version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 317
start: 7 9 117 20 13 2
data:
$ID,574
$MISSION,23
$DIVE,317
$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,42
$R_STBD_OVSHOOT,53
$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
$GPS1,090717,200001,-3005.3457,3114.2231,6,1.8,6,-25.0,0.6,359.5,6,96.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-78.8
$GPS2,090717,201213,-3005.2659,3114.2842,5,1.6,5,-25.0,0.0,0.0,6,36.8
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT3
$TGT_LATLONG,-3003.000,3104.800
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,310.4,15772,-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,-175.2,127,1950,530,448,0.0,0.0,0,104,0.00,0.00,-85.68,0.000,16386,0.000,0.000,127,1950,2911,2925,2897,0,0,0,0,0,0,26.25,28.83,26.26
$GC,106,-0.48,-175.2,127,1950,2926,2897,3.6,-4.5,11,132,9.85,2.10,-4.90,0.000,18692,0.220,0.044,2657,3341,3183,3217,3150,0,0,0,0,0,0,25.56,24.56,25.73
$GC,276,-0.48,-175.2,2656,3340,3226,3143,46.0,-16.8,39,283,0.00,2.10,0.00,0.000,1030,0.000,0.027,2657,1933,3185,3227,3143,0,0,0,0,0,0,26.17,26.09,26.18
$GC,601,-0.48,-175.2,2655,1932,3230,3141,107.7,-17.1,96,605,0.00,2.08,0.00,0.000,260,0.000,0.029,2647,3346,3185,3230,3141,0,0,0,0,0,0,26.54,26.22,26.55
$GC,677,-0.48,-175.2,2646,3346,3231,3141,119.2,-13.6,103,682,0.10,2.08,0.00,0.000,3078,0.154,0.024,2680,1934,3186,3232,3141,0,0,0,0,0,0,26.05,26.26,26.19
$GC,982,-0.48,-175.2,2679,1934,3233,3140,161.5,-13.0,133,986,0.00,2.08,0.00,0.000,516,0.000,0.029,2680,526,3186,3233,3140,0,0,0,0,0,0,26.63,26.28,26.64
$GC,1018,-0.48,-175.2,2679,526,3232,3141,165.9,-12.6,136,1023,0.00,2.10,0.00,0.000,1030,0.000,0.026,2672,1944,3186,3232,3141,0,0,0,0,0,0,26.39,26.32,26.41
$GC,1333,-0.48,-175.2,2671,1946,3233,3140,208.3,-13.4,164,1337,0.00,2.05,0.00,0.000,260,0.000,0.032,2661,3344,3186,3232,3140,0,0,0,0,0,0,26.67,26.33,26.69
$GC,1510,-0.48,-175.2,2660,3344,3232,3139,227.6,-10.3,173,1514,0.00,2.05,0.00,0.000,1030,0.000,0.023,2661,1936,3185,3232,3139,0,0,0,0,0,0,26.45,26.39,26.47
$GC,2327,-0.48,-175.2,2660,1934,3233,3132,344.9,-15.0,214,2332,0.00,2.08,0.00,0.000,260,0.000,0.032,2651,3345,3182,3233,3131,0,0,0,0,0,0,26.74,26.39,26.75
$GC,2486,-0.48,-175.2,2650,3345,3232,3131,364.6,-11.5,222,2490,0.00,2.08,0.00,0.000,1030,0.000,0.024,2651,1938,3182,3233,3131,0,0,0,0,0,0,26.49,26.42,26.51
$STATE,3206,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3206,begin apogee
$GC,3211,0.00,0.0,2650,1817,3229,3127,473.4,-15.2,258,3348,0.57,0.00,133.00,0.920,10246,0.137,0.000,2828,1816,2465,2524,2406,0,0,0,0,0,0,26.10,24.90,24.32
$STATE,3349,end apogee,CONTROL_FINISHED_OK
$STATE,3349,begin climb
$GC,3351,0.48,175.2,2828,1815,2523,2407,479.1,0.0,265,3498,0.40,2.15,137.52,0.910,11012,0.039,0.033,3027,473,1748,1820,1677,0,0,0,0,0,0,25.11,24.75,24.17
$GC,3688,0.48,175.2,3026,472,1806,1674,426.9,19.9,282,3693,0.12,2.15,0.00,0.000,5126,0.209,0.029,2993,1869,1740,1807,1674,0,0,0,0,0,0,25.46,25.72,25.68
$GC,4500,0.48,175.2,2993,1873,1806,1667,270.3,18.9,323,4504,0.00,2.10,0.00,0.000,260,0.000,0.032,2993,3282,1736,1806,1667,0,0,0,0,0,0,26.54,26.22,26.55
$GC,4549,0.48,175.2,2993,3282,1806,1667,263.2,19.2,325,4556,0.00,2.10,0.00,0.000,1030,0.000,0.028,3002,1874,1736,1806,1667,0,0,0,0,0,0,26.32,26.25,26.34
$GC,5358,0.48,175.2,3002,1874,1803,1664,108.9,16.5,390,5366,0.00,2.10,0.00,0.000,516,0.000,0.034,3013,467,1733,1802,1664,0,0,0,0,0,0,26.67,26.32,26.68
$GC,5408,0.48,175.2,3013,467,1797,1664,100.4,16.3,395,5412,0.00,2.10,0.00,0.000,1030,0.000,0.028,3013,1872,1730,1797,1664,0,0,0,0,0,0,26.44,26.36,26.46
$GC,5730,0.48,175.2,3012,1873,1800,1663,53.3,11.4,454,5736,0.00,2.08,0.00,0.000,260,0.000,0.032,3013,3279,1731,1800,1663,0,0,0,0,0,0,26.70,26.36,26.71
$GC,5849,0.48,175.2,3013,3279,1800,1663,40.3,11.0,476,5857,0.10,2.12,0.00,0.000,5126,0.207,0.028,2994,1874,1732,1801,1663,0,0,0,0,0,0,26.03,26.38,26.20
$GC,6206,0.52,206.8,2993,1873,1801,1662,5.4,9.2,537,6224,0.00,2.17,12.27,0.508,8708,0.000,0.034,3003,466,1618,1699,1538,0,0,0,0,0,0,26.72,26.22,25.68
$STATE,6238,end climb,SURFACE_DEPTH_REACHED
$STATE,6238,begin surface coast
$FINISH,0.7,1.024855
$STATE,6287,end surface coast,CONTROL_FINISHED_OK
$STATE,6288,begin surface
$SM_CCo,6305,118.75,0.048,0,0,498,482.01
$SM_GC,1.55,7.40,2.25,118.75,0.027,0.022,0.048,125,1947,498,-8.42,-1.19,482.01,0,0,0,0,0,0,26.30,26.32,26.17
$IRIDIUM_FIX,-2952.53,3112.78,090717,200744
$TT8_MAMPS,0.025466,0.289863
$HUMID,56.10
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,452.3,34.4
$24V_AH,24.17,26.942
$10V_AH,10.25,13.657
$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,18.550,42.175,282.800,118.750,0.000,149.785,71.890,255.670,10.500,0.000,13.428,1359.034,3442.937,450.356,1841.774,94.627,0.000,1019.136,0.000,1277.748,0.000,67.119,0.000
$DEVICE_MAMPS,219.555,97.155,919.530,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.319,103.417,461.405,466.737,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343296
$DATA_FILE_SIZE,37111,549
$CAP_FILE_SIZE,73927,0
$CFSIZE,2097086464,2061107200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,090717,220121,-3004.374,3114.136,41,0.8,41,-25.0,0.0,0.0,11,7.2