version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 186
start: 6 30 117 7 14 57
data:
$ID,574
$MISSION,23
$DIVE,186
$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,0
$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,482.00665
$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,45
$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,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
$GPS1,300617,070448,-2955.7729,3127.1711,38,0.9,38,-24.9,1.0,199.5,9,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.4
$GPS2,300617,071410,-2956.0342,3126.9678,5,0.9,5,-24.9,1.2,219.0,9,60.0
$SPEED_LIMITS,0.328,0.338
$TGT_NAME,HEADING
$TGT_LATLONG,-2945.235,3126.968
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,24.9,20000,-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,-126.5,125,1975,528,449,0.0,0.0,0,104,0.00,0.00,-86.50,0.000,16386,0.000,0.000,125,1975,2914,2927,2902,0,0,0,0,0,0,26.22,28.83,26.23
$GC,106,-0.45,-126.5,124,1975,2928,2902,3.2,-3.9,11,124,9.65,2.15,-1.27,0.000,18692,0.211,0.041,2682,3412,2981,3001,2961,0,0,0,0,0,0,25.73,25.47,25.90
$GC,174,-0.45,-126.5,2682,3416,3009,2956,24.6,-20.0,21,183,0.00,2.17,0.00,0.000,1030,0.000,0.028,2682,1996,2983,3012,2954,0,0,0,0,0,0,26.10,26.06,26.12
$GC,318,-0.45,-126.5,2682,1991,3014,2950,55.9,-20.0,46,325,0.00,2.10,0.00,0.000,260,0.000,0.031,2672,3413,2982,3015,2950,0,0,0,0,0,0,26.44,26.15,26.45
$GC,353,-0.45,-126.5,2671,3413,3013,2951,63.1,-20.5,52,360,0.00,2.17,0.00,0.000,1030,0.000,0.027,2672,1982,2982,3014,2950,0,0,0,0,0,0,26.22,26.19,26.23
$GC,674,-0.45,-126.5,2671,1978,3017,2949,129.0,-15.1,99,678,0.00,2.10,0.00,0.000,260,0.000,0.033,2661,3402,2983,3017,2949,0,0,0,0,0,0,26.58,26.29,26.59
$GC,916,-0.45,-126.5,2660,3402,3017,2949,160.9,-15.5,122,924,0.10,2.12,0.00,0.000,3078,0.131,0.024,2694,1976,2983,3017,2949,0,0,0,0,0,0,26.22,26.38,26.30
$GC,1234,-0.45,-126.5,2694,1973,3019,2948,202.4,-9.8,153,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1973,2983,3019,2948,0,0,0,0,0,0,26.70,26.71,26.70
$GC,2034,-0.45,-126.5,2694,1971,3019,2945,295.3,-9.6,193,2039,0.00,2.10,0.00,0.000,260,0.000,0.034,2685,3400,2982,3019,2945,0,0,0,0,0,0,26.76,26.46,26.77
$GC,2144,-0.45,-126.5,2685,3400,3018,2945,304.9,-9.3,198,2148,0.00,2.05,0.00,0.000,1030,0.000,0.025,2685,1993,2981,3019,2944,0,0,0,0,0,0,26.55,26.49,26.58
$GC,2950,-0.45,-126.5,2684,1993,3019,2939,399.2,-11.8,238,2954,0.00,2.08,0.00,0.000,260,0.000,0.033,2676,3402,2979,3019,2939,0,0,0,0,0,0,26.79,26.50,26.80
$STATE,2964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2964,begin apogee
$GC,2971,0.00,0.0,2675,1892,3019,2939,401.0,-11.7,239,3069,0.52,0.00,94.72,0.860,10246,0.110,0.000,2846,1891,2464,2519,2410,0,0,0,0,0,0,26.35,25.15,24.58
$STATE,3070,end apogee,CONTROL_FINISHED_OK
$STATE,3070,begin climb
$GC,3071,0.45,126.5,2845,1891,2519,2410,404.0,0.0,244,3179,0.45,2.30,98.82,0.851,10500,0.032,0.031,3038,3310,1947,2001,1893,0,0,0,0,0,0,25.32,24.87,24.32
$GC,3246,0.45,126.5,3037,3309,1996,1893,384.2,18.6,253,3251,0.20,2.17,0.00,0.000,5126,0.179,0.028,2994,1902,1944,1996,1892,0,0,0,0,0,0,25.33,25.50,25.49
$GC,4063,0.45,126.5,2994,1901,1992,1885,250.1,16.5,294,4067,0.00,2.15,0.00,0.000,516,0.000,0.036,3004,485,1938,1992,1885,0,0,0,0,0,0,26.55,26.25,26.57
$GC,4262,0.45,126.5,3004,484,1990,1882,217.9,16.2,304,4266,0.00,2.12,0.00,0.000,1030,0.000,0.028,3004,1899,1935,1988,1882,0,0,0,0,0,0,26.40,26.33,26.42
$GC,5069,0.45,126.5,3004,1903,1991,1879,109.0,12.7,379,5073,0.00,2.08,0.00,0.000,260,0.000,0.034,3004,3302,1934,1990,1879,0,0,0,0,0,0,26.72,26.43,26.73
$GC,5098,0.45,126.5,3004,3303,1991,1880,105.4,13.6,381,5105,0.00,2.10,0.00,0.000,1030,0.000,0.028,3014,1883,1935,1991,1880,0,0,0,0,0,0,26.51,26.44,26.53
$GC,5417,0.45,126.5,3013,1881,1991,1879,67.7,10.8,438,5426,0.00,2.15,0.00,0.000,260,0.000,0.031,3015,3307,1935,1991,1880,0,0,0,0,0,0,26.74,26.46,26.75
$GC,5733,0.56,218.4,3014,3307,1991,1880,41.3,7.7,497,5808,0.00,2.08,68.00,0.625,9222,0.000,0.027,3024,1894,1573,1659,1487,0,0,0,0,0,0,26.55,26.48,25.14
$GC,5951,0.56,218.4,3024,1894,1654,1483,14.5,15.2,531,5959,0.00,2.15,0.00,0.000,260,0.000,0.027,3025,3311,1568,1654,1482,0,0,0,0,0,0,26.24,25.99,26.25
$GC,6004,0.56,218.4,3024,3312,1653,1483,5.8,16.4,539,6012,0.00,2.17,0.00,0.000,1030,0.000,0.030,3034,1902,1568,1653,1483,0,0,0,0,0,0,26.07,26.03,26.08
$STATE,6025,end climb,SURFACE_DEPTH_REACHED
$STATE,6025,begin surface coast
$FINISH,0.8,1.025179
$STATE,6051,end surface coast,CONTROL_FINISHED_OK
$STATE,6051,begin surface
$SM_CCo,6066,113.88,0.045,0,0,498,482.01
$SM_GC,1.52,7.45,0.12,113.88,0.020,0.058,0.045,125,2091,498,-8.42,-1.07,482.01,0,0,0,0,0,0,26.10,26.15,26.03
$IRIDIUM_FIX,-2942.59,3125.54,300617,070600
$TT8_MAMPS,0.025466,0.261401
$HUMID,54.88
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,20.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,392.1,68.0
$24V_AH,24.32,15.815
$10V_AH,10.36,7.396
$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,18.375,42.925,261.550,113.875,0.000,30.099,40.449,394.134,7.750,0.000,11.946,1332.060,3228.187,424.677,1706.045,84.613,0.000,986.851,0.000,1195.625,0.000,51.706,0.000
$DEVICE_MAMPS,211.140,58.140,859.860,45.135,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.525,91.310,389.466,397.503,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342320
$DATA_FILE_SIZE,37032,546
$CAP_FILE_SIZE,71776,0
$CFSIZE,2097086464,2073985024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,300617,085837,-2957.057,3126.545,5,1.1,5,-24.9,1.2,223.7,7,21.0