,end climb,SURFACE_DEPTH_REACHED
$STATE,6243,begin surface coast
$FINISH,0.8,1.012745
$STATE,6268,end surface coast,CONTROL_FINISHED_OK
$STATE,6268,begin surface
$SM_CCo,6283,55.75,0.050,0,0,1200,310.05
$SM_GC,2.06,7.45,0.10,55.75,0.032,0.073,0.050,125,2073,1200,-8.41,-1.10,310.05,0,0,0,0,0,0,26.44,26.53,26.32
$IRIDIUM_FIX,-3007.48,3114.53,060717,184241
$TT8_MAMPS,0.025466,0.261401
$HUMID,55.51
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,21.10
$XPDR_PINGS,13
$24V_AH,24.17,23.238
$10V_AH,10.30,11.661
$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,18.450,38.075,270.750,55.750,0.000,30.454,17.896,203.821,14.750,0.000,13.248,1314.633,3480.057,371.947,1473.029,80.492,0.000,897.732,0.000,1165.912,0.000,72.380,0.000
$DEVICE_MAMPS,216.495,100.215,937.890,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.270,92.839,397.307,401.151,0.000,0.000,0.000,0.000,0.000,0.000
$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,33811,528
$CAP_FILE_SIZE,68058,0
$CFSIZE,2097086464,2065137664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,060717,203427,-3019.568,3111.086,6,1.2,6,-25.3,2.0,256.1,7,82.3