version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 316
start: 7 9 117 18 6 48
data:
$ID,574
$MISSION,23
$DIVE,316
$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,200
$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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,17
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52970
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,50
$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,1940
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,59
$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
$GPS1,090717,175801,-3006.4697,3114.4260,33,1.1,33,-25.0,0.5,248.0,7,10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-75.1
$GPS2,090717,180602,-3006.3899,3114.4199,5,0.8,5,-25.0,0.5,1.4,10,17.7
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT3
$TGT_LATLONG,-3003.000,3104.800
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,317.2,16650,-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,-0.48,-175.2,128,1960,527,446,0.0,0.0,0,106,0.00,0.00,-87.75,0.000,16386,0.000,0.000,128,1961,2971,2984,2958,0,0,0,0,0,0,26.25,28.83,26.27
$GC,108,-0.48,-175.2,128,1961,2984,2958,4.1,-5.5,11,134,9.95,2.12,-3.62,0.000,18692,0.224,0.047,2658,3332,3182,3214,3150,0,0,0,0,0,0,25.61,24.60,25.77
$GC,309,-0.48,-175.2,2658,3332,3225,3143,53.2,-15.9,45,315,0.00,2.10,0.00,0.000,1030,0.000,0.026,2658,1928,3184,3226,3142,0,0,0,0,0,0,26.19,26.12,26.21
$GC,635,-0.48,-175.2,2658,1928,3228,3141,112.9,-16.2,99,638,0.00,2.10,0.00,0.000,260,0.000,0.031,2648,3338,3184,3228,3141,0,0,0,0,0,0,26.55,26.23,26.56
$GC,735,-0.48,-175.2,2648,3338,3230,3141,128.1,-13.7,109,740,0.10,2.08,0.00,0.000,3078,0.158,0.023,2681,1925,3186,3231,3141,0,0,0,0,0,0,26.08,26.28,26.22
$GC,1041,-0.48,-175.2,2680,1924,3232,3141,170.0,-12.9,139,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1924,3186,3232,3141,0,0,0,0,0,0,26.60,26.62,26.62
$GC,1340,-0.48,-175.2,2680,1921,3232,3140,208.0,-11.7,166,1344,0.00,2.10,0.00,0.000,260,0.000,0.031,2672,3339,3186,3232,3141,0,0,0,0,0,0,26.67,26.34,26.69
$GC,1445,-0.48,-175.2,2672,3340,3233,3140,218.1,-9.4,171,1449,0.00,2.05,0.00,0.000,1030,0.000,0.022,2672,1928,3186,3232,3140,0,0,0,0,0,0,26.45,26.39,26.47
$GC,2256,-0.48,-175.2,2672,1927,3232,3135,318.6,-13.0,212,2260,0.00,2.08,0.00,0.000,260,0.000,0.031,2662,3335,3183,3232,3135,0,0,0,0,0,0,26.73,26.39,26.74
$GC,2346,-0.48,-175.2,2661,3335,3232,3133,327.1,-11.1,216,2352,0.00,2.05,0.00,0.000,1030,0.000,0.023,2662,1930,3182,3232,3133,0,0,0,0,0,0,26.49,26.43,26.51
$GC,3154,-0.48,-175.2,2662,1929,3232,3129,444.0,-13.5,257,3159,0.00,2.05,0.00,0.000,260,0.000,0.032,2652,3331,3180,3232,3129,0,0,0,0,0,0,26.75,26.41,26.77
$GC,3301,-0.48,-175.2,2652,3331,3230,3129,459.9,-10.6,264,3305,0.00,2.05,0.00,0.000,1030,0.000,0.024,2652,1934,3179,3230,3129,0,0,0,0,0,0,26.50,26.43,26.52
$STATE,3491,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3491,begin apogee
$GC,3496,0.00,0.0,2652,1800,3229,3129,488.9,-15.6,274,3635,0.57,0.08,133.70,0.950,10246,0.140,0.087,2830,1899,2465,2523,2407,0,0,0,0,0,0,26.06,24.87,24.28
$STATE,3635,end apogee,CONTROL_FINISHED_OK
$STATE,3636,begin climb
$GC,3637,0.48,175.2,2830,1899,2522,2407,494.8,0.0,281,3784,0.40,2.15,138.32,0.939,10500,0.038,0.027,3020,3239,1749,1822,1676,0,0,0,0,0,0,25.08,24.71,24.13
$GC,3831,0.48,175.2,3020,3239,1817,1674,471.7,19.7,291,3838,0.12,2.15,0.00,0.000,5126,0.220,0.028,2997,1870,1744,1816,1673,0,0,0,0,0,0,25.06,25.27,25.25
$GC,4651,0.48,175.2,2996,1870,1812,1663,312.6,19.2,332,4655,0.00,2.15,0.00,0.000,516,0.000,0.035,3006,460,1737,1812,1663,0,0,0,0,0,0,26.50,26.15,26.51
$GC,4827,0.48,175.2,3006,460,1802,1663,281.4,17.2,341,4831,0.00,2.08,0.00,0.000,1030,0.000,0.027,3006,1842,1733,1802,1664,0,0,0,0,0,0,26.32,26.25,26.34
$GC,5633,0.48,175.2,3006,1847,1804,1662,122.4,16.4,402,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1847,1733,1804,1662,0,0,0,0,0,0,26.66,26.67,26.67
$GC,5941,0.48,175.2,3006,1847,1803,1661,73.1,13.7,448,5949,0.00,2.17,0.00,0.000,260,0.000,0.032,3006,3284,1732,1803,1661,0,0,0,0,0,0,26.69,26.36,26.70
$GC,6080,0.48,175.2,3006,3284,1803,1661,56.7,10.6,473,6087,0.00,2.10,0.00,0.000,1030,0.000,0.027,3016,1859,1732,1803,1661,0,0,0,0,0,0,26.45,26.38,26.48
$GC,6423,0.48,175.2,3016,1859,1803,1660,19.3,11.7,534,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1859,1731,1803,1660,0,0,0,0,0,0,26.71,26.72,26.72
$GC,6481,0.48,175.2,3016,1859,1803,1660,12.3,11.8,543,6490,0.00,2.12,0.00,0.000,516,0.000,0.034,3028,473,1730,1801,1660,0,0,0,0,0,0,26.71,26.34,26.72
$GC,6516,0.48,175.2,3027,472,1796,1660,8.2,11.6,548,6526,0.10,2.15,0.00,0.000,5126,0.165,0.029,2996,1880,1730,1800,1660,0,0,0,0,0,0,26.10,26.39,26.20
$STATE,6568,end climb,SURFACE_DEPTH_REACHED
$STATE,6568,begin surface coast
$FINISH,0.6,1.010748
$STATE,6606,end surface coast,CONTROL_FINISHED_OK
$STATE,6606,begin surface
$SM_CCo,6621,130.32,0.050,0,0,499,482.01
$SM_GC,1.45,7.30,0.05,130.32,0.025,0.135,0.050,127,1948,499,-8.39,-1.39,482.01,0,0,0,0,0,0,26.40,26.53,26.21
$IRIDIUM_FIX,-2955.02,3112.78,090717,180134
$TT8_MAMPS,0.025466,0.288365
$HUMID,55.98
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,470.5,31.3
$24V_AH,24.13,26.845
$10V_AH,10.24,13.600
$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,18.550,38.050,272.025,130.325,0.000,65.699,62.661,193.327,11.000,0.000,12.756,1394.907,3682.667,459.862,1634.521,92.390,0.000,1034.218,0.000,1256.382,0.000,69.305,0.000
$DEVICE_MAMPS,224.145,135.405,950.130,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.701,96.409,413.115,418.692,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343300
$DATA_FILE_SIZE,37008,562
$CAP_FILE_SIZE,72680,0
$CFSIZE,2097086464,2061205504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,71.11,0x2338b8,0,24
$WARN,PPS timeout
$GPS,090717,200001,-3005.346,3114.223,6,1.8,6,-25.0,0.6,359.5,6,96.8