version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 212
start: 7 2 117 6 0 22
data:
$ID,574
$MISSION,23
$DIVE,212
$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,285
$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,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,79
$R_STBD_OVSHOOT,48
$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
$GPS1,020717,054338,-2953.7361,3114.9460,5,0.9,5,-24.7,0.6,56.2,8,77.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.4
$GPS2,020717,055935,-2953.8203,3115.1814,5,1.0,5,-24.7,1.7,93.8,7,158.0
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2951.025,3103.155
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,309.7,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.45,-126.5,127,1940,530,445,0.0,0.0,0,105,0.00,0.00,-86.40,0.000,16386,0.000,0.000,127,1939,2913,2926,2901,0,0,0,0,0,0,26.22,28.83,26.23
$GC,107,-0.45,-126.5,127,1939,2927,2901,3.3,-4.3,11,125,9.55,2.20,-1.38,0.000,18692,0.208,0.045,2679,3396,2983,3004,2963,0,0,0,0,0,0,25.72,25.48,25.88
$GC,281,-0.45,-126.5,2678,3396,3012,2959,45.1,-17.4,40,288,0.00,2.08,0.00,0.000,1030,0.000,0.027,2679,2031,2985,3013,2958,0,0,0,0,0,0,26.17,26.15,26.18
$GC,612,-0.45,-126.5,2678,2026,3018,2955,104.3,-19.6,100,621,0.00,2.03,0.00,0.000,260,0.000,0.033,2669,3399,2986,3018,2955,0,0,0,0,0,0,26.56,26.27,26.57
$GC,814,-0.45,-126.5,2667,3405,3018,2956,129.7,-15.7,120,818,0.10,2.05,0.00,0.000,3078,0.140,0.017,2701,1951,2987,3019,2955,0,0,0,0,0,0,26.20,26.39,26.33
$GC,1119,-0.45,-126.5,2700,1946,3020,2953,180.7,-17.4,150,1128,0.00,2.12,0.00,0.000,260,0.000,0.033,2692,3392,2986,3020,2953,0,0,0,0,0,0,26.63,26.36,26.65
$GC,1203,-0.45,-126.5,2691,3392,3019,2953,189.5,-9.1,158,1213,0.00,2.00,0.00,0.000,1030,0.000,0.024,2692,2023,2986,3020,2953,0,0,0,0,0,0,26.47,26.41,26.48
$GC,1520,-0.45,-126.5,2691,2018,3020,2952,234.3,-13.1,178,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2018,2986,3020,2952,0,0,0,0,0,0,26.71,26.72,26.72
$GC,2320,-0.45,-126.5,2691,2018,3020,2948,322.7,-11.3,218,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2018,2983,3019,2948,0,0,0,0,0,0,26.77,26.78,26.77
$STATE,2959,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2959,begin apogee
$GC,2963,0.00,0.0,2691,1846,3019,2945,388.9,-11.0,250,3062,0.47,0.00,95.07,0.867,10246,0.119,0.000,2842,1845,2464,2515,2414,0,0,0,0,0,0,26.34,25.14,24.58
$STATE,3063,end apogee,CONTROL_FINISHED_OK
$STATE,3063,begin climb
$GC,3064,0.45,126.5,2841,1845,2515,2414,391.0,0.0,255,3172,0.38,2.10,98.97,0.887,10756,0.031,0.030,3035,540,1948,2001,1896,0,0,0,0,0,0,25.31,24.72,24.30
$GC,3280,0.45,126.5,3034,540,1991,1895,363.2,19.2,266,3285,0.15,2.10,0.00,0.000,5126,0.171,0.031,2993,1889,1943,1991,1895,0,0,0,0,0,0,25.48,25.64,25.63
$GC,4097,0.45,126.5,2993,1894,1992,1883,235.2,15.1,307,4100,0.00,2.05,0.00,0.000,516,0.000,0.034,3002,540,1937,1992,1883,0,0,0,0,0,0,26.58,26.27,26.59
$GC,4417,0.45,126.5,3002,539,1985,1883,185.7,15.2,327,4421,0.00,2.05,0.00,0.000,1030,0.000,0.032,3002,1897,1934,1985,1883,0,0,0,0,0,0,26.44,26.36,26.46
$GC,4722,0.45,126.5,3002,1902,1988,1882,141.0,18.2,357,4726,0.00,2.12,0.00,0.000,260,0.000,0.034,3002,3318,1935,1988,1882,0,0,0,0,0,0,26.68,26.39,26.70
$GC,4786,0.45,126.5,3002,3318,1987,1882,131.0,16.4,363,4793,0.00,2.08,0.00,0.000,1030,0.000,0.028,3012,1945,1934,1987,1882,0,0,0,0,0,0,26.50,26.41,26.52
$GC,5100,0.45,126.5,3011,1946,1987,1881,82.5,16.2,406,5106,0.00,2.20,0.00,0.000,516,0.000,0.034,3024,483,1933,1987,1880,0,0,0,0,0,0,26.72,26.41,26.73
$GC,5404,0.66,295.7,3023,482,1983,1880,53.1,5.7,463,5539,0.00,2.12,127.53,0.672,9222,0.000,0.031,3024,1904,1258,1356,1160,0,0,0,0,0,0,26.53,26.46,24.68
$GC,5682,0.66,295.7,3023,1905,1349,1156,9.9,19.5,509,5691,0.08,2.15,0.00,0.000,2308,0.096,0.030,3081,3300,1252,1349,1156,0,0,0,0,0,0,25.84,25.79,25.88
$GC,5705,0.66,295.7,3081,3305,1346,1156,4.4,21.3,512,5715,0.08,2.20,0.00,0.000,5126,0.171,0.033,3070,1895,1250,1345,1156,0,0,0,0,0,0,25.68,25.83,25.78
$STATE,5723,end climb,SURFACE_DEPTH_REACHED
$STATE,5723,begin surface coast
$FINISH,0.9,1.021275
$STATE,5737,end surface coast,CONTROL_FINISHED_OK
$STATE,5737,begin surface
$SM_CCo,5753,81.95,0.048,0,0,498,482.01
$SM_GC,1.55,7.68,0.12,81.95,0.028,0.074,0.048,127,2040,498,-8.40,-1.39,482.01,0,0,0,0,0,0,25.89,25.92,25.89
$IRIDIUM_FIX,-2942.59,3122.12,020717,055533
$TT8_MAMPS,0.025466,0.289114
$HUMID,55.86
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,370.0,32.4
$24V_AH,24.30,18.021
$10V_AH,10.33,8.653
$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,18.475,34.000,321.575,81.950,0.000,98.820,175.541,436.925,8.500,0.000,12.017,1234.844,3151.145,434.358,1930.350,77.015,0.000,984.207,0.000,1139.084,0.000,54.877,0.000
$DEVICE_MAMPS,208.080,87.210,886.635,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.927,82.647,346.184,357.145,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342360
$DATA_FILE_SIZE,33682,516
$CAP_FILE_SIZE,71154,0
$CFSIZE,2097086464,2071429120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020717,073901,-2953.545,3115.810,50,1.1,50,-24.7,0.5,113.5,7,12.8