version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 340
start: 7 11 117 11 32 40
data:
$ID,574
$MISSION,23
$DIVE,340
$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,39
$R_STBD_OVSHOOT,47
$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
$GPS1,110717,112556,-2948.7505,3119.4746,70,0.9,70,-24.6,0.0,0.0,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-79.5
$GPS2,110717,113152,-2948.6699,3119.4912,5,0.9,5,-24.6,0.8,6.1,10,49.2
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2938.522,3123.741
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,44.6,20000,-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,-175.2,125,1966,1256,1131,0.0,0.0,0,80,0.00,0.00,-62.47,0.000,16386,0.000,0.000,125,1966,2995,3004,2987,0,0,0,0,0,0,26.29,28.83,26.30
$GC,83,-0.48,-175.2,125,1966,3005,2987,4.0,-5.6,8,102,9.68,2.22,-3.17,0.000,18948,0.215,0.037,2675,511,3182,3212,3153,0,0,0,0,0,0,25.64,24.65,25.80
$GC,152,-0.48,-175.2,2674,511,3218,3150,31.9,-25.7,18,161,0.00,2.20,0.00,0.000,1030,0.000,0.030,2667,1926,3185,3222,3148,0,0,0,0,0,0,26.09,26.06,26.13
$GC,296,-0.48,-175.2,2666,1926,3225,3146,66.3,-24.3,43,303,0.00,2.10,0.00,0.000,260,0.000,0.031,2655,3352,3185,3225,3145,0,0,0,0,0,0,26.45,26.15,26.47
$GC,377,-0.48,-175.2,2654,3353,3226,3142,82.2,-14.8,58,384,0.00,2.10,0.00,0.000,1030,0.000,0.023,2655,1927,3184,3227,3142,0,0,0,0,0,0,26.27,26.20,26.29
$GC,690,-0.48,-175.2,2655,1924,3228,3141,145.7,-17.2,97,694,0.00,2.12,0.00,0.000,260,0.000,0.031,2645,3364,3185,3229,3141,0,0,0,0,0,0,26.59,26.27,26.60
$GC,779,-0.48,-175.2,2645,3364,3229,3141,158.8,-13.6,105,787,0.10,2.12,0.00,0.000,3078,0.145,0.023,2679,1938,3185,3229,3141,0,0,0,0,0,0,26.10,26.32,26.19
$GC,1086,-0.48,-175.2,2678,1937,3232,3140,199.3,-12.4,136,1090,0.00,2.08,0.00,0.000,260,0.000,0.031,2670,3351,3186,3232,3140,0,0,0,0,0,0,26.66,26.34,26.67
$GC,1137,-0.48,-175.2,2670,3351,3233,3140,203.7,-12.3,138,1144,0.00,2.05,0.00,0.000,1030,0.000,0.022,2671,1936,3186,3232,3140,0,0,0,0,0,0,26.44,26.37,26.46
$STATE,1781,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1781,begin apogee
$GC,1786,0.00,0.0,2670,1825,3232,3140,294.6,-13.9,171,1924,0.52,0.05,131.05,0.794,10246,0.130,0.119,2835,1901,2464,2525,2404,0,0,0,0,0,0,26.16,25.01,24.51
$STATE,1925,end apogee,CONTROL_FINISHED_OK
$STATE,1925,begin climb
$GC,1927,0.48,175.2,2835,1901,2525,2404,300.3,0.0,178,2071,0.43,2.15,133.90,0.781,10500,0.041,0.028,3042,3256,1748,1825,1672,0,0,0,0,0,0,25.27,24.96,24.39
$GC,2117,0.48,175.2,3042,3256,1820,1672,278.9,21.0,187,2125,0.22,2.08,0.00,0.000,5126,0.169,0.028,2990,1907,1746,1820,1672,0,0,0,0,0,0,25.25,25.42,25.41
$GC,2924,0.48,175.2,2990,1907,1820,1661,148.5,14.2,245,2932,0.00,2.20,0.00,0.000,516,0.000,0.034,3000,456,1739,1818,1661,0,0,0,0,0,0,26.55,26.22,26.56
$GC,3097,0.49,182.3,2999,455,1811,1661,128.6,9.8,262,3108,0.00,2.12,5.20,0.520,9222,0.000,0.025,3000,1848,1721,1799,1643,0,0,0,0,0,0,26.34,26.31,25.50
$GC,3412,0.55,228.4,2999,1851,1799,1642,96.0,8.8,297,3456,0.00,2.20,37.35,0.659,8708,0.000,0.032,3010,459,1532,1628,1436,0,0,0,0,0,0,26.62,25.80,25.28
$GC,3475,0.63,299.0,3009,459,1618,1436,90.9,8.2,307,3541,0.00,2.15,56.90,0.648,9222,0.000,0.025,3010,1876,1244,1359,1130,0,0,0,0,0,0,25.98,25.91,24.85
$GC,3859,0.63,299.0,3009,1876,1351,1124,49.6,10.5,378,3868,0.00,2.12,0.00,0.000,260,0.000,0.031,3010,3267,1237,1351,1124,0,0,0,0,0,0,26.34,26.04,26.35
$GC,3977,0.63,299.0,3009,3267,1348,1124,37.8,10.2,399,3985,0.00,2.12,0.00,0.000,1030,0.000,0.027,3011,1873,1236,1348,1124,0,0,0,0,0,0,26.17,26.13,26.19
$GC,4130,0.63,299.0,3011,1873,1346,1124,22.5,10.2,424,4138,0.00,2.17,0.00,0.000,516,0.000,0.034,3022,469,1233,1343,1124,0,0,0,0,0,0,26.49,26.16,26.51
$GC,4183,0.67,332.2,3021,468,1337,1124,17.4,9.1,432,4208,0.00,2.15,14.77,0.532,9222,0.000,0.026,3022,1871,1109,1227,992,0,0,0,0,0,0,26.30,26.22,25.47
$GC,4259,0.67,332.2,3021,1872,1226,990,9.6,10.8,443,4267,0.00,2.10,0.00,0.000,260,0.000,0.027,3022,3273,1108,1226,990,0,0,0,0,0,0,26.40,26.10,26.41
$GC,4282,0.67,332.2,3021,3273,1224,990,6.7,11.3,446,4291,0.00,2.15,0.00,0.000,1030,0.000,0.028,3023,1868,1107,1224,990,0,0,0,0,0,0,26.16,26.15,26.19
$STATE,4322,end climb,SURFACE_DEPTH_REACHED
$STATE,4322,begin surface coast
$FINISH,0.7,1.003974
$STATE,4359,end surface coast,CONTROL_FINISHED_OK
$STATE,4359,begin surface
$SM_CCo,4435,0.00,0.000,0,0,1101,334.34
$SM_GC,1.89,7.53,0.10,0.00,0.031,0.071,0.000,125,1978,1101,-8.42,-1.07,334.34,0,0,0,0,0,0,26.19,26.27,26.23
$IRIDIUM_FIX,-2937.63,3117.42,110717,100103
$TT8_MAMPS,0.025466,0.265895
$HUMID,57.67
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,272.3,34.9
$24V_AH,24.39,29.207
$10V_AH,10.30,14.775
$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,18.475,42.925,379.175,0.000,0.000,32.948,39.788,187.081,6.000,0.000,14.556,1085.005,1921.694,408.359,1326.241,81.343,0.000,904.375,0.000,1024.670,0.000,38.951,0.000
$DEVICE_MAMPS,214.965,126.990,794.070,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,312.608,92.821,409.985,413.008,0.000,0.000,0.000,0.000,0.000,0.000
$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,30377,458
$CAP_FILE_SIZE,59824,0
$CFSIZE,2097086464,2058911744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,110717,124713,-2948.091,3120.429,7,1.0,7,-24.6,0.6,352.9,9,41.1