version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 336
start: 7 11 117 5 28 40
data:
$ID,574
$MISSION,23
$DIVE,336
$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,23
$R_STBD_OVSHOOT,38
$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
$GPS1,110717,052200,-2951.5273,3117.0078,6,1.0,6,-24.7,0.0,0.0,6,60.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-78.4
$GPS2,110717,052753,-2951.4922,3117.0752,5,1.1,5,-24.7,0.0,0.0,5,110.0
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2941.344,3112.823
$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,13,begin dive
$GC,15,-0.48,-175.2,125,1947,527,450,0.0,0.0,0,104,0.00,0.00,-85.68,0.000,16386,0.000,0.000,125,1948,2954,2969,2940,0,0,0,0,0,0,26.22,28.83,26.23
$GC,106,-0.48,-175.2,125,1948,2970,2940,4.2,-6.6,11,132,9.82,2.15,-3.90,0.000,18692,0.222,0.044,2658,3360,3184,3218,3150,0,0,0,0,0,0,25.59,24.65,25.78
$GC,234,-0.48,-175.2,2657,3360,3223,3147,39.8,-18.6,31,243,0.00,2.20,0.00,0.000,1030,0.000,0.027,2657,1922,3185,3225,3145,0,0,0,0,0,0,26.10,26.08,26.14
$GC,374,-0.48,-175.2,2657,1921,3226,3144,76.1,-22.4,56,381,0.00,2.12,0.00,0.000,516,0.000,0.028,2658,522,3185,3226,3144,0,0,0,0,0,0,26.45,26.14,26.46
$GC,399,-0.48,-175.2,2657,522,3226,3144,81.8,-22.0,60,408,0.08,2.17,0.00,0.000,3078,0.210,0.026,2670,1942,3185,3226,3144,0,0,0,0,0,0,25.86,26.17,26.01
$GC,713,-0.48,-175.2,2669,1943,3228,3144,133.0,-12.0,100,717,0.00,2.10,0.00,0.000,516,0.000,0.027,2670,527,3186,3228,3144,0,0,0,0,0,0,26.57,26.25,26.58
$GC,801,-0.48,-175.2,2669,527,3228,3144,142.5,-11.0,108,805,0.00,2.12,0.00,0.000,1030,0.000,0.028,2661,1944,3186,3228,3144,0,0,0,0,0,0,26.36,26.28,26.38
$GC,1106,-0.48,-175.2,2661,1944,3229,3144,186.8,-15.0,138,1110,0.00,2.08,0.00,0.000,260,0.000,0.032,2650,3358,3186,3228,3144,0,0,0,0,0,0,26.65,26.32,26.65
$GC,1255,-0.48,-175.2,2650,3358,3229,3144,202.8,-10.8,150,1262,0.00,2.08,0.00,0.000,1030,0.000,0.022,2650,1930,3186,3230,3143,0,0,0,0,0,0,26.44,26.37,26.45
$GC,2064,-0.48,-175.2,2650,1929,3229,3141,322.6,-14.6,191,2069,0.00,2.05,0.00,0.000,516,0.000,0.029,2650,532,3185,3229,3141,0,0,0,0,0,0,26.70,26.38,26.71
$GC,2162,-0.48,-175.2,2649,532,3229,3141,333.7,-10.3,196,2168,0.12,2.10,0.00,0.000,3078,0.177,0.028,2679,1944,3185,3229,3141,0,0,0,0,0,0,26.14,26.41,26.32
$STATE,2320,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2321,begin apogee
$GC,2326,0.00,0.0,2679,1800,3228,3140,352.0,-12.1,204,2463,0.47,0.10,132.23,0.845,10246,0.133,0.074,2829,1926,2464,2518,2411,0,0,0,0,0,0,26.17,24.98,24.44
$STATE,2464,end apogee,CONTROL_FINISHED_OK
$STATE,2464,begin climb
$GC,2466,0.48,175.2,2829,1926,2517,2411,356.9,0.0,211,2611,0.40,2.38,135.23,0.842,10756,0.041,0.031,3038,475,1748,1815,1682,0,0,0,0,0,0,25.22,24.84,24.30
$GC,2676,0.48,175.2,3037,474,1805,1682,330.8,22.3,221,2684,0.15,2.17,0.00,0.000,5126,0.181,0.026,2996,1874,1743,1805,1681,0,0,0,0,0,0,25.27,25.46,25.44
$GC,3483,0.48,175.2,2996,1878,1803,1674,173.3,16.0,269,3487,0.00,2.08,0.00,0.000,260,0.000,0.031,2996,3281,1738,1803,1674,0,0,0,0,0,0,26.53,26.23,26.55
$GC,3562,0.48,175.2,2996,3281,1803,1674,163.0,12.5,276,3569,0.00,2.08,0.00,0.000,1030,0.000,0.027,3005,1876,1738,1803,1674,0,0,0,0,0,0,26.34,26.26,26.36
$GC,3869,0.48,175.2,3005,1874,1803,1672,116.6,13.4,307,3873,0.00,2.12,0.00,0.000,516,0.000,0.033,3016,468,1737,1803,1672,0,0,0,0,0,0,26.62,26.28,26.63
$GC,3988,0.48,175.2,3015,467,1796,1671,103.2,10.4,318,3995,0.00,2.10,0.00,0.000,1030,0.000,0.026,3016,1875,1735,1799,1671,0,0,0,0,0,0,26.41,26.34,26.44
$GC,4311,0.57,249.9,3015,1878,1801,1669,66.6,8.1,376,4374,0.00,2.12,55.90,0.665,8452,0.000,0.029,3016,3275,1446,1533,1360,0,0,0,0,0,0,26.67,25.48,25.13
$GC,4395,0.57,249.9,3016,3275,1532,1360,58.3,10.8,390,4404,0.00,2.17,0.00,0.000,1030,0.000,0.027,3026,1873,1446,1532,1360,0,0,0,0,0,0,25.81,25.77,25.83
$GC,4736,0.57,249.9,3026,1874,1528,1358,23.1,11.6,451,4745,0.00,2.17,0.00,0.000,516,0.000,0.034,3037,469,1440,1526,1355,0,0,0,0,0,0,26.42,26.09,26.43
$GC,4854,0.59,266.5,3036,468,1518,1355,11.3,9.6,470,4871,0.00,2.15,6.80,0.466,9222,0.000,0.028,3037,1863,1378,1467,1290,0,0,0,0,0,0,26.22,26.18,25.48
$GC,4921,0.59,266.5,3037,1867,1466,1290,3.3,12.7,480,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1868,1377,1465,1290,0,0,0,0,0,0,26.44,26.46,26.46
$STATE,4936,end climb,SURFACE_DEPTH_REACHED
$STATE,4936,begin surface coast
$FINISH,0.6,1.005893
$STATE,4962,end surface coast,CONTROL_FINISHED_OK
$STATE,4962,begin surface
$SM_CCo,4978,95.72,0.050,0,0,499,482.01
$SM_GC,1.69,7.57,0.10,95.72,0.030,0.076,0.050,125,2027,499,-8.43,-1.02,482.01,0,0,0,0,0,0,26.20,26.26,26.08
$IRIDIUM_FIX,-2937.63,3115.29,110717,052312
$TT8_MAMPS,0.025466,0.265146
$HUMID,57.04
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,340.2,24.7
$24V_AH,24.30,28.827
$10V_AH,10.28,14.585
$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,18.625,43.150,330.150,95.725,0.000,31.458,42.574,182.388,7.750,0.000,12.824,1183.918,2285.059,477.250,1425.349,88.671,0.000,1014.056,0.000,1122.907,0.000,49.550,0.000
$DEVICE_MAMPS,221.850,76.500,844.560,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.833,95.769,430.464,435.409,0.000,0.000,0.000,0.000,0.000,0.000
$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,33671,486
$CAP_FILE_SIZE,65648,0
$CFSIZE,2097086464,2059239424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,110717,065425,-2950.964,3117.357,36,1.2,36,-24.7,0.8,73.2,6,33.6