version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 154
start: 6 28 117 18 52 14
data:
$ID,574
$MISSION,23
$DIVE,154
$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,1990
$C_ROLL_CLIMB,1896
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,39
$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,150
$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
$GPS1,280617,183847,-2956.0999,3109.9988,6,1.1,6,-24.8,0.0,0.0,8,17.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.7
$GPS2,280617,185128,-2955.9224,3110.0088,4,1.1,4,-24.7,0.5,323.7,8,100.0
$SPEED_LIMITS,0.328,0.338
$TGT_NAME,HEADING
$TGT_LATLONG,-2947.650,3102.010
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,344.7,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.45,-126.5,126,1998,694,571,0.0,0.0,0,97,0.00,0.00,-78.93,0.000,16386,0.000,0.000,126,1999,2835,2834,2836,0,0,0,0,0,0,26.15,28.83,26.17
$GC,99,-0.45,-126.5,126,1999,2842,2831,3.2,-4.0,10,118,9.82,2.20,-2.85,0.000,18948,0.219,0.037,2699,560,2983,3007,2960,0,0,0,0,0,0,25.68,24.87,25.83
$GC,191,-0.45,-126.5,2698,560,3011,2960,32.0,-20.8,24,200,0.00,2.22,0.00,0.000,1030,0.000,0.031,2690,1983,2985,3012,2959,0,0,0,0,0,0,26.06,26.03,26.10
$GC,333,-0.45,-126.5,2689,1983,3013,2957,60.8,-18.8,49,340,0.00,2.12,0.00,0.000,260,0.000,0.034,2679,3413,2985,3013,2957,0,0,0,0,0,0,26.40,26.13,26.41
$GC,442,-0.45,-126.5,2678,3413,3014,2956,75.8,-12.6,69,449,0.00,2.12,0.00,0.000,1030,0.000,0.025,2679,1982,2985,3014,2956,0,0,0,0,0,0,26.27,26.20,26.27
$GC,762,-0.45,-126.5,2678,1980,3019,2954,130.9,-16.8,113,766,0.00,2.12,0.00,0.000,260,0.000,0.032,2669,3418,2986,3018,2954,0,0,0,0,0,0,26.58,26.29,26.59
$GC,800,-0.45,-126.5,2668,3418,3018,2954,136.1,-15.0,116,808,0.00,2.15,0.00,0.000,1030,0.000,0.025,2669,1987,2986,3019,2954,0,0,0,0,0,0,26.35,26.33,26.37
$GC,1107,-0.45,-126.5,2668,1987,3019,2954,182.6,-14.4,147,1112,0.08,2.12,0.00,0.000,2308,0.178,0.031,2688,3415,2986,3019,2954,0,0,0,0,0,0,26.25,26.36,26.32
$GC,1164,-0.45,-126.5,2687,3414,3019,2954,189.3,-10.8,152,1168,0.00,2.10,0.00,0.000,1030,0.000,0.025,2688,1987,2986,3019,2954,0,0,0,0,0,0,26.46,26.39,26.47
$GC,1479,-0.45,-126.5,2688,1984,3019,2954,227.1,-12.1,172,1483,0.00,2.10,0.00,0.000,260,0.000,0.032,2678,3415,2986,3019,2953,0,0,0,0,0,0,26.70,26.41,26.71
$GC,1495,-0.45,-126.5,2677,3415,3019,2952,228.8,-12.0,173,1499,0.00,2.10,0.00,0.000,1030,0.000,0.024,2678,1984,2986,3019,2953,0,0,0,0,0,0,26.50,26.44,26.51
$STATE,1689,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1690,begin apogee
$GC,1694,0.00,0.0,2677,1805,3019,2952,257.8,-15.8,183,1792,0.52,0.15,94.07,0.780,10246,0.131,0.060,2839,1952,2465,2513,2418,0,0,0,0,0,0,26.28,25.18,24.63
$STATE,1793,end apogee,CONTROL_FINISHED_OK
$STATE,1793,begin climb
$GC,1795,0.45,126.5,2839,1952,2512,2418,260.3,0.0,188,1899,0.38,2.35,96.85,0.768,10756,0.032,0.034,3030,492,1948,2000,1896,0,0,0,0,0,0,25.35,24.90,24.37
$GC,1984,0.45,126.5,3030,491,1991,1894,240.3,19.0,197,1992,0.12,2.20,0.00,0.000,5126,0.175,0.025,2997,1926,1942,1991,1894,0,0,0,0,0,0,25.39,25.57,25.55
$GC,2791,0.45,126.5,2997,1930,1992,1884,114.7,12.4,266,2795,0.00,2.17,0.00,0.000,516,0.000,0.034,3006,495,1938,1992,1884,0,0,0,0,0,0,26.55,26.27,26.57
$GC,2808,0.45,126.5,3006,495,1990,1883,112.6,12.5,267,2817,0.00,2.10,0.00,0.000,1030,0.000,0.028,3006,1892,1936,1990,1883,0,0,0,0,0,0,26.36,26.29,26.38
$GC,3127,0.45,126.5,3005,1895,1991,1882,73.7,12.6,319,3134,0.00,2.10,0.00,0.000,260,0.000,0.034,3006,3306,1936,1991,1882,0,0,0,0,0,0,26.63,26.35,26.65
$GC,3226,0.45,126.5,3006,3306,1991,1883,61.4,11.5,337,3233,0.00,2.10,0.00,0.000,1030,0.000,0.028,3016,1888,1937,1991,1883,0,0,0,0,0,0,26.44,26.38,26.46
$GC,3561,0.54,194.8,3015,1888,1990,1881,33.6,8.3,398,3609,0.00,2.15,39.65,0.620,8708,0.000,0.033,3027,495,1667,1742,1592,0,0,0,0,0,0,26.70,25.72,25.36
$GC,3628,0.54,194.8,3026,495,1734,1592,26.6,11.9,407,3637,0.00,2.17,0.00,0.000,1030,0.000,0.027,3027,1898,1664,1736,1592,0,0,0,0,0,0,26.02,25.99,26.05
$GC,3781,0.54,194.8,3026,1901,1734,1590,5.4,14.8,432,3789,0.00,2.17,0.00,0.000,516,0.000,0.034,3037,506,1661,1733,1589,0,0,0,0,0,0,26.39,26.10,26.41
$STATE,3796,end climb,SURFACE_DEPTH_REACHED
$STATE,3796,begin surface coast
$FINISH,0.6,1.025401
$STATE,3821,end surface coast,CONTROL_FINISHED_OK
$STATE,3821,begin surface
$SM_CCo,3837,107.28,0.047,0,0,642,446.93
$SM_GC,1.59,7.53,2.30,107.28,0.025,0.025,0.047,125,1998,642,-8.45,-1.07,446.93,0,0,0,0,0,0,26.15,26.15,26.10
$IRIDIUM_FIX,-2945.08,3108.91,280617,184356
$TT8_MAMPS,0.025466,0.289114
$HUMID,54.37
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,171.1,101.6
$24V_AH,24.37,13.482
$10V_AH,10.36,6.113
$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,18.450,43.525,230.575,107.275,0.000,93.642,73.471,375.434,1.250,0.000,11.940,1065.253,1661.007,396.272,1553.197,64.231,0.000,844.748,0.000,975.465,0.000,11.903,0.000
$DEVICE_MAMPS,218.790,99.450,779.535,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,300.979,98.938,413.900,417.244,0.000,0.000,0.000,0.000,0.000,0.000
$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,30441,438
$CAP_FILE_SIZE,61101,0
$CFSIZE,2097086464,2077196288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,280617,195838,-2954.884,3110.421,6,1.3,6,-24.7,0.7,0.8,6,134.1