version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 529
start: 7 31 117 5 35 55
data:
$ID,574
$MISSION,23
$DIVE,529
$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,37
$R_STBD_OVSHOOT,44
$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
$GPS1,310717,052710,-3313.8276,2757.5229,4,1.0,4,-27.4,1.0,306.5,9,88.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.5
$GPS2,310717,053509,-3313.9109,2757.4329,5,1.0,5,-27.4,0.9,197.6,9,17.1
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3322.184,2805.745
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.45,-175.2,125,2069,528,440,0.0,0.0,0,103,0.00,0.00,-84.70,0.000,16386,0.000,0.000,125,2069,2865,2877,2853,0,0,0,0,0,0,26.23,28.83,26.25
$GC,107,-0.45,-175.2,125,2069,2878,2854,3.2,-3.8,11,132,10.02,2.22,-6.28,0.000,19204,0.223,0.040,2657,633,3180,3209,3151,0,0,0,0,0,0,25.36,25.40,25.56
$GC,160,-0.45,-175.2,2657,632,3211,3151,16.8,-20.6,18,169,0.00,2.20,0.00,0.000,1030,0.000,0.030,2648,2039,3180,3211,3150,0,0,0,0,0,0,26.01,25.98,26.02
$GC,219,-0.45,-175.2,2647,2039,3221,3143,24.8,-13.0,27,228,0.00,2.20,0.00,0.000,260,0.000,0.036,2638,3472,3181,3221,3142,0,0,0,0,0,0,26.37,25.98,26.39
$GC,277,-0.45,-175.2,2637,3472,3223,3140,30.6,-9.6,36,286,0.00,2.17,0.00,0.000,1030,0.000,0.025,2638,2040,3181,3224,3139,0,0,0,0,0,0,26.10,26.07,26.13
$GC,490,-0.45,-175.2,2637,2036,3225,3139,54.8,-12.1,73,497,0.00,2.08,0.00,0.000,516,0.000,0.030,2638,644,3182,3225,3139,0,0,0,0,0,0,26.51,26.12,26.52
$GC,539,-0.45,-175.2,2637,643,3225,3139,61.4,-13.2,81,547,0.12,2.17,0.00,0.000,3078,0.158,0.032,2665,2061,3182,3225,3139,0,0,0,0,0,0,25.86,26.14,26.01
$STATE,711,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,711,begin apogee
$GC,717,0.00,0.0,2665,1758,3227,3138,77.2,-10.5,113,850,0.43,0.00,127.88,0.611,10246,0.123,0.000,2802,1755,2464,2518,2410,0,0,0,0,0,0,25.85,25.18,24.65
$STATE,851,end apogee,CONTROL_FINISHED_OK
$STATE,852,begin climb
$GC,854,0.45,175.2,2802,1755,2518,2409,82.7,0.0,135,994,0.38,2.10,130.77,0.604,11012,0.039,0.030,3007,415,1748,1817,1680,0,0,0,0,0,0,25.39,25.08,24.55
$GC,1049,0.45,175.2,3006,415,1808,1678,63.6,12.2,168,1059,0.15,2.22,0.00,0.000,5126,0.151,0.032,2963,1800,1743,1808,1678,0,0,0,0,0,0,25.28,25.56,25.39
$GC,1254,0.45,175.2,2963,1803,1811,1673,40.2,11.3,205,1260,0.00,2.15,0.00,0.000,260,0.000,0.036,2964,3219,1742,1811,1673,0,0,0,0,0,0,26.27,25.91,26.28
$GC,1309,0.45,175.2,2963,3219,1811,1673,34.0,10.2,214,1318,0.00,2.10,0.00,0.000,1030,0.000,0.026,2972,1843,1741,1811,1672,0,0,0,0,0,0,26.03,25.99,26.05
$GC,1536,0.67,358.8,2971,1843,1810,1671,16.5,5.3,251,1623,0.15,0.00,83.90,0.545,10502,0.070,0.000,3060,1843,1000,1103,898,0,0,0,0,0,0,26.19,25.35,24.88
$STATE,1630,end climb,SURFACE_DEPTH_REACHED
$STATE,1630,begin surface coast
$FINISH,0.6,1.025806
$STATE,1652,end surface coast,CONTROL_FINISHED_OK
$STATE,1652,begin surface
$SM_CCo,1669,54.92,0.045,0,0,499,482.01
$SM_GC,1.45,7.62,0.32,54.92,0.020,0.030,0.045,126,2188,499,-8.29,-0.79,482.01,0,0,0,0,0,0,25.69,25.73,25.70
$IRIDIUM_FIX,-3259.60,2757.99,310717,042616
$TT8_MAMPS,0.025466,0.261401
$HUMID,58.15
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.2,31.8
$24V_AH,24.55,50.277
$10V_AH,10.22,25.987
$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,18.875,22.325,342.550,54.925,0.000,24.613,59.389,275.578,0.750,0.000,11.570,565.231,105.364,376.690,1087.916,102.095,0.000,738.359,0.000,714.224,0.000,7.028,0.000
$DEVICE_MAMPS,223.380,39.780,611.235,45.135,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.733,97.307,500.905,496.721,0.000,0.000,0.000,0.000,0.000,0.000
$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,20428,266
$CAP_FILE_SIZE,38284,0
$CFSIZE,2097086464,2037252096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,310717,060520,-3314.218,2757.000,4,1.4,4,-27.4,0.5,141.5,6,51.0