version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 237
start: 7 3 117 18 10 20
data:
$ID,574
$MISSION,23
$DIVE,237
$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,150
$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,42
$R_STBD_OVSHOOT,54
$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,100
$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
$GPS1,030717,180442,-2949.7395,3119.3721,4,1.3,4,-24.7,0.6,249.3,5,240.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-77.0
$GPS2,030717,180933,-2949.7971,3119.2898,5,1.3,5,-24.7,0.0,0.0,5,89.3
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2959.149,3125.524
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,174.7,20000,-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,-126.5,125,2020,528,449,0.0,0.0,0,104,0.00,0.00,-86.18,0.000,16386,0.000,0.000,125,2020,2910,2921,2899,0,0,0,0,0,0,26.34,28.83,26.34
$GC,106,-0.45,-126.5,125,2020,2923,2899,3.4,-4.1,11,124,9.43,2.15,-1.30,0.000,19204,0.206,0.037,2692,574,2979,2999,2960,0,0,0,0,0,0,25.84,25.58,25.99
$GC,233,-0.45,-126.5,2692,573,3003,2957,38.2,-13.5,31,241,0.00,2.17,0.00,0.000,1030,0.000,0.032,2683,1975,2980,3007,2954,0,0,0,0,0,0,26.23,26.20,26.25
$GC,369,-0.45,-126.5,2683,1975,3009,2952,65.0,-21.3,56,377,0.00,2.10,0.00,0.000,516,0.000,0.026,2684,577,2980,3009,2952,0,0,0,0,0,0,26.55,26.28,26.56
$GC,506,-0.45,-126.5,2683,577,3009,2952,90.7,-17.4,81,512,0.00,2.15,0.00,0.000,1030,0.000,0.033,2674,1990,2980,3009,2952,0,0,0,0,0,0,26.39,26.31,26.40
$GC,818,-0.45,-126.5,2674,1991,3010,2951,141.1,-17.4,117,826,0.00,2.08,0.00,0.000,260,0.000,0.035,2663,3404,2980,3010,2950,0,0,0,0,0,0,26.64,26.37,26.65
$GC,1003,-0.45,-126.5,2662,3404,3010,2950,167.3,-12.2,135,1011,0.10,2.10,0.00,0.000,3078,0.212,0.024,2694,1982,2979,3010,2949,0,0,0,0,0,0,26.15,26.44,26.28
$GC,1320,-0.45,-126.5,2694,1979,3012,2947,208.6,-13.6,164,1324,0.00,2.05,0.00,0.000,516,0.000,0.029,2695,582,2979,3012,2947,0,0,0,0,0,0,26.73,26.44,26.74
$GC,1356,-0.45,-126.5,2694,581,3012,2947,213.5,-13.8,166,1360,0.00,2.10,0.00,0.000,1030,0.000,0.028,2686,1995,2979,3012,2947,0,0,0,0,0,0,26.52,26.46,26.53
$GC,2172,-0.45,-126.5,2686,1995,3012,2943,312.7,-11.3,207,2176,0.00,2.08,0.00,0.000,516,0.000,0.028,2686,586,2978,3012,2944,0,0,0,0,0,0,26.78,26.48,26.79
$GC,2351,-0.45,-126.5,2686,585,3012,2943,331.6,-10.3,216,2355,0.00,2.15,0.00,0.000,1030,0.000,0.032,2676,1986,2977,3012,2943,0,0,0,0,0,0,26.53,26.48,26.55
$STATE,2447,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2447,begin apogee
$GC,2452,0.00,0.0,2676,1832,3012,2941,343.2,-12.0,221,2550,0.52,0.10,93.05,0.812,10246,0.164,0.081,2838,1949,2465,2515,2415,0,0,0,0,0,0,26.31,25.26,24.70
$STATE,2551,end apogee,CONTROL_FINISHED_OK
$STATE,2551,begin climb
$GC,2553,0.45,126.5,2838,1949,2514,2415,345.4,0.0,226,2658,0.38,2.30,97.47,0.815,10756,0.057,0.030,3035,495,1947,2002,1893,0,0,0,0,0,0,25.44,25.01,24.46
$GC,2699,0.45,126.5,3034,494,1994,1892,333.0,15.1,233,2707,0.15,2.17,0.00,0.000,5126,0.239,0.027,2997,1905,1943,1994,1892,0,0,0,0,0,0,25.27,25.50,25.47
$GC,3506,0.45,126.5,2996,1910,1992,1882,204.2,14.9,274,3510,0.00,2.08,0.00,0.000,260,0.000,0.034,2997,3304,1937,1992,1882,0,0,0,0,0,0,26.61,26.32,26.63
$GC,3565,0.45,126.5,2996,3304,1991,1882,196.0,14.8,278,3572,0.00,2.08,0.00,0.000,1030,0.000,0.025,3005,1895,1936,1991,1882,0,0,0,0,0,0,26.41,26.35,26.44
$GC,3872,0.45,126.5,3005,1894,1990,1881,151.8,15.3,309,3876,0.00,2.10,0.00,0.000,516,0.000,0.031,3016,487,1935,1990,1881,0,0,0,0,0,0,26.68,26.38,26.70
$GC,3957,0.45,126.5,3016,487,1985,1880,140.5,12.5,317,3961,0.00,2.12,0.00,0.000,1030,0.000,0.031,3017,1903,1932,1985,1880,0,0,0,0,0,0,26.48,26.42,26.51
$GC,4262,0.45,126.5,3016,1903,1986,1879,97.9,12.7,348,4271,0.00,2.12,0.00,0.000,260,0.000,0.036,3016,3309,1933,1987,1879,0,0,0,0,0,0,26.73,26.42,26.74
$GC,4463,0.58,227.6,3016,3309,1986,1880,78.8,7.4,385,4543,0.00,2.08,74.43,0.659,9222,0.000,0.024,3027,1890,1536,1618,1455,0,0,0,0,0,0,26.53,26.47,25.05
$GC,4879,0.58,227.6,3026,1889,1611,1448,14.7,15.0,458,4888,0.00,2.15,0.00,0.000,516,0.000,0.034,3037,504,1528,1609,1448,0,0,0,0,0,0,26.44,26.14,26.46
$GC,4944,0.58,227.6,3037,502,1602,1448,4.8,14.9,468,4953,0.00,2.15,0.00,0.000,1030,0.000,0.029,3037,1897,1525,1603,1448,0,0,0,0,0,0,26.23,26.21,26.26
$STATE,4960,end climb,SURFACE_DEPTH_REACHED
$STATE,4960,begin surface coast
$FINISH,0.7,1.025328
$STATE,4979,end surface coast,CONTROL_FINISHED_OK
$STATE,4979,begin surface
$SM_CCo,4994,110.90,0.047,0,0,499,482.01
$SM_GC,1.57,7.50,0.12,110.90,0.028,0.073,0.047,126,2035,499,-8.44,-1.10,482.01,0,0,0,0,0,0,26.24,26.26,26.15
$IRIDIUM_FIX,-2937.63,3120.83,030717,180540
$TT8_MAMPS,0.024717,0.265895
$HUMID,55.90
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,291.7,64.5
$24V_AH,24.46,19.824
$10V_AH,10.38,9.767
$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,18.075,42.800,264.950,110.900,0.000,29.072,19.013,156.763,5.250,0.000,11.974,1149.193,2479.779,431.913,1305.042,70.657,0.000,938.132,0.000,1055.079,0.000,37.036,0.000
$DEVICE_MAMPS,239.445,81.090,815.490,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,323.722,82.478,357.514,363.099,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342324
$DATA_FILE_SIZE,30437,473
$CAP_FILE_SIZE,62799,0
$CFSIZE,2097086464,2069037056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,030717,193630,-2950.067,3119.275,31,0.9,31,-24.7,1.0,164.8,9,8.1