version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 180
start: 6 29 117 20 1 26
data:
$ID,574
$MISSION,23
$DIVE,180
$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,40
$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,34
$R_STBD_OVSHOOT,56
$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,100
$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
$GPS1,290617,195116,-2953.5481,3122.1504,5,1.3,5,-24.8,0.0,0.0,6,83.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.9
$GPS2,290617,200039,-2953.5547,3122.0432,6,1.3,6,-24.8,0.9,204.5,6,84.4
$SPEED_LIMITS,0.328,0.338
$TGT_NAME,HEADING
$TGT_LATLONG,-2945.282,3130.039
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,64.8,20000,-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,14,-0.45,-126.5,126,2023,689,575,0.0,0.0,0,95,0.00,0.00,-77.70,0.000,16386,0.000,0.000,126,2023,2822,2824,2821,0,0,0,0,0,0,26.17,28.83,26.18
$GC,97,-0.45,-126.5,126,2023,2824,2821,3.2,-3.4,10,116,9.93,2.25,-3.05,0.000,19204,0.222,0.039,2699,564,2983,3011,2956,0,0,0,0,0,0,25.67,24.82,25.84
$GC,142,-0.45,-126.5,2698,563,3013,2955,19.7,-35.9,16,151,0.00,2.17,0.00,0.000,1030,0.000,0.027,2690,1968,2984,3013,2955,0,0,0,0,0,0,26.03,26.01,26.06
$GC,200,-0.45,-126.5,2690,1968,3014,2953,31.4,-19.4,25,209,0.00,2.17,0.00,0.000,260,0.000,0.031,2680,3403,2984,3015,2953,0,0,0,0,0,0,26.32,26.03,26.33
$GC,250,-0.45,-126.5,2679,3403,3015,2952,41.0,-16.0,33,257,0.00,2.12,0.00,0.000,1030,0.000,0.020,2679,1958,2984,3016,2952,0,0,0,0,0,0,26.17,26.11,26.18
$GC,579,-0.45,-126.5,2679,1954,3019,2951,104.7,-19.9,93,583,0.00,2.15,0.00,0.000,260,0.000,0.032,2669,3407,2985,3019,2951,0,0,0,0,0,0,26.53,26.25,26.54
$GC,705,-0.45,-126.5,2668,3407,3019,2952,121.5,-12.3,105,714,0.00,2.08,0.00,0.000,1030,0.000,0.025,2669,1998,2985,3019,2951,0,0,0,0,0,0,26.36,26.30,26.38
$GC,1015,-0.45,-126.5,2669,1998,3021,2950,172.0,-16.2,136,1018,0.00,2.10,0.00,0.000,260,0.000,0.032,2659,3410,2985,3021,2950,0,0,0,0,0,0,26.64,26.35,26.65
$GC,1188,-0.45,-126.5,2659,3410,3020,2950,193.5,-11.6,153,1196,0.10,2.12,0.00,0.000,3078,0.128,0.026,2693,1990,2985,3020,2950,0,0,0,0,0,0,26.25,26.39,26.33
$GC,1506,-0.45,-126.5,2692,1990,3021,2949,228.7,-11.4,172,1511,0.00,2.08,0.00,0.000,260,0.000,0.031,2684,3409,2985,3021,2949,0,0,0,0,0,0,26.71,26.42,26.72
$GC,1533,-0.45,-126.5,2683,3409,3021,2949,231.4,-11.7,173,1537,0.00,2.12,0.00,0.000,1030,0.000,0.027,2685,1998,2985,3021,2949,0,0,0,0,0,0,26.46,26.43,26.50
$GC,2345,-0.45,-126.5,2684,1994,3021,2945,333.7,-12.7,214,2349,0.00,2.08,0.00,0.000,260,0.000,0.034,2674,3405,2983,3021,2945,0,0,0,0,0,0,26.76,26.47,26.77
$GC,2416,-0.45,-126.5,2674,3405,3021,2944,340.1,-11.7,217,2423,0.00,2.12,0.00,0.000,1030,0.000,0.026,2674,1988,2982,3020,2944,0,0,0,0,0,0,26.58,26.49,26.59
$STATE,2862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2862,begin apogee
$GC,2866,0.00,0.0,2674,1823,3021,2941,402.0,-13.7,240,2966,0.55,0.10,95.22,0.863,10246,0.129,0.073,2845,1935,2464,2517,2412,0,0,0,0,0,0,26.31,25.12,24.57
$STATE,2967,end apogee,CONTROL_FINISHED_OK
$STATE,2967,begin climb
$GC,2968,0.45,126.5,2845,1935,2516,2412,404.9,0.0,245,3076,0.43,2.38,98.97,0.858,10756,0.034,0.034,3047,492,1947,2002,1892,0,0,0,0,0,0,25.29,24.84,24.29
$GC,3123,0.45,126.5,3046,492,1996,1890,388.2,17.7,253,3128,0.20,2.15,0.00,0.000,5126,0.178,0.027,2994,1861,1943,1996,1890,0,0,0,0,0,0,25.22,25.39,25.38
$GC,3940,0.45,126.5,2994,1866,1994,1880,248.8,16.9,294,3944,0.00,2.15,0.00,0.000,260,0.000,0.031,2994,3309,1936,1994,1879,0,0,0,0,0,0,26.54,26.26,26.55
$GC,4099,0.45,126.5,2994,3309,1993,1881,222.6,16.2,302,4103,0.00,2.10,0.00,0.000,1030,0.000,0.029,3004,1898,1937,1993,1881,0,0,0,0,0,0,26.37,26.30,26.39
$GC,4906,0.45,126.5,3003,1898,1990,1878,99.7,13.4,376,4913,0.00,2.17,0.00,0.000,516,0.000,0.036,3014,484,1933,1990,1877,0,0,0,0,0,0,26.70,26.40,26.72
$GC,4964,0.45,126.5,3014,484,1986,1877,93.6,11.3,386,4970,0.00,2.12,0.00,0.000,1030,0.000,0.029,3015,1902,1932,1987,1877,0,0,0,0,0,0,26.50,26.43,26.52
$GC,5287,0.45,126.5,3014,1905,1990,1875,59.8,12.8,447,5294,0.00,2.08,0.00,0.000,260,0.000,0.034,3015,3301,1932,1989,1876,0,0,0,0,0,0,26.73,26.44,26.74
$GC,5862,0.54,201.4,3014,3306,1990,1878,6.7,8.1,548,5902,0.00,2.12,30.35,0.537,9222,0.000,0.028,3025,1892,1642,1724,1560,0,0,0,0,0,0,26.51,26.48,25.60
$STATE,5909,end climb,SURFACE_DEPTH_REACHED
$STATE,5909,begin surface coast
$FINISH,0.6,1.025458
$STATE,5941,end surface coast,CONTROL_FINISHED_OK
$STATE,5941,begin surface
$SM_CCo,5956,104.60,0.048,0,0,643,446.93
$SM_GC,1.70,7.43,0.15,104.60,0.021,0.064,0.048,127,2035,643,-8.46,-0.99,446.93,0,0,0,0,0,0,26.21,26.23,26.12
$IRIDIUM_FIX,-2942.59,3123.42,290617,195240
$TT8_MAMPS,0.025466,0.268142
$HUMID,55.43
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,352.7,66.6
$24V_AH,24.29,15.228
$10V_AH,10.34,7.095
$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,18.625,43.225,224.550,104.600,0.000,33.593,27.815,403.480,7.000,0.000,13.004,1362.287,3046.248,388.388,1783.222,77.479,0.000,941.537,0.000,1260.653,0.000,47.646,0.000
$DEVICE_MAMPS,221.850,73.440,862.920,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.581,112.271,486.656,490.256,0.000,0.000,0.000,0.000,0.000,0.000
$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,37010,559
$CAP_FILE_SIZE,71465,0
$CFSIZE,2097086464,2074574848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,290617,214321,-2952.987,3122.809,20,0.7,20,-24.8,0.8,281.7,11,52.6