version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 488
start: 7 30 117 4 51 5
data:
$ID,574
$MISSION,23
$DIVE,488
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,333
$T_MISSION,343
$T_ABORT,400
$T_TURN,225
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,10
$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,320
$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,2810
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,57
$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,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,72
$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
$GPS1,300717,044418,-3306.2976,2811.8145,5,1.5,5,-27.4,0.5,346.4,5,219.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-78.2
$GPS2,300717,045017,-3306.2688,2811.7986,7,0.8,7,-27.4,0.7,232.0,11,356.7
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3255.634,2814.033
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,37.4,20000,-13.3,-10.010,-16.52,4021
$D_GRID,1000
$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,-175.2,126,2098,853,635,0.0,0.0,0,96,0.00,0.00,-78.07,0.000,16386,0.000,0.000,126,2099,2923,2932,2914,0,0,0,0,0,0,26.20,28.83,26.21
$GC,99,-0.45,-175.2,126,2099,2933,2915,3.5,-4.0,10,124,9.77,2.25,-5.05,0.000,18948,0.213,0.041,2658,639,3184,3223,3146,0,0,0,0,0,0,25.34,24.25,25.53
$GC,227,-0.45,-175.2,2658,639,3226,3146,28.5,-13.9,30,235,0.00,2.15,0.00,0.000,1030,0.000,0.031,2649,2011,3184,3228,3141,0,0,0,0,0,0,26.01,25.96,26.03
$GC,438,-0.45,-175.2,2649,2014,3232,3140,54.6,-12.1,67,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2014,3186,3232,3140,0,0,0,0,0,0,26.46,26.46,26.46
$GC,635,-0.45,-175.2,2648,2014,3233,3140,76.4,-12.5,104,642,0.00,2.20,0.00,0.000,260,0.000,0.033,2638,3461,3186,3233,3139,0,0,0,0,0,0,26.52,26.10,26.53
$GC,686,-0.45,-175.2,2637,3461,3234,3138,81.9,-10.1,113,693,0.00,2.10,0.00,0.000,1030,0.000,0.023,2638,2036,3185,3234,3137,0,0,0,0,0,0,26.24,26.17,26.26
$GC,889,-0.45,-175.2,2637,2032,3236,3137,106.8,-12.3,146,897,0.00,2.05,0.00,0.000,516,0.000,0.029,2638,640,3186,3236,3136,0,0,0,0,0,0,26.57,26.19,26.58
$GC,923,-0.45,-175.2,2637,640,3236,3137,110.8,-12.8,149,931,0.10,2.15,0.00,0.000,3078,0.163,0.029,2659,2065,3186,3236,3137,0,0,0,0,0,0,25.91,26.16,26.05
$GC,1112,-0.45,-175.2,2659,2065,3237,3137,132.1,-10.5,168,1120,0.00,2.08,0.00,0.000,260,0.000,0.035,2650,3457,3187,3237,3137,0,0,0,0,0,0,26.60,26.16,26.61
$STATE,1131,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1131,begin apogee
$GC,1139,0.00,0.0,2650,1800,3237,3136,134.5,-10.4,170,1273,0.47,0.00,129.57,0.663,10246,0.119,0.000,2803,1796,2464,2529,2400,0,0,0,0,0,0,25.83,25.09,24.55
$STATE,1274,end apogee,CONTROL_FINISHED_OK
$STATE,1274,begin climb
$GC,1277,0.45,175.2,2803,1797,2528,2400,142.8,0.0,184,1417,0.43,2.28,131.48,0.641,10756,0.060,0.033,2981,397,1749,1840,1659,0,0,0,0,0,0,25.21,24.97,24.43
$GC,1497,0.45,175.2,2980,395,1824,1659,127.1,11.3,206,1505,0.00,2.20,0.00,0.000,1030,0.000,0.028,2981,1804,1742,1825,1659,0,0,0,0,0,0,25.62,25.54,25.64
$GC,1685,0.45,175.2,2980,1806,1825,1658,101.4,14.3,225,1694,0.00,2.12,0.00,0.000,260,0.000,0.031,2981,3215,1741,1825,1658,0,0,0,0,0,0,26.21,25.86,26.22
$GC,1782,0.45,175.2,2980,3215,1825,1658,88.9,11.9,241,1789,0.12,2.12,0.00,0.000,5126,0.169,0.028,2957,1801,1741,1825,1658,0,0,0,0,0,0,25.63,25.95,25.85
$GC,1981,0.51,228.6,2956,1801,1825,1656,65.6,8.6,278,2031,0.00,2.17,41.28,0.602,8964,0.000,0.028,2957,3212,1533,1637,1429,0,0,0,0,0,0,26.42,25.58,25.01
$GC,2122,0.60,302.2,2956,3212,1632,1428,53.8,8.1,303,2191,0.12,2.15,59.70,0.594,11270,0.080,0.028,3037,1799,1232,1352,1112,0,0,0,0,0,0,25.82,25.84,24.73
$GC,2401,0.60,302.2,3037,1799,1342,1106,11.1,14.6,350,2410,0.08,2.22,0.00,0.000,4612,0.190,0.036,3019,398,1223,1341,1105,0,0,0,0,0,0,25.73,25.84,25.77
$GC,2425,0.60,302.2,3019,398,1336,1104,8.0,13.3,353,2433,0.00,2.20,0.00,0.000,1030,0.000,0.028,3020,1800,1220,1336,1104,0,0,0,0,0,0,25.94,25.91,25.97
$STATE,2463,end climb,SURFACE_DEPTH_REACHED
$STATE,2463,begin surface coast
$FINISH,0.7,1.011720
$STATE,2488,end surface coast,CONTROL_FINISHED_OK
$STATE,2488,begin surface
$SM_CCo,2505,6.78,0.050,0,0,1159,320.11
$SM_GC,2.56,7.57,0.38,6.78,0.029,0.026,0.050,125,2128,1159,-8.31,-0.88,320.11,0,0,0,0,0,0,25.95,26.10,25.89
$IRIDIUM_FIX,-3251.89,2814.04,300717,034308
$TT8_MAMPS,0.025466,0.289863
$HUMID,59.64
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.0,28.4
$24V_AH,24.25,47.478
$10V_AH,10.15,24.508
$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,18.675,35.350,362.025,6.775,0.000,24.879,23.393,205.686,2.250,0.000,14.572,809.612,462.225,399.658,1139.856,92.540,0.000,812.301,0.000,859.645,0.000,16.129,0.000
$DEVICE_MAMPS,213.435,40.545,663.255,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,251.715,105.071,436.706,447.218,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343332
$DATA_FILE_SIZE,23734,363
$CAP_FILE_SIZE,47848,0
$CFSIZE,2097086464,2041282560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,300717,053400,-3306.442,2811.445,27,1.0,27,-27.4,0.6,9.1,9,8.7