version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 238
start: 7 3 117 19 52 50
data:
$ID,574
$MISSION,23
$DIVE,238
$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,47
$R_STBD_OVSHOOT,80
$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
$GPS1,030717,193630,-2950.0671,3119.2749,31,0.9,31,-24.7,1.0,164.8,9,8.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-78.2
$GPS2,030717,195204,-2950.3230,3119.2405,5,1.0,5,-24.7,0.5,224.0,9,15.8
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2959.675,3125.475
$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,-126.5,126,2040,528,448,0.0,0.0,0,103,0.00,0.00,-85.80,0.000,16386,0.000,0.000,126,2041,2896,2907,2885,0,0,0,0,0,0,26.36,28.83,26.38
$GC,106,-0.45,-126.5,126,2041,2908,2884,3.3,-3.8,11,124,9.50,1.98,-1.62,0.000,18692,0.209,0.043,2680,3372,2981,3000,2963,0,0,0,0,0,0,25.79,25.58,25.97
$GC,247,-0.45,-126.5,2679,3378,3006,2957,42.0,-15.6,34,254,0.00,2.05,0.00,0.000,1030,0.000,0.026,2680,1989,2982,3009,2956,0,0,0,0,0,0,26.28,26.22,26.30
$GC,572,-0.45,-126.5,2679,1986,3012,2953,106.3,-14.7,91,576,0.00,2.03,0.00,0.000,260,0.000,0.032,2671,3361,2982,3012,2953,0,0,0,0,0,0,26.62,26.33,26.63
$GC,623,-0.45,-126.5,2670,3361,3012,2953,113.8,-14.2,96,627,0.00,2.03,0.00,0.000,1030,0.000,0.024,2670,1977,2982,3012,2953,0,0,0,0,0,0,26.42,26.36,26.44
$GC,928,-0.45,-126.5,2670,1974,3013,2952,166.7,-15.4,126,932,0.00,2.03,0.00,0.000,260,0.000,0.032,2660,3360,2982,3013,2952,0,0,0,0,0,0,26.69,26.39,26.70
$GC,1039,-0.45,-126.5,2660,3359,3014,2952,181.7,-13.0,136,1046,0.12,2.00,0.00,0.000,3078,0.129,0.025,2702,1981,2982,3013,2952,0,0,0,0,0,0,26.28,26.43,26.41
$GC,1345,-0.45,-126.5,2701,1981,3015,2950,219.4,-11.9,159,1349,0.00,2.05,0.00,0.000,516,0.000,0.030,2702,585,2982,3015,2950,0,0,0,0,0,0,26.74,26.44,26.74
$GC,1431,-0.45,-126.5,2701,584,3015,2950,228.3,-11.6,163,1435,0.00,2.03,0.00,0.000,1030,0.000,0.029,2694,1956,2982,3015,2950,0,0,0,0,0,0,26.53,26.46,26.54
$GC,2243,-0.45,-126.5,2693,1960,3015,2946,320.9,-10.7,204,2249,0.00,2.03,0.00,0.000,516,0.000,0.028,2694,583,2981,3016,2946,0,0,0,0,0,0,26.74,26.47,26.76
$GC,2426,-0.45,-126.5,2693,582,3014,2945,337.8,-8.6,213,2430,0.00,2.10,0.00,0.000,1030,0.000,0.031,2685,1988,2980,3015,2945,0,0,0,0,0,0,26.55,26.48,26.58
$STATE,2657,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2657,begin apogee
$GC,2661,0.00,0.0,2685,1821,3015,2944,362.8,-11.3,225,2759,0.50,0.12,94.05,0.849,10246,0.150,0.068,2842,1970,2465,2515,2415,0,0,0,0,0,0,26.31,25.20,24.65
$STATE,2761,end apogee,CONTROL_FINISHED_OK
$STATE,2761,begin climb
$GC,2762,0.45,126.5,2842,1970,2515,2416,365.0,0.0,230,2865,0.38,0.00,98.72,0.845,11014,0.034,0.000,3025,1972,1948,2000,1897,0,0,0,0,0,0,25.38,24.94,24.43
$GC,3658,0.45,126.5,3025,1974,1989,1886,204.0,19.1,275,3662,0.08,2.00,0.00,0.000,4356,0.247,0.033,2998,3315,1938,1990,1886,0,0,0,0,0,0,26.07,26.26,26.19
$GC,3797,0.45,126.5,2997,3315,1989,1887,182.6,14.1,287,3804,0.00,2.10,0.00,0.000,1030,0.000,0.026,3007,1887,1937,1989,1886,0,0,0,0,0,0,26.40,26.34,26.43
$GC,4104,0.45,126.5,3006,1887,1988,1883,138.3,14.3,318,4108,0.00,2.10,0.00,0.000,516,0.000,0.032,3018,494,1936,1988,1884,0,0,0,0,0,0,26.67,26.36,26.69
$GC,4118,0.45,126.5,3017,493,1986,1882,137.0,14.0,319,4125,0.00,2.10,0.00,0.000,1030,0.000,0.028,3018,1905,1934,1986,1882,0,0,0,0,0,0,26.46,26.39,26.48
$GC,4427,0.45,126.5,3017,1909,1987,1881,94.4,15.3,353,4434,0.00,2.08,0.00,0.000,260,0.000,0.034,3018,3308,1934,1987,1881,0,0,0,0,0,0,26.71,26.41,26.72
$GC,4509,0.45,126.5,3017,3308,1987,1882,82.3,12.8,368,4517,0.10,2.12,0.00,0.000,5126,0.271,0.026,3001,1897,1934,1987,1882,0,0,0,0,0,0,26.06,26.42,26.23
$GC,4836,0.51,177.7,3000,1897,1986,1881,58.3,8.7,429,4880,0.00,2.20,37.38,0.640,8452,0.000,0.031,3001,3308,1738,1808,1668,0,0,0,0,0,0,26.74,25.94,25.41
$GC,4940,0.51,177.7,3000,3308,1808,1667,47.8,10.8,447,4946,0.00,2.12,0.00,0.000,1030,0.000,0.025,3009,1890,1737,1808,1666,0,0,0,0,0,0,26.15,26.09,26.17
$GC,5296,0.51,177.7,3009,1889,1805,1663,6.6,11.0,508,5305,0.00,2.12,0.00,0.000,516,0.000,0.031,3020,490,1732,1802,1663,0,0,0,0,0,0,26.58,26.29,26.58
$STATE,5323,end climb,SURFACE_DEPTH_REACHED
$STATE,5323,begin surface coast
$FINISH,1.6,1.025414
$STATE,5332,end surface coast,CONTROL_FINISHED_OK
$STATE,5332,begin surface
$SM_CCo,5349,130.77,0.047,0,0,499,482.01
$SM_GC,1.58,7.40,2.30,130.77,0.025,0.024,0.047,125,2008,499,-8.46,-1.16,482.01,0,0,0,0,0,0,26.31,26.33,26.20
$IRIDIUM_FIX,-2937.63,3118.71,030717,194922
$TT8_MAMPS,0.025466,0.288365
$HUMID,55.51
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,341.1,35.2
$24V_AH,24.43,19.906
$10V_AH,10.36,9.819
$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,18.075,41.800,230.150,130.775,0.000,169.552,102.783,291.858,7.750,0.000,11.951,1263.963,2886.003,431.875,1782.189,82.390,0.000,934.120,0.000,1137.258,0.000,49.586,0.000
$DEVICE_MAMPS,270.810,68.085,849.150,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.092,99.188,416.694,419.411,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342348
$DATA_FILE_SIZE,33730,513
$CAP_FILE_SIZE,72384,0
$CFSIZE,2097086464,2068873216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,030717,212450,-2950.500,3119.298,6,1.2,6,-24.7,0.7,71.6,7,50.4