version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 502
start: 7 30 117 14 5 22
data:
$ID,574
$MISSION,23
$DIVE,502
$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,140
$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,2
$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,38
$R_STBD_OVSHOOT,60
$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
$GPS1,300717,140344,-3307.9692,2805.7659,4,1.0,4,-27.4,1.0,210.3,8,92.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-79.0
$GPS2,300717,140435,-3307.9734,2805.7485,4,0.8,4,-27.4,0.5,307.6,9,14.2
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3316.246,2814.051
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,167.4,20000,-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,-175.2,125,2071,1244,1065,0.0,0.0,0,80,0.00,0.00,-62.80,0.000,16386,0.000,0.000,125,2072,2928,2935,2922,0,0,0,0,0,0,26.35,28.83,26.36
$GC,84,-0.45,-175.2,125,2072,2937,2922,3.9,-5.4,8,109,9.68,2.20,-4.97,0.000,19204,0.213,0.042,2657,636,3185,3220,3150,0,0,0,0,0,0,25.46,24.37,25.65
$GC,118,-0.45,-175.2,2656,636,3223,3148,15.1,-29.3,12,127,0.00,2.15,0.00,0.000,1030,0.000,0.024,2648,2036,3185,3225,3145,0,0,0,0,0,0,26.09,26.09,26.12
$GC,177,-0.45,-175.2,2647,2035,3228,3141,23.7,-13.6,21,186,0.00,2.12,0.00,0.000,516,0.000,0.027,2648,642,3184,3228,3141,0,0,0,0,0,0,26.41,26.07,26.42
$GC,202,-0.45,-175.2,2648,642,3228,3142,26.6,-12.7,24,211,0.00,2.17,0.00,0.000,1030,0.000,0.029,2638,2040,3184,3228,3141,0,0,0,0,0,0,26.11,26.08,26.14
$GC,416,-0.45,-175.2,2637,2040,3230,3140,54.7,-13.3,61,423,0.00,2.10,0.00,0.000,260,0.000,0.031,2627,3468,3184,3229,3139,0,0,0,0,0,0,26.51,26.14,26.53
$GC,507,-0.45,-175.2,2626,3468,3232,3138,64.7,-10.2,77,514,0.12,2.12,0.00,0.000,3078,0.129,0.026,2668,2034,3185,3232,3138,0,0,0,0,0,0,25.97,26.19,26.10
$STATE,663,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,663,begin apogee
$GC,668,0.00,0.0,2668,1745,3234,3136,78.3,-8.1,106,803,0.43,0.08,128.57,0.617,10246,0.119,0.089,2806,1849,2464,2531,2398,0,0,0,0,0,0,25.90,25.16,24.64
$STATE,805,end apogee,CONTROL_FINISHED_OK
$STATE,805,begin climb
$GC,807,0.45,175.2,2805,1849,2530,2397,85.7,0.0,128,948,0.40,2.33,131.48,0.605,11012,0.044,0.031,2991,398,1748,1841,1655,0,0,0,0,0,0,25.36,24.89,24.56
$GC,977,0.45,175.2,2991,397,1830,1655,73.7,12.9,156,986,0.10,2.15,0.00,0.000,5126,0.130,0.027,2962,1758,1743,1831,1655,0,0,0,0,0,0,25.25,25.44,25.33
$GC,1180,0.45,175.2,2961,1763,1831,1654,50.6,10.4,193,1187,0.00,2.10,0.00,0.000,516,0.000,0.033,2970,391,1742,1830,1654,0,0,0,0,0,0,26.22,25.86,26.23
$GC,1194,0.50,217.2,2969,392,1827,1654,49.2,8.9,195,1233,0.00,2.15,33.20,0.576,9222,0.000,0.025,2970,1800,1578,1683,1473,0,0,0,0,0,0,26.00,25.93,24.94
$GC,1445,0.50,219.1,2969,1801,1675,1473,24.2,10.0,237,1453,0.00,2.17,0.00,0.000,260,0.000,0.031,2970,3211,1574,1675,1473,0,0,0,0,0,0,26.30,25.96,26.31
$GC,1557,0.52,235.1,2969,3211,1673,1472,13.2,9.6,255,1574,0.00,2.15,7.57,0.446,9222,0.000,0.028,2979,1807,1506,1611,1401,0,0,0,0,0,0,26.08,26.05,25.21
$GC,1625,0.58,278.9,2979,1807,1608,1400,7.0,8.9,265,1650,0.00,2.25,20.27,0.491,8708,0.000,0.034,2990,379,1325,1446,1204,0,0,0,0,0,0,26.37,25.76,25.19
$STATE,1665,end climb,SURFACE_DEPTH_REACHED
$STATE,1665,begin surface coast
$FINISH,0.7,1.016171
$STATE,1702,end surface coast,CONTROL_FINISHED_OK
$STATE,1702,begin surface
$SM_CCo,1721,17.55,0.047,0,0,1159,320.11
$SM_GC,1.51,7.53,2.58,17.55,0.031,0.017,0.047,125,2061,1159,-8.33,-1.33,320.11,0,0,0,0,0,0,25.97,25.96,25.91
$IRIDIUM_FIX,-3254.46,2808.28,300717,121826
$TT8_MAMPS,0.025466,0.262899
$HUMID,58.97
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.3,32.8
$24V_AH,24.37,48.454
$10V_AH,10.23,25.034
$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,18.250,31.150,321.100,17.550,0.000,0.000,0.000,0.000,0.750,0.000,11.569,594.738,116.874,329.218,731.129,53.466,0.000,674.996,0.000,722.519,0.000,7.028,0.000
$DEVICE_MAMPS,213.435,88.740,617.355,47.430,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,186.138,101.328,488.466,493.081,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343516
$DATA_FILE_SIZE,20443,276
$CAP_FILE_SIZE,33902,0
$CFSIZE,2097086464,2039906304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,300717,143501,-3308.136,2805.471,4,1.0,4,-27.4,0.5,289.9,8,18.8