version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 230
start: 7 3 117 11 17 45
data:
$ID,574
$MISSION,23
$DIVE,230
$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,360
$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,130
$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,30
$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,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,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,45
$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,1990
$C_ROLL_CLIMB,1896
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,42
$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
$GPS1,030717,111100,-2948.5259,3119.8340,26,0.8,26,-24.6,1.3,313.2,10,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.2
$GPS2,030717,111659,-2948.4431,3119.8188,5,0.8,5,-24.6,1.6,345.2,10,49.7
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2939.091,3126.032
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,54.6,20000,-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,-0.45,-126.5,127,1972,528,446,0.0,0.0,0,103,0.00,0.00,-85.65,0.000,16386,0.000,0.000,127,1973,2925,2938,2913,0,0,0,0,0,0,26.33,28.83,26.34
$GC,106,-0.45,-126.5,127,1973,2939,2913,3.6,-4.8,11,124,9.60,2.15,-0.98,0.000,18692,0.212,0.047,2677,3406,2979,2997,2962,0,0,0,0,0,0,25.77,25.53,25.93
$GC,274,-0.45,-126.5,2676,3406,3006,2954,44.0,-16.1,39,281,0.00,2.10,0.00,0.000,1030,0.000,0.027,2676,2003,2980,3007,2954,0,0,0,0,0,0,26.27,26.20,26.29
$GC,603,-0.45,-126.5,2676,2000,3013,2950,110.5,-20.8,95,612,0.00,2.05,0.00,0.000,260,0.000,0.030,2666,3405,2981,3013,2950,0,0,0,0,0,0,26.58,26.32,26.59
$GC,787,-0.45,-126.5,2666,3405,3013,2951,139.6,-15.5,113,796,0.10,2.08,0.00,0.000,3078,0.135,0.025,2699,1987,2982,3013,2951,0,0,0,0,0,0,26.22,26.37,26.35
$GC,1095,-0.45,-126.5,2698,1986,3015,2949,181.1,-13.0,144,1103,0.00,2.08,0.00,0.000,260,0.000,0.031,2690,3402,2982,3015,2949,0,0,0,0,0,0,26.67,26.39,26.67
$GC,1145,-0.45,-126.5,2690,3402,3014,2949,186.8,-10.8,149,1149,0.00,2.08,0.00,0.000,1030,0.000,0.024,2690,1982,2982,3015,2949,0,0,0,0,0,0,26.49,26.42,26.51
$GC,1460,-0.45,-126.5,2690,1978,3016,2948,226.4,-13.3,170,1464,0.00,2.10,0.00,0.000,260,0.000,0.032,2680,3410,2982,3016,2948,0,0,0,0,0,0,26.73,26.43,26.74
$GC,1484,-0.45,-126.5,2679,3410,3015,2948,229.1,-13.9,171,1488,0.00,2.08,0.00,0.000,1030,0.000,0.024,2680,1989,2981,3015,2948,0,0,0,0,0,0,26.51,26.45,26.53
$STATE,1935,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1935,begin apogee
$GC,1939,0.00,0.0,2680,1841,3015,2946,301.6,-12.8,194,2038,0.52,0.08,93.60,0.791,10246,0.125,0.090,2844,1937,2464,2516,2413,0,0,0,0,0,0,26.27,25.23,24.71
$STATE,2039,end apogee,CONTROL_FINISHED_OK
$STATE,2039,begin climb
$GC,2041,0.45,126.5,2843,1937,2516,2413,304.8,0.0,199,2146,0.38,2.30,97.35,0.801,10756,0.034,0.031,3037,488,1948,2001,1895,0,0,0,0,0,0,25.41,24.96,24.44
$GC,2237,0.45,126.5,3036,488,1992,1893,281.7,20.7,209,2241,0.15,2.12,0.00,0.000,5126,0.171,0.029,2996,1864,1942,1992,1892,0,0,0,0,0,0,25.46,25.63,25.63
$GC,3045,0.45,126.5,2995,1869,1994,1883,159.0,13.3,264,3054,0.00,2.12,0.00,0.000,260,0.000,0.033,2996,3305,1938,1994,1882,0,0,0,0,0,0,26.59,26.29,26.60
$GC,3128,0.45,126.5,2996,3305,1993,1883,148.7,11.5,272,3135,0.00,2.12,0.00,0.000,1030,0.000,0.025,3005,1898,1937,1993,1882,0,0,0,0,0,0,26.36,26.33,26.39
$GC,3435,0.45,126.5,3004,1898,1992,1881,111.6,12.4,303,3439,0.00,2.12,0.00,0.000,516,0.000,0.032,3016,482,1937,1993,1882,0,0,0,0,0,0,26.67,26.35,26.67
$GC,3464,0.45,126.5,3015,481,1990,1881,108.3,12.6,305,3471,0.00,2.17,0.00,0.000,1030,0.000,0.029,3016,1902,1936,1991,1881,0,0,0,0,0,0,26.42,26.39,26.44
$GC,3784,0.47,141.2,3015,1905,1991,1880,76.0,9.6,360,3799,0.00,0.00,10.73,0.603,8710,0.000,0.000,3016,1906,1889,1948,1830,0,0,0,0,0,0,26.70,26.18,25.65
$GC,4116,0.47,141.2,3015,1905,1946,1829,42.2,10.7,422,4123,0.00,2.08,0.00,0.000,260,0.000,0.034,3016,3312,1887,1946,1829,0,0,0,0,0,0,26.66,26.36,26.67
$GC,4295,0.47,141.2,3015,3312,1945,1829,22.7,11.5,452,4303,0.00,2.12,0.00,0.000,1030,0.000,0.025,3026,1895,1887,1945,1829,0,0,0,0,0,0,26.45,26.41,26.49
$GC,4446,0.47,141.2,3026,1893,1945,1829,6.9,10.5,477,4455,0.00,2.12,0.00,0.000,516,0.000,0.031,3037,491,1886,1944,1828,0,0,0,0,0,0,26.71,26.42,26.72
$GC,4463,0.47,141.2,3037,491,1941,1829,5.0,10.6,479,4472,0.12,2.12,0.00,0.000,5126,0.166,0.023,3001,1915,1886,1945,1828,0,0,0,0,0,0,26.19,26.47,26.30
$STATE,4479,end climb,SURFACE_DEPTH_REACHED
$STATE,4479,begin surface coast
$FINISH,0.6,1.025461
$STATE,4512,end surface coast,CONTROL_FINISHED_OK
$STATE,4512,begin surface
$SM_CCo,4526,145.93,0.048,0,0,498,482.01
$SM_GC,1.59,7.40,0.00,145.93,0.028,0.000,0.048,126,1921,498,-8.46,-1.95,482.01,0,0,0,0,0,0,26.43,26.72,26.27
$IRIDIUM_FIX,-2935.15,3117.42,030717,111213
$TT8_MAMPS,0.025466,0.259903
$HUMID,54.05
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,282.6,32.9
$24V_AH,24.44,19.387
$10V_AH,10.36,9.505
$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,18.275,38.300,201.675,145.925,0.000,32.943,44.368,189.879,6.250,0.000,11.968,1191.498,1966.810,425.608,1410.006,71.937,0.000,909.586,0.000,1100.827,0.000,40.454,0.000
$DEVICE_MAMPS,211.905,89.505,800.955,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.668,105.966,451.427,453.213,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342332
$DATA_FILE_SIZE,33698,486
$CAP_FILE_SIZE,62257,0
$CFSIZE,2097086464,2069692416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,030717,123618,-2948.325,3119.911,6,0.9,6,-24.6,1.2,244.5,9,14.7