version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 146
start: 6 28 117 3 54 45
data:
$ID,574
$MISSION,23
$DIVE,146
$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,320
$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,23
$R_STBD_OVSHOOT,50
$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
$GPS1,280617,034601,-3002.0935,3118.4709,8,0.8,8,-25.0,1.2,235.3,10,70.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-76.2
$GPS2,280617,035358,-3002.2568,3118.2627,6,1.9,6,-25.0,0.6,187.8,5,142.4
$SPEED_LIMITS,0.328,0.338
$TGT_NAME,HEADING
$TGT_LATLONG,-2953.984,3110.255
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,345.0,20000,-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,-126.5,126,2068,528,447,0.0,0.0,0,103,0.00,0.00,-85.38,0.000,16390,0.000,0.000,126,2068,2839,2844,2835,0,0,0,0,0,0,26.14,24.93,26.15
$GC,106,-0.45,-126.5,126,2068,2845,2836,3.3,-4.3,11,123,9.85,2.12,0.00,0.000,2308,0.220,0.028,2679,3481,2841,2853,2829,0,0,0,0,0,0,25.67,25.91,25.82
$GC,235,-0.45,-126.5,2679,3481,2865,2819,36.0,-17.3,32,244,0.00,2.20,0.00,0.000,1030,0.000,0.031,2679,2050,2841,2867,2816,0,0,0,0,0,0,26.10,26.05,26.12
$GC,373,-0.45,-126.5,2679,2048,2870,2813,66.3,-22.7,57,380,0.00,2.10,0.00,0.000,260,0.000,0.031,2669,3463,2842,2870,2814,0,0,0,0,0,0,26.43,26.15,26.44
$GC,461,-0.45,-126.5,2668,3463,2870,2814,84.1,-20.8,73,468,0.00,2.10,0.00,0.000,1030,0.000,0.026,2669,2047,2842,2871,2814,0,0,0,0,0,0,26.27,26.20,26.29
$GC,778,-0.45,-126.5,2668,2047,2875,2814,144.1,-15.1,112,782,0.00,2.10,0.00,0.000,260,0.000,0.034,2659,3462,2843,2874,2813,0,0,0,0,0,0,26.58,26.29,26.60
$GC,864,-0.45,-126.5,2658,3462,2874,2814,152.6,-9.2,120,869,0.12,2.08,0.00,0.000,3078,0.145,0.025,2697,2051,2844,2874,2814,0,0,0,0,0,0,26.18,26.34,26.32
$GC,1169,-0.45,-126.5,2697,2050,2878,2813,181.9,-10.2,150,1173,0.00,2.10,0.00,0.000,260,0.000,0.034,2689,3461,2846,2879,2813,0,0,0,0,0,0,26.67,26.38,26.68
$GC,1335,-0.45,-126.5,2689,3461,2878,2813,199.4,-10.0,166,1339,0.00,2.05,0.00,0.000,1030,0.000,0.025,2690,2060,2845,2878,2813,0,0,0,0,0,0,26.48,26.42,26.51
$GC,1650,-0.45,-126.5,2689,2056,2880,2813,228.3,-11.1,182,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2056,2846,2880,2813,0,0,0,0,0,0,26.72,26.74,26.74
$GC,2451,-0.45,-126.5,2689,2057,2880,2808,311.5,-9.5,222,2456,0.00,2.08,0.00,0.000,260,0.000,0.035,2679,3463,2844,2880,2808,0,0,0,0,0,0,26.75,26.48,26.76
$GC,2523,-0.45,-126.5,2679,3463,2878,2808,316.4,-8.5,225,2530,0.00,2.05,0.00,0.000,1030,0.000,0.027,2679,2064,2842,2878,2807,0,0,0,0,0,0,26.57,26.51,26.59
$STATE,3308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3308,begin apogee
$GC,3312,0.00,0.0,2679,1803,2876,2802,401.8,-12.0,265,3412,0.52,0.12,95.68,0.870,10246,0.135,0.069,2839,1946,2321,2363,2280,0,0,0,0,0,0,26.33,25.13,24.55
$STATE,3413,end apogee,CONTROL_FINISHED_OK
$STATE,3413,begin climb
$GC,3415,0.45,126.5,2839,1946,2363,2280,403.0,0.0,270,3523,0.38,2.38,100.07,0.862,10756,0.032,0.034,3032,502,1804,1870,1739,0,0,0,0,0,0,25.29,24.84,24.28
$GC,3543,0.45,126.5,3031,502,1864,1737,388.6,15.4,276,3551,0.10,2.15,0.00,0.000,5126,0.173,0.028,2998,1842,1800,1864,1737,0,0,0,0,0,0,25.06,25.21,25.21
$GC,4352,0.45,126.5,2998,1848,1860,1727,243.4,17.7,317,4357,0.00,2.10,0.00,0.000,260,0.000,0.032,2998,3251,1793,1860,1727,0,0,0,0,0,0,26.53,26.25,26.55
$GC,4398,0.45,126.5,2998,3250,1859,1727,236.4,17.3,319,4402,0.00,2.05,0.00,0.000,1030,0.000,0.031,3006,1906,1793,1859,1727,0,0,0,0,0,0,26.31,26.28,26.32
$GC,5210,0.45,126.5,3005,1904,1857,1723,111.4,17.0,390,5214,0.00,2.00,0.00,0.000,260,0.000,0.032,3006,3256,1790,1857,1723,0,0,0,0,0,0,26.70,26.41,26.71
$GC,5266,0.45,126.5,3006,3256,1857,1724,102.9,15.5,395,5270,0.00,2.03,0.00,0.000,1030,0.000,0.032,3016,1896,1790,1857,1724,0,0,0,0,0,0,26.49,26.41,26.51
$GC,5586,0.45,126.5,3016,1896,1857,1722,63.2,11.6,453,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1896,1789,1857,1722,0,0,0,0,0,0,26.73,26.74,26.74
$GC,5920,0.45,126.5,3016,1896,1857,1722,28.9,11.6,514,5929,0.00,2.03,0.00,0.000,260,0.000,0.030,3016,3246,1789,1857,1722,0,0,0,0,0,0,26.75,26.47,26.76
$GC,5977,0.45,126.5,3016,3246,1857,1723,21.7,12.9,523,5987,0.10,2.05,0.00,0.000,5126,0.162,0.028,2996,1883,1790,1857,1723,0,0,0,0,0,0,26.29,26.48,26.39
$GC,6132,0.46,135.4,2996,1883,1858,1722,5.6,9.8,548,6140,0.00,0.00,2.28,0.169,8198,0.000,0.000,2996,1883,1767,1839,1696,0,0,0,0,0,0,26.76,26.13,25.72
$STATE,6166,end climb,SURFACE_DEPTH_REACHED
$STATE,6166,begin surface coast
$FINISH,0.7,1.025129
$STATE,6203,end surface coast,CONTROL_FINISHED_OK
$STATE,6203,begin surface
$SM_CCo,6218,133.07,0.047,0,0,498,446.93
$SM_GC,1.48,7.22,0.17,133.07,0.021,0.050,0.047,126,2071,498,-8.40,-2.66,446.93,0,0,0,0,0,0,26.48,26.54,26.33
$IRIDIUM_FIX,-2950.05,3120.46,280617,020227
$TT8_MAMPS,0.025466,0.260652
$HUMID,55.51
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,20.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.6,112.6
$24V_AH,24.28,12.780
$10V_AH,10.35,5.717
$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,18.300,38.375,198.025,133.075,0.000,25.858,18.955,339.823,4.250,0.000,12.953,1365.882,3391.961,402.140,1634.826,69.738,0.000,934.220,0.000,1205.564,0.000,30.769,0.000
$DEVICE_MAMPS,219.555,100.980,869.805,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.149,103.816,452.643,450.363,0.000,0.000,0.000,0.000,0.000,0.000
$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,36945,559
$CAP_FILE_SIZE,70237,0
$CFSIZE,2097086464,2077917184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,280617,054150,-3002.177,3115.749,39,0.7,39,-24.9,1.1,234.9,11,6.9