version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 190
start: 6 30 117 13 45 25
data:
$ID,574
$MISSION,23
$DIVE,190
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,167
$T_MISSION,177
$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,290
$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,74
$R_STBD_OVSHOOT,86
$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,2
$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
$GPS1,300617,133557,-3001.7776,3121.7603,5,1.3,5,-25.0,1.0,186.6,7,69.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-78.7
$GPS2,300617,134438,-3002.1536,3121.4072,5,1.3,5,-25.0,1.2,240.2,7,26.9
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2958.460,3109.692
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,315.0,20000,-13.3,-9.980,-16.52,4015
$D_GRID,500
$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,-126.5,125,1946,531,446,0.0,0.0,0,103,0.00,0.00,-85.85,0.000,16386,0.000,0.000,125,1947,2892,2905,2880,0,0,0,0,0,0,26.17,28.83,26.19
$GC,106,-0.45,-126.5,125,1946,2906,2880,3.5,-4.5,11,124,9.70,2.12,-1.67,0.000,18692,0.213,0.037,2681,3385,2982,3003,2961,0,0,0,0,0,0,25.71,25.46,25.86
$GC,297,-0.45,-126.5,2680,3385,3011,2956,47.3,-16.8,43,304,0.00,2.03,0.00,0.000,1030,0.000,0.026,2681,2022,2984,3011,2957,0,0,0,0,0,0,26.21,26.14,26.22
$GC,617,-0.45,-126.5,2680,2018,3015,2954,113.6,-16.2,96,621,0.00,1.98,0.00,0.000,260,0.000,0.030,2671,3370,2984,3015,2954,0,0,0,0,0,0,26.56,26.27,26.57
$GC,723,-0.45,-126.5,2670,3370,3015,2954,128.4,-12.7,106,727,0.00,2.05,0.00,0.000,1030,0.000,0.024,2671,1983,2984,3015,2954,0,0,0,0,0,0,26.39,26.32,26.40
$GC,1033,-0.45,-126.5,2670,1980,3019,2953,176.4,-12.2,137,1037,0.00,2.03,0.00,0.000,260,0.000,0.031,2661,3363,2986,3019,2953,0,0,0,0,0,0,26.65,26.37,26.67
$GC,1279,-0.45,-126.5,2661,3363,3018,2954,206.3,-13.5,158,1284,0.10,2.03,0.00,0.000,3078,0.140,0.025,2694,1981,2985,3018,2953,0,0,0,0,0,0,26.28,26.42,26.41
$GC,2088,-0.45,-126.5,2694,1977,3019,2949,298.3,-8.4,198,2094,0.00,2.00,0.00,0.000,260,0.000,0.033,2686,3353,2984,3019,2949,0,0,0,0,0,0,26.76,26.48,26.77
$GC,2220,-0.45,-126.5,2685,3353,3019,2948,307.6,-7.3,204,2227,0.00,2.00,0.00,0.000,1030,0.000,0.025,2686,1981,2983,3019,2948,0,0,0,0,0,0,26.56,26.50,26.58
$GC,3028,-0.45,-126.5,2686,1978,3019,2943,388.5,-9.6,245,3033,0.00,2.00,0.00,0.000,260,0.000,0.034,2676,3350,2980,3018,2943,0,0,0,0,0,0,26.79,26.50,26.80
$GC,3119,-0.45,-126.5,2676,3350,3017,2943,395.3,-8.5,249,3126,0.00,1.98,0.00,0.000,1030,0.000,0.025,2676,1990,2979,3016,2943,0,0,0,0,0,0,26.58,26.51,26.60
$GC,3927,-0.45,-126.5,2676,1985,3012,2938,472.6,-12.1,290,3933,0.00,2.03,0.00,0.000,260,0.000,0.034,2666,3358,2975,3013,2938,0,0,0,0,0,0,26.80,26.50,26.81
$STATE,3965,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3965,begin apogee
$GC,3971,0.00,0.0,2665,1902,3012,2938,478.1,-12.9,292,4070,0.55,0.00,94.88,0.928,10246,0.112,0.000,2843,1898,2465,2516,2414,0,0,0,0,0,0,26.35,25.07,24.49
$STATE,4071,end apogee,CONTROL_FINISHED_OK
$STATE,4071,begin climb
$GC,4072,0.45,126.5,2843,1898,2516,2413,480.9,0.0,297,4180,0.38,2.28,100.78,0.931,10756,0.036,0.033,3025,492,1947,1999,1896,0,0,0,0,0,0,25.24,24.65,24.22
$GC,4231,0.45,126.5,3024,491,1991,1891,465.0,16.4,304,4236,0.10,2.17,0.00,0.000,5126,0.165,0.031,2998,1850,1941,1991,1892,0,0,0,0,0,0,25.24,25.37,25.33
$GC,5043,0.45,126.5,2997,1856,1990,1881,333.3,19.0,345,5047,0.00,2.17,0.00,0.000,260,0.000,0.029,2998,3316,1935,1990,1881,0,0,0,0,0,0,26.53,26.26,26.55
$GC,5227,0.45,126.5,2998,3317,1988,1880,301.2,18.9,354,5231,0.00,2.15,0.00,0.000,1030,0.000,0.031,3006,1883,1934,1988,1881,0,0,0,0,0,0,26.37,26.30,26.40
$GC,6039,0.45,126.5,3006,1881,1984,1879,166.5,14.5,405,6043,0.00,2.12,0.00,0.000,260,0.000,0.031,3007,3315,1931,1984,1878,0,0,0,0,0,0,26.70,26.41,26.72
$GC,6134,0.45,126.5,3006,3315,1984,1879,152.5,14.3,414,6139,0.00,2.12,0.00,0.000,1030,0.000,0.029,3017,1886,1931,1984,1879,0,0,0,0,0,0,26.50,26.42,26.52
$GC,6439,0.45,126.5,3017,1886,1984,1878,110.1,13.3,444,6443,0.00,2.12,0.00,0.000,260,0.000,0.031,3017,3318,1931,1984,1878,0,0,0,0,0,0,26.72,26.44,26.74
$GC,6495,0.45,126.5,3017,3317,1984,1879,102.8,13.7,449,6505,0.12,2.12,0.00,0.000,5126,0.187,0.030,2993,1894,1931,1984,1879,0,0,0,0,0,0,26.22,26.44,26.43
$GC,6820,0.52,180.0,2993,1893,1984,1877,68.9,8.6,508,6865,0.00,2.22,39.00,0.680,8708,0.000,0.034,3003,486,1730,1802,1658,0,0,0,0,0,0,26.75,25.89,25.34
$GC,6935,0.56,215.7,3002,485,1790,1657,58.3,9.1,528,6973,0.00,2.20,28.60,0.659,9222,0.000,0.028,3002,1901,1583,1662,1504,0,0,0,0,0,0,26.08,26.05,25.11
$GC,7310,0.56,215.7,3002,1904,1658,1497,13.2,13.9,594,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1905,1577,1658,1497,0,0,0,0,0,0,26.40,26.41,26.41
$GC,7368,0.56,215.7,3002,1906,1657,1497,5.0,13.1,603,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1906,1577,1658,1497,0,0,0,0,0,0,26.43,26.44,26.44
$STATE,7389,end climb,SURFACE_DEPTH_REACHED
$STATE,7389,begin surface coast
$FINISH,0.6,1.006059
$STATE,7420,end surface coast,CONTROL_FINISHED_OK
$STATE,7420,begin surface
$SM_CCo,7435,115.32,0.047,0,0,498,482.01
$SM_GC,1.45,7.45,0.12,115.32,0.028,0.073,0.047,125,2037,498,-8.45,-0.99,482.01,0,0,0,0,0,0,26.21,26.22,26.10
$IRIDIUM_FIX,-2950.05,3119.17,300617,133710
$TT8_MAMPS,0.025466,0.261401
$HUMID,56.65
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,453.4,38.6
$24V_AH,24.22,16.177
$10V_AH,10.33,7.595
$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,18.400,46.325,263.250,115.325,0.000,32.052,18.281,373.523,9.500,0.000,11.936,1503.178,4232.731,429.909,1855.499,84.466,0.000,1061.598,0.000,1371.973,0.000,63.939,0.000
$DEVICE_MAMPS,213.435,87.210,931.005,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,424.358,97.252,417.226,424.837,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342352
$DATA_FILE_SIZE,40274,611
$CAP_FILE_SIZE,81350,0
$CFSIZE,2097086464,2073591808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,300617,155226,-3004.060,3120.152,36,1.3,36,-25.0,1.4,211.7,5,10.6