version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 362
start: 7 12 117 11 59 53
data:
$ID,574
$MISSION,23
$DIVE,362
$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,94
$R_STBD_OVSHOOT,45
$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
$GPS1,120717,115350,-2940.5564,3135.5732,5,0.9,5,-24.6,0.0,0.0,10,61.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-80.7
$GPS2,120717,115906,-2940.5227,3135.5852,5,0.9,5,-24.6,0.6,106.1,10,61.0
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,157.3,53241,-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,-175.2,125,2001,1279,1108,0.0,0.0,0,80,0.00,0.00,-62.92,0.000,16386,0.000,0.000,125,2001,3017,3026,3009,0,0,0,0,0,0,26.30,28.83,26.32
$GC,83,-0.48,-175.2,125,2001,3027,3009,4.4,-7.1,8,102,9.55,2.17,-2.78,0.000,18948,0.210,0.035,2671,566,3182,3206,3159,0,0,0,0,0,0,25.65,24.68,25.82
$GC,124,-0.48,-175.2,2670,566,3214,3150,24.1,-46.2,13,133,0.00,2.12,0.00,0.000,1030,0.000,0.030,2663,1936,3183,3218,3149,0,0,0,0,0,0,26.09,26.06,26.15
$GC,268,-0.48,-175.2,2662,1936,3222,3145,64.6,-27.1,38,274,0.00,2.10,0.00,0.000,260,0.000,0.033,2652,3351,3184,3222,3146,0,0,0,0,0,0,26.46,26.14,26.47
$GC,322,-0.48,-175.2,2651,3350,3223,3143,75.7,-16.8,48,331,0.00,2.05,0.00,0.000,1030,0.000,0.024,2651,1988,3183,3225,3141,0,0,0,0,0,0,26.22,26.19,26.25
$GC,639,-0.48,-175.2,2651,1985,3227,3140,135.7,-16.9,89,647,0.00,2.15,0.00,0.000,516,0.000,0.028,2652,532,3184,3227,3141,0,0,0,0,0,0,26.59,26.27,26.60
$GC,822,-0.48,-175.2,2651,531,3227,3140,159.6,-12.4,107,831,0.12,2.12,0.00,0.000,3078,0.170,0.031,2681,1947,3183,3227,3140,0,0,0,0,0,0,26.09,26.32,26.25
$GC,1129,-0.48,-175.2,2680,1947,3228,3140,195.6,-11.4,138,1133,0.00,2.08,0.00,0.000,260,0.000,0.035,2672,3350,3184,3228,3140,0,0,0,0,0,0,26.67,26.34,26.68
$GC,1250,-0.48,-175.2,2671,3350,3228,3139,207.6,-10.1,146,1255,0.00,2.05,0.00,0.000,1030,0.000,0.022,2672,1935,3184,3229,3139,0,0,0,0,0,0,26.46,26.39,26.47
$STATE,1743,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1743,begin apogee
$GC,1748,0.00,0.0,2672,1831,3229,3139,272.2,-12.4,171,1882,0.50,0.00,129.98,0.751,10246,0.123,0.000,2830,1829,2464,2531,2398,0,0,0,0,0,0,26.17,25.10,24.60
$STATE,1883,end apogee,CONTROL_FINISHED_OK
$STATE,1883,begin climb
$GC,1885,0.48,175.2,2830,1828,2530,2398,277.5,0.0,178,2027,0.40,2.08,133.10,0.747,10756,0.031,0.028,3044,501,1748,1836,1661,0,0,0,0,0,0,25.30,24.97,24.45
$GC,2067,0.48,175.2,3044,501,1825,1661,258.4,19.5,187,2072,0.17,2.12,0.00,0.000,5126,0.170,0.029,2996,1868,1743,1825,1661,0,0,0,0,0,0,25.25,25.43,25.41
$GC,2874,0.48,175.2,2996,1872,1825,1655,129.8,11.3,251,2878,0.00,2.10,0.00,0.000,260,0.000,0.035,2996,3280,1740,1825,1655,0,0,0,0,0,0,26.57,26.25,26.58
$GC,2908,0.48,175.2,2996,3280,1825,1655,126.3,11.4,254,2915,0.00,2.03,0.00,0.000,1030,0.000,0.025,3005,1902,1740,1825,1655,0,0,0,0,0,0,26.35,26.28,26.37
$GC,3221,0.53,215.8,3004,1902,1825,1653,87.3,8.9,296,3259,0.00,2.20,31.65,0.638,8708,0.000,0.030,3016,464,1582,1688,1477,0,0,0,0,0,0,26.64,25.74,25.39
$GC,3313,0.60,270.4,3015,463,1674,1478,80.0,8.6,312,3364,0.00,2.20,43.80,0.636,9222,0.000,0.031,3016,1870,1361,1485,1238,0,0,0,0,0,0,26.07,26.03,25.02
$GC,3682,0.60,270.4,3015,1872,1477,1233,39.5,11.2,380,3690,0.00,2.15,0.00,0.000,516,0.000,0.032,3026,478,1353,1474,1232,0,0,0,0,0,0,26.39,26.06,26.41
$GC,3722,0.60,270.4,3026,478,1468,1232,35.2,10.8,386,3731,0.00,2.15,0.00,0.000,1030,0.000,0.028,3026,1869,1350,1468,1232,0,0,0,0,0,0,26.16,26.13,26.19
$GC,3877,0.60,270.4,3026,1873,1468,1233,17.5,11.0,411,3885,0.00,2.17,0.00,0.000,516,0.000,0.032,3036,470,1350,1468,1232,0,0,0,0,0,0,26.51,26.17,26.51
$GC,3894,0.60,270.4,3035,470,1467,1232,15.5,10.7,413,3903,0.00,2.15,0.00,0.000,1030,0.000,0.026,3036,1869,1349,1467,1232,0,0,0,0,0,0,26.25,26.20,26.27
$GC,3953,0.60,270.4,3036,1873,1467,1232,7.8,13.9,422,3961,0.00,2.12,0.00,0.000,260,0.000,0.032,3036,3274,1349,1466,1232,0,0,0,0,0,0,26.53,26.22,26.54
$GC,3970,0.60,270.4,3036,3273,1467,1232,5.4,14.3,424,3979,0.00,2.12,0.00,0.000,1030,0.000,0.025,3046,1867,1349,1467,1232,0,0,0,0,0,0,26.27,26.24,26.29
$STATE,3986,end climb,SURFACE_DEPTH_REACHED
$STATE,3986,begin surface coast
$FINISH,0.6,1.025625
$STATE,4011,end surface coast,CONTROL_FINISHED_OK
$STATE,4011,begin surface
$SM_CCo,4027,11.93,0.049,0,0,1240,300.24
$SM_GC,2.54,7.50,0.10,11.93,0.025,0.073,0.049,126,1973,1240,-8.39,-1.10,300.24,0,0,0,0,0,0,26.25,26.34,26.19
$IRIDIUM_FIX,-2927.71,3134.83,120717,115500
$TT8_MAMPS,0.025466,0.289114
$HUMID,58.50
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,18.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,272.2,8.9
$24V_AH,24.45,31.118
$10V_AH,10.26,15.649
$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,18.250,42.600,338.525,11.925,0.000,34.688,22.106,166.859,6.750,0.000,11.977,1038.556,1657.728,385.725,1219.273,89.994,0.000,859.521,0.000,956.204,0.000,43.607,0.000
$DEVICE_MAMPS,209.610,129.285,751.230,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,296.201,83.499,358.066,363.059,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343340
$DATA_FILE_SIZE,27064,430
$CAP_FILE_SIZE,58635,0
$CFSIZE,2097086464,2056749056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,120717,130757,-2940.728,3136.093,9,0.9,9,-24.6,0.0,0.0,10,147.8