version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 152
start: 6 28 117 15 46 36
data:
$ID,574
$MISSION,23
$DIVE,152
$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,21
$R_STBD_OVSHOOT,43
$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,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
$GPS1,280617,153601,-2958.6482,3109.4539,5,1.6,5,-24.8,0.6,329.2,5,34.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-81.0
$GPS2,280617,154549,-2958.6140,3109.4651,5,1.8,5,-24.8,0.0,0.0,4,313.5
$SPEED_LIMITS,0.328,0.338
$TGT_NAME,HEADING
$TGT_LATLONG,-2950.341,3101.463
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,344.8,20000,-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,-126.5,124,2076,692,581,0.0,0.0,0,103,0.00,0.00,-83.85,0.000,16390,0.000,0.000,124,2076,2982,2996,2969,0,0,0,0,0,0,26.16,24.90,26.17
$GC,106,-0.45,-126.5,123,2076,2996,2969,4.1,-7.1,11,123,9.77,2.17,0.00,0.000,2564,0.216,0.023,2688,614,2984,2999,2969,0,0,0,0,0,0,25.68,25.90,25.82
$GC,196,-0.45,-126.5,2687,614,3006,2963,35.2,-19.6,25,205,0.00,2.25,0.00,0.000,1030,0.000,0.031,2679,2056,2985,3009,2961,0,0,0,0,0,0,26.08,26.04,26.12
$GC,335,-0.45,-126.5,2678,2055,3012,2959,65.2,-21.2,50,342,0.00,2.10,0.00,0.000,260,0.000,0.034,2668,3474,2985,3012,2959,0,0,0,0,0,0,26.41,26.13,26.42
$GC,475,-0.45,-126.5,2667,3474,3012,2958,86.8,-11.5,76,482,0.00,2.17,0.00,0.000,1030,0.000,0.026,2668,2042,2985,3013,2958,0,0,0,0,0,0,26.25,26.21,26.27
$GC,788,-0.45,-126.5,2667,2038,3017,2956,137.1,-16.6,116,793,0.08,2.15,0.00,0.000,2308,0.181,0.031,2687,3485,2986,3017,2956,0,0,0,0,0,0,26.17,26.30,26.25
$GC,855,-0.45,-126.5,2686,3485,3017,2956,144.9,-9.9,122,859,0.00,2.10,0.00,0.000,1030,0.000,0.024,2687,2057,2986,3017,2956,0,0,0,0,0,0,26.40,26.34,26.41
$GC,1160,-0.45,-126.5,2686,2057,3019,2955,183.3,-13.4,152,1164,0.00,2.08,0.00,0.000,516,0.000,0.030,2687,649,2987,3019,2955,0,0,0,0,0,0,26.66,26.37,26.67
$GC,1185,-0.45,-126.5,2687,648,3019,2955,187.0,-13.7,154,1190,0.00,2.12,0.00,0.000,1030,0.000,0.028,2677,2066,2986,3018,2955,0,0,0,0,0,0,26.46,26.39,26.47
$GC,1501,-0.45,-126.5,2676,2067,3019,2955,232.1,-14.2,174,1504,0.00,2.08,0.00,0.000,260,0.000,0.035,2666,3480,2986,3019,2954,0,0,0,0,0,0,26.70,26.41,26.72
$GC,1536,-0.45,-126.5,2665,3480,3018,2954,236.8,-13.9,176,1541,0.10,2.10,0.00,0.000,3078,0.132,0.025,2699,2050,2986,3019,2954,0,0,0,0,0,0,26.31,26.44,26.43
$GC,2353,-0.45,-126.5,2699,2047,3019,2949,320.6,-10.1,217,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2047,2984,3019,2949,0,0,0,0,0,0,26.77,26.78,26.78
$STATE,2592,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2592,begin apogee
$GC,2596,0.00,0.0,2699,1840,3019,2946,345.0,-10.2,229,2695,0.45,0.08,94.62,0.825,10246,0.121,0.093,2842,1927,2464,2515,2414,0,0,0,0,0,0,26.34,25.15,24.60
$STATE,2696,end apogee,CONTROL_FINISHED_OK
$STATE,2696,begin climb
$GC,2697,0.45,126.5,2842,1928,2515,2414,346.3,0.0,234,2805,0.38,2.33,98.75,0.822,11012,0.033,0.034,3032,494,1946,2001,1892,0,0,0,0,0,0,25.32,24.69,24.30
$GC,2846,0.45,126.5,3032,494,1994,1891,333.9,13.7,241,2854,0.10,2.20,0.00,0.000,5126,0.174,0.028,2997,1873,1942,1994,1891,0,0,0,0,0,0,25.18,25.34,25.34
$GC,3653,0.45,126.5,2996,1878,1993,1880,198.1,16.0,282,3657,0.00,2.10,0.00,0.000,516,0.000,0.034,3006,496,1936,1993,1880,0,0,0,0,0,0,26.53,26.23,26.54
$GC,3689,0.45,126.5,3005,495,1990,1880,192.1,16.4,285,3693,0.00,2.12,0.00,0.000,1030,0.000,0.028,3006,1900,1935,1990,1880,0,0,0,0,0,0,26.34,26.27,26.36
$GC,3993,0.45,126.5,3005,1905,1991,1879,141.3,16.4,315,3997,0.00,2.15,0.00,0.000,516,0.000,0.034,3016,489,1935,1991,1879,0,0,0,0,0,0,26.61,26.31,26.63
$GC,4022,0.45,126.5,3016,488,1988,1879,136.9,16.7,317,4029,0.00,2.17,0.00,0.000,1030,0.000,0.028,3016,1899,1933,1988,1878,0,0,0,0,0,0,26.43,26.34,26.45
$GC,4334,0.45,126.5,3016,1902,1989,1878,89.4,14.5,355,4341,0.00,2.10,0.00,0.000,260,0.000,0.034,3016,3312,1933,1989,1877,0,0,0,0,0,0,26.66,26.37,26.67
$GC,4433,0.45,126.5,3016,3312,1988,1879,75.3,13.5,373,4441,0.12,2.10,0.00,0.000,5126,0.181,0.028,2992,1898,1933,1988,1879,0,0,0,0,0,0,26.20,26.40,26.39
$GC,4758,0.67,304.1,2991,1898,1988,1877,49.6,5.5,434,4891,0.17,0.00,127.03,0.659,10502,0.059,0.000,3082,1898,1223,1323,1124,0,0,0,0,0,0,26.46,25.10,24.63
$STATE,4986,end climb,SURFACE_DEPTH_REACHED
$STATE,4986,begin surface coast
$FINISH,0.5,1.015309
$STATE,5000,end surface coast,CONTROL_FINISHED_OK
$STATE,5000,begin surface
$SM_CCo,5015,61.90,0.048,0,0,642,446.93
$SM_GC,1.47,7.78,0.22,61.90,0.025,0.037,0.048,125,2116,642,-8.42,-1.33,446.93,0,0,0,0,0,0,25.69,25.76,25.75
$IRIDIUM_FIX,-2945.08,3106.79,280617,153713
$TT8_MAMPS,0.024717,0.264397
$HUMID,57.40
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,18.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,220.7,139.2
$24V_AH,24.30,13.313
$10V_AH,10.36,6.021
$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,18.950,39.250,320.400,61.900,0.000,32.037,49.842,410.324,1.000,0.000,11.944,1118.800,2625.426,412.134,1473.274,68.651,0.000,895.558,0.000,952.800,0.000,9.141,0.000
$DEVICE_MAMPS,216.495,93.330,824.670,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,325.049,76.051,301.541,317.835,0.000,0.000,0.000,0.000,0.000,0.000
$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,30341,472
$CAP_FILE_SIZE,62703,0
$CFSIZE,2097086464,2077392896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,280617,171224,-2957.354,3109.550,38,0.9,38,-24.8,1.0,344.4,9,7.3