version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 334
start: 7 11 117 2 26 25
data:
$ID,574
$MISSION,23
$DIVE,334
$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,47
$R_STBD_OVSHOOT,42
$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
$GPS1,110717,021950,-2952.5090,3116.3757,39,1.0,39,-24.7,0.0,0.0,8,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-80.5
$GPS2,110717,022538,-2952.4922,3116.4680,6,0.8,6,-24.7,0.6,85.5,9,46.5
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2942.344,3112.216
$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,-175.2,125,1928,524,452,0.0,0.0,0,104,0.00,0.00,-85.47,0.000,16386,0.000,0.000,125,1929,2918,2933,2903,0,0,0,0,0,0,26.30,28.83,26.32
$GC,106,-0.48,-175.2,125,1929,2934,2903,3.9,-5.5,11,132,9.70,2.17,-4.70,0.000,18692,0.217,0.044,2662,3359,3182,3216,3148,0,0,0,0,0,0,25.65,24.65,25.82
$GC,258,-0.48,-175.2,2661,3359,3222,3144,44.9,-17.1,36,267,0.00,2.15,0.00,0.000,1030,0.000,0.025,2662,1938,3183,3223,3143,0,0,0,0,0,0,26.17,26.15,26.20
$GC,583,-0.48,-175.2,2661,1938,3225,3141,112.6,-17.8,90,592,0.00,2.08,0.00,0.000,516,0.000,0.028,2662,533,3183,3225,3141,0,0,0,0,0,0,26.56,26.24,26.58
$GC,679,-0.48,-175.2,2661,533,3226,3142,126.2,-13.1,99,685,0.00,2.10,0.00,0.000,1030,0.000,0.027,2654,1943,3183,3225,3142,0,0,0,0,0,0,26.36,26.29,26.38
$GC,985,-0.48,-175.2,2653,1944,3227,3142,178.9,-17.1,130,989,0.00,2.05,0.00,0.000,260,0.000,0.031,2643,3347,3184,3227,3142,0,0,0,0,0,0,26.65,26.33,26.66
$GC,1123,-0.48,-175.2,2642,3347,3227,3141,197.5,-12.4,143,1128,0.10,2.08,0.00,0.000,3078,0.181,0.022,2675,1927,3185,3228,3142,0,0,0,0,0,0,26.13,26.38,26.29
$GC,1428,-0.48,-175.2,2675,1924,3227,3141,234.9,-12.2,159,1432,0.00,2.10,0.00,0.000,260,0.000,0.031,2667,3357,3184,3227,3141,0,0,0,0,0,0,26.70,26.37,26.71
$GC,1517,-0.48,-175.2,2666,3357,3228,3141,243.1,-10.7,163,1524,0.00,2.05,0.00,0.000,1030,0.000,0.022,2666,1941,3184,3227,3141,0,0,0,0,0,0,26.48,26.41,26.49
$GC,2324,-0.48,-175.2,2666,1939,3227,3138,361.7,-14.4,204,2328,0.00,2.10,0.00,0.000,516,0.000,0.030,2667,533,3182,3227,3138,0,0,0,0,0,0,26.74,26.39,26.75
$STATE,2359,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2359,begin apogee
$GC,2366,0.00,0.0,2656,1874,3228,3137,366.8,-14.6,206,2501,0.55,0.00,131.88,0.849,10246,0.122,0.000,2833,1874,2464,2519,2410,0,0,0,0,0,0,26.18,24.98,24.44
$STATE,2502,end apogee,CONTROL_FINISHED_OK
$STATE,2502,begin climb
$GC,2504,0.48,175.2,2832,1873,2518,2410,372.5,0.0,213,2649,0.40,2.22,134.80,0.833,10500,0.033,0.028,3039,3273,1748,1816,1681,0,0,0,0,0,0,25.20,24.86,24.31
$GC,2729,0.48,175.2,3038,3272,1813,1677,342.7,21.5,224,2734,0.20,2.15,0.00,0.000,5126,0.197,0.028,2994,1872,1745,1813,1677,0,0,0,0,0,0,25.30,25.52,25.48
$GC,3536,0.48,175.2,2994,1872,1810,1670,189.6,17.3,266,3540,0.00,2.08,0.00,0.000,260,0.000,0.026,2994,3285,1740,1810,1670,0,0,0,0,0,0,26.55,26.25,26.55
$GC,3663,0.48,175.2,2994,3284,1810,1670,171.9,12.9,278,3672,0.00,2.12,0.00,0.000,1030,0.000,0.027,3003,1857,1740,1810,1670,0,0,0,0,0,0,26.35,26.28,26.38
$GC,3972,0.48,175.2,3003,1856,1809,1668,128.7,13.3,309,3976,0.00,2.10,0.00,0.000,516,0.000,0.033,3015,465,1739,1810,1668,0,0,0,0,0,0,26.63,26.29,26.65
$GC,4081,0.48,175.2,3013,464,1801,1668,115.2,12.1,319,4088,0.00,2.10,0.00,0.000,1030,0.000,0.024,3014,1881,1735,1803,1668,0,0,0,0,0,0,26.42,26.36,26.45
$GC,4398,0.48,175.2,3013,1885,1806,1668,75.8,10.3,368,4405,0.00,2.08,0.00,0.000,260,0.000,0.029,3014,3270,1737,1806,1668,0,0,0,0,0,0,26.68,26.37,26.70
$GC,4433,0.48,175.2,3013,3271,1807,1668,71.4,11.0,374,4441,0.10,2.08,0.00,0.000,5126,0.217,0.028,2995,1869,1738,1807,1669,0,0,0,0,0,0,26.06,26.37,26.29
$GC,4759,0.72,372.0,2994,1869,1807,1666,50.5,4.9,435,4910,0.20,2.28,142.18,0.632,10756,0.058,0.035,3117,470,946,1048,845,0,0,0,0,0,0,26.44,25.16,24.70
$STATE,5005,end climb,SURFACE_DEPTH_REACHED
$STATE,5005,begin surface coast
$FINISH,0.7,1.008236
$STATE,5025,end surface coast,CONTROL_FINISHED_OK
$STATE,5025,begin surface
$SM_CCo,5042,48.65,0.048,0,0,500,482.01
$SM_GC,1.58,7.85,2.28,48.65,0.026,0.018,0.048,125,1951,500,-8.42,-1.33,482.01,0,0,0,0,0,0,25.76,25.77,25.77
$IRIDIUM_FIX,-2940.11,3116.58,110717,022102
$TT8_MAMPS,0.025466,0.264397
$HUMID,57.52
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.1,31.4
$24V_AH,24.31,28.640
$10V_AH,10.31,14.492
$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,19.100,42.375,408.850,48.650,0.000,31.673,18.352,198.925,8.000,0.000,13.737,1128.496,2444.123,467.456,1349.621,82.467,0.000,1010.811,0.000,1049.579,0.000,52.855,0.000
$DEVICE_MAMPS,217.260,43.605,849.150,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.404,77.103,318.039,329.150,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343352
$DATA_FILE_SIZE,30403,476
$CAP_FILE_SIZE,62097,0
$CFSIZE,2097086464,2059501568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,110717,035158,-2952.064,3116.730,7,1.1,7,-24.7,0.0,0.0,7,21.4