version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 148
start: 6 28 117 7 55 31
data:
$ID,574
$MISSION,23
$DIVE,148
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,160
$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,340
$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,1836
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,66
$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
$GPS1,280617,074523,-3002.0366,3113.6370,5,1.1,5,-24.9,0.8,228.3,8,64.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-79.6
$GPS2,280617,075445,-3002.1653,3113.3665,5,1.1,5,-24.9,0.0,0.0,8,98.1
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-2952.018,3109.107
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,4.9,20000,-13.3,-10.000,-16.52,4019
$D_GRID,450
$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,15,-0.45,-126.5,126,2038,527,449,0.0,0.0,0,104,0.00,0.00,-85.03,0.000,16390,0.000,0.000,126,2039,2839,2843,2836,0,0,0,0,0,0,26.20,24.87,26.21
$GC,107,-0.45,-126.5,126,2038,2845,2833,3.2,-4.2,11,124,9.65,2.10,0.00,0.000,2564,0.212,0.023,2688,631,2840,2852,2829,0,0,0,0,0,0,25.70,25.96,25.84
$GC,197,-0.45,-126.5,2687,631,2863,2820,30.2,-19.0,25,205,0.00,2.17,0.00,0.000,1030,0.000,0.029,2679,2035,2841,2866,2817,0,0,0,0,0,0,26.10,26.06,26.13
$GC,339,-0.45,-126.5,2679,2035,2869,2814,58.8,-18.6,50,345,0.00,2.15,0.00,0.000,260,0.000,0.033,2668,3488,2841,2869,2814,0,0,0,0,0,0,26.44,26.15,26.44
$GC,506,-0.45,-126.5,2667,3488,2869,2814,88.6,-16.3,81,513,0.10,2.15,0.00,0.000,3078,0.156,0.027,2698,2045,2841,2868,2814,0,0,0,0,0,0,26.07,26.25,26.21
$GC,825,-0.45,-126.5,2697,2040,2873,2813,133.3,-11.3,118,833,0.00,2.12,0.00,0.000,260,0.000,0.033,2689,3484,2843,2874,2813,0,0,0,0,0,0,26.61,26.32,26.62
$GC,945,-0.45,-126.5,2689,3484,2874,2812,146.0,-10.0,130,949,0.00,2.12,0.00,0.000,1030,0.000,0.024,2689,2047,2843,2874,2812,0,0,0,0,0,0,26.43,26.37,26.45
$GC,1256,-0.45,-126.5,2688,2046,2877,2812,181.5,-11.5,161,1260,0.00,2.10,0.00,0.000,260,0.000,0.032,2679,3479,2845,2877,2813,0,0,0,0,0,0,26.69,26.39,26.70
$GC,1274,-0.45,-126.5,2678,3479,2876,2812,183.2,-11.0,162,1281,0.00,2.12,0.00,0.000,1030,0.000,0.024,2679,2059,2844,2877,2812,0,0,0,0,0,0,26.45,26.42,26.47
$GC,1582,-0.45,-126.5,2678,2056,2878,2812,219.8,-11.5,185,1587,0.00,2.10,0.00,0.000,260,0.000,0.032,2669,3487,2844,2877,2812,0,0,0,0,0,0,26.72,26.44,26.74
$GC,1604,-0.45,-126.5,2668,3487,2877,2812,222.1,-11.1,186,1608,0.00,2.12,0.00,0.000,1030,0.000,0.024,2669,2062,2844,2877,2812,0,0,0,0,0,0,26.48,26.46,26.51
$GC,2423,-0.45,-126.5,2668,2058,2876,2808,313.5,-11.7,227,2429,0.08,2.08,0.00,0.000,2308,0.177,0.034,2689,3470,2842,2876,2808,0,0,0,0,0,0,26.36,26.48,26.44
$GC,2469,-0.45,-126.5,2688,3470,2876,2808,317.2,-10.8,229,2474,0.00,2.12,0.00,0.000,1030,0.000,0.028,2689,2058,2842,2876,2808,0,0,0,0,0,0,26.53,26.50,26.55
$GC,3282,-0.45,-126.5,2688,2055,2875,2801,396.2,-9.8,270,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2055,2837,2874,2801,0,0,0,0,0,0,26.80,26.82,26.82
$STATE,3660,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3660,begin apogee
$GC,3665,0.00,0.0,2688,1787,2874,2799,434.3,-10.0,289,3764,0.50,0.08,95.60,0.881,10246,0.129,0.092,2844,1878,2321,2362,2281,0,0,0,0,0,0,26.34,25.10,24.53
$STATE,3765,end apogee,CONTROL_FINISHED_OK
$STATE,3766,begin climb
$GC,3767,0.45,126.5,2844,1878,2363,2280,435.7,0.0,294,3871,0.40,0.00,101.28,0.867,10246,0.031,0.000,3032,1882,1805,1870,1741,0,0,0,0,0,0,25.28,24.79,24.25
$GC,4661,0.45,126.5,3031,1882,1860,1728,253.1,21.3,339,4666,0.10,2.17,0.00,0.000,4612,0.185,0.035,3007,467,1793,1860,1727,0,0,0,0,0,0,26.04,26.20,26.15
$GC,4766,0.45,126.5,3007,467,1855,1727,235.5,17.6,344,4771,0.00,2.03,0.00,0.000,1030,0.000,0.029,3007,1805,1791,1855,1727,0,0,0,0,0,0,26.33,26.26,26.35
$GC,5573,0.51,172.0,3007,1810,1856,1723,106.6,8.8,415,5614,0.00,2.20,33.53,0.668,8452,0.000,0.033,3007,3252,1619,1698,1541,0,0,0,0,0,0,26.68,25.73,25.36
$GC,5788,0.51,172.0,3007,3251,1692,1541,81.3,12.9,449,5794,0.00,2.08,0.00,0.000,1030,0.000,0.030,3017,1871,1616,1692,1540,0,0,0,0,0,0,26.20,26.13,26.21
$GC,6116,0.51,172.0,3017,1871,1693,1537,34.5,14.6,510,6125,0.00,2.08,0.00,0.000,260,0.000,0.030,3017,3249,1614,1692,1537,0,0,0,0,0,0,26.55,26.27,26.56
$GC,6158,0.51,172.0,3017,3249,1692,1537,28.9,13.6,516,6166,0.00,2.15,0.00,0.000,1030,0.000,0.030,3027,1839,1614,1692,1537,0,0,0,0,0,0,26.32,26.29,26.34
$GC,6311,0.51,172.0,3027,1840,1692,1537,6.1,14.7,541,6319,0.00,2.10,0.00,0.000,260,0.000,0.030,3027,3239,1614,1692,1537,0,0,0,0,0,0,26.60,26.32,26.61
$STATE,6332,end climb,SURFACE_DEPTH_REACHED
$STATE,6333,begin surface coast
$FINISH,0.4,1.025240
$STATE,6353,end surface coast,CONTROL_FINISHED_OK
$STATE,6353,begin surface
$SM_CCo,6369,118.40,0.050,0,0,498,446.93
$SM_GC,1.47,7.47,1.77,118.40,0.028,0.022,0.050,125,2054,498,-8.43,1.10,446.93,0,0,0,0,0,0,26.33,26.35,26.21
$IRIDIUM_FIX,-2950.05,3113.62,280617,054314
$TT8_MAMPS,0.026215,0.265895
$HUMID,56.41
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.1,99.2
$24V_AH,24.25,12.943
$10V_AH,10.34,5.821
$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,18.300,42.450,230.400,118.400,0.000,29.663,40.714,396.079,5.000,0.000,12.507,1336.119,3615.524,440.452,1618.911,70.685,0.000,942.493,0.000,1105.254,0.000,39.676,0.000
$DEVICE_MAMPS,211.905,91.800,881.280,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.964,85.615,364.252,366.673,0.000,0.000,0.000,0.000,0.000,0.000
$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,37099,547
$CAP_FILE_SIZE,68935,0
$CFSIZE,2097086464,2077720576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,280617,094448,-3001.448,3112.161,37,1.0,37,-24.9,1.2,237.7,8,8.9