version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 335
start: 7 11 117 3 58 12
data:
$ID,574
$MISSION,23
$DIVE,335
$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,40
$R_STBD_OVSHOOT,54
$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
$GPS1,110717,035158,-2952.0642,3116.7302,7,1.1,7,-24.7,0.0,0.0,7,21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-79.2
$GPS2,110717,035725,-2952.0366,3116.8054,5,1.1,5,-24.7,3.7,92.0,7,72.4
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2941.889,3112.553
$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,-175.2,125,1956,529,448,0.0,0.0,0,104,0.00,0.00,-85.53,0.000,16386,0.000,0.000,125,1957,2937,2952,2922,0,0,0,0,0,0,26.20,28.83,26.21
$GC,106,-0.48,-175.2,125,1956,2952,2922,4.1,-6.5,11,132,9.73,2.12,-4.28,0.000,18692,0.216,0.047,2659,3339,3183,3217,3150,0,0,0,0,0,0,25.60,24.66,25.77
$GC,246,-0.48,-175.2,2659,3339,3223,3147,43.2,-16.9,33,252,0.00,2.10,0.00,0.000,1030,0.000,0.024,2659,1932,3185,3224,3147,0,0,0,0,0,0,26.15,26.08,26.17
$GC,571,-0.48,-175.2,2659,1930,3227,3145,118.4,-18.0,86,575,0.00,2.10,0.00,0.000,516,0.000,0.029,2659,529,3186,3227,3145,0,0,0,0,0,0,26.53,26.20,26.53
$GC,624,-0.48,-175.2,2659,528,3227,3145,126.9,-16.2,91,632,0.00,2.15,0.00,0.000,1030,0.000,0.026,2649,1937,3186,3227,3145,0,0,0,0,0,0,26.28,26.25,26.30
$GC,932,-0.48,-175.2,2648,1936,3228,3145,176.2,-16.2,122,936,0.08,2.10,0.00,0.000,2308,0.233,0.031,2667,3357,3186,3228,3145,0,0,0,0,0,0,26.10,26.26,26.18
$GC,1039,-0.48,-175.2,2667,3357,3229,3145,188.6,-10.6,132,1048,0.00,2.08,0.00,0.000,1030,0.000,0.022,2667,1935,3187,3229,3145,0,0,0,0,0,0,26.41,26.34,26.42
$GC,1349,-0.48,-175.2,2667,1934,3229,3144,230.4,-13.7,152,1355,0.00,2.08,0.00,0.000,260,0.000,0.031,2658,3347,3187,3229,3145,0,0,0,0,0,0,26.64,26.34,26.65
$GC,1402,-0.48,-175.2,2657,3347,3229,3144,235.4,-13.1,154,1408,0.00,2.05,0.00,0.000,1030,0.000,0.022,2657,1938,3187,3230,3144,0,0,0,0,0,0,26.45,26.39,26.46
$GC,2209,-0.48,-175.2,2657,1937,3229,3141,358.1,-15.7,195,2213,0.00,2.08,0.00,0.000,516,0.000,0.030,2657,533,3185,3229,3141,0,0,0,0,0,0,26.72,26.39,26.74
$STATE,2229,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2229,begin apogee
$GC,2236,0.00,0.0,2647,1871,3229,3141,361.7,-15.6,196,2371,0.57,0.00,132.02,0.832,10246,0.126,0.000,2830,1871,2464,2518,2411,0,0,0,0,0,0,26.17,24.99,24.46
$STATE,2372,end apogee,CONTROL_FINISHED_OK
$STATE,2373,begin climb
$GC,2374,0.48,175.2,2830,1871,2518,2410,368.0,0.0,203,2519,0.40,2.25,134.88,0.828,10500,0.034,0.027,3033,3287,1748,1816,1681,0,0,0,0,0,0,25.20,24.85,24.31
$GC,2565,0.48,175.2,3032,3287,1814,1678,348.5,19.1,212,2573,0.17,2.20,0.00,0.000,5126,0.176,0.029,2995,1876,1746,1814,1678,0,0,0,0,0,0,25.20,25.37,25.36
$GC,3372,0.48,175.2,2994,1876,1811,1671,193.3,17.9,254,3376,0.00,2.08,0.00,0.000,260,0.000,0.028,2995,3286,1741,1810,1672,0,0,0,0,0,0,26.53,26.25,26.55
$GC,3491,0.48,175.2,2994,3286,1811,1672,174.3,15.7,265,3498,0.00,2.12,0.00,0.000,1030,0.000,0.028,3004,1860,1741,1811,1672,0,0,0,0,0,0,26.34,26.27,26.36
$GC,3798,0.48,175.2,3003,1860,1810,1669,121.5,13.4,296,3801,0.00,2.12,0.00,0.000,516,0.000,0.033,3015,460,1739,1810,1669,0,0,0,0,0,0,26.63,26.29,26.64
$GC,3881,0.48,175.2,3014,460,1802,1669,111.9,10.6,304,3888,0.00,2.15,0.00,0.000,1030,0.000,0.027,3015,1869,1736,1803,1669,0,0,0,0,0,0,26.37,26.34,26.39
$GC,4202,0.49,180.2,3014,1873,1806,1669,74.5,9.9,355,4208,0.00,2.08,0.00,0.000,260,0.000,0.031,3015,3288,1737,1806,1669,0,0,0,0,0,0,26.67,26.35,26.68
$GC,4247,0.49,180.2,3015,3288,1807,1669,69.4,10.4,363,4255,0.10,2.12,0.00,0.000,5126,0.187,0.027,2995,1858,1738,1807,1669,0,0,0,0,0,0,26.12,26.36,26.29
$GC,4574,0.64,307.0,2994,1858,1807,1668,46.8,6.7,424,4682,0.12,2.20,101.50,0.649,10756,0.083,0.034,3084,463,1212,1312,1112,0,0,0,0,0,0,26.43,25.30,24.82
$GC,4738,0.64,307.0,3084,463,1295,1110,22.6,18.2,449,4748,0.12,2.22,0.00,0.000,5126,0.140,0.029,3045,1866,1202,1296,1109,0,0,0,0,0,0,25.50,25.63,25.59
$STATE,4873,end climb,SURFACE_DEPTH_REACHED
$STATE,4873,begin surface coast
$FINISH,0.7,1.023304
$STATE,4893,end surface coast,CONTROL_FINISHED_OK
$STATE,4893,begin surface
$SM_CCo,4909,77.60,0.047,0,0,499,482.01
$SM_GC,1.50,7.60,0.10,77.60,0.026,0.076,0.047,125,2021,499,-8.42,-0.96,482.01,0,0,0,0,0,0,25.94,26.01,25.91
$IRIDIUM_FIX,-2940.11,3118.71,110717,035310
$TT8_MAMPS,0.025466,0.260652
$HUMID,57.40
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,342.3,32.1
$24V_AH,24.31,28.736
$10V_AH,10.29,14.537
$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,18.900,42.525,368.400,77.600,0.000,31.611,18.642,180.659,7.750,0.000,13.651,1128.902,2338.317,476.151,1317.804,86.043,0.000,992.180,0.000,1038.102,0.000,49.562,0.000
$DEVICE_MAMPS,232.560,75.735,832.320,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,325.901,85.999,355.088,365.148,0.000,0.000,0.000,0.000,0.000,0.000
$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,30456,474
$CAP_FILE_SIZE,61860,0
$CFSIZE,2097086464,2059403264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,110717,052200,-2951.527,3117.008,6,1.0,6,-24.7,0.0,0.0,6,60.9