version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 338
start: 7 11 117 8 32 17
data:
$ID,574
$MISSION,23
$DIVE,338
$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,20
$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,310
$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,26
$R_STBD_OVSHOOT,40
$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
$GPS1,110717,082536,-2950.2336,3117.8538,6,1.1,6,-24.7,0.0,0.0,7,19.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-77.8
$GPS2,110717,083129,-2950.1633,3117.9067,5,1.1,5,-24.7,1.9,6.9,7,63.1
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2940.016,3122.157
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,44.7,20000,-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,-175.2,125,1957,523,449,0.0,0.0,0,104,0.00,0.00,-85.62,0.000,16386,0.000,0.000,125,1957,2931,2944,2919,0,0,0,0,0,0,26.27,28.83,26.28
$GC,106,-0.48,-175.2,125,1957,2945,2918,3.9,-5.2,11,132,9.82,2.20,-4.45,0.000,18948,0.220,0.040,2672,509,3182,3214,3150,0,0,0,0,0,0,25.65,24.64,25.80
$GC,198,-0.48,-175.2,2672,509,3219,3150,35.8,-18.2,25,207,0.00,2.22,0.00,0.000,1030,0.000,0.030,2663,1942,3184,3219,3150,0,0,0,0,0,0,26.11,26.07,26.14
$GC,339,-0.48,-175.2,2663,1942,3222,3148,70.6,-23.3,50,346,0.00,2.10,0.00,0.000,260,0.000,0.033,2652,3360,3185,3223,3147,0,0,0,0,0,0,26.44,26.14,26.45
$GC,433,-0.48,-175.2,2651,3360,3225,3145,86.6,-14.0,67,440,0.00,2.12,0.00,0.000,1030,0.000,0.024,2652,1919,3185,3225,3145,0,0,0,0,0,0,26.27,26.20,26.29
$GC,745,-0.48,-175.2,2651,1916,3227,3143,149.2,-17.3,104,749,0.00,2.12,0.00,0.000,260,0.000,0.031,2642,3358,3185,3227,3143,0,0,0,0,0,0,26.60,26.27,26.60
$GC,885,-0.48,-175.2,2641,3359,3228,3143,167.0,-12.0,117,893,0.10,2.12,0.00,0.000,3078,0.153,0.022,2675,1930,3185,3228,3143,0,0,0,0,0,0,26.09,26.33,26.18
$GC,1192,-0.48,-175.2,2674,1928,3229,3143,205.8,-12.8,146,1196,0.00,2.10,0.00,0.000,260,0.000,0.031,2666,3358,3186,3229,3143,0,0,0,0,0,0,26.67,26.34,26.67
$GC,1253,-0.48,-175.2,2666,3358,3229,3143,212.4,-12.0,149,1257,0.00,2.08,0.00,0.000,1030,0.000,0.022,2666,1929,3186,3229,3143,0,0,0,0,0,0,26.44,26.38,26.46
$STATE,2009,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2009,begin apogee
$GC,2013,0.00,0.0,2666,1926,3229,3141,322.0,-14.5,187,2151,0.52,0.00,131.23,0.796,10246,0.130,0.000,2830,1925,2464,2520,2409,0,0,0,0,0,0,26.15,25.03,24.51
$STATE,2151,end apogee,CONTROL_FINISHED_OK
$STATE,2152,begin climb
$GC,2153,0.48,175.2,2830,1925,2519,2409,327.8,0.0,194,2295,0.40,2.12,133.65,0.781,10500,0.034,0.027,3038,3288,1750,1820,1681,0,0,0,0,0,0,25.26,24.74,24.37
$GC,2316,0.48,175.2,3038,3287,1815,1680,312.8,17.1,202,2321,0.20,2.17,0.00,0.000,5126,0.175,0.028,2994,1881,1747,1815,1680,0,0,0,0,0,0,25.08,25.23,25.23
$GC,3123,0.48,175.2,2993,1881,1812,1671,171.5,15.6,250,3131,0.00,2.17,0.00,0.000,516,0.000,0.035,3003,462,1739,1809,1670,0,0,0,0,0,0,26.53,26.20,26.54
$GC,3276,0.48,175.2,3002,460,1803,1670,149.0,13.9,265,3283,0.00,2.17,0.00,0.000,1030,0.000,0.028,3003,1873,1737,1804,1670,0,0,0,0,0,0,26.30,26.27,26.33
$GC,3584,0.50,189.3,3003,1877,1806,1670,110.4,9.6,296,3604,0.00,2.17,10.80,0.610,8708,0.000,0.031,3013,469,1690,1761,1619,0,0,0,0,0,0,26.63,26.13,25.55
$GC,3616,0.50,194.1,3013,469,1758,1619,107.0,9.9,299,3627,0.00,2.12,5.15,0.501,9222,0.000,0.028,3013,1878,1672,1743,1602,0,0,0,0,0,0,26.29,26.22,25.48
$GC,3939,0.56,241.9,3013,1881,1742,1600,72.9,8.8,354,3984,0.00,2.20,37.92,0.638,8708,0.000,0.032,3024,463,1476,1565,1388,0,0,0,0,0,0,26.57,25.64,25.26
$GC,4083,0.69,343.2,3023,463,1552,1389,61.0,7.4,379,4174,0.00,2.15,81.00,0.627,9222,0.000,0.028,3024,1871,1065,1178,952,0,0,0,0,0,0,26.05,25.98,24.77
$GC,4520,0.69,343.2,3023,1872,1168,949,14.2,10.8,454,4529,0.00,2.20,0.00,0.000,516,0.000,0.036,3034,466,1057,1165,949,0,0,0,0,0,0,26.33,26.01,26.34
$GC,4555,0.69,343.2,3033,466,1160,948,10.4,10.4,459,4564,0.00,2.17,0.00,0.000,1030,0.000,0.026,3034,1871,1053,1160,947,0,0,0,0,0,0,26.12,26.07,26.13
$GC,4614,0.69,343.2,3033,1875,1160,947,3.4,13.0,468,4623,0.00,2.12,0.00,0.000,260,0.000,0.028,3034,3279,1053,1160,947,0,0,0,0,0,0,26.39,26.10,26.40
$STATE,4630,end climb,SURFACE_DEPTH_REACHED
$STATE,4630,begin surface coast
$FINISH,0.9,1.025167
$STATE,4637,end surface coast,CONTROL_FINISHED_OK
$STATE,4637,begin surface
$SM_CCo,4715,0.00,0.000,0,0,1052,346.60
$SM_GC,2.04,7.50,2.03,0.00,0.024,0.019,0.000,126,1933,1052,-8.38,1.19,346.60,0,0,0,0,0,0,26.12,26.13,26.17
$IRIDIUM_FIX,-2935.15,3117.42,110717,082648
$TT8_MAMPS,0.025466,0.260652
$HUMID,58.62
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,301.3,35.2
$24V_AH,24.37,29.009
$10V_AH,10.28,14.679
$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,18.550,42.975,399.750,0.000,0.000,31.242,22.606,199.943,6.750,0.000,13.761,1102.346,2127.456,437.622,1347.690,84.308,0.000,948.306,0.000,1042.150,0.000,45.245,0.000
$DEVICE_MAMPS,220.320,107.100,796.365,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,320.931,91.310,398.305,412.955,0.000,0.000,0.000,0.000,0.000,0.000
$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,30355,471
$CAP_FILE_SIZE,59718,0
$CFSIZE,2097086464,2059108352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,110717,095132,-2949.615,3118.638,7,0.9,8,-24.7,0.0,0.0,10,217.7