version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 360
start: 7 12 117 9 30 46
data:
$ID,574
$MISSION,23
$DIVE,360
$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,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,300
$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,25
$R_STBD_OVSHOOT,43
$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,20
$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
$GPS1,120717,092217,-2940.2766,3134.5520,6,1.4,6,-24.5,0.0,0.0,6,115.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-80.4
$GPS2,120717,092959,-2940.2268,3134.6675,5,1.4,5,-24.5,0.5,49.3,6,32.4
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,156.5,54698,-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,-175.2,125,1950,1173,991,0.0,0.0,0,79,0.00,0.00,-62.10,0.000,16386,0.000,0.000,126,1950,2842,2832,2853,0,0,0,0,0,0,26.29,28.83,26.30
$GC,82,-0.48,-175.2,125,1950,2833,2853,3.4,-4.4,8,107,9.57,0.00,-6.28,0.000,19206,0.211,0.000,2670,1945,3182,3214,3150,0,0,0,0,0,0,25.64,25.54,25.82
$GC,160,-0.48,-175.2,2669,1946,3224,3145,33.2,-33.2,19,167,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1946,3184,3224,3145,0,0,0,0,0,0,26.37,26.39,26.38
$GC,300,-0.48,-175.2,2669,1945,3226,3143,69.4,-22.2,44,309,0.00,2.15,0.00,0.000,260,0.000,0.037,2661,3345,3184,3226,3143,0,0,0,0,0,0,26.47,26.13,26.48
$GC,396,-0.48,-175.2,2660,3345,3228,3141,85.4,-14.1,61,403,0.00,2.10,0.00,0.000,1030,0.000,0.024,2661,1922,3184,3228,3140,0,0,0,0,0,0,26.29,26.22,26.31
$GC,709,-0.48,-175.2,2660,1917,3231,3139,141.9,-16.8,99,717,0.00,2.12,0.00,0.000,260,0.000,0.035,2650,3343,3185,3231,3139,0,0,0,0,0,0,26.60,26.27,26.62
$GC,793,-0.48,-175.2,2650,3343,3232,3138,154.4,-13.5,107,801,0.00,2.10,0.00,0.000,1030,0.000,0.022,2651,1930,3185,3232,3139,0,0,0,0,0,0,26.36,26.34,26.39
$GC,1111,-0.48,-175.2,2650,1926,3233,3138,204.5,-15.9,138,1115,0.00,2.12,0.00,0.000,260,0.000,0.035,2641,3350,3185,3232,3138,0,0,0,0,0,0,26.67,26.34,26.68
$GC,1237,-0.48,-175.2,2640,3349,3233,3139,219.9,-12.1,144,1242,0.12,2.05,0.00,0.000,3078,0.141,0.024,2682,1941,3185,3232,3138,0,0,0,0,0,0,26.18,26.39,26.32
$STATE,1828,end dive,NO_VERTICAL_VELOCITY
$STATE,1828,begin apogee
$GC,1833,0.00,0.0,2682,1779,3234,3136,268.0,0.0,174,1970,0.43,0.10,130.40,0.763,10246,0.070,0.048,2842,1912,2464,2528,2401,0,0,0,0,0,0,26.35,24.94,24.58
$STATE,1971,end apogee,CONTROL_FINISHED_OK
$STATE,1971,begin climb
$GC,1973,0.48,175.2,2842,1912,2527,2401,267.9,0.0,181,2115,0.38,2.30,134.02,0.756,10756,0.066,0.029,3002,474,1748,1844,1652,0,0,0,0,0,0,25.25,24.82,24.44
$GC,2128,0.53,212.0,3001,474,1835,1652,260.2,9.0,189,2169,0.00,2.12,29.98,0.718,9222,0.000,0.029,3002,1829,1599,1703,1495,0,0,0,0,0,0,25.31,25.25,24.53
$GC,2968,0.53,212.0,3001,1831,1697,1489,121.0,14.2,256,2977,0.00,2.15,0.00,0.000,260,0.000,0.034,3002,3275,1593,1697,1489,0,0,0,0,0,0,26.55,26.24,26.56
$GC,3002,0.53,212.0,3001,3275,1696,1490,117.0,12.9,259,3009,0.00,2.08,0.00,0.000,1030,0.000,0.026,3011,1870,1593,1696,1490,0,0,0,0,0,0,26.34,26.26,26.36
$GC,3318,0.53,212.0,3011,1869,1695,1490,80.4,13.2,305,3325,0.00,2.12,0.00,0.000,516,0.000,0.034,3022,462,1591,1693,1489,0,0,0,0,0,0,26.63,26.29,26.65
$GC,3379,0.53,212.0,3022,462,1685,1490,73.6,10.7,316,3386,0.00,2.17,0.00,0.000,1030,0.000,0.032,3022,1864,1588,1686,1490,0,0,0,0,0,0,26.36,26.32,26.39
$GC,3706,0.71,359.7,3022,1866,1688,1490,46.7,6.2,377,3830,0.10,2.22,114.32,0.614,10756,0.091,0.033,3106,463,997,1129,865,0,0,0,0,0,0,26.41,25.15,24.83
$GC,3874,0.71,359.7,3106,463,1116,865,18.5,18.9,402,3883,0.12,2.25,0.00,0.000,5126,0.138,0.031,3068,1872,990,1115,865,0,0,0,0,0,0,25.46,25.62,25.55
$GC,3934,0.71,359.7,3067,1877,1116,864,8.5,17.6,411,3942,0.00,2.17,0.00,0.000,260,0.000,0.031,3068,3283,989,1115,864,0,0,0,0,0,0,26.06,25.79,26.06
$GC,3951,0.71,359.7,3067,3283,1116,863,5.3,17.7,413,3960,0.00,2.17,0.00,0.000,1030,0.000,0.025,3076,1875,989,1115,863,0,0,0,0,0,0,25.84,25.82,25.86
$STATE,3966,end climb,SURFACE_DEPTH_REACHED
$STATE,3966,begin surface coast
$FINISH,0.7,1.025238
$STATE,3986,end surface coast,CONTROL_FINISHED_OK
$STATE,3986,begin surface
$SM_CCo,4063,0.00,0.000,0,0,984,363.04
$SM_GC,1.78,7.68,0.10,0.00,0.025,0.073,0.000,126,1986,984,-8.38,-0.90,363.04,0,0,0,0,0,0,25.88,25.96,25.94
$IRIDIUM_FIX,-2927.71,3134.83,120717,080551
$TT8_MAMPS,0.025466,0.290612
$HUMID,59.60
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,17.60
$XPDR_PINGS,0
$24V_AH,24.44,30.936
$10V_AH,10.24,15.567
$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,18.400,34.800,408.725,0.000,0.000,66.925,37.072,200.138,6.500,0.000,11.960,985.697,1830.182,429.923,1227.141,83.481,0.000,900.036,0.000,885.572,0.000,41.999,0.000
$DEVICE_MAMPS,211.140,91.800,762.705,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,285.400,73.501,297.208,309.611,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343312
$DATA_FILE_SIZE,27146,418
$CAP_FILE_SIZE,55942,0
$CFSIZE,2097086464,2056945664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,120717,103908,-2940.468,3135.171,7,0.8,7,-24.6,0.5,333.3,10,194.0