version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 521
start: 7 31 117 1 0 7
data:
$ID,574
$MISSION,23
$DIVE,521
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,333
$T_MISSION,343
$T_ABORT,400
$T_TURN,225
$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,140
$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,482.00665
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$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,2810
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,57
$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,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,35
$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
$GPS1,310717,005104,-3312.0537,2800.6753,6,0.8,6,-27.4,0.0,0.0,11,40.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-75.4
$GPS2,310717,005919,-3312.1050,2800.6479,41,1.2,41,-27.4,0.6,207.0,7,22.8
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3320.378,2808.957
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,167.4,20000,-13.3,-10.010,-16.52,4021
$D_GRID,1000
$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,-0.45,-175.2,125,2051,528,446,0.0,0.0,0,110,0.00,0.00,-92.22,0.000,16386,0.000,0.000,126,2051,3102,3114,3090,0,0,0,0,0,0,26.26,28.83,26.27
$GC,113,-0.45,-175.2,125,2051,3115,3090,4.1,-5.8,12,131,9.80,2.12,-1.45,0.000,18948,0.216,0.037,2658,625,3182,3205,3159,0,0,0,0,0,0,25.42,25.38,25.62
$GC,257,-0.45,-175.2,2657,625,3218,3147,32.1,-12.0,35,266,0.00,2.22,0.00,0.000,1030,0.000,0.030,2649,2055,3182,3221,3143,0,0,0,0,0,0,26.10,26.08,26.15
$GC,463,-0.45,-175.2,2648,2055,3224,3141,56.6,-11.6,72,472,0.00,2.10,0.00,0.000,260,0.000,0.032,2638,3454,3182,3224,3141,0,0,0,0,0,0,26.51,26.13,26.51
$GC,498,-0.45,-175.2,2637,3454,3225,3140,60.2,-11.5,77,505,0.00,2.10,0.00,0.000,1030,0.000,0.027,2637,2039,3182,3226,3139,0,0,0,0,0,0,26.23,26.15,26.25
$STATE,627,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,627,begin apogee
$GC,634,0.00,0.0,2637,1747,3227,3138,74.4,-10.7,101,768,0.52,0.08,127.80,0.614,10246,0.126,0.089,2804,1852,2464,2521,2408,0,0,0,0,0,0,25.82,25.18,24.65
$STATE,771,end apogee,CONTROL_FINISHED_OK
$STATE,771,begin climb
$GC,773,0.45,175.2,2803,1852,2519,2408,81.3,0.0,123,914,0.43,2.08,131.12,0.608,10500,0.060,0.029,2977,3212,1749,1824,1674,0,0,0,0,0,0,25.34,25.08,24.56
$GC,1000,0.45,175.2,2976,3212,1821,1670,61.6,10.4,162,1010,0.10,2.20,0.00,0.000,5126,0.149,0.030,2957,1805,1745,1821,1669,0,0,0,0,0,0,25.43,25.65,25.52
$GC,1203,0.50,213.5,2957,1805,1820,1667,44.3,9.0,199,1240,0.00,2.15,29.70,0.575,8452,0.000,0.028,2957,3217,1594,1678,1510,0,0,0,0,0,0,26.29,25.40,25.02
$GC,1338,0.50,213.5,2957,3217,1675,1510,30.5,10.5,221,1347,0.00,2.17,0.00,0.000,1030,0.000,0.028,2965,1802,1591,1675,1508,0,0,0,0,0,0,25.94,25.90,25.96
$GC,1560,0.63,324.2,2965,1802,1672,1505,12.1,7.2,258,1616,0.12,0.00,50.72,0.519,10502,0.075,0.000,3045,1802,1140,1252,1029,0,0,0,0,0,0,26.15,25.54,25.06
$STATE,1634,end climb,SURFACE_DEPTH_REACHED
$STATE,1634,begin surface coast
$FINISH,0.7,1.024978
$STATE,1655,end surface coast,CONTROL_FINISHED_OK
$STATE,1655,begin surface
$SM_CCo,1672,69.57,0.045,0,0,499,482.01
$SM_GC,1.62,7.68,0.38,69.57,0.028,0.025,0.045,124,2185,499,-8.33,-1.07,482.01,0,0,0,0,0,0,25.79,25.90,25.81
$IRIDIUM_FIX,-3257.03,2803.74,300717,234429
$TT8_MAMPS,0.025466,0.261401
$HUMID,57.44
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.2,29.0
$24V_AH,24.56,49.743
$10V_AH,10.23,25.699
$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,18.650,18.125,339.350,69.575,0.000,22.735,39.116,278.122,0.750,0.000,48.198,568.124,108.132,387.542,1109.460,100.403,0.000,740.897,0.000,717.968,0.000,7.019,0.000
$DEVICE_MAMPS,216.495,88.740,613.530,45.135,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,187.987,100.061,497.643,500.328,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343440
$DATA_FILE_SIZE,20475,271
$CAP_FILE_SIZE,37375,0
$CFSIZE,2097086464,2038038528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,310717,012949,-3312.240,2800.375,4,1.4,4,-27.4,0.0,0.0,8,28.8