version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 535
start: 7 31 117 9 34 8
data:
$ID,574
$MISSION,23
$DIVE,535
$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,482.00665
$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,39
$R_STBD_OVSHOOT,32
$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
$GPS1,310717,091424,-3316.1204,2754.5244,37,1.1,37,-27.4,0.7,208.6,8,8.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-60.3
$GPS2,310717,093320,-3316.3066,2754.2432,4,0.9,4,-27.4,1.1,240.1,9,18.2
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3324.579,2802.559
$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,14,begin dive
$GC,16,-0.45,-175.2,126,2110,533,440,0.0,0.0,0,104,0.00,0.00,-85.12,0.000,16386,0.000,0.000,126,2112,2846,2850,2843,0,0,0,0,0,0,26.26,28.83,26.28
$GC,107,-0.45,-175.2,126,2112,2853,2841,3.1,-3.2,11,132,9.85,2.28,-6.88,0.000,18948,0.216,0.040,2655,637,3181,3213,3150,0,0,0,0,0,0,25.33,25.41,25.51
$GC,149,-0.45,-175.2,2655,638,3213,3150,14.1,-26.6,16,157,0.00,2.20,0.00,0.000,1030,0.000,0.026,2647,2060,3181,3213,3150,0,0,0,0,0,0,26.03,25.98,26.05
$GC,208,-0.45,-175.2,2646,2065,3214,3149,24.3,-15.9,25,217,0.00,2.12,0.00,0.000,260,0.000,0.033,2636,3457,3181,3214,3149,0,0,0,0,0,0,26.39,25.99,26.39
$GC,243,-0.45,-175.2,2635,3457,3213,3149,28.8,-12.3,30,252,0.00,2.15,0.00,0.000,1030,0.000,0.023,2636,2033,3181,3213,3149,0,0,0,0,0,0,26.09,26.06,26.12
$GC,456,-0.45,-175.2,2635,2029,3214,3148,54.3,-11.4,67,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2029,3181,3214,3149,0,0,0,0,0,0,26.51,26.52,26.51
$GC,654,-0.45,-175.2,2635,2027,3215,3149,75.2,-12.6,104,661,0.00,2.17,0.00,0.000,260,0.000,0.033,2625,3461,3182,3216,3149,0,0,0,0,0,0,26.56,26.15,26.57
$GC,759,-0.45,-175.2,2625,3461,3215,3149,87.9,-13.8,123,767,0.12,2.10,0.00,0.000,3078,0.136,0.025,2667,2043,3182,3216,3149,0,0,0,0,0,0,25.96,26.21,26.10
$STATE,877,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,878,begin apogee
$GC,884,0.00,0.0,2667,1753,3218,3147,102.9,-12.5,143,1019,0.43,0.00,128.82,0.643,10246,0.122,0.000,2805,1752,2464,2517,2412,0,0,0,0,0,0,25.86,25.14,24.58
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1022,0.45,175.2,2805,1752,2517,2412,112.6,0.0,157,1163,0.38,2.28,131.85,0.640,10500,0.034,0.029,3008,3216,1748,1818,1679,0,0,0,0,0,0,25.39,25.04,24.49
$GC,1174,0.45,175.2,3007,3216,1815,1677,100.4,14.2,172,1181,0.20,2.10,0.00,0.000,5126,0.158,0.028,2961,1855,1746,1816,1677,0,0,0,0,0,0,25.09,25.30,25.26
$GC,1373,0.45,175.2,2961,1855,1815,1671,76.7,12.9,209,1380,0.00,2.15,0.00,0.000,516,0.000,0.033,2970,449,1742,1814,1670,0,0,0,0,0,0,26.20,25.82,26.20
$GC,1421,0.45,175.2,2969,449,1808,1670,71.0,13.4,217,1427,0.00,2.05,0.00,0.000,1030,0.000,0.026,2970,1801,1739,1808,1670,0,0,0,0,0,0,26.01,25.94,26.03
$GC,1620,0.45,175.2,2970,1801,1810,1669,47.6,10.9,254,1627,0.00,2.10,0.00,0.000,260,0.000,0.031,2969,3208,1739,1810,1669,0,0,0,0,0,0,26.41,26.05,26.42
$GC,1683,0.45,175.2,2970,3208,1811,1669,40.7,10.8,265,1690,0.00,2.03,0.00,0.000,1030,0.000,0.028,2980,1850,1739,1810,1669,0,0,0,0,0,0,26.17,26.09,26.20
$GC,1907,0.52,236.5,2979,1849,1809,1668,19.4,8.4,302,1940,0.00,2.10,27.33,0.552,8452,0.000,0.029,2980,3217,1498,1586,1410,0,0,0,0,0,0,26.53,25.82,25.22
$GC,2066,0.52,236.5,2979,3221,1578,1410,4.6,10.2,327,2075,0.00,2.17,0.00,0.000,1030,0.000,0.027,2989,1799,1494,1578,1410,0,0,0,0,0,0,26.10,26.02,26.08
$STATE,2087,end climb,SURFACE_DEPTH_REACHED
$STATE,2088,begin surface coast
$FINISH,0.6,1.025978
$STATE,2142,end surface coast,CONTROL_FINISHED_OK
$STATE,2142,begin surface
$SM_CCo,2159,106.78,0.044,0,0,499,482.01
$SM_GC,1.62,7.50,0.38,106.78,0.031,0.039,0.044,124,2066,499,-8.35,-1.27,482.01,0,0,0,0,0,0,26.07,26.13,25.97
$IRIDIUM_FIX,-3302.17,2751.16,310717,092805
$TT8_MAMPS,0.025466,0.289863
$HUMID,57.63
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,36.4
$24V_AH,24.49,50.703
$10V_AH,10.17,26.226
$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,18.475,30.800,288.000,106.775,0.000,101.964,121.096,572.571,1.250,0.000,12.590,779.916,374.968,439.002,1712.709,130.349,0.000,816.874,0.000,874.239,0.000,10.078,0.000
$DEVICE_MAMPS,216.495,68.085,642.600,44.370,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,234.072,124.428,548.118,548.710,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343428
$DATA_FILE_SIZE,23791,339
$CAP_FILE_SIZE,53874,0
$CFSIZE,2097086464,2036662272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,310717,101235,-3316.702,2753.734,4,1.0,4,-27.4,0.0,0.0,8,17.8