version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 370
start: 7 12 117 21 9 38
data:
$ID,574
$MISSION,23
$DIVE,370
$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,43
$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,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$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
$GPS1,120717,210037,-2942.1130,3139.5454,5,1.2,5,-24.6,0.0,0.0,8,29.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-79.3
$GPS2,120717,210852,-2942.1125,3139.6157,4,1.2,4,-24.6,0.0,0.0,8,154.0
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,160.0,46544,-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,-175.2,125,1957,1297,1159,0.0,0.0,0,73,0.00,0.00,-55.25,0.000,16386,0.000,0.000,126,1957,2763,2749,2778,0,0,0,0,0,0,26.27,28.83,26.28
$GC,76,-0.48,-175.2,126,1957,2750,2778,3.0,-3.5,7,101,9.65,2.15,-8.30,0.000,18948,0.213,0.038,2669,525,3177,3213,3141,0,0,0,0,0,0,25.61,25.44,25.77
$GC,156,-0.48,-175.2,2669,524,3215,3141,25.4,-19.5,19,165,0.00,2.20,0.00,0.000,1030,0.000,0.033,2661,1928,3179,3219,3139,0,0,0,0,0,0,26.06,26.06,26.10
$GC,301,-0.48,-175.2,2660,1928,3220,3137,60.4,-25.7,44,309,0.00,2.17,0.00,0.000,260,0.000,0.037,2649,3349,3178,3220,3137,0,0,0,0,0,0,26.43,26.14,26.44
$GC,429,-0.48,-175.2,2649,3349,3224,3134,83.2,-16.6,67,435,0.00,2.08,0.00,0.000,1030,0.000,0.023,2650,1935,3179,3225,3133,0,0,0,0,0,0,26.28,26.22,26.29
$GC,747,-0.48,-175.2,2649,1932,3227,3132,141.4,-16.4,106,751,0.00,2.12,0.00,0.000,260,0.000,0.034,2640,3357,3179,3227,3132,0,0,0,0,0,0,26.58,26.27,26.58
$GC,841,-0.48,-175.2,2639,3357,3228,3132,153.8,-12.6,115,849,0.12,2.08,0.00,0.000,3078,0.142,0.023,2681,1932,3180,3228,3132,0,0,0,0,0,0,26.10,26.32,26.25
$GC,1148,-0.48,-175.2,2680,1931,3230,3132,193.5,-12.2,146,1157,0.00,2.12,0.00,0.000,260,0.000,0.034,2672,3360,3181,3230,3132,0,0,0,0,0,0,26.67,26.32,26.67
$GC,1264,-0.48,-175.2,2671,3360,3230,3131,204.1,-10.0,154,1270,0.00,2.08,0.00,0.000,1030,0.000,0.023,2672,1930,3180,3230,3131,0,0,0,0,0,0,26.44,26.38,26.46
$GC,2069,-0.48,-175.2,2671,1926,3230,3130,310.2,-12.8,195,2075,0.00,2.05,0.00,0.000,516,0.000,0.029,2672,539,3180,3230,3130,0,0,0,0,0,0,26.73,26.37,26.74
$STATE,2128,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2128,begin apogee
$GC,2135,0.00,0.0,2662,1882,3230,3130,317.6,-12.5,198,2270,0.52,0.00,130.23,0.794,10246,0.125,0.000,2828,1883,2464,2530,2399,0,0,0,0,0,0,26.13,25.04,24.51
$STATE,2271,end apogee,CONTROL_FINISHED_OK
$STATE,2271,begin climb
$GC,2273,0.48,175.2,2828,1883,2529,2399,323.6,0.0,205,2418,0.40,2.25,134.43,0.785,10500,0.037,0.033,3034,3277,1748,1837,1660,0,0,0,0,0,0,25.25,24.91,24.37
$GC,2551,0.48,175.2,3033,3280,1835,1657,286.3,19.3,219,2557,0.17,2.15,0.00,0.000,5126,0.174,0.028,2995,1868,1746,1836,1657,0,0,0,0,0,0,25.45,25.70,25.64
$GC,3361,0.48,175.2,2994,1868,1830,1650,153.5,14.6,275,3369,0.00,2.12,0.00,0.000,516,0.000,0.034,3004,465,1738,1827,1650,0,0,0,0,0,0,26.57,26.22,26.58
$GC,3411,0.48,175.2,3004,465,1821,1650,146.5,13.8,280,3420,0.00,2.15,0.00,0.000,1030,0.000,0.031,3004,1877,1736,1823,1650,0,0,0,0,0,0,26.34,26.26,26.36
$GC,3721,0.48,175.2,3004,1880,1824,1650,102.7,14.3,311,3730,0.00,2.10,0.00,0.000,260,0.000,0.036,3005,3280,1737,1824,1650,0,0,0,0,0,0,26.63,26.29,26.65
$GC,3806,0.48,175.2,3004,3280,1824,1650,89.5,17.1,325,3813,0.00,2.10,0.00,0.000,1030,0.000,0.027,3015,1863,1737,1824,1650,0,0,0,0,0,0,26.40,26.32,26.43
$GC,4132,0.52,202.9,3014,1863,1824,1649,46.9,9.3,386,4164,0.00,2.17,21.27,0.613,8452,0.000,0.032,3014,3283,1636,1734,1538,0,0,0,0,0,0,26.67,26.06,25.53
$GC,4252,0.53,211.3,3014,3283,1733,1538,35.8,9.8,406,4270,0.00,2.15,7.85,0.538,9222,0.000,0.027,3024,1871,1603,1706,1501,0,0,0,0,0,0,26.22,26.18,25.43
$GC,4412,0.53,211.3,3024,1871,1702,1499,16.9,11.0,432,4420,0.00,2.17,0.00,0.000,516,0.000,0.034,3035,465,1598,1698,1499,0,0,0,0,0,0,26.48,26.14,26.49
$GC,4459,0.53,211.3,3035,464,1692,1500,10.8,11.5,439,4468,0.00,2.20,0.00,0.000,1030,0.000,0.032,3036,1879,1596,1694,1499,0,0,0,0,0,0,26.24,26.20,26.26
$GC,4517,0.53,211.3,3035,1883,1696,1499,3.8,13.8,448,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1880,1597,1695,1500,0,0,0,0,0,0,26.52,26.53,26.53
$STATE,4532,end climb,SURFACE_DEPTH_REACHED
$STATE,4532,begin surface coast
$FINISH,0.7,1.001723
$STATE,4557,end surface coast,CONTROL_FINISHED_OK
$STATE,4557,begin surface
$SM_CCo,4574,37.85,0.047,0,0,1241,300.24
$SM_GC,2.25,7.55,0.08,37.85,0.031,0.093,0.047,125,1979,1241,-8.43,-1.10,300.24,0,0,0,0,0,0,26.25,26.34,26.16
$IRIDIUM_FIX,-2930.19,3139.54,120717,210403
$TT8_MAMPS,0.025466,0.289863
$HUMID,58.97
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,300.0,30.9
$24V_AH,24.37,31.794
$10V_AH,10.26,15.959
$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,18.425,42.775,293.775,37.850,0.000,61.830,61.451,213.779,6.750,0.000,11.966,1106.982,2139.253,391.106,1410.371,92.255,0.000,880.537,0.000,1031.695,0.000,45.363,0.000
$DEVICE_MAMPS,212.670,93.330,794.070,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.813,89.222,386.158,392.331,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343300
$DATA_FILE_SIZE,30362,454
$CAP_FILE_SIZE,61596,0
$CFSIZE,2097086464,2055962624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,120717,222714,-2942.311,3140.281,9,0.9,9,-24.6,0.6,8.5,10,346.0