version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 191
start: 6 30 117 16 2 40
data:
$ID,574
$MISSION,23
$DIVE,191
$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,360
$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,130
$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,305
$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,1
$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,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,45
$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,1990
$C_ROLL_CLIMB,1896
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,77
$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,100
$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
$GPS1,300617,155226,-3004.0603,3120.1519,36,1.3,36,-25.0,1.4,211.7,5,10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-76.9
$GPS2,300617,160153,-3004.4006,3119.8772,5,1.0,5,-25.0,0.9,218.3,9,67.4
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2958.207,3109.666
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,330.0,20000,-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,-0.45,-126.5,125,1989,528,447,0.0,0.0,0,104,0.00,0.00,-86.57,0.000,16386,0.000,0.000,125,1990,2912,2924,2901,0,0,0,0,0,0,26.16,28.83,26.17
$GC,106,-0.45,-126.5,125,1990,2925,2901,3.4,-4.2,11,124,9.70,2.08,-1.27,0.000,18692,0.213,0.044,2679,3374,2981,3000,2962,0,0,0,0,0,0,25.67,25.42,25.82
$GC,332,-0.45,-126.5,2677,3374,3010,2956,52.7,-17.2,50,339,0.00,2.08,0.00,0.000,1030,0.000,0.027,2678,1978,2983,3011,2955,0,0,0,0,0,0,26.20,26.13,26.22
$GC,658,-0.45,-126.5,2678,1976,3014,2952,121.6,-20.4,101,667,0.00,2.03,0.00,0.000,260,0.000,0.030,2668,3368,2983,3014,2952,0,0,0,0,0,0,26.53,26.27,26.54
$GC,691,-0.45,-126.5,2667,3368,3014,2952,127.8,-19.5,104,699,0.08,2.08,0.00,0.000,3078,0.138,0.025,2693,1986,2983,3014,2952,0,0,0,0,0,0,26.14,26.29,26.21
$GC,999,-0.45,-126.5,2692,1985,3018,2951,180.7,-16.2,135,1008,0.00,2.03,0.00,0.000,260,0.000,0.031,2685,3365,2984,3018,2951,0,0,0,0,0,0,26.60,26.34,26.61
$GC,1090,-0.45,-126.5,2684,3365,3017,2951,192.7,-10.9,144,1094,0.00,2.03,0.00,0.000,1030,0.000,0.024,2685,1980,2984,3017,2951,0,0,0,0,0,0,26.44,26.38,26.46
$GC,1401,-0.45,-126.5,2684,1977,3019,2950,228.9,-11.5,163,1406,0.00,2.05,0.00,0.000,260,0.000,0.031,2675,3374,2984,3019,2950,0,0,0,0,0,0,26.69,26.40,26.70
$GC,1629,-0.45,-126.5,2674,3374,3019,2950,250.3,-9.3,174,1633,0.00,2.03,0.00,0.000,1030,0.000,0.025,2675,1989,2984,3019,2950,0,0,0,0,0,0,26.51,26.44,26.52
$GC,2443,-0.45,-126.5,2675,1989,3019,2945,351.1,-13.1,215,2448,0.00,2.00,0.00,0.000,260,0.000,0.033,2665,3364,2981,3018,2945,0,0,0,0,0,0,26.74,26.47,26.76
$GC,2545,-0.45,-126.5,2664,3364,3018,2945,363.7,-12.1,220,2550,0.10,2.05,0.00,0.000,3078,0.136,0.025,2698,1993,2981,3018,2945,0,0,0,0,0,0,26.35,26.49,26.47
$GC,3362,-0.45,-126.5,2698,1989,3016,2938,439.2,-9.2,261,3366,0.00,2.03,0.00,0.000,260,0.000,0.034,2690,3362,2977,3016,2938,0,0,0,0,0,0,26.79,26.48,26.80
$GC,3448,-0.45,-126.5,2690,3362,3014,2938,445.8,-8.5,265,3452,0.00,2.03,0.00,0.000,1030,0.000,0.027,2690,1985,2976,3014,2939,0,0,0,0,0,0,26.58,26.51,26.59
$STATE,3973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3973,begin apogee
$GC,3977,0.00,0.0,2690,1829,3012,2935,501.3,-9.8,291,4076,0.47,0.00,95.45,0.970,10246,0.125,0.000,2839,1828,2465,2518,2412,0,0,0,0,0,0,26.32,25.01,24.41
$STATE,4077,end apogee,CONTROL_FINISHED_OK
$STATE,4077,begin climb
$GC,4079,0.45,126.5,2839,1828,2518,2411,504.0,0.0,296,4184,0.40,0.00,102.20,0.978,10758,0.034,0.000,3018,1828,1948,2004,1893,0,0,0,0,0,0,25.17,24.71,24.14
$GC,4974,0.45,126.5,3018,1828,1991,1880,351.9,17.0,341,4979,0.00,2.17,0.00,0.000,260,0.000,0.034,3018,3267,1935,1991,1880,0,0,0,0,0,0,26.48,26.18,26.49
$GC,5178,0.45,126.5,3018,3268,1989,1881,319.5,16.1,351,5183,0.12,2.10,0.00,0.000,5126,0.191,0.031,2995,1895,1934,1989,1880,0,0,0,0,0,0,26.04,26.27,26.25
$GC,5992,0.45,126.5,2994,1894,1985,1877,205.7,16.8,392,5997,0.00,2.05,0.00,0.000,260,0.000,0.031,2995,3276,1931,1985,1877,0,0,0,0,0,0,26.67,26.39,26.68
$GC,6143,0.45,126.5,2994,3276,1985,1878,184.2,12.8,405,6150,0.00,2.10,0.00,0.000,1030,0.000,0.030,3003,1897,1931,1985,1878,0,0,0,0,0,0,26.44,26.43,26.46
$GC,6450,0.45,126.5,3003,1897,1985,1876,140.5,13.7,436,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1897,1930,1985,1876,0,0,0,0,0,0,26.71,26.72,26.72
$GC,6751,0.51,170.6,3003,1897,1985,1876,109.7,8.9,466,6791,0.00,2.17,32.45,0.709,8708,0.000,0.034,3014,487,1765,1835,1695,0,0,0,0,0,0,26.73,25.76,25.39
$GC,6953,0.51,170.6,3014,486,1825,1695,87.9,11.5,496,6960,0.00,2.12,0.00,0.000,1030,0.000,0.029,3014,1857,1760,1826,1695,0,0,0,0,0,0,26.17,26.13,26.19
$GC,7277,0.51,170.6,3014,1861,1828,1692,52.6,10.1,557,7284,0.00,2.17,0.00,0.000,260,0.000,0.034,3014,3313,1760,1828,1693,0,0,0,0,0,0,26.54,26.25,26.55
$GC,7365,0.51,170.6,3014,3313,1828,1693,41.6,13.1,573,7372,0.00,2.12,0.00,0.000,1030,0.000,0.028,3025,1893,1760,1828,1693,0,0,0,0,0,0,26.36,26.29,26.38
$STATE,7662,end climb,SURFACE_DEPTH_REACHED
$STATE,7662,begin surface coast
$FINISH,0.6,1.010500
$STATE,7688,end surface coast,CONTROL_FINISHED_OK
$STATE,7688,begin surface
$SM_CCo,7702,132.38,0.050,0,0,499,482.01
$SM_GC,1.44,7.47,0.15,132.38,0.028,0.063,0.050,125,2086,499,-8.43,-0.96,482.01,0,0,0,0,0,0,26.36,26.40,26.22
$IRIDIUM_FIX,-2950.05,3119.17,300617,155343
$TT8_MAMPS,0.025466,0.261401
$HUMID,56.02
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.9,68.1
$24V_AH,24.14,16.268
$10V_AH,10.33,7.653
$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,18.350,41.825,230.100,132.375,0.000,32.027,16.330,418.978,9.250,0.000,11.966,1544.677,4458.853,443.587,1902.440,85.793,0.000,1051.271,0.000,1381.137,0.000,60.521,0.000
$DEVICE_MAMPS,212.670,93.330,978.435,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,433.011,98.323,419.536,416.941,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342364
$DATA_FILE_SIZE,40407,627
$CAP_FILE_SIZE,81078,0
$CFSIZE,2097086464,2073493504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,300617,181414,-3006.684,3118.406,24,0.8,24,-25.0,1.2,205.2,10,127.4