version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 333
start: 7 11 117 0 47 17
data:
$ID,574
$MISSION,23
$DIVE,333
$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,200
$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,180
$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,340
$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,0
$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,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,50
$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,1940
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,49
$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,50
$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
$GPS1,110717,004025,-2953.0205,3115.9949,8,0.8,8,-24.7,0.6,24.8,10,313.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-80.6
$GPS2,110717,004630,-2952.9810,3116.0671,7,1.6,7,-24.7,0.0,0.0,5,79.3
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2942.833,3111.814
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,4.7,20000,-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,14,begin dive
$GC,16,-0.48,-175.2,126,1883,528,449,0.0,0.0,0,104,0.00,0.00,-85.50,0.000,16386,0.000,0.000,126,1884,2932,2949,2915,0,0,0,0,0,0,26.21,28.83,26.22
$GC,106,-0.48,-175.2,125,1884,2950,2916,4.0,-6.4,11,132,9.75,2.22,-4.32,0.000,18692,0.217,0.044,2658,3339,3183,3217,3150,0,0,0,0,0,0,25.59,24.65,25.78
$GC,246,-0.48,-175.2,2658,3339,3221,3147,44.8,-17.7,33,253,0.00,2.10,0.00,0.000,1030,0.000,0.024,2658,1935,3183,3221,3146,0,0,0,0,0,0,26.15,26.08,26.17
$GC,574,-0.48,-175.2,2658,1931,3226,3144,119.0,-18.3,85,578,0.00,2.08,0.00,0.000,516,0.000,0.025,2658,523,3185,3226,3144,0,0,0,0,0,0,26.53,26.21,26.53
$GC,633,-0.48,-175.2,2658,522,3226,3143,127.9,-15.4,90,641,0.10,2.15,0.00,0.000,3078,0.186,0.027,2678,1933,3185,3226,3144,0,0,0,0,0,0,26.01,26.25,26.19
$GC,941,-0.48,-175.2,2677,1933,3228,3144,171.1,-12.4,121,950,0.00,2.08,0.00,0.000,260,0.000,0.031,2669,3349,3186,3228,3144,0,0,0,0,0,0,26.58,26.29,26.60
$GC,1112,-0.48,-175.2,2668,3348,3227,3144,189.8,-10.3,138,1116,0.00,2.08,0.00,0.000,1030,0.000,0.023,2669,1926,3185,3228,3143,0,0,0,0,0,0,26.41,26.35,26.44
$GC,1417,-0.48,-175.2,2668,1926,3228,3143,233.6,-14.6,157,1421,0.00,2.10,0.00,0.000,260,0.000,0.030,2658,3359,3185,3227,3143,0,0,0,0,0,0,26.67,26.36,26.68
$GC,1513,-0.48,-175.2,2658,3359,3227,3144,245.9,-12.2,162,1517,0.00,2.08,0.00,0.000,1030,0.000,0.023,2658,1937,3185,3228,3143,0,0,0,0,0,0,26.46,26.39,26.48
$STATE,2328,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2328,begin apogee
$GC,2333,0.00,0.0,2658,1815,3228,3141,378.3,-16.2,203,2470,0.55,0.08,132.50,0.865,10246,0.132,0.088,2829,1912,2465,2518,2412,0,0,0,0,0,0,26.16,24.96,24.40
$STATE,2471,end apogee,CONTROL_FINISHED_OK
$STATE,2472,begin climb
$GC,2473,0.48,175.2,2829,1912,2517,2412,384.7,0.0,210,2618,0.40,2.10,135.55,0.871,10500,0.034,0.028,3037,3243,1748,1814,1683,0,0,0,0,0,0,25.20,24.82,24.27
$GC,2730,0.48,175.2,3037,3243,1811,1678,349.0,19.5,223,2737,0.20,2.10,0.00,0.000,5126,0.209,0.028,2993,1871,1744,1811,1677,0,0,0,0,0,0,25.33,25.60,25.55
$GC,3550,0.48,175.2,2992,1871,1807,1671,206.6,16.8,264,3556,0.00,2.15,0.00,0.000,516,0.000,0.034,3003,456,1739,1807,1671,0,0,0,0,0,0,26.55,26.22,26.56
$GC,3733,0.48,175.2,3002,455,1797,1670,180.1,13.5,280,3740,0.00,2.08,0.00,0.000,1030,0.000,0.026,3003,1843,1734,1799,1670,0,0,0,0,0,0,26.37,26.31,26.39
$GC,4040,0.48,175.2,3002,1847,1801,1670,132.1,15.6,311,4044,0.00,2.12,0.00,0.000,260,0.000,0.030,3003,3288,1735,1801,1670,0,0,0,0,0,0,26.64,26.33,26.65
$GC,4109,0.48,175.2,3002,3288,1803,1670,122.3,14.4,317,4116,0.00,2.10,0.00,0.000,1030,0.000,0.027,3013,1867,1736,1803,1670,0,0,0,0,0,0,26.42,26.34,26.44
$GC,4424,0.50,194.1,3013,1867,1803,1669,83.1,9.5,363,4443,0.00,0.00,14.15,0.633,8454,0.000,0.000,3013,1868,1672,1744,1601,0,0,0,0,0,0,26.68,26.10,25.56
$GC,4760,0.52,207.8,3012,1866,1742,1598,57.1,9.6,426,4781,0.00,2.17,12.12,0.606,8708,0.000,0.034,3024,464,1614,1689,1539,0,0,0,0,0,0,26.60,26.10,25.52
$GC,4921,0.52,207.8,3023,464,1678,1540,42.1,10.4,455,4927,0.00,2.12,0.00,0.000,1030,0.000,0.027,3024,1874,1610,1680,1540,0,0,0,0,0,0,26.30,26.24,26.33
$GC,5284,0.52,207.8,3023,1879,1681,1541,6.0,10.5,516,5292,0.00,2.10,0.00,0.000,260,0.000,0.028,3024,3290,1611,1682,1541,0,0,0,0,0,0,26.63,26.32,26.63
$STATE,5311,end climb,SURFACE_DEPTH_REACHED
$STATE,5311,begin surface coast
$FINISH,0.6,1.000672
$STATE,5342,end surface coast,CONTROL_FINISHED_OK
$STATE,5343,begin surface
$SM_CCo,5360,118.72,0.047,0,0,499,482.01
$SM_GC,1.75,7.47,2.03,118.72,0.031,0.019,0.047,125,1929,499,-8.42,1.13,482.01,0,0,0,0,0,0,26.34,26.36,26.20
$IRIDIUM_FIX,-2940.11,3115.29,110717,004138
$TT8_MAMPS,0.025466,0.260652
$HUMID,57.00
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,371.9,18.4
$24V_AH,24.27,28.537
$10V_AH,10.28,14.448
$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,18.475,38.100,294.325,118.725,0.000,36.927,48.921,180.350,8.500,0.000,14.781,1278.924,2512.507,467.631,1530.980,86.923,0.000,1007.654,0.000,1212.073,0.000,54.945,0.000
$DEVICE_MAMPS,217.260,94.860,870.570,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.844,107.182,453.476,456.606,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343308
$DATA_FILE_SIZE,33747,525
$CAP_FILE_SIZE,65799,0
$CFSIZE,2097086464,2059534336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,110717,021950,-2952.509,3116.376,39,1.0,39,-24.7,0.0,0.0,8,8.1